From 3af398d7f9d62f5c78a350afe5d1f8e69f1eea41 Mon Sep 17 00:00:00 2001 From: Nickolay Date: Thu, 15 Sep 2011 00:38:18 +0300 Subject: [PATCH 001/121] initial changes --- ground/ground.pro.user.2.1pre1 | 311 ++++++++++++++++++ .../internals/projections/lks94projection.h | 2 +- .../src/plugins/notify/NotificationItem.h | 154 +++++++++ .../src/plugins/notify/notify.pro | 4 +- .../src/plugins/notify/notifyitemdelegate.cpp | 225 +++++++------ .../src/plugins/notify/notifyitemdelegate.h | 28 +- .../src/plugins/notify/notifyplugin.cpp | 137 ++++---- .../src/plugins/notify/notifyplugin.h | 34 +- .../notify/notifypluginconfiguration.cpp | 118 ++++--- .../notify/notifypluginconfiguration.h | 122 ------- .../notify/notifypluginoptionspage.cpp | 210 +++++------- .../plugins/notify/notifypluginoptionspage.h | 21 +- .../plugins/notify/notifypluginoptionspage.ui | 18 +- .../src/plugins/notify/notifytablemodel.cpp | 47 +-- .../src/plugins/notify/notifytablemodel.h | 24 +- openpilotgcs.bat | 3 + 16 files changed, 865 insertions(+), 593 deletions(-) create mode 100644 ground/ground.pro.user.2.1pre1 create mode 100644 ground/openpilotgcs/src/plugins/notify/NotificationItem.h delete mode 100644 ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.h create mode 100644 openpilotgcs.bat diff --git a/ground/ground.pro.user.2.1pre1 b/ground/ground.pro.user.2.1pre1 new file mode 100644 index 000000000..0a2acf277 --- /dev/null +++ b/ground/ground.pro.user.2.1pre1 @@ -0,0 +1,311 @@ + + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + System + + + + ProjectExplorer.Project.Target.0 + + Desktop + Qt4ProjectManager.Target.DesktopTarget + 0 + 0 + + + qmake + QtProjectManager.QMakeBuildStep + + + + Make + Qt4ProjectManager.MakeStep + false + + + + 2 + + Make + Qt4ProjectManager.MakeStep + true + + clean + + + + 1 + false + + Qt in PATH Debug + Qt4ProjectManager.Qt4BuildConfiguration + 2 + D:/!Work/OpenSource/OpenPilot/op/OpenPilot/ground-build + 2 + 2 + true + + + + qmake + QtProjectManager.QMakeBuildStep + + + + Make + Qt4ProjectManager.MakeStep + false + + + + 2 + + Make + Qt4ProjectManager.MakeStep + true + + clean + + + + 1 + false + + Qt in PATH Release + Qt4ProjectManager.Qt4BuildConfiguration + 0 + D:/!Work/OpenSource/OpenPilot/op/OpenPilot/ground-build + 2 + 2 + true + + + + qmake + QtProjectManager.QMakeBuildStep + + + + Make + Qt4ProjectManager.MakeStep + false + + + + 2 + + Make + Qt4ProjectManager.MakeStep + true + + clean + + + + 1 + false + + 4.6.2 Debug + Qt4ProjectManager.Qt4BuildConfiguration + 2 + D:/!Work/OpenSource/OpenPilot/op/OpenPilot/ground-build + 13 + 2 + true + + + + qmake + QtProjectManager.QMakeBuildStep + + + + Make + Qt4ProjectManager.MakeStep + false + + + + 2 + + Make + Qt4ProjectManager.MakeStep + true + + clean + + + + 1 + false + + 4.6.2 Release + Qt4ProjectManager.Qt4BuildConfiguration + 0 + D:/!Work/OpenSource/OpenPilot/op/OpenPilot/ground-build + 13 + 2 + true + + 4 + + bin + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/bin/bin.pro + false + false + + false + false + + + + translations + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/share/openpilotgcs/translations/translations.pro + false + false + + false + false + + + + uavobjgenerator + Qt4ProjectManager.Qt4RunConfiguration + 2 + + uavobjgenerator/uavobjgenerator.pro + false + false + + false + false + + + + app + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/app/app.pro + false + false + + false + false + + + + berkeley + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/berkeley/berkeley.pro + false + false + + false + false + + + + designer + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/designer/designer.pro + false + false + + false + false + + + + gui + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/gui/gui.pro + false + false + + false + false + + + + network + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/network/network.pro + false + false + + false + false + + + + sql + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/sql/sql.pro + false + false + + false + false + + + + web + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/web/web.pro + false + false + + false + false + + + + zeroconf + Qt4ProjectManager.Qt4RunConfiguration + 2 + + openpilotgcs/src/libs/libqxt/src/zeroconf/zeroconf.pro + false + false + + false + false + + + 11 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.FileVersion + 4 + + diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h index 4eee20aaa..dc895f04c 100644 --- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h +++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h @@ -28,7 +28,7 @@ #define LKS94PROJECTION_H #include #include "cmath" -#include "../pureprojection.h" +#include "D:\!Work\OpenSource\OpenPilot\OpenPilot\ground\openpilotgcs\src\libs\opmapcontrol\src\internals\pureprojection.h" namespace projections { diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h new file mode 100644 index 000000000..c09e64982 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -0,0 +1,154 @@ +/** + ****************************************************************************** + * + * @file NotificationItem.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Notify Plugin configuration header + * @see The GNU Public License (GPL) Version 3 + * @defgroup notifyplugin + * @{ + * + *****************************************************************************/ +/* + * 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 NOTIFICATION_ITEM_H +#define NOTIFICATION_ITEM_H + +#include +#include "qsettings.h" +#include +#include + +using namespace Core; + +#define DECLARE_SOUND(number) \ + QString getSound##number() const { return _sound##number; } \ + void setSound##number(QString text) { _sound##number = text; } \ + +// QString getSound2() const { return _sound2; } +// void setSound2(QString text) { _sound2 = text; } + +// QString getSound3() const { return _sound3; } +// void setSound3(QString text) { _sound3 = text; } + +class NotificationItem : public QObject +{ + Q_OBJECT +public: + explicit NotificationItem(QObject *parent = 0); + + void copyTo(NotificationItem*) const; + + DECLARE_SOUND(1) + DECLARE_SOUND(2) + DECLARE_SOUND(3) + + QString getValue() const { return _dataValue; } + void setValue(QString text) { _dataValue = text; } + + QString getSayOrder() const { return _sayOrder; } + void setSayOrder(QString text) { _sayOrder = text; } + + double getSpinBoxValue() const { return _spinBoxValue; } + void setSpinBoxValue(double value) { _spinBoxValue = value; } + + + QString getDataObject() const { return _dataObject; } + void setDataObject(QString text) { _dataObject = text; } + + QString getObjectField() const { return _objectField; } + void setObjectField(QString text) { _objectField = text; } + + QString getSoundCollectionPath() const { return _soundCollectionPath; } + void setSoundCollectionPath(QString path) { _soundCollectionPath = path; } + + QString getCurrentLanguage() const { return _currentLanguage; } + void setCurrentLanguage(QString text) { _currentLanguage = text; } + + QStringList getMessageSequence() const { return _messageSequence; } + void setMessageSequence(QStringList sequence) { _messageSequence = sequence; } + + QString getRepeatFlag() const { return _repeatString; } + void setRepeatFlag(QString value) { _repeatString = value; } + + bool getRepeatTimeout() const { return _repeatTimeout; } + void setRepeatTimeout(bool value) { _repeatTimeout = value; } + + int getExpireTimeout() const { return _expireTimeout; } + void setExpireTimeout(int value) { _expireTimeout = value; } + + bool getEnableFlag() const { return _enableFlag; } + void setEnableFlag(bool value) { _enableFlag = value; } + + void saveState(QSettings* settings) const; + void restoreState(QSettings* settings); + QString parseNotifyMessage(); + + QTimer* timer; + QTimer* expireTimer; + bool isNowPlaying; // + bool firstStart; + +private: + + QStringList _messageSequence; + + //! path to folder with sound files + QString _soundCollectionPath; + + //! language in what notifications will be spelled + QString _currentLanguage; + + //! one UAV object per one notification + QString _dataObject; + + //! one field value change can be assigned to one notification + QString _objectField; + + //! poled UAV field value + QString _dataValue; + + //! possible sounds(at least one required to play notification) + QString _sound1; + QString _sound2; + QString _sound3; + + //! order in what sounds 1-3 will be played + QString _sayOrder; + + double _spinBoxValue; + + QString _repeatString; + + //! time when next notification must be fired + bool _repeatTimeout; + + //! how often or what periodicaly notification should be played + int _repeatTimerValue; + + //! time after event occured till notification became invalid + //! and will be removed from list + int _expireTimeout; + + //! enables/disables playing of current notification + bool _enableFlag; +}; + +Q_DECLARE_METATYPE(NotificationItem*) + +#endif // NotificationItem_H diff --git a/ground/openpilotgcs/src/plugins/notify/notify.pro b/ground/openpilotgcs/src/plugins/notify/notify.pro index 9ebebfa22..e70392a6a 100644 --- a/ground/openpilotgcs/src/plugins/notify/notify.pro +++ b/ground/openpilotgcs/src/plugins/notify/notify.pro @@ -10,9 +10,9 @@ QT += phonon HEADERS += notifyplugin.h \ notifypluginoptionspage.h \ - notifypluginconfiguration.h \ notifyitemdelegate.h \ - notifytablemodel.h + notifytablemodel.h \ + NotificationItem.h SOURCES += notifyplugin.cpp \ notifypluginoptionspage.cpp \ diff --git a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp index 7a2fc2ef4..d6e5161fc 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp @@ -25,136 +25,135 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "notifyitemdelegate.h" #include +#include "notifyitemdelegate.h" +#include "notifytablemodel.h" - NotifyItemDelegate::NotifyItemDelegate(QStringList items,QObject *parent) - : QItemDelegate(parent), - m_parent(parent), - m_items(items) { +NotifyItemDelegate::NotifyItemDelegate(QStringList items, QObject* parent) + : QItemDelegate(parent) + , _parent(parent) + , _items(items) +{ - } +} - QWidget *NotifyItemDelegate::createEditor(QWidget *parent, - const QStyleOptionViewItem &, - const QModelIndex &index) const - { - if (index.column() == 1) { - QComboBox* editor = new QComboBox(parent); - editor->clear(); - editor->addItems(m_items); - //repeatEditor->setCurrentIndex(0); - //repeatEditor->setItemDelegate(new RepeatCounterDelegate()); - - //connect(repeatEditor,SIGNAL(activated (const QString& )),this,SLOT(selectRow(const QString& ))); - //QTableWidgetItem* item = qobject_cast(parent); - //((QTableWidgetItem*)parent)->setSelected(true); -// connect(editor, SIGNAL(editingFinished()), -// this, SLOT(commitAndCloseEditor())); - return editor; - } else - { - if(index.column() == 2) - { - QSpinBox* editor = new QSpinBox(parent); - connect(editor, SIGNAL(editingFinished()), - this, SLOT(commitAndCloseEditor())); - return editor; - } - - } - QLineEdit *editor = new QLineEdit(parent); -// connect(editor, SIGNAL(editingFinished()), -// this, SLOT(commitAndCloseEditor())); - return editor; - } - - void NotifyItemDelegate::commitAndCloseEditor() - { - QLineEdit *editor = qobject_cast(sender()); - if (editor) - { - emit commitData(editor); - emit closeEditor(editor); - - } else { - QComboBox* editor = qobject_cast(sender()); - if (editor) - { - emit commitData(editor); - emit closeEditor(editor); - } else { - QSpinBox* editor = qobject_cast(sender()); - if (editor) - { - emit commitData(editor); - emit closeEditor(editor); - } - } - } - } - - void NotifyItemDelegate::setEditorData(QWidget *editor, - const QModelIndex &index) const - { - QLineEdit *edit = qobject_cast(editor); - if (edit) { - edit->setText(index.model()->data(index, Qt::EditRole).toString()); - } else { - QComboBox * repeatEditor = qobject_cast(editor); - if (repeatEditor) - repeatEditor->setCurrentIndex(repeatEditor->findText(index.model()->data(index, Qt::EditRole).toString())); - else { - QSpinBox * expireEditor = qobject_cast(editor); - if (expireEditor) - expireEditor->setValue(index.model()->data(index, Qt::EditRole).toInt()); - } - } - } - - void NotifyItemDelegate::setModelData(QWidget *editor, - QAbstractItemModel *model, const QModelIndex &index) const - { - QLineEdit *edit = qobject_cast(editor); - if (edit) { - model->setData(index, edit->text()); - } else { - QComboBox * repeatEditor = qobject_cast(editor); - if (repeatEditor) { - model->setData(index, repeatEditor->currentText()); - - } else { - QSpinBox * expireEditor = qobject_cast(editor); - if (expireEditor) { - //expireEditor->interpretText(); - model->setData(index, expireEditor->value(), Qt::EditRole); +QWidget *NotifyItemDelegate::createEditor(QWidget* parent, + const QStyleOptionViewItem& /*none*/, + const QModelIndex& index) const +{ + if(eREPEAT_VALUE == index.column()) { + QComboBox* editor = new QComboBox(parent); + editor->clear(); + editor->addItems(_items); + return editor; + } else { + if(eEXPIRE_TIME == index.column()) { + QSpinBox* editor = new QSpinBox(parent); + connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); + return editor; + } else { + if(eENABLE_NOTIFICATION == index.column()) { + QCheckBox* editor = new QCheckBox(parent); + connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); + return editor; } - } - } - } + } + } + QLineEdit *editor = new QLineEdit(parent); + return editor; +} +void NotifyItemDelegate::commitAndCloseEditor() +{ + QLineEdit* editor = qobject_cast(sender()); + if (editor) { + emit commitData(editor); + emit closeEditor(editor); + } else { + QComboBox* editor = qobject_cast(sender()); + if (editor) + { + emit commitData(editor); + emit closeEditor(editor); + } else { + QSpinBox* editor = qobject_cast(sender()); + if (editor) + { + emit commitData(editor); + emit closeEditor(editor); + } else { + QCheckBox* editor = qobject_cast(sender()); + if (editor) + { + emit commitData(editor); + emit closeEditor(editor); + } + } + } + } +} + +void NotifyItemDelegate::setEditorData(QWidget *editor, const QModelIndex &index) const +{ + QLineEdit* edit = qobject_cast(editor); + if(edit) { + edit->setText(index.model()->data(index, Qt::EditRole).toString()); + } else { + QComboBox* repeatEditor = qobject_cast(editor); + if(repeatEditor) + repeatEditor->setCurrentIndex(repeatEditor->findText(index.model()->data(index, Qt::EditRole).toString())); + else { + QSpinBox* expireEditor = qobject_cast(editor); + if(expireEditor) + expireEditor->setValue(index.model()->data(index, Qt::EditRole).toInt()); + else { + QCheckBox* enablePlayEditor = qobject_cast(editor); + if (enablePlayEditor) + enablePlayEditor->setChecked(index.model()->data(index, Qt::EditRole).toBool()); + } + } + } +} + +void NotifyItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const +{ + QLineEdit *edit = qobject_cast(editor); + if(edit) { + model->setData(index, edit->text()); + } else { + QComboBox * repeatEditor = qobject_cast(editor); + if(repeatEditor) { + model->setData(index, repeatEditor->currentText()); + } else { + QSpinBox * expireEditor = qobject_cast(editor); + if(expireEditor) { + model->setData(index, expireEditor->value(), Qt::EditRole); + } else { + QCheckBox* enablePlayEditor = qobject_cast(editor); + if (enablePlayEditor) { + model->setData(index, enablePlayEditor->isChecked(), Qt::EditRole); + } + } + } + } +} void NotifyItemDelegate::selectRow(const QString & text) { - //QList list = ((QTableWidget*)(sender()->parent()))->findItems(text,Qt::MatchExactly); QComboBox* combo = qobject_cast(sender()); QTableWidget* table = new QTableWidget; table = (QTableWidget*)(combo->parent()); - qDebug()<columnCount(); - qDebug()<rowCount(); - qDebug()<currentRow(); - //table->setCurrentIndex(1); - //table->findItems(text,Qt::MatchExactly); - //item->model()->index() - //item->setSelected(true); + + qDebug() << table->columnCount(); + qDebug() << table->rowCount(); + qDebug() << table->currentRow(); } -QSize NotifyItemDelegate::sizeHint ( const QStyleOptionViewItem & option, - const QModelIndex & index ) const +QSize NotifyItemDelegate::sizeHint(const QStyleOptionViewItem & option, + const QModelIndex & index) const { QSize s = QItemDelegate::sizeHint(option, index); s.setHeight(10); - return s; } diff --git a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h index 40d6ced20..01fa0794d 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h @@ -31,21 +31,6 @@ #include #include -//class RepeatCounterDelegate : public QItemDelegate -//{ -// Q_OBJECT - -//public: -// RepeatCounterDelegate(QObject *parent = 0); -// QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &, -// const QModelIndex &index) const; -// void setEditorData(QWidget *editor, const QModelIndex &index) const; -// void setModelData(QWidget *editor, QAbstractItemModel *model, -// const QModelIndex &index) const; - -//private slots: -// void commitAndCloseEditor(); -//}; class NotifyItemDelegate : public QItemDelegate { @@ -58,19 +43,16 @@ public: void setEditorData(QWidget *editor, const QModelIndex &index) const; void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const; -// bool editorEvent(QEvent * event, QAbstractItemModel * model, -// const QStyleOptionViewItem & option, const QModelIndex & index ); QSize sizeHint ( const QStyleOptionViewItem & option, const QModelIndex & index ) const; -private: - QObject* m_parent; - QStringList m_items; - QComboBox* repeatEditor; - - private slots: void selectRow(const QString & text); void commitAndCloseEditor(); + +private: + QObject* _parent; + QStringList _items; + }; #endif // NOTIFYITEMDELEGATE_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 8735f8b60..c959925b4 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -26,7 +26,7 @@ */ #include "notifyplugin.h" -#include "notifypluginconfiguration.h" +#include "notificationitem.h" #include "notifypluginoptionspage.h" #include #include @@ -37,15 +37,29 @@ #include #include "qxttimer.h" +#include "backendcapabilities.h" static const QString VERSION = "1.0.0"; //#define DEBUG_NOTIFIES +#ifdef DEBUG_NOTIFIES +QDebug qNotifyDebug() +#endif +#ifndef DEBUG_NOTIFIES +QNoDebug qNotifyDebug() +#endif +{ +#ifdef DEBUG_NOTIFIES + return qDebug(); +#endif + return QNoDebug(); +} + SoundNotifyPlugin::SoundNotifyPlugin() { - phonon.mo = NULL; - configured = false; + phonon.mo = NULL; + configured = false; // Do nothing } @@ -121,7 +135,7 @@ void SoundNotifyPlugin::readConfig( QSettings* settings, UAVConfigInfo *configIn int size = settings->beginReadArray("listNotifies"); for (int i = 0; i < size; ++i) { settings->setArrayIndex(i); - NotifyPluginConfiguration* notification = new NotifyPluginConfiguration; + NotificationItem* notification = new NotificationItem; notification->restoreState(settings); lstNotifications.append(notification); } @@ -145,7 +159,7 @@ void SoundNotifyPlugin::readConfig_0_0_0(){ int size = settings->beginReadArray("listNotifies"); for (int i = 0; i < size; ++i) { settings->setArrayIndex(i); - NotifyPluginConfiguration* notification = new NotifyPluginConfiguration; + NotificationItem* notification = new NotificationItem; notification->restoreState(settings); lstNotifications.append(notification); } @@ -185,7 +199,7 @@ void SoundNotifyPlugin::onAutopilotDisconnect() void SoundNotifyPlugin::resetNotification(void) { //first, reject empty args and unknown fields. - foreach(NotifyPluginConfiguration* notify,lstNotifications) { + foreach(NotificationItem* notify,lstNotifications) { if(notify->timer) { disconnect(notify->timer, SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); @@ -207,7 +221,7 @@ void SoundNotifyPlugin::resetNotification(void) update list of notifies; will be perform on OK or APPLY press of option page */ -void SoundNotifyPlugin::updateNotificationList(QList list) +void SoundNotifyPlugin::updateNotificationList(QList list) { removedNotifies.clear(); resetNotification(); @@ -224,10 +238,10 @@ void SoundNotifyPlugin::connectNotifications() if (obj != NULL) disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(appendNotification(UAVObject*))); } - if(phonon.mo != NULL) { - delete phonon.mo; - phonon.mo = NULL; - } + if(phonon.mo != NULL) { + delete phonon.mo; + phonon.mo = NULL; + } if(!enableSound) return; @@ -240,25 +254,10 @@ void SoundNotifyPlugin::connectNotifications() removedNotifies.clear(); //first, reject empty args and unknown fields. - foreach(NotifyPluginConfiguration* notify,lstNotifications) { + foreach(NotificationItem* notify, lstNotifications) { notify->firstStart=true; notify->isNowPlaying=false; -// if(notify->timer) -// { -// disconnect(notify->timer, SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); -// notify->timer->stop(); -// delete notify->timer; -// notify->timer = NULL; -// } -// if(notify->expireTimer) -// { -// disconnect(notify->expireTimer, SIGNAL(timeout()), this, SLOT(expireTimerHandler())); -// notify->expireTimer->stop(); -// delete notify->expireTimer; -// notify->expireTimer = NULL; -// } - UAVDataObject* obj = dynamic_cast( objManager->getObject(notify->getDataObject()) ); if (obj != NULL ) { if(!lstNotifiedUAVObjects.contains(obj)) { @@ -269,27 +268,25 @@ void SoundNotifyPlugin::connectNotifications() std::cout << "Error: Object is unknown (" << notify->getDataObject().toStdString() << ")." << std::endl; } - if(lstNotifications.isEmpty()) return; - // set notification message to current event - phonon.mo = Phonon::createPlayer(Phonon::NotificationCategory); - phonon.mo->clearQueue(); - phonon.firstPlay = true; -#ifdef DEBUG_NOTIFIES - QList audioOutputDevices = - Phonon::BackendCapabilities::availableAudioOutputDevices(); - foreach(Phonon::AudioOutputDevice dev, audioOutputDevices) { - qDebug() << "Notify: Audio Output device: " << dev.name() << " - " << dev.description(); - } -#endif - connect(phonon.mo,SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(stateChanged(Phonon::State,Phonon::State))); + if(lstNotifications.isEmpty()) return; + // set notification message to current event + phonon.mo = Phonon::createPlayer(Phonon::NotificationCategory); + phonon.mo->clearQueue(); + phonon.firstPlay = true; + QList audioOutputDevices = + Phonon::BackendCapabilities::availableAudioOutputDevices(); + foreach(Phonon::AudioOutputDevice dev, audioOutputDevices) { + qNotifyDebug() << "Notify: Audio Output device: " << dev.name() << " - " << dev.description(); + } + connect(phonon.mo, SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this, SLOT(stateChanged(Phonon::State,Phonon::State))); } void SoundNotifyPlugin::appendNotification(UAVObject *object) { disconnect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); - foreach(NotifyPluginConfiguration* notification, lstNotifications) { + foreach(NotificationItem* notification, lstNotifications) { if(object->getName()!=notification->getDataObject()) continue; @@ -306,7 +303,7 @@ void SoundNotifyPlugin::appendNotification(UAVObject *object) } -void SoundNotifyPlugin::checkNotificationRule(NotifyPluginConfiguration* notification, UAVObject* object) +void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UAVObject* object) { bool condition=false; double threshold; @@ -350,7 +347,7 @@ void SoundNotifyPlugin::checkNotificationRule(NotifyPluginConfiguration* notific #endif // if audio is busy, start expiration timer //ms = (notification->getExpiredTimeout()[in sec])*1000 - //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotifyPluginConfiguration*)), qVariantFromValue(notification)); + //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); pendingNotifications.append(notification); if(!notification->expireTimer) { @@ -363,21 +360,22 @@ void SoundNotifyPlugin::checkNotificationRule(NotifyPluginConfiguration* notific } } -bool SoundNotifyPlugin::playNotification(NotifyPluginConfiguration* notification) +bool SoundNotifyPlugin::playNotification(NotificationItem* notification) { // Check: race condition, if phonon.mo got deleted don't go further if (phonon.mo == NULL) return false; + if(!notification->getEnableFlag()) return true; + #ifdef DEBUG_NOTIFIES qDebug() << "Phonon State: " << phonon.mo->state(); #endif - if((phonon.mo->state()==Phonon::PausedState) || - (phonon.mo->state()==Phonon::StoppedState) || - phonon.firstPlay) + if((phonon.mo->state()==Phonon::PausedState) + || (phonon.mo->state()==Phonon::StoppedState) + || phonon.firstPlay) { // don't fire expire timer - //notification->expire = false; nowPlayingConfiguration = notification; if(notification->expireTimer) notification->expireTimer->stop(); @@ -385,7 +383,6 @@ bool SoundNotifyPlugin::playNotification(NotifyPluginConfiguration* notification if(notification->getRepeatFlag()=="Repeat Once") { removedNotifies.append(lstNotifications.takeAt(lstNotifications.indexOf(notification))); - //if(!notification->firstStart) return true; } else { if(notification->getRepeatFlag()!="Repeat Instantly") @@ -407,24 +404,21 @@ bool SoundNotifyPlugin::playNotification(NotifyPluginConfiguration* notification } if(!notification->timer->isActive()) notification->timer->start(); - - //QxtTimer::singleShot(timer_value, this, SLOT(repeatTimerHandler(NotifyPluginConfiguration*)), qVariantFromValue(notification)); } } notification->firstStart=false; - phonon.mo->clear(); + phonon.mo->clear(); QString str = notification->parseNotifyMessage(); -#ifdef DEBUG_NOTIFIES - qDebug() << "play notification - " << str; -#endif - foreach(QString item, notification->getNotifyMessageList()) { - Phonon::MediaSource *ms = new Phonon::MediaSource(item); - ms->setAutoDelete(true); - phonon.mo->enqueue(*ms); - } + qNotifyDebug() << "play notification - " << str; + + foreach(QString item, notification->getMessageSequence()) { + Phonon::MediaSource *ms = new Phonon::MediaSource(item); + ms->setAutoDelete(true); + phonon.mo->enqueue(*ms); + } phonon.mo->play(); - phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before - // the state is not "Loading" anymore. + phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before + // the state is not "Loading" anymore. } else return false; // if audio is busy @@ -432,20 +426,9 @@ bool SoundNotifyPlugin::playNotification(NotifyPluginConfiguration* notification return true; } -//void SoundNotifyPlugin::repeatTimerHandler(NotifyPluginConfiguration* notification) -//{ -// qDebug() << "repeatTimerHandler - " << notification->parseNotifyMessage(); - -// ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); -// UAVObjectManager *objManager = pm->getObject(); -// UAVObject* object = objManager->getObject(notification->getDataObject()); -// if(object) -// checkNotificationRule(notification,object); -//} - void SoundNotifyPlugin::repeatTimerHandler() { - NotifyPluginConfiguration* notification = static_cast(sender()->parent()); + NotificationItem* notification = static_cast(sender()->parent()); #ifdef DEBUG_NOTIFIES qDebug() << "repeatTimerHandler - " << notification->parseNotifyMessage(); #endif @@ -459,7 +442,7 @@ void SoundNotifyPlugin::repeatTimerHandler() void SoundNotifyPlugin::expireTimerHandler() { // fire expire timer - NotifyPluginConfiguration* notification = static_cast(sender()->parent()); + NotificationItem* notification = static_cast(sender()->parent()); notification->expireTimer->stop(); if(!pendingNotifications.isEmpty()) @@ -494,7 +477,7 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst nowPlayingConfiguration=NULL; if(!pendingNotifications.isEmpty()) { - NotifyPluginConfiguration* notification = pendingNotifications.takeFirst(); + NotificationItem* notification = pendingNotifications.takeFirst(); #ifdef DEBUG_NOTIFIES qDebug() << "play audioFree - " << notification->parseNotifyMessage(); #endif diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h index 0d0eb50d8..afd68fecc 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h @@ -32,7 +32,7 @@ #include "uavtalk/telemetrymanager.h" #include "uavobjectmanager.h" #include "uavobject.h" -#include "notifypluginconfiguration.h" +#include "notificationitem.h" #include #include @@ -44,10 +44,12 @@ class NotifyPluginOptionsPage; typedef struct { Phonon::MediaObject* mo; - NotifyPluginConfiguration* notify; - bool firstPlay; + NotificationItem* notify; + bool firstPlay; } PhononObject, *pPhononObject; + + class SoundNotifyPlugin : public Core::IConfigurablePlugin { Q_OBJECT @@ -62,48 +64,42 @@ public: void shutdown(); - QList getListNotifications() { return lstNotifications; } - //void setListNotifications(QList& list_notify) { } - NotifyPluginConfiguration* getCurrentNotification(){ return ¤tNotification;} + QList getListNotifications() { return lstNotifications; } + NotificationItem* getCurrentNotification(){ return ¤tNotification;} bool getEnableSound() const { return enableSound; } void setEnableSound(bool value) {enableSound = value; } - - private: bool configured; // just for migration,delete later bool enableSound; QList< QList* > lstMediaSource; QStringList mediaSource; - //QMap mapMediaObjects; QMultiMap mapMediaObjects; - QSettings* settings; QList lstNotifiedUAVObjects; + QList lstNotifications; + QList pendingNotifications; + QList removedNotifies; - QList lstNotifications; - QList pendingNotifications; - QList removedNotifies; - - NotifyPluginConfiguration currentNotification; - NotifyPluginConfiguration* nowPlayingConfiguration; + NotificationItem currentNotification; + NotificationItem* nowPlayingConfiguration; QString m_field; PhononObject phonon; NotifyPluginOptionsPage *mop; TelemetryManager* telMngr; - bool playNotification(NotifyPluginConfiguration* notification); - void checkNotificationRule(NotifyPluginConfiguration* notification, UAVObject* object); + bool playNotification(NotificationItem* notification); + void checkNotificationRule(NotificationItem* notification, UAVObject* object); void readConfig_0_0_0(); private slots: void onTelemetryManagerAdded(QObject* obj); void onAutopilotDisconnect(); void connectNotifications(); - void updateNotificationList(QList list); + void updateNotificationList(QList list); void resetNotification(void); void appendNotification(UAVObject *object); void repeatTimerHandler(void); diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.cpp index 94b88421e..8d5cb25e3 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.cpp @@ -1,7 +1,7 @@ /** ****************************************************************************** * - * @file notifyPluginConfiguration.cpp + * @file NotificationItem.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Notify Plugin configuration * @see The GNU Public License (GPL) Version 3 @@ -25,60 +25,60 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "notifypluginconfiguration.h" +#include "NotificationItem.h" #include #include #include "utils/pathutils.h" -NotifyPluginConfiguration::NotifyPluginConfiguration(QObject *parent) : +NotificationItem::NotificationItem(QObject *parent) : QObject(parent), isNowPlaying(0), firstStart(1), - soundCollectionPath(""), - currentLanguage("default"), - dataObject(""), - objectField(""), - value("Equal to"), - sound1(""), - sound2(""), - sound3(""), - sayOrder("Never"), - spinBoxValue(0), - repeatString("Repeat Instantly"), - repeatTimeout(true), - expireTimeout(15) + _soundCollectionPath(""), + _currentLanguage("default"), + _dataObject(""), + _objectField(""), + _dataValue("Equal to"), + _sound1(""), + _sound2(""), + _sound3(""), + _sayOrder("Never"), + _spinBoxValue(0), + _repeatString("Repeat Instantly"), + _repeatTimeout(true), + _expireTimeout(15) { timer = NULL; expireTimer = NULL; } -void NotifyPluginConfiguration::copyTo(NotifyPluginConfiguration* that) const +void NotificationItem::copyTo(NotificationItem* that) const { that->isNowPlaying = isNowPlaying; that->firstStart = firstStart; - that->soundCollectionPath = soundCollectionPath; - that->currentLanguage = currentLanguage; - that->soundCollectionPath = soundCollectionPath; - that->dataObject = dataObject; - that->objectField = objectField; - that->value = value; - that->sound1 = sound1; - that->sound2 = sound2; - that->sound3 = sound3; - that->sayOrder = sayOrder; - that->spinBoxValue = spinBoxValue; - that->repeatString = repeatString; - that->repeatTimeout = repeatTimeout; - that->expireTimeout = expireTimeout; + that->_soundCollectionPath = _soundCollectionPath; + that->_currentLanguage = _currentLanguage; + that->_soundCollectionPath = _soundCollectionPath; + that->_dataObject = _dataObject; + that->_objectField = _objectField; + that->_dataValue = _dataValue; + that->_sound1 = _sound1; + that->_sound2 = _sound2; + that->_sound3 = _sound3; + that->_sayOrder = _sayOrder; + that->_spinBoxValue = _spinBoxValue; + that->_repeatString = _repeatString; + that->_repeatTimeout = _repeatTimeout; + that->_expireTimeout = _expireTimeout; } -void NotifyPluginConfiguration::saveState(QSettings* settings) const +void NotificationItem::saveState(QSettings* settings) const { - settings->setValue("SoundCollectionPath", Utils::PathUtils().RemoveDataPath(getSoundCollectionPath())); + settings->setValue("SoundCollectionPath", Utils::PathUtils().RemoveDataPath(getSoundCollectionPath())); settings->setValue(QLatin1String("CurrentLanguage"), getCurrentLanguage()); settings->setValue(QLatin1String("ObjectField"), getObjectField()); settings->setValue(QLatin1String("DataObject"), getDataObject()); @@ -92,7 +92,7 @@ void NotifyPluginConfiguration::saveState(QSettings* settings) const settings->setValue(QLatin1String("ExpireTimeout"), getExpireTimeout()); } -void NotifyPluginConfiguration::restoreState(QSettings* settings) +void NotificationItem::restoreState(QSettings* settings) { //settings = Core::ICore::instance()->settings(); setSoundCollectionPath(Utils::PathUtils().InsertDataPath(settings->value(QLatin1String("SoundCollectionPath"), tr("")).toString())); @@ -110,7 +110,7 @@ void NotifyPluginConfiguration::restoreState(QSettings* settings) } -QString NotifyPluginConfiguration::parseNotifyMessage() +QString NotificationItem::parseNotifyMessage() { // tips: // check of *.wav files exist needed for playing phonon queues; @@ -121,30 +121,30 @@ QString NotifyPluginConfiguration::parseNotifyMessage() str = QString("%L1 ").arg(getSpinBoxValue()); int position = 0xFF; // generate queue of sound files to play - notifyMessageList.clear(); + _messageSequence.clear(); - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav"))) - notifyMessageList.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav")); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav"))) + _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav")); else - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav"))) - notifyMessageList.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav")); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav"))) + _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav")); - if(getSound2()!="") + if("" != getSound2()) { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav"))) - notifyMessageList.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav")); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav"))) + _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav")); else - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav"))) - notifyMessageList.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav")); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav"))) + _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav")); } - if(getSound3()!="") + if("" != getSound3()) { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav"))) - notifyMessageList.append(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav")); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav"))) + _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav")); else - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav"))) - notifyMessageList.append(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav")); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav"))) + _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav")); } switch(str1.at(0).toAscii()) @@ -178,7 +178,7 @@ QString NotifyPluginConfiguration::parseNotifyMessage() break; } - if(position!=0xFF) + if(position != 0xFF) { QStringList numberParts = QString("%1").arg(getSpinBoxValue()).trimmed().split("."); QStringList numberFiles; @@ -212,9 +212,9 @@ QString NotifyPluginConfiguration::parseNotifyMessage() } } - if(numberParts.size()>1) { + if(1 < numberParts.size()) { numberFiles.append("point"); - if((numberParts.at(1).size()==1) /*|| (numberParts.at(1).toInt()<20)*/) + if((numberParts.at(1).size()==1)) numberFiles.append(numberParts.at(1)); else { if(numberParts.at(1).left(1)=="0") @@ -226,20 +226,18 @@ QString NotifyPluginConfiguration::parseNotifyMessage() } foreach(QString fileName,numberFiles) { fileName+=".wav"; - QString filePath = QDir::toNativeSeparators(getSoundCollectionPath()+"/"+ getCurrentLanguage()+"/"+fileName); + QString filePath = QDir::toNativeSeparators(getSoundCollectionPath()+"/"+ getCurrentLanguage()+"/"+fileName); if(QFile::exists(filePath)) - notifyMessageList.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+ "/"+getCurrentLanguage()+"/"+fileName)); + _messageSequence.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+ "/"+getCurrentLanguage()+"/"+fileName)); else { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName))) - notifyMessageList.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName)); + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName))) + _messageSequence.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName)); else { - notifyMessageList.clear(); + _messageSequence.clear(); break; // if no some of *.wav files, then don't play number! } } } } - - //str.replace(QString(".wav | .mp3"), QString("")); return str; } diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.h b/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.h deleted file mode 100644 index ad13a82a0..000000000 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.h +++ /dev/null @@ -1,122 +0,0 @@ -/** - ****************************************************************************** - * - * @file notifypluginconfiguration.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Notify Plugin configuration header - * @see The GNU Public License (GPL) Version 3 - * @defgroup notifyplugin - * @{ - * - *****************************************************************************/ -/* - * 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 NOTIFYPLUGINCONFIGURATION_H -#define NOTIFYPLUGINCONFIGURATION_H -#include -#include "qsettings.h" -#include -#include - -using namespace Core; - -class NotifyPluginConfiguration : public QObject -{ - Q_OBJECT -public: - explicit NotifyPluginConfiguration(QObject *parent = 0); - - QTimer* timer; - QTimer* expireTimer; - bool isNowPlaying; // - bool firstStart; - - void copyTo(NotifyPluginConfiguration*) const; - - QString getSound1() const { return sound1; } - void setSound1(QString text) {sound1 = text; } - - QString getSound2() const { return sound2; } - void setSound2(QString text) {sound2 = text; } - - QString getSound3() const { return sound3; } - void setSound3(QString text) {sound3 = text; } - - QString getValue() const { return value; } - void setValue(QString text) {value = text; } - - QString getSayOrder() const { return sayOrder; } - void setSayOrder(QString text) {sayOrder = text; } - - double getSpinBoxValue() const { return spinBoxValue; } - void setSpinBoxValue(double value) {spinBoxValue = value; } - - - QString getDataObject() const { return dataObject; } - void setDataObject(QString text) {dataObject = text; } - - QString getObjectField() const { return objectField; } - void setObjectField(QString text) { objectField = text; } - - QString getSoundCollectionPath() const { return soundCollectionPath; } - void setSoundCollectionPath(QString text) { soundCollectionPath = text; } - - QString getCurrentLanguage() const { return currentLanguage; } - void setCurrentLanguage(QString text) { currentLanguage = text; } - - QStringList getNotifyMessageList() const { return notifyMessageList; } - void setNotifyMessageList(QStringList text) { notifyMessageList = text; } - - QString getRepeatFlag() const { return repeatString; } - void setRepeatFlag(QString value) { repeatString = value; } - - bool getRepeatTimeout() const { return repeatTimeout; } - void setRepeatTimeout(bool value) { repeatTimeout = value; } - - int getExpireTimeout() const { return expireTimeout; } - void setExpireTimeout(int value) { expireTimeout = value; } - - - - void saveState(QSettings* settings) const; - void restoreState(QSettings* settings); - QString parseNotifyMessage(); - -private: - QStringList notifyMessageList; - QString soundCollectionPath; - QString currentLanguage; - QString dataObject; - QString objectField; - - QString value; - QString sound1; - QString sound2; - QString sound3; - QString sayOrder; - double spinBoxValue; - QString repeatString; - bool repeatTimeout; - int repeatTimerValue; - int expireTimeout; - -}; - -Q_DECLARE_METATYPE(NotifyPluginConfiguration*) - -#endif // NOTIFYPLUGINCONFIGURATION_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index 5dee5678a..48d8f9132 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -27,7 +27,7 @@ #include "notifypluginoptionspage.h" #include -#include "notifypluginconfiguration.h" +#include "notificationitem.h" #include "ui_notifypluginoptionspage.h" #include "extensionsystem/pluginmanager.h" #include "utils/pathutils.h" @@ -44,7 +44,7 @@ #include "notifyitemdelegate.h" #include "notifytablemodel.h" -NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotifyPluginConfiguration *config,*/ QObject *parent) : +NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) : IOptionsPage(parent), owner((SoundNotifyPlugin*)parent), currentCollectionPath(""), @@ -95,36 +95,29 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); -// connect(options_page->buttonTestSound1, SIGNAL(clicked()), this, SLOT(on_buttonTestSound1_clicked())); -// connect(options_page->buttonTestSound2, SIGNAL(clicked()), this, SLOT(on_buttonTestSound2_clicked())); connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); - connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); - connect(this, SIGNAL(updateNotifications(QList)), - owner, SLOT(updateNotificationList(QList))); + connect(this, SIGNAL(updateNotifications(QList)), + owner, SLOT(updateNotificationList(QList))); connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); //emit resetNotification(); + privListNotifications.clear(); - privListNotifications.clear(); - - for (int i = 0; i < owner->getListNotifications().size(); ++i) { - NotifyPluginConfiguration* notification = new NotifyPluginConfiguration(); - owner->getListNotifications().at(i)->copyTo(notification); - privListNotifications.append(notification); + for (int i = 0; i < owner->getListNotifications().size(); ++i) { + NotificationItem* notification = new NotificationItem(); + owner->getListNotifications().at(i)->copyTo(notification); + privListNotifications.append(notification); } - updateConfigView(owner->getCurrentNotification()); + updateConfigView(owner->getCurrentNotification()); - options_page->chkEnableSound->setChecked(owner->getEnableSound()); + options_page->chkEnableSound->setChecked(owner->getEnableSound()); - QStringList headerStrings; - headerStrings << "Name" << "Repeats" << "Lifetime,sec"; - - notifyRulesModel = new NotifyTableModel(&privListNotifications,headerStrings); + notifyRulesModel = new NotifyTableModel(&privListNotifications); options_page->notifyRulesView->setModel(notifyRulesModel); options_page->notifyRulesView->resizeRowsToContents(); notifyRulesSelection = new QItemSelectionModel(notifyRulesModel); @@ -135,50 +128,28 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) connect(this, SIGNAL(entryAdded(int)), notifyRulesModel, SLOT(entryAdded(int))); + options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); - options_page->notifyRulesView->setColumnWidth(0,200); - options_page->notifyRulesView->setColumnWidth(1,150); - options_page->notifyRulesView->setColumnWidth(2,100); + options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); + options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); + options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); + options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); options_page->buttonModify->setEnabled(false); options_page->buttonDelete->setEnabled(false); options_page->buttonPlayNotification->setEnabled(false); -// sound1 = Phonon::createPlayer(Phonon::NotificationCategory); -// sound2 = Phonon::createPlayer(Phonon::NotificationCategory); notifySound = Phonon::createPlayer(Phonon::NotificationCategory); -// audioOutput = new Phonon::AudioOutput(Phonon::NotificationCategory, this); -// Phonon::createPath(sound1, audioOutput); -// Phonon::createPath(sound2, audioOutput); -// Phonon::createPath(notifySound, audioOutput); - -// connect(sound1,SIGNAL(stateChanged(Phonon::State,Phonon::State)),SLOT(changeButtonText(Phonon::State,Phonon::State))); -// connect(sound2,SIGNAL(stateChanged(Phonon::State,Phonon::State)),SLOT(changeButtonText(Phonon::State,Phonon::State))); connect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + connect(notifySound, SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); return optionsPageWidget; } -void NotifyPluginOptionsPage::showPersistentComboBox( const QModelIndex & parent, int start, int end ) -{ -// for (int i=start; itableNotifications->openPersistentEditor(options_page->tableNotifications->item(i,1)); -// } -} - -void NotifyPluginOptionsPage::showPersistentComboBox2( const QModelIndex & topLeft, const QModelIndex & bottomRight ) -{ - //for (QModelIndex i=topLeft; itableNotifications->openPersistentEditor(options_page->tableNotifications->item(options_page->tableNotifications->currentRow(),1)); - } -} - - -void NotifyPluginOptionsPage::getOptionsPageValues(NotifyPluginConfiguration* notification) +void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) { notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); @@ -191,26 +162,16 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotifyPluginConfiguration* no notification->setValue(options_page->Value->currentText()); notification->setSpinBoxValue(options_page->ValueSpinBox->value()); -// if(notifyRulesSelection->currentIndex().row()>-1) -// { -// //qDebug() << "delegate value:" << options_page->tableNotifications->item(options_page->tableNotifications->currentRow(),1)->data(Qt::EditRole); -// notification->setRepeatFlag(notifyRulesModel->data(notifyRulesSelection->currentIndex(),Qt::DisplayRole).toString()); -// } } -//////////////////////////////////////////// -// Called when the user presses apply or OK. -// -// Saves the current values -// -//////////////////////////////////////////// +/*! +* Called when the user presses apply or OK. +* Saves the current values +*/ void NotifyPluginOptionsPage::apply() { - - getOptionsPageValues(owner->getCurrentNotification()); - + getOptionsPageValues(owner->getCurrentNotification()); owner->setEnableSound(options_page->chkEnableSound->isChecked()); - //owner->setListNotifications(privListNotifications); emit updateNotifications(privListNotifications); } @@ -218,25 +179,22 @@ void NotifyPluginOptionsPage::finish() { disconnect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - if(notifySound) - { + if (notifySound) { notifySound->stop(); notifySound->clear(); } - - delete options_page; + if (options_page) + delete options_page; } - - ////////////////////////////////////////////////////////////////////////////// // Fills in the combo box when value is changed in the // combo box ////////////////////////////////////////////////////////////////////////////// void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) { options_page->UAVObjectField->clear(); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); + ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager* objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast( objManager->getObject(val) ); QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { @@ -258,8 +216,8 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) { options_page->SoundCollectionList->setCurrentIndex(index); - currentCollectionPath = options_page->SoundDirectoryPathChooser->path() + - QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); + currentCollectionPath = options_page->SoundDirectoryPathChooser->path() + + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); QDir dirPath(currentCollectionPath); QStringList filters; @@ -280,30 +238,38 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) { - if(newstate == Phonon::PausedState || newstate == Phonon::StoppedState){ + Q_ASSERT(Phonon::ErrorState != newstate); + + if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { options_page->buttonPlayNotification->setText("Play"); options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); - } - else - if(newstate == Phonon::PlayingState) { - options_page->buttonPlayNotification->setText("Stop"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); + } else { + if (newstate == Phonon::PlayingState) { + options_page->buttonPlayNotification->setText("Stop"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); + } } } +void NotifyPluginOptionsPage::onFinishedPlaying() +{ + notifySound->clear(); +} void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() { - // QList messageNotify; - NotifyPluginConfiguration *notification; + NotificationItem* notification = NULL; - if(notifyRulesSelection->currentIndex().row()==-1) return; - - notifySound->clearQueue(); + if (-1 == notifyRulesSelection->currentIndex().row()) + return; + notifySound->clearQueue(); notification = privListNotifications.at(notifyRulesSelection->currentIndex().row()); notification->parseNotifyMessage(); - foreach(QString item, notification->getNotifyMessageList()) - notifySound->enqueue(Phonon::MediaSource(item)); + QStringList sequence = notification->getMessageSequence(); + Q_ASSERT(!!sequence.size()); + foreach(QString item, sequence) + notifySound->enqueue(Phonon::MediaSource(item)); + notifySound->play(); } @@ -316,25 +282,24 @@ void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state) audioOutput->setMuted(state1); } -void NotifyPluginOptionsPage::updateConfigView(NotifyPluginConfiguration* notification) +void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) { QString path = notification->getSoundCollectionPath(); - if(path=="") - { + if (path == "") { //QDir dir = QDir::currentPath(); //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; - path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); + path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); } + options_page->SoundDirectoryPathChooser->setPath(path); - if(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())!=-1){ + if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); - } - else + } else { options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + } - - if(options_page->UAVObject->findText(notification->getDataObject())!=-1){ + if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); } @@ -349,15 +314,13 @@ void NotifyPluginOptionsPage::updateConfigView(NotifyPluginConfiguration* notifi } } - if(options_page->UAVObjectField->findText(notification->getObjectField())!=-1){ + if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); } - if(options_page->Sound1->findText(notification->getSound1())!=-1){ + if (-1 != options_page->Sound1->findText(notification->getSound1())) { options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); - } - else - { + } else { // show item from default location options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); @@ -366,10 +329,9 @@ void NotifyPluginOptionsPage::updateConfigView(NotifyPluginConfiguration* notifi //options_page->Sound1->setCurrentIndex(-1); } - if(options_page->Sound2->findText(notification->getSound2())!=-1) { + if (-1 != options_page->Sound2->findText(notification->getSound2())) { options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); - } - else { + } else { // show item from default location options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); @@ -378,33 +340,33 @@ void NotifyPluginOptionsPage::updateConfigView(NotifyPluginConfiguration* notifi //options_page->Sound2->setCurrentIndex(-1); } - if(options_page->Sound3->findText(notification->getSound3())!=-1) { + if (-1 != options_page->Sound3->findText(notification->getSound3())) { options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); - } - else { + } else { // show item from default location options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); } - if(options_page->Value->findText(notification->getValue())!=-1) { + if (-1 != options_page->Value->findText(notification->getValue())) { options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); } - if(options_page->SayOrder->findText(notification->getSayOrder())!=-1) { + if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) { options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); } + options_page->ValueSpinBox->setValue(notification->getSpinBoxValue()); } void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) { - bool select = true; + bool select = false; notifySound->stop(); - if(selected.indexes().size()) + if (selected.indexes().size()) { + select = true; updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); - else - select = false; + } options_page->buttonModify->setEnabled(select); options_page->buttonDelete->setEnabled(select); @@ -412,13 +374,11 @@ void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemS } - void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() { - NotifyPluginConfiguration* notification = new NotifyPluginConfiguration; + NotificationItem* notification = new NotificationItem; - if(options_page->SoundDirectoryPathChooser->path()=="") - { + if (options_page->SoundDirectoryPathChooser->path()=="") { QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); options_page->SoundDirectoryPathChooser->setPalette(textPalette); @@ -433,20 +393,20 @@ void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() notification->setValue(options_page->Value->currentText()); notification->setSpinBoxValue(options_page->ValueSpinBox->value()); - if(options_page->Sound1->currentText()!="") + if (options_page->Sound1->currentText().size() > 0) notification->setSound1(options_page->Sound1->currentText()); notification->setSound2(options_page->Sound2->currentText()); notification->setSound3(options_page->Sound3->currentText()); - if(((options_page->Sound2->currentText()=="")&&(options_page->SayOrder->currentText()=="After second")) - || ((options_page->Sound3->currentText()=="")&&(options_page->SayOrder->currentText()=="After third"))) + if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) + || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { return; - else + } else { notification->setSayOrder(options_page->SayOrder->currentText()); - + } privListNotifications.append(notification); - emit entryAdded(privListNotifications.size()-1); + emit entryAdded(privListNotifications.size() - 1); notifyRulesSelection->setCurrentIndex(notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } @@ -455,7 +415,9 @@ void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() { notifyRulesModel->removeRow(notifyRulesSelection->currentIndex().row()); - if(!notifyRulesModel->rowCount() && (notifyRulesSelection->currentIndex().row() > 0 && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount())) + if (!notifyRulesModel->rowCount() + && (notifyRulesSelection->currentIndex().row() > 0 + && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount()) ) { options_page->buttonDelete->setEnabled(false); options_page->buttonModify->setEnabled(false); @@ -466,7 +428,7 @@ void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() { - NotifyPluginConfiguration* notification = new NotifyPluginConfiguration; + NotificationItem* notification = new NotificationItem; getOptionsPageValues(notification); notification->setRepeatFlag(privListNotifications.at(notifyRulesSelection->currentIndex().row())->getRepeatFlag()); privListNotifications.replace(notifyRulesSelection->currentIndex().row(),notification); diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index 9d159e2a4..31da8373f 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -45,7 +45,7 @@ class NotifyTableModel; -class NotifyPluginConfiguration; +class NotificationItem; class SoundNotifyPlugin; namespace Ui { @@ -59,7 +59,7 @@ class NotifyPluginOptionsPage : public IOptionsPage { Q_OBJECT public: - explicit NotifyPluginOptionsPage(/*NotifyPluginConfiguration *config, */QObject *parent = 0); + explicit NotifyPluginOptionsPage(/*NotificationItem *config, */QObject *parent = 0); QString id() const { return QLatin1String("settings"); } QString trName() const { return tr("settings"); } @@ -73,8 +73,8 @@ public: void finish(); void restoreFromSettings(); - void updateConfigView(NotifyPluginConfiguration* notification); - void getOptionsPageValues(NotifyPluginConfiguration* notification); + void updateConfigView(NotificationItem* notification); + void getOptionsPageValues(NotificationItem* notification); private: UAVObjectManager *objManager; @@ -90,24 +90,18 @@ private: QStringList delegateItems; NotifyTableModel* notifyRulesModel; QItemSelectionModel *notifyRulesSelection; - QList privListNotifications; + QList privListNotifications; Ui::NotifyPluginOptionsPage *options_page; - //NotifyPluginConfiguration *notify; signals: - void updateNotifications(QList list); + void updateNotifications(QList list); void resetNotification(void); void entryUpdated(int index); void entryAdded(int position); private slots: - void showPersistentComboBox( const QModelIndex & parent, int start, int end ); - void showPersistentComboBox2 ( const QModelIndex & topLeft, const QModelIndex & bottomRight ); - -// void on_buttonTestSound1_clicked(); -// void on_buttonTestSound2_clicked(); void on_buttonTestSoundNotification_clicked(); void on_buttonAddNotification_clicked(); @@ -119,6 +113,9 @@ private slots: void on_UAVObject_indexChanged(QString val); void changeButtonText(Phonon::State newstate, Phonon::State oldstate); void on_chkEnableSound_toggled(bool state); + + void onFinishedPlaying(void); + }; #endif // NOTIFYPLUGINOPTIONSPAGE_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui index b3f48432a..4645bd14a 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui @@ -24,7 +24,7 @@ 10 10 - 501 + 551 81 @@ -36,7 +36,7 @@ 10 20 - 481 + 531 51 @@ -89,7 +89,7 @@ p, li { white-space: pre-wrap; } 10 220 - 501 + 551 211 @@ -101,7 +101,7 @@ p, li { white-space: pre-wrap; } 10 180 - 481 + 531 26 @@ -203,7 +203,7 @@ p, li { white-space: pre-wrap; } 10 20 - 481 + 531 151 @@ -226,7 +226,7 @@ p, li { white-space: pre-wrap; } 10 100 - 501 + 551 31 @@ -272,7 +272,7 @@ p, li { white-space: pre-wrap; } 7 130 - 501 + 551 20 @@ -285,7 +285,7 @@ p, li { white-space: pre-wrap; } 10 180 - 501 + 551 31 @@ -390,7 +390,7 @@ p, li { white-space: pre-wrap; } 10 150 - 501 + 551 31 diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index 6f0584d70..6e503cbd8 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -26,17 +26,30 @@ */ #include "notifytablemodel.h" +#include + +NotifyTableModel::NotifyTableModel(QList* parentList, QObject* parent) + : QAbstractTableModel(parent) +{ + _headerStrings << "Name" << "Repeats" << "Lifetime,sec" << "Enable"; + _list.reset(parentList); +} + bool NotifyTableModel::setData(const QModelIndex &index, const QVariant &value, int role) { if (index.isValid() && role == Qt::EditRole) { - if(index.column()==1) + if(eREPEAT_VALUE == index.column()) _list->at(index.row())->setRepeatFlag(value.toString()); - else - if(index.column()==2) + else { + if(eEXPIRE_TIME == index.column()) _list->at(index.row())->setExpireTimeout(value.toInt()); - + else { + if(eENABLE_NOTIFICATION == index.column()) + _list->at(index.row())->setEnableFlag(value.toBool()); + } + } emit dataChanged(index, index); return true; } @@ -45,9 +58,10 @@ bool NotifyTableModel::setData(const QModelIndex &index, QVariant NotifyTableModel::data(const QModelIndex &index, int role) const { - - if (!index.isValid()) + if (!index.isValid()) { + qWarning() << "NotifyTableModel::data - index.isValid()"; return QVariant(); + } if (index.row() >= _list->size()) return QVariant(); @@ -56,15 +70,18 @@ QVariant NotifyTableModel::data(const QModelIndex &index, int role) const { switch(index.column()) { - case 0: + case eMESSAGE_NAME: return _list->at(index.row())->parseNotifyMessage(); - case 1: + case eREPEAT_VALUE: return _list->at(index.row())->getRepeatFlag(); - case 2: + case eEXPIRE_TIME: return _list->at(index.row())->getExpireTimeout(); + case eENABLE_NOTIFICATION: + return _list->at(index.row())->getEnableFlag(); + default: return QVariant(); } @@ -72,12 +89,8 @@ QVariant NotifyTableModel::data(const QModelIndex &index, int role) const else { if (Qt::SizeHintRole == role){ - //QVariant size = data(index, Qt::SizeHintRole); return QVariant(10); } - // if(role == Qt::DecorationRole) - // if (index.column() == 0) - // return defectsIcons[defectList->at(index.row()).id-1]; } return QVariant(); } @@ -88,7 +101,7 @@ QVariant NotifyTableModel::headerData(int section, Qt::Orientation orientation, return QVariant(); if (orientation == Qt::Horizontal) - return headerStrings.at(section); + return _headerStrings.at(section); else if(orientation == Qt::Vertical) return QString("%1").arg(section); @@ -100,12 +113,6 @@ bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex &ind { Q_UNUSED(index); beginInsertRows(QModelIndex(), position, position+rows-1); - -// for (int row=0; row < rows; ++row) { -// _list->append(position); -// } - - endInsertRows(); return true; } diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h index 65aa82a86..978605fbe 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h @@ -31,26 +31,28 @@ #include #include -#include "notifypluginconfiguration.h" +#include "notificationitem.h" + +enum ColumnNames { eMESSAGE_NAME, eREPEAT_VALUE, eEXPIRE_TIME, eENABLE_NOTIFICATION }; class NotifyTableModel : public QAbstractTableModel { Q_OBJECT - public: - NotifyTableModel(QList *parentList, const QStringList& parentHeaderList, QObject *parent = 0) - : QAbstractTableModel(parent), - _list(parentList), - headerStrings(parentHeaderList) - { } - int rowCount(const QModelIndex &parent = QModelIndex()) const + enum {eColumnCount = 4 }; + +public: + + NotifyTableModel(QList* parentList, QObject* parent = 0); + + int rowCount(const QModelIndex& parent = QModelIndex()) const { return _list->count(); } int columnCount(const QModelIndex &/*parent*/) const { - return 3; + return eColumnCount; } Qt::ItemFlags flags(const QModelIndex &index) const @@ -71,8 +73,8 @@ private slots: void entryUpdated(int offset); void entryAdded(int position); private: - QList *_list; - QStringList headerStrings; + QScopedPointer > _list; + QStringList _headerStrings; }; diff --git a/openpilotgcs.bat b/openpilotgcs.bat new file mode 100644 index 000000000..a656aa85b --- /dev/null +++ b/openpilotgcs.bat @@ -0,0 +1,3 @@ +cd D:\Qt\4.7.3\bin\ + +call D:\!Work\OpenSource\OpenPilot\OpenPilot\build\ground\openpilotgcs\bin\openpilotgcs.exe \ No newline at end of file From e14e0a763b409d83b69bec98ddfef0e44f9225fc Mon Sep 17 00:00:00 2001 From: Nickolay Date: Thu, 15 Sep 2011 01:35:19 +0300 Subject: [PATCH 002/121] - temporary remove assert in finished callback; --- .../openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index 48d8f9132..686c59c3b 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -238,7 +238,7 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) { - Q_ASSERT(Phonon::ErrorState != newstate); + //Q_ASSERT(Phonon::ErrorState != newstate); if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { options_page->buttonPlayNotification->setText("Play"); From c16e386e6375538b5be59f637ef65f0c408cfa05 Mon Sep 17 00:00:00 2001 From: Nickolay Date: Fri, 16 Sep 2011 02:24:35 +0300 Subject: [PATCH 003/121] +reordering of table items - experimenting with D&D --- ...configuration.cpp => notificationitem.cpp} | 0 .../src/plugins/notify/notify.pro | 6 +- .../src/plugins/notify/notifyplugin.h | 35 +++--- .../notify/notifypluginoptionspage.cpp | 111 ++++++++++-------- .../plugins/notify/notifypluginoptionspage.h | 22 ++-- .../src/plugins/notify/notifytablemodel.cpp | 30 ++--- .../src/plugins/notify/notifytablemodel.h | 9 +- 7 files changed, 120 insertions(+), 93 deletions(-) rename ground/openpilotgcs/src/plugins/notify/{notifypluginconfiguration.cpp => notificationitem.cpp} (100%) diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp similarity index 100% rename from ground/openpilotgcs/src/plugins/notify/notifypluginconfiguration.cpp rename to ground/openpilotgcs/src/plugins/notify/notificationitem.cpp diff --git a/ground/openpilotgcs/src/plugins/notify/notify.pro b/ground/openpilotgcs/src/plugins/notify/notify.pro index e70392a6a..b8eeb35fd 100644 --- a/ground/openpilotgcs/src/plugins/notify/notify.pro +++ b/ground/openpilotgcs/src/plugins/notify/notify.pro @@ -12,13 +12,13 @@ HEADERS += notifyplugin.h \ notifypluginoptionspage.h \ notifyitemdelegate.h \ notifytablemodel.h \ - NotificationItem.h + notificationitem.h SOURCES += notifyplugin.cpp \ notifypluginoptionspage.cpp \ - notifypluginconfiguration.cpp \ notifyitemdelegate.cpp \ - notifytablemodel.cpp + notifytablemodel.cpp \ + notificationitem.cpp OTHER_FILES += NotifyPlugin.pluginspec diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h index afd68fecc..c1e0ce620 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h @@ -71,6 +71,26 @@ public: void setEnableSound(bool value) {enableSound = value; } private: + SoundNotifyPlugin(const SoundNotifyPlugin& rhs); + SoundNotifyPlugin& operator= (const SoundNotifyPlugin& rhs); + + bool playNotification(NotificationItem* notification); + void checkNotificationRule(NotificationItem* notification, UAVObject* object); + void readConfig_0_0_0(); + +private slots: + void onTelemetryManagerAdded(QObject* obj); + void onAutopilotDisconnect(); + void connectNotifications(); + void updateNotificationList(QList list); + void resetNotification(void); + void appendNotification(UAVObject *object); + void repeatTimerHandler(void); + void expireTimerHandler(void); + void stateChanged(Phonon::State newstate, Phonon::State oldstate); + +private: + bool configured; // just for migration,delete later bool enableSound; QList< QList* > lstMediaSource; @@ -90,21 +110,6 @@ private: PhononObject phonon; NotifyPluginOptionsPage *mop; TelemetryManager* telMngr; - - bool playNotification(NotificationItem* notification); - void checkNotificationRule(NotificationItem* notification, UAVObject* object); - void readConfig_0_0_0(); - -private slots: - void onTelemetryManagerAdded(QObject* obj); - void onAutopilotDisconnect(); - void connectNotifications(); - void updateNotificationList(QList list); - void resetNotification(void); - void appendNotification(UAVObject *object); - void repeatTimerHandler(void); - void expireTimerHandler(void); - void stateChanged(Phonon::State newstate, Phonon::State oldstate); }; #endif // SOUNDNOTIFYPLUGIN_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index 686c59c3b..cee9a4027 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -44,24 +44,26 @@ #include "notifyitemdelegate.h" #include "notifytablemodel.h" -NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) : - IOptionsPage(parent), - owner((SoundNotifyPlugin*)parent), - currentCollectionPath(""), - privListNotifications(((SoundNotifyPlugin*)parent)->getListNotifications()) +NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) + : IOptionsPage(parent) + , objManager(*ExtensionSystem::PluginManager::instance()->getObject()) + , owner(qobject_cast(parent)) + , currentCollectionPath("") + , privListNotifications((qobject_cast(parent))->getListNotifications()) { - } +NotifyPluginOptionsPage::~NotifyPluginOptionsPage() +{ +} //creates options page widget (uses the UI file) QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) { - - options_page = new Ui::NotifyPluginOptionsPage(); - //main widget - QWidget *optionsPageWidget = new QWidget; - //main layout + options_page.reset(new Ui::NotifyPluginOptionsPage()); + //main widget + QWidget *optionsPageWidget = new QWidget; + //main layout options_page->setupUi(optionsPageWidget); delegateItems.clear(); @@ -73,17 +75,11 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) << "Repeat 30 seconds" << "Repeat 1 minute"; - options_page->chkEnableSound->setChecked(owner->getEnableSound()); options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); - - - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - objManager = pm->getObject(); - // Fills the combo boxes for the UAVObjects - QList< QList > objList = objManager->getDataObjects(); + QList< QList > objList = objManager.getDataObjects(); foreach (QList list, objList) { foreach (UAVDataObject* obj, list) { options_page->UAVObject->addItem(obj->getName()); @@ -92,13 +88,8 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); - connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); - connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); - connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); - connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); - connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); - connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); + connect(this, SIGNAL(updateNotifications(QList)), owner, SLOT(updateNotificationList(QList))); connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); @@ -115,20 +106,52 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) updateConfigView(owner->getCurrentNotification()); + initButtons(); + initRulesTableModel(); + initRulesTableView(); + initPhononPlayer(); + + return optionsPageWidget; +} + +void NotifyPluginOptionsPage::initButtons() +{ options_page->chkEnableSound->setChecked(owner->getEnableSound()); + connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); - notifyRulesModel = new NotifyTableModel(&privListNotifications); - options_page->notifyRulesView->setModel(notifyRulesModel); + options_page->buttonModify->setEnabled(false); + options_page->buttonDelete->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); + connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); + connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); + connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); +} + +void NotifyPluginOptionsPage::initPhononPlayer() +{ + notifySound = Phonon::createPlayer(Phonon::NotificationCategory); + connect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + connect(notifySound, SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); +} + +void NotifyPluginOptionsPage::initRulesTableModel() +{ + notifyRulesModel.reset(new NotifyTableModel(&privListNotifications)); + notifyRulesSelection = new QItemSelectionModel(notifyRulesModel.data()); + connect(notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), + this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); + connect(this, SIGNAL(entryUpdated(int)), + notifyRulesModel.data(), SLOT(entryUpdated(int))); + connect(this, SIGNAL(entryAdded(int)), + notifyRulesModel.data(), SLOT(entryAdded(int))); +} + +void NotifyPluginOptionsPage::initRulesTableView() +{ + options_page->notifyRulesView->setModel(notifyRulesModel.data()); options_page->notifyRulesView->resizeRowsToContents(); - notifyRulesSelection = new QItemSelectionModel(notifyRulesModel); - connect(notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), - this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); - connect(this, SIGNAL(entryUpdated(int)), - notifyRulesModel, SLOT(entryUpdated(int))); - connect(this, SIGNAL(entryAdded(int)), - notifyRulesModel, SLOT(entryAdded(int))); - - options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); @@ -136,17 +159,9 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); - - options_page->buttonModify->setEnabled(false); - options_page->buttonDelete->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); - - notifySound = Phonon::createPlayer(Phonon::NotificationCategory); - connect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - connect(notifySound, SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); - - return optionsPageWidget; + options_page->notifyRulesView->setDragEnabled(true); + options_page->notifyRulesView->setAcceptDrops(true); + options_page->notifyRulesView->setDropIndicatorShown(true); } void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) @@ -183,8 +198,6 @@ void NotifyPluginOptionsPage::finish() notifySound->stop(); notifySound->clear(); } - if (options_page) - delete options_page; } ////////////////////////////////////////////////////////////////////////////// @@ -306,7 +319,7 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) // Now load the object field values: options_page->UAVObjectField->clear(); QString uavDataObject = notification->getDataObject(); - UAVDataObject* obj = dynamic_cast( objManager->getObject(uavDataObject/*objList.at(0).at(0)->getName()*/) ); + UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); if (obj != NULL ) { QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index 31da8373f..521cf9874 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -42,16 +42,13 @@ #include #include #include +#include "ui_notifypluginoptionspage.h" +//#include "notifytablemodel.h" class NotifyTableModel; - class NotificationItem; class SoundNotifyPlugin; -namespace Ui { - class NotifyPluginOptionsPage; -} - using namespace Core; @@ -60,7 +57,7 @@ class NotifyPluginOptionsPage : public IOptionsPage Q_OBJECT public: explicit NotifyPluginOptionsPage(/*NotificationItem *config, */QObject *parent = 0); - + ~NotifyPluginOptionsPage(); QString id() const { return QLatin1String("settings"); } QString trName() const { return tr("settings"); } QString category() const { return QLatin1String("Notify Plugin");} @@ -77,7 +74,14 @@ public: void getOptionsPageValues(NotificationItem* notification); private: - UAVObjectManager *objManager; + //Q_DISABLE_COPY(NotifyPluginOptionsPage) + void initButtons(); + void initPhononPlayer(); + void initRulesTableModel(); + void initRulesTableView(); + +private: + UAVObjectManager& objManager; SoundNotifyPlugin* owner; QStringList listDirCollections; QStringList listSoundFiles; @@ -88,11 +92,11 @@ private: Phonon::MediaObject *notifySound; Phonon::AudioOutput *audioOutput; QStringList delegateItems; - NotifyTableModel* notifyRulesModel; + QScopedPointer notifyRulesModel; QItemSelectionModel *notifyRulesSelection; QList privListNotifications; - Ui::NotifyPluginOptionsPage *options_page; + QScopedPointer options_page; signals: void updateNotifications(QList list); diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index 6e503cbd8..f3c89b5b7 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -109,26 +109,26 @@ QVariant NotifyTableModel::headerData(int section, Qt::Orientation orientation, return QVariant(); } -bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex &index) +bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex& index) { - Q_UNUSED(index); - beginInsertRows(QModelIndex(), position, position+rows-1); - endInsertRows(); - return true; + Q_UNUSED(index); + beginInsertRows(QModelIndex(), position, position+rows-1); + endInsertRows(); + return true; } - bool NotifyTableModel::removeRows(int position, int rows, const QModelIndex &index) - { - Q_UNUSED(index); - beginRemoveRows(QModelIndex(), position, position+rows-1); +bool NotifyTableModel::removeRows(int position, int rows, const QModelIndex& index) +{ + Q_UNUSED(index); + beginRemoveRows(QModelIndex(), position, position+rows-1); - for (int row=0; row < rows; ++row) { - _list->removeAt(position); - } + for (int row=0; row < rows; ++row) { + _list->removeAt(position); + } - endRemoveRows(); - return true; - } + endRemoveRows(); + return true; +} void NotifyTableModel::entryUpdated(int offset) { diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h index 978605fbe..affae25da 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h @@ -58,11 +58,16 @@ public: Qt::ItemFlags flags(const QModelIndex &index) const { if (!index.isValid()) - return Qt::ItemIsEnabled; + return Qt::ItemIsEnabled | Qt::ItemIsDropEnabled; - return QAbstractItemModel::flags(index) | Qt::ItemIsEditable; + return QAbstractItemModel::flags(index) | Qt::ItemIsEditable | Qt::ItemIsDragEnabled | Qt::ItemIsDropEnabled; } + Qt::DropActions supportedDropActions() const + { + return Qt::MoveAction; + } + bool setData(const QModelIndex &index, const QVariant &value, int role); QVariant data(const QModelIndex &index, int role) const; QVariant headerData(int section, Qt::Orientation orientation, int role) const; From 56e71cd82ec0fbe0040d8dce03ee8097f70f8d37 Mon Sep 17 00:00:00 2001 From: unknown Date: Fri, 16 Sep 2011 18:39:20 +0300 Subject: [PATCH 004/121] +removed public members in notificationitem; +cosmetic changes; +fixed indentation; --- .../internals/projections/lks94projection.h | 2 +- .../src/plugins/notify/NotificationItem.h | 156 +++--- .../src/plugins/notify/notificationitem.cpp | 420 ++++++++------- .../src/plugins/notify/notify.pro | 8 +- .../src/plugins/notify/notifyitemdelegate.cpp | 202 ++++---- .../src/plugins/notify/notifylogging.cpp | 42 ++ .../src/plugins/notify/notifylogging.h | 42 ++ .../src/plugins/notify/notifyplugin.cpp | 488 ++++++++---------- .../src/plugins/notify/notifyplugin.h | 1 - .../notify/notifypluginoptionspage.cpp | 469 +++++++++-------- .../notify/notifypluginoptionspage.cpp.orig | 465 +++++++++++++++++ .../plugins/notify/notifypluginoptionspage.h | 2 +- .../src/plugins/notify/notifytablemodel.cpp | 114 ++-- 13 files changed, 1493 insertions(+), 918 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/notify/notifylogging.cpp create mode 100644 ground/openpilotgcs/src/plugins/notify/notifylogging.h create mode 100644 ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h index dc895f04c..efbe9c394 100644 --- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h +++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h @@ -28,7 +28,7 @@ #define LKS94PROJECTION_H #include #include "cmath" -#include "D:\!Work\OpenSource\OpenPilot\OpenPilot\ground\openpilotgcs\src\libs\opmapcontrol\src\internals\pureprojection.h" +#include "D:\!Work\OpenPilot\OpenPilot\ground\openpilotgcs\src\libs\opmapcontrol\src\internals\pureprojection.h" namespace projections { diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index c09e64982..ad7250060 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -40,113 +40,129 @@ using namespace Core; QString getSound##number() const { return _sound##number; } \ void setSound##number(QString text) { _sound##number = text; } \ -// QString getSound2() const { return _sound2; } -// void setSound2(QString text) { _sound2 = text; } - -// QString getSound3() const { return _sound3; } -// void setSound3(QString text) { _sound3 = text; } class NotificationItem : public QObject { - Q_OBJECT + Q_OBJECT public: - explicit NotificationItem(QObject *parent = 0); + explicit NotificationItem(QObject *parent = 0); - void copyTo(NotificationItem*) const; + void copyTo(NotificationItem*) const; - DECLARE_SOUND(1) - DECLARE_SOUND(2) - DECLARE_SOUND(3) + DECLARE_SOUND(1) + DECLARE_SOUND(2) + DECLARE_SOUND(3) - QString getValue() const { return _dataValue; } - void setValue(QString text) { _dataValue = text; } + QString getValue() const { return _dataValue; } + void setValue(QString text) { _dataValue = text; } - QString getSayOrder() const { return _sayOrder; } - void setSayOrder(QString text) { _sayOrder = text; } + QString getSayOrder() const { return _sayOrder; } + void setSayOrder(QString text) { _sayOrder = text; } - double getSpinBoxValue() const { return _spinBoxValue; } - void setSpinBoxValue(double value) { _spinBoxValue = value; } + double getSpinBoxValue() const { return _spinBoxValue; } + void setSpinBoxValue(double value) { _spinBoxValue = value; } - QString getDataObject() const { return _dataObject; } - void setDataObject(QString text) { _dataObject = text; } + QString getDataObject() const { return _dataObject; } + void setDataObject(QString text) { _dataObject = text; } - QString getObjectField() const { return _objectField; } - void setObjectField(QString text) { _objectField = text; } + QString getObjectField() const { return _objectField; } + void setObjectField(QString text) { _objectField = text; } - QString getSoundCollectionPath() const { return _soundCollectionPath; } - void setSoundCollectionPath(QString path) { _soundCollectionPath = path; } + QString getSoundCollectionPath() const { return _soundCollectionPath; } + void setSoundCollectionPath(QString path) { _soundCollectionPath = path; } - QString getCurrentLanguage() const { return _currentLanguage; } - void setCurrentLanguage(QString text) { _currentLanguage = text; } + QString getCurrentLanguage() const { return _currentLanguage; } + void setCurrentLanguage(QString text) { _currentLanguage = text; } - QStringList getMessageSequence() const { return _messageSequence; } - void setMessageSequence(QStringList sequence) { _messageSequence = sequence; } + QStringList getMessageSequence() const { return _messageSequence; } + void setMessageSequence(QStringList sequence) { _messageSequence = sequence; } - QString getRepeatFlag() const { return _repeatString; } - void setRepeatFlag(QString value) { _repeatString = value; } + QString getRepeatFlag() const { return _repeatString; } + void setRepeatFlag(QString value) { _repeatString = value; } - bool getRepeatTimeout() const { return _repeatTimeout; } - void setRepeatTimeout(bool value) { _repeatTimeout = value; } + bool getRepeatTimeout() const { return _repeatTimeout; } + void setRepeatTimeout(bool value) { _repeatTimeout = value; } - int getExpireTimeout() const { return _expireTimeout; } - void setExpireTimeout(int value) { _expireTimeout = value; } + int getExpireTimeout() const { return _expireTimeout; } + void setExpireTimeout(int value) { _expireTimeout = value; } - bool getEnableFlag() const { return _enableFlag; } - void setEnableFlag(bool value) { _enableFlag = value; } + bool getEnableFlag() const { return _enableFlag; } + void setEnableFlag(bool value) { _enableFlag = value; } - void saveState(QSettings* settings) const; - void restoreState(QSettings* settings); - QString parseNotifyMessage(); + void saveState(QSettings* settings) const; + void restoreState(QSettings* settings); - QTimer* timer; - QTimer* expireTimer; - bool isNowPlaying; // - bool firstStart; + QString parseNotifyMessage(); + + QTimer* getTimer() const { return _timer; } + void startTimer(int value); + void stopTimer(); + void disposeTimer(); + + QTimer* getExpireTimer() const { return _expireTimer; } + void startExpireTimer(); + void stopExpireTimer(); + + void disposeExpireTimer(); + + bool isNowPlaying; + bool firstStart; private: + void checkSoundFilesExisting(); - QStringList _messageSequence; +private: + QTimer* _timer; - //! path to folder with sound files - QString _soundCollectionPath; + //! time from putting notification in queue till moment when notification became out-of-date + //! NOTE: each notification has it lifetime, this time setups individually for each notification + //! according to its priority + QTimer* _expireTimer; - //! language in what notifications will be spelled - QString _currentLanguage; - //! one UAV object per one notification - QString _dataObject; - //! one field value change can be assigned to one notification - QString _objectField; + QStringList _messageSequence; - //! poled UAV field value - QString _dataValue; + //! path to folder with sound files + QString _soundCollectionPath; - //! possible sounds(at least one required to play notification) - QString _sound1; - QString _sound2; - QString _sound3; + //! language in what notifications will be spelled + QString _currentLanguage; - //! order in what sounds 1-3 will be played - QString _sayOrder; + //! one UAV object per one notification + QString _dataObject; - double _spinBoxValue; + //! one field value change can be assigned to one notification + QString _objectField; - QString _repeatString; + //! poled UAV field value + QString _dataValue; - //! time when next notification must be fired - bool _repeatTimeout; + //! possible sounds(at least one required to play notification) + QString _sound1; + QString _sound2; + QString _sound3; - //! how often or what periodicaly notification should be played - int _repeatTimerValue; + //! order in what sounds 1-3 will be played + QString _sayOrder; - //! time after event occured till notification became invalid - //! and will be removed from list - int _expireTimeout; + double _spinBoxValue; - //! enables/disables playing of current notification - bool _enableFlag; + QString _repeatString; + + //! time when next notification must be fired + bool _repeatTimeout; + + //! how often or what periodicaly notification should be played + int _repeatTimerValue; + + //! time after event occured till notification became invalid + //! and will be removed from list + int _expireTimeout; + + //! enables/disables playing of current notification + bool _enableFlag; }; Q_DECLARE_METATYPE(NotificationItem*) diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index 8d5cb25e3..69f085620 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -25,219 +25,277 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "NotificationItem.h" +#include "notificationitem.h" +#include "notifylogging.h" #include #include #include "utils/pathutils.h" -NotificationItem::NotificationItem(QObject *parent) : - QObject(parent), - isNowPlaying(0), - firstStart(1), - _soundCollectionPath(""), - _currentLanguage("default"), - _dataObject(""), - _objectField(""), - _dataValue("Equal to"), - _sound1(""), - _sound2(""), - _sound3(""), - _sayOrder("Never"), - _spinBoxValue(0), - _repeatString("Repeat Instantly"), - _repeatTimeout(true), - _expireTimeout(15) +NotificationItem::NotificationItem(QObject *parent) + : QObject(parent) + , isNowPlaying(0) + , firstStart(true) + , _soundCollectionPath("") + , _currentLanguage("default") + , _dataObject("") + , _objectField("") + , _dataValue("Equal to") + , _sound1("") + , _sound2("") + , _sound3("") + , _sayOrder("Never") + , _spinBoxValue(0) + , _repeatString("Repeat Instantly") + , _repeatTimeout(true) + , _expireTimeout(15) { - timer = NULL; - expireTimer = NULL; + _timer = NULL; + _expireTimer = NULL; } void NotificationItem::copyTo(NotificationItem* that) const { - - that->isNowPlaying = isNowPlaying; - that->firstStart = firstStart; - that->_soundCollectionPath = _soundCollectionPath; - that->_currentLanguage = _currentLanguage; - that->_soundCollectionPath = _soundCollectionPath; - that->_dataObject = _dataObject; - that->_objectField = _objectField; - that->_dataValue = _dataValue; - that->_sound1 = _sound1; - that->_sound2 = _sound2; - that->_sound3 = _sound3; - that->_sayOrder = _sayOrder; - that->_spinBoxValue = _spinBoxValue; - that->_repeatString = _repeatString; - that->_repeatTimeout = _repeatTimeout; - that->_expireTimeout = _expireTimeout; + that->isNowPlaying = isNowPlaying; + that->firstStart = firstStart; + that->_soundCollectionPath = _soundCollectionPath; + that->_currentLanguage = _currentLanguage; + that->_soundCollectionPath = _soundCollectionPath; + that->_dataObject = _dataObject; + that->_objectField = _objectField; + that->_dataValue = _dataValue; + that->_sound1 = _sound1; + that->_sound2 = _sound2; + that->_sound3 = _sound3; + that->_sayOrder = _sayOrder; + that->_spinBoxValue = _spinBoxValue; + that->_repeatString = _repeatString; + that->_repeatTimeout = _repeatTimeout; + that->_expireTimeout = _expireTimeout; } void NotificationItem::saveState(QSettings* settings) const { - settings->setValue("SoundCollectionPath", Utils::PathUtils().RemoveDataPath(getSoundCollectionPath())); - settings->setValue(QLatin1String("CurrentLanguage"), getCurrentLanguage()); - settings->setValue(QLatin1String("ObjectField"), getObjectField()); - settings->setValue(QLatin1String("DataObject"), getDataObject()); - settings->setValue(QLatin1String("Value"), getValue()); - settings->setValue(QLatin1String("ValueSpinBox"), getSpinBoxValue()); - settings->setValue(QLatin1String("Sound1"), getSound1()); - settings->setValue(QLatin1String("Sound2"), getSound2()); - settings->setValue(QLatin1String("Sound3"), getSound3()); - settings->setValue(QLatin1String("SayOrder"), getSayOrder()); - settings->setValue(QLatin1String("Repeat"), getRepeatFlag()); - settings->setValue(QLatin1String("ExpireTimeout"), getExpireTimeout()); + settings->setValue("SoundCollectionPath", Utils::PathUtils().RemoveDataPath(getSoundCollectionPath())); + settings->setValue(QLatin1String("CurrentLanguage"), getCurrentLanguage()); + settings->setValue(QLatin1String("ObjectField"), getObjectField()); + settings->setValue(QLatin1String("DataObject"), getDataObject()); + settings->setValue(QLatin1String("Value"), getValue()); + settings->setValue(QLatin1String("ValueSpinBox"), getSpinBoxValue()); + settings->setValue(QLatin1String("Sound1"), getSound1()); + settings->setValue(QLatin1String("Sound2"), getSound2()); + settings->setValue(QLatin1String("Sound3"), getSound3()); + settings->setValue(QLatin1String("SayOrder"), getSayOrder()); + settings->setValue(QLatin1String("Repeat"), getRepeatFlag()); + settings->setValue(QLatin1String("ExpireTimeout"), getExpireTimeout()); } void NotificationItem::restoreState(QSettings* settings) { - //settings = Core::ICore::instance()->settings(); - setSoundCollectionPath(Utils::PathUtils().InsertDataPath(settings->value(QLatin1String("SoundCollectionPath"), tr("")).toString())); - setCurrentLanguage(settings->value(QLatin1String("CurrentLanguage"), tr("")).toString()); - setDataObject(settings->value(QLatin1String("DataObject"), tr("")).toString()); - setObjectField(settings->value(QLatin1String("ObjectField"), tr("")).toString()); - setValue(settings->value(QLatin1String("Value"), tr("")).toString()); - setSound1(settings->value(QLatin1String("Sound1"), tr("")).toString()); - setSound2(settings->value(QLatin1String("Sound2"), tr("")).toString()); - setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); - setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toString()); - setSpinBoxValue(settings->value(QLatin1String("ValueSpinBox"), tr("")).toDouble()); - setRepeatFlag(settings->value(QLatin1String("Repeat"), tr("")).toString()); - setExpireTimeout(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); + //settings = Core::ICore::instance()->settings(); + setSoundCollectionPath(Utils::PathUtils().InsertDataPath(settings->value(QLatin1String("SoundCollectionPath"), tr("")).toString())); + setCurrentLanguage(settings->value(QLatin1String("CurrentLanguage"), tr("")).toString()); + setDataObject(settings->value(QLatin1String("DataObject"), tr("")).toString()); + setObjectField(settings->value(QLatin1String("ObjectField"), tr("")).toString()); + setValue(settings->value(QLatin1String("Value"), tr("")).toString()); + setSound1(settings->value(QLatin1String("Sound1"), tr("")).toString()); + setSound2(settings->value(QLatin1String("Sound2"), tr("")).toString()); + setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); + setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toString()); + setSpinBoxValue(settings->value(QLatin1String("ValueSpinBox"), tr("")).toDouble()); + setRepeatFlag(settings->value(QLatin1String("Repeat"), tr("")).toString()); + setExpireTimeout(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); } +void NotificationItem::startTimer(int value) { + if (!_timer) { + _timer = new QTimer(this); + _timer->setInterval(value); + } + if (!_timer->isActive()) + _timer->start(); +} + +void NotificationItem::stopTimer() { + if (_timer) { + if (_timer->isActive()) + _timer->stop(); + } +} + +void NotificationItem::disposeTimer() { + if (_timer) { + _timer->stop(); + delete _timer; + _timer = NULL; + } +} + +void NotificationItem::startExpireTimer() { + if (!_expireTimer) + { + _expireTimer = new QTimer(this); + } + _expireTimer->start(_expireTimeout * 1000); +} + +void NotificationItem::stopExpireTimer() { + if (_expireTimer) { + if (_expireTimer) + _expireTimer->stop(); + } +} + +void NotificationItem::disposeExpireTimer() { + if (_expireTimer) { + _expireTimer->stop(); + delete _expireTimer; + _expireTimer = NULL; + } +} + QString NotificationItem::parseNotifyMessage() { - // tips: - // check of *.wav files exist needed for playing phonon queues; - // if phonon player don't find next file in queue, it buzz + // tips: + // check of *.wav files exist needed for playing phonon queues; + // if phonon player don't find next file in queue, it buzz - QString str,str1; - str1= getSayOrder(); - str = QString("%L1 ").arg(getSpinBoxValue()); - int position = 0xFF; - // generate queue of sound files to play - _messageSequence.clear(); + QString str,str1; + str1= getSayOrder(); + str = QString("%L1 ").arg(getSpinBoxValue()); + int position = 0xFF; + // generate queue of sound files to play + _messageSequence.clear(); - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav")); - else - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav")); + checkSoundFilesExisting(); - if("" != getSound2()) - { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav")); - else - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav")); - } + if(!_messageSequence.size()) { + qNotifyDebug() << "no any files in message queue"; + } - if("" != getSound3()) - { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav")); - else - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav")); - } + switch(str1.at(0).toAscii()) + { + case 'N'://NEVER: + str = getSound1()+" "+getSound2()+" "+getSound3(); + position = 0xFF; + break; - switch(str1.at(0).toAscii()) - { - case 'N'://NEVER: - str = getSound1()+" "+getSound2()+" "+getSound3(); - position = 0xFF; - break; + case 'B'://BEFORE: + str = QString("%L1 ").arg(getSpinBoxValue())+getSound1()+" "+getSound2()+" "+getSound3(); + position = 0; + break; - case 'B'://BEFORE: - str = QString("%L1 ").arg(getSpinBoxValue())+getSound1()+" "+getSound2()+" "+getSound3(); - position = 0; - break; + case 'A'://AFTER: + switch(str1.at(6).toAscii()) + { + case 'f': + str = getSound1()+QString(" %L1 ").arg(getSpinBoxValue())+getSound2()+" "+getSound3(); + position = 1; + break; + case 's': + str = getSound1()+" "+getSound2()+QString(" %L1").arg(getSpinBoxValue())+" "+getSound3(); + position = 2; + break; + case 't': + str = getSound1()+" "+getSound2()+" "+getSound3()+QString(" %L1").arg(getSpinBoxValue()); + position = 3; + break; + } + break; + } - case 'A'://AFTER: - switch(str1.at(6).toAscii()) - { - case 'f': - str = getSound1()+QString(" %L1 ").arg(getSpinBoxValue())+getSound2()+" "+getSound3(); - position = 1; - break; - case 's': - str = getSound1()+" "+getSound2()+QString(" %L1").arg(getSpinBoxValue())+" "+getSound3(); - position = 2; - break; - case 't': - str = getSound1()+" "+getSound2()+" "+getSound3()+QString(" %L1").arg(getSpinBoxValue()); - position = 3; - break; - } - break; - } + if(position != 0xFF) + { + QStringList numberParts = QString("%1").arg(getSpinBoxValue()).trimmed().split("."); + QStringList numberFiles; - if(position != 0xFF) - { - QStringList numberParts = QString("%1").arg(getSpinBoxValue()).trimmed().split("."); - QStringList numberFiles; + if((numberParts.at(0).size()==1) || (numberParts.at(0).toInt()<20)) + { + //if(numberParts.at(0)!="0") + numberFiles.append(numberParts.at(0)); + } else { + int i=0; + if(numberParts.at(0).right(2).toInt()<20 && numberParts.at(0).right(2).toInt()!=0) { + if(numberParts.at(0).right(2).toInt()<10) + numberFiles.append(numberParts.at(0).right(1)); + else + numberFiles.append(numberParts.at(0).right(2)); + i=2; + } + for(;i #include "notifyitemdelegate.h" #include "notifytablemodel.h" - +#include "notifylogging.h" NotifyItemDelegate::NotifyItemDelegate(QStringList items, QObject* parent) - : QItemDelegate(parent) - , _parent(parent) - , _items(items) + : QItemDelegate(parent) + , _parent(parent) + , _items(items) { } -QWidget *NotifyItemDelegate::createEditor(QWidget* parent, - const QStyleOptionViewItem& /*none*/, - const QModelIndex& index) const +QWidget *NotifyItemDelegate::createEditor(QWidget* parent, const QStyleOptionViewItem& /*none*/, + const QModelIndex& index) const { - if(eREPEAT_VALUE == index.column()) { - QComboBox* editor = new QComboBox(parent); - editor->clear(); - editor->addItems(_items); - return editor; - } else { - if(eEXPIRE_TIME == index.column()) { - QSpinBox* editor = new QSpinBox(parent); - connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); - return editor; - } else { - if(eENABLE_NOTIFICATION == index.column()) { - QCheckBox* editor = new QCheckBox(parent); - connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); - return editor; - } - } - } - QLineEdit *editor = new QLineEdit(parent); - return editor; + if (eREPEAT_VALUE == index.column()) { + QComboBox* editor = new QComboBox(parent); + editor->clear(); + editor->addItems(_items); + return editor; + } else { + if (eEXPIRE_TIME == index.column()) { + QSpinBox* editor = new QSpinBox(parent); + connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); + return editor; + } else { + if (eENABLE_NOTIFICATION == index.column()) { + QCheckBox* editor = new QCheckBox(parent); + connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); + return editor; + } + } + } + QLineEdit *editor = new QLineEdit(parent); + return editor; } void NotifyItemDelegate::commitAndCloseEditor() { - QLineEdit* editor = qobject_cast(sender()); - if (editor) { - emit commitData(editor); - emit closeEditor(editor); - } else { - QComboBox* editor = qobject_cast(sender()); - if (editor) - { - emit commitData(editor); - emit closeEditor(editor); - } else { - QSpinBox* editor = qobject_cast(sender()); - if (editor) - { - emit commitData(editor); - emit closeEditor(editor); - } else { - QCheckBox* editor = qobject_cast(sender()); - if (editor) - { - emit commitData(editor); - emit closeEditor(editor); - } - } - } - } + QLineEdit* editor = qobject_cast(sender()); + if (editor) { + emit commitData(editor); + emit closeEditor(editor); + } else { + QComboBox* editor = qobject_cast(sender()); + if (editor) + { + emit commitData(editor); + emit closeEditor(editor); + } else { + QSpinBox* editor = qobject_cast(sender()); + if (editor) + { + emit commitData(editor); + emit closeEditor(editor); + } else { + QCheckBox* editor = qobject_cast(sender()); + if (editor) + { + emit commitData(editor); + emit closeEditor(editor); + } + } + } + } } void NotifyItemDelegate::setEditorData(QWidget *editor, const QModelIndex &index) const { - QLineEdit* edit = qobject_cast(editor); - if(edit) { - edit->setText(index.model()->data(index, Qt::EditRole).toString()); - } else { - QComboBox* repeatEditor = qobject_cast(editor); - if(repeatEditor) - repeatEditor->setCurrentIndex(repeatEditor->findText(index.model()->data(index, Qt::EditRole).toString())); - else { - QSpinBox* expireEditor = qobject_cast(editor); - if(expireEditor) - expireEditor->setValue(index.model()->data(index, Qt::EditRole).toInt()); - else { - QCheckBox* enablePlayEditor = qobject_cast(editor); - if (enablePlayEditor) - enablePlayEditor->setChecked(index.model()->data(index, Qt::EditRole).toBool()); - } - } - } + QLineEdit* edit = qobject_cast(editor); + if (edit) { + edit->setText(index.model()->data(index, Qt::EditRole).toString()); + } else { + QComboBox* repeatEditor = qobject_cast(editor); + if (repeatEditor) + repeatEditor->setCurrentIndex(repeatEditor->findText(index.model()->data(index, Qt::EditRole).toString())); + else { + QSpinBox* expireEditor = qobject_cast(editor); + if (expireEditor) + expireEditor->setValue(index.model()->data(index, Qt::EditRole).toInt()); + else { + QCheckBox* enablePlayEditor = qobject_cast(editor); + if (enablePlayEditor) + enablePlayEditor->setChecked(index.model()->data(index, Qt::EditRole).toBool()); + } + } + } } void NotifyItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const { - QLineEdit *edit = qobject_cast(editor); - if(edit) { - model->setData(index, edit->text()); - } else { - QComboBox * repeatEditor = qobject_cast(editor); - if(repeatEditor) { - model->setData(index, repeatEditor->currentText()); - } else { - QSpinBox * expireEditor = qobject_cast(editor); - if(expireEditor) { - model->setData(index, expireEditor->value(), Qt::EditRole); - } else { - QCheckBox* enablePlayEditor = qobject_cast(editor); - if (enablePlayEditor) { - model->setData(index, enablePlayEditor->isChecked(), Qt::EditRole); - } - } - } - } + QLineEdit *edit = qobject_cast(editor); + if (edit) { + model->setData(index, edit->text()); + } else { + QComboBox * repeatEditor = qobject_cast(editor); + if (repeatEditor) { + model->setData(index, repeatEditor->currentText()); + } else { + QSpinBox * expireEditor = qobject_cast(editor); + if (expireEditor) { + model->setData(index, expireEditor->value(), Qt::EditRole); + } else { + QCheckBox* enablePlayEditor = qobject_cast(editor); + if (enablePlayEditor) { + model->setData(index, enablePlayEditor->isChecked(), Qt::EditRole); + } + } + } + } } -void NotifyItemDelegate::selectRow(const QString & text) +void NotifyItemDelegate::selectRow(const QString& text) { - QComboBox* combo = qobject_cast(sender()); - QTableWidget* table = new QTableWidget; - table = (QTableWidget*)(combo->parent()); + QComboBox* combo = qobject_cast(sender()); + QTableWidget* table = new QTableWidget; + table = (QTableWidget*)(combo->parent()); - qDebug() << table->columnCount(); - qDebug() << table->rowCount(); - qDebug() << table->currentRow(); + qNotifyDebug() << table->columnCount(); + qNotifyDebug() << table->rowCount(); + qNotifyDebug() << table->currentRow(); } -QSize NotifyItemDelegate::sizeHint(const QStyleOptionViewItem & option, - const QModelIndex & index) const +QSize NotifyItemDelegate::sizeHint(const QStyleOptionViewItem& option, const QModelIndex& index) const { - QSize s = QItemDelegate::sizeHint(option, index); - s.setHeight(10); - return s; + QSize s = QItemDelegate::sizeHint(option, index); + s.setHeight(10); + return s; } diff --git a/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp b/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp new file mode 100644 index 000000000..616b2ada5 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp @@ -0,0 +1,42 @@ +/** + ****************************************************************************** + * + * @file notifylogging.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Uses to logging only inside notify plugin, + * can be convinient turned on/off + * @see The GNU Public License (GPL) Version 3 + * @defgroup notifyplugin + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "notifylogging.h" + +#ifdef DEBUG_NOTIFIES +QDebug qNotifyDebug() +#endif +#ifndef DEBUG_NOTIFIES +QNoDebug qNotifyDebug() +#endif +{ +#ifdef DEBUG_NOTIFIES + return qDebug(); +#endif + return QNoDebug(); +} diff --git a/ground/openpilotgcs/src/plugins/notify/notifylogging.h b/ground/openpilotgcs/src/plugins/notify/notifylogging.h new file mode 100644 index 000000000..bf02b86df --- /dev/null +++ b/ground/openpilotgcs/src/plugins/notify/notifylogging.h @@ -0,0 +1,42 @@ +/** + ****************************************************************************** + * + * @file notifylogging.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Uses to logging only inside notify plugin, + * can be convinient turned on/off + * @see The GNU Public License (GPL) Version 3 + * @defgroup notifyplugin + * @{ + * + *****************************************************************************/ +/* + * 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 NOTIFYLOGGING_H +#define NOTIFYLOGGING_H + +#include "QDebug.h" + +#ifdef DEBUG_NOTIFIES +QDebug qNotifyDebug(); +#endif +#ifndef DEBUG_NOTIFIES +QNoDebug qNotifyDebug(); +#endif + + +#endif // NOTIFYLOGGING_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index c959925b4..9eef49dec 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -28,6 +28,7 @@ #include "notifyplugin.h" #include "notificationitem.h" #include "notifypluginoptionspage.h" +#include "notifylogging.h" #include #include #include @@ -43,18 +44,6 @@ static const QString VERSION = "1.0.0"; //#define DEBUG_NOTIFIES -#ifdef DEBUG_NOTIFIES -QDebug qNotifyDebug() -#endif -#ifndef DEBUG_NOTIFIES -QNoDebug qNotifyDebug() -#endif -{ -#ifdef DEBUG_NOTIFIES - return qDebug(); -#endif - return QNoDebug(); -} SoundNotifyPlugin::SoundNotifyPlugin() { @@ -84,15 +73,15 @@ bool SoundNotifyPlugin::initialize(const QStringList& args, QString *errMsg) void SoundNotifyPlugin::extensionsInitialized() { - Core::ICore::instance()->readSettings(this); - if ( !configured ){ - readConfig_0_0_0(); - } + Core::ICore::instance()->readSettings(this); + if ( !configured ){ + readConfig_0_0_0(); + } - ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); - connect(pm, SIGNAL(objectAdded(QObject*)), this, SLOT(onTelemetryManagerAdded(QObject*))); - removedNotifies.clear(); - connectNotifications(); + ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); + connect(pm, SIGNAL(objectAdded(QObject*)), this, SLOT(onTelemetryManagerAdded(QObject*))); + removedNotifies.clear(); + connectNotifications(); } void SoundNotifyPlugin::saveConfig( QSettings* settings, UAVConfigInfo *configInfo){ @@ -147,39 +136,39 @@ void SoundNotifyPlugin::readConfig( QSettings* settings, UAVConfigInfo *configIn void SoundNotifyPlugin::readConfig_0_0_0(){ - settings = Core::ICore::instance()->settings(); - settings->beginGroup(QLatin1String("NotifyPlugin")); + settings = Core::ICore::instance()->settings(); + settings->beginGroup(QLatin1String("NotifyPlugin")); - settings->beginReadArray("Current"); - settings->setArrayIndex(0); - currentNotification.restoreState(settings); - settings->endArray(); + settings->beginReadArray("Current"); + settings->setArrayIndex(0); + currentNotification.restoreState(settings); + settings->endArray(); - // read list of notifications from settings - int size = settings->beginReadArray("listNotifies"); - for (int i = 0; i < size; ++i) { - settings->setArrayIndex(i); - NotificationItem* notification = new NotificationItem; - notification->restoreState(settings); - lstNotifications.append(notification); - } - settings->endArray(); - setEnableSound(settings->value(QLatin1String("EnableSound"),0).toBool()); - settings->endGroup(); - - ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); - connect(pm, SIGNAL(objectAdded(QObject*)), this, SLOT(onTelemetryManagerAdded(QObject*))); - removedNotifies.clear(); - connectNotifications(); - - configured = true; - } + // read list of notifications from settings + int size = settings->beginReadArray("listNotifies"); + for (int i = 0; i < size; ++i) { + settings->setArrayIndex(i); + NotificationItem* notification = new NotificationItem; + notification->restoreState(settings); + lstNotifications.append(notification); + } + settings->endArray(); + setEnableSound(settings->value(QLatin1String("EnableSound"),0).toBool()); + settings->endGroup(); + + ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); + connect(pm, SIGNAL(objectAdded(QObject*)), this, SLOT(onTelemetryManagerAdded(QObject*))); + removedNotifies.clear(); + connectNotifications(); + + configured = true; +} void SoundNotifyPlugin::onTelemetryManagerAdded(QObject* obj) { - telMngr = qobject_cast(obj); - if(telMngr) - connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect())); + telMngr = qobject_cast(obj); + if (telMngr) + connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect())); } void SoundNotifyPlugin::shutdown() @@ -189,86 +178,76 @@ void SoundNotifyPlugin::shutdown() void SoundNotifyPlugin::onAutopilotDisconnect() { - connectNotifications(); + connectNotifications(); } /*! - clear any notify timers from previous flight; - reset will be perform on start of option page + clear any notify timers from previous flight; + reset will be perform on start of option page */ void SoundNotifyPlugin::resetNotification(void) { - //first, reject empty args and unknown fields. - foreach(NotificationItem* notify,lstNotifications) { - if(notify->timer) - { - disconnect(notify->timer, SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); - notify->timer->stop(); - delete notify->timer; - notify->timer = NULL; - } - if(notify->expireTimer) - { - disconnect(notify->expireTimer, SIGNAL(timeout()), this, SLOT(expireTimerHandler())); - notify->expireTimer->stop(); - delete notify->expireTimer; - notify->expireTimer = NULL; - } - } + //first, reject empty args and unknown fields. + foreach(NotificationItem* ntf, lstNotifications) { + ntf->disposeTimer(); + disconnect(ntf->getTimer(), SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); + ntf->disposeExpireTimer(); + disconnect(ntf->getExpireTimer(), SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); + } } /*! - update list of notifies; - will be perform on OK or APPLY press of option page + update list of notifies; + will be perform on OK or APPLY press of option page */ void SoundNotifyPlugin::updateNotificationList(QList list) { - removedNotifies.clear(); - resetNotification(); - lstNotifications.clear(); - lstNotifications=list; - connectNotifications(); + removedNotifies.clear(); + resetNotification(); + lstNotifications.clear(); + lstNotifications=list; + connectNotifications(); - Core::ICore::instance()->saveSettings(this); + Core::ICore::instance()->saveSettings(this); } void SoundNotifyPlugin::connectNotifications() { - foreach(UAVDataObject* obj,lstNotifiedUAVObjects) { - if (obj != NULL) - disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(appendNotification(UAVObject*))); - } - if(phonon.mo != NULL) { - delete phonon.mo; - phonon.mo = NULL; - } + foreach(UAVDataObject* obj,lstNotifiedUAVObjects) { + if (obj != NULL) + disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(appendNotification(UAVObject*))); + } + if (phonon.mo != NULL) { + delete phonon.mo; + phonon.mo = NULL; + } - if(!enableSound) return; + if (!enableSound) return; - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *objManager = pm->getObject(); - lstNotifiedUAVObjects.clear(); - pendingNotifications.clear(); - lstNotifications.append(removedNotifies); - removedNotifies.clear(); + lstNotifiedUAVObjects.clear(); + pendingNotifications.clear(); + lstNotifications.append(removedNotifies); + removedNotifies.clear(); - //first, reject empty args and unknown fields. - foreach(NotificationItem* notify, lstNotifications) { - notify->firstStart=true; - notify->isNowPlaying=false; + //first, reject empty args and unknown fields. + foreach(NotificationItem* notify, lstNotifications) { + notify->firstStart=true; + notify->isNowPlaying=false; - UAVDataObject* obj = dynamic_cast( objManager->getObject(notify->getDataObject()) ); - if (obj != NULL ) { - if(!lstNotifiedUAVObjects.contains(obj)) { - lstNotifiedUAVObjects.append(obj); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); - } - } else - std::cout << "Error: Object is unknown (" << notify->getDataObject().toStdString() << ")." << std::endl; - } + UAVDataObject* obj = dynamic_cast( objManager->getObject(notify->getDataObject()) ); + if (obj != NULL ) { + if (!lstNotifiedUAVObjects.contains(obj)) { + lstNotifiedUAVObjects.append(obj); + connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); + } + } else + std::cout << "Error: Object is unknown (" << notify->getDataObject().toStdString() << ")." << std::endl; + } - if(lstNotifications.isEmpty()) return; + if (lstNotifications.isEmpty()) return; // set notification message to current event phonon.mo = Phonon::createPlayer(Phonon::NotificationCategory); phonon.mo->clearQueue(); @@ -284,80 +263,73 @@ void SoundNotifyPlugin::connectNotifications() void SoundNotifyPlugin::appendNotification(UAVObject *object) { - disconnect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); + disconnect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); - foreach(NotificationItem* notification, lstNotifications) { - if(object->getName()!=notification->getDataObject()) - continue; + foreach(NotificationItem* ntf, lstNotifications) { + if (object->getName() != ntf->getDataObject()) + continue; - if(nowPlayingConfiguration == notification) - continue; + if (nowPlayingConfiguration == ntf) + continue; - if(notification->getRepeatFlag()!= "Repeat Instantly" && - notification->getRepeatFlag()!= "Repeat Once" && !notification->firstStart) - continue; + if (ntf->getRepeatFlag()!= "Repeat Instantly" && + ntf->getRepeatFlag()!= "Repeat Once" && !ntf->firstStart) + continue; - checkNotificationRule(notification,object); - } - connect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); + checkNotificationRule(ntf,object); + } + connect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); } void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UAVObject* object) { - bool condition=false; - double threshold; - QString direction; - QString fieldName; - threshold = notification->getSpinBoxValue(); - direction = notification->getValue(); - fieldName = notification->getObjectField(); - UAVObjectField* field = object->getField(fieldName); - if (field->getName()!="") { - double value = field->getDouble(); + bool condition=false; + double threshold; + QString direction; + QString fieldName; + threshold = notification->getSpinBoxValue(); + direction = notification->getValue(); + fieldName = notification->getObjectField(); + UAVObjectField* field = object->getField(fieldName); + if (field->getName()!="") { + double value = field->getDouble(); - switch(direction[0].toAscii()) - { - case 'E': - if(value==threshold) - condition = true; - break; - case 'G': - if(value>threshold) - condition = true; - break; - case 'L': - if(valuethreshold) + condition = true; + break; + case 'L': + if (valuetimer) - if(notification->timer->isActive()) - notification->timer->stop(); -#ifdef DEBUG_NOTIFIES - qDebug() << "add to pending list - " << notification->parseNotifyMessage(); -#endif - // if audio is busy, start expiration timer - //ms = (notification->getExpiredTimeout()[in sec])*1000 - //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); - pendingNotifications.append(notification); - if(!notification->expireTimer) - { - notification->expireTimer = new QTimer(notification); - connect(notification->expireTimer, SIGNAL(timeout()), this, SLOT(expireTimerHandler())); - } - notification->expireTimer->start(notification->getExpireTimeout()*1000); - } - } - } + if (condition) + { + if (!playNotification(notification)) + { + if (!pendingNotifications.contains(notification)) + { + notification->stopTimer(); + + qNotifyDebug() << "add to pending list - " << notification->parseNotifyMessage(); + // if audio is busy, start expiration timer + //ms = (notification->getExpiredTimeout()[in sec])*1000 + //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); + pendingNotifications.append(notification); + notification->startExpireTimer(); + connect(notification->getExpireTimer(), SIGNAL(timeout()), this, SLOT(expireTimerHandler())); + } + } + } } bool SoundNotifyPlugin::playNotification(NotificationItem* notification) @@ -366,132 +338,112 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) if (phonon.mo == NULL) return false; - if(!notification->getEnableFlag()) return true; + if (!notification->getEnableFlag()) return true; -#ifdef DEBUG_NOTIFIES - qDebug() << "Phonon State: " << phonon.mo->state(); -#endif - if((phonon.mo->state()==Phonon::PausedState) - || (phonon.mo->state()==Phonon::StoppedState) - || phonon.firstPlay) - { - // don't fire expire timer - nowPlayingConfiguration = notification; - if(notification->expireTimer) - notification->expireTimer->stop(); + qNotifyDebug() << "Phonon State: " << phonon.mo->state(); + if ((phonon.mo->state()==Phonon::PausedState) + || (phonon.mo->state()==Phonon::StoppedState) + || phonon.firstPlay) + { + // don't fire expire timer + nowPlayingConfiguration = notification; + notification->stopExpireTimer(); - if(notification->getRepeatFlag()=="Repeat Once") - { - removedNotifies.append(lstNotifications.takeAt(lstNotifications.indexOf(notification))); - } - else { - if(notification->getRepeatFlag()!="Repeat Instantly") - { - QRegExp rxlen("(\\d+)"); - QString value; - int timer_value; - int pos = rxlen.indexIn(notification->getRepeatFlag()); - if (pos > -1) { - value = rxlen.cap(1); // "189" - timer_value = (value.toInt()+8)*1000; //ms*1000 + average duration of meassage - } + if (notification->getRepeatFlag()=="Repeat Once") { + removedNotifies.append(lstNotifications.takeAt(lstNotifications.indexOf(notification))); + } else { + if (notification->getRepeatFlag()!="Repeat Instantly") + { + QRegExp rxlen("(\\d+)"); + QString value; + int timer_value; + int pos = rxlen.indexIn(notification->getRepeatFlag()); + if (pos > -1) { + value = rxlen.cap(1); // "189" + timer_value = (value.toInt()+8)*1000; //ms*1000 + average duration of meassage + } - if(!notification->timer) - { - notification->timer = new QTimer(notification); - notification->timer->setInterval(timer_value); - connect(notification->timer, SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); - } - if(!notification->timer->isActive()) - notification->timer->start(); - } - } - notification->firstStart=false; - phonon.mo->clear(); - QString str = notification->parseNotifyMessage(); - qNotifyDebug() << "play notification - " << str; + notification->startTimer(timer_value); + connect(notification->getTimer(), SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); + } + } + notification->firstStart=false; + phonon.mo->clear(); + QString str = notification->parseNotifyMessage(); + qNotifyDebug() << "play notification - " << str; + foreach (QString item, notification->getMessageSequence()) { + Phonon::MediaSource *ms = new Phonon::MediaSource(item); + ms->setAutoDelete(true); + phonon.mo->enqueue(*ms); + } + phonon.mo->play(); + phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before + // the state is not "Loading" anymore. + } + else + return false; // if audio is busy - foreach(QString item, notification->getMessageSequence()) { - Phonon::MediaSource *ms = new Phonon::MediaSource(item); - ms->setAutoDelete(true); - phonon.mo->enqueue(*ms); - } - phonon.mo->play(); - phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before - // the state is not "Loading" anymore. - } - else - return false; // if audio is busy - - return true; + return true; } void SoundNotifyPlugin::repeatTimerHandler() { NotificationItem* notification = static_cast(sender()->parent()); -#ifdef DEBUG_NOTIFIES - qDebug() << "repeatTimerHandler - " << notification->parseNotifyMessage(); -#endif - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + + qNotifyDebug() << "repeatTimerHandler - " << notification->parseNotifyMessage(); + + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); UAVObject* object = objManager->getObject(notification->getDataObject()); - if(object) + if (object) checkNotificationRule(notification,object); } void SoundNotifyPlugin::expireTimerHandler() { - // fire expire timer - NotificationItem* notification = static_cast(sender()->parent()); - notification->expireTimer->stop(); + // fire expire timer + NotificationItem* notification = static_cast(sender()->parent()); + notification->stopExpireTimer(); - if(!pendingNotifications.isEmpty()) - { -#ifdef DEBUG_NOTIFIES - qDebug() << "expireTimerHandler - " << notification->parseNotifyMessage(); -#endif - pendingNotifications.removeOne(notification); - } + if (!pendingNotifications.isEmpty()) { + qNotifyDebug() << "expireTimerHandler - " << notification->parseNotifyMessage(); + pendingNotifications.removeOne(notification); + } } void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldstate) { Q_UNUSED(oldstate) -#ifdef DEBUG_NOTIFIES - qDebug() << "File length (ms): " << phonon.mo->totalTime(); - qDebug() << "New State: " << newstate; -#endif + qNotifyDebug() << "File length (ms): " << phonon.mo->totalTime(); + qNotifyDebug() << "New State: " << newstate; #ifndef Q_OS_WIN - // This is a hack to force Linux to wait until the end of the - // wav file before moving to the next in the queue. - // I wish I did not have to go through a #define, but I did not - // manage to make this work on both platforms any other way! - if (phonon.mo->totalTime()>0) - phonon.mo->setTransitionTime(phonon.mo->totalTime()); + // This is a hack to force Linux to wait until the end of the + // wav file before moving to the next in the queue. + // I wish I did not have to go through a #define, but I did not + // manage to make this work on both platforms any other way! + if (phonon.mo->totalTime()>0) + phonon.mo->setTransitionTime(phonon.mo->totalTime()); #endif - if((newstate == Phonon::PausedState) || - (newstate == Phonon::StoppedState)) - { - nowPlayingConfiguration=NULL; - if(!pendingNotifications.isEmpty()) - { - NotificationItem* notification = pendingNotifications.takeFirst(); -#ifdef DEBUG_NOTIFIES - qDebug() << "play audioFree - " << notification->parseNotifyMessage(); -#endif - playNotification(notification); - } - } else if (newstate == Phonon::ErrorState) - { - if(phonon.mo->errorType()==0) { - qDebug() << "Phonon::ErrorState: ErrorType = " << phonon.mo->errorType(); - phonon.mo->clearQueue(); - } - } -// if(newstate == Phonon::BufferingState) -// qDebug() << "Phonon::BufferingState!!!"; + if ((newstate == Phonon::PausedState) || + (newstate == Phonon::StoppedState)) + { + nowPlayingConfiguration=NULL; + if (!pendingNotifications.isEmpty()) + { + NotificationItem* notification = pendingNotifications.takeFirst(); + qNotifyDebug() << "play audioFree - " << notification->parseNotifyMessage(); + playNotification(notification); + } + } else { + if (newstate == Phonon::ErrorState) { + if (phonon.mo->errorType()==0) { + qDebug() << "Phonon::ErrorState: ErrorType = " << phonon.mo->errorType(); + phonon.mo->clearQueue(); + } + } + } } Q_EXPORT_PLUGIN(SoundNotifyPlugin) diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h index c1e0ce620..1d9475469 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h @@ -49,7 +49,6 @@ typedef struct { } PhononObject, *pPhononObject; - class SoundNotifyPlugin : public Core::IConfigurablePlugin { Q_OBJECT diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index cee9a4027..caad0efff 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -64,68 +64,67 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) //main widget QWidget *optionsPageWidget = new QWidget; //main layout - options_page->setupUi(optionsPageWidget); + options_page->setupUi(optionsPageWidget); - delegateItems.clear(); - listSoundFiles.clear(); + delegateItems.clear(); + listSoundFiles.clear(); - delegateItems << "Repeat Once" - << "Repeat Instantly" - << "Repeat 10 seconds" - << "Repeat 30 seconds" - << "Repeat 1 minute"; + delegateItems << "Repeat Once" + << "Repeat Instantly" + << "Repeat 10 seconds" + << "Repeat 30 seconds" + << "Repeat 1 minute"; - options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); - options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); + options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); + options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); - // Fills the combo boxes for the UAVObjects - QList< QList > objList = objManager.getDataObjects(); - foreach (QList list, objList) { - foreach (UAVDataObject* obj, list) { - options_page->UAVObject->addItem(obj->getName()); - } - } + // Fills the combo boxes for the UAVObjects + QList< QList > objList = objManager.getDataObjects(); + foreach (QList list, objList) { + foreach (UAVDataObject* obj, list) { + options_page->UAVObject->addItem(obj->getName()); + } + } - connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); - connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); - connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); + connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); + connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); + connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); - connect(this, SIGNAL(updateNotifications(QList)), - owner, SLOT(updateNotificationList(QList))); - connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); + connect(this, SIGNAL(updateNotifications(QList)), + owner, SLOT(updateNotificationList(QList))); + //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); - //emit resetNotification(); - privListNotifications.clear(); + privListNotifications.clear(); - for (int i = 0; i < owner->getListNotifications().size(); ++i) { - NotificationItem* notification = new NotificationItem(); - owner->getListNotifications().at(i)->copyTo(notification); - privListNotifications.append(notification); - } + for (int i = 0; i < owner->getListNotifications().size(); ++i) { + NotificationItem* notification = new NotificationItem(); + owner->getListNotifications().at(i)->copyTo(notification); + privListNotifications.append(notification); + } - updateConfigView(owner->getCurrentNotification()); + updateConfigView(owner->getCurrentNotification()); - initButtons(); - initRulesTableModel(); - initRulesTableView(); - initPhononPlayer(); + initButtons(); + initRulesTableModel(); + initRulesTableView(); + initPhononPlayer(); - return optionsPageWidget; + return optionsPageWidget; } void NotifyPluginOptionsPage::initButtons() { - options_page->chkEnableSound->setChecked(owner->getEnableSound()); - connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); + options_page->chkEnableSound->setChecked(owner->getEnableSound()); + connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); - options_page->buttonModify->setEnabled(false); - options_page->buttonDelete->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); - connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); - connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); - connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); - connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); + options_page->buttonModify->setEnabled(false); + options_page->buttonDelete->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); + connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); + connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); + connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); } void NotifyPluginOptionsPage::initPhononPlayer() @@ -150,32 +149,32 @@ void NotifyPluginOptionsPage::initRulesTableModel() void NotifyPluginOptionsPage::initRulesTableView() { - options_page->notifyRulesView->setModel(notifyRulesModel.data()); - options_page->notifyRulesView->resizeRowsToContents(); - options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); - options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); + options_page->notifyRulesView->setModel(notifyRulesModel.data()); + options_page->notifyRulesView->resizeRowsToContents(); + options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); + options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); - options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); - options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); - options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); - options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); - options_page->notifyRulesView->setDragEnabled(true); - options_page->notifyRulesView->setAcceptDrops(true); - options_page->notifyRulesView->setDropIndicatorShown(true); + options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); + options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); + options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); + options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); + options_page->notifyRulesView->setDragEnabled(true); + options_page->notifyRulesView->setAcceptDrops(true); + options_page->notifyRulesView->setDropIndicatorShown(true); } void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) { - notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); - notification->setDataObject(options_page->UAVObject->currentText()); - notification->setObjectField(options_page->UAVObjectField->currentText()); - notification->setSound1(options_page->Sound1->currentText()); - notification->setSound2(options_page->Sound2->currentText()); - notification->setSound3(options_page->Sound3->currentText()); - notification->setSayOrder(options_page->SayOrder->currentText()); - notification->setValue(options_page->Value->currentText()); - notification->setSpinBoxValue(options_page->ValueSpinBox->value()); + notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); + notification->setDataObject(options_page->UAVObject->currentText()); + notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setSound1(options_page->Sound1->currentText()); + notification->setSound2(options_page->Sound2->currentText()); + notification->setSound3(options_page->Sound3->currentText()); + notification->setSayOrder(options_page->SayOrder->currentText()); + notification->setValue(options_page->Value->currentText()); + notification->setSpinBoxValue(options_page->ValueSpinBox->value()); } @@ -185,19 +184,19 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio */ void NotifyPluginOptionsPage::apply() { - getOptionsPageValues(owner->getCurrentNotification()); - owner->setEnableSound(options_page->chkEnableSound->isChecked()); - emit updateNotifications(privListNotifications); + getOptionsPageValues(owner->getCurrentNotification()); + owner->setEnableSound(options_page->chkEnableSound->isChecked()); + emit updateNotifications(privListNotifications); } void NotifyPluginOptionsPage::finish() { - disconnect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - if (notifySound) { - notifySound->stop(); - notifySound->clear(); - } + disconnect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + if (notifySound) { + notifySound->stop(); + notifySound->clear(); + } } ////////////////////////////////////////////////////////////////////////////// @@ -205,247 +204,247 @@ void NotifyPluginOptionsPage::finish() // combo box ////////////////////////////////////////////////////////////////////////////// void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) { - options_page->UAVObjectField->clear(); - ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager* objManager = pm->getObject(); + options_page->UAVObjectField->clear(); + ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager* objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast( objManager->getObject(val) ); QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); + options_page->UAVObjectField->addItem(field->getName()); } } // locate collection folder on disk void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) { - QDir dirPath(path); - listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); - options_page->SoundCollectionList->clear(); - options_page->SoundCollectionList->addItems(listDirCollections); + QDir dirPath(path); + listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); + options_page->SoundCollectionList->clear(); + options_page->SoundCollectionList->addItems(listDirCollections); } void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) { - options_page->SoundCollectionList->setCurrentIndex(index); + options_page->SoundCollectionList->setCurrentIndex(index); currentCollectionPath = options_page->SoundDirectoryPathChooser->path() + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); - QDir dirPath(currentCollectionPath); - QStringList filters; - filters << "*.mp3" << "*.wav"; - dirPath.setNameFilters(filters); - listSoundFiles = dirPath.entryList(filters); - listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); - options_page->Sound1->clear(); - options_page->Sound2->clear(); - options_page->Sound3->clear(); - options_page->Sound1->addItems(listSoundFiles); - options_page->Sound2->addItem(""); - options_page->Sound2->addItems(listSoundFiles); - options_page->Sound3->addItem(""); - options_page->Sound3->addItems(listSoundFiles); + QDir dirPath(currentCollectionPath); + QStringList filters; + filters << "*.mp3" << "*.wav"; + dirPath.setNameFilters(filters); + listSoundFiles = dirPath.entryList(filters); + listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); + options_page->Sound1->clear(); + options_page->Sound2->clear(); + options_page->Sound3->clear(); + options_page->Sound1->addItems(listSoundFiles); + options_page->Sound2->addItem(""); + options_page->Sound2->addItems(listSoundFiles); + options_page->Sound3->addItem(""); + options_page->Sound3->addItems(listSoundFiles); } void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) { - //Q_ASSERT(Phonon::ErrorState != newstate); + //Q_ASSERT(Phonon::ErrorState != newstate); - if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { - options_page->buttonPlayNotification->setText("Play"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); - } else { - if (newstate == Phonon::PlayingState) { - options_page->buttonPlayNotification->setText("Stop"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); - } - } + if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { + options_page->buttonPlayNotification->setText("Play"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); + } else { + if (newstate == Phonon::PlayingState) { + options_page->buttonPlayNotification->setText("Stop"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); + } + } } void NotifyPluginOptionsPage::onFinishedPlaying() { - notifySound->clear(); + notifySound->clear(); } void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() { - NotificationItem* notification = NULL; + NotificationItem* notification = NULL; - if (-1 == notifyRulesSelection->currentIndex().row()) - return; - notifySound->clearQueue(); - notification = privListNotifications.at(notifyRulesSelection->currentIndex().row()); - notification->parseNotifyMessage(); - QStringList sequence = notification->getMessageSequence(); - Q_ASSERT(!!sequence.size()); - foreach(QString item, sequence) - notifySound->enqueue(Phonon::MediaSource(item)); + if (-1 == notifyRulesSelection->currentIndex().row()) + return; + notifySound->clearQueue(); + notification = privListNotifications.at(notifyRulesSelection->currentIndex().row()); + notification->parseNotifyMessage(); + QStringList sequence = notification->getMessageSequence(); + Q_ASSERT(!!sequence.size()); + foreach(QString item, sequence) + notifySound->enqueue(Phonon::MediaSource(item)); - notifySound->play(); + notifySound->play(); } void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state) { - bool state1 = 1^state; + bool state1 = 1^state; - QList listOutputs = notifySound->outputPaths(); - Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); - audioOutput->setMuted(state1); + QList listOutputs = notifySound->outputPaths(); + Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); + audioOutput->setMuted(state1); } void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) { - QString path = notification->getSoundCollectionPath(); - if (path == "") { - //QDir dir = QDir::currentPath(); - //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; - path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); - } + QString path = notification->getSoundCollectionPath(); + if (path == "") { + //QDir dir = QDir::currentPath(); + //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; + path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); + } - options_page->SoundDirectoryPathChooser->setPath(path); + options_page->SoundDirectoryPathChooser->setPath(path); - if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); - } else { - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - } + if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); + } else { + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + } - if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ - options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); - } + if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ + options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); + } - // Now load the object field values: - options_page->UAVObjectField->clear(); - QString uavDataObject = notification->getDataObject(); - UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); - if (obj != NULL ) { - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); - } - } + // Now load the object field values: + options_page->UAVObjectField->clear(); + QString uavDataObject = notification->getDataObject(); + UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); + if (obj != NULL ) { + QList fieldList = obj->getFields(); + foreach (UAVObjectField* field, fieldList) { + options_page->UAVObjectField->addItem(field->getName()); + } + } - if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { - options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); - } + if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { + options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); + } - if (-1 != options_page->Sound1->findText(notification->getSound1())) { - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); - } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + if (-1 != options_page->Sound1->findText(notification->getSound1())) { + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + } else { + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); - // don't show item if it wasn't find in stored location - //options_page->Sound1->setCurrentIndex(-1); - } + // don't show item if it wasn't find in stored location + //options_page->Sound1->setCurrentIndex(-1); + } - if (-1 != options_page->Sound2->findText(notification->getSound2())) { - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); - } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + if (-1 != options_page->Sound2->findText(notification->getSound2())) { + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + } else { + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); - // don't show item if it wasn't find in stored location - //options_page->Sound2->setCurrentIndex(-1); - } + // don't show item if it wasn't find in stored location + //options_page->Sound2->setCurrentIndex(-1); + } - if (-1 != options_page->Sound3->findText(notification->getSound3())) { - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); - } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); - } + if (-1 != options_page->Sound3->findText(notification->getSound3())) { + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + } else { + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + } - if (-1 != options_page->Value->findText(notification->getValue())) { - options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); - } + if (-1 != options_page->Value->findText(notification->getValue())) { + options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); + } - if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) { - options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); - } + if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) { + options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); + } - options_page->ValueSpinBox->setValue(notification->getSpinBoxValue()); + options_page->ValueSpinBox->setValue(notification->getSpinBoxValue()); } void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) { - bool select = false; - notifySound->stop(); - if (selected.indexes().size()) { - select = true; - updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); - } + bool select = false; + notifySound->stop(); + if (selected.indexes().size()) { + select = true; + updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); + } - options_page->buttonModify->setEnabled(select); - options_page->buttonDelete->setEnabled(select); - options_page->buttonPlayNotification->setEnabled(select); + options_page->buttonModify->setEnabled(select); + options_page->buttonDelete->setEnabled(select); + options_page->buttonPlayNotification->setEnabled(select); } void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() { - NotificationItem* notification = new NotificationItem; + NotificationItem* notification = new NotificationItem; - if (options_page->SoundDirectoryPathChooser->path()=="") { - QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); - textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); - options_page->SoundDirectoryPathChooser->setPalette(textPalette); - options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder"); - return; - } + if (options_page->SoundDirectoryPathChooser->path()=="") { + QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); + textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); + options_page->SoundDirectoryPathChooser->setPalette(textPalette); + options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder"); + return; + } - notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); - notification->setDataObject(options_page->UAVObject->currentText()); - notification->setObjectField(options_page->UAVObjectField->currentText()); - notification->setValue(options_page->Value->currentText()); - notification->setSpinBoxValue(options_page->ValueSpinBox->value()); + notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); + notification->setDataObject(options_page->UAVObject->currentText()); + notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setValue(options_page->Value->currentText()); + notification->setSpinBoxValue(options_page->ValueSpinBox->value()); - if (options_page->Sound1->currentText().size() > 0) - notification->setSound1(options_page->Sound1->currentText()); + if (options_page->Sound1->currentText().size() > 0) + notification->setSound1(options_page->Sound1->currentText()); - notification->setSound2(options_page->Sound2->currentText()); - notification->setSound3(options_page->Sound3->currentText()); + notification->setSound2(options_page->Sound2->currentText()); + notification->setSound3(options_page->Sound3->currentText()); - if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) - || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { - return; - } else { - notification->setSayOrder(options_page->SayOrder->currentText()); - } - privListNotifications.append(notification); - emit entryAdded(privListNotifications.size() - 1); - notifyRulesSelection->setCurrentIndex(notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), - QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); +if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) + || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { + return; + } else { + notification->setSayOrder(options_page->SayOrder->currentText()); + } + privListNotifications.append(notification); + emit entryAdded(privListNotifications.size() - 1); + notifyRulesSelection->setCurrentIndex(notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), + QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() { - notifyRulesModel->removeRow(notifyRulesSelection->currentIndex().row()); - if (!notifyRulesModel->rowCount() - && (notifyRulesSelection->currentIndex().row() > 0 - && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount()) ) - { - options_page->buttonDelete->setEnabled(false); - options_page->buttonModify->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); - } + notifyRulesModel->removeRow(notifyRulesSelection->currentIndex().row()); + if (!notifyRulesModel->rowCount() + && (notifyRulesSelection->currentIndex().row() > 0 + && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount()) ) + { + options_page->buttonDelete->setEnabled(false); + options_page->buttonModify->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + } } void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() { - NotificationItem* notification = new NotificationItem; - getOptionsPageValues(notification); - notification->setRepeatFlag(privListNotifications.at(notifyRulesSelection->currentIndex().row())->getRepeatFlag()); - privListNotifications.replace(notifyRulesSelection->currentIndex().row(),notification); - entryUpdated(notifyRulesSelection->currentIndex().row()); + NotificationItem* notification = new NotificationItem; + getOptionsPageValues(notification); + notification->setRepeatFlag(privListNotifications.at(notifyRulesSelection->currentIndex().row())->getRepeatFlag()); + privListNotifications.replace(notifyRulesSelection->currentIndex().row(),notification); + entryUpdated(notifyRulesSelection->currentIndex().row()); } diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig new file mode 100644 index 000000000..b91317c9f --- /dev/null +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig @@ -0,0 +1,465 @@ +/** + ****************************************************************************** + * + * @file notifypluginoptionspage.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Notify Plugin options page + * @see The GNU Public License (GPL) Version 3 + * @defgroup notifyplugin + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "notifypluginoptionspage.h" +#include +#include "notificationitem.h" +#include "ui_notifypluginoptionspage.h" +#include "extensionsystem/pluginmanager.h" +#include "utils/pathutils.h" + +#include +#include +#include +#include +#include +#include +#include + +#include "notifyplugin.h" +#include "notifyitemdelegate.h" +#include "notifytablemodel.h" + +NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) + : IOptionsPage(parent) + , objManager(*ExtensionSystem::PluginManager::instance()->getObject()) + , owner(qobject_cast(parent)) + , currentCollectionPath("") + , privListNotifications((qobject_cast(parent))->getListNotifications()) +{ +} + +NotifyPluginOptionsPage::~NotifyPluginOptionsPage() +{ +} + +//creates options page widget (uses the UI file) +QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) +{ + options_page.reset(new Ui::NotifyPluginOptionsPage()); + //main widget + QWidget *optionsPageWidget = new QWidget; + //main layout + options_page->setupUi(optionsPageWidget); + + delegateItems.clear(); + listSoundFiles.clear(); + + delegateItems << "Repeat Once" + << "Repeat Instantly" + << "Repeat 10 seconds" + << "Repeat 30 seconds" + << "Repeat 1 minute"; + + options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); + options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); + + // Fills the combo boxes for the UAVObjects + QList< QList > objList = objManager.getDataObjects(); + foreach (QList list, objList) { + foreach (UAVDataObject* obj, list) { + options_page->UAVObject->addItem(obj->getName()); + } + } + + connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); + connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); + connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); + + connect(this, SIGNAL(updateNotifications(QList)), + owner, SLOT(updateNotificationList(QList))); + connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); + + //emit resetNotification(); + + privListNotifications.clear(); + + for (int i = 0; i < owner->getListNotifications().size(); ++i) { + NotificationItem* notification = new NotificationItem(); + owner->getListNotifications().at(i)->copyTo(notification); + privListNotifications.append(notification); + } + + updateConfigView(owner->getCurrentNotification()); + + initButtons(); + initRulesTableModel(); + initRulesTableView(); + initPhononPlayer(); + + return optionsPageWidget; +} + +void NotifyPluginOptionsPage::initButtons() +{ + options_page->chkEnableSound->setChecked(owner->getEnableSound()); + connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); + + options_page->buttonModify->setEnabled(false); + options_page->buttonDelete->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); + connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); + connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); + connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); +} + +void NotifyPluginOptionsPage::initPhononPlayer() +{ + notifySound = Phonon::createPlayer(Phonon::NotificationCategory); + connect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + connect(notifySound, SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); +} + +void NotifyPluginOptionsPage::initRulesTableModel() +{ + notifyRulesModel.reset(new NotifyTableModel(&privListNotifications)); + notifyRulesSelection = new QItemSelectionModel(notifyRulesModel.data()); + connect(notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), + this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); + connect(this, SIGNAL(entryUpdated(int)), + notifyRulesModel.data(), SLOT(entryUpdated(int))); + connect(this, SIGNAL(entryAdded(int)), + notifyRulesModel.data(), SLOT(entryAdded(int))); +} + +void NotifyPluginOptionsPage::initRulesTableView() +{ + options_page->notifyRulesView->setModel(notifyRulesModel.data()); + options_page->notifyRulesView->resizeRowsToContents(); + options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); + options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); + + options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); + options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); + options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); + options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); + options_page->notifyRulesView->setDragEnabled(true); + options_page->notifyRulesView->setAcceptDrops(true); + options_page->notifyRulesView->setDropIndicatorShown(true); +} + +void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) +{ + notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); + notification->setDataObject(options_page->UAVObject->currentText()); + notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setSound1(options_page->Sound1->currentText()); + notification->setSound2(options_page->Sound2->currentText()); + notification->setSound3(options_page->Sound3->currentText()); + notification->setSayOrder(options_page->SayOrder->currentText()); + notification->setValue(options_page->Value->currentText()); + notification->setSpinBoxValue(options_page->ValueSpinBox->value()); + +} + +/*! +* Called when the user presses apply or OK. +* Saves the current values +*/ +void NotifyPluginOptionsPage::apply() +{ + getOptionsPageValues(owner->getCurrentNotification()); + owner->setEnableSound(options_page->chkEnableSound->isChecked()); + emit updateNotifications(privListNotifications); +} + +void NotifyPluginOptionsPage::finish() +{ + disconnect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + if (notifySound) { + notifySound->stop(); + notifySound->clear(); + } +} + +////////////////////////////////////////////////////////////////////////////// +// Fills in the combo box when value is changed in the +// combo box +////////////////////////////////////////////////////////////////////////////// +void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) { + options_page->UAVObjectField->clear(); + ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager* objManager = pm->getObject(); + UAVDataObject* obj = dynamic_cast( objManager->getObject(val) ); + QList fieldList = obj->getFields(); + foreach (UAVObjectField* field, fieldList) { + options_page->UAVObjectField->addItem(field->getName()); + } +} + +// locate collection folder on disk +void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) +{ + QDir dirPath(path); + listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); + options_page->SoundCollectionList->clear(); + options_page->SoundCollectionList->addItems(listDirCollections); +} + + +void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) +{ + options_page->SoundCollectionList->setCurrentIndex(index); + + currentCollectionPath = options_page->SoundDirectoryPathChooser->path() + + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); + + QDir dirPath(currentCollectionPath); + QStringList filters; + filters << "*.mp3" << "*.wav"; + dirPath.setNameFilters(filters); + listSoundFiles = dirPath.entryList(filters); + listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); + + options_page->Sound1->clear(); + options_page->Sound2->clear(); + options_page->Sound3->clear(); + options_page->Sound1->addItems(listSoundFiles); + options_page->Sound2->addItem(""); + options_page->Sound2->addItems(listSoundFiles); + options_page->Sound3->addItem(""); + options_page->Sound3->addItems(listSoundFiles); + +} + +void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) +{ + //Q_ASSERT(Phonon::ErrorState != newstate); + + if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { + options_page->buttonPlayNotification->setText("Play"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); + } else { + if (newstate == Phonon::PlayingState) { + options_page->buttonPlayNotification->setText("Stop"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); + } + } +} + +void NotifyPluginOptionsPage::onFinishedPlaying() +{ + notifySound->clear(); +} + +void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() +{ + NotificationItem* notification = NULL; + + if (-1 == notifyRulesSelection->currentIndex().row()) + return; + notifySound->clearQueue(); + notification = privListNotifications.at(notifyRulesSelection->currentIndex().row()); + notification->parseNotifyMessage(); + QStringList sequence = notification->getMessageSequence(); + Q_ASSERT(!!sequence.size()); + foreach(QString item, sequence) + notifySound->enqueue(Phonon::MediaSource(item)); + + notifySound->play(); +} + +void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state) +{ + bool state1 = 1^state; + + QList listOutputs = notifySound->outputPaths(); + Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); + audioOutput->setMuted(state1); +} + +void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) +{ + QString path = notification->getSoundCollectionPath(); + if (path == "") { + //QDir dir = QDir::currentPath(); + //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; + path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); + } + + options_page->SoundDirectoryPathChooser->setPath(path); + + if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); + } else { + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + } + + if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ + options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); + } + +<<<<<<< Updated upstream + // Now load the object field values: + options_page->UAVObjectField->clear(); + QString uavDataObject = notification->getDataObject(); + UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); + if (obj != NULL ) { + QList fieldList = obj->getFields(); + foreach (UAVObjectField* field, fieldList) { + options_page->UAVObjectField->addItem(field->getName()); + } + } +======= + // Now load the object field values: + options_page->UAVObjectField->clear(); + QString uavDataObject = notification->getDataObject(); + UAVDataObject* obj = dynamic_cast( objManager->getObject(uavDataObject/*objList.at(0).at(0)->getName()*/) ); + if (obj != NULL ) { + QList fieldList = obj->getFields(); + foreach (UAVObjectField* field, fieldList) { + options_page->UAVObjectField->addItem(field->getName()); + } + } +>>>>>>> Stashed changes + + if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { + options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); + } + + if (-1 != options_page->Sound1->findText(notification->getSound1())) { + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + } else { + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + + // don't show item if it wasn't find in stored location + //options_page->Sound1->setCurrentIndex(-1); + } + + if (-1 != options_page->Sound2->findText(notification->getSound2())) { + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + } else { + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + + // don't show item if it wasn't find in stored location + //options_page->Sound2->setCurrentIndex(-1); + } + + if (-1 != options_page->Sound3->findText(notification->getSound3())) { + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + } else { + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + } + + if (-1 != options_page->Value->findText(notification->getValue())) { + options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); + } + + if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) { + options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); + } + + options_page->ValueSpinBox->setValue(notification->getSpinBoxValue()); +} + +void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) +{ + bool select = false; + notifySound->stop(); + if (selected.indexes().size()) { + select = true; + updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); + } + + options_page->buttonModify->setEnabled(select); + options_page->buttonDelete->setEnabled(select); + options_page->buttonPlayNotification->setEnabled(select); +} + + +void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() +{ + NotificationItem* notification = new NotificationItem; + + if (options_page->SoundDirectoryPathChooser->path()=="") { + QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); + textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); + options_page->SoundDirectoryPathChooser->setPalette(textPalette); + options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder"); + return; + } + + notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); + notification->setDataObject(options_page->UAVObject->currentText()); + notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setValue(options_page->Value->currentText()); + notification->setSpinBoxValue(options_page->ValueSpinBox->value()); + + if (options_page->Sound1->currentText().size() > 0) + notification->setSound1(options_page->Sound1->currentText()); + + notification->setSound2(options_page->Sound2->currentText()); + notification->setSound3(options_page->Sound3->currentText()); + + if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) + || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { + return; + } else { + notification->setSayOrder(options_page->SayOrder->currentText()); + } + privListNotifications.append(notification); + emit entryAdded(privListNotifications.size() - 1); + notifyRulesSelection->setCurrentIndex(notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), + QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); +} + + +void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() +{ + notifyRulesModel->removeRow(notifyRulesSelection->currentIndex().row()); + if (!notifyRulesModel->rowCount() + && (notifyRulesSelection->currentIndex().row() > 0 + && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount()) ) + { + options_page->buttonDelete->setEnabled(false); + options_page->buttonModify->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + } + +} + +void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() +{ + NotificationItem* notification = new NotificationItem; + getOptionsPageValues(notification); + notification->setRepeatFlag(privListNotifications.at(notifyRulesSelection->currentIndex().row())->getRepeatFlag()); + privListNotifications.replace(notifyRulesSelection->currentIndex().row(),notification); + entryUpdated(notifyRulesSelection->currentIndex().row()); + +} + diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index 521cf9874..acb9f18e7 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -100,7 +100,7 @@ private: signals: void updateNotifications(QList list); - void resetNotification(void); + //void resetNotification(void); void entryUpdated(int index); void entryAdded(int position); diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index f3c89b5b7..7c564a6df 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -31,82 +31,82 @@ NotifyTableModel::NotifyTableModel(QList* parentList, QObject* parent) : QAbstractTableModel(parent) { - _headerStrings << "Name" << "Repeats" << "Lifetime,sec" << "Enable"; - _list.reset(parentList); + _headerStrings << "Name" << "Repeats" << "Lifetime,sec" << "Enable"; + _list.reset(parentList); } bool NotifyTableModel::setData(const QModelIndex &index, const QVariant &value, int role) { - if (index.isValid() && role == Qt::EditRole) { - if(eREPEAT_VALUE == index.column()) - _list->at(index.row())->setRepeatFlag(value.toString()); - else { - if(eEXPIRE_TIME == index.column()) - _list->at(index.row())->setExpireTimeout(value.toInt()); - else { - if(eENABLE_NOTIFICATION == index.column()) - _list->at(index.row())->setEnableFlag(value.toBool()); - } - } - emit dataChanged(index, index); - return true; - } - return false; + if (index.isValid() && role == Qt::EditRole) { + if(eREPEAT_VALUE == index.column()) + _list->at(index.row())->setRepeatFlag(value.toString()); + else { + if(eEXPIRE_TIME == index.column()) + _list->at(index.row())->setExpireTimeout(value.toInt()); + else { + if(eENABLE_NOTIFICATION == index.column()) + _list->at(index.row())->setEnableFlag(value.toBool()); + } + } + emit dataChanged(index, index); + return true; + } + return false; } QVariant NotifyTableModel::data(const QModelIndex &index, int role) const { - if (!index.isValid()) { - qWarning() << "NotifyTableModel::data - index.isValid()"; - return QVariant(); - } + if (!index.isValid()) { + qWarning() << "NotifyTableModel::data - index.isValid()"; + return QVariant(); + } - if (index.row() >= _list->size()) - return QVariant(); + if (index.row() >= _list->size()) + return QVariant(); - if (role == Qt::DisplayRole || role == Qt::EditRole) - { - switch(index.column()) - { - case eMESSAGE_NAME: - return _list->at(index.row())->parseNotifyMessage(); + if (role == Qt::DisplayRole || role == Qt::EditRole) + { + switch(index.column()) + { + case eMESSAGE_NAME: + return _list->at(index.row())->parseNotifyMessage(); - case eREPEAT_VALUE: - return _list->at(index.row())->getRepeatFlag(); + case eREPEAT_VALUE: + return _list->at(index.row())->getRepeatFlag(); - case eEXPIRE_TIME: - return _list->at(index.row())->getExpireTimeout(); + case eEXPIRE_TIME: + return _list->at(index.row())->getExpireTimeout(); - case eENABLE_NOTIFICATION: - return _list->at(index.row())->getEnableFlag(); + case eENABLE_NOTIFICATION: + return _list->at(index.row())->getEnableFlag(); - default: - return QVariant(); - } - } - else - { - if (Qt::SizeHintRole == role){ - return QVariant(10); - } - } - return QVariant(); + default: + return QVariant(); + } + } + else + { + if (Qt::SizeHintRole == role){ + return QVariant(10); + } + } + return QVariant(); } QVariant NotifyTableModel::headerData(int section, Qt::Orientation orientation, int role) const { - if (role != Qt::DisplayRole) - return QVariant(); + if (role != Qt::DisplayRole) + return QVariant(); - if (orientation == Qt::Horizontal) - return _headerStrings.at(section); - else - if(orientation == Qt::Vertical) - return QString("%1").arg(section); + if (orientation == Qt::Horizontal) + return _headerStrings.at(section); + else + if(orientation == Qt::Vertical) + return QString("%1").arg(section); - return QVariant(); + return QVariant(); } bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex& index) @@ -132,11 +132,11 @@ bool NotifyTableModel::removeRows(int position, int rows, const QModelIndex& ind void NotifyTableModel::entryUpdated(int offset) { - QModelIndex idx = index(offset, 0); - emit dataChanged(idx, idx); + QModelIndex idx = index(offset, 0); + emit dataChanged(idx, idx); } void NotifyTableModel::entryAdded(int position) { - insertRows(position, 1,QModelIndex()); + insertRows(position, 1,QModelIndex()); } From 1665ae8299645c94d7cb6d7081b624e8dafd65b0 Mon Sep 17 00:00:00 2001 From: Nickolay Date: Mon, 19 Sep 2011 00:26:49 +0300 Subject: [PATCH 005/121] +reordering add some changes; --- .../internals/projections/lks94projection.h | 72 ------------------- 1 file changed, 72 deletions(-) delete mode 100644 ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h deleted file mode 100644 index efbe9c394..000000000 --- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h +++ /dev/null @@ -1,72 +0,0 @@ -/** -****************************************************************************** -* -* @file lks94projection.h -* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. -* @brief -* @see The GNU Public License (GPL) Version 3 -* @defgroup OPMapWidget -* @{ -* -*****************************************************************************/ -/* -* 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 LKS94PROJECTION_H -#define LKS94PROJECTION_H -#include -#include "cmath" -#include "D:\!Work\OpenPilot\OpenPilot\ground\openpilotgcs\src\libs\opmapcontrol\src\internals\pureprojection.h" - - -namespace projections { -class LKS94Projection:public internals::PureProjection -{ -public: - LKS94Projection(); - double GetTileMatrixResolution(int const& zoom); - virtual QString Type(){return "LKS94Projection";} - virtual Size TileSize() const; - virtual double Axis() const; - virtual double Flattening() const; - virtual core::Point FromLatLngToPixel(double lat, double lng, int const& zoom); - virtual internals::PointLatLng FromPixelToLatLng(int const& x, int const& y, int const& zoom); - virtual double GetGroundResolution(int const& zoom, double const& latitude); - virtual Size GetTileMatrixMinXY(int const& zoom); - virtual Size GetTileMatrixMaxXY(int const& zoom); - -private: - const double MinLatitude; - const double MaxLatitude; - const double MinLongitude; - const double MaxLongitude; - const double orignX; - const double orignY; - Size tileSize; - QVector DTM10(const QVector & lonlat); - QVector MTD10(QVector & pnt); - QVector DTM00(QVector & lonlat); - QVector DTM01(QVector & lonlat); - QVector MTD01(QVector & pnt); - QVector MTD11(QVector & p); - double Clip(double const& n, double const& minValue, double const& maxValue); -}; - -} -#endif // LKS94PROJECTION_H - - - - From 1af42e1b32d9d95845f62aa724e4fc0248f4bb7b Mon Sep 17 00:00:00 2001 From: Nickolay Date: Mon, 19 Sep 2011 00:30:57 +0300 Subject: [PATCH 006/121] + notify table reordering some changes --- .../src/plugins/notify/NotificationItem.h | 30 ++- .../src/plugins/notify/notificationitem.cpp | 50 ++++- .../src/plugins/notify/notifyitemdelegate.cpp | 10 +- .../src/plugins/notify/notifyitemdelegate.h | 4 +- .../src/plugins/notify/notifylogging.cpp | 13 +- .../src/plugins/notify/notifylogging.h | 8 +- .../src/plugins/notify/notifyplugin.cpp | 88 ++++----- .../notify/notifypluginoptionspage.cpp | 83 ++++----- .../plugins/notify/notifypluginoptionspage.h | 19 +- .../src/plugins/notify/notifytablemodel.cpp | 175 ++++++++++++++++-- .../src/plugins/notify/notifytablemodel.h | 23 ++- 11 files changed, 350 insertions(+), 153 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index ad7250060..da40d2afb 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -78,21 +78,22 @@ public: QStringList getMessageSequence() const { return _messageSequence; } void setMessageSequence(QStringList sequence) { _messageSequence = sequence; } - QString getRepeatFlag() const { return _repeatString; } - void setRepeatFlag(QString value) { _repeatString = value; } + QString retryString() const { return _repeatString; } + void setRetryString(QString value) { _repeatString = value; } - bool getRepeatTimeout() const { return _repeatTimeout; } - void setRepeatTimeout(bool value) { _repeatTimeout = value; } + int lifetime() const { return _expireTimeout; } + void setLifetime(int value) { _expireTimeout = value; } - int getExpireTimeout() const { return _expireTimeout; } - void setExpireTimeout(int value) { _expireTimeout = value; } - - bool getEnableFlag() const { return _enableFlag; } - void setEnableFlag(bool value) { _enableFlag = value; } + bool mute() const { return _mute; } + void setMute(bool value) { _mute = value; } void saveState(QSettings* settings) const; void restoreState(QSettings* settings); + + void seriaize(QDataStream& stream); + void deseriaize(QDataStream& stream); + QString parseNotifyMessage(); QTimer* getTimer() const { return _timer; } @@ -120,8 +121,6 @@ private: //! according to its priority QTimer* _expireTimer; - - QStringList _messageSequence; //! path to folder with sound files @@ -149,20 +148,15 @@ private: double _spinBoxValue; - QString _repeatString; - - //! time when next notification must be fired - bool _repeatTimeout; - //! how often or what periodicaly notification should be played - int _repeatTimerValue; + QString _repeatString; //! time after event occured till notification became invalid //! and will be removed from list int _expireTimeout; //! enables/disables playing of current notification - bool _enableFlag; + bool _mute; }; Q_DECLARE_METATYPE(NotificationItem*) diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index 69f085620..889b84261 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -47,8 +47,8 @@ NotificationItem::NotificationItem(QObject *parent) , _sayOrder("Never") , _spinBoxValue(0) , _repeatString("Repeat Instantly") - , _repeatTimeout(true) , _expireTimeout(15) + , _mute(false) { _timer = NULL; @@ -71,8 +71,9 @@ void NotificationItem::copyTo(NotificationItem* that) const that->_sayOrder = _sayOrder; that->_spinBoxValue = _spinBoxValue; that->_repeatString = _repeatString; - that->_repeatTimeout = _repeatTimeout; that->_expireTimeout = _expireTimeout; + that->_mute = _mute; + } @@ -88,8 +89,10 @@ void NotificationItem::saveState(QSettings* settings) const settings->setValue(QLatin1String("Sound2"), getSound2()); settings->setValue(QLatin1String("Sound3"), getSound3()); settings->setValue(QLatin1String("SayOrder"), getSayOrder()); - settings->setValue(QLatin1String("Repeat"), getRepeatFlag()); - settings->setValue(QLatin1String("ExpireTimeout"), getExpireTimeout()); + settings->setValue(QLatin1String("Repeat"), retryString()); + settings->setValue(QLatin1String("ExpireTimeout"), lifetime()); + settings->setValue(QLatin1String("Mute"), mute()); + } void NotificationItem::restoreState(QSettings* settings) @@ -105,10 +108,45 @@ void NotificationItem::restoreState(QSettings* settings) setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toString()); setSpinBoxValue(settings->value(QLatin1String("ValueSpinBox"), tr("")).toDouble()); - setRepeatFlag(settings->value(QLatin1String("Repeat"), tr("")).toString()); - setExpireTimeout(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); + setRetryString(settings->value(QLatin1String("Repeat"), tr("")).toString()); + setLifetime(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); + setMute(settings->value(QLatin1String("Mute"), tr("")).toInt()); + } +void NotificationItem::seriaize(QDataStream& stream) +{ + stream << this->_soundCollectionPath; + stream << this->_currentLanguage; + stream << this->_dataObject; + stream << this->_objectField; + stream << this->_dataValue; + stream << this->_sound1; + stream << this->_sound2; + stream << this->_sound3; + stream << this->_sayOrder; + stream << this->_spinBoxValue; + stream << this->_repeatString; + stream << this->_expireTimeout; + stream << this->_mute; +} + +void NotificationItem::deseriaize(QDataStream& stream) +{ + stream >> this->_soundCollectionPath; + stream >> this->_currentLanguage; + stream >> this->_dataObject; + stream >> this->_objectField; + stream >> this->_dataValue; + stream >> this->_sound1; + stream >> this->_sound2; + stream >> this->_sound3; + stream >> this->_sayOrder; + stream >> this->_spinBoxValue; + stream >> this->_repeatString; + stream >> this->_expireTimeout; + stream >> this->_mute; +} void NotificationItem::startTimer(int value) { if (!_timer) { diff --git a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp index f5f243e43..d418f0d26 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp @@ -30,11 +30,15 @@ #include "notifytablemodel.h" #include "notifylogging.h" -NotifyItemDelegate::NotifyItemDelegate(QStringList items, QObject* parent) +NotifyItemDelegate::NotifyItemDelegate(QObject* parent) : QItemDelegate(parent) , _parent(parent) - , _items(items) { + _titles << "Repeat Once" + << "Repeat Instantly" + << "Repeat 10 seconds" + << "Repeat 30 seconds" + << "Repeat 1 minute"; } @@ -44,7 +48,7 @@ QWidget *NotifyItemDelegate::createEditor(QWidget* parent, const QStyleOptionVie if (eREPEAT_VALUE == index.column()) { QComboBox* editor = new QComboBox(parent); editor->clear(); - editor->addItems(_items); + editor->addItems(_titles); return editor; } else { if (eEXPIRE_TIME == index.column()) { diff --git a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h index 01fa0794d..494e61c17 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h @@ -37,7 +37,7 @@ class NotifyItemDelegate : public QItemDelegate Q_OBJECT public: - NotifyItemDelegate(QStringList items, QObject *parent = 0); + NotifyItemDelegate(QObject *parent = 0); QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &, const QModelIndex &index) const; void setEditorData(QWidget *editor, const QModelIndex &index) const; @@ -51,7 +51,7 @@ private slots: private: QObject* _parent; - QStringList _items; + QStringList _titles; }; diff --git a/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp b/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp index 616b2ada5..0a29cc6e6 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp @@ -28,15 +28,16 @@ #include "notifylogging.h" -#ifdef DEBUG_NOTIFIES +#ifdef DEBUG_NOTIFIES_ENABLE QDebug qNotifyDebug() -#endif -#ifndef DEBUG_NOTIFIES -QNoDebug qNotifyDebug() -#endif { -#ifdef DEBUG_NOTIFIES return qDebug(); +} #endif + +#ifndef DEBUG_NOTIFIES_ENABLE +QNoDebug qNotifyDebug() +{ return QNoDebug(); } +#endif diff --git a/ground/openpilotgcs/src/plugins/notify/notifylogging.h b/ground/openpilotgcs/src/plugins/notify/notifylogging.h index bf02b86df..ea7ea331c 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifylogging.h +++ b/ground/openpilotgcs/src/plugins/notify/notifylogging.h @@ -31,12 +31,16 @@ #include "QDebug.h" -#ifdef DEBUG_NOTIFIES +#define DEBUG_NOTIFIES_ENABLE + +#ifdef DEBUG_NOTIFIES_ENABLE QDebug qNotifyDebug(); #endif -#ifndef DEBUG_NOTIFIES + +#ifndef DEBUG_NOTIFIES_ENABLE QNoDebug qNotifyDebug(); #endif +#define qNotifyDebug_if(test) if(test) qNotifyDebug() #endif // NOTIFYLOGGING_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 9eef49dec..e7878c3da 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -272,8 +272,8 @@ void SoundNotifyPlugin::appendNotification(UAVObject *object) if (nowPlayingConfiguration == ntf) continue; - if (ntf->getRepeatFlag()!= "Repeat Instantly" && - ntf->getRepeatFlag()!= "Repeat Once" && !ntf->firstStart) + if (ntf->retryString() != "Repeat Instantly" && + ntf->retryString() != "Repeat Once" && !ntf->firstStart) continue; checkNotificationRule(ntf,object); @@ -288,46 +288,47 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA double threshold; QString direction; QString fieldName; + threshold = notification->getSpinBoxValue(); direction = notification->getValue(); fieldName = notification->getObjectField(); UAVObjectField* field = object->getField(fieldName); - if (field->getName()!="") { - double value = field->getDouble(); - switch(direction[0].toAscii()) - { - case 'E': - if (value==threshold) - condition = true; - break; - case 'G': - if (value>threshold) - condition = true; - break; - case 'L': - if (valuegetName() == "") + return; + + double value = field->getDouble(); + switch(direction[0].toAscii()) + { + case 'E': + condition = (value == threshold); + break; + + case 'G': + condition = (value > threshold); + break; + + case 'L': + condition = (value < threshold); + break; } - if (condition) - { - if (!playNotification(notification)) - { - if (!pendingNotifications.contains(notification)) - { - notification->stopTimer(); + if (!condition) + return; - qNotifyDebug() << "add to pending list - " << notification->parseNotifyMessage(); - // if audio is busy, start expiration timer - //ms = (notification->getExpiredTimeout()[in sec])*1000 - //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); - pendingNotifications.append(notification); - notification->startExpireTimer(); - connect(notification->getExpireTimer(), SIGNAL(timeout()), this, SLOT(expireTimerHandler())); - } + if (!playNotification(notification)) + { + if (!pendingNotifications.contains(notification)) + { + notification->stopTimer(); + + qNotifyDebug() << "add to pending list - " << notification->parseNotifyMessage(); + // if audio is busy, start expiration timer + //ms = (notification->getExpiredTimeout()[in sec])*1000 + //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); + pendingNotifications.append(notification); + notification->startExpireTimer(); + connect(notification->getExpireTimer(), SIGNAL(timeout()), this, SLOT(expireTimerHandler())); } } } @@ -338,26 +339,26 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) if (phonon.mo == NULL) return false; - if (!notification->getEnableFlag()) return true; + if (!notification->mute()) + return true; qNotifyDebug() << "Phonon State: " << phonon.mo->state(); if ((phonon.mo->state()==Phonon::PausedState) - || (phonon.mo->state()==Phonon::StoppedState) - || phonon.firstPlay) + || (phonon.mo->state()==Phonon::StoppedState) + || phonon.firstPlay) { // don't fire expire timer nowPlayingConfiguration = notification; notification->stopExpireTimer(); - if (notification->getRepeatFlag()=="Repeat Once") { + if (notification->retryString() == "Repeat Once") { removedNotifies.append(lstNotifications.takeAt(lstNotifications.indexOf(notification))); } else { - if (notification->getRepeatFlag()!="Repeat Instantly") - { + if (notification->retryString() != "Repeat Instantly") { QRegExp rxlen("(\\d+)"); QString value; int timer_value; - int pos = rxlen.indexIn(notification->getRepeatFlag()); + int pos = rxlen.indexIn(notification->retryString()); if (pos > -1) { value = rxlen.cap(1); // "189" timer_value = (value.toInt()+8)*1000; //ms*1000 + average duration of meassage @@ -379,10 +380,9 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) phonon.mo->play(); phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before // the state is not "Loading" anymore. - } - else + } else { return false; // if audio is busy - + } return true; } diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index caad0efff..a1122f078 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -43,13 +43,13 @@ #include "notifyplugin.h" #include "notifyitemdelegate.h" #include "notifytablemodel.h" +#include "notifylogging.h" NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) : IOptionsPage(parent) , objManager(*ExtensionSystem::PluginManager::instance()->getObject()) , owner(qobject_cast(parent)) , currentCollectionPath("") - , privListNotifications((qobject_cast(parent))->getListNotifications()) { } @@ -66,15 +66,8 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) //main layout options_page->setupUi(optionsPageWidget); - delegateItems.clear(); listSoundFiles.clear(); - delegateItems << "Repeat Once" - << "Repeat Instantly" - << "Repeat 10 seconds" - << "Repeat 30 seconds" - << "Repeat 1 minute"; - options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); @@ -95,19 +88,13 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); - privListNotifications.clear(); - - for (int i = 0; i < owner->getListNotifications().size(); ++i) { - NotificationItem* notification = new NotificationItem(); - owner->getListNotifications().at(i)->copyTo(notification); - privListNotifications.append(notification); - } +// privListNotifications = ((qobject_cast(parent))->getListNotifications()); + privListNotifications = owner->getListNotifications(); updateConfigView(owner->getCurrentNotification()); + initRulesTable(); initButtons(); - initRulesTableModel(); - initRulesTableView(); initPhononPlayer(); return optionsPageWidget; @@ -129,31 +116,32 @@ void NotifyPluginOptionsPage::initButtons() void NotifyPluginOptionsPage::initPhononPlayer() { - notifySound = Phonon::createPlayer(Phonon::NotificationCategory); - connect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); + connect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - connect(notifySound, SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); + connect(notifySound.data(), SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); } -void NotifyPluginOptionsPage::initRulesTableModel() +void NotifyPluginOptionsPage::initRulesTable() { - notifyRulesModel.reset(new NotifyTableModel(&privListNotifications)); - notifyRulesSelection = new QItemSelectionModel(notifyRulesModel.data()); - connect(notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), + qNotifyDebug_if(_notifyRulesModel.isNull()) << "_notifyRulesModel.isNull())"; + qNotifyDebug_if(!_notifyRulesSelection) << "_notifyRulesSelection.isNull())"; + //QItemSelectionModel* selection = _notifyRulesSelection.take(); + _notifyRulesModel.reset(new NotifyTableModel(privListNotifications)); + _notifyRulesSelection = new QItemSelectionModel(_notifyRulesModel.data()); + + connect(_notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); connect(this, SIGNAL(entryUpdated(int)), - notifyRulesModel.data(), SLOT(entryUpdated(int))); + _notifyRulesModel.data(), SLOT(entryUpdated(int))); connect(this, SIGNAL(entryAdded(int)), - notifyRulesModel.data(), SLOT(entryAdded(int))); -} + _notifyRulesModel.data(), SLOT(entryAdded(int))); + + options_page->notifyRulesView->setModel(_notifyRulesModel.data()); + options_page->notifyRulesView->setSelectionModel(_notifyRulesSelection); + options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(this)); -void NotifyPluginOptionsPage::initRulesTableView() -{ - options_page->notifyRulesView->setModel(notifyRulesModel.data()); options_page->notifyRulesView->resizeRowsToContents(); - options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); - options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); - options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); @@ -161,6 +149,9 @@ void NotifyPluginOptionsPage::initRulesTableView() options_page->notifyRulesView->setDragEnabled(true); options_page->notifyRulesView->setAcceptDrops(true); options_page->notifyRulesView->setDropIndicatorShown(true); + options_page->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove); + + } void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) @@ -175,7 +166,6 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio notification->setSayOrder(options_page->SayOrder->currentText()); notification->setValue(options_page->Value->currentText()); notification->setSpinBoxValue(options_page->ValueSpinBox->value()); - } /*! @@ -191,7 +181,7 @@ void NotifyPluginOptionsPage::apply() void NotifyPluginOptionsPage::finish() { - disconnect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), this,SLOT(changeButtonText(Phonon::State,Phonon::State))); if (notifySound) { notifySound->stop(); @@ -272,10 +262,10 @@ void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() { NotificationItem* notification = NULL; - if (-1 == notifyRulesSelection->currentIndex().row()) + if (-1 == _notifyRulesSelection->currentIndex().row()) return; notifySound->clearQueue(); - notification = privListNotifications.at(notifyRulesSelection->currentIndex().row()); + notification = privListNotifications.at(_notifyRulesSelection->currentIndex().row()); notification->parseNotifyMessage(); QStringList sequence = notification->getMessageSequence(); Q_ASSERT(!!sequence.size()); @@ -419,17 +409,17 @@ if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder-> } privListNotifications.append(notification); emit entryAdded(privListNotifications.size() - 1); - notifyRulesSelection->setCurrentIndex(notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), + _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() { - notifyRulesModel->removeRow(notifyRulesSelection->currentIndex().row()); - if (!notifyRulesModel->rowCount() - && (notifyRulesSelection->currentIndex().row() > 0 - && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount()) ) + _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row()); + if (!_notifyRulesModel->rowCount() + && (_notifyRulesSelection->currentIndex().row() > 0 + && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) ) { options_page->buttonDelete->setEnabled(false); options_page->buttonModify->setEnabled(false); @@ -442,9 +432,12 @@ void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() { NotificationItem* notification = new NotificationItem; getOptionsPageValues(notification); - notification->setRepeatFlag(privListNotifications.at(notifyRulesSelection->currentIndex().row())->getRepeatFlag()); - privListNotifications.replace(notifyRulesSelection->currentIndex().row(),notification); - entryUpdated(notifyRulesSelection->currentIndex().row()); + notification->setRetryString(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString()); + notification->setLifetime(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime()); + notification->setMute(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute()); + + privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification); + entryUpdated(_notifyRulesSelection->currentIndex().row()); } diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index acb9f18e7..9e49e89ec 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -42,13 +42,15 @@ #include #include #include -#include "ui_notifypluginoptionspage.h" //#include "notifytablemodel.h" class NotifyTableModel; class NotificationItem; class SoundNotifyPlugin; +namespace Ui { + class NotifyPluginOptionsPage; +}; using namespace Core; @@ -74,11 +76,11 @@ public: void getOptionsPageValues(NotificationItem* notification); private: - //Q_DISABLE_COPY(NotifyPluginOptionsPage) + Q_DISABLE_COPY(NotifyPluginOptionsPage) + void initButtons(); void initPhononPlayer(); - void initRulesTableModel(); - void initRulesTableView(); + void initRulesTable(); private: UAVObjectManager& objManager; @@ -86,14 +88,13 @@ private: QStringList listDirCollections; QStringList listSoundFiles; QString currentCollectionPath; - int sizeNotifyList; Phonon::MediaObject *sound1; Phonon::MediaObject *sound2; - Phonon::MediaObject *notifySound; + QScopedPointer notifySound; Phonon::AudioOutput *audioOutput; - QStringList delegateItems; - QScopedPointer notifyRulesModel; - QItemSelectionModel *notifyRulesSelection; + + QScopedPointer _notifyRulesModel; + QItemSelectionModel* _notifyRulesSelection; QList privListNotifications; QScopedPointer options_page; diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index 7c564a6df..0c2337437 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -26,28 +26,41 @@ */ #include "notifytablemodel.h" +#include "notifylogging.h" #include +#include -NotifyTableModel::NotifyTableModel(QList* parentList, QObject* parent) +static int _dragStartRow = -1; +static int _dragNumRows = -1; +const char* mime_type_notify_table = "openpilot/notify_plugin_table"; + +NotifyTableModel::NotifyTableModel(QList& parentList, QObject* parent) : QAbstractTableModel(parent) + , _list(parentList) { - _headerStrings << "Name" << "Repeats" << "Lifetime,sec" << "Enable"; - _list.reset(parentList); + _headerStrings << "Name" << "Repeats" << "Lifetime,sec" << "Mute"; + connect(this, SIGNAL(dragRows(int, int)), this, SLOT(dropRows(int, int))); } bool NotifyTableModel::setData(const QModelIndex &index, const QVariant &value, int role) { + if (index.isValid() && role == Qt::DisplayRole) { + if(eMESSAGE_NAME == index.column()) { + emit dataChanged(index, index); + return true; + } + } if (index.isValid() && role == Qt::EditRole) { if(eREPEAT_VALUE == index.column()) - _list->at(index.row())->setRepeatFlag(value.toString()); + _list.at(index.row())->setRetryString(value.toString()); else { if(eEXPIRE_TIME == index.column()) - _list->at(index.row())->setExpireTimeout(value.toInt()); + _list.at(index.row())->setLifetime(value.toInt()); else { if(eENABLE_NOTIFICATION == index.column()) - _list->at(index.row())->setEnableFlag(value.toBool()); + _list.at(index.row())->setMute(value.toBool()); } } emit dataChanged(index, index); @@ -63,7 +76,7 @@ QVariant NotifyTableModel::data(const QModelIndex &index, int role) const return QVariant(); } - if (index.row() >= _list->size()) + if (index.row() >= _list.size()) return QVariant(); if (role == Qt::DisplayRole || role == Qt::EditRole) @@ -71,16 +84,16 @@ QVariant NotifyTableModel::data(const QModelIndex &index, int role) const switch(index.column()) { case eMESSAGE_NAME: - return _list->at(index.row())->parseNotifyMessage(); + return _list.at(index.row())->parseNotifyMessage(); case eREPEAT_VALUE: - return _list->at(index.row())->getRepeatFlag(); + return _list.at(index.row())->retryString(); case eEXPIRE_TIME: - return _list->at(index.row())->getExpireTimeout(); + return _list.at(index.row())->lifetime(); case eENABLE_NOTIFICATION: - return _list->at(index.row())->getEnableFlag(); + return _list.at(index.row())->mute(); default: return QVariant(); @@ -112,7 +125,16 @@ QVariant NotifyTableModel::headerData(int section, Qt::Orientation orientation, bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex& index) { Q_UNUSED(index); - beginInsertRows(QModelIndex(), position, position+rows-1); + + if((-1 == position) || (-1 == rows) ) + return false; + + beginInsertRows(QModelIndex(), position, position + rows - 1); + + for (int row = 0; row < rows; ++row) { + _list.insert(position, new NotificationItem()); + } + endInsertRows(); return true; } @@ -120,10 +142,14 @@ bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex& ind bool NotifyTableModel::removeRows(int position, int rows, const QModelIndex& index) { Q_UNUSED(index); - beginRemoveRows(QModelIndex(), position, position+rows-1); - for (int row=0; row < rows; ++row) { - _list->removeAt(position); + if((-1 == position) || (-1 == rows) ) + return false; + + beginRemoveRows(QModelIndex(), position, position + rows - 1); + + for (int row = 0; row < rows; ++row) { + _list.removeAt(position); } endRemoveRows(); @@ -140,3 +166,122 @@ void NotifyTableModel::entryAdded(int position) { insertRows(position, 1,QModelIndex()); } + + +bool NotifyTableModel::dropMimeData( const QMimeData * data, Qt::DropAction action, int row, + int column, const QModelIndex& parent) +{ + if (action == Qt::IgnoreAction) + return true; + + if (!data->hasFormat(mime_type_notify_table)) + return false; + + int beginRow = -1; + + if (row != -1) + beginRow = row; + else { + if (parent.isValid()) + beginRow = parent.row(); + else + beginRow = rowCount(QModelIndex()); + } + + if(-1 == beginRow) + return false; + + QByteArray encodedData = data->data(mime_type_notify_table); + QDataStream stream(&encodedData, QIODevice::ReadOnly); + int rows = beginRow; + while(!stream.atEnd()) { + qint32 ptr; + stream >> ptr; + NotificationItem* item = reinterpret_cast(ptr); + int dragged = _list.indexOf(item); + if(-1 == dragged || rows >= _list.size() || dragged == rows) { + qNotifyDebug() << "no such item"; + return false; + } + removeRows(rows, 1, QModelIndex()); + insertRows(rows, 1, QModelIndex()); + _list.replace(dragged, item); + // _list.swap(dragged, rows); + ++rows; + }; + + QModelIndex idxTopLeft = index(beginRow, 0, QModelIndex()); + QModelIndex idxBotRight = index(beginRow, columnCount(QModelIndex()), QModelIndex()); + emit dataChanged(idxTopLeft, idxBotRight); + //QStringList newItems; + + //removeRows(_dragStartRow, _dragNumRows, QModelIndex()); + //insertRows(beginRow, rows, QModelIndex()); +// int rows = beginRow; +// while (!stream.atEnd()) { +// _list.at(index.row())->deserialize(stream); +// ++rows; +// } + +// while(rows) { +// int column = 0; +// foreach (const QString& text, newItems) { +// QModelIndex idx = index(beginRow, column, QModelIndex()); +// if(!column) +// setData(const_cast(idx), text, Qt::DisplayRole); +// else +// setData(const_cast(idx), text, Qt::EditRole); +// ++column; +// } +// ++beginRow; +// --rows; +// } + return true; +} + +QMimeData* NotifyTableModel::mimeData(const QModelIndexList& indexes) const +{ + QMimeData* mimeData = new QMimeData(); + QByteArray encodedData; + + QDataStream stream(&encodedData, QIODevice::WriteOnly); + int rows = 0; + foreach (const QModelIndex& index, indexes) { + if(!index.column()) { + qint32 item = reinterpret_cast(_list.at(index.row())); + stream << item; + } + ++rows; + } + +// int numRows = 0; +// foreach (const QModelIndex& index, indexes) { +// if (index.isValid() && index.column()) { +// _list.at(index.row())->serialize(stream); +//// if(!index.column()) { +//// numRows++; +//// QString name = data(index, Qt::DisplayRole).toString(); +//// stream << name; +//// } else { +//// QString text = data(index, Qt::EditRole).toString(); +//// stream << text; +//// } +// } +// } + + mimeData->setData(mime_type_notify_table, encodedData); + + //emit dragRows(indexes.at(0).row(), rows); + dropRows(indexes.at(0).row(), rows); + //_dragStartRow = indexes.at(0).row(); + //_dragNumRows = 1/*numRows*/; + + return mimeData; +} + +void NotifyTableModel::dropRows(int position, int count) const +{ + for (int row = 0; row < count; ++row) { + _list.removeAt(position); + } +} diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h index affae25da..f58cc0599 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h @@ -43,11 +43,11 @@ class NotifyTableModel : public QAbstractTableModel public: - NotifyTableModel(QList* parentList, QObject* parent = 0); + NotifyTableModel(QList& parentList, QObject* parent = 0); int rowCount(const QModelIndex& parent = QModelIndex()) const { - return _list->count(); + return _list.count(); } int columnCount(const QModelIndex &/*parent*/) const @@ -68,17 +68,34 @@ public: return Qt::MoveAction; } + QStringList mimeTypes() const + { + QStringList types; + types << "application/vnd.text.list"; + return types; + } + + bool dropMimeData( const QMimeData * data, Qt::DropAction action, int row, + int column, const QModelIndex& parent); + QMimeData* mimeData(const QModelIndexList &indexes) const; + + bool setData(const QModelIndex &index, const QVariant &value, int role); QVariant data(const QModelIndex &index, int role) const; QVariant headerData(int section, Qt::Orientation orientation, int role) const; bool insertRows(int position, int rows, const QModelIndex &index); bool removeRows(int position, int rows, const QModelIndex &index); +signals: + void dragRows(int position, int count); + private slots: void entryUpdated(int offset); void entryAdded(int position); + void dropRows(int position, int count) const; + private: - QScopedPointer > _list; + mutable QList& _list; QStringList _headerStrings; }; From 82ec3199d73f0d743d117fc028243dfd038b2ae5 Mon Sep 17 00:00:00 2001 From: Nickolay Date: Thu, 29 Sep 2011 20:26:46 +0300 Subject: [PATCH 007/121] +dynamic field UI; --- .../src/plugins/notify/NotificationItem.h | 30 +- .../src/plugins/notify/notificationitem.cpp | 259 +++--- .../src/plugins/notify/notifyplugin.cpp | 9 +- .../notify/notifypluginoptionspage.cpp | 406 ++++++--- .../notify/notifypluginoptionspage.cpp.orig | 443 +++++----- .../plugins/notify/notifypluginoptionspage.h | 59 +- .../plugins/notify/notifypluginoptionspage.ui | 787 +++++++----------- .../src/plugins/notify/notifytablemodel.cpp | 8 +- .../src/plugins/notify/notifytablemodel.h | 3 +- 9 files changed, 1094 insertions(+), 910 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index da40d2afb..20de7a4f8 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -40,11 +40,15 @@ using namespace Core; QString getSound##number() const { return _sound##number; } \ void setSound##number(QString text) { _sound##number = text; } \ +class UAVDataObject; +class UAVObjectField; class NotificationItem : public QObject { Q_OBJECT public: + enum { eDefaultTimeout = 15 }; // in sec + explicit NotificationItem(QObject *parent = 0); void copyTo(NotificationItem*) const; @@ -53,15 +57,17 @@ public: DECLARE_SOUND(2) DECLARE_SOUND(3) - QString getValue() const { return _dataValue; } - void setValue(QString text) { _dataValue = text; } + QString range() const { return _rangeLimit; } + void setRange(QString text) { _rangeLimit = text; } QString getSayOrder() const { return _sayOrder; } void setSayOrder(QString text) { _sayOrder = text; } - double getSpinBoxValue() const { return _spinBoxValue; } - void setSpinBoxValue(double value) { _spinBoxValue = value; } + double singleValue() const { return _singleValue; } + void setSingleValue(double value) { _singleValue = value; } + double valueRange2() const { return _valueRange2; } + void setValueRange2(double value) { _valueRange2 = value; } QString getDataObject() const { return _dataObject; } void setDataObject(QString text) { _dataObject = text; } @@ -91,6 +97,9 @@ public: void restoreState(QSettings* settings); + UAVDataObject* getUAVObject(void); + UAVObjectField* getUAVObjectField(void); + void seriaize(QDataStream& stream); void deseriaize(QDataStream& stream); @@ -111,7 +120,7 @@ public: bool firstStart; private: - void checkSoundFilesExisting(); + void checkSoundFilesExisting(bool& missed1, bool& missed2, bool& missed3); private: QTimer* _timer; @@ -135,8 +144,8 @@ private: //! one field value change can be assigned to one notification QString _objectField; - //! poled UAV field value - QString _dataValue; + //! fire condition for UAV field value (lower, greater, in range) + QString _rangeLimit; //! possible sounds(at least one required to play notification) QString _sound1; @@ -146,7 +155,12 @@ private: //! order in what sounds 1-3 will be played QString _sayOrder; - double _spinBoxValue; + //! one-side range, value maybe lower or greater + double _singleValue; + + //! both-side range, value should be inside the range + //double _valueRange1; + double _valueRange2; //! how often or what periodicaly notification should be played QString _repeatString; diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index 889b84261..d6c803b68 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -25,11 +25,19 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "notificationitem.h" -#include "notifylogging.h" +//Qt headers #include #include + +// GCS headers +#include "extensionsystem/pluginmanager.h" #include "utils/pathutils.h" +#include "uavobjectmanager.h" +#include "uavobject.h" + +// Notify plugin headers +#include "notificationitem.h" +#include "notifylogging.h" NotificationItem::NotificationItem(QObject *parent) @@ -40,14 +48,15 @@ NotificationItem::NotificationItem(QObject *parent) , _currentLanguage("default") , _dataObject("") , _objectField("") - , _dataValue("Equal to") + , _rangeLimit("Equal to") , _sound1("") , _sound2("") , _sound3("") , _sayOrder("Never") - , _spinBoxValue(0) + , _singleValue(0) + , _valueRange2(0) , _repeatString("Repeat Instantly") - , _expireTimeout(15) + , _expireTimeout(eDefaultTimeout) , _mute(false) { @@ -64,12 +73,13 @@ void NotificationItem::copyTo(NotificationItem* that) const that->_soundCollectionPath = _soundCollectionPath; that->_dataObject = _dataObject; that->_objectField = _objectField; - that->_dataValue = _dataValue; + that->_rangeLimit = _rangeLimit; that->_sound1 = _sound1; that->_sound2 = _sound2; that->_sound3 = _sound3; that->_sayOrder = _sayOrder; - that->_spinBoxValue = _spinBoxValue; + that->_singleValue = _singleValue; + that->_valueRange2 = _valueRange2; that->_repeatString = _repeatString; that->_expireTimeout = _expireTimeout; that->_mute = _mute; @@ -83,8 +93,9 @@ void NotificationItem::saveState(QSettings* settings) const settings->setValue(QLatin1String("CurrentLanguage"), getCurrentLanguage()); settings->setValue(QLatin1String("ObjectField"), getObjectField()); settings->setValue(QLatin1String("DataObject"), getDataObject()); - settings->setValue(QLatin1String("Value"), getValue()); - settings->setValue(QLatin1String("ValueSpinBox"), getSpinBoxValue()); + settings->setValue(QLatin1String("RangeLimit"), range()); + settings->setValue(QLatin1String("Value1"), singleValue()); + settings->setValue(QLatin1String("Value2"), valueRange2()); settings->setValue(QLatin1String("Sound1"), getSound1()); settings->setValue(QLatin1String("Sound2"), getSound2()); settings->setValue(QLatin1String("Sound3"), getSound3()); @@ -102,12 +113,13 @@ void NotificationItem::restoreState(QSettings* settings) setCurrentLanguage(settings->value(QLatin1String("CurrentLanguage"), tr("")).toString()); setDataObject(settings->value(QLatin1String("DataObject"), tr("")).toString()); setObjectField(settings->value(QLatin1String("ObjectField"), tr("")).toString()); - setValue(settings->value(QLatin1String("Value"), tr("")).toString()); + setRange(settings->value(QLatin1String("RangeLimit"), tr("")).toString()); setSound1(settings->value(QLatin1String("Sound1"), tr("")).toString()); setSound2(settings->value(QLatin1String("Sound2"), tr("")).toString()); setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toString()); - setSpinBoxValue(settings->value(QLatin1String("ValueSpinBox"), tr("")).toDouble()); + setSingleValue(settings->value(QLatin1String("Value1"), tr("")).toDouble()); + setValueRange2(settings->value(QLatin1String("Value2"), tr("")).toDouble()); setRetryString(settings->value(QLatin1String("Repeat"), tr("")).toString()); setLifetime(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); setMute(settings->value(QLatin1String("Mute"), tr("")).toInt()); @@ -120,12 +132,13 @@ void NotificationItem::seriaize(QDataStream& stream) stream << this->_currentLanguage; stream << this->_dataObject; stream << this->_objectField; - stream << this->_dataValue; + stream << this->_rangeLimit; stream << this->_sound1; stream << this->_sound2; stream << this->_sound3; stream << this->_sayOrder; - stream << this->_spinBoxValue; + stream << this->_singleValue; + stream << this->_valueRange2; stream << this->_repeatString; stream << this->_expireTimeout; stream << this->_mute; @@ -137,12 +150,13 @@ void NotificationItem::deseriaize(QDataStream& stream) stream >> this->_currentLanguage; stream >> this->_dataObject; stream >> this->_objectField; - stream >> this->_dataValue; + stream >> this->_rangeLimit; stream >> this->_sound1; stream >> this->_sound2; stream >> this->_sound3; stream >> this->_sayOrder; - stream >> this->_spinBoxValue; + stream >> this->_singleValue; + stream >> this->_valueRange2; stream >> this->_repeatString; stream >> this->_expireTimeout; stream >> this->_mute; @@ -195,145 +209,192 @@ void NotificationItem::disposeExpireTimer() { } } +#define missed "missed sound" +#define CHECK_ADD_SOUND(n) ((!_missedSound##n) ? getSound##n() : (missed#n)) +#define CHECK_REPLACE_SOUND(n) ((!_missedSound##n) ? str.replace(missed#n, getSound##n()) : (missed#n)) + QString NotificationItem::parseNotifyMessage() { // tips: // check of *.wav files exist needed for playing phonon queues; // if phonon player don't find next file in queue, it buzz - QString str,str1; - str1= getSayOrder(); - str = QString("%L1 ").arg(getSpinBoxValue()); - int position = 0xFF; + QString str; + QString value; + QString sayOrder = getSayOrder(); + UAVObjectField* field = getUAVObjectField(); + if (UAVObjectField::ENUM == field->getType()) { + Q_ASSERT(singleValue() < field->getOptions().size()); + value = QString("%L1").arg(field->getOptions().at(singleValue())); + } else { + value = QString("%L1").arg(singleValue()); + } + + int position = -1; // default don't play value wav file + // generate queue of sound files to play _messageSequence.clear(); - checkSoundFilesExisting(); + bool _missedSound1 = false; + bool _missedSound2 = false; + bool _missedSound3 = false; + + checkSoundFilesExisting(_missedSound1, _missedSound2, _missedSound3); + str = CHECK_ADD_SOUND(1)+" "+CHECK_ADD_SOUND(2)+" "+CHECK_ADD_SOUND(3); if(!_messageSequence.size()) { qNotifyDebug() << "no any files in message queue"; } - switch(str1.at(0).toAscii()) + sayOrder = sayOrder.trimmed(); + switch(sayOrder.at(0).toUpper().toAscii()) { - case 'N'://NEVER: - str = getSound1()+" "+getSound2()+" "+getSound3(); - position = 0xFF; - break; - - case 'B'://BEFORE: - str = QString("%L1 ").arg(getSpinBoxValue())+getSound1()+" "+getSound2()+" "+getSound3(); - position = 0; - break; + case 'B'://BEFORE: + CHECK_REPLACE_SOUND(1); + CHECK_REPLACE_SOUND(2); + CHECK_REPLACE_SOUND(3); + str.prepend(value + " "); + position = 0; + break; case 'A'://AFTER: - switch(str1.at(6).toAscii()) + switch(sayOrder.at(6).toLower().toAscii()) { case 'f': - str = getSound1()+QString(" %L1 ").arg(getSpinBoxValue())+getSound2()+" "+getSound3(); + str = CHECK_ADD_SOUND(1)+" "+value+" "+CHECK_ADD_SOUND(2)+" "+CHECK_ADD_SOUND(3); position = 1; break; + case 's': - str = getSound1()+" "+getSound2()+QString(" %L1").arg(getSpinBoxValue())+" "+getSound3(); + str = CHECK_ADD_SOUND(1)+" "+CHECK_ADD_SOUND(2)+" "+value+" "+CHECK_ADD_SOUND(3); position = 2; break; + case 't': - str = getSound1()+" "+getSound2()+" "+getSound3()+QString(" %L1").arg(getSpinBoxValue()); + CHECK_REPLACE_SOUND(1); + CHECK_REPLACE_SOUND(2); + CHECK_REPLACE_SOUND(3); + str.append(" "+value); position = 3; break; } break; + + default: + CHECK_REPLACE_SOUND(1); + CHECK_REPLACE_SOUND(2); + CHECK_REPLACE_SOUND(3); + break; } - if(position != 0xFF) - { - QStringList numberParts = QString("%1").arg(getSpinBoxValue()).trimmed().split("."); - QStringList numberFiles; + if(-1 == position) { + qNotifyDebug() << "NotificationItem::parseNotifyMessage() | value position undefined"; + return str; + } - if((numberParts.at(0).size()==1) || (numberParts.at(0).toInt()<20)) - { - //if(numberParts.at(0)!="0") - numberFiles.append(numberParts.at(0)); - } else { - int i=0; - if(numberParts.at(0).right(2).toInt()<20 && numberParts.at(0).right(2).toInt()!=0) { - if(numberParts.at(0).right(2).toInt()<10) - numberFiles.append(numberParts.at(0).right(1)); - else - numberFiles.append(numberParts.at(0).right(2)); - i=2; - } - for(;igetType()) return str; - if(1 < numberParts.size()) { - numberFiles.append("point"); - if((numberParts.at(1).size()==1)) - numberFiles.append(numberParts.at(1)); - else { - if(numberParts.at(1).left(1)=="0") - numberFiles.append(numberParts.at(1).left(1)); - else - numberFiles.append(numberParts.at(1).left(1)+'0'); - numberFiles.append(numberParts.at(1).right(1)); - } + QStringList numberParts = value.trimmed().split("."); + QStringList digitWavs; + + if ( (numberParts.at(0).size() == 1) || (numberParts.at(0).toInt() < 20) ) { + // [1] check, is this number < 20, these numbers played by one wav file + digitWavs.append(numberParts.at(0)); + } else { + int i=0; + // [2] store two lowest digits of number + int num = numberParts.at(0).right(2).toInt(); + if (num < 20 && num != 0) { + // store eighter number in range [0...10) or in range [10...20) + digitWavs.append(numberParts.at(0).right(1 + num/11)); + i=2; + } + // [3] prepend 100 and 1000 digits of number + for (;i number < 1 + digitWavs.append(numberParts.at(1)); + } else { + // append fractional part of number + QString left = numberParts.at(1).left(1); + (left == "0") ? digitWavs.append(left) : digitWavs.append(left + '0'); + digitWavs.append(numberParts.at(1).right(1)); + } + } + foreach(QString fileName, digitWavs) { + fileName+=".wav"; + QString filePath = QDir::toNativeSeparators(getSoundCollectionPath()+"/"+ getCurrentLanguage()+"/"+fileName); + if(QFile::exists(filePath)) + _messageSequence.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+ "/"+getCurrentLanguage()+"/"+fileName)); + else { + if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName))) + _messageSequence.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName)); + else { + _messageSequence.clear(); + break; // if no some of *.wav files, then don't play number! } + } } return str; } +UAVObjectField* NotificationItem::getUAVObjectField() { + return getUAVObject()->getField(getObjectField()); +} -void NotificationItem::checkSoundFilesExisting() { +UAVDataObject* NotificationItem::getUAVObject() { + return dynamic_cast((ExtensionSystem::PluginManager::instance()->getObject())->getObject(getDataObject())); +} + + +void NotificationItem::checkSoundFilesExisting(bool& missed1, bool& missed2, bool& missed3) +{ if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav"))) _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav")); - else + else { if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav"))) _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav")); + else + missed1 = true; + } - - if(!getSound2().size()) - { + if(getSound2().size()) { if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav"))) _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav")); - else + else { if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav"))) _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav")); + else + missed2 = true; + } } - if(!getSound3().size()) - { + if(getSound3().size()) { if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav"))) _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav")); - else + else { if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav"))) _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav")); + else + missed3 = true; + } } } diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index e7878c3da..fa55cfc42 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -289,8 +289,8 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA QString direction; QString fieldName; - threshold = notification->getSpinBoxValue(); - direction = notification->getValue(); + threshold = notification->singleValue(); + direction = notification->range(); fieldName = notification->getObjectField(); UAVObjectField* field = object->getField(fieldName); @@ -311,6 +311,11 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA case 'L': condition = (value < threshold); break; + + case 'R': + condition = (value > threshold) && (value < notification->valueRange2()); + break; + } if (!condition) diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index a1122f078..305e5e13e 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -39,30 +39,58 @@ #include #include #include +#include +#include #include "notifyplugin.h" #include "notifyitemdelegate.h" #include "notifytablemodel.h" #include "notifylogging.h" + +static const char* cStrBefore1st = "Before first"; +static const char* cStrBefore2nd = "Before second"; +static const char* cStrAfter2nd = "After second"; + +static const char* cStrEqualTo = "Equal to"; +static const char* cStrLargeThan = "Large than"; +static const char* cStrLowerThan = "Lower than"; +static const char* cStrInRange = "In range"; + + +//----------------------------------------------------------------------------- NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) : IOptionsPage(parent) , objManager(*ExtensionSystem::PluginManager::instance()->getObject()) , owner(qobject_cast(parent)) , currentCollectionPath("") + , _valueRange(NULL) + , _sayOrder(NULL) + , _fieldValue(NULL) + , _fieldType(-1) + , _form(NULL) { } +//----------------------------------------------------------------------------- NotifyPluginOptionsPage::~NotifyPluginOptionsPage() { } //creates options page widget (uses the UI file) + +//----------------------------------------------------------------------------- QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) { options_page.reset(new Ui::NotifyPluginOptionsPage()); //main widget - QWidget *optionsPageWidget = new QWidget; + QWidget* optionsPageWidget = new QWidget; + //if(!_fieldValue.isNull()) + _fieldValue = NULL; + _valueRange = NULL; + _fieldType = -1; + //save ref to form, needed for binding dynamic fields in future + _form = optionsPageWidget; //main layout options_page->setupUi(optionsPageWidget); @@ -71,35 +99,161 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); - // Fills the combo boxes for the UAVObjects - QList< QList > objList = objManager.getDataObjects(); - foreach (QList list, objList) { - foreach (UAVDataObject* obj, list) { - options_page->UAVObject->addItem(obj->getName()); - } - } - connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); - connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); + + connect(this, SIGNAL(updateNotifications(QList)), owner, SLOT(updateNotificationList(QList))); //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); - -// privListNotifications = ((qobject_cast(parent))->getListNotifications()); privListNotifications = owner->getListNotifications(); - updateConfigView(owner->getCurrentNotification()); + // [1] + addDynamicValueLayout(); + _selectedNotification = owner->getCurrentNotification(); + // [2] + updateConfigView(_selectedNotification); initRulesTable(); initButtons(); initPhononPlayer(); +// _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(0, 0, QModelIndex()), +// QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); + return optionsPageWidget; } +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::apply() +{ + getOptionsPageValues(owner->getCurrentNotification()); + owner->setEnableSound(options_page->chkEnableSound->isChecked()); + emit updateNotifications(privListNotifications); +} + +void NotifyPluginOptionsPage::finish() +{ + + disconnect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(onUAVField_indexChanged(QString))); + + disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + if (notifySound) { + notifySound->stop(); + notifySound->clear(); + } +} + +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::addDynamicValueLayout() +{ + NotificationItem* curr = owner->getCurrentNotification(); + Q_ASSERT(curr); + options_page->dynamicValueLayout->addWidget(new QLabel("Say order ", _form)); + + _sayOrder = new QComboBox(_form); + options_page->dynamicValueLayout->addWidget(_sayOrder); + QStringList sayOrderValues; + sayOrderValues << cStrBefore1st << cStrBefore2nd << cStrAfter2nd; + _sayOrder->addItems(sayOrderValues); + + options_page->dynamicValueLayout->addWidget(new QLabel("Value is ", _form)); + + UAVDataObject* obj = dynamic_cast(objManager.getObject(curr->getDataObject())); + UAVObjectField* field = obj->getField(curr->getObjectField()); + Q_ASSERT(obj); + Q_ASSERT(field); + _valueRange = new QComboBox(_form); + options_page->dynamicValueLayout->addWidget(_valueRange); + + addDynamicField(field); +} + +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::resetValueRange() +{ + _fieldValue = new QLineEdit(_form); + (static_cast(_fieldValue))->setInputMask("999.99 - 999.99;"); + (static_cast(_fieldValue))->setText("0000000000"); + (static_cast(_fieldValue))->setCursorPosition(0); +} + +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::on_rangeValue_indexChanged(QString rangeStr) +{ + Q_ASSERT(_fieldValue); + if(rangeStr == cStrInRange) { + Q_ASSERT(_fieldValue); + options_page->dynamicValueLayout->removeWidget(_fieldValue); + resetValueRange(); + options_page->dynamicValueLayout->addWidget(_fieldValue); + + // _fieldType = -1; + // addDynamicField(field); + } +} + +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) +{ + //qDebugNotify_if(!objField || !parent) << "null input params"; + Q_ASSERT(objField); + if(objField->getType() == _fieldType) { + if(QComboBox* fieldValue = dynamic_cast(_fieldValue)) { + fieldValue->clear(); + QStringList enumValues(objField->getOptions()); + fieldValue->addItems(enumValues); + } + return; + } + // check if dynamic fileld already settled, + // so if its exists remove it and install new field + if(_fieldValue) + options_page->dynamicValueLayout->removeWidget(_fieldValue); + + disconnect(_valueRange, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_rangeValue_indexChanged(QString))); + + _valueRange->clear(); + QStringList rangeValues; + if(UAVObjectField::ENUM == objField->getType()) { + rangeValues << cStrEqualTo << cStrInRange; + _valueRange->addItems(rangeValues); + } + else { + rangeValues << cStrEqualTo << cStrLargeThan << cStrLowerThan << cStrInRange; + _valueRange->addItems(rangeValues); + connect(_valueRange, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_rangeValue_indexChanged(QString))); + } + + + _fieldType = objField->getType(); + switch(_fieldType) + { + case UAVObjectField::ENUM: + { + _fieldValue = new QComboBox(_form); + QStringList enumValues(objField->getOptions()); + (dynamic_cast(_fieldValue))->addItems(enumValues); + } + break; + + default: + if(_valueRange->currentText() == cStrInRange) { + resetValueRange(); + } else { + _fieldValue = new QSpinBox(_form); + } + break; + }; + options_page->dynamicValueLayout->addWidget(_fieldValue); +} + +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::initButtons() { options_page->chkEnableSound->setChecked(owner->getEnableSound()); @@ -114,6 +268,7 @@ void NotifyPluginOptionsPage::initButtons() connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::initPhononPlayer() { notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); @@ -122,6 +277,8 @@ void NotifyPluginOptionsPage::initPhononPlayer() connect(notifySound.data(), SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); } + +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::initRulesTable() { qNotifyDebug_if(_notifyRulesModel.isNull()) << "_notifyRulesModel.isNull())"; @@ -134,8 +291,8 @@ void NotifyPluginOptionsPage::initRulesTable() this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); connect(this, SIGNAL(entryUpdated(int)), _notifyRulesModel.data(), SLOT(entryUpdated(int))); - connect(this, SIGNAL(entryAdded(int)), - _notifyRulesModel.data(), SLOT(entryAdded(int))); +// connect(this, SIGNAL(entryAdded(int)), +// _notifyRulesModel.data(), SLOT(entryAdded(int))); options_page->notifyRulesView->setModel(_notifyRulesModel.data()); options_page->notifyRulesView->setSelectionModel(_notifyRulesSelection); @@ -150,12 +307,12 @@ void NotifyPluginOptionsPage::initRulesTable() options_page->notifyRulesView->setAcceptDrops(true); options_page->notifyRulesView->setDropIndicatorShown(true); options_page->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove); - - } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) { + Q_ASSERT(notification); notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); notification->setDataObject(options_page->UAVObject->currentText()); @@ -163,48 +320,51 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio notification->setSound1(options_page->Sound1->currentText()); notification->setSound2(options_page->Sound2->currentText()); notification->setSound3(options_page->Sound3->currentText()); - notification->setSayOrder(options_page->SayOrder->currentText()); - notification->setValue(options_page->Value->currentText()); - notification->setSpinBoxValue(options_page->ValueSpinBox->value()); -} - -/*! -* Called when the user presses apply or OK. -* Saves the current values -*/ -void NotifyPluginOptionsPage::apply() -{ - getOptionsPageValues(owner->getCurrentNotification()); - owner->setEnableSound(options_page->chkEnableSound->isChecked()); - emit updateNotifications(privListNotifications); -} - -void NotifyPluginOptionsPage::finish() -{ - disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - if (notifySound) { - notifySound->stop(); - notifySound->clear(); + notification->setSayOrder(_sayOrder->currentText()); + notification->setRange(_valueRange->currentText()); + if(QSpinBox* spinValue = dynamic_cast(_fieldValue)) + notification->setSingleValue(spinValue->value()); + else { + if(QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) + notification->setSingleValue(comboBoxValue->currentIndex()); + else { + if(QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { + QString str = rangeValue->text(); + QStringList range = str.split('-'); + notification->setSingleValue(range.at(0).toDouble()); + notification->setValueRange2(range.at(1).toDouble()); + } + } } } + +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::onUAVField_indexChanged(QString field) { + _fieldType = -1; + UAVDataObject* obj = dynamic_cast( objManager.getObject(options_page->UAVObject->currentText())); + addDynamicField(obj->getField(field)); + +} + ////////////////////////////////////////////////////////////////////////////// // Fills in the combo box when value is changed in the // combo box ////////////////////////////////////////////////////////////////////////////// void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) { - options_page->UAVObjectField->clear(); - ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager* objManager = pm->getObject(); - UAVDataObject* obj = dynamic_cast( objManager->getObject(val) ); + _fieldType = -1; + UAVDataObject* obj = dynamic_cast( objManager.getObject(val) ); QList fieldList = obj->getFields(); + disconnect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(onUAVField_indexChanged(QString))); + options_page->UAVObjectField->clear(); foreach (UAVObjectField* field, fieldList) { options_page->UAVObjectField->addItem(field->getName()); } + connect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(onUAVField_indexChanged(QString))); + addDynamicField(fieldList.at(0)); } -// locate collection folder on disk +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) { QDir dirPath(path); @@ -213,7 +373,7 @@ void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) options_page->SoundCollectionList->addItems(listDirCollections); } - +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) { options_page->SoundCollectionList->setCurrentIndex(index); @@ -238,6 +398,7 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) { //Q_ASSERT(Phonon::ErrorState != newstate); @@ -253,25 +414,29 @@ void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon:: } } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::onFinishedPlaying() { notifySound->clear(); } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() { NotificationItem* notification = NULL; if (-1 == _notifyRulesSelection->currentIndex().row()) - return; + return; notifySound->clearQueue(); notification = privListNotifications.at(_notifyRulesSelection->currentIndex().row()); notification->parseNotifyMessage(); QStringList sequence = notification->getMessageSequence(); Q_ASSERT(!!sequence.size()); - foreach(QString item, sequence) - notifySound->enqueue(Phonon::MediaSource(item)); - + qNotifyDebug() << "on_buttonTestSoundNotification_clicked"; + foreach(QString item, sequence) { + qNotifyDebug() << item; + notifySound->enqueue(Phonon::MediaSource(item)); + } notifySound->play(); } @@ -284,90 +449,132 @@ void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state) audioOutput->setMuted(state1); } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) { + Q_ASSERT(notification); + disconnect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_UAVObject_indexChanged(QString))); + disconnect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), + this, SLOT(onUAVField_indexChanged(QString))); + QString path = notification->getSoundCollectionPath(); if (path == "") { - //QDir dir = QDir::currentPath(); - //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; - path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); + //QDir dir = QDir::currentPath(); + //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; + path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); } options_page->SoundDirectoryPathChooser->setPath(path); if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); } else { - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + } + + + // Fills the combo boxes for the UAVObjects + QList< QList > objList = objManager.getDataObjects(); + foreach (QList list, objList) { + foreach (UAVDataObject* obj, list) { + options_page->UAVObject->addItem(obj->getName()); + } } if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ - options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); + options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); } - // Now load the object field values: options_page->UAVObjectField->clear(); QString uavDataObject = notification->getDataObject(); UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); if (obj != NULL ) { - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); - } + QList fieldList = obj->getFields(); + foreach (UAVObjectField* field, fieldList) { + options_page->UAVObjectField->addItem(field->getName()); + } } if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { - options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); + options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); } if (-1 != options_page->Sound1->findText(notification->getSound1())) { - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); - - // don't show item if it wasn't find in stored location - //options_page->Sound1->setCurrentIndex(-1); + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); } if (-1 != options_page->Sound2->findText(notification->getSound2())) { - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); - - // don't show item if it wasn't find in stored location - //options_page->Sound2->setCurrentIndex(-1); + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); } if (-1 != options_page->Sound3->findText(notification->getSound3())) { - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); } - if (-1 != options_page->Value->findText(notification->getValue())) { - options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); + if (-1 != _valueRange->findText(notification->range())) { + _valueRange->setCurrentIndex(_valueRange->findText(notification->range())); } - if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) { - options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); + if (-1 != _sayOrder->findText(notification->getSayOrder())) { + _sayOrder->setCurrentIndex(_sayOrder->findText(notification->getSayOrder())); } - options_page->ValueSpinBox->setValue(notification->getSpinBoxValue()); + setDynamicValueField(notification); + + connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_UAVObject_indexChanged(QString))); + connect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), + this, SLOT(onUAVField_indexChanged(QString))); + } +//----------------------------------------------------------------------------- +void NotifyPluginOptionsPage::setDynamicValueField(NotificationItem* notification) +{ + if(QSpinBox* spinValue = dynamic_cast(_fieldValue)) + spinValue->setValue(notification->singleValue()); + else { + if(QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) + comboBoxValue->setCurrentIndex(notification->singleValue()); + else { + if(QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { + resetValueRange(); + rangeValue->setText(QString("%1%2").arg(notification->singleValue()) + .arg(notification->valueRange2())); + } else { + qNotifyDebug() << "NotifyPluginOptionsPage::setDynamicValueField | unknown _fieldValue: " << _fieldValue; + } + + } + } +} + +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) { bool select = false; notifySound->stop(); if (selected.indexes().size()) { - select = true; - updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); + select = true; + _selectedNotification = privListNotifications.at(selected.indexes().at(0).row()); + updateConfigView(_selectedNotification); + UAVDataObject* obj = dynamic_cast( objManager.getObject(options_page->UAVObject->currentText())); + UAVObjectField* field = obj->getField(options_page->UAVObjectField->currentText()); + addDynamicField(field); + setDynamicValueField(_selectedNotification); } options_page->buttonModify->setEnabled(select); @@ -375,7 +582,7 @@ void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemS options_page->buttonPlayNotification->setEnabled(select); } - +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() { NotificationItem* notification = new NotificationItem; @@ -392,34 +599,36 @@ void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); notification->setDataObject(options_page->UAVObject->currentText()); notification->setObjectField(options_page->UAVObjectField->currentText()); - notification->setValue(options_page->Value->currentText()); - notification->setSpinBoxValue(options_page->ValueSpinBox->value()); + notification->setRange(_valueRange->currentText()); + + if(QSpinBox* spinValue = dynamic_cast(_fieldValue)) + notification->setSingleValue(spinValue->value()); if (options_page->Sound1->currentText().size() > 0) - notification->setSound1(options_page->Sound1->currentText()); + notification->setSound1(options_page->Sound1->currentText()); notification->setSound2(options_page->Sound2->currentText()); notification->setSound3(options_page->Sound3->currentText()); -if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) - || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { + if ( ((!options_page->Sound2->currentText().size()) && (_sayOrder->currentText()=="After second")) + || ((!options_page->Sound3->currentText().size()) && (_sayOrder->currentText()=="After third")) ) { return; } else { - notification->setSayOrder(options_page->SayOrder->currentText()); + notification->setSayOrder(_sayOrder->currentText()); } - privListNotifications.append(notification); - emit entryAdded(privListNotifications.size() - 1); + + _notifyRulesModel->entryAdded(notification); _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } - +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() { _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row()); if (!_notifyRulesModel->rowCount() && (_notifyRulesSelection->currentIndex().row() > 0 - && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) ) + && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) ) { options_page->buttonDelete->setEnabled(false); options_page->buttonModify->setEnabled(false); @@ -428,6 +637,7 @@ void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() } +//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() { NotificationItem* notification = new NotificationItem; diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig index b91317c9f..2ff775e31 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp.orig @@ -43,13 +43,13 @@ #include "notifyplugin.h" #include "notifyitemdelegate.h" #include "notifytablemodel.h" +#include "notifylogging.h" NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) : IOptionsPage(parent) , objManager(*ExtensionSystem::PluginManager::instance()->getObject()) , owner(qobject_cast(parent)) , currentCollectionPath("") - , privListNotifications((qobject_cast(parent))->getListNotifications()) { } @@ -64,22 +64,53 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) //main widget QWidget *optionsPageWidget = new QWidget; //main layout + options_page->setupUi(optionsPageWidget); + + listSoundFiles.clear(); + + options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); + options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); + + // Fills the combo boxes for the UAVObjects + QList< QList > objList = objManager.getDataObjects(); + foreach (QList list, objList) { + foreach (UAVDataObject* obj, list) { + options_page->UAVObject->addItem(obj->getName()); + } + } + +<<<<<<< Updated upstream + connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); + connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); + connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); +======= + options_page = new Ui::NotifyPluginOptionsPage(); + //main widget + QWidget *optionsPageWidget = new QWidget; + //main layout options_page->setupUi(optionsPageWidget); delegateItems.clear(); listSoundFiles.clear(); + options_page->horizontalLayout_3->addWidget(new QPushButton("testtt")); delegateItems << "Repeat Once" << "Repeat Instantly" << "Repeat 10 seconds" << "Repeat 30 seconds" << "Repeat 1 minute"; + options_page->chkEnableSound->setChecked(owner->getEnableSound()); options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); + + + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + objManager = pm->getObject(); + // Fills the combo boxes for the UAVObjects - QList< QList > objList = objManager.getDataObjects(); + QList< QList > objList = objManager->getDataObjects(); foreach (QList list, objList) { foreach (UAVDataObject* obj, list) { options_page->UAVObject->addItem(obj->getName()); @@ -88,95 +119,122 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); - connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); + connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); + connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); + connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); +// connect(options_page->buttonTestSound1, SIGNAL(clicked()), this, SLOT(on_buttonTestSound1_clicked())); +// connect(options_page->buttonTestSound2, SIGNAL(clicked()), this, SLOT(on_buttonTestSound2_clicked())); + connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); + connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); - connect(this, SIGNAL(updateNotifications(QList)), - owner, SLOT(updateNotificationList(QList))); + + connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); + connect(this, SIGNAL(updateNotifications(QList)), + owner, SLOT(updateNotificationList(QList))); connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); //emit resetNotification(); - privListNotifications.clear(); - for (int i = 0; i < owner->getListNotifications().size(); ++i) { - NotificationItem* notification = new NotificationItem(); - owner->getListNotifications().at(i)->copyTo(notification); - privListNotifications.append(notification); + privListNotifications.clear(); + + for (int i = 0; i < owner->getListNotifications().size(); ++i) { + NotifyPluginConfiguration* notification = new NotifyPluginConfiguration(); + owner->getListNotifications().at(i)->copyTo(notification); + privListNotifications.append(notification); } - updateConfigView(owner->getCurrentNotification()); + updateConfigView(owner->getCurrentNotification()); - initButtons(); - initRulesTableModel(); - initRulesTableView(); - initPhononPlayer(); + options_page->chkEnableSound->setChecked(owner->getEnableSound()); - return optionsPageWidget; + QStringList headerStrings; + headerStrings << "Name" << "Repeats" << "Lifetime,sec"; +>>>>>>> Stashed changes + + connect(this, SIGNAL(updateNotifications(QList)), + owner, SLOT(updateNotificationList(QList))); + //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); + + +// privListNotifications = ((qobject_cast(parent))->getListNotifications()); + privListNotifications = owner->getListNotifications(); + + updateConfigView(owner->getCurrentNotification()); + + initRulesTable(); + initButtons(); + initPhononPlayer(); + + return optionsPageWidget; } void NotifyPluginOptionsPage::initButtons() { - options_page->chkEnableSound->setChecked(owner->getEnableSound()); - connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); + options_page->chkEnableSound->setChecked(owner->getEnableSound()); + connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); - options_page->buttonModify->setEnabled(false); - options_page->buttonDelete->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); - connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); - connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); - connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); - connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); + options_page->buttonModify->setEnabled(false); + options_page->buttonDelete->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); + connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); + connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); + connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); } void NotifyPluginOptionsPage::initPhononPlayer() { - notifySound = Phonon::createPlayer(Phonon::NotificationCategory); - connect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), + notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); + connect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - connect(notifySound, SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); + connect(notifySound.data(), SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); } -void NotifyPluginOptionsPage::initRulesTableModel() +void NotifyPluginOptionsPage::initRulesTable() { - notifyRulesModel.reset(new NotifyTableModel(&privListNotifications)); - notifyRulesSelection = new QItemSelectionModel(notifyRulesModel.data()); - connect(notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), + qNotifyDebug_if(_notifyRulesModel.isNull()) << "_notifyRulesModel.isNull())"; + qNotifyDebug_if(!_notifyRulesSelection) << "_notifyRulesSelection.isNull())"; + //QItemSelectionModel* selection = _notifyRulesSelection.take(); + _notifyRulesModel.reset(new NotifyTableModel(privListNotifications)); + _notifyRulesSelection = new QItemSelectionModel(_notifyRulesModel.data()); + + connect(_notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); connect(this, SIGNAL(entryUpdated(int)), - notifyRulesModel.data(), SLOT(entryUpdated(int))); + _notifyRulesModel.data(), SLOT(entryUpdated(int))); connect(this, SIGNAL(entryAdded(int)), - notifyRulesModel.data(), SLOT(entryAdded(int))); -} + _notifyRulesModel.data(), SLOT(entryAdded(int))); + + options_page->notifyRulesView->setModel(_notifyRulesModel.data()); + options_page->notifyRulesView->setSelectionModel(_notifyRulesSelection); + options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(this)); + + options_page->notifyRulesView->resizeRowsToContents(); + options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); + options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); + options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); + options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); + options_page->notifyRulesView->setDragEnabled(true); + options_page->notifyRulesView->setAcceptDrops(true); + options_page->notifyRulesView->setDropIndicatorShown(true); + options_page->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove); -void NotifyPluginOptionsPage::initRulesTableView() -{ - options_page->notifyRulesView->setModel(notifyRulesModel.data()); - options_page->notifyRulesView->resizeRowsToContents(); - options_page->notifyRulesView->setSelectionModel(notifyRulesSelection); - options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(delegateItems,this)); - options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); - options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); - options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); - options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); - options_page->notifyRulesView->setDragEnabled(true); - options_page->notifyRulesView->setAcceptDrops(true); - options_page->notifyRulesView->setDropIndicatorShown(true); } void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) { - notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); - notification->setDataObject(options_page->UAVObject->currentText()); - notification->setObjectField(options_page->UAVObjectField->currentText()); - notification->setSound1(options_page->Sound1->currentText()); - notification->setSound2(options_page->Sound2->currentText()); - notification->setSound3(options_page->Sound3->currentText()); - notification->setSayOrder(options_page->SayOrder->currentText()); - notification->setValue(options_page->Value->currentText()); - notification->setSpinBoxValue(options_page->ValueSpinBox->value()); - + notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); + notification->setDataObject(options_page->UAVObject->currentText()); + notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setSound1(options_page->Sound1->currentText()); + notification->setSound2(options_page->Sound2->currentText()); + notification->setSound3(options_page->Sound3->currentText()); + notification->setSayOrder(options_page->SayOrder->currentText()); + notification->setValue(options_page->Value->currentText()); + notification->setSpinBoxValue(options_page->ValueSpinBox->value()); } /*! @@ -185,19 +243,19 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio */ void NotifyPluginOptionsPage::apply() { - getOptionsPageValues(owner->getCurrentNotification()); - owner->setEnableSound(options_page->chkEnableSound->isChecked()); - emit updateNotifications(privListNotifications); + getOptionsPageValues(owner->getCurrentNotification()); + owner->setEnableSound(options_page->chkEnableSound->isChecked()); + emit updateNotifications(privListNotifications); } void NotifyPluginOptionsPage::finish() { - disconnect(notifySound,SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - if (notifySound) { - notifySound->stop(); - notifySound->clear(); - } + disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(changeButtonText(Phonon::State,Phonon::State))); + if (notifySound) { + notifySound->stop(); + notifySound->clear(); + } } ////////////////////////////////////////////////////////////////////////////// @@ -205,23 +263,23 @@ void NotifyPluginOptionsPage::finish() // combo box ////////////////////////////////////////////////////////////////////////////// void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) { - options_page->UAVObjectField->clear(); - ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager* objManager = pm->getObject(); + options_page->UAVObjectField->clear(); + ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager* objManager = pm->getObject(); UAVDataObject* obj = dynamic_cast( objManager->getObject(val) ); QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); + options_page->UAVObjectField->addItem(field->getName()); } } // locate collection folder on disk void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) { - QDir dirPath(path); - listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); - options_page->SoundCollectionList->clear(); - options_page->SoundCollectionList->addItems(listDirCollections); + QDir dirPath(path); + listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); + options_page->SoundCollectionList->clear(); + options_page->SoundCollectionList->addItems(listDirCollections); } @@ -230,7 +288,7 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) options_page->SoundCollectionList->setCurrentIndex(index); currentCollectionPath = options_page->SoundDirectoryPathChooser->path() - + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); + + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); QDir dirPath(currentCollectionPath); QStringList filters; @@ -238,7 +296,6 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) dirPath.setNameFilters(filters); listSoundFiles = dirPath.entryList(filters); listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); - options_page->Sound1->clear(); options_page->Sound2->clear(); options_page->Sound3->clear(); @@ -252,135 +309,122 @@ void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) { - //Q_ASSERT(Phonon::ErrorState != newstate); + //Q_ASSERT(Phonon::ErrorState != newstate); - if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { - options_page->buttonPlayNotification->setText("Play"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); - } else { - if (newstate == Phonon::PlayingState) { - options_page->buttonPlayNotification->setText("Stop"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); - } - } + if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { + options_page->buttonPlayNotification->setText("Play"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); + } else { + if (newstate == Phonon::PlayingState) { + options_page->buttonPlayNotification->setText("Stop"); + options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); + } + } } void NotifyPluginOptionsPage::onFinishedPlaying() { - notifySound->clear(); + notifySound->clear(); } void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() { - NotificationItem* notification = NULL; + NotificationItem* notification = NULL; - if (-1 == notifyRulesSelection->currentIndex().row()) - return; - notifySound->clearQueue(); - notification = privListNotifications.at(notifyRulesSelection->currentIndex().row()); - notification->parseNotifyMessage(); - QStringList sequence = notification->getMessageSequence(); - Q_ASSERT(!!sequence.size()); - foreach(QString item, sequence) - notifySound->enqueue(Phonon::MediaSource(item)); + if (-1 == _notifyRulesSelection->currentIndex().row()) + return; + notifySound->clearQueue(); + notification = privListNotifications.at(_notifyRulesSelection->currentIndex().row()); + notification->parseNotifyMessage(); + QStringList sequence = notification->getMessageSequence(); + Q_ASSERT(!!sequence.size()); + foreach(QString item, sequence) + notifySound->enqueue(Phonon::MediaSource(item)); - notifySound->play(); + notifySound->play(); } void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state) { - bool state1 = 1^state; + bool state1 = 1^state; - QList listOutputs = notifySound->outputPaths(); - Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); - audioOutput->setMuted(state1); + QList listOutputs = notifySound->outputPaths(); + Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); + audioOutput->setMuted(state1); } void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) { QString path = notification->getSoundCollectionPath(); if (path == "") { - //QDir dir = QDir::currentPath(); - //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; - path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); + //QDir dir = QDir::currentPath(); + //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; + path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); } options_page->SoundDirectoryPathChooser->setPath(path); if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); } else { - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); } if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ - options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); + options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); } -<<<<<<< Updated upstream - // Now load the object field values: - options_page->UAVObjectField->clear(); - QString uavDataObject = notification->getDataObject(); - UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); - if (obj != NULL ) { - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); - } - } -======= // Now load the object field values: options_page->UAVObjectField->clear(); QString uavDataObject = notification->getDataObject(); - UAVDataObject* obj = dynamic_cast( objManager->getObject(uavDataObject/*objList.at(0).at(0)->getName()*/) ); + UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); if (obj != NULL ) { - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); - } + QList fieldList = obj->getFields(); + foreach (UAVObjectField* field, fieldList) { + options_page->UAVObjectField->addItem(field->getName()); + } } ->>>>>>> Stashed changes if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { - options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); + options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); } if (-1 != options_page->Sound1->findText(notification->getSound1())) { - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); - // don't show item if it wasn't find in stored location - //options_page->Sound1->setCurrentIndex(-1); + // don't show item if it wasn't find in stored location + //options_page->Sound1->setCurrentIndex(-1); } if (-1 != options_page->Sound2->findText(notification->getSound2())) { - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); - // don't show item if it wasn't find in stored location - //options_page->Sound2->setCurrentIndex(-1); + // don't show item if it wasn't find in stored location + //options_page->Sound2->setCurrentIndex(-1); } if (-1 != options_page->Sound3->findText(notification->getSound3())) { - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); } else { - // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + // show item from default location + options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); } if (-1 != options_page->Value->findText(notification->getValue())) { - options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); + options_page->Value->setCurrentIndex(options_page->Value->findText(notification->getValue())); } if (-1 != options_page->SayOrder->findText(notification->getSayOrder())) { - options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); + options_page->SayOrder->setCurrentIndex(options_page->SayOrder->findText(notification->getSayOrder())); } options_page->ValueSpinBox->setValue(notification->getSpinBoxValue()); @@ -388,78 +432,81 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) { - bool select = false; - notifySound->stop(); - if (selected.indexes().size()) { - select = true; - updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); - } + bool select = false; + notifySound->stop(); + if (selected.indexes().size()) { + select = true; + updateConfigView(privListNotifications.at(selected.indexes().at(0).row())); + } - options_page->buttonModify->setEnabled(select); - options_page->buttonDelete->setEnabled(select); - options_page->buttonPlayNotification->setEnabled(select); + options_page->buttonModify->setEnabled(select); + options_page->buttonDelete->setEnabled(select); + options_page->buttonPlayNotification->setEnabled(select); } void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() { - NotificationItem* notification = new NotificationItem; + NotificationItem* notification = new NotificationItem; - if (options_page->SoundDirectoryPathChooser->path()=="") { - QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); - textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); - options_page->SoundDirectoryPathChooser->setPalette(textPalette); - options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder"); - return; - } + if (options_page->SoundDirectoryPathChooser->path()=="") { + QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); + textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); + options_page->SoundDirectoryPathChooser->setPalette(textPalette); + options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder"); + return; + } - notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); - notification->setDataObject(options_page->UAVObject->currentText()); - notification->setObjectField(options_page->UAVObjectField->currentText()); - notification->setValue(options_page->Value->currentText()); - notification->setSpinBoxValue(options_page->ValueSpinBox->value()); + notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); + notification->setDataObject(options_page->UAVObject->currentText()); + notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setValue(options_page->Value->currentText()); + notification->setSpinBoxValue(options_page->ValueSpinBox->value()); - if (options_page->Sound1->currentText().size() > 0) - notification->setSound1(options_page->Sound1->currentText()); + if (options_page->Sound1->currentText().size() > 0) + notification->setSound1(options_page->Sound1->currentText()); - notification->setSound2(options_page->Sound2->currentText()); - notification->setSound3(options_page->Sound3->currentText()); + notification->setSound2(options_page->Sound2->currentText()); + notification->setSound3(options_page->Sound3->currentText()); - if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) - || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { - return; - } else { - notification->setSayOrder(options_page->SayOrder->currentText()); - } - privListNotifications.append(notification); - emit entryAdded(privListNotifications.size() - 1); - notifyRulesSelection->setCurrentIndex(notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), - QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); +if ( ((!options_page->Sound2->currentText().size()) && (options_page->SayOrder->currentText()=="After second")) + || ((!options_page->Sound3->currentText().size()) && (options_page->SayOrder->currentText()=="After third")) ) { + return; + } else { + notification->setSayOrder(options_page->SayOrder->currentText()); + } + privListNotifications.append(notification); + emit entryAdded(privListNotifications.size() - 1); + _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), + QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() { - notifyRulesModel->removeRow(notifyRulesSelection->currentIndex().row()); - if (!notifyRulesModel->rowCount() - && (notifyRulesSelection->currentIndex().row() > 0 - && notifyRulesSelection->currentIndex().row() < notifyRulesModel->rowCount()) ) - { - options_page->buttonDelete->setEnabled(false); - options_page->buttonModify->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); - } + _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row()); + if (!_notifyRulesModel->rowCount() + && (_notifyRulesSelection->currentIndex().row() > 0 + && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) ) + { + options_page->buttonDelete->setEnabled(false); + options_page->buttonModify->setEnabled(false); + options_page->buttonPlayNotification->setEnabled(false); + } } void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() { - NotificationItem* notification = new NotificationItem; - getOptionsPageValues(notification); - notification->setRepeatFlag(privListNotifications.at(notifyRulesSelection->currentIndex().row())->getRepeatFlag()); - privListNotifications.replace(notifyRulesSelection->currentIndex().row(),notification); - entryUpdated(notifyRulesSelection->currentIndex().row()); + NotificationItem* notification = new NotificationItem; + getOptionsPageValues(notification); + notification->setRetryString(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString()); + notification->setLifetime(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime()); + notification->setMute(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute()); + + privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification); + entryUpdated(_notifyRulesSelection->currentIndex().row()); } diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index 9e49e89ec..f4a29ae41 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -42,7 +42,8 @@ #include #include #include -//#include "notifytablemodel.h" +#include +#include class NotifyTableModel; class NotificationItem; @@ -65,8 +66,6 @@ public: QString category() const { return QLatin1String("Notify Plugin");} QString trCategory() const { return tr("Notify Plugin");} - - QWidget *createPage(QWidget *parent); void apply(); void finish(); @@ -75,13 +74,39 @@ public: void updateConfigView(NotificationItem* notification); void getOptionsPageValues(NotificationItem* notification); +signals: + void updateNotifications(QList list); + //void resetNotification(void); + void entryUpdated(int index); + private: Q_DISABLE_COPY(NotifyPluginOptionsPage) + void resetValueRange(); + void setDynamicValueField(NotificationItem* notification); + void addDynamicField(UAVObjectField* objField); + void addDynamicValueLayout(); void initButtons(); void initPhononPlayer(); void initRulesTable(); +private slots: + void on_buttonTestSoundNotification_clicked(); + + void on_buttonAddNotification_clicked(); + void on_buttonDeleteNotification_clicked(); + void on_buttonModifyNotification_clicked(); + void on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ); + void on_soundLanguage_indexChanged(int index); + void on_buttonSoundFolder_clicked(const QString& path); + void on_UAVObject_indexChanged(QString val); + void onUAVField_indexChanged(QString val); + void changeButtonText(Phonon::State newstate, Phonon::State oldstate); + void on_chkEnableSound_toggled(bool state); + void on_rangeValue_indexChanged(QString); + + void onFinishedPlaying(void); + private: UAVObjectManager& objManager; SoundNotifyPlugin* owner; @@ -99,28 +124,12 @@ private: QScopedPointer options_page; -signals: - void updateNotifications(QList list); - //void resetNotification(void); - void entryUpdated(int index); - void entryAdded(int position); - - -private slots: - void on_buttonTestSoundNotification_clicked(); - - void on_buttonAddNotification_clicked(); - void on_buttonDeleteNotification_clicked(); - void on_buttonModifyNotification_clicked(); - void on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ); - void on_soundLanguage_indexChanged(int index); - void on_buttonSoundFolder_clicked(const QString& path); - void on_UAVObject_indexChanged(QString val); - void changeButtonText(Phonon::State newstate, Phonon::State oldstate); - void on_chkEnableSound_toggled(bool state); - - void onFinishedPlaying(void); - + QComboBox* _valueRange; + QComboBox* _sayOrder; + QWidget* _fieldValue; + int _fieldType; + QWidget* _form; + NotificationItem* _selectedNotification; }; #endif // NOTIFYPLUGINOPTIONSPAGE_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui index 4645bd14a..23d05c2a0 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui @@ -6,7 +6,7 @@ 0 0 - 589 + 570 453 @@ -19,531 +19,364 @@ Form - - - - 10 - 10 - 551 - 81 - + + + QLayout::SetMinimumSize - - Sound Collection - - - - - 10 - 20 - 531 - 51 - - - - - 6 + + + + QLayout::SetFixedSize - - - - Language + + + + + 0 + 0 + - - - - - - true + + Sound Collection - - - 75 - 23 - - - - - - - - - 147 - 0 - - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + true + + + + 75 + 23 + + + + + 550 + 16777215 + + + + + + + + + 0 + 0 + + + + Language + + + + + + + + 147 + 0 + + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } </style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:8pt;">Select the sound collection</span></p></body></html> + + + + + + + + + + + + + + + + + DataObject + + + + + + + + 0 + 0 + + + + + + + + ObjectField + + + + + + + + 0 + 0 + - - - - - - 10 - 220 - 551 - 211 - - - - Sound Notifications - - - - - 10 - 180 - 531 - 26 - - - + + + + + Qt::Horizontal + + + + + + + + - + + + + 0 + 0 + + - Enable Sounds + Sound1: - - - Qt::Horizontal + + + + 0 + 0 + - + - 138 - 20 + 110 + 0 - - - - - - Play - - - - :/notify/images/play.png:/notify/images/play.png - - - - - - - Qt::Horizontal - - + - 40 - 20 + 16777215 + 16777215 - + - - - Qt::Horizontal + + + + 0 + 0 + - + + Sound2: + + + + + + + + 0 + 0 + + + - 40 - 20 + 110 + 0 - - - - - - Add - - - - :/notify/images/add.png:/notify/images/add.png + + + 16777215 + 16777215 + - - - Modify + + + + 0 + 0 + - - - :/notify/images/modify.png:/notify/images/modify.png + + Sound3: - - - Delete + + + + 0 + 0 + - - - :/utils/images/removesubmitfield.png:/utils/images/removesubmitfield.png + + + 110 + 0 + + + + + 16777215 + 16777215 + - - - - - 10 - 20 - 531 - 151 - - - - QAbstractItemView::SingleSelection - - - QAbstractItemView::SelectRows - - - 22 - - - 22 - - - - - - - 10 - 100 - 551 - 31 - - - - - - - DataObject - - - - - - - - 0 - 0 - - - - - - - - ObjectField - - - - - - - - 0 - 0 - - - - - - - - - - 7 - 130 - 551 - 20 - - - - Qt::Horizontal - - - - - - 10 - 180 - 551 - 31 - - - - - - - - 0 - 0 - - - - Sound1: - - - - - - - - 0 - 0 - - - - - 110 - 0 - - - - - 16777215 - 16777215 - - - - - - - - Sound2: - - - - - - - - 0 - 0 - - - - - 110 - 0 - - - - - 16777215 - 16777215 - - - - - - - - Sound3: - - - - - - - - 0 - 0 - - - - - 110 - 0 - - - - - 16777215 - 16777215 - - - - - - - - - - 10 - 150 - 551 - 31 - - - - - - - true - - - - 0 - 0 - - - - - 40 - 0 - - - - Value is - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 110 - 16777215 - - + + + + + + + + Sound Notifications + + - - Equal to - + + + QAbstractItemView::SingleSelection + + + QAbstractItemView::SelectRows + + + 22 + + + 22 + + - - Greater than - + + + + + Enable Sounds + + + + + + + Qt::Horizontal + + + + 138 + 20 + + + + + + + + Play + + + + :/notify/images/play.png:/notify/images/play.png + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + Add + + + + :/notify/images/add.png:/notify/images/add.png + + + + + + + Modify + + + + :/notify/images/modify.png:/notify/images/modify.png + + + + + + + Delete + + + + :/utils/images/removesubmitfield.png:/utils/images/removesubmitfield.png + + + + - - - Less than - - - - - - - - - 0 - 0 - - - - - 0 - 0 - - - - - 170 - 16777215 - - - - 2 - - - 9999.899999999999636 - - - 1.000000000000000 - - - - - - - - 0 - 0 - - - - Say Order - - - - - - - - 0 - 0 - - - - - 110 - 16777215 - - - - Select if the value of the object should be spoken and if so, either before the configured sound or after it. - - - - Never - - - - - Before first - - - - - After first - - - - - After second - - - - - After third - - - - - - + + + + diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index 0c2337437..138af106b 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -162,9 +162,13 @@ void NotifyTableModel::entryUpdated(int offset) emit dataChanged(idx, idx); } -void NotifyTableModel::entryAdded(int position) +void NotifyTableModel::entryAdded(NotificationItem* item) { - insertRows(position, 1,QModelIndex()); + insertRows(rowCount(), 1, QModelIndex()); + NotificationItem* tmp = _list.at(rowCount() - 1); + _list.replace(rowCount() - 1, item); + delete tmp; + entryUpdated(rowCount() - 1); } diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h index f58cc0599..3168a848f 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h @@ -86,12 +86,13 @@ public: bool insertRows(int position, int rows, const QModelIndex &index); bool removeRows(int position, int rows, const QModelIndex &index); + void entryAdded(NotificationItem* item); + signals: void dragRows(int position, int count); private slots: void entryUpdated(int offset); - void entryAdded(int position); void dropRows(int position, int count) const; private: From 6a5589ef5101bef3d7e37a37aad32925adea66e4 Mon Sep 17 00:00:00 2001 From: Nickolay Date: Tue, 4 Oct 2011 01:59:37 +0300 Subject: [PATCH 008/121] +multiple selection with D&D completed; +support of enum and range for value completed; --- .../src/plugins/notify/NotificationItem.h | 35 +- .../src/plugins/notify/notificationitem.cpp | 299 +++++----- .../src/plugins/notify/notifyitemdelegate.cpp | 15 +- .../src/plugins/notify/notifyitemdelegate.h | 24 +- .../src/plugins/notify/notifyplugin.cpp | 62 +- .../src/plugins/notify/notifyplugin.h | 88 +-- .../notify/notifypluginoptionspage.cpp | 539 +++++++++--------- .../plugins/notify/notifypluginoptionspage.h | 136 +++-- .../plugins/notify/notifypluginoptionspage.ui | 2 +- .../src/plugins/notify/notifytablemodel.cpp | 102 ++-- .../src/plugins/notify/notifytablemodel.h | 80 ++- 11 files changed, 699 insertions(+), 683 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index 20de7a4f8..1898f1a55 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -103,7 +103,31 @@ public: void seriaize(QDataStream& stream); void deseriaize(QDataStream& stream); - QString parseNotifyMessage(); + /** + * Convert notification item fields in single string, + * to show in table for example + * + * @return string which describe notification + */ + QString toString(); + + /** + * Generate list of sound files needed to play notification + * + * @return success - reference to non-empty _messageSequence; + * error - if one of sounds doesn't exist returns + * reference to empty _messageSequence; + */ + QStringList& toSoundList(); + + /** + * Returns sound caption name, needed to create string representation of notification. + * + * @return success - string == , if sound file exists + * error - string == [missind], if sound file doesn't exist + */ + QString getSoundCaption(QString fileName); + QTimer* getTimer() const { return _timer; } void startTimer(int value); @@ -119,10 +143,14 @@ public: bool isNowPlaying; bool firstStart; -private: - void checkSoundFilesExisting(bool& missed1, bool& missed2, bool& missed3); + static QStringList sayOrderValues; + static QStringList retryValues; private: + QString checkSoundExists(QString fileName); + +private: + QTimer* _timer; //! time from putting notification in queue till moment when notification became out-of-date @@ -130,6 +158,7 @@ private: //! according to its priority QTimer* _expireTimer; + //! list of wav files from which notification consists QStringList _messageSequence; //! path to folder with sound files diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index d6c803b68..1b0e634a6 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -40,10 +40,28 @@ #include "notifylogging.h" +static const QString cStrNever("Never"); +static const QString cStrBefore1st("Before first"); +static const QString cStrBefore2nd("Before second"); +static const QString cStrAfter2nd("After second"); + +static const QString cStrRetryOnce("Repeat Once"); +static const QString cStrRetryInstantly("Repeat Instantly"); +static const QString cStrRetry10sec("Repeat 10 seconds"); +static const QString cStrRetry30sec("Repeat 30 seconds"); +static const QString cStrRetry1min("Repeat 1 minute"); + + +QStringList NotificationItem::sayOrderValues; +QStringList NotificationItem::retryValues; + + NotificationItem::NotificationItem(QObject *parent) : QObject(parent) , isNowPlaying(0) , firstStart(true) + , _timer(NULL) + , _expireTimer(NULL) , _soundCollectionPath("") , _currentLanguage("default") , _dataObject("") @@ -52,16 +70,23 @@ NotificationItem::NotificationItem(QObject *parent) , _sound1("") , _sound2("") , _sound3("") - , _sayOrder("Never") + , _sayOrder(cStrNever) , _singleValue(0) , _valueRange2(0) - , _repeatString("Repeat Instantly") + , _repeatString(cStrRetryInstantly) , _expireTimeout(eDefaultTimeout) , _mute(false) - { - _timer = NULL; - _expireTimer = NULL; + NotificationItem::sayOrderValues.append(cStrBefore1st); + NotificationItem::sayOrderValues.append(cStrBefore2nd); + NotificationItem::sayOrderValues.append(cStrAfter2nd); + + NotificationItem::retryValues.append(cStrRetryOnce); + NotificationItem::retryValues.append(cStrRetryInstantly); + NotificationItem::retryValues.append(cStrRetry10sec); + NotificationItem::retryValues.append(cStrRetry30sec); + NotificationItem::retryValues.append(cStrRetry1min); + } void NotificationItem::copyTo(NotificationItem* that) const @@ -103,7 +128,6 @@ void NotificationItem::saveState(QSettings* settings) const settings->setValue(QLatin1String("Repeat"), retryString()); settings->setValue(QLatin1String("ExpireTimeout"), lifetime()); settings->setValue(QLatin1String("Mute"), mute()); - } void NotificationItem::restoreState(QSettings* settings) @@ -123,7 +147,6 @@ void NotificationItem::restoreState(QSettings* settings) setRetryString(settings->value(QLatin1String("Repeat"), tr("")).toString()); setLifetime(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); setMute(settings->value(QLatin1String("Mute"), tr("")).toInt()); - } void NotificationItem::seriaize(QDataStream& stream) @@ -162,7 +185,8 @@ void NotificationItem::deseriaize(QDataStream& stream) stream >> this->_mute; } -void NotificationItem::startTimer(int value) { +void NotificationItem::startTimer(int value) +{ if (!_timer) { _timer = new QTimer(this); _timer->setInterval(value); @@ -171,14 +195,16 @@ void NotificationItem::startTimer(int value) { _timer->start(); } -void NotificationItem::stopTimer() { +void NotificationItem::stopTimer() +{ if (_timer) { if (_timer->isActive()) _timer->stop(); } } -void NotificationItem::disposeTimer() { +void NotificationItem::disposeTimer() +{ if (_timer) { _timer->stop(); delete _timer; @@ -186,22 +212,24 @@ void NotificationItem::disposeTimer() { } } -void NotificationItem::startExpireTimer() { - if (!_expireTimer) - { +void NotificationItem::startExpireTimer() +{ + if (!_expireTimer) { _expireTimer = new QTimer(this); } _expireTimer->start(_expireTimeout * 1000); } -void NotificationItem::stopExpireTimer() { +void NotificationItem::stopExpireTimer() +{ if (_expireTimer) { if (_expireTimer) _expireTimer->stop(); } } -void NotificationItem::disposeExpireTimer() { +void NotificationItem::disposeExpireTimer() +{ if (_expireTimer) { _expireTimer->stop(); delete _expireTimer; @@ -209,91 +237,33 @@ void NotificationItem::disposeExpireTimer() { } } -#define missed "missed sound" -#define CHECK_ADD_SOUND(n) ((!_missedSound##n) ? getSound##n() : (missed#n)) -#define CHECK_REPLACE_SOUND(n) ((!_missedSound##n) ? str.replace(missed#n, getSound##n()) : (missed#n)) - -QString NotificationItem::parseNotifyMessage() +int getValuePosition(QString sayOrder) { - // tips: - // check of *.wav files exist needed for playing phonon queues; - // if phonon player don't find next file in queue, it buzz + return NotificationItem::sayOrderValues.indexOf(sayOrder); +} - QString str; - QString value; - QString sayOrder = getSayOrder(); - UAVObjectField* field = getUAVObjectField(); - if (UAVObjectField::ENUM == field->getType()) { - Q_ASSERT(singleValue() < field->getOptions().size()); - value = QString("%L1").arg(field->getOptions().at(singleValue())); - } else { - value = QString("%L1").arg(singleValue()); +QString NotificationItem::checkSoundExists(QString fileName) +{ + QString name(fileName + ".wav"); + QString filePath = QDir::toNativeSeparators(getSoundCollectionPath() + "/" + + getCurrentLanguage() + "/" + + name); + if(QFile::exists(filePath)) + return filePath; + else { + filePath = QDir::toNativeSeparators(getSoundCollectionPath() + + "/default/" + + name); + if(!QFile::exists(filePath)) + filePath.clear(); } + return filePath; +} - int position = -1; // default don't play value wav file - - // generate queue of sound files to play - _messageSequence.clear(); - - bool _missedSound1 = false; - bool _missedSound2 = false; - bool _missedSound3 = false; - - checkSoundFilesExisting(_missedSound1, _missedSound2, _missedSound3); - str = CHECK_ADD_SOUND(1)+" "+CHECK_ADD_SOUND(2)+" "+CHECK_ADD_SOUND(3); - - if(!_messageSequence.size()) { - qNotifyDebug() << "no any files in message queue"; - } - - sayOrder = sayOrder.trimmed(); - switch(sayOrder.at(0).toUpper().toAscii()) - { - case 'B'://BEFORE: - CHECK_REPLACE_SOUND(1); - CHECK_REPLACE_SOUND(2); - CHECK_REPLACE_SOUND(3); - str.prepend(value + " "); - position = 0; - break; - - case 'A'://AFTER: - switch(sayOrder.at(6).toLower().toAscii()) - { - case 'f': - str = CHECK_ADD_SOUND(1)+" "+value+" "+CHECK_ADD_SOUND(2)+" "+CHECK_ADD_SOUND(3); - position = 1; - break; - - case 's': - str = CHECK_ADD_SOUND(1)+" "+CHECK_ADD_SOUND(2)+" "+value+" "+CHECK_ADD_SOUND(3); - position = 2; - break; - - case 't': - CHECK_REPLACE_SOUND(1); - CHECK_REPLACE_SOUND(2); - CHECK_REPLACE_SOUND(3); - str.append(" "+value); - position = 3; - break; - } - break; - - default: - CHECK_REPLACE_SOUND(1); - CHECK_REPLACE_SOUND(2); - CHECK_REPLACE_SOUND(3); - break; - } - - if(-1 == position) { - qNotifyDebug() << "NotificationItem::parseNotifyMessage() | value position undefined"; - return str; - } - - if (UAVObjectField::ENUM == field->getType()) return str; - +QStringList valueToSoundList(QString value) +{ + // replace point chr if exists + value = value.replace(',', '.'); QStringList numberParts = value.trimmed().split("."); QStringList digitWavs; @@ -338,23 +308,100 @@ QString NotificationItem::parseNotifyMessage() digitWavs.append(numberParts.at(1).right(1)); } } - foreach(QString fileName, digitWavs) { - fileName+=".wav"; - QString filePath = QDir::toNativeSeparators(getSoundCollectionPath()+"/"+ getCurrentLanguage()+"/"+fileName); - if(QFile::exists(filePath)) - _messageSequence.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+ "/"+getCurrentLanguage()+"/"+fileName)); - else { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName))) - _messageSequence.insert(position++,QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+fileName)); - else { - _messageSequence.clear(); - break; // if no some of *.wav files, then don't play number! - } + return digitWavs; +} + +QString NotificationItem::toString() +{ + QString str; + QString value; + UAVObjectField* field = getUAVObjectField(); + if (UAVObjectField::ENUM == field->getType()) { + Q_ASSERT(singleValue() < field->getOptions().size()); + value = field->getOptions().at(singleValue()); + } else { + value = QString("%L1").arg(singleValue()); + } + + int pos = getValuePosition(getSayOrder().trimmed()); + QStringList lst; + lst.append(getSoundCaption(getSound1())); + lst.append(getSoundCaption(getSound2())); + lst.append(getSoundCaption(getSound3())); + QStringList valueSounds = valueToSoundList(value); + bool missed = false; + foreach(QString sound, valueSounds) { + if(checkSoundExists(sound).isEmpty()) { + missed = true; + break; } } + + // if not "Never" case + if(-1 != pos) { + if(missed) + lst.insert(pos, "[missed]" + value); + else + lst.insert(pos, value); + } + str = lst.join(" "); return str; } +QStringList& NotificationItem::toSoundList() +{ + // tips: + // check of *.wav files exist needed for playing phonon queues; + // if phonon player don't find next file in queue, it buzz + + QString value; + UAVObjectField* field = getUAVObjectField(); + if (UAVObjectField::ENUM == field->getType()) { + Q_ASSERT(singleValue() < field->getOptions().size()); + value = field->getOptions().at(singleValue()); + } else { + value = QString("%L1").arg(singleValue()); + } + + // generate queue of sound files to play + _messageSequence.clear(); + int pos = getValuePosition(getSayOrder().trimmed()); + QStringList lst; + if(!getSound1().isEmpty()) + lst.append(getSound1()); + if(!getSound2().isEmpty()) + lst.append(getSound2()); + if(!getSound3().isEmpty()) + lst.append(getSound3()); + + // if not "Never" case + if(-1 != pos) { + QStringList valueSounds = valueToSoundList(value); + foreach(QString sound, valueSounds) + lst.insert(pos++, sound); + } + + foreach(QString sound, lst) { + QString path = checkSoundExists(sound); + if (!path.isEmpty()) { + _messageSequence.append(path); + } else { + _messageSequence.clear(); + break; + } + } + return _messageSequence; +} + +QString NotificationItem::getSoundCaption(QString fileName) +{ + if(fileName.isEmpty()) return QString(); + if(checkSoundExists(fileName).isEmpty()) { + return QString("[missed]") + fileName; + } + return fileName; +} + UAVObjectField* NotificationItem::getUAVObjectField() { return getUAVObject()->getField(getObjectField()); } @@ -362,39 +409,3 @@ UAVObjectField* NotificationItem::getUAVObjectField() { UAVDataObject* NotificationItem::getUAVObject() { return dynamic_cast((ExtensionSystem::PluginManager::instance()->getObject())->getObject(getDataObject())); } - - -void NotificationItem::checkSoundFilesExisting(bool& missed1, bool& missed2, bool& missed3) -{ - - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound1()+".wav")); - else { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound1()+".wav")); - else - missed1 = true; - } - - if(getSound2().size()) { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/" + getCurrentLanguage()+"/"+getSound2()+".wav")); - else { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath() + "/default/"+getSound2()+".wav")); - else - missed2 = true; - } - } - - if(getSound3().size()) { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+ "/" + getCurrentLanguage()+"/"+getSound3()+".wav")); - else { - if(QFile::exists(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav"))) - _messageSequence.append(QDir::toNativeSeparators(getSoundCollectionPath()+"/default/"+getSound3()+".wav")); - else - missed3 = true; - } - } -} diff --git a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp index d418f0d26..da7177b35 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.cpp @@ -29,34 +29,29 @@ #include "notifyitemdelegate.h" #include "notifytablemodel.h" #include "notifylogging.h" +#include "notificationitem.h" NotifyItemDelegate::NotifyItemDelegate(QObject* parent) : QItemDelegate(parent) , _parent(parent) { - _titles << "Repeat Once" - << "Repeat Instantly" - << "Repeat 10 seconds" - << "Repeat 30 seconds" - << "Repeat 1 minute"; - } QWidget *NotifyItemDelegate::createEditor(QWidget* parent, const QStyleOptionViewItem& /*none*/, const QModelIndex& index) const { - if (eREPEAT_VALUE == index.column()) { + if (eRepeatValue == index.column()) { QComboBox* editor = new QComboBox(parent); editor->clear(); - editor->addItems(_titles); + editor->addItems(NotificationItem::retryValues); return editor; } else { - if (eEXPIRE_TIME == index.column()) { + if (eExpireTimer == index.column()) { QSpinBox* editor = new QSpinBox(parent); connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); return editor; } else { - if (eENABLE_NOTIFICATION == index.column()) { + if (eTurnOn == index.column()) { QCheckBox* editor = new QCheckBox(parent); connect(editor, SIGNAL(editingFinished()), this, SLOT(commitAndCloseEditor())); return editor; diff --git a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h index 494e61c17..ace6d4976 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyitemdelegate.h @@ -34,25 +34,23 @@ class NotifyItemDelegate : public QItemDelegate { - Q_OBJECT + Q_OBJECT public: - NotifyItemDelegate(QObject *parent = 0); - QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &, - const QModelIndex &index) const; - void setEditorData(QWidget *editor, const QModelIndex &index) const; - void setModelData(QWidget *editor, QAbstractItemModel *model, - const QModelIndex &index) const; - QSize sizeHint ( const QStyleOptionViewItem & option, const QModelIndex & index ) const; + NotifyItemDelegate(QObject *parent = 0); + QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &, + const QModelIndex &index) const; + void setEditorData(QWidget *editor, const QModelIndex &index) const; + void setModelData(QWidget *editor, QAbstractItemModel *model, + const QModelIndex &index) const; + QSize sizeHint ( const QStyleOptionViewItem & option, const QModelIndex & index ) const; private slots: - void selectRow(const QString & text); - void commitAndCloseEditor(); + void selectRow(const QString & text); + void commitAndCloseEditor(); private: - QObject* _parent; - QStringList _titles; - + QObject* _parent; }; #endif // NOTIFYITEMDELEGATE_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index fa55cfc42..88cb23621 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -49,7 +49,6 @@ SoundNotifyPlugin::SoundNotifyPlugin() { phonon.mo = NULL; configured = false; - // Do nothing } SoundNotifyPlugin::~SoundNotifyPlugin() @@ -57,7 +56,6 @@ SoundNotifyPlugin::~SoundNotifyPlugin() Core::ICore::instance()->saveSettings(this); if (phonon.mo != NULL) delete phonon.mo; - // Do nothing } bool SoundNotifyPlugin::initialize(const QStringList& args, QString *errMsg) @@ -99,8 +97,8 @@ void SoundNotifyPlugin::saveConfig( QSettings* settings, UAVConfigInfo *configIn settings->beginWriteArray("listNotifies"); for (int i = 0; i < lstNotifications.size(); i++) { - settings->setArrayIndex(i); - lstNotifications.at(i)->saveState(settings); + settings->setArrayIndex(i); + lstNotifications.at(i)->saveState(settings); } settings->endArray(); settings->setValue(QLatin1String("EnableSound"), enableSound); @@ -147,10 +145,10 @@ void SoundNotifyPlugin::readConfig_0_0_0(){ // read list of notifications from settings int size = settings->beginReadArray("listNotifies"); for (int i = 0; i < size; ++i) { - settings->setArrayIndex(i); - NotificationItem* notification = new NotificationItem; - notification->restoreState(settings); - lstNotifications.append(notification); + settings->setArrayIndex(i); + NotificationItem* notification = new NotificationItem; + notification->restoreState(settings); + lstNotifications.append(notification); } settings->endArray(); setEnableSound(settings->value(QLatin1String("EnableSound"),0).toBool()); @@ -237,14 +235,17 @@ void SoundNotifyPlugin::connectNotifications() notify->firstStart=true; notify->isNowPlaying=false; + if(notify->mute()) continue; + UAVDataObject* obj = dynamic_cast( objManager->getObject(notify->getDataObject()) ); if (obj != NULL ) { if (!lstNotifiedUAVObjects.contains(obj)) { - lstNotifiedUAVObjects.append(obj); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); + lstNotifiedUAVObjects.append(obj); + connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); } - } else - std::cout << "Error: Object is unknown (" << notify->getDataObject().toStdString() << ")." << std::endl; + } else { + qNotifyDebug() << "Error: Object is unknown (" << notify->getDataObject() << ")."; + } } if (lstNotifications.isEmpty()) return; @@ -294,7 +295,7 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA fieldName = notification->getObjectField(); UAVObjectField* field = object->getField(fieldName); - if (field->getName() == "") + if (field->getName().isEmpty()) return; double value = field->getDouble(); @@ -321,13 +322,11 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA if (!condition) return; - if (!playNotification(notification)) - { - if (!pendingNotifications.contains(notification)) - { + if (!playNotification(notification)) { + if (!pendingNotifications.contains(notification)) { notification->stopTimer(); - qNotifyDebug() << "add to pending list - " << notification->parseNotifyMessage(); + qNotifyDebug() << "add to pending list - " << notification->toString(); // if audio is busy, start expiration timer //ms = (notification->getExpiredTimeout()[in sec])*1000 //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); @@ -344,8 +343,8 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) if (phonon.mo == NULL) return false; - if (!notification->mute()) - return true; + if (notification->mute()) + return false; qNotifyDebug() << "Phonon State: " << phonon.mo->state(); if ((phonon.mo->state()==Phonon::PausedState) @@ -375,9 +374,8 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) } notification->firstStart=false; phonon.mo->clear(); - QString str = notification->parseNotifyMessage(); - qNotifyDebug() << "play notification - " << str; - foreach (QString item, notification->getMessageSequence()) { + qNotifyDebug() << "play notification - " << notification->toString(); + foreach (QString item, notification->toSoundList()) { Phonon::MediaSource *ms = new Phonon::MediaSource(item); ms->setAutoDelete(true); phonon.mo->enqueue(*ms); @@ -393,15 +391,15 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) void SoundNotifyPlugin::repeatTimerHandler() { - NotificationItem* notification = static_cast(sender()->parent()); + NotificationItem* notification = static_cast(sender()->parent()); - qNotifyDebug() << "repeatTimerHandler - " << notification->parseNotifyMessage(); + qNotifyDebug() << "repeatTimerHandler - " << notification->toString(); - ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); - UAVObjectManager *objManager = pm->getObject(); - UAVObject* object = objManager->getObject(notification->getDataObject()); - if (object) - checkNotificationRule(notification,object); + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *objManager = pm->getObject(); + UAVObject* object = objManager->getObject(notification->getDataObject()); + if (object) + checkNotificationRule(notification,object); } void SoundNotifyPlugin::expireTimerHandler() @@ -411,7 +409,7 @@ void SoundNotifyPlugin::expireTimerHandler() notification->stopExpireTimer(); if (!pendingNotifications.isEmpty()) { - qNotifyDebug() << "expireTimerHandler - " << notification->parseNotifyMessage(); + qNotifyDebug() << "expireTimerHandler - " << notification->toString(); pendingNotifications.removeOne(notification); } } @@ -438,7 +436,7 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst if (!pendingNotifications.isEmpty()) { NotificationItem* notification = pendingNotifications.takeFirst(); - qNotifyDebug() << "play audioFree - " << notification->parseNotifyMessage(); + qNotifyDebug() << "play audioFree - " << notification->toString(); playNotification(notification); } } else { diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h index 1d9475469..0b7a31f3b 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h @@ -50,65 +50,65 @@ typedef struct { class SoundNotifyPlugin : public Core::IConfigurablePlugin -{ - Q_OBJECT -public: - SoundNotifyPlugin(); - ~SoundNotifyPlugin(); +{ + Q_OBJECT +public: + SoundNotifyPlugin(); + ~SoundNotifyPlugin(); - void extensionsInitialized(); - bool initialize(const QStringList & arguments, QString * errorString); - void readConfig( QSettings* qSettings, Core::UAVConfigInfo *configInfo); - void saveConfig( QSettings* qSettings, Core::UAVConfigInfo *configInfo); - void shutdown(); + void extensionsInitialized(); + bool initialize(const QStringList & arguments, QString * errorString); + void readConfig( QSettings* qSettings, Core::UAVConfigInfo *configInfo); + void saveConfig( QSettings* qSettings, Core::UAVConfigInfo *configInfo); + void shutdown(); - QList getListNotifications() { return lstNotifications; } - NotificationItem* getCurrentNotification(){ return ¤tNotification;} + QList getListNotifications() { return lstNotifications; } + NotificationItem* getCurrentNotification(){ return ¤tNotification;} - bool getEnableSound() const { return enableSound; } - void setEnableSound(bool value) {enableSound = value; } + bool getEnableSound() const { return enableSound; } + void setEnableSound(bool value) {enableSound = value; } private: - SoundNotifyPlugin(const SoundNotifyPlugin& rhs); - SoundNotifyPlugin& operator= (const SoundNotifyPlugin& rhs); + Q_DISABLE_COPY(SoundNotifyPlugin) - bool playNotification(NotificationItem* notification); - void checkNotificationRule(NotificationItem* notification, UAVObject* object); - void readConfig_0_0_0(); + bool playNotification(NotificationItem* notification); + void checkNotificationRule(NotificationItem* notification, UAVObject* object); + void readConfig_0_0_0(); private slots: - void onTelemetryManagerAdded(QObject* obj); - void onAutopilotDisconnect(); - void connectNotifications(); - void updateNotificationList(QList list); - void resetNotification(void); - void appendNotification(UAVObject *object); - void repeatTimerHandler(void); - void expireTimerHandler(void); - void stateChanged(Phonon::State newstate, Phonon::State oldstate); + + void onTelemetryManagerAdded(QObject* obj); + void onAutopilotDisconnect(); + void connectNotifications(); + void updateNotificationList(QList list); + void resetNotification(void); + void appendNotification(UAVObject *object); + void repeatTimerHandler(void); + void expireTimerHandler(void); + void stateChanged(Phonon::State newstate, Phonon::State oldstate); private: - bool configured; // just for migration,delete later - bool enableSound; - QList< QList* > lstMediaSource; - QStringList mediaSource; - QMultiMap mapMediaObjects; - QSettings* settings; + bool configured; // just for migration,delete later + bool enableSound; + QList< QList* > lstMediaSource; + QStringList mediaSource; + QMultiMap mapMediaObjects; + QSettings* settings; - QList lstNotifiedUAVObjects; - QList lstNotifications; - QList pendingNotifications; - QList removedNotifies; + QList lstNotifiedUAVObjects; + QList lstNotifications; + QList pendingNotifications; + QList removedNotifies; - NotificationItem currentNotification; - NotificationItem* nowPlayingConfiguration; + NotificationItem currentNotification; + NotificationItem* nowPlayingConfiguration; - QString m_field; - PhononObject phonon; - NotifyPluginOptionsPage *mop; - TelemetryManager* telMngr; + QString m_field; + PhononObject phonon; + NotifyPluginOptionsPage *mop; + TelemetryManager* telMngr; }; #endif // SOUNDNOTIFYPLUGIN_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index 305e5e13e..fdf0f5cc9 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -47,72 +47,61 @@ #include "notifytablemodel.h" #include "notifylogging.h" - -static const char* cStrBefore1st = "Before first"; -static const char* cStrBefore2nd = "Before second"; -static const char* cStrAfter2nd = "After second"; - static const char* cStrEqualTo = "Equal to"; static const char* cStrLargeThan = "Large than"; static const char* cStrLowerThan = "Lower than"; static const char* cStrInRange = "In range"; -//----------------------------------------------------------------------------- -NotifyPluginOptionsPage::NotifyPluginOptionsPage(/*NotificationItem *config,*/ QObject *parent) +NotifyPluginOptionsPage::NotifyPluginOptionsPage(QObject *parent) : IOptionsPage(parent) - , objManager(*ExtensionSystem::PluginManager::instance()->getObject()) - , owner(qobject_cast(parent)) - , currentCollectionPath("") + , _objManager(*ExtensionSystem::PluginManager::instance()->getObject()) + , _owner(qobject_cast(parent)) + , _currentCollectionPath("") , _valueRange(NULL) , _sayOrder(NULL) , _fieldValue(NULL) , _fieldType(-1) , _form(NULL) -{ -} + , _selectedNotification(NULL) +{} -//----------------------------------------------------------------------------- NotifyPluginOptionsPage::~NotifyPluginOptionsPage() -{ -} +{} -//creates options page widget (uses the UI file) - -//----------------------------------------------------------------------------- QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) { - options_page.reset(new Ui::NotifyPluginOptionsPage()); + _optionsPage.reset(new Ui::NotifyPluginOptionsPage()); //main widget QWidget* optionsPageWidget = new QWidget; - //if(!_fieldValue.isNull()) _fieldValue = NULL; _valueRange = NULL; - _fieldType = -1; + resetFieldType(); //save ref to form, needed for binding dynamic fields in future _form = optionsPageWidget; //main layout - options_page->setupUi(optionsPageWidget); + _optionsPage->setupUi(optionsPageWidget); - listSoundFiles.clear(); - - options_page->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); - options_page->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); - - connect(options_page->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), this, SLOT(on_buttonSoundFolder_clicked(const QString&))); - connect(options_page->SoundCollectionList, SIGNAL(currentIndexChanged (int)), this, SLOT(on_soundLanguage_indexChanged(int))); + _listSoundFiles.clear(); + _optionsPage->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); + _optionsPage->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); + connect(_optionsPage->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), + this, SLOT(on_buttonSoundFolder_clicked(const QString&))); + connect(_optionsPage->SoundCollectionList, SIGNAL(currentIndexChanged (int)), + this, SLOT(on_soundLanguage_indexChanged(int))); connect(this, SIGNAL(updateNotifications(QList)), - owner, SLOT(updateNotificationList(QList))); + _owner, SLOT(updateNotificationList(QList))); //connect(this, SIGNAL(resetNotification()),owner, SLOT(resetNotification())); - privListNotifications = owner->getListNotifications(); + _privListNotifications = _owner->getListNotifications(); + // [1] + _selectedNotification = _owner->getCurrentNotification(); addDynamicValueLayout(); - _selectedNotification = owner->getCurrentNotification(); // [2] updateConfigView(_selectedNotification); @@ -120,117 +109,119 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) initButtons(); initPhononPlayer(); -// _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(0, 0, QModelIndex()), -// QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); + _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(0, 0, QModelIndex()), + QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); return optionsPageWidget; } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::apply() { - getOptionsPageValues(owner->getCurrentNotification()); - owner->setEnableSound(options_page->chkEnableSound->isChecked()); - emit updateNotifications(privListNotifications); + getOptionsPageValues(_owner->getCurrentNotification()); + _owner->setEnableSound(_optionsPage->chkEnableSound->isChecked()); + emit updateNotifications(_privListNotifications); } void NotifyPluginOptionsPage::finish() { + disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_UAVField_indexChanged(QString))); - disconnect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(onUAVField_indexChanged(QString))); - - disconnect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - if (notifySound) { - notifySound->stop(); - notifySound->clear(); + disconnect(_notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(on_changeButtonText(Phonon::State,Phonon::State))); + if (_notifySound) { + _notifySound->stop(); + _notifySound->clear(); } } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::addDynamicValueLayout() { - NotificationItem* curr = owner->getCurrentNotification(); + NotificationItem* curr = _owner->getCurrentNotification(); Q_ASSERT(curr); - options_page->dynamicValueLayout->addWidget(new QLabel("Say order ", _form)); + _optionsPage->dynamicValueLayout->addWidget(new QLabel("Say order ", _form)); _sayOrder = new QComboBox(_form); - options_page->dynamicValueLayout->addWidget(_sayOrder); - QStringList sayOrderValues; - sayOrderValues << cStrBefore1st << cStrBefore2nd << cStrAfter2nd; - _sayOrder->addItems(sayOrderValues); + _optionsPage->dynamicValueLayout->addWidget(_sayOrder); + _sayOrder->addItems(NotificationItem::sayOrderValues); - options_page->dynamicValueLayout->addWidget(new QLabel("Value is ", _form)); + _optionsPage->dynamicValueLayout->addWidget(new QLabel("Value is ", _form)); - UAVDataObject* obj = dynamic_cast(objManager.getObject(curr->getDataObject())); + UAVDataObject* obj = dynamic_cast(_objManager.getObject(curr->getDataObject())); UAVObjectField* field = obj->getField(curr->getObjectField()); Q_ASSERT(obj); Q_ASSERT(field); _valueRange = new QComboBox(_form); - options_page->dynamicValueLayout->addWidget(_valueRange); + _optionsPage->dynamicValueLayout->addWidget(_valueRange); addDynamicField(field); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::resetValueRange() { - _fieldValue = new QLineEdit(_form); (static_cast(_fieldValue))->setInputMask("999.99 - 999.99;"); (static_cast(_fieldValue))->setText("0000000000"); (static_cast(_fieldValue))->setCursorPosition(0); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_rangeValue_indexChanged(QString rangeStr) { Q_ASSERT(_fieldValue); - if(rangeStr == cStrInRange) { - Q_ASSERT(_fieldValue); - options_page->dynamicValueLayout->removeWidget(_fieldValue); - resetValueRange(); - options_page->dynamicValueLayout->addWidget(_fieldValue); - - // _fieldType = -1; - // addDynamicField(field); - } + UAVObjectField* field = getObjectFieldFromPage(); + Q_ASSERT(!!field); + setDynamicValueWidget(field); + setDynamicValueField(_selectedNotification); +} + +void NotifyPluginOptionsPage::resetFieldType() +{ + _fieldType = -1; } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) { - //qDebugNotify_if(!objField || !parent) << "null input params"; + //qDebugNotify_ if (!objField || !parent) << "null input params"; Q_ASSERT(objField); - if(objField->getType() == _fieldType) { - if(QComboBox* fieldValue = dynamic_cast(_fieldValue)) { + if (objField->getType() == _fieldType) { + if (QComboBox* fieldValue = dynamic_cast(_fieldValue)) { fieldValue->clear(); QStringList enumValues(objField->getOptions()); fieldValue->addItems(enumValues); } return; } - // check if dynamic fileld already settled, - // so if its exists remove it and install new field - if(_fieldValue) - options_page->dynamicValueLayout->removeWidget(_fieldValue); disconnect(_valueRange, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_rangeValue_indexChanged(QString))); _valueRange->clear(); QStringList rangeValues; - if(UAVObjectField::ENUM == objField->getType()) { + if (UAVObjectField::ENUM == objField->getType()) { rangeValues << cStrEqualTo << cStrInRange; _valueRange->addItems(rangeValues); - } - else { + _valueRange->setCurrentIndex(rangeValues.indexOf(_selectedNotification->range())); + + } else { rangeValues << cStrEqualTo << cStrLargeThan << cStrLowerThan << cStrInRange; _valueRange->addItems(rangeValues); connect(_valueRange, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_rangeValue_indexChanged(QString))); } + setDynamicValueWidget(objField); +} +void NotifyPluginOptionsPage::setDynamicValueWidget(UAVObjectField* objField) +{ + Q_ASSERT(_valueRange); + + // check if dynamic fileld already settled, + // so if its exists remove it and install new field + if (_fieldValue) { + _optionsPage->dynamicValueLayout->removeWidget(_fieldValue); + delete _fieldValue; + _fieldValue = NULL; + } _fieldType = objField->getType(); switch(_fieldType) { @@ -243,92 +234,90 @@ void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) break; default: - if(_valueRange->currentText() == cStrInRange) { + if (_valueRange->currentText() == cStrInRange) { + _fieldValue = new QLineEdit(_form); resetValueRange(); } else { _fieldValue = new QSpinBox(_form); } break; }; - options_page->dynamicValueLayout->addWidget(_fieldValue); + _optionsPage->dynamicValueLayout->addWidget(_fieldValue); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::initButtons() { - options_page->chkEnableSound->setChecked(owner->getEnableSound()); - connect(options_page->chkEnableSound, SIGNAL(toggled(bool)), this, SLOT(on_chkEnableSound_toggled(bool))); + _optionsPage->chkEnableSound->setChecked(_owner->getEnableSound()); + connect(_optionsPage->chkEnableSound, SIGNAL(toggled(bool)), + this, SLOT(on_checkEnableSound_toggled(bool))); - options_page->buttonModify->setEnabled(false); - options_page->buttonDelete->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); - connect(options_page->buttonAdd, SIGNAL(pressed()), this, SLOT(on_buttonAddNotification_clicked())); - connect(options_page->buttonDelete, SIGNAL(pressed()), this, SLOT(on_buttonDeleteNotification_clicked())); - connect(options_page->buttonModify, SIGNAL(pressed()), this, SLOT(on_buttonModifyNotification_clicked())); - connect(options_page->buttonPlayNotification, SIGNAL(clicked()), this, SLOT(on_buttonTestSoundNotification_clicked())); + _optionsPage->buttonModify->setEnabled(false); + _optionsPage->buttonDelete->setEnabled(false); + _optionsPage->buttonPlayNotification->setEnabled(false); + connect(_optionsPage->buttonAdd, SIGNAL(pressed()), + this, SLOT(on_button_AddNotification_clicked())); + connect(_optionsPage->buttonDelete, SIGNAL(pressed()), + this, SLOT(on_button_DeleteNotification_clicked())); + connect(_optionsPage->buttonModify, SIGNAL(pressed()), + this, SLOT(on_button_ModifyNotification_clicked())); + connect(_optionsPage->buttonPlayNotification, SIGNAL(clicked()), + this, SLOT(on_button_TestSoundNotification_clicked())); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::initPhononPlayer() { - notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); - connect(notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(changeButtonText(Phonon::State,Phonon::State))); - connect(notifySound.data(), SIGNAL(finished(void)), this, SLOT(onFinishedPlaying(void))); + _notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); + connect(_notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(on_changeButtonText(Phonon::State,Phonon::State))); + connect(_notifySound.data(), SIGNAL(finished(void)), this, SLOT(on_FinishedPlaying(void))); } - -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::initRulesTable() { qNotifyDebug_if(_notifyRulesModel.isNull()) << "_notifyRulesModel.isNull())"; qNotifyDebug_if(!_notifyRulesSelection) << "_notifyRulesSelection.isNull())"; - //QItemSelectionModel* selection = _notifyRulesSelection.take(); - _notifyRulesModel.reset(new NotifyTableModel(privListNotifications)); + _notifyRulesModel.reset(new NotifyTableModel(_privListNotifications)); _notifyRulesSelection = new QItemSelectionModel(_notifyRulesModel.data()); connect(_notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), - this, SLOT(on_tableNotification_changeSelection( const QItemSelection & , const QItemSelection & ))); + this, SLOT(on_table_changeSelection( const QItemSelection & , const QItemSelection & ))); connect(this, SIGNAL(entryUpdated(int)), - _notifyRulesModel.data(), SLOT(entryUpdated(int))); -// connect(this, SIGNAL(entryAdded(int)), -// _notifyRulesModel.data(), SLOT(entryAdded(int))); + _notifyRulesModel.data(), SLOT(entryUpdated(int))); - options_page->notifyRulesView->setModel(_notifyRulesModel.data()); - options_page->notifyRulesView->setSelectionModel(_notifyRulesSelection); - options_page->notifyRulesView->setItemDelegate(new NotifyItemDelegate(this)); + _optionsPage->notifyRulesView->setModel(_notifyRulesModel.data()); + _optionsPage->notifyRulesView->setSelectionModel(_notifyRulesSelection); + _optionsPage->notifyRulesView->setItemDelegate(new NotifyItemDelegate(this)); - options_page->notifyRulesView->resizeRowsToContents(); - options_page->notifyRulesView->setColumnWidth(eMESSAGE_NAME,200); - options_page->notifyRulesView->setColumnWidth(eREPEAT_VALUE,120); - options_page->notifyRulesView->setColumnWidth(eEXPIRE_TIME,100); - options_page->notifyRulesView->setColumnWidth(eENABLE_NOTIFICATION,60); - options_page->notifyRulesView->setDragEnabled(true); - options_page->notifyRulesView->setAcceptDrops(true); - options_page->notifyRulesView->setDropIndicatorShown(true); - options_page->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove); + _optionsPage->notifyRulesView->resizeRowsToContents(); + _optionsPage->notifyRulesView->setColumnWidth(eMessageName,200); + _optionsPage->notifyRulesView->setColumnWidth(eRepeatValue,120); + _optionsPage->notifyRulesView->setColumnWidth(eExpireTimer,100); + _optionsPage->notifyRulesView->setColumnWidth(eTurnOn,60); + _optionsPage->notifyRulesView->setDragEnabled(true); + _optionsPage->notifyRulesView->setAcceptDrops(true); + _optionsPage->notifyRulesView->setDropIndicatorShown(true); + _optionsPage->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) { Q_ASSERT(notification); - notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); - notification->setDataObject(options_page->UAVObject->currentText()); - notification->setObjectField(options_page->UAVObjectField->currentText()); - notification->setSound1(options_page->Sound1->currentText()); - notification->setSound2(options_page->Sound2->currentText()); - notification->setSound3(options_page->Sound3->currentText()); + notification->setSoundCollectionPath(_optionsPage->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(_optionsPage->SoundCollectionList->currentText()); + notification->setDataObject(_optionsPage->UAVObject->currentText()); + notification->setObjectField(_optionsPage->UAVObjectField->currentText()); + notification->setSound1(_optionsPage->Sound1->currentText()); + notification->setSound2(_optionsPage->Sound2->currentText()); + notification->setSound3(_optionsPage->Sound3->currentText()); notification->setSayOrder(_sayOrder->currentText()); notification->setRange(_valueRange->currentText()); - if(QSpinBox* spinValue = dynamic_cast(_fieldValue)) + if (QSpinBox* spinValue = dynamic_cast(_fieldValue)) notification->setSingleValue(spinValue->value()); else { - if(QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) + if (QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) notification->setSingleValue(comboBoxValue->currentIndex()); else { - if(QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { + if (QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { QString str = rangeValue->text(); QStringList range = str.split('-'); notification->setSingleValue(range.at(0).toDouble()); @@ -338,190 +327,175 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio } } - -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::onUAVField_indexChanged(QString field) { - _fieldType = -1; - UAVDataObject* obj = dynamic_cast( objManager.getObject(options_page->UAVObject->currentText())); +void NotifyPluginOptionsPage::on_UAVField_indexChanged(QString field) +{ + resetFieldType(); + UAVDataObject* obj = dynamic_cast( _objManager.getObject(_optionsPage->UAVObject->currentText())); addDynamicField(obj->getField(field)); } -////////////////////////////////////////////////////////////////////////////// -// Fills in the combo box when value is changed in the -// combo box -////////////////////////////////////////////////////////////////////////////// -void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) { - _fieldType = -1; - UAVDataObject* obj = dynamic_cast( objManager.getObject(val) ); +void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) +{ + resetFieldType(); + UAVDataObject* obj = dynamic_cast( _objManager.getObject(val) ); QList fieldList = obj->getFields(); - disconnect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(onUAVField_indexChanged(QString))); - options_page->UAVObjectField->clear(); + disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVField_indexChanged(QString))); + _optionsPage->UAVObjectField->clear(); foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); + _optionsPage->UAVObjectField->addItem(field->getName()); } - connect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(onUAVField_indexChanged(QString))); + connect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVField_indexChanged(QString))); addDynamicField(fieldList.at(0)); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) { QDir dirPath(path); - listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); - options_page->SoundCollectionList->clear(); - options_page->SoundCollectionList->addItems(listDirCollections); + _listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); + _optionsPage->SoundCollectionList->clear(); + _optionsPage->SoundCollectionList->addItems(_listDirCollections); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) { - options_page->SoundCollectionList->setCurrentIndex(index); + _optionsPage->SoundCollectionList->setCurrentIndex(index); + _currentCollectionPath = _optionsPage->SoundDirectoryPathChooser->path() + + QDir::toNativeSeparators("/" + _optionsPage->SoundCollectionList->currentText()); - currentCollectionPath = options_page->SoundDirectoryPathChooser->path() - + QDir::toNativeSeparators("/" + options_page->SoundCollectionList->currentText()); - - QDir dirPath(currentCollectionPath); + QDir dirPath(_currentCollectionPath); QStringList filters; filters << "*.mp3" << "*.wav"; dirPath.setNameFilters(filters); - listSoundFiles = dirPath.entryList(filters); - listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); - options_page->Sound1->clear(); - options_page->Sound2->clear(); - options_page->Sound3->clear(); - options_page->Sound1->addItems(listSoundFiles); - options_page->Sound2->addItem(""); - options_page->Sound2->addItems(listSoundFiles); - options_page->Sound3->addItem(""); - options_page->Sound3->addItems(listSoundFiles); - + _listSoundFiles = dirPath.entryList(filters); + _listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); + _optionsPage->Sound1->clear(); + _optionsPage->Sound2->clear(); + _optionsPage->Sound3->clear(); + _optionsPage->Sound1->addItems(_listSoundFiles); + _optionsPage->Sound2->addItem(""); + _optionsPage->Sound2->addItems(_listSoundFiles); + _optionsPage->Sound3->addItem(""); + _optionsPage->Sound3->addItems(_listSoundFiles); } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::changeButtonText(Phonon::State newstate, Phonon::State oldstate) +void NotifyPluginOptionsPage::on_changeButtonText(Phonon::State newstate, Phonon::State oldstate) { //Q_ASSERT(Phonon::ErrorState != newstate); if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { - options_page->buttonPlayNotification->setText("Play"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); + _optionsPage->buttonPlayNotification->setText("Play"); + _optionsPage->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); } else { if (newstate == Phonon::PlayingState) { - options_page->buttonPlayNotification->setText("Stop"); - options_page->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); + _optionsPage->buttonPlayNotification->setText("Stop"); + _optionsPage->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); } } } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::onFinishedPlaying() +void NotifyPluginOptionsPage::on_FinishedPlaying() { - notifySound->clear(); + _notifySound->clear(); } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::on_buttonTestSoundNotification_clicked() +void NotifyPluginOptionsPage::on_button_TestSoundNotification_clicked() { NotificationItem* notification = NULL; - - if (-1 == _notifyRulesSelection->currentIndex().row()) - return; - notifySound->clearQueue(); - notification = privListNotifications.at(_notifyRulesSelection->currentIndex().row()); - notification->parseNotifyMessage(); - QStringList sequence = notification->getMessageSequence(); - Q_ASSERT(!!sequence.size()); qNotifyDebug() << "on_buttonTestSoundNotification_clicked"; + Q_ASSERT(-1 != _notifyRulesSelection->currentIndex().row()); + _notifySound->clearQueue(); + notification = _privListNotifications.at(_notifyRulesSelection->currentIndex().row()); + QStringList sequence = notification->toSoundList(); + if (sequence.isEmpty()) { + qNotifyDebug() << "message sequense is empty!"; + return; + } foreach(QString item, sequence) { qNotifyDebug() << item; - notifySound->enqueue(Phonon::MediaSource(item)); + _notifySound->enqueue(Phonon::MediaSource(item)); } - notifySound->play(); + _notifySound->play(); } -void NotifyPluginOptionsPage::on_chkEnableSound_toggled(bool state) +void NotifyPluginOptionsPage::on_checkEnableSound_toggled(bool state) { bool state1 = 1^state; - QList listOutputs = notifySound->outputPaths(); + QList listOutputs = _notifySound->outputPaths(); Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); audioOutput->setMuted(state1); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) { Q_ASSERT(notification); - disconnect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), + disconnect(_optionsPage->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); - disconnect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), - this, SLOT(onUAVField_indexChanged(QString))); + disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_UAVField_indexChanged(QString))); QString path = notification->getSoundCollectionPath(); - if (path == "") { - //QDir dir = QDir::currentPath(); - //path = QDir::currentPath().left(QDir::currentPath().indexOf("OpenPilot",0,Qt::CaseSensitive))+"../share/sounds"; + if (path.isEmpty()) { path = Utils::PathUtils().InsertDataPath("%%DATAPATH%%sounds"); } - options_page->SoundDirectoryPathChooser->setPath(path); + _optionsPage->SoundDirectoryPathChooser->setPath(path); - if (-1 != options_page->SoundCollectionList->findText(notification->getCurrentLanguage())){ - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText(notification->getCurrentLanguage())); + if (-1 != _optionsPage->SoundCollectionList->findText(notification->getCurrentLanguage())) { + _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText(notification->getCurrentLanguage())); } else { - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); + _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); } - // Fills the combo boxes for the UAVObjects - QList< QList > objList = objManager.getDataObjects(); + QList< QList > objList = _objManager.getDataObjects(); foreach (QList list, objList) { foreach (UAVDataObject* obj, list) { - options_page->UAVObject->addItem(obj->getName()); + _optionsPage->UAVObject->addItem(obj->getName()); } } - if (options_page->UAVObject->findText(notification->getDataObject())!=-1){ - options_page->UAVObject->setCurrentIndex(options_page->UAVObject->findText(notification->getDataObject())); + if (-1 != _optionsPage->UAVObject->findText(notification->getDataObject())) { + _optionsPage->UAVObject->setCurrentIndex(_optionsPage->UAVObject->findText(notification->getDataObject())); } - options_page->UAVObjectField->clear(); + _optionsPage->UAVObjectField->clear(); QString uavDataObject = notification->getDataObject(); - UAVDataObject* obj = dynamic_cast(objManager.getObject(uavDataObject)); + UAVDataObject* obj = dynamic_cast(_objManager.getObject(uavDataObject)); if (obj != NULL ) { QList fieldList = obj->getFields(); foreach (UAVObjectField* field, fieldList) { - options_page->UAVObjectField->addItem(field->getName()); + _optionsPage->UAVObjectField->addItem(field->getName()); } } - if (-1 != options_page->UAVObjectField->findText(notification->getObjectField())) { - options_page->UAVObjectField->setCurrentIndex(options_page->UAVObjectField->findText(notification->getObjectField())); + if (-1 != _optionsPage->UAVObjectField->findText(notification->getObjectField())) { + _optionsPage->UAVObjectField->setCurrentIndex(_optionsPage->UAVObjectField->findText(notification->getObjectField())); } - if (-1 != options_page->Sound1->findText(notification->getSound1())) { - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + if (-1 != _optionsPage->Sound1->findText(notification->getSound1())) { + _optionsPage->Sound1->setCurrentIndex(_optionsPage->Sound1->findText(notification->getSound1())); } else { // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound1->setCurrentIndex(options_page->Sound1->findText(notification->getSound1())); + _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); + _optionsPage->Sound1->setCurrentIndex(_optionsPage->Sound1->findText(notification->getSound1())); } - if (-1 != options_page->Sound2->findText(notification->getSound2())) { - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + if (-1 != _optionsPage->Sound2->findText(notification->getSound2())) { + _optionsPage->Sound2->setCurrentIndex(_optionsPage->Sound2->findText(notification->getSound2())); } else { // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound2->setCurrentIndex(options_page->Sound2->findText(notification->getSound2())); + _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); + _optionsPage->Sound2->setCurrentIndex(_optionsPage->Sound2->findText(notification->getSound2())); } - if (-1 != options_page->Sound3->findText(notification->getSound3())) { - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + if (-1 != _optionsPage->Sound3->findText(notification->getSound3())) { + _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3())); } else { // show item from default location - options_page->SoundCollectionList->setCurrentIndex(options_page->SoundCollectionList->findText("default")); - options_page->Sound3->setCurrentIndex(options_page->Sound3->findText(notification->getSound3())); + _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); + _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3())); } if (-1 != _valueRange->findText(notification->range())) { @@ -534,120 +508,123 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) setDynamicValueField(notification); - connect(options_page->UAVObject, SIGNAL(currentIndexChanged(QString)), + connect(_optionsPage->UAVObject, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVObject_indexChanged(QString))); - connect(options_page->UAVObjectField, SIGNAL(currentIndexChanged(QString)), - this, SLOT(onUAVField_indexChanged(QString))); + connect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_UAVField_indexChanged(QString))); } -//----------------------------------------------------------------------------- void NotifyPluginOptionsPage::setDynamicValueField(NotificationItem* notification) { - if(QSpinBox* spinValue = dynamic_cast(_fieldValue)) + if (QSpinBox* spinValue = dynamic_cast(_fieldValue)) spinValue->setValue(notification->singleValue()); else { - if(QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) + if (QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) comboBoxValue->setCurrentIndex(notification->singleValue()); else { - if(QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { - resetValueRange(); - rangeValue->setText(QString("%1%2").arg(notification->singleValue()) - .arg(notification->valueRange2())); + if (QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { + //resetValueRange(); + QString str = QString("%1%2").arg(notification->singleValue(), 5, 'f', 2, '0') + .arg(notification->valueRange2(), 5, 'f', 2, '0'); + rangeValue->setText(str); } else { qNotifyDebug() << "NotifyPluginOptionsPage::setDynamicValueField | unknown _fieldValue: " << _fieldValue; } - } } } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) +UAVObjectField* NotifyPluginOptionsPage::getObjectFieldFromPage() { - bool select = false; - notifySound->stop(); - if (selected.indexes().size()) { - select = true; - _selectedNotification = privListNotifications.at(selected.indexes().at(0).row()); - updateConfigView(_selectedNotification); - UAVDataObject* obj = dynamic_cast( objManager.getObject(options_page->UAVObject->currentText())); - UAVObjectField* field = obj->getField(options_page->UAVObjectField->currentText()); - addDynamicField(field); - setDynamicValueField(_selectedNotification); - } - - options_page->buttonModify->setEnabled(select); - options_page->buttonDelete->setEnabled(select); - options_page->buttonPlayNotification->setEnabled(select); + UAVDataObject* obj = dynamic_cast( _objManager.getObject(_optionsPage->UAVObject->currentText())); + return obj->getField(_optionsPage->UAVObjectField->currentText()); } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::on_buttonAddNotification_clicked() + +UAVObjectField* NotifyPluginOptionsPage::getObjectFieldFromSelected() +{ + UAVDataObject* obj = dynamic_cast(_objManager.getObject(_selectedNotification->getDataObject())); + return obj->getField(_selectedNotification->getObjectField()); +} + +void NotifyPluginOptionsPage::on_table_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) +{ + bool select = false; + _notifySound->stop(); + if (selected.indexes().size()) { + select = true; + _selectedNotification = _privListNotifications.at(selected.indexes().at(0).row()); + UAVObjectField* field = getObjectFieldFromSelected(); + addDynamicField(field); + updateConfigView(_selectedNotification); + } + + _optionsPage->buttonModify->setEnabled(select); + _optionsPage->buttonDelete->setEnabled(select); + _optionsPage->buttonPlayNotification->setEnabled(select); +} + +void NotifyPluginOptionsPage::on_button_AddNotification_clicked() { NotificationItem* notification = new NotificationItem; - if (options_page->SoundDirectoryPathChooser->path()=="") { - QPalette textPalette=options_page->SoundDirectoryPathChooser->palette(); - textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); - options_page->SoundDirectoryPathChooser->setPalette(textPalette); - options_page->SoundDirectoryPathChooser->setPath("please select sound collection folder"); - return; + if (_optionsPage->SoundDirectoryPathChooser->path().isEmpty()) { + QPalette textPalette=_optionsPage->SoundDirectoryPathChooser->palette(); + textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); + _optionsPage->SoundDirectoryPathChooser->setPalette(textPalette); + _optionsPage->SoundDirectoryPathChooser->setPath("please select sound collection folder"); + return; } - notification->setSoundCollectionPath(options_page->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(options_page->SoundCollectionList->currentText()); - notification->setDataObject(options_page->UAVObject->currentText()); - notification->setObjectField(options_page->UAVObjectField->currentText()); + notification->setSoundCollectionPath(_optionsPage->SoundDirectoryPathChooser->path()); + notification->setCurrentLanguage(_optionsPage->SoundCollectionList->currentText()); + notification->setDataObject(_optionsPage->UAVObject->currentText()); + notification->setObjectField(_optionsPage->UAVObjectField->currentText()); notification->setRange(_valueRange->currentText()); - if(QSpinBox* spinValue = dynamic_cast(_fieldValue)) + if (QSpinBox* spinValue = dynamic_cast(_fieldValue)) notification->setSingleValue(spinValue->value()); - if (options_page->Sound1->currentText().size() > 0) - notification->setSound1(options_page->Sound1->currentText()); + if (_optionsPage->Sound1->currentText().size() > 0) + notification->setSound1(_optionsPage->Sound1->currentText()); - notification->setSound2(options_page->Sound2->currentText()); - notification->setSound3(options_page->Sound3->currentText()); + notification->setSound2(_optionsPage->Sound2->currentText()); + notification->setSound3(_optionsPage->Sound3->currentText()); - if ( ((!options_page->Sound2->currentText().size()) && (_sayOrder->currentText()=="After second")) - || ((!options_page->Sound3->currentText().size()) && (_sayOrder->currentText()=="After third")) ) { + if ( ((!_optionsPage->Sound2->currentText().size()) && (_sayOrder->currentText()=="After second")) + || ((!_optionsPage->Sound3->currentText().size()) && (_sayOrder->currentText()=="After third")) ) { return; } else { notification->setSayOrder(_sayOrder->currentText()); } _notifyRulesModel->entryAdded(notification); - _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(privListNotifications.size()-1,0,QModelIndex()), + _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(_privListNotifications.size()-1,0,QModelIndex()), QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::on_buttonDeleteNotification_clicked() +void NotifyPluginOptionsPage::on_button_DeleteNotification_clicked() { _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row()); if (!_notifyRulesModel->rowCount() && (_notifyRulesSelection->currentIndex().row() > 0 && _notifyRulesSelection->currentIndex().row() < _notifyRulesModel->rowCount()) ) { - options_page->buttonDelete->setEnabled(false); - options_page->buttonModify->setEnabled(false); - options_page->buttonPlayNotification->setEnabled(false); + _optionsPage->buttonDelete->setEnabled(false); + _optionsPage->buttonModify->setEnabled(false); + _optionsPage->buttonPlayNotification->setEnabled(false); } - } -//----------------------------------------------------------------------------- -void NotifyPluginOptionsPage::on_buttonModifyNotification_clicked() +void NotifyPluginOptionsPage::on_button_ModifyNotification_clicked() { NotificationItem* notification = new NotificationItem; getOptionsPageValues(notification); - notification->setRetryString(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString()); - notification->setLifetime(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime()); - notification->setMute(privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute()); + notification->setRetryString(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString()); + notification->setLifetime(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime()); + notification->setMute(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute()); - privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification); + _privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification); entryUpdated(_notifyRulesSelection->currentIndex().row()); - } - diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index f4a29ae41..3f36f3f4d 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -57,78 +57,130 @@ using namespace Core; class NotifyPluginOptionsPage : public IOptionsPage { - Q_OBJECT + Q_OBJECT + public: - explicit NotifyPluginOptionsPage(/*NotificationItem *config, */QObject *parent = 0); - ~NotifyPluginOptionsPage(); - QString id() const { return QLatin1String("settings"); } - QString trName() const { return tr("settings"); } - QString category() const { return QLatin1String("Notify Plugin");} - QString trCategory() const { return tr("Notify Plugin");} + + explicit NotifyPluginOptionsPage(QObject *parent = 0); + ~NotifyPluginOptionsPage(); + QString id() const { return QLatin1String("settings"); } + QString trName() const { return tr("settings"); } + QString category() const { return QLatin1String("Notify Plugin");} + QString trCategory() const { return tr("Notify Plugin");} QWidget *createPage(QWidget *parent); void apply(); - void finish(); - void restoreFromSettings(); + void finish(); + void restoreFromSettings(); - void updateConfigView(NotificationItem* notification); - void getOptionsPageValues(NotificationItem* notification); + void updateConfigView(NotificationItem* notification); + void getOptionsPageValues(NotificationItem* notification); + UAVObjectField* getObjectFieldFromPage(); + UAVObjectField* getObjectFieldFromSelected(); signals: void updateNotifications(QList list); - //void resetNotification(void); void entryUpdated(int index); +private slots: + void on_button_TestSoundNotification_clicked(); + void on_button_AddNotification_clicked(); + void on_button_DeleteNotification_clicked(); + void on_button_ModifyNotification_clicked(); + + /** + * We can use continuous selection, to select simultaneously + * multiple rows to move them(using drag & drop) inside table ranges. + */ + void on_table_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ); + + void on_soundLanguage_indexChanged(int index); + void on_buttonSoundFolder_clicked(const QString& path); + void on_UAVObject_indexChanged(QString val); + void on_UAVField_indexChanged(QString val); + void on_changeButtonText(Phonon::State newstate, Phonon::State oldstate); + void on_checkEnableSound_toggled(bool state); + + /** + * Important when we change to or from "In range" value + * For enums UI layout stayed the same, but for numeric values + * we need to change UI to show edit line, + * to have possibility assign range limits for value. + */ + void on_rangeValue_indexChanged(QString); + + void on_FinishedPlaying(void); + + private: Q_DISABLE_COPY(NotifyPluginOptionsPage) void resetValueRange(); + void resetFieldType(); + void setDynamicValueField(NotificationItem* notification); void addDynamicField(UAVObjectField* objField); void addDynamicValueLayout(); + void setDynamicValueWidget(UAVObjectField* objField); + void initButtons(); void initPhononPlayer(); void initRulesTable(); -private slots: - void on_buttonTestSoundNotification_clicked(); - - void on_buttonAddNotification_clicked(); - void on_buttonDeleteNotification_clicked(); - void on_buttonModifyNotification_clicked(); - void on_tableNotification_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ); - void on_soundLanguage_indexChanged(int index); - void on_buttonSoundFolder_clicked(const QString& path); - void on_UAVObject_indexChanged(QString val); - void onUAVField_indexChanged(QString val); - void changeButtonText(Phonon::State newstate, Phonon::State oldstate); - void on_chkEnableSound_toggled(bool state); - void on_rangeValue_indexChanged(QString); - - void onFinishedPlaying(void); - private: - UAVObjectManager& objManager; - SoundNotifyPlugin* owner; - QStringList listDirCollections; - QStringList listSoundFiles; - QString currentCollectionPath; - Phonon::MediaObject *sound1; - Phonon::MediaObject *sound2; - QScopedPointer notifySound; - Phonon::AudioOutput *audioOutput; - QScopedPointer _notifyRulesModel; - QItemSelectionModel* _notifyRulesSelection; - QList privListNotifications; + UAVObjectManager& _objManager; + SoundNotifyPlugin* _owner; + QStringList _listDirCollections; + QStringList _listSoundFiles; + QString _currentCollectionPath; + Phonon::MediaObject* _sound1; + Phonon::MediaObject* _sound2; + QScopedPointer _notifySound; + Phonon::AudioOutput* _audioOutput; - QScopedPointer options_page; + QScopedPointer _notifyRulesModel; + QItemSelectionModel* _notifyRulesSelection; + /** + * Local copy of notification list, which owned by notify plugin. + * Notification list readed once on application loaded, during + * notify plugin startup, then on open options page. + * This copy is simple assignment, but due to implicitly sharing + * we don't have additional cost for that, copy will created + * only after modification of private notify list. + */ + QList _privListNotifications; + + QScopedPointer _optionsPage; + + //! widget to convinient selection of condition for field value (equal, lower, greater) QComboBox* _valueRange; + + //! widget to convinient selection of order in which sounds will be played QComboBox* _sayOrder; + + //! widget to represent edit widget for UAVObjectfield, + //! can be spinbox - for numerics, combobox - enums, or + //! lineedit - for range limits QWidget* _fieldValue; + + //! type of UAVObjectField - numeric or ENUM + //! this variable needs to correctly set dynamic UI elemen _fieldValue + //! NOTE: ocassionaly it should be invalidated (= -1) to reset _fieldValue int _fieldType; + + //! actualy reference to optionsPageWidget, + //! we MUST hold it beyond the scope of createPage func + //! to have possibility change dynamic parts of options page layout in future QWidget* _form; + + //! needs to correctly update UI during transitions from "In Range" to other + //! _valueRange entries and back direction as well + QString _prevRangeValue; + + //! Currently selected notification, all controls filled accroding to it. + //! On options page startup, always points to first row. NotificationItem* _selectedNotification; }; diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui index 23d05c2a0..94560ff1a 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui @@ -266,7 +266,7 @@ p, li { white-space: pre-wrap; } - QAbstractItemView::SingleSelection + QAbstractItemView::ContiguousSelection QAbstractItemView::SelectRows diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index 138af106b..b1fd1c737 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -30,8 +30,6 @@ #include #include -static int _dragStartRow = -1; -static int _dragNumRows = -1; const char* mime_type_notify_table = "openpilot/notify_plugin_table"; NotifyTableModel::NotifyTableModel(QList& parentList, QObject* parent) @@ -47,19 +45,19 @@ bool NotifyTableModel::setData(const QModelIndex &index, const QVariant &value, int role) { if (index.isValid() && role == Qt::DisplayRole) { - if(eMESSAGE_NAME == index.column()) { + if(eMessageName == index.column()) { emit dataChanged(index, index); return true; } } if (index.isValid() && role == Qt::EditRole) { - if(eREPEAT_VALUE == index.column()) + if(eRepeatValue == index.column()) _list.at(index.row())->setRetryString(value.toString()); else { - if(eEXPIRE_TIME == index.column()) + if(eExpireTimer == index.column()) _list.at(index.row())->setLifetime(value.toInt()); else { - if(eENABLE_NOTIFICATION == index.column()) + if(eTurnOn == index.column()) _list.at(index.row())->setMute(value.toBool()); } } @@ -83,16 +81,16 @@ QVariant NotifyTableModel::data(const QModelIndex &index, int role) const { switch(index.column()) { - case eMESSAGE_NAME: - return _list.at(index.row())->parseNotifyMessage(); + case eMessageName: + return _list.at(index.row())->toString(); - case eREPEAT_VALUE: + case eRepeatValue: return _list.at(index.row())->retryString(); - case eEXPIRE_TIME: + case eExpireTimer: return _list.at(index.row())->lifetime(); - case eENABLE_NOTIFICATION: + case eTurnOn: return _list.at(index.row())->mute(); default: @@ -126,13 +124,13 @@ bool NotifyTableModel::insertRows(int position, int rows, const QModelIndex& ind { Q_UNUSED(index); - if((-1 == position) || (-1 == rows) ) + if (-1 == position || -1 == rows) return false; beginInsertRows(QModelIndex(), position, position + rows - 1); - for (int row = 0; row < rows; ++row) { - _list.insert(position, new NotificationItem()); + for (int i = 0; i < rows; ++i) { + _list.insert(position + i, new NotificationItem()); } endInsertRows(); @@ -171,6 +169,17 @@ void NotifyTableModel::entryAdded(NotificationItem* item) entryUpdated(rowCount() - 1); } +Qt::DropActions NotifyTableModel::supportedDropActions() const +{ + return Qt::MoveAction; +} + +QStringList NotifyTableModel::mimeTypes() const +{ + QStringList types; + types << mime_type_notify_table; + return types; +} bool NotifyTableModel::dropMimeData( const QMimeData * data, Qt::DropAction action, int row, int column, const QModelIndex& parent) @@ -198,48 +207,31 @@ bool NotifyTableModel::dropMimeData( const QMimeData * data, Qt::DropAction acti QByteArray encodedData = data->data(mime_type_notify_table); QDataStream stream(&encodedData, QIODevice::ReadOnly); int rows = beginRow; + // read next item from input MIME and drop into the table line by line while(!stream.atEnd()) { qint32 ptr; stream >> ptr; NotificationItem* item = reinterpret_cast(ptr); int dragged = _list.indexOf(item); + // we can drag item from top rows to bottom (DOWN_DIRECTION), + // or from bottom rows to top rows (UP_DIRECTION) + enum { UP_DIRECTION, DOWN_DIRECTION }; + int direction = (dragged < rows) ? DOWN_DIRECTION : (dragged += 1, UP_DIRECTION); + Q_ASSERT(insertRows(rows + direction, 1, QModelIndex())); if(-1 == dragged || rows >= _list.size() || dragged == rows) { qNotifyDebug() << "no such item"; + return false; } - removeRows(rows, 1, QModelIndex()); - insertRows(rows, 1, QModelIndex()); - _list.replace(dragged, item); - // _list.swap(dragged, rows); - ++rows; + _list.replace(rows + direction, item); + Q_ASSERT(removeRows(dragged, 1, QModelIndex())); + if(direction == UP_DIRECTION) + ++rows; }; QModelIndex idxTopLeft = index(beginRow, 0, QModelIndex()); QModelIndex idxBotRight = index(beginRow, columnCount(QModelIndex()), QModelIndex()); emit dataChanged(idxTopLeft, idxBotRight); - //QStringList newItems; - - //removeRows(_dragStartRow, _dragNumRows, QModelIndex()); - //insertRows(beginRow, rows, QModelIndex()); -// int rows = beginRow; -// while (!stream.atEnd()) { -// _list.at(index.row())->deserialize(stream); -// ++rows; -// } - -// while(rows) { -// int column = 0; -// foreach (const QString& text, newItems) { -// QModelIndex idx = index(beginRow, column, QModelIndex()); -// if(!column) -// setData(const_cast(idx), text, Qt::DisplayRole); -// else -// setData(const_cast(idx), text, Qt::EditRole); -// ++column; -// } -// ++beginRow; -// --rows; -// } return true; } @@ -251,35 +243,13 @@ QMimeData* NotifyTableModel::mimeData(const QModelIndexList& indexes) const QDataStream stream(&encodedData, QIODevice::WriteOnly); int rows = 0; foreach (const QModelIndex& index, indexes) { - if(!index.column()) { + if (!index.column()) { qint32 item = reinterpret_cast(_list.at(index.row())); stream << item; + ++rows; } - ++rows; } - -// int numRows = 0; -// foreach (const QModelIndex& index, indexes) { -// if (index.isValid() && index.column()) { -// _list.at(index.row())->serialize(stream); -//// if(!index.column()) { -//// numRows++; -//// QString name = data(index, Qt::DisplayRole).toString(); -//// stream << name; -//// } else { -//// QString text = data(index, Qt::EditRole).toString(); -//// stream << text; -//// } -// } -// } - mimeData->setData(mime_type_notify_table, encodedData); - - //emit dragRows(indexes.at(0).row(), rows); - dropRows(indexes.at(0).row(), rows); - //_dragStartRow = indexes.at(0).row(); - //_dragNumRows = 1/*numRows*/; - return mimeData; } diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h index 3168a848f..28eb8cc68 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h @@ -33,72 +33,58 @@ #include #include "notificationitem.h" -enum ColumnNames { eMESSAGE_NAME, eREPEAT_VALUE, eEXPIRE_TIME, eENABLE_NOTIFICATION }; +enum ColumnNames { eMessageName, eRepeatValue, eExpireTimer, eTurnOn }; class NotifyTableModel : public QAbstractTableModel { - Q_OBJECT + Q_OBJECT - enum {eColumnCount = 4 }; + enum {eColumnCount = 4 }; public: - NotifyTableModel(QList& parentList, QObject* parent = 0); - - int rowCount(const QModelIndex& parent = QModelIndex()) const - { - return _list.count(); - } - - int columnCount(const QModelIndex &/*parent*/) const - { - return eColumnCount; - } - - Qt::ItemFlags flags(const QModelIndex &index) const - { - if (!index.isValid()) - return Qt::ItemIsEnabled | Qt::ItemIsDropEnabled; - - return QAbstractItemModel::flags(index) | Qt::ItemIsEditable | Qt::ItemIsDragEnabled | Qt::ItemIsDropEnabled; - } - - Qt::DropActions supportedDropActions() const + NotifyTableModel(QList& parentList, QObject* parent = 0); + int rowCount(const QModelIndex& parent = QModelIndex()) const { - return Qt::MoveAction; + return _list.count(); } - QStringList mimeTypes() const - { - QStringList types; - types << "application/vnd.text.list"; - return types; - } + int columnCount(const QModelIndex &/*parent*/) const + { + return eColumnCount; + } - bool dropMimeData( const QMimeData * data, Qt::DropAction action, int row, - int column, const QModelIndex& parent); - QMimeData* mimeData(const QModelIndexList &indexes) const; + Qt::ItemFlags flags(const QModelIndex &index) const + { + if (!index.isValid()) + return Qt::ItemIsEnabled | Qt::ItemIsDropEnabled; + + return QAbstractItemModel::flags(index) | Qt::ItemIsEditable | Qt::ItemIsDragEnabled | Qt::ItemIsDropEnabled; + } + QStringList mimeTypes() const; + Qt::DropActions supportedDropActions() const; + bool dropMimeData( const QMimeData * data, Qt::DropAction action, int row, + int column, const QModelIndex& parent); + QMimeData* mimeData(const QModelIndexList &indexes) const; - bool setData(const QModelIndex &index, const QVariant &value, int role); - QVariant data(const QModelIndex &index, int role) const; - QVariant headerData(int section, Qt::Orientation orientation, int role) const; - bool insertRows(int position, int rows, const QModelIndex &index); - bool removeRows(int position, int rows, const QModelIndex &index); - - void entryAdded(NotificationItem* item); + bool setData(const QModelIndex &index, const QVariant &value, int role); + QVariant data(const QModelIndex &index, int role) const; + QVariant headerData(int section, Qt::Orientation orientation, int role) const; + bool insertRows(int position, int rows, const QModelIndex &index); + bool removeRows(int position, int rows, const QModelIndex &index); + void entryAdded(NotificationItem* item); signals: - void dragRows(int position, int count); + void dragRows(int position, int count); private slots: - void entryUpdated(int offset); - void dropRows(int position, int count) const; + void entryUpdated(int offset); + void dropRows(int position, int count) const; private: - mutable QList& _list; - QStringList _headerStrings; + mutable QList& _list; + QStringList _headerStrings; }; - #endif // NOTIFYTABLEMODEL_H From 20757c2efd40484c107d6b5d892c51721a32da80 Mon Sep 17 00:00:00 2001 From: Nickolay Date: Wed, 12 Oct 2011 08:36:05 +0300 Subject: [PATCH 009/121] +complete all features; +testing in progress; --- .../src/plugins/notify/NotificationItem.h | 11 +- .../src/plugins/notify/notificationitem.cpp | 55 +- .../src/plugins/notify/notifylogging.cpp | 2 +- .../src/plugins/notify/notifyplugin.cpp | 440 ++++++------ .../src/plugins/notify/notifyplugin.h | 22 +- .../notify/notifypluginoptionspage.cpp | 627 +++++++++--------- .../plugins/notify/notifypluginoptionspage.h | 99 ++- .../src/plugins/notify/notifytablemodel.cpp | 27 +- 8 files changed, 687 insertions(+), 596 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index 1898f1a55..d4929a1e5 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -63,8 +63,8 @@ public: QString getSayOrder() const { return _sayOrder; } void setSayOrder(QString text) { _sayOrder = text; } - double singleValue() const { return _singleValue; } - void setSingleValue(double value) { _singleValue = value; } + QVariant singleValue() const { return _singleValue; } + void setSingleValue(QVariant value) { _singleValue = value; } double valueRange2() const { return _valueRange2; } void setValueRange2(double value) { _valueRange2 = value; } @@ -131,6 +131,7 @@ public: QTimer* getTimer() const { return _timer; } void startTimer(int value); + void restartTimer(); void stopTimer(); void disposeTimer(); @@ -141,7 +142,7 @@ public: void disposeExpireTimer(); bool isNowPlaying; - bool firstStart; + bool _isPlayed; static QStringList sayOrderValues; static QStringList retryValues; @@ -184,8 +185,8 @@ private: //! order in what sounds 1-3 will be played QString _sayOrder; - //! one-side range, value maybe lower or greater - double _singleValue; + //! one-side range, value(numeric or ENUM type) maybe lower, greater or in range + QVariant _singleValue; //! both-side range, value should be inside the range //double _valueRange1; diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index 1b0e634a6..ec86aabcd 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -59,7 +59,7 @@ QStringList NotificationItem::retryValues; NotificationItem::NotificationItem(QObject *parent) : QObject(parent) , isNowPlaying(0) - , firstStart(true) + , _isPlayed(false) , _timer(NULL) , _expireTimer(NULL) , _soundCollectionPath("") @@ -77,10 +77,12 @@ NotificationItem::NotificationItem(QObject *parent) , _expireTimeout(eDefaultTimeout) , _mute(false) { + NotificationItem::sayOrderValues.clear(); NotificationItem::sayOrderValues.append(cStrBefore1st); NotificationItem::sayOrderValues.append(cStrBefore2nd); NotificationItem::sayOrderValues.append(cStrAfter2nd); + NotificationItem::retryValues.clear(); NotificationItem::retryValues.append(cStrRetryOnce); NotificationItem::retryValues.append(cStrRetryInstantly); NotificationItem::retryValues.append(cStrRetry10sec); @@ -92,7 +94,7 @@ NotificationItem::NotificationItem(QObject *parent) void NotificationItem::copyTo(NotificationItem* that) const { that->isNowPlaying = isNowPlaying; - that->firstStart = firstStart; + that->_isPlayed = _isPlayed; that->_soundCollectionPath = _soundCollectionPath; that->_currentLanguage = _currentLanguage; that->_soundCollectionPath = _soundCollectionPath; @@ -142,7 +144,8 @@ void NotificationItem::restoreState(QSettings* settings) setSound2(settings->value(QLatin1String("Sound2"), tr("")).toString()); setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toString()); - setSingleValue(settings->value(QLatin1String("Value1"), tr("")).toDouble()); + QVariant value = settings->value(QLatin1String("Value1"), tr("")); + setSingleValue(value); setValueRange2(settings->value(QLatin1String("Value2"), tr("")).toDouble()); setRetryString(settings->value(QLatin1String("Repeat"), tr("")).toString()); setLifetime(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); @@ -185,16 +188,26 @@ void NotificationItem::deseriaize(QDataStream& stream) stream >> this->_mute; } -void NotificationItem::startTimer(int value) +void NotificationItem::startTimer(int msec) { if (!_timer) { _timer = new QTimer(this); - _timer->setInterval(value); + _timer->setInterval(msec); } if (!_timer->isActive()) _timer->start(); } + +void NotificationItem::restartTimer() +{ + if (!_timer) { + if (!_timer->isActive()) + _timer->start(); + } +} + + void NotificationItem::stopTimer() { if (_timer) { @@ -311,17 +324,26 @@ QStringList valueToSoundList(QString value) return digitWavs; } +QString stringFromValue(QVariant value, UAVObjectField* field) +{ + Q_ASSERT(field); + Q_ASSERT(!value.isNull()); + QString str; + if (UAVObjectField::ENUM == field->getType()) { + if(!field->getOptions().contains(value.toString())) + return QString(); + str = value.toString(); + } else { + str = QString("%L1").arg(value.toDouble()); + } + return str; +} + QString NotificationItem::toString() { QString str; - QString value; UAVObjectField* field = getUAVObjectField(); - if (UAVObjectField::ENUM == field->getType()) { - Q_ASSERT(singleValue() < field->getOptions().size()); - value = field->getOptions().at(singleValue()); - } else { - value = QString("%L1").arg(singleValue()); - } + QString value = stringFromValue(singleValue(), field); int pos = getValuePosition(getSayOrder().trimmed()); QStringList lst; @@ -353,15 +375,8 @@ QStringList& NotificationItem::toSoundList() // tips: // check of *.wav files exist needed for playing phonon queues; // if phonon player don't find next file in queue, it buzz - - QString value; UAVObjectField* field = getUAVObjectField(); - if (UAVObjectField::ENUM == field->getType()) { - Q_ASSERT(singleValue() < field->getOptions().size()); - value = field->getOptions().at(singleValue()); - } else { - value = QString("%L1").arg(singleValue()); - } + QString value = stringFromValue(singleValue(), field); // generate queue of sound files to play _messageSequence.clear(); diff --git a/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp b/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp index 0a29cc6e6..3cb11d111 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifylogging.cpp @@ -31,7 +31,7 @@ #ifdef DEBUG_NOTIFIES_ENABLE QDebug qNotifyDebug() { - return qDebug(); + return qDebug() << "[NOTIFY_PLG]"; } #endif diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 88cb23621..5ac05776a 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -48,7 +48,6 @@ static const QString VERSION = "1.0.0"; SoundNotifyPlugin::SoundNotifyPlugin() { phonon.mo = NULL; - configured = false; } SoundNotifyPlugin::~SoundNotifyPlugin() @@ -72,13 +71,10 @@ bool SoundNotifyPlugin::initialize(const QStringList& args, QString *errMsg) void SoundNotifyPlugin::extensionsInitialized() { Core::ICore::instance()->readSettings(this); - if ( !configured ){ - readConfig_0_0_0(); - } ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); connect(pm, SIGNAL(objectAdded(QObject*)), this, SLOT(onTelemetryManagerAdded(QObject*))); - removedNotifies.clear(); + _toRemoveNotifications.clear(); connectNotifications(); } @@ -96,46 +92,19 @@ void SoundNotifyPlugin::saveConfig( QSettings* settings, UAVConfigInfo *configIn settings->endGroup(); settings->beginWriteArray("listNotifies"); - for (int i = 0; i < lstNotifications.size(); i++) { + for (int i = 0; i < _notificationList.size(); i++) { settings->setArrayIndex(i); - lstNotifications.at(i)->saveState(settings); + _notificationList.at(i)->saveState(settings); } settings->endArray(); settings->setValue(QLatin1String("EnableSound"), enableSound); } -void SoundNotifyPlugin::readConfig( QSettings* settings, UAVConfigInfo *configInfo){ - - if ( configInfo->version() == UAVConfigVersion() ){ - // Just for migration to the new format. - configured = false; - return; - } - - settings->beginReadArray("Current"); - settings->setArrayIndex(0); - currentNotification.restoreState(settings); - settings->endArray(); - - // read list of notifications from settings - int size = settings->beginReadArray("listNotifies"); - for (int i = 0; i < size; ++i) { - settings->setArrayIndex(i); - NotificationItem* notification = new NotificationItem; - notification->restoreState(settings); - lstNotifications.append(notification); - } - settings->endArray(); - setEnableSound(settings->value(QLatin1String("EnableSound"),0).toBool()); - - configured = true; -} - -void SoundNotifyPlugin::readConfig_0_0_0(){ - - settings = Core::ICore::instance()->settings(); - settings->beginGroup(QLatin1String("NotifyPlugin")); +void SoundNotifyPlugin::readConfig( QSettings* settings, UAVConfigInfo *configInfo) +{ + // Just for migration to the new format. + //Q_ASSERT(configInfo->version() == UAVConfigVersion()); settings->beginReadArray("Current"); settings->setArrayIndex(0); @@ -148,18 +117,10 @@ void SoundNotifyPlugin::readConfig_0_0_0(){ settings->setArrayIndex(i); NotificationItem* notification = new NotificationItem; notification->restoreState(settings); - lstNotifications.append(notification); + _notificationList.append(notification); } settings->endArray(); setEnableSound(settings->value(QLatin1String("EnableSound"),0).toBool()); - settings->endGroup(); - - ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance(); - connect(pm, SIGNAL(objectAdded(QObject*)), this, SLOT(onTelemetryManagerAdded(QObject*))); - removedNotifies.clear(); - connectNotifications(); - - configured = true; } void SoundNotifyPlugin::onTelemetryManagerAdded(QObject* obj) @@ -186,11 +147,11 @@ void SoundNotifyPlugin::onAutopilotDisconnect() void SoundNotifyPlugin::resetNotification(void) { //first, reject empty args and unknown fields. - foreach(NotificationItem* ntf, lstNotifications) { + foreach(NotificationItem* ntf, _notificationList) { ntf->disposeTimer(); - disconnect(ntf->getTimer(), SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); + disconnect(ntf->getTimer(), SIGNAL(timeout()), this, SLOT(on_timerRepeated_Notification())); ntf->disposeExpireTimer(); - disconnect(ntf->getExpireTimer(), SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); + disconnect(ntf->getExpireTimer(), SIGNAL(timeout()), this, SLOT(on_timerRepeated_Notification())); } } @@ -200,10 +161,10 @@ void SoundNotifyPlugin::resetNotification(void) */ void SoundNotifyPlugin::updateNotificationList(QList list) { - removedNotifies.clear(); + _toRemoveNotifications.clear(); resetNotification(); - lstNotifications.clear(); - lstNotifications=list; + _notificationList.clear(); + _notificationList=list; connectNotifications(); Core::ICore::instance()->saveSettings(this); @@ -213,7 +174,7 @@ void SoundNotifyPlugin::connectNotifications() { foreach(UAVDataObject* obj,lstNotifiedUAVObjects) { if (obj != NULL) - disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(appendNotification(UAVObject*))); + disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(on_arrived_Notification(UAVObject*))); } if (phonon.mo != NULL) { delete phonon.mo; @@ -226,29 +187,33 @@ void SoundNotifyPlugin::connectNotifications() UAVObjectManager *objManager = pm->getObject(); lstNotifiedUAVObjects.clear(); - pendingNotifications.clear(); - lstNotifications.append(removedNotifies); - removedNotifies.clear(); + _pendingNotifications.clear(); + _notificationList.append(_toRemoveNotifications); + _toRemoveNotifications.clear(); //first, reject empty args and unknown fields. - foreach(NotificationItem* notify, lstNotifications) { - notify->firstStart=true; + foreach(NotificationItem* notify, _notificationList) { + notify->_isPlayed = false; notify->isNowPlaying=false; if(notify->mute()) continue; + // check is all sounds presented for notification, + // if not - we must not subscribe to it at all + if(notify->toSoundList().isEmpty()) continue; UAVDataObject* obj = dynamic_cast( objManager->getObject(notify->getDataObject()) ); if (obj != NULL ) { if (!lstNotifiedUAVObjects.contains(obj)) { lstNotifiedUAVObjects.append(obj); - connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); + + connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(on_arrived_Notification(UAVObject*))); } } else { qNotifyDebug() << "Error: Object is unknown (" << notify->getDataObject() << ")."; } } - if (lstNotifications.isEmpty()) return; + if (_notificationList.isEmpty()) return; // set notification message to current event phonon.mo = Phonon::createPlayer(Phonon::NotificationCategory); phonon.mo->clearQueue(); @@ -262,138 +227,66 @@ void SoundNotifyPlugin::connectNotifications() this, SLOT(stateChanged(Phonon::State,Phonon::State))); } -void SoundNotifyPlugin::appendNotification(UAVObject *object) +void SoundNotifyPlugin::on_arrived_Notification(UAVObject *object) { - disconnect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); - - foreach(NotificationItem* ntf, lstNotifications) { + foreach(NotificationItem* ntf, _notificationList) { if (object->getName() != ntf->getDataObject()) continue; - if (nowPlayingConfiguration == ntf) + + // skip duplicate notifications + if (_nowPlayingNotification == ntf) continue; + // skip periodical notifications + // this condition accepts: + // 1. Periodical notifications played firstly; + // NOTE: At first time it will be played, then it played only by timer, + // when conditions became false firstStart flag has been cleared and + // notification can be accepted again; + // 2. Once time notifications, they removed immediately after first playing; + // 3. Instant notifications(played one by one without interval); if (ntf->retryString() != "Repeat Instantly" && - ntf->retryString() != "Repeat Once" && !ntf->firstStart) + ntf->retryString() != "Repeat Once" && ntf->_isPlayed) continue; - checkNotificationRule(ntf,object); + qNotifyDebug() << QString("new notification: | %1 | %2 | val1: %3 | val2: %4") + .arg(ntf->getDataObject()) + .arg(ntf->getObjectField()) + .arg(ntf->singleValue().toString()) + .arg(ntf->valueRange2()); + + QString fieldName = ntf->getObjectField(); + UAVObjectField* field = object->getField(fieldName); + + qNotifyDebug() << QString("UAV object: %1 | value: %2") + .arg(object->getName()) + .arg(field->getValue().toString()); + + checkNotificationRule(ntf, object); } - connect(object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(appendNotification(UAVObject*))); + connect(object, SIGNAL(objectUpdated(UAVObject*)), + this, SLOT(on_arrived_Notification(UAVObject*)), Qt::UniqueConnection); } -void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UAVObject* object) -{ - bool condition=false; - double threshold; - QString direction; - QString fieldName; - - threshold = notification->singleValue(); - direction = notification->range(); - fieldName = notification->getObjectField(); - UAVObjectField* field = object->getField(fieldName); - - if (field->getName().isEmpty()) - return; - - double value = field->getDouble(); - switch(direction[0].toAscii()) - { - case 'E': - condition = (value == threshold); - break; - - case 'G': - condition = (value > threshold); - break; - - case 'L': - condition = (value < threshold); - break; - - case 'R': - condition = (value > threshold) && (value < notification->valueRange2()); - break; - - } - - if (!condition) - return; - - if (!playNotification(notification)) { - if (!pendingNotifications.contains(notification)) { - notification->stopTimer(); - - qNotifyDebug() << "add to pending list - " << notification->toString(); - // if audio is busy, start expiration timer - //ms = (notification->getExpiredTimeout()[in sec])*1000 - //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); - pendingNotifications.append(notification); - notification->startExpireTimer(); - connect(notification->getExpireTimer(), SIGNAL(timeout()), this, SLOT(expireTimerHandler())); - } - } -} - -bool SoundNotifyPlugin::playNotification(NotificationItem* notification) -{ - // Check: race condition, if phonon.mo got deleted don't go further - if (phonon.mo == NULL) - return false; - - if (notification->mute()) - return false; - - qNotifyDebug() << "Phonon State: " << phonon.mo->state(); - if ((phonon.mo->state()==Phonon::PausedState) - || (phonon.mo->state()==Phonon::StoppedState) - || phonon.firstPlay) - { - // don't fire expire timer - nowPlayingConfiguration = notification; - notification->stopExpireTimer(); - - if (notification->retryString() == "Repeat Once") { - removedNotifies.append(lstNotifications.takeAt(lstNotifications.indexOf(notification))); - } else { - if (notification->retryString() != "Repeat Instantly") { - QRegExp rxlen("(\\d+)"); - QString value; - int timer_value; - int pos = rxlen.indexIn(notification->retryString()); - if (pos > -1) { - value = rxlen.cap(1); // "189" - timer_value = (value.toInt()+8)*1000; //ms*1000 + average duration of meassage - } - - notification->startTimer(timer_value); - connect(notification->getTimer(), SIGNAL(timeout()), this, SLOT(repeatTimerHandler())); - } - } - notification->firstStart=false; - phonon.mo->clear(); - qNotifyDebug() << "play notification - " << notification->toString(); - foreach (QString item, notification->toSoundList()) { - Phonon::MediaSource *ms = new Phonon::MediaSource(item); - ms->setAutoDelete(true); - phonon.mo->enqueue(*ms); - } - phonon.mo->play(); - phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before - // the state is not "Loading" anymore. - } else { - return false; // if audio is busy - } - return true; -} - -void SoundNotifyPlugin::repeatTimerHandler() +void SoundNotifyPlugin::on_timerRepeated_Notification() { NotificationItem* notification = static_cast(sender()->parent()); + if (!notification) + return; + // skip duplicate notifications + // WARNING: generally we shoudn't ever trap here + // this means, that timer fires to early and notification overlap itself + if (_nowPlayingNotification == notification) { + qNotifyDebug() << "WARN: on_timerRepeated - notification was skipped!"; + notification->restartTimer(); + return; + } - qNotifyDebug() << "repeatTimerHandler - " << notification->toString(); + qNotifyDebug() << QString("repeatTimer: %1% | %2 | %3").arg(notification->getDataObject()) + .arg(notification->getObjectField()) + .arg(notification->toString()); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); UAVObjectManager *objManager = pm->getObject(); @@ -402,15 +295,23 @@ void SoundNotifyPlugin::repeatTimerHandler() checkNotificationRule(notification,object); } -void SoundNotifyPlugin::expireTimerHandler() + +void SoundNotifyPlugin::on_expiredTimer_Notification() { // fire expire timer NotificationItem* notification = static_cast(sender()->parent()); + if(!notification) + return; notification->stopExpireTimer(); - if (!pendingNotifications.isEmpty()) { - qNotifyDebug() << "expireTimerHandler - " << notification->toString(); - pendingNotifications.removeOne(notification); + volatile QMutexLocker lock(&_mutex); + + if (!_pendingNotifications.isEmpty()) { + qNotifyDebug() << QString("expireTimer: %1% | %2 | %3").arg(notification->getDataObject()) + .arg(notification->getObjectField()) + .arg(notification->toString()); + + _pendingNotifications.removeOne(notification); } } @@ -418,8 +319,7 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst { Q_UNUSED(oldstate) - qNotifyDebug() << "File length (ms): " << phonon.mo->totalTime(); - qNotifyDebug() << "New State: " << newstate; + //qNotifyDebug() << "File length (ms): " << phonon.mo->totalTime(); #ifndef Q_OS_WIN // This is a hack to force Linux to wait until the end of the @@ -432,11 +332,18 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst if ((newstate == Phonon::PausedState) || (newstate == Phonon::StoppedState)) { - nowPlayingConfiguration=NULL; - if (!pendingNotifications.isEmpty()) + qNotifyDebug() << "New State: " << QVariant(newstate).toString(); + + volatile QMutexLocker lock(&_mutex); + // assignment to NULL needed to detect that palying is finished + // it's useful in repeat timer handler, where we can detect + // that notification has not overlap with itself + _nowPlayingNotification = NULL; + + if (!_pendingNotifications.isEmpty()) { - NotificationItem* notification = pendingNotifications.takeFirst(); - qNotifyDebug() << "play audioFree - " << notification->toString(); + NotificationItem* notification = _pendingNotifications.takeFirst(); + qNotifyDebug_if(notification) << "play audioFree - " << notification->toString(); playNotification(notification); } } else { @@ -449,4 +356,163 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst } } +bool checkRange(QString fieldValue, QString enumValue, QStringList values, char direction) +{ + + bool ret = false; + switch(direction) + { + case 'E': + ret = !QString::compare(enumValue, fieldValue, Qt::CaseInsensitive) ? true : false; + break; + + default: + ret = true; + break; + }; + return ret; +} + +bool checkRange(double fieldValue, double min, double max, char direction) +{ + bool ret = false; + Q_ASSERT(min < max); + switch(direction) + { + case 'E': + ret = (fieldValue == min); + break; + + case 'G': + ret = (fieldValue > min); + break; + + case 'L': + ret = (fieldValue < min); + break; + + default: + ret = (fieldValue > min) && (fieldValue < max); + break; + }; + + return ret; +} + +void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UAVObject* object) +{ + bool condition=false; + + if (notification->mute()) + return; + + QString direction = notification->range(); + QString fieldName = notification->getObjectField(); + UAVObjectField* field = object->getField(fieldName); + + if (field->getName().isEmpty()) + return; + + QVariant value = field->getValue(); + if(UAVObjectField::ENUM == field->getType()) { + condition = checkRange(value.toString(), + notification->singleValue().toString(), + field->getOptions(), + direction[0].toAscii()); + } else { + condition = checkRange(value.toDouble(), + notification->singleValue().toDouble(), + notification->valueRange2(), + direction[0].toAscii()); + } + + notification->_isPlayed = condition; + // if condition has been changed, and already in false state + // we should reset _isPlayed flag and stop repeat timer + if (!notification->_isPlayed) { + notification->stopTimer(); + return; + } + + volatile QMutexLocker lock(&_mutex); + + if (!playNotification(notification)) { + if (!_pendingNotifications.contains(notification) + && (_nowPlayingNotification != notification)) { + notification->stopTimer(); + + qNotifyDebug() << "add to pending list - " << notification->toString(); + // if audio is busy, start expiration timer + //ms = (notification->getExpiredTimeout()[in sec])*1000 + //QxtTimer::singleShot(notification->getExpireTimeout()*1000, this, SLOT(expirationTimerHandler(NotificationItem*)), qVariantFromValue(notification)); + _pendingNotifications.append(notification); + notification->startExpireTimer(); + connect(notification->getExpireTimer(), SIGNAL(timeout()), + this, SLOT(on_expiredTimer_Notification()), Qt::UniqueConnection); + } + } +} + +bool SoundNotifyPlugin::playNotification(NotificationItem* notification) +{ + if(!notification) + return false; + + // Check: race condition, if phonon.mo got deleted don't go further + if (phonon.mo == NULL) + return false; + + //qNotifyDebug() << "Phonon State: " << phonon.mo->state(); + + if ((phonon.mo->state()==Phonon::PausedState) + || (phonon.mo->state()==Phonon::StoppedState) + || phonon.firstPlay) + { + _nowPlayingNotification = notification; + notification->stopExpireTimer(); + + if (notification->retryString() == "Repeat Once") { + _toRemoveNotifications.append(_notificationList.takeAt(_notificationList.indexOf(notification))); + } else { + if (notification->retryString() != "Repeat Instantly") { + QRegExp rxlen("(\\d+)"); + QString value; + int timer_value; + int pos = rxlen.indexIn(notification->retryString()); + if (pos > -1) { + value = rxlen.cap(1); // "189" + + // needs to correct repeat timer value, + // acording to message play duration, + // we don't measure duration of each message, + // simply take average duration + enum { eAverageDurationSec = 8 }; + + enum { eSecToMsec = 1000 }; + + timer_value = (value.toInt() + eAverageDurationSec) * eSecToMsec; + } + + notification->startTimer(timer_value); + connect(notification->getTimer(), SIGNAL(timeout()), + this, SLOT(on_timerRepeated_Notification()), Qt::UniqueConnection); + } + } + phonon.mo->clear(); + qNotifyDebug() << "play: " << notification->toString(); + foreach (QString item, notification->toSoundList()) { + Phonon::MediaSource *ms = new Phonon::MediaSource(item); + ms->setAutoDelete(true); + phonon.mo->enqueue(*ms); + } + phonon.mo->play(); + phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before + // the state is not "Loading" anymore. + return true; + + } + + return false; +} + Q_EXPORT_PLUGIN(SoundNotifyPlugin) diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h index 0b7a31f3b..6a142ff03 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.h +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.h @@ -63,7 +63,7 @@ public: void shutdown(); - QList getListNotifications() { return lstNotifications; } + QList getListNotifications() { return _notificationList; } NotificationItem* getCurrentNotification(){ return ¤tNotification;} bool getEnableSound() const { return enableSound; } @@ -83,14 +83,12 @@ private slots: void connectNotifications(); void updateNotificationList(QList list); void resetNotification(void); - void appendNotification(UAVObject *object); - void repeatTimerHandler(void); - void expireTimerHandler(void); + void on_arrived_Notification(UAVObject *object); + void on_timerRepeated_Notification(void); + void on_expiredTimer_Notification(void); void stateChanged(Phonon::State newstate, Phonon::State oldstate); private: - - bool configured; // just for migration,delete later bool enableSound; QList< QList* > lstMediaSource; QStringList mediaSource; @@ -98,17 +96,17 @@ private: QSettings* settings; QList lstNotifiedUAVObjects; - QList lstNotifications; - QList pendingNotifications; - QList removedNotifies; + QList _notificationList; + QList _pendingNotifications; + QList _toRemoveNotifications; NotificationItem currentNotification; - NotificationItem* nowPlayingConfiguration; + NotificationItem* _nowPlayingNotification; - QString m_field; PhononObject phonon; - NotifyPluginOptionsPage *mop; + NotifyPluginOptionsPage* mop; TelemetryManager* telMngr; + QMutex _mutex; }; #endif // SOUNDNOTIFYPLUGIN_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index fdf0f5cc9..49b274e38 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -57,11 +57,10 @@ NotifyPluginOptionsPage::NotifyPluginOptionsPage(QObject *parent) : IOptionsPage(parent) , _objManager(*ExtensionSystem::PluginManager::instance()->getObject()) , _owner(qobject_cast(parent)) - , _currentCollectionPath("") - , _valueRange(NULL) + , _dynamicFieldLimit(NULL) + , _dynamicFieldWidget(NULL) + , _dynamicFieldType(-1) , _sayOrder(NULL) - , _fieldValue(NULL) - , _fieldType(-1) , _form(NULL) , _selectedNotification(NULL) {} @@ -74,23 +73,21 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) _optionsPage.reset(new Ui::NotifyPluginOptionsPage()); //main widget QWidget* optionsPageWidget = new QWidget; - _fieldValue = NULL; - _valueRange = NULL; + _dynamicFieldWidget = NULL; + _dynamicFieldLimit = NULL; resetFieldType(); //save ref to form, needed for binding dynamic fields in future _form = optionsPageWidget; //main layout _optionsPage->setupUi(optionsPageWidget); - _listSoundFiles.clear(); - _optionsPage->SoundDirectoryPathChooser->setExpectedKind(Utils::PathChooser::Directory); _optionsPage->SoundDirectoryPathChooser->setPromptDialogTitle(tr("Choose sound collection directory")); connect(_optionsPage->SoundDirectoryPathChooser, SIGNAL(changed(const QString&)), - this, SLOT(on_buttonSoundFolder_clicked(const QString&))); + this, SLOT(on_clicked_buttonSoundFolder(const QString&))); connect(_optionsPage->SoundCollectionList, SIGNAL(currentIndexChanged (int)), - this, SLOT(on_soundLanguage_indexChanged(int))); + this, SLOT(on_changedIndex_soundLanguage(int))); connect(this, SIGNAL(updateNotifications(QList)), _owner, SLOT(updateNotificationList(QList))); @@ -100,8 +97,8 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) // [1] - _selectedNotification = _owner->getCurrentNotification(); - addDynamicValueLayout(); + setSelectedNotification(_owner->getCurrentNotification()); + addDynamicFieldLayout(); // [2] updateConfigView(_selectedNotification); @@ -109,7 +106,8 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) initButtons(); initPhononPlayer(); - _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(0, 0, QModelIndex()), + int curr_row = _privListNotifications.indexOf(_selectedNotification); + _notifyRulesSelection->setCurrentIndex(_notifyRulesModel->index(curr_row, 0, QModelIndex()), QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); return optionsPageWidget; @@ -125,151 +123,41 @@ void NotifyPluginOptionsPage::apply() void NotifyPluginOptionsPage::finish() { disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_UAVField_indexChanged(QString))); + this, SLOT(on_changedIndex_UAVField(QString))); - disconnect(_notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(on_changeButtonText(Phonon::State,Phonon::State))); - if (_notifySound) { - _notifySound->stop(); - _notifySound->clear(); + disconnect(_testSound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(on_changed_playButtonText(Phonon::State,Phonon::State))); + if (_testSound) { + _testSound->stop(); + _testSound->clear(); } } -void NotifyPluginOptionsPage::addDynamicValueLayout() -{ - NotificationItem* curr = _owner->getCurrentNotification(); - Q_ASSERT(curr); - _optionsPage->dynamicValueLayout->addWidget(new QLabel("Say order ", _form)); - - _sayOrder = new QComboBox(_form); - _optionsPage->dynamicValueLayout->addWidget(_sayOrder); - _sayOrder->addItems(NotificationItem::sayOrderValues); - - _optionsPage->dynamicValueLayout->addWidget(new QLabel("Value is ", _form)); - - UAVDataObject* obj = dynamic_cast(_objManager.getObject(curr->getDataObject())); - UAVObjectField* field = obj->getField(curr->getObjectField()); - Q_ASSERT(obj); - Q_ASSERT(field); - _valueRange = new QComboBox(_form); - _optionsPage->dynamicValueLayout->addWidget(_valueRange); - - addDynamicField(field); -} - -void NotifyPluginOptionsPage::resetValueRange() -{ - (static_cast(_fieldValue))->setInputMask("999.99 - 999.99;"); - (static_cast(_fieldValue))->setText("0000000000"); - (static_cast(_fieldValue))->setCursorPosition(0); -} - -void NotifyPluginOptionsPage::on_rangeValue_indexChanged(QString rangeStr) -{ - Q_ASSERT(_fieldValue); - UAVObjectField* field = getObjectFieldFromPage(); - Q_ASSERT(!!field); - setDynamicValueWidget(field); - setDynamicValueField(_selectedNotification); -} - -void NotifyPluginOptionsPage::resetFieldType() -{ - _fieldType = -1; -} - -void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) -{ - //qDebugNotify_ if (!objField || !parent) << "null input params"; - Q_ASSERT(objField); - if (objField->getType() == _fieldType) { - if (QComboBox* fieldValue = dynamic_cast(_fieldValue)) { - fieldValue->clear(); - QStringList enumValues(objField->getOptions()); - fieldValue->addItems(enumValues); - } - return; - } - - disconnect(_valueRange, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_rangeValue_indexChanged(QString))); - - _valueRange->clear(); - QStringList rangeValues; - if (UAVObjectField::ENUM == objField->getType()) { - rangeValues << cStrEqualTo << cStrInRange; - _valueRange->addItems(rangeValues); - _valueRange->setCurrentIndex(rangeValues.indexOf(_selectedNotification->range())); - - } else { - rangeValues << cStrEqualTo << cStrLargeThan << cStrLowerThan << cStrInRange; - _valueRange->addItems(rangeValues); - connect(_valueRange, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_rangeValue_indexChanged(QString))); - } - - setDynamicValueWidget(objField); -} - -void NotifyPluginOptionsPage::setDynamicValueWidget(UAVObjectField* objField) -{ - Q_ASSERT(_valueRange); - - // check if dynamic fileld already settled, - // so if its exists remove it and install new field - if (_fieldValue) { - _optionsPage->dynamicValueLayout->removeWidget(_fieldValue); - delete _fieldValue; - _fieldValue = NULL; - } - _fieldType = objField->getType(); - switch(_fieldType) - { - case UAVObjectField::ENUM: - { - _fieldValue = new QComboBox(_form); - QStringList enumValues(objField->getOptions()); - (dynamic_cast(_fieldValue))->addItems(enumValues); - } - break; - - default: - if (_valueRange->currentText() == cStrInRange) { - _fieldValue = new QLineEdit(_form); - resetValueRange(); - } else { - _fieldValue = new QSpinBox(_form); - } - break; - }; - _optionsPage->dynamicValueLayout->addWidget(_fieldValue); -} - void NotifyPluginOptionsPage::initButtons() { _optionsPage->chkEnableSound->setChecked(_owner->getEnableSound()); connect(_optionsPage->chkEnableSound, SIGNAL(toggled(bool)), - this, SLOT(on_checkEnableSound_toggled(bool))); + this, SLOT(on_toggled_checkEnableSound(bool))); _optionsPage->buttonModify->setEnabled(false); _optionsPage->buttonDelete->setEnabled(false); _optionsPage->buttonPlayNotification->setEnabled(false); connect(_optionsPage->buttonAdd, SIGNAL(pressed()), - this, SLOT(on_button_AddNotification_clicked())); + this, SLOT(on_clicked_buttonAddNotification())); connect(_optionsPage->buttonDelete, SIGNAL(pressed()), - this, SLOT(on_button_DeleteNotification_clicked())); + this, SLOT(on_clicked_buttonDeleteNotification())); connect(_optionsPage->buttonModify, SIGNAL(pressed()), - this, SLOT(on_button_ModifyNotification_clicked())); + this, SLOT(on_clicked_buttonModifyNotification())); connect(_optionsPage->buttonPlayNotification, SIGNAL(clicked()), - this, SLOT(on_button_TestSoundNotification_clicked())); + this, SLOT(on_clicked_buttonTestSoundNotification())); } void NotifyPluginOptionsPage::initPhononPlayer() { - _notifySound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); - connect(_notifySound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), - this,SLOT(on_changeButtonText(Phonon::State,Phonon::State))); - connect(_notifySound.data(), SIGNAL(finished(void)), this, SLOT(on_FinishedPlaying(void))); + _testSound.reset(Phonon::createPlayer(Phonon::NotificationCategory)); + connect(_testSound.data(),SIGNAL(stateChanged(Phonon::State,Phonon::State)), + this,SLOT(on_changed_playButtonText(Phonon::State,Phonon::State))); + connect(_testSound.data(), SIGNAL(finished(void)), this, SLOT(on_FinishedPlaying(void))); } void NotifyPluginOptionsPage::initRulesTable() @@ -280,7 +168,7 @@ void NotifyPluginOptionsPage::initRulesTable() _notifyRulesSelection = new QItemSelectionModel(_notifyRulesModel.data()); connect(_notifyRulesSelection, SIGNAL(selectionChanged ( const QItemSelection &, const QItemSelection & )), - this, SLOT(on_table_changeSelection( const QItemSelection & , const QItemSelection & ))); + this, SLOT(on_changedSelection_notifyTable( const QItemSelection & , const QItemSelection & ))); connect(this, SIGNAL(entryUpdated(int)), _notifyRulesModel.data(), SLOT(entryUpdated(int))); @@ -299,6 +187,159 @@ void NotifyPluginOptionsPage::initRulesTable() _optionsPage->notifyRulesView->setDragDropMode(QAbstractItemView::InternalMove); } +UAVObjectField* NotifyPluginOptionsPage::getObjectFieldFromSelected() +{ + return (_currUAVObject) ? _currUAVObject->getField(_selectedNotification->getObjectField()) : NULL; +} + +void NotifyPluginOptionsPage::setSelectedNotification(NotificationItem* ntf) +{ + _selectedNotification = ntf; + _currUAVObject = dynamic_cast(_objManager.getObject(_selectedNotification->getDataObject())); + if(!_currUAVObject) { + qNotifyDebug() << "no such UAVObject: " << _selectedNotification->getDataObject(); + } +} + +void NotifyPluginOptionsPage::addDynamicFieldLayout() +{ + // there is no need to check (objField == NULL), + // thus it doesn't use in this field directly + + QSizePolicy labelSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); + labelSizePolicy.setHorizontalStretch(0); + labelSizePolicy.setVerticalStretch(0); +// labelSizePolicy.setHeightForWidth(UAVObject->sizePolicy().hasHeightForWidth()); + + + QLabel* labelSayOrder = new QLabel("Say order ", _form); + labelSayOrder->setSizePolicy(labelSizePolicy); + + _optionsPage->dynamicValueLayout->addWidget(labelSayOrder); + _sayOrder = new QComboBox(_form); + _optionsPage->dynamicValueLayout->addWidget(_sayOrder); + _sayOrder->addItems(NotificationItem::sayOrderValues); + + QLabel* labelValueIs = new QLabel("Value is ", _form); + labelValueIs->setSizePolicy(labelSizePolicy); + _optionsPage->dynamicValueLayout->addWidget(labelValueIs); + + _dynamicFieldLimit = new QComboBox(_form); + _optionsPage->dynamicValueLayout->addWidget(_dynamicFieldLimit); + UAVObjectField* field = getObjectFieldFromSelected(); + addDynamicField(field); +} + +void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) +{ + if(!objField) { + qNotifyDebug() << "addDynamicField | input objField == NULL"; + return; + } + if (objField->getType() == _dynamicFieldType) { + if (QComboBox* fieldValue = dynamic_cast(_dynamicFieldWidget)) { + fieldValue->clear(); + QStringList enumValues(objField->getOptions()); + fieldValue->addItems(enumValues); + } + return; + } + + disconnect(_dynamicFieldLimit, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_changedIndex_rangeValue(QString))); + + _dynamicFieldLimit->clear(); + QStringList rangeValues; + if (UAVObjectField::ENUM == objField->getType()) { + rangeValues << cStrEqualTo << cStrInRange; + _dynamicFieldLimit->addItems(rangeValues); + _dynamicFieldLimit->setCurrentIndex(rangeValues.indexOf(_selectedNotification->range())); + + } else { + rangeValues << cStrEqualTo << cStrLargeThan << cStrLowerThan << cStrInRange; + _dynamicFieldLimit->addItems(rangeValues); + connect(_dynamicFieldLimit, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_changedIndex_rangeValue(QString))); + } + + addDynamicFieldWidget(objField); +} + +void NotifyPluginOptionsPage::addDynamicFieldWidget(UAVObjectField* objField) +{ + if(!objField) { + qNotifyDebug() << "objField == NULL!"; + return; + } + // check if dynamic fileld already settled, + // so if its exists remove it and install new field + if (_dynamicFieldWidget) { + _optionsPage->dynamicValueLayout->removeWidget(_dynamicFieldWidget); + delete _dynamicFieldWidget; + _dynamicFieldWidget = NULL; + } + + QSizePolicy sizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); + sizePolicy.setHorizontalStretch(0); + sizePolicy.setVerticalStretch(0); + + _dynamicFieldType = objField->getType(); + switch(_dynamicFieldType) + { + case UAVObjectField::ENUM: + { + _dynamicFieldWidget = new QComboBox(_form); + QStringList enumValues(objField->getOptions()); + (dynamic_cast(_dynamicFieldWidget))->addItems(enumValues); + } + break; + + default: + Q_ASSERT(_dynamicFieldLimit); + if (_dynamicFieldLimit->currentText() == cStrInRange) { + _dynamicFieldWidget = new QLineEdit(_form); + + (static_cast(_dynamicFieldWidget))->setInputMask("999.99 - 999.99;"); + (static_cast(_dynamicFieldWidget))->setText("0000000000"); + (static_cast(_dynamicFieldWidget))->setCursorPosition(0); + } else { + _dynamicFieldWidget = new QDoubleSpinBox(_form); + (dynamic_cast(_dynamicFieldWidget))->setRange(000.00, 999.99); + } + break; + }; + enum { eDynamicFieldWidth = 100 }; + _dynamicFieldWidget->setSizePolicy(sizePolicy); + _dynamicFieldWidget->setFixedWidth(eDynamicFieldWidth); + _optionsPage->dynamicValueLayout->addWidget(_dynamicFieldWidget); +} + +void NotifyPluginOptionsPage::setDynamicFieldValue(NotificationItem* notification) +{ + if (QDoubleSpinBox* seValue = dynamic_cast(_dynamicFieldWidget)) + seValue->setValue(notification->singleValue().toDouble()); + else { + if (QComboBox* cbValue = dynamic_cast(_dynamicFieldWidget)) { + int idx = cbValue->findText(notification->singleValue().toString()); + if(-1 != idx) + cbValue->setCurrentIndex(idx); + } else { + if (QLineEdit* rangeValue = dynamic_cast(_dynamicFieldWidget)) { + QString str = QString("%1%2").arg(notification->singleValue().toDouble(), 5, 'f', 2, '0') + .arg(notification->valueRange2(), 5, 'f', 2, '0'); + rangeValue->setText(str); + } else { + qNotifyDebug() << "NotifyPluginOptionsPage::setDynamicValueField | unknown _fieldValue: " << _dynamicFieldWidget; + } + } + } +} + +void NotifyPluginOptionsPage::resetFieldType() +{ + _dynamicFieldType = -1; +} + void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notification) { Q_ASSERT(notification); @@ -310,14 +351,14 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio notification->setSound2(_optionsPage->Sound2->currentText()); notification->setSound3(_optionsPage->Sound3->currentText()); notification->setSayOrder(_sayOrder->currentText()); - notification->setRange(_valueRange->currentText()); - if (QSpinBox* spinValue = dynamic_cast(_fieldValue)) + notification->setRange(_dynamicFieldLimit->currentText()); + if (QDoubleSpinBox* spinValue = dynamic_cast(_dynamicFieldWidget)) notification->setSingleValue(spinValue->value()); else { - if (QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) - notification->setSingleValue(comboBoxValue->currentIndex()); + if (QComboBox* comboBoxValue = dynamic_cast(_dynamicFieldWidget)) + notification->setSingleValue(comboBoxValue->currentText()); else { - if (QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { + if (QLineEdit* rangeValue = dynamic_cast(_dynamicFieldWidget)) { QString str = rangeValue->text(); QStringList range = str.split('-'); notification->setSingleValue(range.at(0).toDouble()); @@ -327,113 +368,13 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio } } -void NotifyPluginOptionsPage::on_UAVField_indexChanged(QString field) -{ - resetFieldType(); - UAVDataObject* obj = dynamic_cast( _objManager.getObject(_optionsPage->UAVObject->currentText())); - addDynamicField(obj->getField(field)); - -} - -void NotifyPluginOptionsPage::on_UAVObject_indexChanged(QString val) -{ - resetFieldType(); - UAVDataObject* obj = dynamic_cast( _objManager.getObject(val) ); - QList fieldList = obj->getFields(); - disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVField_indexChanged(QString))); - _optionsPage->UAVObjectField->clear(); - foreach (UAVObjectField* field, fieldList) { - _optionsPage->UAVObjectField->addItem(field->getName()); - } - connect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_UAVField_indexChanged(QString))); - addDynamicField(fieldList.at(0)); -} - -void NotifyPluginOptionsPage::on_buttonSoundFolder_clicked(const QString& path) -{ - QDir dirPath(path); - _listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); - _optionsPage->SoundCollectionList->clear(); - _optionsPage->SoundCollectionList->addItems(_listDirCollections); -} - -void NotifyPluginOptionsPage::on_soundLanguage_indexChanged(int index) -{ - _optionsPage->SoundCollectionList->setCurrentIndex(index); - _currentCollectionPath = _optionsPage->SoundDirectoryPathChooser->path() - + QDir::toNativeSeparators("/" + _optionsPage->SoundCollectionList->currentText()); - - QDir dirPath(_currentCollectionPath); - QStringList filters; - filters << "*.mp3" << "*.wav"; - dirPath.setNameFilters(filters); - _listSoundFiles = dirPath.entryList(filters); - _listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); - _optionsPage->Sound1->clear(); - _optionsPage->Sound2->clear(); - _optionsPage->Sound3->clear(); - _optionsPage->Sound1->addItems(_listSoundFiles); - _optionsPage->Sound2->addItem(""); - _optionsPage->Sound2->addItems(_listSoundFiles); - _optionsPage->Sound3->addItem(""); - _optionsPage->Sound3->addItems(_listSoundFiles); -} - -void NotifyPluginOptionsPage::on_changeButtonText(Phonon::State newstate, Phonon::State oldstate) -{ - //Q_ASSERT(Phonon::ErrorState != newstate); - - if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { - _optionsPage->buttonPlayNotification->setText("Play"); - _optionsPage->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); - } else { - if (newstate == Phonon::PlayingState) { - _optionsPage->buttonPlayNotification->setText("Stop"); - _optionsPage->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); - } - } -} - -void NotifyPluginOptionsPage::on_FinishedPlaying() -{ - _notifySound->clear(); -} - -void NotifyPluginOptionsPage::on_button_TestSoundNotification_clicked() -{ - NotificationItem* notification = NULL; - qNotifyDebug() << "on_buttonTestSoundNotification_clicked"; - Q_ASSERT(-1 != _notifyRulesSelection->currentIndex().row()); - _notifySound->clearQueue(); - notification = _privListNotifications.at(_notifyRulesSelection->currentIndex().row()); - QStringList sequence = notification->toSoundList(); - if (sequence.isEmpty()) { - qNotifyDebug() << "message sequense is empty!"; - return; - } - foreach(QString item, sequence) { - qNotifyDebug() << item; - _notifySound->enqueue(Phonon::MediaSource(item)); - } - _notifySound->play(); -} - -void NotifyPluginOptionsPage::on_checkEnableSound_toggled(bool state) -{ - bool state1 = 1^state; - - QList listOutputs = _notifySound->outputPaths(); - Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); - audioOutput->setMuted(state1); -} - void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) { Q_ASSERT(notification); disconnect(_optionsPage->UAVObject, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_UAVObject_indexChanged(QString))); + this, SLOT(on_changedIndex_UAVObject(QString))); disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_UAVField_indexChanged(QString))); + this, SLOT(on_changedIndex_UAVField(QString))); QString path = notification->getSoundCollectionPath(); if (path.isEmpty()) { @@ -461,13 +402,10 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) } _optionsPage->UAVObjectField->clear(); - QString uavDataObject = notification->getDataObject(); - UAVDataObject* obj = dynamic_cast(_objManager.getObject(uavDataObject)); - if (obj != NULL ) { - QList fieldList = obj->getFields(); - foreach (UAVObjectField* field, fieldList) { + if(_currUAVObject) { + QList fieldList = _currUAVObject->getFields(); + foreach (UAVObjectField* field, fieldList) _optionsPage->UAVObjectField->addItem(field->getName()); - } } if (-1 != _optionsPage->UAVObjectField->findText(notification->getObjectField())) { @@ -498,63 +436,105 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3())); } - if (-1 != _valueRange->findText(notification->range())) { - _valueRange->setCurrentIndex(_valueRange->findText(notification->range())); + if (-1 != _dynamicFieldLimit->findText(notification->range())) { + _dynamicFieldLimit->setCurrentIndex(_dynamicFieldLimit->findText(notification->range())); } if (-1 != _sayOrder->findText(notification->getSayOrder())) { _sayOrder->setCurrentIndex(_sayOrder->findText(notification->getSayOrder())); } - setDynamicValueField(notification); + setDynamicFieldValue(notification); connect(_optionsPage->UAVObject, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_UAVObject_indexChanged(QString))); + this, SLOT(on_changedIndex_UAVObject(QString))); connect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_UAVField_indexChanged(QString))); + this, SLOT(on_changedIndex_UAVField(QString))); } -void NotifyPluginOptionsPage::setDynamicValueField(NotificationItem* notification) +void NotifyPluginOptionsPage::on_changedIndex_rangeValue(QString rangeStr) { - if (QSpinBox* spinValue = dynamic_cast(_fieldValue)) - spinValue->setValue(notification->singleValue()); - else { - if (QComboBox* comboBoxValue = dynamic_cast(_fieldValue)) - comboBoxValue->setCurrentIndex(notification->singleValue()); - else { - if (QLineEdit* rangeValue = dynamic_cast(_fieldValue)) { - //resetValueRange(); - QString str = QString("%1%2").arg(notification->singleValue(), 5, 'f', 2, '0') - .arg(notification->valueRange2(), 5, 'f', 2, '0'); - rangeValue->setText(str); - } else { - qNotifyDebug() << "NotifyPluginOptionsPage::setDynamicValueField | unknown _fieldValue: " << _fieldValue; - } + Q_ASSERT(_dynamicFieldWidget); + UAVObjectField* field = getObjectFieldFromSelected(); + Q_ASSERT(!!field); + addDynamicFieldWidget(field); + setDynamicFieldValue(_selectedNotification); +} + +void NotifyPluginOptionsPage::on_changedIndex_UAVField(QString field) +{ + resetFieldType(); + Q_ASSERT(_currUAVObject); + addDynamicField(_currUAVObject->getField(field)); + +} + +void NotifyPluginOptionsPage::on_changedIndex_UAVObject(QString val) +{ + resetFieldType(); + _currUAVObject = dynamic_cast( _objManager.getObject(val) ); + if(!_currUAVObject) { + qNotifyDebug() << "on_UAVObject_indexChanged | no such UAVOBject"; + return; + } + QList fieldList = _currUAVObject->getFields(); + disconnect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_changedIndex_UAVField(QString))); + _optionsPage->UAVObjectField->clear(); + foreach (UAVObjectField* field, fieldList) { + _optionsPage->UAVObjectField->addItem(field->getName()); + } + connect(_optionsPage->UAVObjectField, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_changedIndex_UAVField(QString))); + _selectedNotification->setObjectField(fieldList.at(0)->getName()); + addDynamicField(fieldList.at(0)); +} + + +void NotifyPluginOptionsPage::on_changedIndex_soundLanguage(int index) +{ + _optionsPage->SoundCollectionList->setCurrentIndex(index); + QString collectionPath = _optionsPage->SoundDirectoryPathChooser->path() + + QDir::toNativeSeparators("/" + _optionsPage->SoundCollectionList->currentText()); + + QDir dirPath(collectionPath); + QStringList filters; + filters << "*.mp3" << "*.wav"; + dirPath.setNameFilters(filters); + QStringList listSoundFiles = dirPath.entryList(filters); + listSoundFiles.replaceInStrings(QRegExp(".mp3|.wav"), ""); + _optionsPage->Sound1->clear(); + _optionsPage->Sound2->clear(); + _optionsPage->Sound3->clear(); + _optionsPage->Sound1->addItems(listSoundFiles); + _optionsPage->Sound2->addItem(""); + _optionsPage->Sound2->addItems(listSoundFiles); + _optionsPage->Sound3->addItem(""); + _optionsPage->Sound3->addItems(listSoundFiles); +} + + +void NotifyPluginOptionsPage::on_changed_playButtonText(Phonon::State newstate, Phonon::State oldstate) +{ + //Q_ASSERT(Phonon::ErrorState != newstate); + + if (newstate == Phonon::PausedState || newstate == Phonon::StoppedState) { + _optionsPage->buttonPlayNotification->setText("Play"); + _optionsPage->buttonPlayNotification->setIcon(QPixmap(":/notify/images/play.png")); + } else { + if (newstate == Phonon::PlayingState) { + _optionsPage->buttonPlayNotification->setText("Stop"); + _optionsPage->buttonPlayNotification->setIcon(QPixmap(":/notify/images/stop.png")); } } } -UAVObjectField* NotifyPluginOptionsPage::getObjectFieldFromPage() -{ - UAVDataObject* obj = dynamic_cast( _objManager.getObject(_optionsPage->UAVObject->currentText())); - return obj->getField(_optionsPage->UAVObjectField->currentText()); -} - - -UAVObjectField* NotifyPluginOptionsPage::getObjectFieldFromSelected() -{ - UAVDataObject* obj = dynamic_cast(_objManager.getObject(_selectedNotification->getDataObject())); - return obj->getField(_selectedNotification->getObjectField()); -} - -void NotifyPluginOptionsPage::on_table_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ) +void NotifyPluginOptionsPage::on_changedSelection_notifyTable(const QItemSelection & selected, const QItemSelection & deselected ) { bool select = false; - _notifySound->stop(); + _testSound->stop(); if (selected.indexes().size()) { select = true; - _selectedNotification = _privListNotifications.at(selected.indexes().at(0).row()); + setSelectedNotification(_privListNotifications.at(selected.indexes().at(0).row())); UAVObjectField* field = getObjectFieldFromSelected(); addDynamicField(field); updateConfigView(_selectedNotification); @@ -565,7 +545,34 @@ void NotifyPluginOptionsPage::on_table_changeSelection( const QItemSelection & s _optionsPage->buttonPlayNotification->setEnabled(select); } -void NotifyPluginOptionsPage::on_button_AddNotification_clicked() +void NotifyPluginOptionsPage::on_clicked_buttonSoundFolder(const QString& path) +{ + QDir dirPath(path); + QStringList listDirCollections = dirPath.entryList(QDir::AllDirs | QDir::NoDotAndDotDot); + _optionsPage->SoundCollectionList->clear(); + _optionsPage->SoundCollectionList->addItems(listDirCollections); +} + +void NotifyPluginOptionsPage::on_clicked_buttonTestSoundNotification() +{ + NotificationItem* notification = NULL; + qNotifyDebug() << "on_buttonTestSoundNotification_clicked"; + Q_ASSERT(-1 != _notifyRulesSelection->currentIndex().row()); + _testSound->clearQueue(); + notification = _privListNotifications.at(_notifyRulesSelection->currentIndex().row()); + QStringList sequence = notification->toSoundList(); + if (sequence.isEmpty()) { + qNotifyDebug() << "message sequense is empty!"; + return; + } + foreach(QString item, sequence) { + qNotifyDebug() << item; + _testSound->enqueue(Phonon::MediaSource(item)); + } + _testSound->play(); +} + +void NotifyPluginOptionsPage::on_clicked_buttonAddNotification() { NotificationItem* notification = new NotificationItem; @@ -574,27 +581,15 @@ void NotifyPluginOptionsPage::on_button_AddNotification_clicked() textPalette.setColor(QPalette::Normal,QPalette::Text, Qt::red); _optionsPage->SoundDirectoryPathChooser->setPalette(textPalette); _optionsPage->SoundDirectoryPathChooser->setPath("please select sound collection folder"); + delete notification; return; } + getOptionsPageValues(notification); - notification->setSoundCollectionPath(_optionsPage->SoundDirectoryPathChooser->path()); - notification->setCurrentLanguage(_optionsPage->SoundCollectionList->currentText()); - notification->setDataObject(_optionsPage->UAVObject->currentText()); - notification->setObjectField(_optionsPage->UAVObjectField->currentText()); - notification->setRange(_valueRange->currentText()); - - if (QSpinBox* spinValue = dynamic_cast(_fieldValue)) - notification->setSingleValue(spinValue->value()); - - if (_optionsPage->Sound1->currentText().size() > 0) - notification->setSound1(_optionsPage->Sound1->currentText()); - - notification->setSound2(_optionsPage->Sound2->currentText()); - notification->setSound3(_optionsPage->Sound3->currentText()); - - if ( ((!_optionsPage->Sound2->currentText().size()) && (_sayOrder->currentText()=="After second")) - || ((!_optionsPage->Sound3->currentText().size()) && (_sayOrder->currentText()=="After third")) ) { - return; + if ( ((!_optionsPage->Sound2->currentText().isEmpty()) && (_sayOrder->currentText()=="After second")) + || ((!_optionsPage->Sound3->currentText().isEmpty()) && (_sayOrder->currentText()=="After third")) ) { + delete notification; + return; } else { notification->setSayOrder(_sayOrder->currentText()); } @@ -604,7 +599,7 @@ void NotifyPluginOptionsPage::on_button_AddNotification_clicked() QItemSelectionModel::ClearAndSelect | QItemSelectionModel::Rows); } -void NotifyPluginOptionsPage::on_button_DeleteNotification_clicked() +void NotifyPluginOptionsPage::on_clicked_buttonDeleteNotification() { _notifyRulesModel->removeRow(_notifyRulesSelection->currentIndex().row()); if (!_notifyRulesModel->rowCount() @@ -617,7 +612,7 @@ void NotifyPluginOptionsPage::on_button_DeleteNotification_clicked() } } -void NotifyPluginOptionsPage::on_button_ModifyNotification_clicked() +void NotifyPluginOptionsPage::on_clicked_buttonModifyNotification() { NotificationItem* notification = new NotificationItem; getOptionsPageValues(notification); @@ -628,3 +623,17 @@ void NotifyPluginOptionsPage::on_button_ModifyNotification_clicked() _privListNotifications.replace(_notifyRulesSelection->currentIndex().row(),notification); entryUpdated(_notifyRulesSelection->currentIndex().row()); } + +void NotifyPluginOptionsPage::on_FinishedPlaying() +{ + _testSound->clear(); +} + +void NotifyPluginOptionsPage::on_toggled_checkEnableSound(bool state) +{ + bool state1 = 1^state; + + QList listOutputs = _testSound->outputPaths(); + Phonon::AudioOutput * audioOutput = (Phonon::AudioOutput*)listOutputs.last().sink(); + audioOutput->setMuted(state1); +} diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index 3f36f3f4d..b270e72a0 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -73,33 +73,28 @@ public: void finish(); void restoreFromSettings(); - void updateConfigView(NotificationItem* notification); - void getOptionsPageValues(NotificationItem* notification); - UAVObjectField* getObjectFieldFromPage(); - UAVObjectField* getObjectFieldFromSelected(); - signals: void updateNotifications(QList list); void entryUpdated(int index); private slots: - void on_button_TestSoundNotification_clicked(); - void on_button_AddNotification_clicked(); - void on_button_DeleteNotification_clicked(); - void on_button_ModifyNotification_clicked(); + void on_clicked_buttonTestSoundNotification(); + void on_clicked_buttonAddNotification(); + void on_clicked_buttonDeleteNotification(); + void on_clicked_buttonModifyNotification(); /** * We can use continuous selection, to select simultaneously * multiple rows to move them(using drag & drop) inside table ranges. */ - void on_table_changeSelection( const QItemSelection & selected, const QItemSelection & deselected ); + void on_changedSelection_notifyTable( const QItemSelection & selected, const QItemSelection & deselected ); - void on_soundLanguage_indexChanged(int index); - void on_buttonSoundFolder_clicked(const QString& path); - void on_UAVObject_indexChanged(QString val); - void on_UAVField_indexChanged(QString val); - void on_changeButtonText(Phonon::State newstate, Phonon::State oldstate); - void on_checkEnableSound_toggled(bool state); + void on_changedIndex_soundLanguage(int index); + void on_clicked_buttonSoundFolder(const QString& path); + void on_changedIndex_UAVObject(QString val); + void on_changedIndex_UAVField(QString val); + void on_changed_playButtonText(Phonon::State newstate, Phonon::State oldstate); + void on_toggled_checkEnableSound(bool state); /** * Important when we change to or from "In range" value @@ -107,7 +102,7 @@ private slots: * we need to change UI to show edit line, * to have possibility assign range limits for value. */ - void on_rangeValue_indexChanged(QString); + void on_changedIndex_rangeValue(QString); void on_FinishedPlaying(void); @@ -115,29 +110,31 @@ private slots: private: Q_DISABLE_COPY(NotifyPluginOptionsPage) - void resetValueRange(); - void resetFieldType(); - - void setDynamicValueField(NotificationItem* notification); - void addDynamicField(UAVObjectField* objField); - void addDynamicValueLayout(); - void setDynamicValueWidget(UAVObjectField* objField); - void initButtons(); void initPhononPlayer(); void initRulesTable(); + void setSelectedNotification(NotificationItem* ntf); + void resetValueRange(); + void resetFieldType(); + + void updateConfigView(NotificationItem* notification); + void getOptionsPageValues(NotificationItem* notification); + UAVObjectField* getObjectFieldFromPage(); + UAVObjectField* getObjectFieldFromSelected(); + + void addDynamicFieldLayout(); + void addDynamicField(UAVObjectField* objField); + void addDynamicFieldWidget(UAVObjectField* objField); + void setDynamicFieldValue(NotificationItem* notification); + private: UAVObjectManager& _objManager; SoundNotifyPlugin* _owner; - QStringList _listDirCollections; - QStringList _listSoundFiles; - QString _currentCollectionPath; - Phonon::MediaObject* _sound1; - Phonon::MediaObject* _sound2; - QScopedPointer _notifySound; - Phonon::AudioOutput* _audioOutput; + + //! Media object uses to test sound playing + QScopedPointer _testSound; QScopedPointer _notifyRulesModel; QItemSelectionModel* _notifyRulesSelection; @@ -154,34 +151,36 @@ private: QScopedPointer _optionsPage; - //! widget to convinient selection of condition for field value (equal, lower, greater) - QComboBox* _valueRange; + //! Widget to convinient selection of condition for field value (equal, lower, greater) + QComboBox* _dynamicFieldLimit; - //! widget to convinient selection of order in which sounds will be played + //! Represents edit widget for dynamic UAVObjectfield, + //! can be spinbox - for numerics, combobox - enums, or + //! lineedit - for numerics with range constraints + QWidget* _dynamicFieldWidget; + + //! Type of UAVObjectField - numeric or ENUM, + //! this variable needs to correctly set appropriate dynamic UI element (_dynamicFieldWidget) + //! NOTE: ocassionaly it should be invalidated (= -1) to reset _dynamicFieldWidget + int _dynamicFieldType; + + //! Widget to convinient selection of position of + //! between sounds[1..3] QComboBox* _sayOrder; - //! widget to represent edit widget for UAVObjectfield, - //! can be spinbox - for numerics, combobox - enums, or - //! lineedit - for range limits - QWidget* _fieldValue; - - //! type of UAVObjectField - numeric or ENUM - //! this variable needs to correctly set dynamic UI elemen _fieldValue - //! NOTE: ocassionaly it should be invalidated (= -1) to reset _fieldValue - int _fieldType; - - //! actualy reference to optionsPageWidget, + //! Actualy reference to optionsPageWidget, //! we MUST hold it beyond the scope of createPage func //! to have possibility change dynamic parts of options page layout in future QWidget* _form; - //! needs to correctly update UI during transitions from "In Range" to other - //! _valueRange entries and back direction as well - QString _prevRangeValue; - //! Currently selected notification, all controls filled accroding to it. //! On options page startup, always points to first row. NotificationItem* _selectedNotification; + + //! Retrieved from UAVObjectManager by name from _selectedNotification, + //! if UAVObjectManager doesn't have such object, this field will be NULL + UAVDataObject* _currUAVObject; + }; #endif // NOTIFYPLUGINOPTIONSPAGE_H diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index b1fd1c737..ed4eb0e56 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -45,19 +45,19 @@ bool NotifyTableModel::setData(const QModelIndex &index, const QVariant &value, int role) { if (index.isValid() && role == Qt::DisplayRole) { - if(eMessageName == index.column()) { + if (eMessageName == index.column()) { emit dataChanged(index, index); return true; } } if (index.isValid() && role == Qt::EditRole) { - if(eRepeatValue == index.column()) + if (eRepeatValue == index.column()) _list.at(index.row())->setRetryString(value.toString()); else { - if(eExpireTimer == index.column()) + if (eExpireTimer == index.column()) _list.at(index.row())->setLifetime(value.toInt()); else { - if(eTurnOn == index.column()) + if (eTurnOn == index.column()) _list.at(index.row())->setMute(value.toBool()); } } @@ -114,7 +114,7 @@ QVariant NotifyTableModel::headerData(int section, Qt::Orientation orientation, if (orientation == Qt::Horizontal) return _headerStrings.at(section); else - if(orientation == Qt::Vertical) + if (orientation == Qt::Vertical) return QString("%1").arg(section); return QVariant(); @@ -141,7 +141,7 @@ bool NotifyTableModel::removeRows(int position, int rows, const QModelIndex& ind { Q_UNUSED(index); - if((-1 == position) || (-1 == rows) ) + if ((-1 == position) || (-1 == rows) ) return false; beginRemoveRows(QModelIndex(), position, position + rows - 1); @@ -201,7 +201,7 @@ bool NotifyTableModel::dropMimeData( const QMimeData * data, Qt::DropAction acti beginRow = rowCount(QModelIndex()); } - if(-1 == beginRow) + if (-1 == beginRow) return false; QByteArray encodedData = data->data(mime_type_notify_table); @@ -217,15 +217,18 @@ bool NotifyTableModel::dropMimeData( const QMimeData * data, Qt::DropAction acti // or from bottom rows to top rows (UP_DIRECTION) enum { UP_DIRECTION, DOWN_DIRECTION }; int direction = (dragged < rows) ? DOWN_DIRECTION : (dragged += 1, UP_DIRECTION); - Q_ASSERT(insertRows(rows + direction, 1, QModelIndex())); - if(-1 == dragged || rows >= _list.size() || dragged == rows) { + // check drop bounds + if (dragged < 0 || ((dragged + 1) >= _list.size() && direction == DOWN_DIRECTION) || dragged == rows) { qNotifyDebug() << "no such item"; - - return false; + continue; } + // addiional check in case dropping of multiple rows + if(rows + direction > _list.size()) continue; + + Q_ASSERT(insertRows(rows + direction, 1, QModelIndex())); _list.replace(rows + direction, item); Q_ASSERT(removeRows(dragged, 1, QModelIndex())); - if(direction == UP_DIRECTION) + if (direction == UP_DIRECTION) ++rows; }; From a8dbeb2c914da3958564ae284a805f77d324d4e3 Mon Sep 17 00:00:00 2001 From: zedamota Date: Fri, 11 Nov 2011 23:09:44 +0000 Subject: [PATCH 010/121] Make the GCS serial telemetry speed configurable --- .../serialconnection/serialconnection.pro | 14 +-- .../plugins/serialconnection/serialplugin.cpp | 42 +++++++- .../plugins/serialconnection/serialplugin.h | 10 +- .../serialpluginconfiguration.cpp | 79 ++++++++++++++ .../serialpluginconfiguration.h | 58 ++++++++++ .../serialconnection/serialpluginoptions.ui | 100 ++++++++++++++++++ .../serialpluginoptionspage.cpp | 71 +++++++++++++ .../serialpluginoptionspage.h | 71 +++++++++++++ 8 files changed, 434 insertions(+), 11 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp create mode 100644 ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h create mode 100644 ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptions.ui create mode 100644 ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp create mode 100644 ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialconnection.pro b/ground/openpilotgcs/src/plugins/serialconnection/serialconnection.pro index 057c1f249..1c2f0fcf8 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialconnection.pro +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialconnection.pro @@ -3,11 +3,13 @@ TARGET = Serial include(../../openpilotgcsplugin.pri) include(serial_dependencies.pri) INCLUDEPATH += ../../libs/qextserialport/src -HEADERS += serialplugin.h -#HEADERS += serialplugin.h \ -# serial_global.h -SOURCES += serialplugin.cpp -FORMS += +HEADERS += serialplugin.h \ + serialpluginconfiguration.h \ + serialpluginoptionspage.h +SOURCES += serialplugin.cpp \ + serialpluginconfiguration.cpp \ + serialpluginoptionspage.cpp +FORMS += \ + serialpluginoptions.ui RESOURCES += -#DEFINES += SERIAL_LIBRARY OTHER_FILES += Serial.pluginspec diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp index e62afb44a..bae5a885a 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp @@ -76,6 +76,11 @@ SerialConnection::SerialConnection() : enablePolling(true), m_enumerateThread(this) { serialHandle = NULL; + m_config = new SerialPluginConfiguration("Serial Telemetry", NULL, this); + m_config->restoresettings(); + + m_optionspage = new SerialPluginOptionsPage(m_config,this); + // Experimental: enable polling on all OS'es since there // were reports that autodetect does not work on XP amongst @@ -142,7 +147,7 @@ QIODevice *SerialConnection::openDevice(const QString &deviceName) { //we need to handle port settings here... PortSettings set; - set.BaudRate = BAUD57600; + set.BaudRate = stringToBaud(m_config->speed()); set.DataBits = DATA_8; set.Parity = PAR_NONE; set.StopBits = STOP_1; @@ -198,6 +203,31 @@ void SerialConnection::resumePolling() enablePolling = true; } +BaudRateType SerialConnection::stringToBaud(QString str) +{ + if(str=="1200") + return BAUD1200; + else if(str=="2400") + return BAUD1200; + else if(str== "4800") + return BAUD2400; + else if(str== "9600") + return BAUD9600; + else if(str== "19200") + return BAUD19200; + else if(str== "38400") + return BAUD38400; + else if(str== "57600") + return BAUD56000; + else if(str== "115200") + return BAUD115200; + else if(str== "230400") + return BAUD230400; + else if(str== "460800") + return BAUD460800; + else if(str== "921600") + return BAUD921600; +} SerialPlugin::SerialPlugin() { @@ -205,19 +235,23 @@ SerialPlugin::SerialPlugin() SerialPlugin::~SerialPlugin() { - + removeObject(m_connection->Optionspage()); } void SerialPlugin::extensionsInitialized() { - addAutoReleasedObject(new SerialConnection); + addAutoReleasedObject(m_connection); } bool SerialPlugin::initialize(const QStringList &arguments, QString *errorString) { Q_UNUSED(arguments); Q_UNUSED(errorString); - + m_connection = new SerialConnection(); + //must manage this registration of child object ourselves + //if we use an autorelease here it causes the GCS to crash + //as it is deleting objects as the app closes... + addObject(m_connection->Optionspage()); return true; } diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.h b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.h index 829ee6512..388117ead 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.h +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.h @@ -33,6 +33,8 @@ #include #include "coreplugin/iconnection.h" #include +#include "serialpluginconfiguration.h" +#include "serialpluginoptionspage.h" #include class IConnection; @@ -87,12 +89,16 @@ public: virtual void resumePolling(); bool deviceOpened() {return m_deviceOpened;} + SerialPluginConfiguration * Config() const { return m_config; } + SerialPluginOptionsPage * Optionspage() const { return m_optionspage; } private: QextSerialPort* serialHandle; bool enablePolling; - + SerialPluginConfiguration *m_config; + SerialPluginOptionsPage *m_optionspage; + BaudRateType stringToBaud(QString str); protected slots: void onEnumerationChanged(); @@ -116,6 +122,8 @@ public: virtual bool initialize(const QStringList &arguments, QString *error_message); virtual void extensionsInitialized(); +private: + SerialConnection *m_connection; }; diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp new file mode 100644 index 000000000..49bcf2ae8 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp @@ -0,0 +1,79 @@ +/** + ****************************************************************************** + * + * @file dialpluginconfiguration.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @see The GNU Public License (GPL) Version 3 + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup DialPlugin Dial Plugin + * @{ + * @brief Plots flight information rotary style dials + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "serialpluginconfiguration.h" +#include "utils/pathutils.h" +#include + +/** + * Loads a saved configuration or defaults if non exist. + * + */ +SerialPluginConfiguration::SerialPluginConfiguration(QString classId, QSettings* qSettings, QObject *parent) : + IUAVGadgetConfiguration(classId, parent), + m_speed("57600") +{ + settings = Core::ICore::instance()->settings(); +} + +/** + * Clones a configuration. + * + */ +IUAVGadgetConfiguration *SerialPluginConfiguration::clone() +{ + SerialPluginConfiguration *m = new SerialPluginConfiguration(this->classId()); + m->m_speed=m_speed; + return m; +} + +/** + * Saves a configuration. + * + */ +void SerialPluginConfiguration::saveConfig(QSettings* settings) const { + settings->setValue("speed", m_speed); +} +void SerialPluginConfiguration::restoresettings() +{ + settings->beginGroup(QLatin1String("SerialConnection")); + + QString str=(settings->value(QLatin1String("speed"), tr("")).toString()); + if(str.isEmpty()) + m_speed="57600"; + else + m_speed=str; + settings->endGroup(); + +} +void SerialPluginConfiguration::savesettings() const +{ + settings->beginGroup(QLatin1String("SerialConnection")); + settings->setValue(QLatin1String("speed"), m_speed); + settings->endGroup(); +} diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h new file mode 100644 index 000000000..968595fb2 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h @@ -0,0 +1,58 @@ +/** + ****************************************************************************** + * + * @file serialpluginconfiguration.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @see The GNU Public License (GPL) Version 3 + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup SerialPlugin Serial Plugin + * @{ + * @brief Plots flight information rotary style Serials + *****************************************************************************/ +/* + * 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 SERIALPLUGINCONFIGURATION_H +#define SERIALPLUGINCONFIGURATION_H + +#include + +using namespace Core; + +/* Despite its name, this is actually a generic analog Serial + supporting up to two rotating "needle" indicators. + */ +class SerialPluginConfiguration : public IUAVGadgetConfiguration +{ +Q_OBJECT +public: + explicit SerialPluginConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0); + QString speed() {return m_speed;} + void saveConfig(QSettings* settings) const; + IUAVGadgetConfiguration *clone(); + void savesettings() const; + void restoresettings(); + +private: + QString m_speed; + QSettings* settings; +public slots: + void setSpeed(QString speed) { m_speed = speed; } + +}; + +#endif // SERIALPLUGINCONFIGURATION_H diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptions.ui b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptions.ui new file mode 100644 index 000000000..04f9faf06 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptions.ui @@ -0,0 +1,100 @@ + + + SerialPluginOptionsPage + + + + 0 + 0 + 400 + 300 + + + + Form + + + + + + Serial telemetry speed: + + + + + + + + 1200 + + + + + 2400 + + + + + 4800 + + + + + 9600 + + + + + 19200 + + + + + 38400 + + + + + 57600 + + + + + 115200 + + + + + 230400 + + + + + 460800 + + + + + 921600 + + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp new file mode 100644 index 000000000..b861a5cee --- /dev/null +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp @@ -0,0 +1,71 @@ +/** + ****************************************************************************** + * + * @file dialpluginoptionspage.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @see The GNU Public License (GPL) Version 3 + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup DialPlugin Dial Plugin + * @{ + * @brief Plots flight information rotary style dials + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "serialpluginoptionspage.h" +#include "serialpluginconfiguration.h" +#include "ui_serialpluginoptions.h" +#include "extensionsystem/pluginmanager.h" + +SerialPluginOptionsPage::SerialPluginOptionsPage(SerialPluginConfiguration *config, QObject *parent) : + IOptionsPage(parent), + m_config(config) +{ +} + +//creates options page widget (uses the UI file) +QWidget *SerialPluginOptionsPage::createPage(QWidget *parent) +{ + + Q_UNUSED(parent); + options_page = new Ui::SerialPluginOptionsPage(); + //main widget + QWidget *optionsPageWidget = new QWidget; + //main layout + options_page->setupUi(optionsPageWidget); + options_page->cb_speed->setCurrentIndex(options_page->cb_speed->findText(m_config->speed())); + return optionsPageWidget; +} + +/** + * Called when the user presses apply or OK. + * + * Saves the current values + * + */ +void SerialPluginOptionsPage::apply() +{ + m_config->setSpeed(options_page->cb_speed->currentText()); + m_config->savesettings(); +} + + + +void SerialPluginOptionsPage::finish() +{ + delete m_config; +} diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h new file mode 100644 index 000000000..97ea604c8 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h @@ -0,0 +1,71 @@ +/** + ****************************************************************************** + * + * @file Serialpluginoptionspage.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @see The GNU Public License (GPL) Version 3 + * @addtogroup GCSPlugins GCS Plugins + * @{ + * @addtogroup SerialPlugin Serial Plugin + * @{ + * @brief Plots flight information rotary style Serials + *****************************************************************************/ +/* + * 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 SERIALpluginOPTIONSPAGE_H +#define SERIALpluginOPTIONSPAGE_H + +#include "coreplugin/dialogs/ioptionspage.h" +#include "QString" +#include +#include +#include + +namespace Core { +class IUAVpluginConfiguration; +} + +class SerialPluginConfiguration; + +namespace Ui { + class SerialPluginOptionsPage; +} + +using namespace Core; + +class SerialPluginOptionsPage : public IOptionsPage +{ +Q_OBJECT +public: + explicit SerialPluginOptionsPage(SerialPluginConfiguration *config, QObject *parent = 0); + + QString id() const { return QLatin1String("settings"); } + QString trName() const { return tr("settings"); } + QString category() const { return "Serial Telemetry"; } + QString trCategory() const { return "Serial Telemetry"; } + QWidget *createPage(QWidget *parent); + void apply(); + void finish(); + +private: + Ui::SerialPluginOptionsPage *options_page; + SerialPluginConfiguration *m_config; + + +}; + +#endif // SERIALpluginOPTIONSPAGE_H From deac94253e2fdd5fac1686e949bc4b16e0455c8e Mon Sep 17 00:00:00 2001 From: zedamota Date: Fri, 11 Nov 2011 23:42:36 +0000 Subject: [PATCH 011/121] small fix and some cleaning --- .../plugins/serialconnection/serialplugin.cpp | 3 +++ .../serialpluginconfiguration.cpp | 22 ++++++++++--------- .../serialpluginconfiguration.h | 6 ++--- .../serialpluginoptionspage.cpp | 10 ++++----- .../serialpluginoptionspage.h | 8 +++---- 5 files changed, 27 insertions(+), 22 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp index bae5a885a..23bb8f9f9 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp @@ -148,6 +148,7 @@ QIODevice *SerialConnection::openDevice(const QString &deviceName) //we need to handle port settings here... PortSettings set; set.BaudRate = stringToBaud(m_config->speed()); + qDebug()<<"Serial telemetry running at "<speed(); set.DataBits = DATA_8; set.Parity = PAR_NONE; set.StopBits = STOP_1; @@ -227,6 +228,8 @@ BaudRateType SerialConnection::stringToBaud(QString str) return BAUD460800; else if(str== "921600") return BAUD921600; + else + return BAUD56000; } SerialPlugin::SerialPlugin() diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp index 49bcf2ae8..789085596 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp @@ -1,14 +1,14 @@ /** ****************************************************************************** * - * @file dialpluginconfiguration.cpp + * @file serialpluginconfiguration.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @see The GNU Public License (GPL) Version 3 * @addtogroup GCSPlugins GCS Plugins * @{ - * @addtogroup DialPlugin Dial Plugin + * @addtogroup SerialPlugin Serial Connection Plugin * @{ - * @brief Plots flight information rotary style dials + * @brief Impliments serial connection to the flight hardware for Telemetry *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -62,13 +62,12 @@ void SerialPluginConfiguration::saveConfig(QSettings* settings) const { void SerialPluginConfiguration::restoresettings() { settings->beginGroup(QLatin1String("SerialConnection")); - - QString str=(settings->value(QLatin1String("speed"), tr("")).toString()); - if(str.isEmpty()) - m_speed="57600"; - else - m_speed=str; - settings->endGroup(); + QString str=(settings->value(QLatin1String("speed"), tr("")).toString()); + if(str.isEmpty()) + m_speed="57600"; + else + m_speed=str; + settings->endGroup(); } void SerialPluginConfiguration::savesettings() const @@ -77,3 +76,6 @@ void SerialPluginConfiguration::savesettings() const settings->setValue(QLatin1String("speed"), m_speed); settings->endGroup(); } +SerialPluginConfiguration::~SerialPluginConfiguration() +{ +} diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h index 968595fb2..793ad102b 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h @@ -6,9 +6,9 @@ * @see The GNU Public License (GPL) Version 3 * @addtogroup GCSPlugins GCS Plugins * @{ - * @addtogroup SerialPlugin Serial Plugin + * @addtogroup SerialPlugin Serial Connection Plugin * @{ - * @brief Plots flight information rotary style Serials + * @brief Impliments serial connection to the flight hardware for Telemetry *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify @@ -46,7 +46,7 @@ public: IUAVGadgetConfiguration *clone(); void savesettings() const; void restoresettings(); - + virtual ~SerialPluginConfiguration(); private: QString m_speed; QSettings* settings; diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp index b861a5cee..29d8b3784 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp @@ -1,16 +1,16 @@ /** ****************************************************************************** * - * @file dialpluginoptionspage.cpp + * @file serialpluginoptionspage.cpp * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @see The GNU Public License (GPL) Version 3 * @addtogroup GCSPlugins GCS Plugins * @{ - * @addtogroup DialPlugin Dial Plugin + * @addtogroup SerialPlugin Serial Connection Plugin * @{ - * @brief Plots flight information rotary style dials + * @brief Impliments serial connection to the flight hardware for Telemetry *****************************************************************************/ -/* + /* * 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 @@ -67,5 +67,5 @@ void SerialPluginOptionsPage::apply() void SerialPluginOptionsPage::finish() { - delete m_config; + delete options_page; } diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h index 97ea604c8..6ce23b743 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h @@ -1,16 +1,16 @@ /** ****************************************************************************** * - * @file Serialpluginoptionspage.h + * @file serialpluginoptionspage.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @see The GNU Public License (GPL) Version 3 * @addtogroup GCSPlugins GCS Plugins * @{ - * @addtogroup SerialPlugin Serial Plugin + * @addtogroup SerialPlugin Serial Connection Plugin * @{ - * @brief Plots flight information rotary style Serials + * @brief Impliments serial connection to the flight hardware for Telemetry *****************************************************************************/ -/* + /* * 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 From 2e1469bb1fc9228368fbb9dc2676b8084de7f29e Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 29 Nov 2011 21:00:10 +0000 Subject: [PATCH 012/121] Added new SMD Spektrum Adapter files from Dankers. --- .../Assembly/Spektrum Adapter SMD 3D Top.pdf | Bin 0 -> 1096545 bytes .../Spektrum Adapter SMD Assembly.pdf | Bin 0 -> 30128 bytes .../BOM/Spektrum Adapter BOM.xls | Bin 0 -> 42496 bytes .../Spektrum Adapter SMD-macro.APR_LIB | 0 .../Gerbers/Spektrum Adapter SMD.EXTREP | 18 + .../Gerbers/Spektrum Adapter SMD.GKO | 26 + .../Gerbers/Spektrum Adapter SMD.GM13 | 59 + .../Gerbers/Spektrum Adapter SMD.GM15 | 75 ++ .../Gerbers/Spektrum Adapter SMD.GM5 | 33 + .../Gerbers/Spektrum Adapter SMD.GPB | 17 + .../Gerbers/Spektrum Adapter SMD.GPT | 67 + .../Gerbers/Spektrum Adapter SMD.GTL | 486 ++++++++ .../Gerbers/Spektrum Adapter SMD.GTP | 67 + .../Gerbers/Spektrum Adapter SMD.GTS | 75 ++ .../Gerbers/Spektrum Adapter SMD.REP | 141 +++ .../Gerbers/Spektrum Adapter SMD.RUL | 5 + .../Gerbers/Spektrum Adapter SMD.apr | 19 + .../Gerbers/Status Report.Txt | 21 + .../Spektrum Adapter SMD Schematic.pdf | Bin 0 -> 132740 bytes .../Spektrum Adapter SMD.PcbDoc | Bin 0 -> 914432 bytes .../Spektrum Adapter SMD.PrjPCB | 1084 +++++++++++++++++ .../Spektrum Adapter SMD.SchDoc | Bin 0 -> 83456 bytes 22 files changed, 2193 insertions(+) create mode 100644 hardware/Production/Spektrum Adapter SMD/Assembly/Spektrum Adapter SMD 3D Top.pdf create mode 100644 hardware/Production/Spektrum Adapter SMD/Assembly/Spektrum Adapter SMD Assembly.pdf create mode 100644 hardware/Production/Spektrum Adapter SMD/BOM/Spektrum Adapter BOM.xls create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD-macro.APR_LIB create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.EXTREP create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GKO create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GM13 create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GM15 create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GM5 create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GPB create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GPT create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GTL create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GTP create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.GTS create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.REP create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.RUL create mode 100644 hardware/Production/Spektrum Adapter SMD/Gerbers/Spektrum Adapter SMD.apr create mode 100644 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Spektrum Adapter SMD +LogFolderPath= +ReleasesFolder= +ReleaseVaultGUID= +ReleaseVaultName= +ChannelDesignatorFormatString=$Component_$RoomName +ChannelRoomLevelSeperator=_ +OpenOutputs=1 +ArchiveProject=0 +TimestampOutput=0 +SeparateFolders=0 +TemplateLocationPath= +PinSwapBy_Netlabel=1 +PinSwapBy_Pin=1 +AllowPortNetNames=0 +AllowSheetEntryNetNames=1 +AppendSheetNumberToLocalNets=0 +NetlistSinglePinNets=0 +DefaultConfiguration= +UserID=0xFFFFFFFF +DefaultPcbProtel=1 +DefaultPcbPcad=0 +ReorderDocumentsOnCompile=1 +NameNetsHierarchically=0 +PowerPortNamesTakePriority=0 +PushECOToAnnotationFile=1 +DItemRevisionGUID= +ReportSuppressedErrorsInMessages=0 + +[Document1] +DocumentPath=..\Altium\OpenPilot.SchLib +AnnotationEnabled=1 +AnnotateStartValue=1 +AnnotationIndexControlEnabled=0 +AnnotateSuffix= +AnnotateScope=All +AnnotateOrder=-1 +DoLibraryUpdate=1 +DoDatabaseUpdate=1 +ClassGenCCAutoEnabled=1 +ClassGenCCAutoRoomEnabled=1 +ClassGenNCAutoScope=None +DItemRevisionGUID= +GenerateClassCluster=0 + +[Document2] +DocumentPath=..\Altium\OpenPilot.PcbLib +AnnotationEnabled=1 +AnnotateStartValue=1 +AnnotationIndexControlEnabled=0 +AnnotateSuffix= +AnnotateScope=All +AnnotateOrder=-1 +DoLibraryUpdate=1 +DoDatabaseUpdate=1 +ClassGenCCAutoEnabled=1 +ClassGenCCAutoRoomEnabled=1 +ClassGenNCAutoScope=None +DItemRevisionGUID= +GenerateClassCluster=0 + +[Document3] +DocumentPath=Spektrum Adapter SMD.SchDoc +AnnotationEnabled=1 +AnnotateStartValue=1 +AnnotationIndexControlEnabled=0 +AnnotateSuffix= +AnnotateScope=All +AnnotateOrder=-1 +DoLibraryUpdate=1 +DoDatabaseUpdate=1 +ClassGenCCAutoEnabled=1 +ClassGenCCAutoRoomEnabled=0 +ClassGenNCAutoScope=None +DItemRevisionGUID= +GenerateClassCluster=0 + +[Document4] +DocumentPath=Spektrum Adapter SMD.PcbDoc +AnnotationEnabled=1 +AnnotateStartValue=1 +AnnotationIndexControlEnabled=0 +AnnotateSuffix= +AnnotateScope=All +AnnotateOrder=-1 +DoLibraryUpdate=1 +DoDatabaseUpdate=1 +ClassGenCCAutoEnabled=1 +ClassGenCCAutoRoomEnabled=1 +ClassGenNCAutoScope=None +DItemRevisionGUID= +GenerateClassCluster=0 + +[GeneratedDocument1] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.EXTREP +DItemRevisionGUID= + +[GeneratedDocument2] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.GKO +DItemRevisionGUID= + +[GeneratedDocument3] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.GM5 +DItemRevisionGUID= + +[GeneratedDocument4] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.GM13 +DItemRevisionGUID= + +[GeneratedDocument5] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.GM15 +DItemRevisionGUID= + +[GeneratedDocument6] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.GPB +DItemRevisionGUID= + +[GeneratedDocument7] +DocumentPath=Project Outputs for Spektrum Adapter SMD\Spektrum Adapter SMD.GPT +DItemRevisionGUID= + +[GeneratedDocument8] 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+PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType12=C/C++ Header Print +OutputName12=C/C++ Header Prints +OutputDocumentPath12= +OutputVariantName12= +OutputDefault12=0 +PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType13=C++ Source Print +OutputName13=C++ Source Prints +OutputDocumentPath13= +OutputVariantName13= +OutputDefault13=0 +PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType14=PCB 3D Video +OutputName14=PCB 3D Video +OutputDocumentPath14= +OutputVariantName14=[No Variations] +OutputDefault14=0 +PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType15=Report Print +OutputName15=Report Prints +OutputDocumentPath15= +OutputVariantName15= +OutputDefault15=0 +PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType16=Software Platform Print +OutputName16=Software Platform Prints +OutputDocumentPath16= +OutputVariantName16= +OutputDefault16=0 +PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType17=VHDL Print +OutputName17=VHDL Prints +OutputDocumentPath17= +OutputVariantName17= +OutputDefault17=0 +PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 + +[OutputGroup4] +Name=Assembly Outputs +Description= +TargetPrinter=Brother HL-2170W +PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1 +OutputType1=Assembly +OutputName1=Assembly Drawings +OutputDocumentPath1= +OutputVariantName1=[No Variations] +OutputDefault1=0 +PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType2=Pick Place +OutputName2=Generates pick and place files +OutputDocumentPath2= +OutputVariantName2=[No Variations] +OutputDefault2=0 +OutputType3=Test Points For Assembly +OutputName3=Test Point Report +OutputDocumentPath3= +OutputVariantName3=[No Variations] +OutputDefault3=0 + +[OutputGroup5] +Name=Fabrication Outputs +Description= +TargetPrinter=Brother HL-2170W +PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1 +OutputType1=ODB +OutputName1=ODB++ Files +OutputDocumentPath1= +OutputVariantName1=[No Variations] +OutputDefault1=0 +OutputType2=NC Drill +OutputName2=NC Drill Files +OutputDocumentPath2= +OutputVariantName2= +OutputDefault2=0 +Configuration2_Name1=OutputConfigurationParameter1 +Configuration2_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateSeparatePlatedNonPlatedFiles=False|NumberOfDecimals=5|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes +OutputType3=Test Points +OutputName3=Test Point Report +OutputDocumentPath3= +OutputVariantName3= +OutputDefault3=0 +OutputType4=Plane +OutputName4=Power-Plane Prints +OutputDocumentPath4= +OutputVariantName4= +OutputDefault4=0 +PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType5=Mask +OutputName5=Solder/Paste Mask Prints +OutputDocumentPath5= +OutputVariantName5= +OutputDefault5=0 +PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType6=Drill +OutputName6=Drill Drawing/Guides +OutputDocumentPath6= +OutputVariantName6= +OutputDefault6=0 +PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType7=CompositeDrill +OutputName7=Composite Drill Drawing +OutputDocumentPath7= +OutputVariantName7= +OutputDefault7=0 +PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType8=Final +OutputName8=Final Artwork Prints +OutputDocumentPath8= +OutputVariantName8=[No Variations] +OutputDefault8=0 +PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +OutputType9=Gerber +OutputName9=Gerber Files +OutputDocumentPath9= +OutputVariantName9=[No Variations] +OutputDefault9=0 +Configuration9_Name1=OutputConfigurationParameter1 +Configuration9_Item1=AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=True|GenerateReliefShapes=True|GerberUnit=Imperial|IncludeUnconnectedMidLayerPads=False|LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16973832~1,16973834~1,16777217~1,16908293~1,16908301~1,16908303~1,16973837~1,16973848~1,16973849~1|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=True|PlotUsedDrillGuideLayerPairs=True|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False + +[OutputGroup6] +Name=Report Outputs +Description= +TargetPrinter=Brother HL-2170W +PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1 +OutputType1=Script +OutputName1=Script Output +OutputDocumentPath1= +OutputVariantName1=[No Variations] +OutputDefault1=0 +OutputType2=ReportHierarchy +OutputName2=Report Project Hierarchy +OutputDocumentPath2= +OutputVariantName2=[No Variations] +OutputDefault2=0 +OutputType3=SinglePinNetReporter +OutputName3=Report Single Pin Nets +OutputDocumentPath3= +OutputVariantName3=[No Variations] +OutputDefault3=0 +OutputType4=SimpleBOM +OutputName4=Simple BOM +OutputDocumentPath4= +OutputVariantName4=[No Variations] +OutputDefault4=0 +OutputType5=ComponentCrossReference +OutputName5=Component Cross Reference Report +OutputDocumentPath5= +OutputVariantName5=[No Variations] +OutputDefault5=0 +OutputType6=BOM_PartType +OutputName6=Bill of Materials +OutputDocumentPath6= +OutputVariantName6=[No Variations] +OutputDefault6=0 +PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1 +Configuration6_Name1=Filter +Configuration6_Item1=545046300E5446696C74657257726170706572000D46696C7465722E416374697665090F46696C7465722E43726974657269610A04000000000000000000 +Configuration6_Name2=General +Configuration6_Item2=OpenExported=True|AddToProject=False|ForceFit=False|NotFitted=False|Database=False|IncludePCBData=False|ShowExportOptions=True|TemplateFilename=..\Altium\BOM OpenPilot.xlt|BatchMode=5|FormWidth=1226|FormHeight=598|SupplierProdQty=25|SupplierAutoQty=True|SupplierUseCachedPricing=False|SupplierCurrency= +Configuration6_Name3=GroupOrder +Configuration6_Item3=Comment=True|Footprint=True +Configuration6_Name4=OutputConfigurationParameter1 +Configuration6_Item4=Record=BOMPrintView|ShowNoERC=True|ShowParamSet=True|ShowProbe=True|ShowBlanket=True|ExpandDesignator=True|ExpandNetLabel=False|ExpandPort=False|ExpandSheetNum=False|ExpandDocNum=False +Configuration6_Name5=SortOrder +Configuration6_Item5=Designator=Up|Comment=Up|Footprint=Up +Configuration6_Name6=VisibleOrder +Configuration6_Item6=Comment=100|Description=100|Designator=100|Value=100|Footprint=100|LibRef=100|Quantity=100|Supplier 1=100|Supplier Part Number 1=100|Supplier Stock 1=100|Supplier Unit Price 1=100|Supplier Order Qty 1=100|Supplier Subtotal 1=100|Manufacturer 1=100|Manufacturer Part Number 1=100 + +[OutputGroup7] +Name=Other Outputs +Description= +TargetPrinter=Brother HL-2170W +PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1 +OutputType1=Text Print +OutputName1=Text Print +OutputDocumentPath1= +OutputVariantName1= +OutputDefault1=0 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zpAFe#W+bJtv3qX8kQmvk9VkaGcR@l#KG!e5?#DsC*X`M9t?A$O^kbCG9+`Gs<19=SpHA7TBHB}td!zX z@Eao87D?)5j12IzHKxgA0crgIJyb~1=g#uPE;H%Z)U@2w%Qyb-ebj(U4pLWDda3$W z{*9-b*9YfEc5a@Jj2&EU-F(51gdXXGK7Meq_HqC{Qn7aT^7j1jNZG;F+SC8hD+lKf ZkBmNef*sskA4v#5{lE9!{cpJ9{|BDGmofkV literal 0 HcmV?d00001 From 78e25b1b8c4109d393f51c9dce6568ef9ff136be Mon Sep 17 00:00:00 2001 From: zedamota Date: Sat, 3 Dec 2011 02:36:47 +0000 Subject: [PATCH 013/121] Fixed conditions Added support for negative values Added support to "play once per update" Added "never" rule for value sound Several other bugfixes --- .../src/plugins/notify/NotificationItem.h | 16 +++-- .../src/plugins/notify/notificationitem.cpp | 31 ++++++--- .../src/plugins/notify/notifyplugin.cpp | 42 ++++++++---- .../notify/notifypluginoptionspage.cpp | 64 +++++++++++++------ .../plugins/notify/notifypluginoptionspage.h | 2 +- 5 files changed, 106 insertions(+), 49 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index d4929a1e5..e64609a53 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -49,6 +49,7 @@ class NotificationItem : public QObject public: enum { eDefaultTimeout = 15 }; // in sec + enum {equal,bigger,smaller,inrange}; explicit NotificationItem(QObject *parent = 0); void copyTo(NotificationItem*) const; @@ -57,8 +58,11 @@ public: DECLARE_SOUND(2) DECLARE_SOUND(3) - QString range() const { return _rangeLimit; } - void setRange(QString text) { _rangeLimit = text; } + bool getCurrentUpdatePlayed() const {return _currentUpdatePlayed;} + void setCurrentUpdatePlayed(bool value){_currentUpdatePlayed=value;} + + int getCondition() const { return _condition; } + void setCondition(int value) { _condition = value; } QString getSayOrder() const { return _sayOrder; } void setSayOrder(QString text) { _sayOrder = text; } @@ -100,8 +104,8 @@ public: UAVDataObject* getUAVObject(void); UAVObjectField* getUAVObjectField(void); - void seriaize(QDataStream& stream); - void deseriaize(QDataStream& stream); + void serialize(QDataStream& stream); + void deserialize(QDataStream& stream); /** * Convert notification item fields in single string, @@ -152,6 +156,8 @@ private: private: + bool _currentUpdatePlayed; + QTimer* _timer; //! time from putting notification in queue till moment when notification became out-of-date @@ -175,7 +181,7 @@ private: QString _objectField; //! fire condition for UAV field value (lower, greater, in range) - QString _rangeLimit; + int _condition; //! possible sounds(at least one required to play notification) QString _sound1; diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index ec86aabcd..68674bc90 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -45,7 +45,9 @@ static const QString cStrBefore1st("Before first"); static const QString cStrBefore2nd("Before second"); static const QString cStrAfter2nd("After second"); +static const QString cStrRetryOncePUpdate("Repeat Once per update"); static const QString cStrRetryOnce("Repeat Once"); + static const QString cStrRetryInstantly("Repeat Instantly"); static const QString cStrRetry10sec("Repeat 10 seconds"); static const QString cStrRetry30sec("Repeat 30 seconds"); @@ -58,6 +60,7 @@ QStringList NotificationItem::retryValues; NotificationItem::NotificationItem(QObject *parent) : QObject(parent) + , _currentUpdatePlayed(false) , isNowPlaying(0) , _isPlayed(false) , _timer(NULL) @@ -66,7 +69,7 @@ NotificationItem::NotificationItem(QObject *parent) , _currentLanguage("default") , _dataObject("") , _objectField("") - , _rangeLimit("Equal to") + , _condition(0) , _sound1("") , _sound2("") , _sound3("") @@ -78,12 +81,14 @@ NotificationItem::NotificationItem(QObject *parent) , _mute(false) { NotificationItem::sayOrderValues.clear(); + NotificationItem::sayOrderValues.append(cStrNever); NotificationItem::sayOrderValues.append(cStrBefore1st); NotificationItem::sayOrderValues.append(cStrBefore2nd); NotificationItem::sayOrderValues.append(cStrAfter2nd); NotificationItem::retryValues.clear(); NotificationItem::retryValues.append(cStrRetryOnce); + NotificationItem::retryValues.append(cStrRetryOncePUpdate); NotificationItem::retryValues.append(cStrRetryInstantly); NotificationItem::retryValues.append(cStrRetry10sec); NotificationItem::retryValues.append(cStrRetry30sec); @@ -100,7 +105,7 @@ void NotificationItem::copyTo(NotificationItem* that) const that->_soundCollectionPath = _soundCollectionPath; that->_dataObject = _dataObject; that->_objectField = _objectField; - that->_rangeLimit = _rangeLimit; + that->_condition = _condition; that->_sound1 = _sound1; that->_sound2 = _sound2; that->_sound3 = _sound3; @@ -120,7 +125,7 @@ void NotificationItem::saveState(QSettings* settings) const settings->setValue(QLatin1String("CurrentLanguage"), getCurrentLanguage()); settings->setValue(QLatin1String("ObjectField"), getObjectField()); settings->setValue(QLatin1String("DataObject"), getDataObject()); - settings->setValue(QLatin1String("RangeLimit"), range()); + settings->setValue(QLatin1String("RangeLimit"), getCondition()); settings->setValue(QLatin1String("Value1"), singleValue()); settings->setValue(QLatin1String("Value2"), valueRange2()); settings->setValue(QLatin1String("Sound1"), getSound1()); @@ -139,7 +144,7 @@ void NotificationItem::restoreState(QSettings* settings) setCurrentLanguage(settings->value(QLatin1String("CurrentLanguage"), tr("")).toString()); setDataObject(settings->value(QLatin1String("DataObject"), tr("")).toString()); setObjectField(settings->value(QLatin1String("ObjectField"), tr("")).toString()); - setRange(settings->value(QLatin1String("RangeLimit"), tr("")).toString()); + setCondition(settings->value(QLatin1String("RangeLimit"), tr("")).toInt()); setSound1(settings->value(QLatin1String("Sound1"), tr("")).toString()); setSound2(settings->value(QLatin1String("Sound2"), tr("")).toString()); setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); @@ -152,13 +157,14 @@ void NotificationItem::restoreState(QSettings* settings) setMute(settings->value(QLatin1String("Mute"), tr("")).toInt()); } -void NotificationItem::seriaize(QDataStream& stream) +void NotificationItem::serialize(QDataStream& stream) { stream << this->_soundCollectionPath; stream << this->_currentLanguage; stream << this->_dataObject; stream << this->_objectField; - stream << this->_rangeLimit; + stream << this->_condition; + qNotifyDebug()<<"getOptionsPageValues seriaize"<<_condition; stream << this->_sound1; stream << this->_sound2; stream << this->_sound3; @@ -170,13 +176,13 @@ void NotificationItem::seriaize(QDataStream& stream) stream << this->_mute; } -void NotificationItem::deseriaize(QDataStream& stream) +void NotificationItem::deserialize(QDataStream& stream) { stream >> this->_soundCollectionPath; stream >> this->_currentLanguage; stream >> this->_dataObject; stream >> this->_objectField; - stream >> this->_rangeLimit; + stream >> this->_condition; stream >> this->_sound1; stream >> this->_sound2; stream >> this->_sound3; @@ -252,7 +258,7 @@ void NotificationItem::disposeExpireTimer() int getValuePosition(QString sayOrder) { - return NotificationItem::sayOrderValues.indexOf(sayOrder); + return NotificationItem::sayOrderValues.indexOf(sayOrder)-1; } QString NotificationItem::checkSoundExists(QString fileName) @@ -275,11 +281,16 @@ QString NotificationItem::checkSoundExists(QString fileName) QStringList valueToSoundList(QString value) { + // replace point chr if exists value = value.replace(',', '.'); QStringList numberParts = value.trimmed().split("."); QStringList digitWavs; - + if(numberParts.at(0).toInt()<0) + { + digitWavs.append("moved"); + numberParts[0]=QString::number(numberParts.at(0).toInt()*-1); + } if ( (numberParts.at(0).size() == 1) || (numberParts.at(0).toInt() < 20) ) { // [1] check, is this number < 20, these numbers played by one wav file digitWavs.append(numberParts.at(0)); diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 5ac05776a..601bd157d 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -246,7 +246,7 @@ void SoundNotifyPlugin::on_arrived_Notification(UAVObject *object) // notification can be accepted again; // 2. Once time notifications, they removed immediately after first playing; // 3. Instant notifications(played one by one without interval); - if (ntf->retryString() != "Repeat Instantly" && + if (ntf->retryString() != "Repeat Instantly" && ntf->retryString() != "Repeat Once per update" && ntf->retryString() != "Repeat Once" && ntf->_isPlayed) continue; @@ -345,6 +345,7 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst NotificationItem* notification = _pendingNotifications.takeFirst(); qNotifyDebug_if(notification) << "play audioFree - " << notification->toString(); playNotification(notification); + qNotifyDebug()<<"end playNotification"; } } else { if (newstate == Phonon::ErrorState) { @@ -356,13 +357,13 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst } } -bool checkRange(QString fieldValue, QString enumValue, QStringList values, char direction) +bool checkRange(QString fieldValue, QString enumValue, QStringList values, int direction) { bool ret = false; switch(direction) { - case 'E': + case NotificationItem::equal: ret = !QString::compare(enumValue, fieldValue, Qt::CaseInsensitive) ? true : false; break; @@ -373,21 +374,21 @@ bool checkRange(QString fieldValue, QString enumValue, QStringList values, char return ret; } -bool checkRange(double fieldValue, double min, double max, char direction) +bool checkRange(double fieldValue, double min, double max, int direction) { bool ret = false; Q_ASSERT(min < max); switch(direction) { - case 'E': + case NotificationItem::equal: ret = (fieldValue == min); break; - case 'G': + case NotificationItem::bigger: ret = (fieldValue > min); break; - case 'L': + case NotificationItem::smaller: ret = (fieldValue < min); break; @@ -406,7 +407,7 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA if (notification->mute()) return; - QString direction = notification->range(); + int direction = notification->getCondition(); QString fieldName = notification->getObjectField(); UAVObjectField* field = object->getField(fieldName); @@ -415,15 +416,25 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA QVariant value = field->getValue(); if(UAVObjectField::ENUM == field->getType()) { + qNotifyDebug()<<"Check range ENUM"<singleValue().toString()<<"|"<getOptions()<<"|"<< + direction<singleValue().toString(), + field->getOptions(), + direction);; condition = checkRange(value.toString(), notification->singleValue().toString(), field->getOptions(), - direction[0].toAscii()); + direction); } else { + qNotifyDebug()<<"Check range VAL"<singleValue().toString()<<"|"<getOptions()<<"|"<< + direction<singleValue().toDouble(), + notification->valueRange2(), + direction); condition = checkRange(value.toDouble(), notification->singleValue().toDouble(), notification->valueRange2(), - direction[0].toAscii()); + direction); } notification->_isPlayed = condition; @@ -431,9 +442,11 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA // we should reset _isPlayed flag and stop repeat timer if (!notification->_isPlayed) { notification->stopTimer(); + notification->setCurrentUpdatePlayed(false); return; } - + if(notification->retryString() == "Repeat Once per update" && notification->getCurrentUpdatePlayed()) + return; volatile QMutexLocker lock(&_mutex); if (!playNotification(notification)) { @@ -473,7 +486,10 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) if (notification->retryString() == "Repeat Once") { _toRemoveNotifications.append(_notificationList.takeAt(_notificationList.indexOf(notification))); - } else { + } + else if(notification->retryString() == "Repeat Once per update") + notification->setCurrentUpdatePlayed(true); + else { if (notification->retryString() != "Repeat Instantly") { QRegExp rxlen("(\\d+)"); QString value; @@ -505,7 +521,9 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) ms->setAutoDelete(true); phonon.mo->enqueue(*ms); } + qNotifyDebug()<<"begin play"; phonon.mo->play(); + qNotifyDebug()<<"end play"; phonon.firstPlay = false; // On Linux, you sometimes have to nudge Phonon to play 1 time before // the state is not "Loading" anymore. return true; diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index 49b274e38..5eaf13efa 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -57,7 +57,7 @@ NotifyPluginOptionsPage::NotifyPluginOptionsPage(QObject *parent) : IOptionsPage(parent) , _objManager(*ExtensionSystem::PluginManager::instance()->getObject()) , _owner(qobject_cast(parent)) - , _dynamicFieldLimit(NULL) + , _dynamicFieldCondition(NULL) , _dynamicFieldWidget(NULL) , _dynamicFieldType(-1) , _sayOrder(NULL) @@ -74,7 +74,7 @@ QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) //main widget QWidget* optionsPageWidget = new QWidget; _dynamicFieldWidget = NULL; - _dynamicFieldLimit = NULL; + _dynamicFieldCondition = NULL; resetFieldType(); //save ref to form, needed for binding dynamic fields in future _form = optionsPageWidget; @@ -224,8 +224,8 @@ void NotifyPluginOptionsPage::addDynamicFieldLayout() labelValueIs->setSizePolicy(labelSizePolicy); _optionsPage->dynamicValueLayout->addWidget(labelValueIs); - _dynamicFieldLimit = new QComboBox(_form); - _optionsPage->dynamicValueLayout->addWidget(_dynamicFieldLimit); + _dynamicFieldCondition = new QComboBox(_form); + _optionsPage->dynamicValueLayout->addWidget(_dynamicFieldCondition); UAVObjectField* field = getObjectFieldFromSelected(); addDynamicField(field); } @@ -245,23 +245,42 @@ void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) return; } - disconnect(_dynamicFieldLimit, SIGNAL(currentIndexChanged(QString)), + disconnect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_changedIndex_rangeValue(QString))); - _dynamicFieldLimit->clear(); + _dynamicFieldCondition->clear(); QStringList rangeValues; + QList rangeCode; if (UAVObjectField::ENUM == objField->getType()) { rangeValues << cStrEqualTo << cStrInRange; - _dynamicFieldLimit->addItems(rangeValues); - _dynamicFieldLimit->setCurrentIndex(rangeValues.indexOf(_selectedNotification->range())); + rangeCode<addItem(value,rangeCode[x]); + if(_selectedNotification->getCondition()==rangeCode[x]) + selected=x; + ++x; + } + qNotifyDebug()<<"setcurrentindex"<setCurrentIndex(selected); } else { rangeValues << cStrEqualTo << cStrLargeThan << cStrLowerThan << cStrInRange; - _dynamicFieldLimit->addItems(rangeValues); - connect(_dynamicFieldLimit, SIGNAL(currentIndexChanged(QString)), + rangeCode<addItem(value,rangeCode[x]); + if(_selectedNotification->getCondition()==rangeCode[x]) + selected=x; + ++x; + } + qNotifyDebug()<<"setcurrentindex"<setCurrentIndex(selected); + connect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_changedIndex_rangeValue(QString))); } - addDynamicFieldWidget(objField); } @@ -295,16 +314,16 @@ void NotifyPluginOptionsPage::addDynamicFieldWidget(UAVObjectField* objField) break; default: - Q_ASSERT(_dynamicFieldLimit); - if (_dynamicFieldLimit->currentText() == cStrInRange) { + Q_ASSERT(_dynamicFieldCondition); + if (_dynamicFieldCondition->currentText() == cStrInRange) { _dynamicFieldWidget = new QLineEdit(_form); - (static_cast(_dynamicFieldWidget))->setInputMask("999.99 - 999.99;"); + (static_cast(_dynamicFieldWidget))->setInputMask("#999.99 : #999.99;"); (static_cast(_dynamicFieldWidget))->setText("0000000000"); (static_cast(_dynamicFieldWidget))->setCursorPosition(0); } else { _dynamicFieldWidget = new QDoubleSpinBox(_form); - (dynamic_cast(_dynamicFieldWidget))->setRange(000.00, 999.99); + (dynamic_cast(_dynamicFieldWidget))->setRange(-999.99, 999.99); } break; }; @@ -351,7 +370,8 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio notification->setSound2(_optionsPage->Sound2->currentText()); notification->setSound3(_optionsPage->Sound3->currentText()); notification->setSayOrder(_sayOrder->currentText()); - notification->setRange(_dynamicFieldLimit->currentText()); + notification->setCondition(_dynamicFieldCondition->itemData(_dynamicFieldCondition->currentIndex()).toInt()); + qNotifyDebug()<<"getOptionsPageValues SETRANGE"<<_dynamicFieldCondition->currentIndex()<<_dynamicFieldCondition->itemData(_dynamicFieldCondition->currentIndex()).toInt(); if (QDoubleSpinBox* spinValue = dynamic_cast(_dynamicFieldWidget)) notification->setSingleValue(spinValue->value()); else { @@ -360,7 +380,7 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio else { if (QLineEdit* rangeValue = dynamic_cast(_dynamicFieldWidget)) { QString str = rangeValue->text(); - QStringList range = str.split('-'); + QStringList range = str.split(':'); notification->setSingleValue(range.at(0).toDouble()); notification->setValueRange2(range.at(1).toDouble()); } @@ -435,11 +455,12 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3())); } - - if (-1 != _dynamicFieldLimit->findText(notification->range())) { - _dynamicFieldLimit->setCurrentIndex(_dynamicFieldLimit->findText(notification->range())); + for(int x=0;x<_dynamicFieldCondition->count();++x) + { + if (_dynamicFieldCondition->itemData(x)==notification->getCondition()) { + _dynamicFieldCondition->setCurrentIndex(x); + } } - if (-1 != _sayOrder->findText(notification->getSayOrder())) { _sayOrder->setCurrentIndex(_sayOrder->findText(notification->getSayOrder())); } @@ -505,6 +526,7 @@ void NotifyPluginOptionsPage::on_changedIndex_soundLanguage(int index) _optionsPage->Sound1->clear(); _optionsPage->Sound2->clear(); _optionsPage->Sound3->clear(); + _optionsPage->Sound1->addItem(""); _optionsPage->Sound1->addItems(listSoundFiles); _optionsPage->Sound2->addItem(""); _optionsPage->Sound2->addItems(listSoundFiles); diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index b270e72a0..317515aaf 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -152,7 +152,7 @@ private: QScopedPointer _optionsPage; //! Widget to convinient selection of condition for field value (equal, lower, greater) - QComboBox* _dynamicFieldLimit; + QComboBox* _dynamicFieldCondition; //! Represents edit widget for dynamic UAVObjectfield, //! can be spinbox - for numerics, combobox - enums, or From b45044b8c35a9bd286dabe9e3425c903b44068de Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 6 Dec 2011 09:59:28 +0000 Subject: [PATCH 014/121] Changed conditions base on strings to enums. --- .../src/plugins/notify/NotificationItem.h | 17 ++-- .../src/plugins/notify/notificationitem.cpp | 52 +++++-------- .../src/plugins/notify/notifyplugin.cpp | 26 +++---- .../notify/notifypluginoptionspage.cpp | 78 +++++++------------ .../plugins/notify/notifypluginoptionspage.h | 3 +- .../src/plugins/notify/notifytablemodel.cpp | 4 +- 6 files changed, 74 insertions(+), 106 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h index e64609a53..1475fd64f 100644 --- a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h +++ b/ground/openpilotgcs/src/plugins/notify/NotificationItem.h @@ -49,7 +49,10 @@ class NotificationItem : public QObject public: enum { eDefaultTimeout = 15 }; // in sec - enum {equal,bigger,smaller,inrange}; + enum {never,beforeFirst,beforeSecond,afterSecond}; + enum {repeatOncePerUpdate,repeatOnce,repeatInstantly,repeat10seconds, + repeat30seconds,repeat1minute}; + explicit NotificationItem(QObject *parent = 0); void copyTo(NotificationItem*) const; @@ -64,8 +67,8 @@ public: int getCondition() const { return _condition; } void setCondition(int value) { _condition = value; } - QString getSayOrder() const { return _sayOrder; } - void setSayOrder(QString text) { _sayOrder = text; } + int getSayOrder() const { return _sayOrder; } + void setSayOrder(int text) { _sayOrder = text; } QVariant singleValue() const { return _singleValue; } void setSingleValue(QVariant value) { _singleValue = value; } @@ -88,8 +91,8 @@ public: QStringList getMessageSequence() const { return _messageSequence; } void setMessageSequence(QStringList sequence) { _messageSequence = sequence; } - QString retryString() const { return _repeatString; } - void setRetryString(QString value) { _repeatString = value; } + int retryValue() const { return _repeatValue; } + void setRetryValue(int value) { _repeatValue = value; } int lifetime() const { return _expireTimeout; } void setLifetime(int value) { _expireTimeout = value; } @@ -189,7 +192,7 @@ private: QString _sound3; //! order in what sounds 1-3 will be played - QString _sayOrder; + int _sayOrder; //! one-side range, value(numeric or ENUM type) maybe lower, greater or in range QVariant _singleValue; @@ -199,7 +202,7 @@ private: double _valueRange2; //! how often or what periodicaly notification should be played - QString _repeatString; + int _repeatValue; //! time after event occured till notification became invalid //! and will be removed from list diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index 68674bc90..0506840ec 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -40,18 +40,7 @@ #include "notifylogging.h" -static const QString cStrNever("Never"); -static const QString cStrBefore1st("Before first"); -static const QString cStrBefore2nd("Before second"); -static const QString cStrAfter2nd("After second"); -static const QString cStrRetryOncePUpdate("Repeat Once per update"); -static const QString cStrRetryOnce("Repeat Once"); - -static const QString cStrRetryInstantly("Repeat Instantly"); -static const QString cStrRetry10sec("Repeat 10 seconds"); -static const QString cStrRetry30sec("Repeat 30 seconds"); -static const QString cStrRetry1min("Repeat 1 minute"); QStringList NotificationItem::sayOrderValues; @@ -73,26 +62,27 @@ NotificationItem::NotificationItem(QObject *parent) , _sound1("") , _sound2("") , _sound3("") - , _sayOrder(cStrNever) + , _sayOrder(never) , _singleValue(0) , _valueRange2(0) - , _repeatString(cStrRetryInstantly) + , _repeatValue(repeatInstantly) , _expireTimeout(eDefaultTimeout) , _mute(false) { + NotificationItem::sayOrderValues.clear(); - NotificationItem::sayOrderValues.append(cStrNever); - NotificationItem::sayOrderValues.append(cStrBefore1st); - NotificationItem::sayOrderValues.append(cStrBefore2nd); - NotificationItem::sayOrderValues.append(cStrAfter2nd); + NotificationItem::sayOrderValues.insert(never,QString(tr("Never"))); + NotificationItem::sayOrderValues.insert(beforeFirst,QString(tr("Before first"))); + NotificationItem::sayOrderValues.insert(beforeSecond,QString(tr("Before second"))); + NotificationItem::sayOrderValues.insert(afterSecond,QString(tr("After second"))); NotificationItem::retryValues.clear(); - NotificationItem::retryValues.append(cStrRetryOnce); - NotificationItem::retryValues.append(cStrRetryOncePUpdate); - NotificationItem::retryValues.append(cStrRetryInstantly); - NotificationItem::retryValues.append(cStrRetry10sec); - NotificationItem::retryValues.append(cStrRetry30sec); - NotificationItem::retryValues.append(cStrRetry1min); + NotificationItem::retryValues.insert(repeatOnce,QString(tr("Repeat Once"))); + NotificationItem::retryValues.insert(repeatOncePerUpdate,QString(tr("Repeat Once per update"))); + NotificationItem::retryValues.insert(repeatInstantly,QString(tr("Repeat Instantly"))); + NotificationItem::retryValues.insert(repeat10seconds,QString(tr("Repeat 10 seconds"))); + NotificationItem::retryValues.insert(repeat30seconds,QString(tr("Repeat 30 seconds"))); + NotificationItem::retryValues.insert(repeat1minute,QString(tr("Repeat 1 minute"))); } @@ -112,7 +102,7 @@ void NotificationItem::copyTo(NotificationItem* that) const that->_sayOrder = _sayOrder; that->_singleValue = _singleValue; that->_valueRange2 = _valueRange2; - that->_repeatString = _repeatString; + that->_repeatValue = _repeatValue; that->_expireTimeout = _expireTimeout; that->_mute = _mute; @@ -132,7 +122,7 @@ void NotificationItem::saveState(QSettings* settings) const settings->setValue(QLatin1String("Sound2"), getSound2()); settings->setValue(QLatin1String("Sound3"), getSound3()); settings->setValue(QLatin1String("SayOrder"), getSayOrder()); - settings->setValue(QLatin1String("Repeat"), retryString()); + settings->setValue(QLatin1String("Repeat"), retryValue()); settings->setValue(QLatin1String("ExpireTimeout"), lifetime()); settings->setValue(QLatin1String("Mute"), mute()); } @@ -148,11 +138,11 @@ void NotificationItem::restoreState(QSettings* settings) setSound1(settings->value(QLatin1String("Sound1"), tr("")).toString()); setSound2(settings->value(QLatin1String("Sound2"), tr("")).toString()); setSound3(settings->value(QLatin1String("Sound3"), tr("")).toString()); - setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toString()); + setSayOrder(settings->value(QLatin1String("SayOrder"), tr("")).toInt()); QVariant value = settings->value(QLatin1String("Value1"), tr("")); setSingleValue(value); setValueRange2(settings->value(QLatin1String("Value2"), tr("")).toDouble()); - setRetryString(settings->value(QLatin1String("Repeat"), tr("")).toString()); + setRetryValue(settings->value(QLatin1String("Repeat"), tr("")).toInt()); setLifetime(settings->value(QLatin1String("ExpireTimeout"), tr("")).toInt()); setMute(settings->value(QLatin1String("Mute"), tr("")).toInt()); } @@ -171,7 +161,7 @@ void NotificationItem::serialize(QDataStream& stream) stream << this->_sayOrder; stream << this->_singleValue; stream << this->_valueRange2; - stream << this->_repeatString; + stream << this->_repeatValue; stream << this->_expireTimeout; stream << this->_mute; } @@ -189,7 +179,7 @@ void NotificationItem::deserialize(QDataStream& stream) stream >> this->_sayOrder; stream >> this->_singleValue; stream >> this->_valueRange2; - stream >> this->_repeatString; + stream >> this->_repeatValue; stream >> this->_expireTimeout; stream >> this->_mute; } @@ -356,7 +346,7 @@ QString NotificationItem::toString() UAVObjectField* field = getUAVObjectField(); QString value = stringFromValue(singleValue(), field); - int pos = getValuePosition(getSayOrder().trimmed()); + int pos = getSayOrder()-1; QStringList lst; lst.append(getSoundCaption(getSound1())); lst.append(getSoundCaption(getSound2())); @@ -391,7 +381,7 @@ QStringList& NotificationItem::toSoundList() // generate queue of sound files to play _messageSequence.clear(); - int pos = getValuePosition(getSayOrder().trimmed()); + int pos = getSayOrder()-1; QStringList lst; if(!getSound1().isEmpty()) lst.append(getSound1()); diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 601bd157d..9acb4b6f3 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -246,8 +246,8 @@ void SoundNotifyPlugin::on_arrived_Notification(UAVObject *object) // notification can be accepted again; // 2. Once time notifications, they removed immediately after first playing; // 3. Instant notifications(played one by one without interval); - if (ntf->retryString() != "Repeat Instantly" && ntf->retryString() != "Repeat Once per update" && - ntf->retryString() != "Repeat Once" && ntf->_isPlayed) + if (ntf->retryValue() != NotificationItem::repeatInstantly && ntf->retryValue() != NotificationItem::repeatOncePerUpdate && + ntf->retryValue() != NotificationItem::repeatOnce && ntf->_isPlayed) continue; qNotifyDebug() << QString("new notification: | %1 | %2 | val1: %3 | val2: %4") @@ -363,7 +363,7 @@ bool checkRange(QString fieldValue, QString enumValue, QStringList values, int d bool ret = false; switch(direction) { - case NotificationItem::equal: + case NotifyPluginOptionsPage::equal: ret = !QString::compare(enumValue, fieldValue, Qt::CaseInsensitive) ? true : false; break; @@ -377,18 +377,18 @@ bool checkRange(QString fieldValue, QString enumValue, QStringList values, int d bool checkRange(double fieldValue, double min, double max, int direction) { bool ret = false; - Q_ASSERT(min < max); + //Q_ASSERT(min < max); switch(direction) { - case NotificationItem::equal: + case NotifyPluginOptionsPage::equal: ret = (fieldValue == min); break; - case NotificationItem::bigger: + case NotifyPluginOptionsPage::bigger: ret = (fieldValue > min); break; - case NotificationItem::smaller: + case NotifyPluginOptionsPage::smaller: ret = (fieldValue < min); break; @@ -445,7 +445,7 @@ void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UA notification->setCurrentUpdatePlayed(false); return; } - if(notification->retryString() == "Repeat Once per update" && notification->getCurrentUpdatePlayed()) + if(notification->retryValue() == NotificationItem::repeatOncePerUpdate && notification->getCurrentUpdatePlayed()) return; volatile QMutexLocker lock(&_mutex); @@ -484,17 +484,17 @@ bool SoundNotifyPlugin::playNotification(NotificationItem* notification) _nowPlayingNotification = notification; notification->stopExpireTimer(); - if (notification->retryString() == "Repeat Once") { + if (notification->retryValue() == NotificationItem::repeatOnce) { _toRemoveNotifications.append(_notificationList.takeAt(_notificationList.indexOf(notification))); } - else if(notification->retryString() == "Repeat Once per update") + else if(notification->retryValue() == NotificationItem::repeatOncePerUpdate) notification->setCurrentUpdatePlayed(true); else { - if (notification->retryString() != "Repeat Instantly") { + if (notification->retryValue() != NotificationItem::repeatInstantly) { QRegExp rxlen("(\\d+)"); QString value; - int timer_value; - int pos = rxlen.indexIn(notification->retryString()); + int timer_value=0; + int pos = rxlen.indexIn(NotificationItem::retryValues.at(notification->retryValue())); if (pos > -1) { value = rxlen.cap(1); // "189" diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index 5eaf13efa..b7cc977c6 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -47,11 +47,7 @@ #include "notifytablemodel.h" #include "notifylogging.h" -static const char* cStrEqualTo = "Equal to"; -static const char* cStrLargeThan = "Large than"; -static const char* cStrLowerThan = "Lower than"; -static const char* cStrInRange = "In range"; - +QStringList NotifyPluginOptionsPage::conditionValues; NotifyPluginOptionsPage::NotifyPluginOptionsPage(QObject *parent) : IOptionsPage(parent) @@ -63,7 +59,13 @@ NotifyPluginOptionsPage::NotifyPluginOptionsPage(QObject *parent) , _sayOrder(NULL) , _form(NULL) , _selectedNotification(NULL) -{} +{ + NotifyPluginOptionsPage::conditionValues.insert(equal,tr("Equal to")); + NotifyPluginOptionsPage::conditionValues.insert(bigger,tr("Large than")); + NotifyPluginOptionsPage::conditionValues.insert(smaller,tr("Lower than")); + NotifyPluginOptionsPage::conditionValues.insert(inrange,tr("In range")); + +} NotifyPluginOptionsPage::~NotifyPluginOptionsPage() {} @@ -246,41 +248,19 @@ void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField) } disconnect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_changedIndex_rangeValue(QString))); + this, SLOT(on_changedIndex_rangeValue(QString))); _dynamicFieldCondition->clear(); - QStringList rangeValues; - QList rangeCode; + _dynamicFieldCondition->addItems(NotifyPluginOptionsPage::conditionValues); if (UAVObjectField::ENUM == objField->getType()) { - rangeValues << cStrEqualTo << cStrInRange; - rangeCode<addItem(value,rangeCode[x]); - if(_selectedNotification->getCondition()==rangeCode[x]) - selected=x; - ++x; - } - qNotifyDebug()<<"setcurrentindex"<setCurrentIndex(selected); - - } else { - rangeValues << cStrEqualTo << cStrLargeThan << cStrLowerThan << cStrInRange; - rangeCode<addItem(value,rangeCode[x]); - if(_selectedNotification->getCondition()==rangeCode[x]) - selected=x; - ++x; - } - qNotifyDebug()<<"setcurrentindex"<setCurrentIndex(selected); - connect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)), - this, SLOT(on_changedIndex_rangeValue(QString))); + _dynamicFieldCondition->removeItem(smaller); + _dynamicFieldCondition->removeItem(bigger); } + _dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(_selectedNotification->getCondition()))); + + connect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)), + this, SLOT(on_changedIndex_rangeValue(QString))); + addDynamicFieldWidget(objField); } @@ -315,7 +295,7 @@ void NotifyPluginOptionsPage::addDynamicFieldWidget(UAVObjectField* objField) default: Q_ASSERT(_dynamicFieldCondition); - if (_dynamicFieldCondition->currentText() == cStrInRange) { + if (NotifyPluginOptionsPage::conditionValues.indexOf(_dynamicFieldCondition->currentText()) == NotifyPluginOptionsPage::inrange) { _dynamicFieldWidget = new QLineEdit(_form); (static_cast(_dynamicFieldWidget))->setInputMask("#999.99 : #999.99;"); @@ -369,9 +349,8 @@ void NotifyPluginOptionsPage::getOptionsPageValues(NotificationItem* notificatio notification->setSound1(_optionsPage->Sound1->currentText()); notification->setSound2(_optionsPage->Sound2->currentText()); notification->setSound3(_optionsPage->Sound3->currentText()); - notification->setSayOrder(_sayOrder->currentText()); - notification->setCondition(_dynamicFieldCondition->itemData(_dynamicFieldCondition->currentIndex()).toInt()); - qNotifyDebug()<<"getOptionsPageValues SETRANGE"<<_dynamicFieldCondition->currentIndex()<<_dynamicFieldCondition->itemData(_dynamicFieldCondition->currentIndex()).toInt(); + notification->setSayOrder(_sayOrder->currentIndex()); + notification->setCondition(NotifyPluginOptionsPage::conditionValues.indexOf(_dynamicFieldCondition->currentText())); if (QDoubleSpinBox* spinValue = dynamic_cast(_dynamicFieldWidget)) notification->setSingleValue(spinValue->value()); else { @@ -455,15 +434,10 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3())); } - for(int x=0;x<_dynamicFieldCondition->count();++x) - { - if (_dynamicFieldCondition->itemData(x)==notification->getCondition()) { - _dynamicFieldCondition->setCurrentIndex(x); - } - } - if (-1 != _sayOrder->findText(notification->getSayOrder())) { - _sayOrder->setCurrentIndex(_sayOrder->findText(notification->getSayOrder())); - } + + _dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(notification->getCondition()))); + + _sayOrder->setCurrentIndex(notification->getSayOrder()); setDynamicFieldValue(notification); @@ -613,7 +587,7 @@ void NotifyPluginOptionsPage::on_clicked_buttonAddNotification() delete notification; return; } else { - notification->setSayOrder(_sayOrder->currentText()); + notification->setSayOrder(_sayOrder->currentIndex()); } _notifyRulesModel->entryAdded(notification); @@ -638,7 +612,7 @@ void NotifyPluginOptionsPage::on_clicked_buttonModifyNotification() { NotificationItem* notification = new NotificationItem; getOptionsPageValues(notification); - notification->setRetryString(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryString()); + notification->setRetryValue(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->retryValue()); notification->setLifetime(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->lifetime()); notification->setMute(_privListNotifications.at(_notifyRulesSelection->currentIndex().row())->mute()); diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h index 317515aaf..fb3c2885d 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.h @@ -60,7 +60,7 @@ class NotifyPluginOptionsPage : public IOptionsPage Q_OBJECT public: - + enum {equal,bigger,smaller,inrange}; explicit NotifyPluginOptionsPage(QObject *parent = 0); ~NotifyPluginOptionsPage(); QString id() const { return QLatin1String("settings"); } @@ -72,6 +72,7 @@ public: void apply(); void finish(); void restoreFromSettings(); + static QStringList conditionValues; signals: void updateNotifications(QList list); diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp index ed4eb0e56..d4913ed97 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.cpp @@ -52,7 +52,7 @@ bool NotifyTableModel::setData(const QModelIndex &index, } if (index.isValid() && role == Qt::EditRole) { if (eRepeatValue == index.column()) - _list.at(index.row())->setRetryString(value.toString()); + _list.at(index.row())->setRetryValue(NotificationItem::retryValues.indexOf(value.toString())); else { if (eExpireTimer == index.column()) _list.at(index.row())->setLifetime(value.toInt()); @@ -85,7 +85,7 @@ QVariant NotifyTableModel::data(const QModelIndex &index, int role) const return _list.at(index.row())->toString(); case eRepeatValue: - return _list.at(index.row())->retryString(); + return (NotificationItem::retryValues.at(_list.at(index.row())->retryValue())); case eExpireTimer: return _list.at(index.row())->lifetime(); From f18c980c4ef5b44bb7a44ff6c41aef1600491201 Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 6 Dec 2011 13:13:20 +0000 Subject: [PATCH 015/121] Small bug fix. Added minus.wav witch is a copy of magic.was. 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implementation. Uses the standard OP package system front end then connects into the Debian Package manager for package building. Should work on both i386 and amd64 systems. Auto determins and runtime which system it is building on and produces an appropriate package for the platform in the build dir. --- package/Makefile.linux | 69 ++++- package/linux/45-openpilot-permissions.rules | 13 + package/linux/deb_amd64/control | 15 + package/linux/deb_common/changelog | 5 + package/linux/deb_common/compat | 1 + package/linux/deb_common/copyright | 37 +++ package/linux/deb_common/docs | 0 package/linux/deb_common/init.d.ex | 154 +++++++++ package/linux/deb_common/manpage.1.ex | 59 ++++ package/linux/deb_common/manpage.sgml.ex | 154 +++++++++ package/linux/deb_common/manpage.xml.ex | 291 ++++++++++++++++++ package/linux/deb_common/menu.ex | 2 + package/linux/deb_common/openpilot.cron.d.ex | 4 + .../linux/deb_common/openpilot.debhelper.log | 15 + package/linux/deb_common/openpilot.default.ex | 10 + package/linux/deb_common/openpilot.dirs | 7 + .../linux/deb_common/openpilot.doc-base.EX | 20 ++ package/linux/deb_common/openpilot.substvars | 2 + package/linux/deb_common/postinst | 40 +++ package/linux/deb_common/postinst.ex | 39 +++ package/linux/deb_common/postrm.ex | 37 +++ package/linux/deb_common/preinst.ex | 35 +++ package/linux/deb_common/prerm.ex | 38 +++ package/linux/deb_common/rules | 81 +++++ package/linux/deb_common/watch.ex | 23 ++ package/linux/deb_i386/control | 15 + package/linux/openpilot.desktop | 12 + package/linux/openpilot.png | Bin 0 -> 2713 bytes package/linux/rc_applications.directory | 5 + package/linux/rc_applications.menu | 12 + package/linux/rc_applications.png | Bin 0 -> 644 bytes 31 files changed, 1193 insertions(+), 2 deletions(-) create mode 100644 package/linux/45-openpilot-permissions.rules create mode 100644 package/linux/deb_amd64/control create mode 100644 package/linux/deb_common/changelog create mode 100644 package/linux/deb_common/compat create mode 100644 package/linux/deb_common/copyright create mode 100644 package/linux/deb_common/docs create mode 100644 package/linux/deb_common/init.d.ex create mode 100644 package/linux/deb_common/manpage.1.ex create mode 100644 package/linux/deb_common/manpage.sgml.ex create mode 100644 package/linux/deb_common/manpage.xml.ex create mode 100644 package/linux/deb_common/menu.ex create mode 100644 package/linux/deb_common/openpilot.cron.d.ex create mode 100644 package/linux/deb_common/openpilot.debhelper.log create mode 100644 package/linux/deb_common/openpilot.default.ex create mode 100644 package/linux/deb_common/openpilot.dirs create mode 100644 package/linux/deb_common/openpilot.doc-base.EX create mode 100644 package/linux/deb_common/openpilot.substvars create mode 100644 package/linux/deb_common/postinst create mode 100644 package/linux/deb_common/postinst.ex create mode 100644 package/linux/deb_common/postrm.ex create mode 100644 package/linux/deb_common/preinst.ex create mode 100644 package/linux/deb_common/prerm.ex create mode 100755 package/linux/deb_common/rules create mode 100644 package/linux/deb_common/watch.ex create mode 100644 package/linux/deb_i386/control create mode 100644 package/linux/openpilot.desktop create mode 100755 package/linux/openpilot.png create mode 100644 package/linux/rc_applications.directory create mode 100644 package/linux/rc_applications.menu create mode 100755 package/linux/rc_applications.png diff --git a/package/Makefile.linux b/package/Makefile.linux index c966ff6f2..7bb0afc99 100644 --- a/package/Makefile.linux +++ b/package/Makefile.linux @@ -2,9 +2,74 @@ # Linux-specific packaging # +define CP_DEB_FILES_TEMPLATE +.PHONY: $(1) +$(2)/$(1): $(3)/$(1) + $(V1)cp -a $$< $$@ +endef + +# Update this number for every formal release. The Deb packaging system relies on this to know to update a +# package or not. Otherwise, the user has to uninstall first. +VERNUM := 0.1.0 +VERSION_FULL := $(VERNUM)-$(PACKAGE_LBL) + +FLIGHT_FW := coptercontrol revolution + +DEB_BUILD_DIR := $(ROOT_DIR)/debian + +SED_DATE_STRG = $(shell date -R) +SED_SCRIPT = s//$(VERSION_FULL)/;s//$(SED_DATE_STRG)/ + +DEB_CFG_CMN := $(ROOT_DIR)/package/linux/deb_common +DEB_CFG_CMN_FILES := $(shell ls $(DEB_CFG_CMN)) +DEB_CFG_I386_DIR := $(ROOT_DIR)/package/linux/deb_i386 +DEB_CFG_I386_FILES := $(shell ls $(DEB_CFG_I386_DIR)) +DEB_CFG_AMD64_DIR := $(ROOT_DIR)/package/linux/deb_amd64 +DEB_CFG_AMD64_FILES := $(shell ls $(DEB_CFG_AMD64_DIR)) +DEB_PLATFORM := amd64 +DEB_MACHINE_DIR := $(DEB_CFG_AMD64_DIR) +DEB_MACHINE_FILES := $(DEB_CFG_AMD64_FILES) +MACHINE_TYPE := $(shell uname -m) +ifneq ($(MACHINE_TYPE), x86_64) + DEB_PLATFORM := i386 + DEB_MACHINE_DIR := $(DEB_CFG_I386_DIR) + DEB_MACHINE_FILES := $(DEB_CFG_I386_FILES) +endif +ALL_DEB_FILES = $(foreach f, $(DEB_CFG_CMN_FILES), $(DEB_BUILD_DIR)/$(f)) +ALL_DEB_FILES += $(foreach f, $(DEB_MACHINE_FILES), $(DEB_BUILD_DIR)/$(f)) + +DEB_PACKAGE_NAME := openpilot_$(VERSION_FULL)_$(DEB_PLATFORM) + +linux_deb_package: gcs deb_build package_flight + @echo $@ starting + cd .. && dpkg-buildpackage -b + $(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR) + $(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR) + $(V1)rm -rf $(DEB_BUILD_DIR) + +deb_build: | $(DEB_BUILD_DIR) $(ALL_DEB_FILES) + @echo $@ starting + $(V1)$(shell echo $(PACKAGE_DIR) > $(BUILD_DIR)/package_dir) + $(V1)sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog + +$(DEB_BUILD_DIR): + @echo $@ starting + $(V1)mkdir -p $(DEB_BUILD_DIR) + +$(foreach cpfile, $(DEB_CFG_CMN_FILES), $(eval $(call CP_DEB_FILES_TEMPLATE,$(cpfile),$(DEB_BUILD_DIR),$(DEB_CFG_CMN)))) + +$(foreach cpfile, $(DEB_MACHINE_FILES), $(eval $(call CP_DEB_FILES_TEMPLATE,$(cpfile),$(DEB_BUILD_DIR),$(DEB_MACHINE_DIR)))) + gcs: uavobjects + @echo "Linux Package Make of GCS." $(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@ -ground_package: | gcs +identify: + @echo "" + @echo "We are in the Linux Package Make system." + @echo "" + $(V1)rm -rf $(DEB_BUILD_DIR) -.PHONY: gcs ground_package +ground_package: | identify linux_deb_package + +.PHONY: identify gcs ground_package linux_deb_package deb_build $(DEB_BUILD_DIR) diff --git a/package/linux/45-openpilot-permissions.rules b/package/linux/45-openpilot-permissions.rules new file mode 100644 index 000000000..d04d31b7f --- /dev/null +++ b/package/linux/45-openpilot-permissions.rules @@ -0,0 +1,13 @@ + # OpenPilot openpilot flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4117", MODE="0664", GROUP="plugdev" + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415a", MODE="0664", GROUP="plugdev" + # OpenPilot coptercontrol flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415b", MODE="0664", GROUP="plugdev" + # OpenPilot Pipx radio modem board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", MODE="0664", GROUP="plugdev" + # unprogrammed openpilot flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5750", MODE="0664", GROUP="plugdev" + # FTDI FT2232C Dual USB-UART/FIFO IC + SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0664", GROUP="plugdev" + # Olimex Ltd. OpenOCD JTAG TINY + SUBSYSTEM=="usb", ATTRS{idVendor}=="15ba", ATTRS{idProduct}=="0004", MODE="0664", GROUP="plugdev" diff --git a/package/linux/deb_amd64/control b/package/linux/deb_amd64/control new file mode 100644 index 000000000..eab1547b1 --- /dev/null +++ b/package/linux/deb_amd64/control @@ -0,0 +1,15 @@ +Source: openpilot +Section: unknown +Priority: extra +Maintainer: naiiawah +Build-Depends: debhelper (>= 7.0.50~) +Standards-Version: 3.8.4 +Homepage: http://www.openpilot.org +#Vcs-Git: git://git.debian.org/collab-maint/openpilot.git +#Vcs-Browser: http://git.debian.org/?p=collab-maint/openpilot.git;a=summary + +Package: openpilot +Architecture: amd64 +Depends: ${shlibs:Depends}, ${misc:Depends} +Description: OpenPilot GCS & FW + OpenPilot GCS and Firmware for CopterControl (CC) board. diff --git a/package/linux/deb_common/changelog b/package/linux/deb_common/changelog new file mode 100644 index 000000000..c6f9e1519 --- /dev/null +++ b/package/linux/deb_common/changelog @@ -0,0 +1,5 @@ +openpilot () unstable; urgency=low + + * Initial release (testing - unstable) + + -- naiiawah diff --git a/package/linux/deb_common/compat b/package/linux/deb_common/compat new file mode 100644 index 000000000..7f8f011eb --- /dev/null +++ b/package/linux/deb_common/compat @@ -0,0 +1 @@ +7 diff --git a/package/linux/deb_common/copyright b/package/linux/deb_common/copyright new file mode 100644 index 000000000..561d0b327 --- /dev/null +++ b/package/linux/deb_common/copyright @@ -0,0 +1,37 @@ +This work was packaged for Debian by: + + naiiawah on Thu, 27 Oct 2011 01:35:37 -0600 + +It was downloaded from: + + + +Upstream Author(s): + + + + +Copyright: + + + + +License: + + + +The Debian packaging is: + + Copyright (C) 2011 naiiawah + +# Please chose a license for your packaging work. If the program you package +# uses a mainstream license, using the same license is the safest choice. +# Please avoid to pick license terms that are more restrictive than the +# packaged work, as it may make Debian's contributions unacceptable upstream. +# If you just want it to be GPL version 3, leave the following lines in. + +and is licensed under the GPL version 3, +see "/usr/share/common-licenses/GPL-3". + +# Please also look if there are files or directories which have a +# different copyright/license attached and list them here. diff --git a/package/linux/deb_common/docs b/package/linux/deb_common/docs new file mode 100644 index 000000000..e69de29bb diff --git a/package/linux/deb_common/init.d.ex b/package/linux/deb_common/init.d.ex new file mode 100644 index 000000000..fb3e26243 --- /dev/null +++ b/package/linux/deb_common/init.d.ex @@ -0,0 +1,154 @@ +#!/bin/sh +### BEGIN INIT INFO +# Provides: openpilot +# Required-Start: $network $local_fs +# Required-Stop: +# Default-Start: 2 3 4 5 +# Default-Stop: 0 1 6 +# Short-Description: +# Description: +# <...> +# <...> +### END INIT INFO + +# Author: naiiawah + +# PATH should only include /usr/* if it runs after the mountnfs.sh script +PATH=/sbin:/usr/sbin:/bin:/usr/bin +DESC=openpilot # Introduce a short description here +NAME=openpilot # Introduce the short server's name here +DAEMON=/usr/sbin/openpilot # Introduce the server's location here +DAEMON_ARGS="" # Arguments to run the daemon with +PIDFILE=/var/run/$NAME.pid +SCRIPTNAME=/etc/init.d/$NAME + +# Exit if the package is not installed +[ -x $DAEMON ] || exit 0 + +# Read configuration variable file if it is present +[ -r /etc/default/$NAME ] && . /etc/default/$NAME + +# Load the VERBOSE setting and other rcS variables +. /lib/init/vars.sh + +# Define LSB log_* functions. +# Depend on lsb-base (>= 3.0-6) to ensure that this file is present. +. /lib/lsb/init-functions + +# +# Function that starts the daemon/service +# +do_start() +{ + # Return + # 0 if daemon has been started + # 1 if daemon was already running + # 2 if daemon could not be started + start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON --test > /dev/null \ + || return 1 + start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \ + $DAEMON_ARGS \ + || return 2 + # Add code here, if necessary, that waits for the process to be ready + # to handle requests from services started subsequently which depend + # on this one. As a last resort, sleep for some time. +} + +# +# Function that stops the daemon/service +# +do_stop() +{ + # Return + # 0 if daemon has been stopped + # 1 if daemon was already stopped + # 2 if daemon could not be stopped + # other if a failure occurred + start-stop-daemon --stop --quiet --retry=TERM/30/KILL/5 --pidfile $PIDFILE --name $NAME + RETVAL="$?" + [ "$RETVAL" = 2 ] && return 2 + # Wait for children to finish too if this is a daemon that forks + # and if the daemon is only ever run from this initscript. + # If the above conditions are not satisfied then add some other code + # that waits for the process to drop all resources that could be + # needed by services started subsequently. A last resort is to + # sleep for some time. + start-stop-daemon --stop --quiet --oknodo --retry=0/30/KILL/5 --exec $DAEMON + [ "$?" = 2 ] && return 2 + # Many daemons don't delete their pidfiles when they exit. + rm -f $PIDFILE + return "$RETVAL" +} + +# +# Function that sends a SIGHUP to the daemon/service +# +do_reload() { + # + # If the daemon can reload its configuration without + # restarting (for example, when it is sent a SIGHUP), + # then implement that here. + # + start-stop-daemon --stop --signal 1 --quiet --pidfile $PIDFILE --name $NAME + return 0 +} + +case "$1" in + start) + [ "$VERBOSE" != no ] && log_daemon_msg "Starting $DESC " "$NAME" + do_start + case "$?" in + 0|1) [ "$VERBOSE" != no ] && log_end_msg 0 ;; + 2) [ "$VERBOSE" != no ] && log_end_msg 1 ;; + esac + ;; + stop) + [ "$VERBOSE" != no ] && log_daemon_msg "Stopping $DESC" "$NAME" + do_stop + case "$?" in + 0|1) [ "$VERBOSE" != no ] && log_end_msg 0 ;; + 2) [ "$VERBOSE" != no ] && log_end_msg 1 ;; + esac + ;; + status) + status_of_proc "$DAEMON" "$NAME" && exit 0 || exit $? + ;; + #reload|force-reload) + # + # If do_reload() is not implemented then leave this commented out + # and leave 'force-reload' as an alias for 'restart'. + # + #log_daemon_msg "Reloading $DESC" "$NAME" + #do_reload + #log_end_msg $? + #;; + restart|force-reload) + # + # If the "reload" option is implemented then remove the + # 'force-reload' alias + # + log_daemon_msg "Restarting $DESC" "$NAME" + do_stop + case "$?" in + 0|1) + do_start + case "$?" in + 0) log_end_msg 0 ;; + 1) log_end_msg 1 ;; # Old process is still running + *) log_end_msg 1 ;; # Failed to start + esac + ;; + *) + # Failed to stop + log_end_msg 1 + ;; + esac + ;; + *) + #echo "Usage: $SCRIPTNAME {start|stop|restart|reload|force-reload}" >&2 + echo "Usage: $SCRIPTNAME {start|stop|status|restart|force-reload}" >&2 + exit 3 + ;; +esac + +: diff --git a/package/linux/deb_common/manpage.1.ex b/package/linux/deb_common/manpage.1.ex new file mode 100644 index 000000000..1d0199483 --- /dev/null +++ b/package/linux/deb_common/manpage.1.ex @@ -0,0 +1,59 @@ +.\" Hey, EMACS: -*- nroff -*- +.\" First parameter, NAME, should be all caps +.\" Second parameter, SECTION, should be 1-8, maybe w/ subsection +.\" other parameters are allowed: see man(7), man(1) +.TH OPENPILOT SECTION "October 27, 2011" +.\" Please adjust this date whenever revising the manpage. +.\" +.\" Some roff macros, for reference: +.\" .nh disable hyphenation +.\" .hy enable hyphenation +.\" .ad l left justify +.\" .ad b justify to both left and right margins +.\" .nf disable filling +.\" .fi enable filling +.\" .br insert line break +.\" .sp insert n+1 empty lines +.\" for manpage-specific macros, see man(7) +.SH NAME +openpilot \- program to do something +.SH SYNOPSIS +.B openpilot +.RI [ options ] " files" ... +.br +.B bar +.RI [ options ] " files" ... +.SH DESCRIPTION +This manual page documents briefly the +.B openpilot +and +.B bar +commands. +.PP +.\" TeX users may be more comfortable with the \fB\fP and +.\" \fI\fP escape sequences to invode bold face and italics, +.\" respectively. +\fBopenpilot\fP is a program that... +.SH OPTIONS +These programs follow the usual GNU command line syntax, with long +options starting with two dashes (`-'). +A summary of options is included below. +For a complete description, see the Info files. +.TP +.B \-h, \-\-help +Show summary of options. +.TP +.B \-v, \-\-version +Show version of program. +.SH SEE ALSO +.BR bar (1), +.BR baz (1). +.br +The programs are documented fully by +.IR "The Rise and Fall of a Fooish Bar" , +available via the Info system. +.SH AUTHOR +openpilot was written by . +.PP +This manual page was written by naiiawah , +for the Debian project (and may be used by others). diff --git a/package/linux/deb_common/manpage.sgml.ex b/package/linux/deb_common/manpage.sgml.ex new file mode 100644 index 000000000..76b474e3e --- /dev/null +++ b/package/linux/deb_common/manpage.sgml.ex @@ -0,0 +1,154 @@ + manpage.1'. You may view + the manual page with: `docbook-to-man manpage.sgml | nroff -man | + less'. A typical entry in a Makefile or Makefile.am is: + +manpage.1: manpage.sgml + docbook-to-man $< > $@ + + + The docbook-to-man binary is found in the docbook-to-man package. + Please remember that if you create the nroff version in one of the + debian/rules file targets (such as build), you will need to include + docbook-to-man in your Build-Depends control field. + + --> + + + FIRSTNAME"> + SURNAME"> + + October 27, 2011"> + + SECTION"> + naiiawah@none"> + + OPENPILOT"> + + + Debian"> + GNU"> + GPL"> +]> + + + +

+ &dhemail; +
+ + &dhfirstname; + &dhsurname; + + + 2003 + &dhusername; + + &dhdate; + + + &dhucpackage; + + &dhsection; + + + &dhpackage; + + program to do something + + + + &dhpackage; + + + + + + + + DESCRIPTION + + This manual page documents briefly the + &dhpackage; and bar + commands. + + This manual page was written for the &debian; distribution + because the original program does not have a manual page. + Instead, it has documentation in the &gnu; + Info format; see below. + + &dhpackage; is a program that... + + + + OPTIONS + + These programs follow the usual &gnu; command line syntax, + with long options starting with two dashes (`-'). A summary of + options is included below. For a complete description, see the + Info files. + + + + + + + + Show summary of options. + + + + + + + + Show version of program. + + + + + + SEE ALSO + + bar (1), baz (1). + + The programs are documented fully by The Rise and + Fall of a Fooish Bar available via the + Info system. + + + AUTHOR + + This manual page was written by &dhusername; &dhemail; for + the &debian; system (and may be used by others). Permission is + granted to copy, distribute and/or modify this document under + the terms of the &gnu; General Public License, Version 2 any + later version published by the Free Software Foundation. + + + On Debian systems, the complete text of the GNU General Public + License can be found in /usr/share/common-licenses/GPL. + + + + + + diff --git a/package/linux/deb_common/manpage.xml.ex b/package/linux/deb_common/manpage.xml.ex new file mode 100644 index 000000000..b8c0d8411 --- /dev/null +++ b/package/linux/deb_common/manpage.xml.ex @@ -0,0 +1,291 @@ + +.
will be generated. You may view the +manual page with: nroff -man .
| less'. A typical entry +in a Makefile or Makefile.am is: + +DB2MAN = /usr/share/sgml/docbook/stylesheet/xsl/docbook-xsl/manpages/docbook.xsl +XP = xsltproc -''-nonet -''-param man.charmap.use.subset "0" + +manpage.1: manpage.xml + $(XP) $(DB2MAN) $< + +The xsltproc binary is found in the xsltproc package. The XSL files are in +docbook-xsl. A description of the parameters you can use can be found in the +docbook-xsl-doc-* packages. Please remember that if you create the nroff +version in one of the debian/rules file targets (such as build), you will need +to include xsltproc and docbook-xsl in your Build-Depends control field. +Alternatively use the xmlto command/package. That will also automatically +pull in xsltproc and docbook-xsl. + +Notes for using docbook2x: docbook2x-man does not automatically create the +AUTHOR(S) and COPYRIGHT sections. In this case, please add them manually as + ... . + +To disable the automatic creation of the AUTHOR(S) and COPYRIGHT sections +read /usr/share/doc/docbook-xsl/doc/manpages/authors.html. This file can be +found in the docbook-xsl-doc-html package. + +Validation can be done using: `xmllint -''-noout -''-valid manpage.xml` + +General documentation about man-pages and man-page-formatting: +man(1), man(7), http://www.tldp.org/HOWTO/Man-Page/ + +--> + + + + + + + + + + + + + +]> + + + + &dhtitle; + &dhpackage; + + + &dhfirstname; + &dhsurname; + Wrote this manpage for the Debian system. +
+ &dhemail; +
+ + + + 2007 + &dhusername; + + + This manual page was written for the Debian system + (and may be used by others). + Permission is granted to copy, distribute and/or modify this + document under the terms of the GNU General Public License, + Version 2 or (at your option) any later version published by + the Free Software Foundation. + On Debian systems, the complete text of the GNU General Public + License can be found in + /usr/share/common-licenses/GPL. + + + + &dhucpackage; + &dhsection; + + + &dhpackage; + program to do something + + + + &dhpackage; + + + + + + + + + this + + + + + + + + this + that + + + + + &dhpackage; + + + + + + + + + + + + + + + + + + + DESCRIPTION + This manual page documents briefly the + &dhpackage; and bar + commands. + This manual page was written for the Debian distribution + because the original program does not have a manual page. + Instead, it has documentation in the GNU + info + 1 + format; see below. + &dhpackage; is a program that... + + + OPTIONS + The program follows the usual GNU command line syntax, + with long options starting with two dashes (`-'). A summary of + options is included below. For a complete description, see the + + info + 1 + files. + + + + + + + Does this and that. + + + + + + + Show summary of options. + + + + + + + Show version of program. + + + + + + FILES + + + /etc/foo.conf + + The system-wide configuration file to control the + behaviour of &dhpackage;. See + + foo.conf + 5 + for further details. + + + + ${HOME}/.foo.conf + + The per-user configuration file to control the + behaviour of &dhpackage;. See + + foo.conf + 5 + for further details. + + + + + + ENVIONMENT + + + FOO_CONF + + If used, the defined file is used as configuration + file (see also ). + + + + + + DIAGNOSTICS + The following diagnostics may be issued + on stderr: + + + Bad configuration file. Exiting. + + The configuration file seems to contain a broken configuration + line. Use the option, to get more info. + + + + + &dhpackage; provides some return codes, that can + be used in scripts: + + Code + Diagnostic + + 0 + Program exited successfully. + + + 1 + The configuration file seems to be broken. + + + + + + BUGS + The program is currently limited to only work + with the foobar library. + The upstreams BTS can be found + at . + + + SEE ALSO + + + bar + 1 + , + baz + 1 + , + foo.conf + 5 + + The programs are documented fully by The Rise and + Fall of a Fooish Bar available via the + info + 1 + system. + + + diff --git a/package/linux/deb_common/menu.ex b/package/linux/deb_common/menu.ex new file mode 100644 index 000000000..c5a80a7bc --- /dev/null +++ b/package/linux/deb_common/menu.ex @@ -0,0 +1,2 @@ +?package(openpilot):needs="X11|text|vc|wm" section="Applications/see-menu-manual"\ + title="openpilot" command="/usr/bin/openpilot" diff --git a/package/linux/deb_common/openpilot.cron.d.ex b/package/linux/deb_common/openpilot.cron.d.ex new file mode 100644 index 000000000..bc3507489 --- /dev/null +++ b/package/linux/deb_common/openpilot.cron.d.ex @@ -0,0 +1,4 @@ +# +# Regular cron jobs for the openpilot package +# +0 4 * * * root [ -x /usr/bin/openpilot_maintenance ] && /usr/bin/openpilot_maintenance diff --git a/package/linux/deb_common/openpilot.debhelper.log b/package/linux/deb_common/openpilot.debhelper.log new file mode 100644 index 000000000..34de80b19 --- /dev/null +++ b/package/linux/deb_common/openpilot.debhelper.log @@ -0,0 +1,15 @@ +dh_prep +dh_installdirs +dh_installchangelogs +dh_installdocs +dh_installexamples +dh_installman +dh_link +dh_strip +dh_compress +dh_fixperms +dh_installdeb +dh_shlibdeps +dh_gencontrol +dh_md5sums +dh_builddeb diff --git a/package/linux/deb_common/openpilot.default.ex b/package/linux/deb_common/openpilot.default.ex new file mode 100644 index 000000000..0b172a1fc --- /dev/null +++ b/package/linux/deb_common/openpilot.default.ex @@ -0,0 +1,10 @@ +# Defaults for openpilot initscript +# sourced by /etc/init.d/openpilot +# installed at /etc/default/openpilot by the maintainer scripts + +# +# This is a POSIX shell fragment +# + +# Additional options that are passed to the Daemon. +DAEMON_OPTS="" diff --git a/package/linux/deb_common/openpilot.dirs b/package/linux/deb_common/openpilot.dirs new file mode 100644 index 000000000..2fa7142b6 --- /dev/null +++ b/package/linux/deb_common/openpilot.dirs @@ -0,0 +1,7 @@ +etc/udev/rules.d +etc/xdg/menus/applications-merged +usr/share/applications +usr/share/pixmaps +usr/share/desktop-directories +usr/local/OpenPilot/firmware +usr/bin diff --git a/package/linux/deb_common/openpilot.doc-base.EX b/package/linux/deb_common/openpilot.doc-base.EX new file mode 100644 index 000000000..9e24da0dc --- /dev/null +++ b/package/linux/deb_common/openpilot.doc-base.EX @@ -0,0 +1,20 @@ +Document: openpilot +Title: Debian openpilot Manual +Author: +Abstract: This manual describes what openpilot is + and how it can be used to + manage online manuals on Debian systems. +Section: unknown + +Format: debiandoc-sgml +Files: /usr/share/doc/openpilot/openpilot.sgml.gz + +Format: postscript +Files: /usr/share/doc/openpilot/openpilot.ps.gz + +Format: text +Files: /usr/share/doc/openpilot/openpilot.text.gz + +Format: HTML +Index: /usr/share/doc/openpilot/html/index.html +Files: /usr/share/doc/openpilot/html/*.html diff --git a/package/linux/deb_common/openpilot.substvars b/package/linux/deb_common/openpilot.substvars new file mode 100644 index 000000000..39006599c --- /dev/null +++ b/package/linux/deb_common/openpilot.substvars @@ -0,0 +1,2 @@ +shlibs:Depends=libc6 (>= 2.3.6-6~), libc6 (>= 2.4), libgcc1 (>= 1:4.1.1), libgl1-mesa-glx | libgl1, libglu1-mesa | libglu1, libphonon4 (>= 4:4.3.0), libqt4-network (>= 4:4.6.1), libqt4-opengl (>= 4:4.6.1), libqt4-script (>= 4:4.5.3), libqt4-sql (>= 4:4.5.3), libqt4-svg (>= 4:4.5.3), libqt4-test (>= 4:4.5.3), libqt4-xml (>= 4:4.5.3), libqtcore4 (>= 4:4.7.0~beta1), libqtgui4 (>= 4:4.6.2), libsdl1.2debian (>= 1.2.10-1), libstdc++6 (>= 4.1.1), libudev0 (>= 147), libusb-0.1-4 (>= 2:0.1.12), phonon +misc:Depends= diff --git a/package/linux/deb_common/postinst b/package/linux/deb_common/postinst new file mode 100644 index 000000000..df8022075 --- /dev/null +++ b/package/linux/deb_common/postinst @@ -0,0 +1,40 @@ +#!/bin/sh +# postinst script for openpilot +# +# see: dh_installdeb(1) + +set -e + +# summary of how this script can be called: +# * `configure' +# * `abort-upgrade' +# * `abort-remove' `in-favour' +# +# * `abort-remove' +# * `abort-deconfigure' `in-favour' +# `removing' +# +# for details, see http://www.debian.org/doc/debian-policy/ or +# the debian-policy package + + +case "$1" in + configure) + sudo udevadm control --reload-rules >&2 + ;; + + abort-upgrade|abort-remove|abort-deconfigure) + ;; + + *) + echo "postinst called with unknown argument \`$1'" >&2 + exit 1 + ;; +esac + +# dh_installdeb will replace this with shell code automatically +# generated by other debhelper scripts. + +#DEBHELPER# + +exit 0 diff --git a/package/linux/deb_common/postinst.ex b/package/linux/deb_common/postinst.ex new file mode 100644 index 000000000..e8295471c --- /dev/null +++ b/package/linux/deb_common/postinst.ex @@ -0,0 +1,39 @@ +#!/bin/sh +# postinst script for openpilot +# +# see: dh_installdeb(1) + +set -e + +# summary of how this script can be called: +# * `configure' +# * `abort-upgrade' +# * `abort-remove' `in-favour' +# +# * `abort-remove' +# * `abort-deconfigure' `in-favour' +# `removing' +# +# for details, see http://www.debian.org/doc/debian-policy/ or +# the debian-policy package + + +case "$1" in + configure) + ;; + + abort-upgrade|abort-remove|abort-deconfigure) + ;; + + *) + echo "postinst called with unknown argument \`$1'" >&2 + exit 1 + ;; +esac + +# dh_installdeb will replace this with shell code automatically +# generated by other debhelper scripts. + +#DEBHELPER# + +exit 0 diff --git a/package/linux/deb_common/postrm.ex b/package/linux/deb_common/postrm.ex new file mode 100644 index 000000000..7494eff83 --- /dev/null +++ b/package/linux/deb_common/postrm.ex @@ -0,0 +1,37 @@ +#!/bin/sh +# postrm script for openpilot +# +# see: dh_installdeb(1) + +set -e + +# summary of how this script can be called: +# * `remove' +# * `purge' +# * `upgrade' +# * `failed-upgrade' +# * `abort-install' +# * `abort-install' +# * `abort-upgrade' +# * `disappear' +# +# for details, see http://www.debian.org/doc/debian-policy/ or +# the debian-policy package + + +case "$1" in + purge|remove|upgrade|failed-upgrade|abort-install|abort-upgrade|disappear) + ;; + + *) + echo "postrm called with unknown argument \`$1'" >&2 + exit 1 + ;; +esac + +# dh_installdeb will replace this with shell code automatically +# generated by other debhelper scripts. + +#DEBHELPER# + +exit 0 diff --git a/package/linux/deb_common/preinst.ex b/package/linux/deb_common/preinst.ex new file mode 100644 index 000000000..32ac40cc3 --- /dev/null +++ b/package/linux/deb_common/preinst.ex @@ -0,0 +1,35 @@ +#!/bin/sh +# preinst script for openpilot +# +# see: dh_installdeb(1) + +set -e + +# summary of how this script can be called: +# * `install' +# * `install' +# * `upgrade' +# * `abort-upgrade' +# for details, see http://www.debian.org/doc/debian-policy/ or +# the debian-policy package + + +case "$1" in + install|upgrade) + ;; + + abort-upgrade) + ;; + + *) + echo "preinst called with unknown argument \`$1'" >&2 + exit 1 + ;; +esac + +# dh_installdeb will replace this with shell code automatically +# generated by other debhelper scripts. + +#DEBHELPER# + +exit 0 diff --git a/package/linux/deb_common/prerm.ex b/package/linux/deb_common/prerm.ex new file mode 100644 index 000000000..a46c87175 --- /dev/null +++ b/package/linux/deb_common/prerm.ex @@ -0,0 +1,38 @@ +#!/bin/sh +# prerm script for openpilot +# +# see: dh_installdeb(1) + +set -e + +# summary of how this script can be called: +# * `remove' +# * `upgrade' +# * `failed-upgrade' +# * `remove' `in-favour' +# * `deconfigure' `in-favour' +# `removing' +# +# for details, see http://www.debian.org/doc/debian-policy/ or +# the debian-policy package + + +case "$1" in + remove|upgrade|deconfigure) + ;; + + failed-upgrade) + ;; + + *) + echo "prerm called with unknown argument \`$1'" >&2 + exit 1 + ;; +esac + +# dh_installdeb will replace this with shell code automatically +# generated by other debhelper scripts. + +#DEBHELPER# + +exit 0 diff --git a/package/linux/deb_common/rules b/package/linux/deb_common/rules new file mode 100755 index 000000000..124d28ce2 --- /dev/null +++ b/package/linux/deb_common/rules @@ -0,0 +1,81 @@ +#!/usr/bin/make -f +# -*- makefile -*- +# Sample debian/rules that uses debhelper. +# +# This file was originally written by Joey Hess and Craig Small. +# As a special exception, when this file is copied by dh-make into a +# dh-make output file, you may use that output file without restriction. +# This special exception was added by Craig Small in version 0.37 of dh-make. +# +# Modified to make a template file for a multi-binary package with separated +# build-arch and build-indep targets by Bill Allombert 2001 + +# Uncomment this to turn on verbose mode. +# export DH_VERBOSE=1 + +# This has to be exported to make some magic below work. +export DH_OPTIONS=-v + +#%: +# dh $@ + +PACKAGE_DIR := $(shell cat build/package_dir) + +clean: + dh_testdir + dh_testroot + dh_clean + +install: + dh_testdir + dh_testroot + dh_prep + dh_installdirs + # Add here commands to install the package into debian/ + cp -arp build/ground/openpilotgcs/bin debian/openpilot/usr/local/OpenPilot + cp -arp build/ground/openpilotgcs/lib debian/openpilot/usr/local/OpenPilot + cp -arp build/ground/openpilotgcs/share debian/openpilot/usr/local/OpenPilot + cp -arp build/ground/openpilotgcs/.obj debian/openpilot/usr/local/OpenPilot + cp -arp build/ground/openpilotgcs/gcsversioninfo.h debian/openpilot/usr/local/OpenPilot + cp -arp package/linux/openpilot.desktop debian/openpilot/usr/share/applications + cp -arp package/linux/openpilot.png debian/openpilot/usr/share/pixmaps + cp -arp package/linux/rc_applications.png debian/openpilot/usr/share/pixmaps + cp -arp package/linux/rc_applications.menu debian/openpilot/etc/xdg/menus/applications-merged + cp -arp package/linux/rc_applications.directory debian/openpilot/usr/share/desktop-directories + cp -arp package/linux/45-openpilot-permissions.rules debian/openpilot/etc/udev/rules.d + cp -ar $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/ + ln -s /usr/local/OpenPilot/bin/openpilotgcs.bin `pwd`/debian/openpilot/usr/bin/openpilot-gcs + rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/sounds/sounds + rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/pfd/pfd + rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/models/models + rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/mapicons/mapicons + rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/dials/dials + rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/diagrams/diagrams + + +# Build architecture-independent files here. +binary-indep: install + +# We have nothing to build by default. Got taken care of by OPs build system +# Build architecture-dependent files here. +binary-arch: install + dh_testdir + dh_testroot + dh_installchangelogs + dh_installdocs + dh_installexamples + dh_installman + dh_link + dh_strip + dh_compress + dh_fixperms + dh_installdeb + dh_shlibdeps -l/usr/local/OpenPilot/lib/openpilotgcs --dpkg-shlibdeps-params="--ignore-missing-info -v" + dh_gencontrol + dh_md5sums + dh_builddeb + +binary: binary-indep binary-arch + +.PHONY: clean binary-indep binary-arch binary install + diff --git a/package/linux/deb_common/watch.ex b/package/linux/deb_common/watch.ex new file mode 100644 index 000000000..7e9872e99 --- /dev/null +++ b/package/linux/deb_common/watch.ex @@ -0,0 +1,23 @@ +# Example watch control file for uscan +# Rename this file to "watch" and then you can run the "uscan" command +# to check for upstream updates and more. +# See uscan(1) for format + +# Compulsory line, this is a version 3 file +version=3 + +# Uncomment to examine a Webpage +# +#http://www.example.com/downloads.php openpilot-(.*)\.tar\.gz + +# Uncomment to examine a Webserver directory +#http://www.example.com/pub/openpilot-(.*)\.tar\.gz + +# Uncommment to examine a FTP server +#ftp://ftp.example.com/pub/openpilot-(.*)\.tar\.gz debian uupdate + +# Uncomment to find new files on sourceforge, for devscripts >= 2.9 +# http://sf.net/openpilot/openpilot-(.*)\.tar\.gz + +# Uncomment to find new files on GooglePages +# http://example.googlepages.com/foo.html openpilot-(.*)\.tar\.gz diff --git a/package/linux/deb_i386/control b/package/linux/deb_i386/control new file mode 100644 index 000000000..7c274850c --- /dev/null +++ b/package/linux/deb_i386/control @@ -0,0 +1,15 @@ +Source: openpilot +Section: unknown +Priority: extra +Maintainer: naiiawah +Build-Depends: debhelper (>= 7.0.50~) +Standards-Version: 3.8.4 +Homepage: http://www.openpilot.org +#Vcs-Git: git://git.debian.org/collab-maint/openpilot.git +#Vcs-Browser: http://git.debian.org/?p=collab-maint/openpilot.git;a=summary + +Package: openpilot +Architecture: i386 +Depends: ${shlibs:Depends}, ${misc:Depends} +Description: OpenPilot GCS & FW + OpenPilot GCS and Firmware for CopterControl (CC) board. diff --git a/package/linux/openpilot.desktop b/package/linux/openpilot.desktop new file mode 100644 index 000000000..fc3099641 --- /dev/null +++ b/package/linux/openpilot.desktop @@ -0,0 +1,12 @@ +[Desktop Entry] +Version=0.1.0 +Encoding=UTF-8 +Name=OpenPilot GCS +Exec=openpilot-gcs +TryExec=openpilot-gcs +Comment=Configure, Tune, Diagnose, Track, & Upgrade FW for OpenPilot solutions +Terminal=false +Categories=RCApplications;Qt;Other; +Icon=openpilot +Type=Application +MimeType=application/openpilot.snapshot; diff --git a/package/linux/openpilot.png b/package/linux/openpilot.png new file mode 100755 index 0000000000000000000000000000000000000000..e9c4ee868ef977ebf1de2f856f60ecf73a94b18f GIT binary patch literal 2713 zcmV;K3TE|*P)d&npsSgSr*4n0abv40-}g3h@u1T`!epDsFBu0GjVG* zlZ@%K5A94eIuB;%Q6DGi7ZVc`joXVlYGO1R)8fA47FWb2fNY|&FI97YM=t$YRuwH! zlXyDiSM`10z32ST`JZ#oy|nApsZ&4f+`04D%F4?A5fKscJ&4!qmAJUL;w@XY{NkE5 zYgSQ3MMdwZsHpG3_EsC4nwlgbA)ze7c>e!lywB%rRo)q2aQMfMACnDh!b=+rZ)j)` zm&>Ks`uck5EHKy}R^DJJpXJM!%a}1^q_nhDE?>SZH*en5Aan+8!wLY;j~qEtmMvQ* za5gP1O(sm3AXlzjk-dBO%7+ghBsw~}LyQV50ICH5hyv6>pwiT-Q>Aa;zOsAwZh7+L ziFE1GrQIOHmH-$X8yhP_hYnTmTMM~gQ&S`T`t_4-+qTJ^Idi10u1)~k9tj%&D1(>z z@ZAc$$K%b-&Ej^uWy6LIvTofvAt9mMw@O$63>!8~qkz{Dj4v)O7PELtSy`EQJRWIm zY?MWd7Rlz#o26H;UQ%0I`%M@kQ&Us_ZAbW;8^t9?nJWk`pI3ZMbt28iQ^qJ)MCcS+ zvSf**q@-vB;64evZ{I#SeE6{3y?a*y3>q{@>BD>D#*I^euV24bu#9O-S^!{-M?5|M zBw~#6)|P)Z6e9uSYZh-~jkw&g(q+&*i68Z&cpIvu`BPy)u+XDNj~=pg=~9V|jMOCN zT3uZ&$BrFS`jFJOZrzesuU<)-sZQOycbAx$7@0hIvI2Vi__5mF);iS!z##QDNkmM7 zbQ||Ki65~_qT+geHoX3$-jC1zizNQ}pAu)DMWnbR8=SqCHJMNnSl6|$7qGi zqeqXHnKNf9MYsoDUcP)OXU?3__W%T?-n@Au*RNmKd`M4E*DIB)XV0E;|Gt^qyJ$sZ^D_5?RfddE1?Af!mKJ{a0X~QIX!heJfY5Uezi!V88&S7W3Jhu%MmS zF97HRmrGoc(b8O1EHzJ$i#utkc#<-V_bG*+lgecj`b-YgzPTzMUzOzKETJ=$?CfkA zKYqMU!vfWaB>)EfNbnIOMu;geN*588qVQf`c?P{dT5 zs{8v*2+bm6fLWnhxfA<|XW$%3NlsM0qL?HldDpI8D^sRSk@M%z%b`Pu#B{vsdDFHl zmFzr$t{6&bEhs3^$H~dbnm@J_`;YlO2mGIy-!69-sV};167_+2Qbrj5v(S7lvtE<9 zRRy^+E^CNZ4_m)c&S%JwA^O3ac%Ev*eW=ow*ph1t1Han^0Lu6ptEKwMe|=9*IZaN}2Fc)rOEQ(E8UNt2;dYM;K!e-^G#Vu4`L zv}x01`}Xa!e*JpQ7fPseJnxbR0Il+VAR$ zFv(|Hil)i}@tV~+(jCp7RH!U?D={%ql`^a?r93C0F_=}C9tdGorjoIK%%4AB^Ps%E zTrOU`sLuiCFMk+7%M9AU(I1g$c>ckI2fD+0`0%0rHpd+r6=oGbU@!o3b9423AOJ2?B|3aufFUF+^hiodlB}#OOmUl zeJVS4><9|r59L58r92}E(@i5rxx91dj@-C$L&M&?cW)UrYLtRuXGX`#yMO_dzu3~t z{XozC-{*Iy0D#Y&I#5|kN=mfrym#-O*8U3@F36=zmjp0$sI(gF0mvK1;ccg}&hJo$ z-+Thm2LRue1B?hDOiu4lKZIZ`b)SZe69}6x^!WS+948VaE6ERa5U26{<~|)P4PLNb zsKXJ!gKPz9f%y*4*{o11>Ho<%)=aj^#`Ue zwfxg505UT(we!SSgot2(-Bq>dYJEm>@*y8EkbcRT{OqO47ov6T+O^g_hI1bKy~6-7 z)_?N?WhjSuI#}p2fU)*qi~3KlaB|nDPamaLety12l}H4W4gtW+cnXhUj1`P7EG*QM zhfo0Q`&N&J1qorJ!k?7}4<4*%N8DrKqQ~L9h@Ocn04GkIsC#BR zj{U%T(%2#ESm)J$ES+hp#I1#~H+(!`#Fp3j6XhE*v zDI!Cj+`fHV+Y5m4hYa3buwa4An>SB^Galp60R@>Gj}x)er%&r2J7~2T$C`5R;6Y^o z^yP00{uKHO0O;T%9<|#++6BJnSig5}2HtK7G2j z9sGtOO(SMYs}9x=xar3HaD>5*>gb z&Xw1G#~~OI6L0b0v){X)XQ%^%x&Lu8jn7g@r=(Z;zlrG66l2Y+9MbSkoJxb zq*Fl~&z3WBTLSWqD91@18Sif&Hk&PJWrX=(R(>|+s|YmTi(sp9eCei5n|}EpS6QM% Te%FVV00000NkvXXu0mjf$ + + Applications + + RCApplications + rc_applications.directory + + RCApplications + + + diff --git a/package/linux/rc_applications.png b/package/linux/rc_applications.png new file mode 100755 index 0000000000000000000000000000000000000000..b5e10befaf72c11100090a88596cd302ca74f8b9 GIT binary patch literal 644 zcmV-~0(1M zut8kau0=#H+z5>!NJK3ST!fpcsgP(9II}bbQIHv3xF{?t7mB}cdRN|iI`jUe{cogig zK6xrY$q-z`Er6RE+iZh44wJ% zjE?Fq7y{>VF<;9Ds}>=mo5~m9MlFU2Yrm-Ns4Bn^Bjg_O4AA+;Y0DhtaFZ7!N%Q3N zgB7pbfa~v-?5M zzR~)B+ z*YK^o8`#F5*(r%|SZo3y{|PR`u78KeV9n9#-#?{mDyFC4468N4(;-2lU=Tb&V9{D? exW*2g?!XCe>w{%O1OwLq0000UD+ literal 0 HcmV?d00001 From 0b00e748a93c9e0acda9d92067997cc8371584e1 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Mon, 22 Aug 2011 11:17:51 -0500 Subject: [PATCH 017/121] OP-565: Added the ability to do a trim flight to compute the accels for level flight --- flight/Modules/Attitude/attitude.c | 162 ++++++++++++------ .../uavobjectdefinition/attitudesettings.xml | 1 + 2 files changed, 106 insertions(+), 57 deletions(-) diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c index b7b535f18..fdfa4681c 100644 --- a/flight/Modules/Attitude/attitude.c +++ b/flight/Modules/Attitude/attitude.c @@ -54,6 +54,7 @@ #include "attitudeactual.h" #include "attitudesettings.h" #include "flightstatus.h" +#include "manualcontrolcommand.h" #include "CoordinateConversions.h" #include "pios_flash_w25x.h" @@ -91,18 +92,28 @@ static int8_t rotate = 0; static bool zero_during_arming = false; static bool bias_correct_gyro = true; +// For running trim flights +static volatile bool trim_requested = false; +static volatile int32_t trim_accels[3]; +static volatile int32_t trim_samples; +int32_t const MAX_TRIM_FLIGHT_SAMPLES = 65535; + +#define GRAV 9.81f +#define ACCEL_SCALE (GRAV * 0.004f) +/* 0.004f is gravity / LSB */ + /** * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ int32_t AttitudeStart(void) { - + // Start main task xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle); PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE); - + return 0; } @@ -115,7 +126,7 @@ int32_t AttitudeInitialize(void) AttitudeActualInitialize(); AttitudeRawInitialize(); AttitudeSettingsInitialize(); - + // Initialize quaternion AttitudeActualData attitude; AttitudeActualGet(&attitude); @@ -124,12 +135,12 @@ int32_t AttitudeInitialize(void) attitude.q3 = 0; attitude.q4 = 0; AttitudeActualSet(&attitude); - + // Cannot trust the values to init right above if BL runs gyro_correct_int[0] = 0; gyro_correct_int[1] = 0; gyro_correct_int[2] = 0; - + q[0] = 1; q[1] = 0; q[2] = 0; @@ -137,17 +148,19 @@ int32_t AttitudeInitialize(void) for(uint8_t i = 0; i < 3; i++) for(uint8_t j = 0; j < 3; j++) R[i][j] = 0; - + + trim_requested = false; + // Create queue for passing gyro data, allow 2 back samples in case gyro_queue = xQueueCreate(1, sizeof(float) * 4); if(gyro_queue == NULL) return -1; - - + + PIOS_ADC_SetQueue(gyro_queue); - + AttitudeSettingsConnectCallback(&settingsUpdatedCb); - + return 0; } @@ -160,9 +173,9 @@ static void AttitudeTask(void *parameters) { uint8_t init = 0; AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); - + PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE); - + // Keep flash CS pin high while talking accel PIOS_FLASH_DISABLE; PIOS_ADXL345_Init(); @@ -175,13 +188,13 @@ static void AttitudeTask(void *parameters) // Force settings update to make sure rotation loaded settingsUpdatedCb(AttitudeSettingsHandle()); - + // Main task loop while (1) { - + FlightStatusData flightStatus; FlightStatusGet(&flightStatus); - + if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) { // For first 7 seconds use accels to get gyro bias accelKp = 1; @@ -201,9 +214,9 @@ static void AttitudeTask(void *parameters) AttitudeSettingsYawBiasRateGet(&yawBiasRate); init = 1; } - + PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE); - + AttitudeRawData attitudeRaw; AttitudeRawGet(&attitudeRaw); if(updateSensors(&attitudeRaw) != 0) @@ -214,7 +227,7 @@ static void AttitudeTask(void *parameters) AttitudeRawSet(&attitudeRaw); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); } - + } } @@ -227,22 +240,22 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw) { struct pios_adxl345_data accel_data; float gyro[4]; - + // Only wait the time for two nominal updates before setting an alarm if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) { AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR); return -1; } - + // No accel data available if(PIOS_ADXL345_FifoElements() == 0) return -1; - + // First sample is temperature attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain; attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain; attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain; - + int32_t x = 0; int32_t y = 0; int32_t z = 0; @@ -257,9 +270,9 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw) } while ( (i < 32) && (samples_remaining > 0) ); attitudeRaw->gyrotemp[0] = samples_remaining; attitudeRaw->gyrotemp[1] = i; - + float accel[3] = {(float) x / i, (float) y / i, (float) z / i}; - + if(rotate) { // TODO: rotate sensors too so stabilization is well behaved float vec_out[3]; @@ -276,19 +289,37 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw) attitudeRaw->accels[1] = accel[1]; attitudeRaw->accels[2] = accel[2]; } - + + if (trim_requested) { + if (trim_samples >= MAX_TRIM_FLIGHT_SAMPLES) { + trim_requested = false; + } else { + uint8_t armed; + float throttle; + FlightStatusArmedGet(&armed); + ManualControlCommandThrottleGet(&throttle); // Until flight status indicates airborne + if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0)) { + trim_samples++; + // Store the digitally scaled version since that is what we use for bias + trim_accels[0] += attitudeRaw->accels[ATTITUDERAW_ACCELS_X]; + trim_accels[1] += attitudeRaw->accels[ATTITUDERAW_ACCELS_Y]; + trim_accels[2] += attitudeRaw->accels[ATTITUDERAW_ACCELS_Z]; + } + } + } + // Scale accels and correct bias - attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f; - attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f; - attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f; - + attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * ACCEL_SCALE; + attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * ACCEL_SCALE; + attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * ACCEL_SCALE; + if(bias_correct_gyro) { // Applying integral component here so it can be seen on the gyros and correct bias attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0]; attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1]; attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2]; } - + // Because most crafts wont get enough information from gravity to zero yaw gyro, we try // and make it average zero (weakly) gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate; @@ -301,45 +332,45 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) float dT; portTickType thisSysTime = xTaskGetTickCount(); static portTickType lastSysTime = 0; - + dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f; lastSysTime = thisSysTime; - + // Bad practice to assume structure order, but saves memory float gyro[3]; gyro[0] = attitudeRaw->gyros[0]; gyro[1] = attitudeRaw->gyros[1]; gyro[2] = attitudeRaw->gyros[2]; - + { float * accels = attitudeRaw->accels; float grot[3]; float accel_err[3]; - + // Rotate gravity to body frame and cross with accels grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2])); grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1])); grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]); CrossProduct((const float *) accels, (const float *) grot, accel_err); - + // Account for accel magnitude float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]); accel_err[0] /= accel_mag; accel_err[1] /= accel_mag; accel_err[2] /= accel_mag; - + // Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s gyro_correct_int[0] += accel_err[0] * accelKi; gyro_correct_int[1] += accel_err[1] * accelKi; - - //gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT; - + + //gyro_correct_int[2] += accel_err[2] * accelKi; + // Correct rates based on error, integral component dealt with in updateSensors gyro[0] += accel_err[0] * accelKp / dT; gyro[1] += accel_err[1] * accelKp / dT; gyro[2] += accel_err[2] * accelKp / dT; } - + { // scoping variables to save memory // Work out time derivative from INSAlgo writeup // Also accounts for the fact that gyros are in deg/s @@ -348,7 +379,7 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2; qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2; qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2; - + // Take a time step q[0] = q[0] + qdot[0]; q[1] = q[1] + qdot[1]; @@ -362,14 +393,14 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) q[3] = -q[3]; } } - + // Renomalize float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]); q[0] = q[0] / qmag; q[1] = q[1] / qmag; q[2] = q[2] / qmag; q[3] = q[3] / qmag; - + // If quaternion has become inappropriately short or is nan reinit. // THIS SHOULD NEVER ACTUALLY HAPPEN if((fabs(qmag) < 1e-3) || (qmag != qmag)) { @@ -378,44 +409,44 @@ static void updateAttitude(AttitudeRawData * attitudeRaw) q[2] = 0; q[3] = 0; } - + AttitudeActualData attitudeActual; AttitudeActualGet(&attitudeActual); - + quat_copy(q, &attitudeActual.q1); - + // Convert into eueler degrees (makes assumptions about RPY order) Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll); - + AttitudeActualSet(&attitudeActual); } static void settingsUpdatedCb(UAVObjEvent * objEv) { AttitudeSettingsData attitudeSettings; AttitudeSettingsGet(&attitudeSettings); - - + + accelKp = attitudeSettings.AccelKp; accelKi = attitudeSettings.AccelKi; yawBiasRate = attitudeSettings.YawBiasRate; gyroGain = attitudeSettings.GyroGain; - + zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE; bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE; - + accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X]; accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y]; accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z]; - + gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f; gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f; gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f; - + // Indicates not to expend cycles on rotation if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 && attitudeSettings.BoardRotation[2] == 0) { rotate = 0; - + // Shouldn't be used but to be safe float rotationQuat[4] = {1,0,0,0}; Quaternion2R(rotationQuat, R); @@ -428,8 +459,25 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) { Quaternion2R(rotationQuat, R); rotate = 1; } + + if (attitudeSettings.TrimFlight == ATTITUDESETTINGS_TRIMFLIGHT_START) { + trim_accels[0] = 0; + trim_accels[1] = 0; + trim_accels[2] = 0; + trim_samples = 0; + trim_requested = true; + } else if (attitudeSettings.TrimFlight == ATTITUDESETTINGS_TRIMFLIGHT_LOAD) { + trim_requested = false; + attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X] = trim_accels[0] / trim_samples; + attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y] = trim_accels[1] / trim_samples; + // Z should average -grav + attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z] = trim_accels[2] / trim_samples + GRAV / ACCEL_SCALE; + attitudeSettings.TrimFlight = ATTITUDESETTINGS_TRIMFLIGHT_NORMAL; + AttitudeSettingsSet(&attitudeSettings); + } else + trim_requested = false; } /** - * @} - * @} - */ + * @} + * @} + */ diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index 677493d68..e60c2454b 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -10,6 +10,7 @@ + From ed868054587cbca13a67afe31ce1a5b57a05e86a Mon Sep 17 00:00:00 2001 From: naiiawah Date: Wed, 21 Dec 2011 22:18:08 -0700 Subject: [PATCH 018/121] Updates to fix review issues: -jX build issues fixes, updated URLs in /control --- package/Makefile.linux | 9 +++++---- package/linux/deb_amd64/control | 4 ++-- package/linux/deb_i386/control | 4 ++-- 3 files changed, 9 insertions(+), 8 deletions(-) diff --git a/package/Makefile.linux b/package/Makefile.linux index 7bb0afc99..fba2ef3ff 100644 --- a/package/Makefile.linux +++ b/package/Makefile.linux @@ -3,7 +3,7 @@ # define CP_DEB_FILES_TEMPLATE -.PHONY: $(1) +.PHONY: $(2)/$(1) $(2)/$(1): $(3)/$(1) $(V1)cp -a $$< $$@ endef @@ -40,18 +40,20 @@ ALL_DEB_FILES += $(foreach f, $(DEB_MACHINE_FILES), $(DEB_BUILD_DIR)/$(f)) DEB_PACKAGE_NAME := openpilot_$(VERSION_FULL)_$(DEB_PLATFORM) -linux_deb_package: gcs deb_build package_flight +linux_deb_package: deb_build gcs @echo $@ starting cd .. && dpkg-buildpackage -b $(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR) $(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR) $(V1)rm -rf $(DEB_BUILD_DIR) -deb_build: | $(DEB_BUILD_DIR) $(ALL_DEB_FILES) +deb_build: | $(DEB_BUILD_DIR) $(ALL_DEB_FILES) $(BUILD_DIR)/build @echo $@ starting $(V1)$(shell echo $(PACKAGE_DIR) > $(BUILD_DIR)/package_dir) $(V1)sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog +$(BUILD_DIR)/build: package_flight + $(DEB_BUILD_DIR): @echo $@ starting $(V1)mkdir -p $(DEB_BUILD_DIR) @@ -68,7 +70,6 @@ identify: @echo "" @echo "We are in the Linux Package Make system." @echo "" - $(V1)rm -rf $(DEB_BUILD_DIR) ground_package: | identify linux_deb_package diff --git a/package/linux/deb_amd64/control b/package/linux/deb_amd64/control index eab1547b1..c2408ee21 100644 --- a/package/linux/deb_amd64/control +++ b/package/linux/deb_amd64/control @@ -5,8 +5,8 @@ Maintainer: naiiawah Build-Depends: debhelper (>= 7.0.50~) Standards-Version: 3.8.4 Homepage: http://www.openpilot.org -#Vcs-Git: git://git.debian.org/collab-maint/openpilot.git -#Vcs-Browser: http://git.debian.org/?p=collab-maint/openpilot.git;a=summary +Vcs-Git: git://git.openpilot.org/OpenPilot.git +Vcs-Browser: http://git.openpilot.org/changelog/OpenPilot Package: openpilot Architecture: amd64 diff --git a/package/linux/deb_i386/control b/package/linux/deb_i386/control index 7c274850c..e93d4f559 100644 --- a/package/linux/deb_i386/control +++ b/package/linux/deb_i386/control @@ -5,8 +5,8 @@ Maintainer: naiiawah Build-Depends: debhelper (>= 7.0.50~) Standards-Version: 3.8.4 Homepage: http://www.openpilot.org -#Vcs-Git: git://git.debian.org/collab-maint/openpilot.git -#Vcs-Browser: http://git.debian.org/?p=collab-maint/openpilot.git;a=summary +Vcs-Git: git://git.openpilot.org/OpenPilot.git +Vcs-Browser: http://git.openpilot.org/changelog/OpenPilot Package: openpilot Architecture: i386 From 15061dccab30083f3403236fee0986c05b2967d2 Mon Sep 17 00:00:00 2001 From: naiiawah Date: Wed, 21 Dec 2011 22:38:40 -0700 Subject: [PATCH 019/121] Updates based on review feedback. Fixed (unlikely) case of empty PACKAGE_DIR var to prevent splatered copying. --- package/linux/deb_common/rules | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/package/linux/deb_common/rules b/package/linux/deb_common/rules index 124d28ce2..0c69e582c 100755 --- a/package/linux/deb_common/rules +++ b/package/linux/deb_common/rules @@ -19,7 +19,7 @@ export DH_OPTIONS=-v #%: # dh $@ -PACKAGE_DIR := $(shell cat build/package_dir) +PACKAGE_DIR = $(shell cat build/package_dir) clean: dh_testdir @@ -43,7 +43,9 @@ install: cp -arp package/linux/rc_applications.menu debian/openpilot/etc/xdg/menus/applications-merged cp -arp package/linux/rc_applications.directory debian/openpilot/usr/share/desktop-directories cp -arp package/linux/45-openpilot-permissions.rules debian/openpilot/etc/udev/rules.d +ifdef $(PACKAGE_DIR) cp -ar $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/ +endif ln -s /usr/local/OpenPilot/bin/openpilotgcs.bin `pwd`/debian/openpilot/usr/bin/openpilot-gcs rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/sounds/sounds rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/pfd/pfd From e7a5c14fe28ba07d36cfc846381f89eec85bfe1b Mon Sep 17 00:00:00 2001 From: naiiawah Date: Sat, 24 Dec 2011 14:30:02 -0700 Subject: [PATCH 020/121] Improved the handling of the UDev rules installation. Uses dh_installudev now instead of just manually copying files. Should survive any changes to where UDev puts rules better if there is a channge in their scheme of locations. Suggested change by Stac after finding the dh_installudev tool. Good find! --- package/linux/deb_common/openpilot.dirs | 1 - package/linux/deb_common/openpilot.udev | 13 +++++++++++++ package/linux/deb_common/rules | 2 +- 3 files changed, 14 insertions(+), 2 deletions(-) create mode 100644 package/linux/deb_common/openpilot.udev diff --git a/package/linux/deb_common/openpilot.dirs b/package/linux/deb_common/openpilot.dirs index 2fa7142b6..08bf6a7e1 100644 --- a/package/linux/deb_common/openpilot.dirs +++ b/package/linux/deb_common/openpilot.dirs @@ -1,4 +1,3 @@ -etc/udev/rules.d etc/xdg/menus/applications-merged usr/share/applications usr/share/pixmaps diff --git a/package/linux/deb_common/openpilot.udev b/package/linux/deb_common/openpilot.udev new file mode 100644 index 000000000..d04d31b7f --- /dev/null +++ b/package/linux/deb_common/openpilot.udev @@ -0,0 +1,13 @@ + # OpenPilot openpilot flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4117", MODE="0664", GROUP="plugdev" + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415a", MODE="0664", GROUP="plugdev" + # OpenPilot coptercontrol flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415b", MODE="0664", GROUP="plugdev" + # OpenPilot Pipx radio modem board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", MODE="0664", GROUP="plugdev" + # unprogrammed openpilot flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5750", MODE="0664", GROUP="plugdev" + # FTDI FT2232C Dual USB-UART/FIFO IC + SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0664", GROUP="plugdev" + # Olimex Ltd. OpenOCD JTAG TINY + SUBSYSTEM=="usb", ATTRS{idVendor}=="15ba", ATTRS{idProduct}=="0004", MODE="0664", GROUP="plugdev" diff --git a/package/linux/deb_common/rules b/package/linux/deb_common/rules index 0c69e582c..c39116217 100755 --- a/package/linux/deb_common/rules +++ b/package/linux/deb_common/rules @@ -31,6 +31,7 @@ install: dh_testroot dh_prep dh_installdirs + dh_installudev --priority=45 # Add here commands to install the package into debian/ cp -arp build/ground/openpilotgcs/bin debian/openpilot/usr/local/OpenPilot cp -arp build/ground/openpilotgcs/lib debian/openpilot/usr/local/OpenPilot @@ -42,7 +43,6 @@ install: cp -arp package/linux/rc_applications.png debian/openpilot/usr/share/pixmaps cp -arp package/linux/rc_applications.menu debian/openpilot/etc/xdg/menus/applications-merged cp -arp package/linux/rc_applications.directory debian/openpilot/usr/share/desktop-directories - cp -arp package/linux/45-openpilot-permissions.rules debian/openpilot/etc/udev/rules.d ifdef $(PACKAGE_DIR) cp -ar $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/ endif From 5da31269a63b7392ac01a685a38a6f597fc65f78 Mon Sep 17 00:00:00 2001 From: naiiawah Date: Sat, 24 Dec 2011 20:38:04 -0700 Subject: [PATCH 021/121] Changed the top level menu to OpenPilot. --- package/linux/deb_common/rules | 6 +++--- package/linux/openpilot.desktop | 2 +- ...lications.directory => openpilot_menu.directory} | 4 ++-- .../{rc_applications.menu => openpilot_menu.menu} | 8 ++++---- .../{rc_applications.png => openpilot_menu.png} | Bin 5 files changed, 10 insertions(+), 10 deletions(-) rename package/linux/{rc_applications.directory => openpilot_menu.directory} (50%) rename package/linux/{rc_applications.menu => openpilot_menu.menu} (54%) rename package/linux/{rc_applications.png => openpilot_menu.png} (100%) diff --git a/package/linux/deb_common/rules b/package/linux/deb_common/rules index c39116217..c4a7d9bd9 100755 --- a/package/linux/deb_common/rules +++ b/package/linux/deb_common/rules @@ -40,9 +40,9 @@ install: cp -arp build/ground/openpilotgcs/gcsversioninfo.h debian/openpilot/usr/local/OpenPilot cp -arp package/linux/openpilot.desktop debian/openpilot/usr/share/applications cp -arp package/linux/openpilot.png debian/openpilot/usr/share/pixmaps - cp -arp package/linux/rc_applications.png debian/openpilot/usr/share/pixmaps - cp -arp package/linux/rc_applications.menu debian/openpilot/etc/xdg/menus/applications-merged - cp -arp package/linux/rc_applications.directory debian/openpilot/usr/share/desktop-directories + cp -arp package/linux/openpilot_menu.png debian/openpilot/usr/share/pixmaps + cp -arp package/linux/openpilot_menu.menu debian/openpilot/etc/xdg/menus/applications-merged + cp -arp package/linux/openpilot_menu.directory debian/openpilot/usr/share/desktop-directories ifdef $(PACKAGE_DIR) cp -ar $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/ endif diff --git a/package/linux/openpilot.desktop b/package/linux/openpilot.desktop index fc3099641..5ce67af5d 100644 --- a/package/linux/openpilot.desktop +++ b/package/linux/openpilot.desktop @@ -6,7 +6,7 @@ Exec=openpilot-gcs TryExec=openpilot-gcs Comment=Configure, Tune, Diagnose, Track, & Upgrade FW for OpenPilot solutions Terminal=false -Categories=RCApplications;Qt;Other; +Categories=OpenPilotMenu;Qt;Other; Icon=openpilot Type=Application MimeType=application/openpilot.snapshot; diff --git a/package/linux/rc_applications.directory b/package/linux/openpilot_menu.directory similarity index 50% rename from package/linux/rc_applications.directory rename to package/linux/openpilot_menu.directory index f375c7f13..7175a8915 100644 --- a/package/linux/rc_applications.directory +++ b/package/linux/openpilot_menu.directory @@ -1,5 +1,5 @@ [Desktop Entry] Type=Directory Encoding=UTF-8 -Name=RCApplications -Icon=rc_applications.png +Name=OpenPilot +Icon=openpilot_menu.png diff --git a/package/linux/rc_applications.menu b/package/linux/openpilot_menu.menu similarity index 54% rename from package/linux/rc_applications.menu rename to package/linux/openpilot_menu.menu index 185678f94..9e35577ec 100644 --- a/package/linux/rc_applications.menu +++ b/package/linux/openpilot_menu.menu @@ -3,10 +3,10 @@ Applications - RCApplications - rc_applications.directory + OpenPilot + openpilot_menu.directory - RCApplications + OpenPilotMenu - + diff --git a/package/linux/rc_applications.png b/package/linux/openpilot_menu.png similarity index 100% rename from package/linux/rc_applications.png rename to package/linux/openpilot_menu.png From 7892f9699d223294a4ee7d32db4f38289f251762 Mon Sep 17 00:00:00 2001 From: dankers Date: Thu, 29 Dec 2011 22:25:17 +1100 Subject: [PATCH 022/121] Add minus for notify as requested --- .../openpilotgcs/sounds/Complete sound set.txt | 3 ++- .../share/openpilotgcs/sounds/default/minus.wav | Bin 0 -> 67342 bytes 2 files changed, 2 insertions(+), 1 deletion(-) create mode 100644 ground/openpilotgcs/share/openpilotgcs/sounds/default/minus.wav diff --git a/ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt b/ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt index e539e6d24..4361d3e8b 100644 --- a/ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt +++ b/ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt @@ -65,7 +65,8 @@ magic manual flight maxium meters -minimum +minimum +minus mode moved MPH diff --git a/ground/openpilotgcs/share/openpilotgcs/sounds/default/minus.wav b/ground/openpilotgcs/share/openpilotgcs/sounds/default/minus.wav new file mode 100644 index 0000000000000000000000000000000000000000..385c1e55eaaedc3600fc9d74b9717ad5873619b0 GIT binary patch literal 67342 zcmX6l1$-38*XOo-e(SsEl3bFzi(g!kgg{$dgF_OaKnPF@1b26*rFcsV1lm6mT#E*Z zyClIQK$Jkf2j6dgGZ}p|J5Ofbdvj@@(XypP%I9@S>D*$_umZD&$K&xKr0?SKW_RWD z1UwBdE2Bfl&QPDxuH|;yf|JeFNN0e$ytBNkyvq=;@&4o8y<2~e+e~WK< 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zaabEk3?cdwsl-5{7k)bu@kAognrMUX5TOt@!bms?J3$dG+GcH|_NMlp_OAA!_Nw-l zwn=*%-;LTU+B)rNZMF8e_9VU!X}4;(XxD2iv@5h_+CuG8?QD#Qo1;PbM!tu|Kc)na&#mesnnMlGTJSEI#u__tYeTXRLz zq`9nV)YNN!)ttt163e%mYRzs Date: Fri, 30 Dec 2011 17:47:22 -0700 Subject: [PATCH 023/121] Updated Vid/Pids for Revo, CC3D and some minor comment cleanup in the UDev rules file. --- package/linux/deb_common/openpilot.udev | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/package/linux/deb_common/openpilot.udev b/package/linux/deb_common/openpilot.udev index d04d31b7f..3d84dd426 100644 --- a/package/linux/deb_common/openpilot.udev +++ b/package/linux/deb_common/openpilot.udev @@ -1,10 +1,15 @@ - # OpenPilot openpilot flight control board + # OpenPilot Flight Control board SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4117", MODE="0664", GROUP="plugdev" + # OpenPilot OP board SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415a", MODE="0664", GROUP="plugdev" - # OpenPilot coptercontrol flight control board + # OpenPilot CopterControl flight control board SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415b", MODE="0664", GROUP="plugdev" # OpenPilot Pipx radio modem board SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", MODE="0664", GROUP="plugdev" + # OpenPilot CopterControl3D flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415d", MODE="0664", GROUP="plugdev" + # OpenPilot Revolution flight control board + SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415e", MODE="0664", GROUP="plugdev" # unprogrammed openpilot flight control board SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5750", MODE="0664", GROUP="plugdev" # FTDI FT2232C Dual USB-UART/FIFO IC From 458d3467ab3c50550212319c927580e990660c8f Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 7 Sep 2011 18:50:21 -0400 Subject: [PATCH 024/121] gcs: properly label ttyACM devices in gcs pull-down selector --- .../src/libs/qextserialport/src/qextserialenumerator_unix.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_unix.cpp b/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_unix.cpp index f43a75b68..fd5af0d25 100644 --- a/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_unix.cpp +++ b/ground/openpilotgcs/src/libs/qextserialport/src/qextserialenumerator_unix.cpp @@ -60,6 +60,9 @@ QList QextSerialEnumerator::getPorts() else if (str.contains("rfcomm")) { inf.friendName = "Bluetooth-serial adapter "+str.remove(0, 6); } + else if (str.contains("ttyACM")) { + inf.friendName = "USB VCP adapter "+str.remove(0, 6); + } inf.enumName = "/dev"; // is there a more helpful name for this? infoList.append(inf); } From c0259dc616d37194a38b3e3da17573ae321879ea Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 7 Sep 2011 21:39:56 -0400 Subject: [PATCH 025/121] usb cdc: USB composite device with HID + VCP --- flight/Bootloaders/CopterControl/Makefile | 1 + .../CopterControl/inc/pios_config.h | 1 + flight/Bootloaders/CopterControl/main.c | 4 +- flight/Bootloaders/CopterControl/op_dfu.c | 8 +- flight/Bootloaders/CopterControl/pios_board.c | 26 +- flight/Bootloaders/OpenPilot/Makefile | 1 + .../Bootloaders/OpenPilot/inc/pios_config.h | 1 + flight/Bootloaders/OpenPilot/main.c | 4 +- flight/Bootloaders/OpenPilot/op_dfu.c | 8 +- flight/Bootloaders/OpenPilot/pios_board.c | 27 +- flight/Bootloaders/PipXtreme/Makefile | 1 + .../Bootloaders/PipXtreme/inc/pios_config.h | 1 + flight/Bootloaders/PipXtreme/main.c | 4 +- flight/Bootloaders/PipXtreme/op_dfu.c | 10 +- flight/Bootloaders/PipXtreme/pios_board.c | 28 +- flight/CopterControl/Makefile | 3 +- flight/CopterControl/System/inc/pios_config.h | 2 + flight/CopterControl/System/inc/pios_usb.h | 2 +- .../System/inc/pios_usb_hid_desc.h | 2 +- flight/CopterControl/System/pios_board.c | 49 +- .../CopterControl/System/pios_usb_hid_desc.c | 138 ++++- flight/Modules/Telemetry/telemetry.c | 4 +- flight/OpenPilot/Makefile | 1 + flight/OpenPilot/System/inc/pios_config.h | 1 + flight/OpenPilot/System/pios_board.c | 27 +- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 10 +- .../PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h | 7 +- flight/PiOS/Boards/STM3210E_OP.h | 10 +- flight/PiOS/STM32F10x/pios_usb_com.c | 584 ++++++++++++++++++ flight/PiOS/STM32F10x/pios_usb_hid.c | 308 ++------- flight/PiOS/STM32F10x/pios_usb_hid_desc.c | 4 +- flight/PiOS/STM32F10x/pios_usb_hid_istr.c | 4 +- flight/PiOS/STM32F10x/pios_usb_hid_prop.c | 139 ++++- flight/PiOS/inc/pios_com_priv.h | 4 +- flight/PiOS/inc/pios_usb_com_priv.h | 66 ++ flight/PiOS/inc/pios_usb_hid.h | 8 +- flight/PiOS/inc/pios_usb_hid_priv.h | 4 +- flight/PiOS/inc/pios_usb_hid_prop.h | 6 + flight/PiOS/inc/usb_conf.h | 24 +- flight/PipXtreme/Makefile | 1 + flight/PipXtreme/api_config.c | 2 +- flight/PipXtreme/inc/pios_config.h | 1 + flight/PipXtreme/inc/usb_conf.h | 22 +- flight/PipXtreme/pios_board.c | 27 +- flight/PipXtreme/pios_usb_hid_desc.c | 4 +- flight/PipXtreme/transparent_comms.c | 2 +- 46 files changed, 1180 insertions(+), 411 deletions(-) create mode 100644 flight/PiOS/STM32F10x/pios_usb_com.c create mode 100644 flight/PiOS/inc/pios_usb_com_priv.h diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index e630f9839..010eadd7a 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -111,6 +111,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c +SRC += $(PIOSSTM32F10X)/pios_usb_com.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c diff --git a/flight/Bootloaders/CopterControl/inc/pios_config.h b/flight/Bootloaders/CopterControl/inc/pios_config.h index faa0cff54..5c25f2aa5 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_config.h +++ b/flight/Bootloaders/CopterControl/inc/pios_config.h @@ -39,6 +39,7 @@ #define PIOS_INCLUDE_LED #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO #define PIOS_NO_GPS diff --git a/flight/Bootloaders/CopterControl/main.c b/flight/Bootloaders/CopterControl/main.c index aa375a49c..e60696115 100644 --- a/flight/Bootloaders/CopterControl/main.c +++ b/flight/Bootloaders/CopterControl/main.c @@ -198,8 +198,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB_HID) >= 63) { + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB_HID, mReceive_Buffer, 63, 0) == 63) { processComand(mReceive_Buffer); } } diff --git a/flight/Bootloaders/CopterControl/op_dfu.c b/flight/Bootloaders/CopterControl/op_dfu.c index b45e1e798..dc2b1836d 100644 --- a/flight/Bootloaders/CopterControl/op_dfu.c +++ b/flight/Bootloaders/CopterControl/op_dfu.c @@ -113,7 +113,7 @@ void processComand(uint8_t *xReceive_Buffer) { #ifdef DEBUG_SSP char str[63]= {0}; sprintf(str,"Received COMMAND:%d|",Command); - PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); #endif EchoReqFlag = (Command >> 7); EchoAnsFlag = (Command >> 6) & 0x01; @@ -324,11 +324,11 @@ void processComand(uint8_t *xReceive_Buffer) { case Download_Req: #ifdef DEBUG_SSP sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState); - PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); #endif if (DeviceState == DFUidle) { #ifdef DEBUG_SSP - PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|"); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,"COMMAND:DOWNLOAD_REQ 1|"); #endif downType = Data0; downPacketTotal = Count; @@ -442,7 +442,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); + PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, buf, size); if (DeviceState == downloading) PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid } diff --git a/flight/Bootloaders/CopterControl/pios_board.c b/flight/Bootloaders/CopterControl/pios_board.c index 28a280f4b..118143679 100644 --- a/flight/Bootloaders/CopterControl/pios_board.c +++ b/flight/Bootloaders/CopterControl/pios_board.c @@ -44,7 +44,7 @@ static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" -static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { +static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, @@ -56,9 +56,19 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -extern const struct pios_com_driver pios_usb_com_driver; +#if defined(PIOS_INCLUDE_USB_COM) +#include -uint32_t pios_com_telem_usb_id; +const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { + .type = PIOS_USB_COM_HID, + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; + +#endif /* PIOS_INCLUDE_USB_COM */ + +uint32_t pios_com_telem_usb_hid_id; /** * PIOS_Board_Init() @@ -84,12 +94,16 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_hid_id; - if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg)) { + uint32_t pios_usb_id; + if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } #if defined(PIOS_INCLUDE_COM) - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id, + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index 75891289f..d673f4353 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -114,6 +114,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c +SRC += $(PIOSSTM32F10X)/pios_usb_com.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c diff --git a/flight/Bootloaders/OpenPilot/inc/pios_config.h b/flight/Bootloaders/OpenPilot/inc/pios_config.h index c4ace5f90..3268ca3ca 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_config.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_config.h @@ -40,6 +40,7 @@ #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USART #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_OPAHRS #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c index 8e15952ea..25f38fdb9 100644 --- a/flight/Bootloaders/OpenPilot/main.c +++ b/flight/Bootloaders/OpenPilot/main.c @@ -249,8 +249,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { uint8_t processRX() { if (ProgPort == Usb) { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB_HID) >= 63) { + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB_HID, mReceive_Buffer, 63, 0) == 63) { processComand(mReceive_Buffer); } } diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c index bc62fff6c..102dca079 100644 --- a/flight/Bootloaders/OpenPilot/op_dfu.c +++ b/flight/Bootloaders/OpenPilot/op_dfu.c @@ -121,7 +121,7 @@ void processComand(uint8_t *xReceive_Buffer) { #ifdef DEBUG_SSP char str[63]= {0}; sprintf(str,"Received COMMAND:%d|",Command); - PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); #endif EchoReqFlag = (Command >> 7); EchoAnsFlag = (Command >> 6) & 0x01; @@ -389,11 +389,11 @@ void processComand(uint8_t *xReceive_Buffer) { case Download_Req: #ifdef DEBUG_SSP sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState); - PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); #endif if (DeviceState == DFUidle) { #ifdef DEBUG_SSP - PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|"); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,"COMMAND:DOWNLOAD_REQ 1|"); #endif downType = Data0; downPacketTotal = Count; @@ -551,7 +551,7 @@ uint32_t CalcFirmCRC() { void sendData(uint8_t * buf, uint16_t size) { if (ProgPort == Usb) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); + PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, buf, size); if (DeviceState == downloading) PIOS_DELAY_WaitmS(10); diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c index 5defbb626..0da0f1a4a 100644 --- a/flight/Bootloaders/OpenPilot/pios_board.c +++ b/flight/Bootloaders/OpenPilot/pios_board.c @@ -201,7 +201,7 @@ static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN]; #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" -static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { +static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, @@ -213,10 +213,21 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -extern const struct pios_com_driver pios_usb_com_driver; +#if defined(PIOS_INCLUDE_USB_COM) +#include + +const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { + .type = PIOS_USB_COM_HID, + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; + +#endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; -uint32_t pios_com_telem_usb_id; +uint32_t pios_com_telem_usb_hid_id; +uint32_t pios_com_telem_usb_cdc_id; #include "pios_opahrs.h" @@ -257,10 +268,14 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_hid_id; - PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg); + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_COM) - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id, + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile index 7aadcf1c9..aad33dd73 100644 --- a/flight/Bootloaders/PipXtreme/Makefile +++ b/flight/Bootloaders/PipXtreme/Makefile @@ -110,6 +110,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c +SRC += $(PIOSSTM32F10X)/pios_usb_com.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c diff --git a/flight/Bootloaders/PipXtreme/inc/pios_config.h b/flight/Bootloaders/PipXtreme/inc/pios_config.h index 799847992..28ab42143 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_config.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_config.h @@ -38,6 +38,7 @@ #define PIOS_INCLUDE_LED #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO //#define DEBUG_SSP diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c index 3f1c4bd54..4161657c8 100644 --- a/flight/Bootloaders/PipXtreme/main.c +++ b/flight/Bootloaders/PipXtreme/main.c @@ -204,8 +204,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB_HID) >= 63) { + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB_HID, mReceive_Buffer, 63, 0) == 63) { processComand(mReceive_Buffer); } } diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c index 770ce8237..c5c465ab3 100644 --- a/flight/Bootloaders/PipXtreme/op_dfu.c +++ b/flight/Bootloaders/PipXtreme/op_dfu.c @@ -141,7 +141,7 @@ void processComand(uint8_t *xReceive_Buffer) { #ifdef DEBUG_SSP char str[63]= {0}; sprintf(str,"Received COMMAND:%d|",Command); - PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); #endif EchoReqFlag = (Command >> 7); EchoAnsFlag = (Command >> 6) & 0x01; @@ -322,7 +322,7 @@ void processComand(uint8_t *xReceive_Buffer) { Buffer[15] = devicesTable[Data0 - 1].devID; } sendData(Buffer + 1, 63); - //PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1 + //PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, Buffer + 1, 63);//FIX+1 break; case JumpFW: FLASH_Lock(); @@ -356,11 +356,11 @@ void processComand(uint8_t *xReceive_Buffer) { case Download_Req: #ifdef DEBUG_SSP sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState); - PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); #endif if (DeviceState == DFUidle) { #ifdef DEBUG_SSP - PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|"); + PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,"COMMAND:DOWNLOAD_REQ 1|"); #endif downType = Data0; downPacketTotal = Count; @@ -474,7 +474,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); + PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, buf, size); if (DeviceState == downloading) PIOS_DELAY_WaitmS(10); } diff --git a/flight/Bootloaders/PipXtreme/pios_board.c b/flight/Bootloaders/PipXtreme/pios_board.c index 83f0f407a..118143679 100644 --- a/flight/Bootloaders/PipXtreme/pios_board.c +++ b/flight/Bootloaders/PipXtreme/pios_board.c @@ -44,7 +44,7 @@ static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" -static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { +static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, @@ -56,9 +56,19 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -extern const struct pios_com_driver pios_usb_com_driver; +#if defined(PIOS_INCLUDE_USB_COM) +#include -uint32_t pios_com_telem_usb_id; +const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { + .type = PIOS_USB_COM_HID, + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; + +#endif /* PIOS_INCLUDE_USB_COM */ + +uint32_t pios_com_telem_usb_hid_id; /** * PIOS_Board_Init() @@ -84,10 +94,16 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_hid_id; - PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg); + uint32_t pios_usb_id; + if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { + PIOS_Assert(0); + } #if defined(PIOS_INCLUDE_COM) - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id, + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index a357af633..22778ba61 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -203,11 +203,12 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c SRC += $(PIOSSTM32F10X)/pios_tim.c -# PIOS USB related files (seperated to make code maintenance more easy) +# PIOS USB related files (separated to make code maintenance more easy) SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c +SRC += $(PIOSSTM32F10X)/pios_usb_com.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_crc.c diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 8e29e0b73..4e5827149 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -62,6 +62,8 @@ #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USART #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_COM +#define PIOS_INCLUDE_USB_COM_CDC #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_SETTINGS #define PIOS_INCLUDE_FREERTOS diff --git a/flight/CopterControl/System/inc/pios_usb.h b/flight/CopterControl/System/inc/pios_usb.h index 6af496a71..3e20a7b03 100644 --- a/flight/CopterControl/System/inc/pios_usb.h +++ b/flight/CopterControl/System/inc/pios_usb.h @@ -55,7 +55,7 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 2 +#define PIOS_USB_EP_NUM 5 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 diff --git a/flight/CopterControl/System/inc/pios_usb_hid_desc.h b/flight/CopterControl/System/inc/pios_usb_hid_desc.h index ae72ebfb8..d6bc3720f 100644 --- a/flight/CopterControl/System/inc/pios_usb_hid_desc.h +++ b/flight/CopterControl/System/inc/pios_usb_hid_desc.h @@ -33,7 +33,7 @@ #define PIOS_HID_OFF_HID_DESC 0x12 #define PIOS_HID_SIZ_DEVICE_DESC 18 -#define PIOS_HID_SIZ_CONFIG_DESC 41 +#define PIOS_HID_SIZ_CONFIG_DESC 107 #define PIOS_HID_SIZ_REPORT_DESC 36 #define PIOS_HID_SIZ_STRING_LANGID 4 #define PIOS_HID_SIZ_STRING_VENDOR 28 diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index d89342787..76cf473c1 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1067,7 +1067,7 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" -static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { +static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, @@ -1079,10 +1079,30 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -extern const struct pios_com_driver pios_usb_com_driver; +#if defined(PIOS_INCLUDE_USB_COM) +#include + +const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { + .type = PIOS_USB_COM_HID, + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; + +const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = { + .type = PIOS_USB_COM_CDC, + .ctrl_if = 1, + .ctrl_tx_ep = 2, + + .data_if = 2, + .data_rx_ep = 3, + .data_tx_ep = 3, +}; +#endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; -uint32_t pios_com_telem_usb_id; +uint32_t pios_com_telem_usb_hid_id; +uint32_t pios_com_telem_usb_cdc_id; uint32_t pios_com_gps_id; /** @@ -1414,18 +1434,35 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_hid_id; - PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg); + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_COM) + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id, + if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } + + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer2 = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer2 = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer2); + PIOS_Assert(tx_buffer2); + if (PIOS_COM_Init(&pios_com_telem_usb_cdc_id, &pios_usb_cdc_com_driver, pios_usb_com_id, + rx_buffer2, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer2, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ diff --git a/flight/CopterControl/System/pios_usb_hid_desc.c b/flight/CopterControl/System/pios_usb_hid_desc.c index 6296b0593..2ca8f8246 100644 --- a/flight/CopterControl/System/pios_usb_hid_desc.c +++ b/flight/CopterControl/System/pios_usb_hid_desc.c @@ -27,9 +27,9 @@ const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] = USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType 0x00, // bcdUSB 0x02, - 0x00, // bDeviceClass - 0x00, // bDeviceSubClass - 0x00, // bDeviceProtocol + 0xEF, // bDeviceClass (Misc) + 0x02, // bDeviceSubClass (common) + 0x01, // bDeviceProtocol (IAD) 0x40, // bMaxPacketSize40 (uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor (uint8_t)((PIOS_USB_VENDOR_ID) >> 8), @@ -51,17 +51,27 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = { 0x09, // bLength: Configuation Descriptor size USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration - PIOS_HID_SIZ_CONFIG_DESC, - // wTotalLength: Bytes returned + PIOS_HID_SIZ_CONFIG_DESC, // wTotalLength: Bytes returned 0x00, - 0x01, // bNumInterfaces: 1 interface + 0x03, // bNumInterfaces: 3 interfaces 0x01, // bConfigurationValue: Configuration value 0x00, // iConfiguration: Index of string descriptor describing the configuration 0xC0, // bmAttributes: Bus powered 0x7D, // MaxPower 250 mA - needed to power the RF transmitter + // *************** Interface Association Descriptor ***************** + // 9 + 0x08, /* bLength */ + 0x0B, /* bDescriptorType (IAD) */ + 0x01, /* bFirstInterface */ + 0x02, /* bInterfaceCount */ + 0x02, /* bFunctionClass (Communication Class) */ + 0x02, /* bFunctionSubClass (Abstract Control Model) */ + 0x00, /* bFunctionProtocol (V.25ter, Common AT commands) */ + 0x00, /* iInterface */ + // ************** Descriptor of Custom HID interface **************** - // 09 + // 17 0x09, // bLength: Interface Descriptor size USB_INTERFACE_DESCRIPTOR_TYPE, // bDescriptorType: Interface descriptor type 0x00, // bInterfaceNumber: Number of Interface @@ -73,19 +83,19 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0, // iInterface: Index of string descriptor // ******************** Descriptor of Custom HID HID ******************** - // 18 + // 26 0x09, // bLength: HID Descriptor size HID_DESCRIPTOR_TYPE, // bDescriptorType: HID 0x10, // bcdHID: HID Class Spec release number 0x01, 0x00, // bCountryCode: Hardware target country - 0x01, // bNumDescriptors: Number of HID class descriptors to follow + 0x02, // bNumDescriptors: Number of HID class descriptors to follow 0x22, // bDescriptorType PIOS_HID_SIZ_REPORT_DESC, // wItemLength: Total length of Report descriptor 0x00, // ******************** Descriptor of Custom HID endpoints ****************** - // 27 + // 35 0x07, // bLength: Endpoint Descriptor size USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: @@ -94,18 +104,102 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0x40, // wMaxPacketSize: 2 Bytes max 0x00, 0x04, // bInterval: Polling Interval in ms - // 34 - + + // 42 0x07, // bLength: Endpoint Descriptor size - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: - // Endpoint descriptor type - 0x01, // bEndpointAddress: - // Endpoint Address (OUT) + USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: (Endpoint descriptor type) + 0x01, // bEndpointAddress: Endpoint Address (OUT) 0x03, // bmAttributes: Interrupt endpoint 0x40, // wMaxPacketSize: 2 Bytes max 0x00, 0x04, // bInterval: Polling Interval in ms - // 41 + + // ************** Descriptor of CDC Control interface **************** + // 49 + 0x09, /* bLength */ + USB_INTERFACE_DESCRIPTOR_TYPE, /* bDescriptorType */ + 0x01, /* bInterfaceNumber */ + 0x00, /* bAlternateSetting */ + 0x01, /* bNumEndpoints */ + 0x02, /* bInterfaceClass (Communication Class) */ + 0x02, /* bInterfaceSubClass (Abstract Control Model) */ + 0x01, /* bFunctionProtocol (V.25ter, Common AT commands) */ + 0x00, /* iInterface */ + + // ************** Header Functional Descriptor **************** + // 58 + 0x05, /* bLength */ + 0x24, /* bDescriptorType (Class Specific Interface) */ + 0x00, /* bDescriptorSubtype (CDC Header Functional) */ + 0x10, /* bcdCDC (CDC spec release number, 1.10 */ + 0x01, + + // ************** Call Management Functional Descriptor **************** + // 63 + 0x05, /* bLength */ + 0x24, /* bDescriptorType (Class Specific Interface) */ + 0x01, /* bDescriptorSubtype (CDC Call Management) */ + 0x00, /* bmCapabilities (No call handling) */ + 0x02, /* bDataInterface (Interface number of Data Class Interface) */ + + // ************** Abstract Control Management Functional Descriptor **************** + // 68 + 0x04, /* bLength */ + 0x24, /* bDescriptorType (Class Specific Interface) */ + 0x02, /* bDescriptorSubtype (CDC Abstract Control Management) */ + 0x00, /* bmCapabilities */ + + // ************** Union Functional Descriptor **************** + // 72 + 0x05, /* bLength */ + 0x24, /* bDescriptorType (Class Specific Interface) */ + 0x06, /* bDescriptorSubtype (CDC Union) */ + 0x01, /* bMasterInterface (Interface number of master interface in the union) */ + 0x02, /* bSlaveInterface (Interface number of slave interface in the union) */ + + // ************** Endpoint2 Functional Descriptor **************** + // 77 + 0x07, /* bLength */ + USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType (Endpoint) + 0x82, /* bEndpointAddress*/ + 0x03, /* bmAttributes (Interrupt Endpoint) */ + 0x40, /* wMaxPacketSize (bytes) */ + 0x00, + 0x04, /* bInterval (ms) */ + + // ************** Descriptor of CDC Data interface **************** + // 84 + 0x09, /* bLength */ + USB_INTERFACE_DESCRIPTOR_TYPE, /* bDescriptorType */ + 0x02, /* bInterfaceNumber */ + 0x00, /* bAlternateSetting */ + 0x02, /* bNumEndpoints */ + 0x0A, /* bInterfaceClass (Data Interface Class) */ + 0x00, /* bInterfaceSubClass */ + 0x00, /* bFunctionProtocol (No class specific protocol) */ + 0x00, /* iInterface */ + + // ************** Endpoint3 Functional Descriptor **************** + // 93 + 0x07, /* bLength */ + USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType (Endpoint) + 0x83, /* bEndpointAddress*/ + 0x02, /* bmAttributes (Bulk) */ + 0x40, /* wMaxPacketSize (bytes) */ + 0x00, + 0x00, /* bInterval (ms) */ + + // ************** Endpoint3 Functional Descriptor **************** + // 100 + 0x07, /* bLength */ + USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType (Endpoint) + 0x03, /* bEndpointAddress*/ + 0x02, /* bmAttributes (Bulk) */ + 0x40, /* wMaxPacketSize (bytes) */ + 0x00, + 0x00 /* bInterval (ms) */ + + // 107 }; // ************************************************* @@ -115,7 +209,7 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0x06, 0x9c, 0xff, // USAGE_PAGE (Vendor Page: 0xFF00) 0x09, 0x01, // USAGE (Demo Kit) 0xa1, 0x01, // COLLECTION (Application) - // 6 + // 7 // Data 1 0x85, 0x01, // REPORT_ID (1) @@ -123,9 +217,9 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0x15, 0x00, // LOGICAL_MINIMUM (0) 0x25, 0xff, // LOGICAL_MAXIMUM (255) 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1) + 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) 0x81, 0x83, // INPUT (Const,Var,Array) - // 20 + // 21 // Data 1 0x85, 0x02, // REPORT_ID (2) @@ -133,9 +227,9 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0x15, 0x00, // LOGICAL_MINIMUM (0) 0x25, 0xff, // LOGICAL_MAXIMUM (255) 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1) + 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) 0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol) - // 34 + // 35 0xc0 // END_COLLECTION }; diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index e0f8b2d5f..3e935d089 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -311,7 +311,7 @@ static void telemetryRxTask(void *parameters) #if defined(PIOS_INCLUDE_USB_HID) // Determine input port (USB takes priority over telemetry port) if (PIOS_USB_HID_CheckAvailable(0)) { - inputPort = PIOS_COM_TELEM_USB; + inputPort = PIOS_COM_TELEM_USB_HID; } else #endif /* PIOS_INCLUDE_USB_HID */ { @@ -348,7 +348,7 @@ static int32_t transmitData(uint8_t * data, int32_t length) // Determine input port (USB takes priority over telemetry port) #if defined(PIOS_INCLUDE_USB_HID) if (PIOS_USB_HID_CheckAvailable(0)) { - outputPort = PIOS_COM_TELEM_USB; + outputPort = PIOS_COM_TELEM_USB_HID; } else #endif /* PIOS_INCLUDE_USB_HID */ { diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index ddb298157..0fe336af9 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -186,6 +186,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c +SRC += $(PIOSSTM32F10X)/pios_usb_com.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_crc.c diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 81699215b..491bc4be9 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -56,6 +56,7 @@ #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USART #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_BMP085 //#define PIOS_INCLUDE_HCSR04 #define PIOS_INCLUDE_OPAHRS diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 03a75a30c..f5cbfac43 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1044,7 +1044,7 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" -static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { +static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, @@ -1056,10 +1056,21 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -extern const struct pios_com_driver pios_usb_com_driver; +#if defined(PIOS_INCLUDE_USB_COM) +#include + +const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { + .type = PIOS_USB_COM_HID, + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; + +#endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; -uint32_t pios_com_telem_usb_id; +uint32_t pios_com_telem_usb_hid_id; +uint32_t pios_com_telem_usb_cdc_id; uint32_t pios_com_gps_id; uint32_t pios_com_aux_id; uint32_t pios_com_dsm_id; @@ -1277,14 +1288,18 @@ void PIOS_Board_Init(void) { } #if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_hid_id; - PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg); + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_COM) + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id, + if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 1a8a17c89..f585fbee4 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -141,8 +141,11 @@ extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) #endif /* PIOS_INCLUDE_GPS */ -extern uint32_t pios_com_telem_usb_id; -#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +extern uint32_t pios_com_telem_usb_hid_id; +#define PIOS_COM_TELEM_USB_HID (pios_com_telem_usb_hid_id) + +extern uint32_t pios_com_telem_usb_cdc_id; +#define PIOS_COM_TELEM_USB_CDC (pios_com_telem_usb_cdc_id) //------------------------- // ADC @@ -266,8 +269,9 @@ extern uint32_t pios_com_telem_usb_id; // USB //------------------------- #define PIOS_USB_ENABLED 1 -#define PIOS_USB_HID_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC +#define PIOS_USB_MAX_DEVS 1 +#define PIOS_USB_COM_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15 #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15 #define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h index 7027a42bd..4fcf034da 100644 --- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h @@ -156,8 +156,8 @@ extern uint32_t pios_com_serial_id; //#define PIOS_COM_DEBUG PIOS_COM_SERIAL // uncomment this to send debug info out the serial port #if defined(PIOS_INCLUDE_USB_HID) -extern uint32_t pios_com_telem_usb_id; -#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +extern uint32_t pios_com_telem_usb_hid_id; +#define PIOS_COM_TELEM_USB_HID (pios_com_telem_usb_hid_id) #endif #if defined(PIOS_COM_DEBUG) @@ -393,12 +393,13 @@ extern uint32_t pios_com_telem_usb_id; #if defined(PIOS_INCLUDE_USB_HID) #define PIOS_USB_ENABLED 1 - #define PIOS_USB_HID_MAX_DEVS 1 + #define PIOS_USB_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PORT GPIO_IN_2_PORT #define PIOS_USB_DETECT_GPIO_PIN GPIO_IN_2_PIN #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 #define PIOS_IRQ_USB_PRIORITY 8 #endif +#define PIOS_USB_COM_MAX_DEVS 1 // ***************************************************************** // RFM22 diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index c82bb8fe8..72732c0d0 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -152,8 +152,11 @@ extern uint32_t pios_com_telem_rf_id; extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) -extern uint32_t pios_com_telem_usb_id; -#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +extern uint32_t pios_com_telem_usb_hid_id; +#define PIOS_COM_TELEM_USB_HID (pios_com_telem_usb_hid_id) + +extern uint32_t pios_com_telem_usb_cdc_id; +#define PIOS_COM_TELEM_USB_CDC (pios_com_telem_usb_cdc_id) #ifdef PIOS_ENABLE_AUX_UART extern uint32_t pios_com_aux_id; @@ -309,8 +312,9 @@ extern uint32_t pios_com_aux_id; // USB //------------------------- #define PIOS_USB_ENABLED 1 -#define PIOS_USB_HID_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC +#define PIOS_USB_MAX_DEVS 1 +#define PIOS_USB_COM_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4 #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 #define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c new file mode 100644 index 000000000..8bdcbed6a --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -0,0 +1,584 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_COM USB COM Functions + * @brief PIOS USB COM implementation + * @notes This implements both a simple HID device and a CDC Serial Port + * @{ + * + * @file pios_usb_com.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB COM functions (STM32 dependent code) + * @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 + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_USB_COM) + +#include "pios_usb.h" +#include "usb_lib.h" +#include "pios_usb_com_priv.h" + +static void PIOS_USB_COM_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context); +static void PIOS_USB_COM_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context); + +static void PIOS_USB_COM_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail); +static void PIOS_USB_COM_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail); + +const struct pios_com_driver pios_usb_hid_com_driver = { + .tx_start = PIOS_USB_COM_HID_TxStart, + .rx_start = PIOS_USB_COM_HID_RxStart, + .bind_tx_cb = PIOS_USB_COM_RegisterTxCallback, + .bind_rx_cb = PIOS_USB_COM_RegisterRxCallback, +}; + +#if defined(PIOS_INCLUDE_USB_COM_CDC) + +static void PIOS_USB_COM_CDC_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail); +static void PIOS_USB_COM_CDC_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail); + +const struct pios_com_driver pios_usb_cdc_com_driver = { + .tx_start = PIOS_USB_COM_CDC_TxStart, + .rx_start = PIOS_USB_COM_CDC_RxStart, + .bind_tx_cb = PIOS_USB_COM_RegisterTxCallback, + .bind_rx_cb = PIOS_USB_COM_RegisterRxCallback, +}; +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + +enum pios_usb_com_dev_magic { + PIOS_USB_COM_DEV_MAGIC = 0xAABBCCDD, +}; + +struct pios_usb_com_dev { + enum pios_usb_com_dev_magic magic; + const struct pios_usb_com_cfg * cfg; + + uint32_t lower_id; + + pios_com_callback rx_in_cb; + uint32_t rx_in_context; + pios_com_callback tx_out_cb; + uint32_t tx_out_context; + + uint8_t rx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; + uint8_t tx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; +}; + +static bool PIOS_USB_COM_validate(struct pios_usb_com_dev * usb_com_dev) +{ + return (usb_com_dev->magic == PIOS_USB_COM_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_usb_com_dev * PIOS_USB_COM_alloc(void) +{ + struct pios_usb_com_dev * usb_com_dev; + + usb_com_dev = (struct pios_usb_com_dev *)pvPortMalloc(sizeof(*usb_com_dev)); + if (!usb_com_dev) return(NULL); + + usb_com_dev->magic = PIOS_USB_COM_DEV_MAGIC; + return(usb_com_dev); +} +#else +static struct pios_usb_com_dev pios_usb_com_devs[PIOS_USB_COM_MAX_DEVS]; +static uint8_t pios_usb_com_num_devs; +static struct pios_usb_com_dev * PIOS_USB_COM_alloc(void) +{ + struct pios_usb_com_dev * usb_com_dev; + + if (pios_usb_com_num_devs >= PIOS_USB_COM_MAX_DEVS) { + return (NULL); + } + + usb_com_dev = &pios_usb_com_devs[pios_usb_com_num_devs++]; + usb_com_dev->magic = PIOS_USB_COM_DEV_MAGIC; + + return (usb_com_dev); +} +#endif + +static void PIOS_USB_COM_HID_EP_IN_Callback(void); +static void PIOS_USB_COM_HID_EP_OUT_Callback(void); + +static uint32_t pios_usb_com_hid_id; + +#if defined(PIOS_INCLUDE_USB_COM_CDC) + +static void PIOS_USB_COM_CDC_DATA_EP_IN_Callback(void); +static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void); +static void PIOS_USB_COM_CDC_CTRL_EP_IN_Callback(void); + +static uint32_t pios_usb_com_cdc_id; + +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + +int32_t PIOS_USB_COM_Init(uint32_t * usbcom_id, const struct pios_usb_com_cfg * cfg, uint32_t lower_id) +{ + PIOS_Assert(usbcom_id); + PIOS_Assert(cfg); + + struct pios_usb_com_dev * usb_com_dev; + + usb_com_dev = (struct pios_usb_com_dev *) PIOS_USB_COM_alloc(); + if (!usb_com_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + usb_com_dev->cfg = cfg; + usb_com_dev->lower_id = lower_id; + + switch (cfg->type) { +#if defined(PIOS_INCLUDE_USB_COM_CDC) + case PIOS_USB_COM_CDC: + pios_usb_com_cdc_id = (uint32_t) usb_com_dev; + pEpInt_OUT[cfg->ctrl_tx_ep - 1] = PIOS_USB_COM_CDC_CTRL_EP_IN_Callback; + pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_COM_CDC_DATA_EP_IN_Callback; + pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_COM_CDC_DATA_EP_OUT_Callback; + break; +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + case PIOS_USB_COM_HID: + pios_usb_com_hid_id = (uint32_t) usb_com_dev; + pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_COM_HID_EP_IN_Callback; + pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_COM_HID_EP_OUT_Callback; + break; + default: + PIOS_Assert(0); + } + + *usbcom_id = (uint32_t) usb_com_dev; + + return 0; + +out_fail: + return -1; +} + + +static void PIOS_USB_COM_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + usb_com_dev->rx_in_context = context; + usb_com_dev->rx_in_cb = rx_in_cb; +} + +static void PIOS_USB_COM_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + usb_com_dev->tx_out_context = context; + usb_com_dev->tx_out_cb = tx_out_cb; +} + +static void PIOS_USB_COM_HID_SendReport(struct pios_usb_com_dev * usb_com_dev) +{ + uint16_t bytes_to_tx; + + if (!usb_com_dev->tx_out_cb) { + return; + } + + bool need_yield = false; +#ifdef USB_HID + bytes_to_tx = (usb_com_dev->tx_out_cb)(usb_com_dev->tx_out_context, + &usb_com_dev->tx_packet_buffer[1], + sizeof(usb_com_dev->tx_packet_buffer)-1, + NULL, + &need_yield); +#else + bytes_to_tx = (usb_com_dev->tx_out_cb)(usb_com_dev->tx_out_context, + &usb_com_dev->tx_packet_buffer[2], + sizeof(usb_com_dev->tx_packet_buffer)-2, + NULL, + &need_yield); +#endif + if (bytes_to_tx == 0) { + return; + } + + /* Always set type as report ID */ + usb_com_dev->tx_packet_buffer[0] = 1; + +#ifdef USB_HID + UserToPMABufferCopy(usb_com_dev->tx_packet_buffer, + GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), + bytes_to_tx + 1); +#else + usb_com_dev->tx_packet_buffer[1] = bytes_to_tx; + UserToPMABufferCopy(usb_com_dev->tx_packet_buffer, + GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), + bytes_to_tx + 2); +#endif + /* Is this correct? Why do we always send the whole buffer? */ + SetEPTxCount(usb_com_dev->cfg->data_tx_ep, sizeof(usb_com_dev->tx_packet_buffer)); + SetEPTxValid(usb_com_dev->cfg->data_tx_ep); + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +static void PIOS_USB_COM_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) { + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { + return; + } + + // If endpoint was stalled and there is now space make it valid + PIOS_IRQ_Disable(); + if ((GetEPRxStatus(usb_com_dev->cfg->data_rx_ep) != EP_RX_VALID) && + (rx_bytes_avail > PIOS_USB_COM_DATA_LENGTH)) { + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); + } + PIOS_IRQ_Enable(); +} + +static void PIOS_USB_COM_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { + return; + } + + if (GetEPTxStatus(usb_com_dev->cfg->data_tx_ep) == EP_TX_VALID) { + /* Endpoint is already transmitting */ + return; + } + + PIOS_USB_COM_HID_SendReport(usb_com_dev); +} + +/** + * @brief Callback used to indicate a transmission from device INto host completed + * Checks if any data remains, pads it into HID packet and sends. + */ +static void PIOS_USB_COM_HID_EP_IN_Callback(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_hid_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { + return; + } + + PIOS_USB_COM_HID_SendReport(usb_com_dev); +} + +/** + * EP1 OUT Callback Routine + */ +static void PIOS_USB_COM_HID_EP_OUT_Callback(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_hid_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + uint32_t DataLength = 0; + + /* Read received data (63 bytes) */ + /* Get the number of received data on the selected Endpoint */ + DataLength = GetEPRxCount(usb_com_dev->cfg->data_rx_ep); + if (DataLength > sizeof(usb_com_dev->rx_packet_buffer)) { + DataLength = sizeof(usb_com_dev->rx_packet_buffer); + } + + /* Use the memory interface function to read from the selected endpoint */ + PMAToUserBufferCopy((uint8_t *) usb_com_dev->rx_packet_buffer, + GetEPRxAddr(usb_com_dev->cfg->data_rx_ep), + DataLength); + + if (!usb_com_dev->rx_in_cb) { + /* No Rx call back registered, disable the receiver */ + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); + return; + } + + /* The first byte is report ID (not checked), the second byte is the valid data length */ + uint16_t headroom; + bool need_yield = false; +#ifdef USB_HID + (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, + &usb_com_dev->rx_packet_buffer[1], + sizeof(usb_com_dev->rx_packet_buffer)-1, + &headroom, + &need_yield); +#else + (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, + &usb_com_dev->rx_packet_buffer[2], + usb_com_dev->rx_packet_buffer[1], + &headroom, + &need_yield); +#endif + if (headroom > PIOS_USB_COM_DATA_LENGTH) { + /* We have room for a maximum length message */ + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); + } else { + /* Not enough room left for a message, apply backpressure */ + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); + } + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +#if defined(PIOS_INCLUDE_USB_COM_CDC) + +static void PIOS_USB_COM_CDC_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) { + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { + return; + } + + // If endpoint was stalled and there is now space make it valid + PIOS_IRQ_Disable(); + if ((GetEPRxStatus(usb_com_dev->cfg->data_rx_ep) != EP_RX_VALID) && + (rx_bytes_avail > sizeof(usb_com_dev->rx_packet_buffer))) { + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); + } + PIOS_IRQ_Enable(); +} + +static void PIOS_USB_COM_CDC_SendData(struct pios_usb_com_dev * usb_com_dev) +{ + uint16_t bytes_to_tx; + + if (!usb_com_dev->tx_out_cb) { + return; + } + + bool need_yield = false; + bytes_to_tx = (usb_com_dev->tx_out_cb)(usb_com_dev->tx_out_context, + usb_com_dev->tx_packet_buffer, + sizeof(usb_com_dev->tx_packet_buffer), + NULL, + &need_yield); + if (bytes_to_tx == 0) { + return; + } + + UserToPMABufferCopy(usb_com_dev->tx_packet_buffer, + GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), + bytes_to_tx); + SetEPTxCount(usb_com_dev->cfg->data_tx_ep, bytes_to_tx); + SetEPTxValid(usb_com_dev->cfg->data_tx_ep); + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +static void PIOS_USB_COM_CDC_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { + return; + } + + if (GetEPTxStatus(usb_com_dev->cfg->data_tx_ep) == EP_TX_VALID) { + /* Endpoint is already transmitting */ + return; + } + + PIOS_USB_COM_CDC_SendData(usb_com_dev); +} + +static void PIOS_USB_COM_CDC_DATA_EP_IN_Callback(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + PIOS_USB_COM_CDC_SendData(usb_com_dev); +} + +static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + uint32_t DataLength = 0; + + /* Get the number of received data on the selected Endpoint */ + DataLength = GetEPRxCount(usb_com_dev->cfg->data_rx_ep); + if (DataLength > sizeof(usb_com_dev->rx_packet_buffer)) { + DataLength = sizeof(usb_com_dev->rx_packet_buffer); + } + + /* Use the memory interface function to read from the selected endpoint */ + PMAToUserBufferCopy((uint8_t *) usb_com_dev->rx_packet_buffer, + GetEPRxAddr(usb_com_dev->cfg->data_rx_ep), + DataLength); + + if (!usb_com_dev->rx_in_cb) { + /* No Rx call back registered, disable the receiver */ + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); + return; + } + + uint16_t headroom; + bool need_yield = false; + (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, + usb_com_dev->rx_packet_buffer, + sizeof(usb_com_dev->rx_packet_buffer), + &headroom, + &need_yield); + + if (headroom > sizeof(usb_com_dev->rx_packet_buffer)) { + /* We have room for a maximum length message */ + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); + } else { + /* Not enough room left for a message, apply backpressure */ + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_STALL); + } + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +RESULT PIOS_CDC_SetControlLineState(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + static uint16_t control_line_state; + + uint8_t wValue0 = pInformation->USBwValue0; + uint8_t wValue1 = pInformation->USBwValue1; + + control_line_state = wValue1 << 8 | wValue0; + + return USB_SUCCESS; +} + +RESULT PIOS_CDC_SetLineCoding(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + return USB_SUCCESS; +} + +uint8_t *PIOS_CDC_GetLineCoding(uint16_t Length) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + return NULL; +} + +static uint8_t serial_state[] = { + 0xA1, /* bmRequestType */ + 0x20, /* bNotification (Serial State) */ + 0x00, /* wValue */ + 0x00, + 0x01, /* wIndex (Interface #, LSB first) */ + 0x00, + 0x02, /* wLength (Data length) */ + 0x00, + + 0x00, /* USART State Bitmap (LSB first) */ + 0x00, +}; + +static void PIOS_USB_COM_CDC_CTRL_EP_IN_Callback(void) +{ + struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; + + bool valid = PIOS_USB_COM_validate(usb_com_dev); + PIOS_Assert(valid); + + /* Give back UART State Bitmap */ + /* UART State Bitmap + * 15-7: reserved + * 6: bOverRun overrun error + * 5: bParity parity error + * 4: bFraming framing error + * 3: bRingSignal RI + * 2: bBreak break reception + * 1: bTxCarrier DSR + * 0: bRxCarrier DCD + */ + serial_state[8] = 0x03; + serial_state[9] = 0x00; + + UserToPMABufferCopy(serial_state, + GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), + sizeof(serial_state)); + SetEPTxCount(usb_com_dev->cfg->data_tx_ep, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPTxValid(usb_com_dev->cfg->data_tx_ep); +} + +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + +#endif /* PIOS_INCLUDE_USB_COM */ diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c index 8644dd517..99d709a99 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid.c @@ -41,90 +41,73 @@ #if defined(PIOS_INCLUDE_USB_HID) -static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail); -static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail); -static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context); -static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context); +/* Rx/Tx status */ +static uint8_t transfer_possible = 0; -const struct pios_com_driver pios_usb_com_driver = { - .tx_start = PIOS_USB_HID_TxStart, - .rx_start = PIOS_USB_HID_RxStart, - .bind_tx_cb = PIOS_USB_HID_RegisterTxCallback, - .bind_rx_cb = PIOS_USB_HID_RegisterRxCallback, +enum pios_usb_dev_magic { + PIOS_USB_DEV_MAGIC = 0x17365904, }; -enum pios_usb_hid_dev_magic { - PIOS_USB_HID_DEV_MAGIC = 0xAABBCCDD, +struct pios_usb_dev { + enum pios_usb_dev_magic magic; + const struct pios_usb_cfg * cfg; }; -struct pios_usb_hid_dev { - enum pios_usb_hid_dev_magic magic; - const struct pios_usb_hid_cfg * cfg; - - pios_com_callback rx_in_cb; - uint32_t rx_in_context; - pios_com_callback tx_out_cb; - uint32_t tx_out_context; - - uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2]; - uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2]; -}; - -static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev) +#if 0 +static bool PIOS_USB_validate(struct pios_usb_dev * usb_dev) { - return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC); -} - -#if defined(PIOS_INCLUDE_FREERTOS) -static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) -{ - struct pios_usb_hid_dev * usb_hid_dev; - - usb_hid_dev = (struct pios_usb_hid_dev *)pvPortMalloc(sizeof(*usb_hid_dev)); - if (!usb_hid_dev) return(NULL); - - usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; - return(usb_hid_dev); -} -#else -static struct pios_usb_hid_dev pios_usb_hid_devs[PIOS_USB_HID_MAX_DEVS]; -static uint8_t pios_usb_hid_num_devs; -static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) -{ - struct pios_usb_hid_dev * usb_hid_dev; - - if (pios_usb_hid_num_devs >= PIOS_USB_HID_MAX_DEVS) { - return (NULL); - } - - usb_hid_dev = &pios_usb_hid_devs[pios_usb_hid_num_devs++]; - usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; - - return (usb_hid_dev); + return (usb_dev->magic == PIOS_USB_DEV_MAGIC); +} +#endif + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_usb_dev * PIOS_USB_alloc(void) +{ + struct pios_usb_dev * usb_dev; + + usb_dev = (struct pios_usb_dev *)pvPortMalloc(sizeof(*usb_dev)); + if (!usb_dev) return(NULL); + + usb_dev->magic = PIOS_USB_DEV_MAGIC; + return(usb_dev); +} +#else +static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS]; +static uint8_t pios_usb_num_devs; +static struct pios_usb_dev * PIOS_USB_alloc(void) +{ + struct pios_usb_dev * usb_dev; + + if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) { + return (NULL); + } + + usb_dev = &pios_usb_devs[pios_usb_num_devs++]; + usb_dev->magic = PIOS_USB_DEV_MAGIC; + + return (usb_dev); } #endif -/* Rx/Tx status */ -static uint8_t transfer_possible = 0; /** * Initialises USB COM layer * \return < 0 if initialisation failed * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ -static uint32_t pios_usb_hid_id; -int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg) +static uint32_t pios_usb_com_id; +int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg) { - PIOS_Assert(usb_hid_id); + PIOS_Assert(usb_id); PIOS_Assert(cfg); - struct pios_usb_hid_dev * usb_hid_dev; + struct pios_usb_dev * usb_dev; - usb_hid_dev = (struct pios_usb_hid_dev *) PIOS_USB_HID_alloc(); - if (!usb_hid_dev) goto out_fail; + usb_dev = (struct pios_usb_dev *) PIOS_USB_alloc(); + if (!usb_dev) goto out_fail; /* Bind the configuration to the device instance */ - usb_hid_dev->cfg = cfg; + usb_dev->cfg = cfg; PIOS_USB_HID_Reenumerate(); @@ -132,10 +115,10 @@ int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * * This is a horrible hack to make this available to * the interrupt callbacks. This should go away ASAP. */ - pios_usb_hid_id = (uint32_t) usb_hid_dev; + pios_usb_com_id = (uint32_t) usb_dev; /* Enable the USB Interrupts */ - NVIC_Init(&usb_hid_dev->cfg->irq.init); + NVIC_Init(&usb_dev->cfg->irq.init); /* Select USBCLK source */ RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); @@ -152,7 +135,7 @@ int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * USB_Init(); USB_SIL_Init(); - *usb_hid_id = (uint32_t) usb_hid_dev; + *usb_id = (uint32_t) usb_dev; return 0; /* No error */ @@ -231,202 +214,11 @@ int32_t PIOS_USB_HID_Reenumerate() * \return 0: interface not available * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ -int32_t PIOS_USB_HID_CheckAvailable(uint8_t id) +bool PIOS_USB_HID_CheckAvailable(uint8_t id) { return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0; } -static void PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev) -{ - uint16_t bytes_to_tx; - - if (!usb_hid_dev->tx_out_cb) { - return; - } - - bool need_yield = false; -#ifdef USB_HID - bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context, - &usb_hid_dev->tx_packet_buffer[1], - sizeof(usb_hid_dev->tx_packet_buffer)-1, - NULL, - &need_yield); -#else - bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context, - &usb_hid_dev->tx_packet_buffer[2], - sizeof(usb_hid_dev->tx_packet_buffer)-2, - NULL, - &need_yield); -#endif - if (bytes_to_tx == 0) { - return; - } - - /* Always set type as report ID */ - usb_hid_dev->tx_packet_buffer[0] = 1; - -#ifdef USB_HID - UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 1); -#else - usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx; - UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 2); -#endif - /* Is this correct? Why do we always send the whole buffer? */ - SetEPTxCount((EP1_IN & 0x7F), sizeof(usb_hid_dev->tx_packet_buffer)); - SetEPTxValid(ENDP1); - -#if defined(PIOS_INCLUDE_FREERTOS) - if (need_yield) { - vPortYieldFromISR(); - } -#endif /* PIOS_INCLUDE_FREERTOS */ -} - -static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) { - struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id; - - bool valid = PIOS_USB_HID_validate(usb_hid_dev); - PIOS_Assert(valid); - - if (!transfer_possible) { - return; - } - - // If endpoint was stalled and there is now space make it valid - PIOS_IRQ_Disable(); - if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && - (rx_bytes_avail > PIOS_USB_HID_DATA_LENGTH)) { - SetEPRxStatus(ENDP1, EP_RX_VALID); - } - PIOS_IRQ_Enable(); -} - -static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail) -{ - struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id; - - bool valid = PIOS_USB_HID_validate(usb_hid_dev); - PIOS_Assert(valid); - - if (!transfer_possible) { - return; - } - - if (GetEPTxStatus(ENDP1) == EP_TX_VALID) { - /* Endpoint is already transmitting */ - return; - } - - PIOS_USB_HID_SendReport(usb_hid_dev); -} - -static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context) -{ - struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id; - - bool valid = PIOS_USB_HID_validate(usb_hid_dev); - PIOS_Assert(valid); - - /* - * Order is important in these assignments since ISR uses _cb - * field to determine if it's ok to dereference _cb and _context - */ - usb_hid_dev->rx_in_context = context; - usb_hid_dev->rx_in_cb = rx_in_cb; -} - -static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context) -{ - struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id; - - bool valid = PIOS_USB_HID_validate(usb_hid_dev); - PIOS_Assert(valid); - - /* - * Order is important in these assignments since ISR uses _cb - * field to determine if it's ok to dereference _cb and _context - */ - usb_hid_dev->tx_out_context = context; - usb_hid_dev->tx_out_cb = tx_out_cb; -} - -/** - * @brief Callback used to indicate a transmission from device INto host completed - * Checks if any data remains, pads it into HID packet and sends. - */ -void PIOS_USB_HID_EP1_IN_Callback(void) -{ - struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id; - - bool valid = PIOS_USB_HID_validate(usb_hid_dev); - PIOS_Assert(valid); - - if (!transfer_possible) { - return; - } - - PIOS_USB_HID_SendReport(usb_hid_dev); -} - -/** - * EP1 OUT Callback Routine - */ -void PIOS_USB_HID_EP1_OUT_Callback(void) -{ - struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id; - - bool valid = PIOS_USB_HID_validate(usb_hid_dev); - PIOS_Assert(valid); - - uint32_t DataLength = 0; - - /* Read received data (63 bytes) */ - /* Get the number of received data on the selected Endpoint */ - DataLength = GetEPRxCount(ENDP1 & 0x7F); - if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) { - DataLength = sizeof(usb_hid_dev->rx_packet_buffer); - } - - /* Use the memory interface function to write to the selected endpoint */ - PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength); - - if (!usb_hid_dev->rx_in_cb) { - /* No Rx call back registered, disable the receiver */ - SetEPRxStatus(ENDP1, EP_RX_NAK); - return; - } - - /* The first byte is report ID (not checked), the second byte is the valid data length */ - uint16_t headroom; - bool need_yield = false; -#ifdef USB_HID - (usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context, - &usb_hid_dev->rx_packet_buffer[1], - sizeof(usb_hid_dev->rx_packet_buffer)-1, - &headroom, - &need_yield); -#else - (usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context, - &usb_hid_dev->rx_packet_buffer[2], - usb_hid_dev->rx_packet_buffer[1], - &headroom, - &need_yield); -#endif - if (headroom > PIOS_USB_HID_DATA_LENGTH) { - /* We have room for a maximum length message */ - SetEPRxStatus(ENDP1, EP_RX_VALID); - } else { - /* Not enough room left for a message, apply backpressure */ - SetEPRxStatus(ENDP1, EP_RX_NAK); - } - -#if defined(PIOS_INCLUDE_FREERTOS) - if (need_yield) { - vPortYieldFromISR(); - } -#endif /* PIOS_INCLUDE_FREERTOS */ -} - #endif /** diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_desc.c b/flight/PiOS/STM32F10x/pios_usb_hid_desc.c index 8866e9e10..98f76f9e5 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid_desc.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid_desc.c @@ -128,7 +128,7 @@ const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] = { 0x15, 0x00, /* LOGICAL_MINIMUM (0) */ 0x25, 0xff, /* LOGICAL_MAXIMUM (255) */ 0x75, 0x08, /* REPORT_SIZE (8) */ - 0x95, PIOS_USB_HID_DATA_LENGTH + 1, /* REPORT_COUNT (1) */ + 0x95, PIOS_USB_COM_DATA_LENGTH + 1, /* REPORT_COUNT (1) */ 0x81, 0x83, /* INPUT (Const,Var,Array) */ /* 20 */ @@ -138,7 +138,7 @@ const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] = { 0x15, 0x00, /* LOGICAL_MINIMUM (0) */ 0x25, 0xff, /* LOGICAL_MAXIMUM (255) */ 0x75, 0x08, /* REPORT_SIZE (8) */ - 0x95, PIOS_USB_HID_DATA_LENGTH + 1, /* REPORT_COUNT (1) */ + 0x95, PIOS_USB_COM_DATA_LENGTH + 1, /* REPORT_COUNT (1) */ 0x91, 0x82, /* OUTPUT (Data,Var,Abs,Vol) */ /* 34 */ diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_istr.c b/flight/PiOS/STM32F10x/pios_usb_hid_istr.c index 1841705de..89204d07f 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid_istr.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid_istr.c @@ -32,10 +32,10 @@ __IO uint8_t bIntPackSOF = 0; /* SOFs received between 2 consecutive packets */ /* Private functions ---------------------------------------------------------*/ /* function pointers to non-control endpoints service routines */ void (*pEpInt_IN[7]) (void) = { -PIOS_USB_HID_EP1_IN_Callback, EP2_IN_Callback, EP3_IN_Callback, EP4_IN_Callback, EP5_IN_Callback, EP6_IN_Callback, EP7_IN_Callback,}; +EP1_IN_Callback, EP2_IN_Callback, EP3_IN_Callback, EP4_IN_Callback, EP5_IN_Callback, EP6_IN_Callback, EP7_IN_Callback,}; void (*pEpInt_OUT[7]) (void) = { -PIOS_USB_HID_EP1_OUT_Callback, EP2_OUT_Callback, EP3_OUT_Callback, EP4_OUT_Callback, EP5_OUT_Callback, EP6_OUT_Callback, EP7_OUT_Callback,}; +EP1_OUT_Callback, EP2_OUT_Callback, EP3_OUT_Callback, EP4_OUT_Callback, EP5_OUT_Callback, EP6_OUT_Callback, EP7_OUT_Callback,}; #ifndef STM32F10X_CL diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_prop.c b/flight/PiOS/STM32F10x/pios_usb_hid_prop.c index 9937053d0..916cfff8e 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid_prop.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid_prop.c @@ -22,6 +22,7 @@ #include "pios_usb_hid_desc.h" #include "pios_usb_hid_pwr.h" #include "pios_usb_hid.h" +#include "pios_usb_com_priv.h" /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ @@ -151,24 +152,47 @@ void PIOS_HID_Reset(void) #else SetBTABLE(BTABLE_ADDRESS); - /* Initialize Endpoint 0 */ + /* Initialize Endpoint 0 (Control) */ SetEPType(ENDP0, EP_CONTROL); - SetEPTxStatus(ENDP0, EP_TX_STALL); - SetEPRxAddr(ENDP0, ENDP0_RXADDR); SetEPTxAddr(ENDP0, ENDP0_TXADDR); + SetEPTxStatus(ENDP0, EP_TX_STALL); Clear_Status_Out(ENDP0); + + SetEPRxAddr(ENDP0, ENDP0_RXADDR); SetEPRxCount(ENDP0, Device_Property.MaxPacketSize); SetEPRxValid(ENDP0); - /* Initialize Endpoint 1 */ + /* Initialize Endpoint 1 (HID) */ SetEPType(ENDP1, EP_INTERRUPT); SetEPTxAddr(ENDP1, ENDP1_TXADDR); - SetEPRxAddr(ENDP1, ENDP1_RXADDR); - SetEPTxCount(ENDP1, PIOS_USB_HID_DATA_LENGTH + 2); /* add two for indicating report id and valid data length */ - SetEPRxCount(ENDP1, PIOS_USB_HID_DATA_LENGTH + 2); - SetEPRxStatus(ENDP1, EP_RX_VALID); + SetEPTxCount(ENDP1, PIOS_USB_COM_DATA_LENGTH + 2); SetEPTxStatus(ENDP1, EP_TX_NAK); + SetEPRxAddr(ENDP1, ENDP1_RXADDR); + SetEPRxCount(ENDP1, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPRxStatus(ENDP1, EP_RX_VALID); + +#if defined(PIOS_INCLUDE_USB_COM_CDC) + /* Initialize Endpoint 2 (CDC Call Control) */ + SetEPType(ENDP2, EP_INTERRUPT); + SetEPTxAddr(ENDP2, ENDP2_TXADDR); + SetEPTxStatus(ENDP2, EP_TX_NAK); + + SetEPRxAddr(ENDP2, ENDP2_RXADDR); + SetEPRxCount(ENDP2, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPRxStatus(ENDP2, EP_RX_DIS); + + /* Initialize Endpoint 3 (CDC Data) */ + SetEPType(ENDP3, EP_BULK); + SetEPTxAddr(ENDP3, ENDP3_TXADDR); + SetEPTxStatus(ENDP3, EP_TX_NAK); + + SetEPRxAddr(ENDP3, ENDP3_RXADDR); + SetEPRxCount(ENDP3, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPRxStatus(ENDP3, EP_RX_VALID); + +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + /* Set this device to response on default address */ SetDeviceAddress(0); #endif /* STM32F10X_CL */ @@ -178,8 +202,7 @@ void PIOS_HID_Reset(void) /******************************************************************************* * Function Name : PIOS_HID_SetConfiguration. -* Description : Udpade the device state to configured and command the ADC -* conversion. +* Description : Update the device state to configured * Input : None. * Output : None. * Return : None. @@ -197,7 +220,7 @@ void PIOS_HID_SetConfiguration(void) /******************************************************************************* * Function Name : PIOS_HID_SetConfiguration. -* Description : Udpade the device state to addressed. +* Description : Update the device state to addressed. * Input : None. * Output : None. * Return : None. @@ -242,23 +265,54 @@ RESULT PIOS_HID_Data_Setup(uint8_t RequestNo) CopyRoutine = NULL; - if ((RequestNo == GET_DESCRIPTOR) - && (Type_Recipient == (STANDARD_REQUEST | INTERFACE_RECIPIENT)) - && (pInformation->USBwIndex0 == 0)) { - - if (pInformation->USBwValue1 == REPORT_DESCRIPTOR) { - CopyRoutine = PIOS_HID_GetReportDescriptor; - } else if (pInformation->USBwValue1 == HID_DESCRIPTOR_TYPE) { - CopyRoutine = PIOS_HID_GetHIDDescriptor; + switch (Type_Recipient) { + case (STANDARD_REQUEST | INTERFACE_RECIPIENT): + switch (pInformation->USBwIndex0) { + case 0: /* HID Interface */ + switch (RequestNo) { + case GET_DESCRIPTOR: + switch (pInformation->USBwValue1) { + case REPORT_DESCRIPTOR: + CopyRoutine = PIOS_HID_GetReportDescriptor; + break; + case HID_DESCRIPTOR_TYPE: + CopyRoutine = PIOS_HID_GetHIDDescriptor; + break; + } + } } + break; - } + case (CLASS_REQUEST | INTERFACE_RECIPIENT): + switch (pInformation->USBwIndex0) { + case 0: /* HID Interface */ + switch (RequestNo) { + case GET_PROTOCOL: + CopyRoutine = PIOS_HID_GetProtocolValue; + break; + } - /* End of GET_DESCRIPTOR */ - /*** GET_PROTOCOL ***/ - else if ((Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT)) - && RequestNo == GET_PROTOCOL) { - CopyRoutine = PIOS_HID_GetProtocolValue; + break; +#if defined(PIOS_INCLUDE_USB_COM_CDC) + case 1: /* CDC Call Control Interface */ + switch (RequestNo) { + case GET_LINE_CODING: + CopyRoutine = PIOS_CDC_GetLineCoding; + break; + } + + break; + + case 2: /* CDC Data Interface */ + switch (RequestNo) { + case 0: + break; + } + + break; +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + } + break; } if (CopyRoutine == NULL) { @@ -280,14 +334,37 @@ RESULT PIOS_HID_Data_Setup(uint8_t RequestNo) *******************************************************************************/ RESULT PIOS_HID_NoData_Setup(uint8_t RequestNo) { - if ((Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT)) - && (RequestNo == SET_PROTOCOL)) { - return PIOS_HID_SetProtocol(); + switch (Type_Recipient) { + case (CLASS_REQUEST | INTERFACE_RECIPIENT): + switch (pInformation->USBwIndex0) { + case 0: /* HID */ + switch (RequestNo) { + case SET_PROTOCOL: + return PIOS_HID_SetProtocol(); + break; + } + + break; + +#if defined(PIOS_INCLUDE_USB_COM_CDC) + case 1: /* CDC Call Control Interface */ + switch (RequestNo) { + case SET_LINE_CODING: + return PIOS_CDC_SetLineCoding(); + break; + case SET_CONTROL_LINE_STATE: + return PIOS_CDC_SetControlLineState(); + break; + } + + break; +#endif /* PIOS_INCLUDE_USB_COM_CDC */ + } + + break; } - else { - return USB_UNSUPPORT; - } + return USB_UNSUPPORT; } /******************************************************************************* diff --git a/flight/PiOS/inc/pios_com_priv.h b/flight/PiOS/inc/pios_com_priv.h index 54af82bcb..85f2af9e1 100644 --- a/flight/PiOS/inc/pios_com_priv.h +++ b/flight/PiOS/inc/pios_com_priv.h @@ -32,9 +32,7 @@ #ifndef PIOS_COM_PRIV_H #define PIOS_COM_PRIV_H -#include - -extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id); +//#include #endif /* PIOS_COM_PRIV_H */ diff --git a/flight/PiOS/inc/pios_usb_com_priv.h b/flight/PiOS/inc/pios_usb_com_priv.h new file mode 100644 index 000000000..525f71d13 --- /dev/null +++ b/flight/PiOS/inc/pios_usb_com_priv.h @@ -0,0 +1,66 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_COM USB COM layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_usb_com_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB COM private definitions. + * @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 PIOS_USB_COM_PRIV_H +#define PIOS_USB_COM_PRIV_H + +#include "usb_core.h" /* RESULT */ + +enum pios_usb_com_type { + PIOS_USB_COM_CDC, + PIOS_USB_COM_HID, +}; + +struct pios_usb_com_cfg { + enum pios_usb_com_type type; + + uint8_t ctrl_if; + uint8_t ctrl_tx_ep; + + uint8_t data_if; + uint8_t data_rx_ep; + uint8_t data_tx_ep; +}; + +extern const struct pios_com_driver pios_usb_hid_com_driver; +extern const struct pios_com_driver pios_usb_cdc_com_driver; + +extern int32_t PIOS_USB_COM_Init(uint32_t * usbcom_id, const struct pios_usb_com_cfg * cfg, uint32_t lower_id); + +extern uint8_t *PIOS_CDC_GetLineCoding(uint16_t Length); +extern RESULT PIOS_CDC_SetControlLineState(void); +extern RESULT PIOS_CDC_SetLineCoding(void); + +#endif /* PIOS_USB_COM_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_usb_hid.h b/flight/PiOS/inc/pios_usb_hid.h index 67067ba72..10e3d6277 100644 --- a/flight/PiOS/inc/pios_usb_hid.h +++ b/flight/PiOS/inc/pios_usb_hid.h @@ -32,23 +32,21 @@ #define PIOS_USB_HID_H /* Global Definitions */ -#define PIOS_USB_HID_SIZ_REPORT_DESC 32 +#define PIOS_USB_HID_SIZ_REPORT_DESC 36 #define PIOS_USB_HID_REPORT_DESCRIPTOR 0x22 #define PIOS_USB_HID_HID_DESCRIPTOR_TYPE 0x21 #define PIOS_USB_HID_OFF_HID_DESC 0x12 #define PIOS_USB_HID_SIZ_HID_DESC 0x09 -#define PIOS_USB_HID_DATA_LENGTH 62 +#define PIOS_USB_COM_DATA_LENGTH 62 /* Global functions */ extern int32_t PIOS_USB_HID_Reenumerate(); extern int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected); -extern int32_t PIOS_USB_HID_CheckAvailable(uint8_t id); +extern bool PIOS_USB_HID_CheckAvailable(uint8_t id); extern int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo); extern int32_t PIOS_USB_HID_CB_NoData_Setup(uint8_t RequestNo); -extern void PIOS_USB_HID_EP1_IN_Callback(void); -extern void PIOS_USB_HID_EP1_OUT_Callback(void); #endif /* PIOS_USB_HID_H */ diff --git a/flight/PiOS/inc/pios_usb_hid_priv.h b/flight/PiOS/inc/pios_usb_hid_priv.h index 5a8652762..7e2be04ec 100644 --- a/flight/PiOS/inc/pios_usb_hid_priv.h +++ b/flight/PiOS/inc/pios_usb_hid_priv.h @@ -34,11 +34,11 @@ #include #include -struct pios_usb_hid_cfg { +struct pios_usb_cfg { struct stm32_irq irq; }; -extern int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg); +extern int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg); #endif /* PIOS_USB_HID_PRIV_H */ diff --git a/flight/PiOS/inc/pios_usb_hid_prop.h b/flight/PiOS/inc/pios_usb_hid_prop.h index e721fc93e..57e5c9fda 100644 --- a/flight/PiOS/inc/pios_usb_hid_prop.h +++ b/flight/PiOS/inc/pios_usb_hid_prop.h @@ -29,6 +29,12 @@ typedef enum _HID_REQUESTS { SET_PROTOCOL } HID_REQUESTS; +typedef enum CDC_REQUESTS { + SET_LINE_CODING = 0x20, + GET_LINE_CODING = 0x21, + SET_CONTROL_LINE_STATE = 0x23, +} CDC_REQUESTS; + /* Exported constants --------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/ /* Exported functions ------------------------------------------------------- */ diff --git a/flight/PiOS/inc/usb_conf.h b/flight/PiOS/inc/usb_conf.h index eb2198a0b..ad0c33c29 100644 --- a/flight/PiOS/inc/usb_conf.h +++ b/flight/PiOS/inc/usb_conf.h @@ -27,7 +27,7 @@ /* EP_NUM */ /* defines how many endpoints are used by the device */ /*-------------------------------------------------------------*/ -#define EP_NUM (2) +#define EP_NUM (4) #ifndef STM32F10X_CL /*-------------------------------------------------------------*/ @@ -39,13 +39,23 @@ /* EP0 */ /* rx/tx buffer base address */ -#define ENDP0_RXADDR (0x18) -#define ENDP0_TXADDR (0x58) +#define ENDP0_RXADDR (0x20) +#define ENDP0_TXADDR (0x40) /* EP1 */ -/* tx buffer base address */ -#define ENDP1_TXADDR (0x100) -#define ENDP1_RXADDR (0x124) +/* rx/tx buffer base address */ +#define ENDP1_TXADDR (0x60) +#define ENDP1_RXADDR (0x80) + +/* EP2 */ +/* rx/tx buffer base address */ +#define ENDP2_TXADDR (0x100) +#define ENDP2_RXADDR (0x140) + +/* EP3 */ +/* rx/tx buffer base address */ +#define ENDP3_TXADDR (0x180) +#define ENDP3_RXADDR (0x1C0) /*-------------------------------------------------------------*/ /* ------------------- ISTR events -------------------------*/ @@ -171,7 +181,7 @@ #define EP6_IN_Callback NOP_Process #define EP7_IN_Callback NOP_Process -//#define EP1_OUT_Callback NOP_Process +#define EP1_OUT_Callback NOP_Process #define EP2_OUT_Callback NOP_Process #define EP3_OUT_Callback NOP_Process #define EP4_OUT_Callback NOP_Process diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile index 8a939d411..ebb7254be 100644 --- a/flight/PipXtreme/Makefile +++ b/flight/PipXtreme/Makefile @@ -121,6 +121,7 @@ ifeq ($(USE_USB), YES) SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c + SRC += $(PIOSSTM32F10X)/pios_usb_com.c endif ## PIOS Hardware (Common) diff --git a/flight/PipXtreme/api_config.c b/flight/PipXtreme/api_config.c index 2cecfc65e..5f476e330 100644 --- a/flight/PipXtreme/api_config.c +++ b/flight/PipXtreme/api_config.c @@ -777,7 +777,7 @@ void apiconfig_process(void) if (PIOS_USB_HID_CheckAvailable(0)) { // USB comms is up, use the USB comm-port instead of the USART comm-port apiconfig_usb_comms = true; - apiconfig_comm_port = PIOS_COM_TELEM_USB; + apiconfig_comm_port = PIOS_COM_TELEM_USB_HID; } #endif diff --git a/flight/PipXtreme/inc/pios_config.h b/flight/PipXtreme/inc/pios_config.h index 7fac02079..ca0f6c0c9 100644 --- a/flight/PipXtreme/inc/pios_config.h +++ b/flight/PipXtreme/inc/pios_config.h @@ -40,5 +40,6 @@ #define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_EXTI #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_COM #endif /* PIOS_CONFIG_H */ diff --git a/flight/PipXtreme/inc/usb_conf.h b/flight/PipXtreme/inc/usb_conf.h index 913060c7f..1c56117e5 100644 --- a/flight/PipXtreme/inc/usb_conf.h +++ b/flight/PipXtreme/inc/usb_conf.h @@ -39,13 +39,23 @@ /* EP0 */ /* rx/tx buffer base address */ -#define ENDP0_RXADDR (0x18) -#define ENDP0_TXADDR (0x58) +#define ENDP0_RXADDR (0x20) +#define ENDP0_TXADDR (0x40) /* EP1 */ -/* tx buffer base address */ -#define ENDP1_TXADDR (0x100) -#define ENDP1_RXADDR (0x124) +/* rx/tx buffer base address */ +#define ENDP1_TXADDR (0x60) +#define ENDP1_RXADDR (0x80) + +/* EP2 */ +/* rx/tx buffer base address */ +#define ENDP2_TXADDR (0x100) +#define ENDP2_RXADDR (0x140) + +/* EP3 */ +/* rx/tx buffer base address */ +#define ENDP3_TXADDR (0x180) +#define ENDP3_RXADDR (0x1C0) /*-------------------------------------------------------------*/ /* ------------------- ISTR events -------------------------*/ @@ -172,7 +182,7 @@ #define EP6_IN_Callback NOP_Process #define EP7_IN_Callback NOP_Process -//#define EP1_OUT_Callback NOP_Process +#define EP1_OUT_Callback NOP_Process #define EP2_OUT_Callback NOP_Process #define EP3_OUT_Callback NOP_Process #define EP4_OUT_Callback NOP_Process diff --git a/flight/PipXtreme/pios_board.c b/flight/PipXtreme/pios_board.c index 0a69808ad..5f0b49964 100644 --- a/flight/PipXtreme/pios_board.c +++ b/flight/PipXtreme/pios_board.c @@ -314,7 +314,7 @@ static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN]; #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb_hid_priv.h" -static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { +static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { .init = { .NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn, @@ -326,10 +326,21 @@ static const struct pios_usb_hid_cfg pios_usb_hid_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -extern const struct pios_com_driver pios_usb_com_driver; +#if defined(PIOS_INCLUDE_USB_COM) +#include + +const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { + .type = PIOS_USB_COM_HID, + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; + +#endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_serial_id; -uint32_t pios_com_telem_usb_id; +uint32_t pios_com_telem_usb_hid_id; +uint32_t pios_com_telem_usb_cdc_id; /** * PIOS_Board_Init() @@ -360,10 +371,14 @@ void PIOS_Board_Init(void) { } #if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_hid_id; - PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_main_cfg); + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_COM) - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, pios_usb_hid_id, + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/PipXtreme/pios_usb_hid_desc.c b/flight/PipXtreme/pios_usb_hid_desc.c index 157e85831..c15a80551 100644 --- a/flight/PipXtreme/pios_usb_hid_desc.c +++ b/flight/PipXtreme/pios_usb_hid_desc.c @@ -123,7 +123,7 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0x15, 0x00, // LOGICAL_MINIMUM (0) 0x25, 0xff, // LOGICAL_MAXIMUM (255) 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1) + 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) 0x81, 0x83, // INPUT (Const,Var,Array) // 20 @@ -133,7 +133,7 @@ const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = 0x15, 0x00, // LOGICAL_MINIMUM (0) 0x25, 0xff, // LOGICAL_MAXIMUM (255) 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_HID_DATA_LENGTH+1, // REPORT_COUNT (1) + 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) 0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol) // 34 diff --git a/flight/PipXtreme/transparent_comms.c b/flight/PipXtreme/transparent_comms.c index b30f5f581..aebbc20a7 100644 --- a/flight/PipXtreme/transparent_comms.c +++ b/flight/PipXtreme/transparent_comms.c @@ -74,7 +74,7 @@ void trans_process(void) if (PIOS_USB_HID_CheckAvailable(0)) { // USB comms is up, use the USB comm-port instead of the USART comm-port usb_comms = true; - comm_port = PIOS_COM_TELEM_USB; + comm_port = PIOS_COM_TELEM_USB_HID; } #endif From 59cb489e0114f3f261d7d98a012361c22c5875df Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 9 Sep 2011 23:26:19 -0400 Subject: [PATCH 026/121] usb: clean up pios hooks into stm32 usb_core Reduced scope of many variables since they were being exposed unnecessarily. Renamed pios_usb_hid_prop code to pios_usbhook to reflect the fact that it implements all of the callout functions that are hooked into the stm32 usb library. --- flight/Bootloaders/CopterControl/Makefile | 2 +- flight/Bootloaders/OpenPilot/Makefile | 2 +- flight/Bootloaders/PipXtreme/Makefile | 2 +- flight/CopterControl/Makefile | 2 +- flight/OpenPilot/Makefile | 2 +- .../STM32_USB-FS-Device_Driver/inc/usb_core.h | 8 +- .../{pios_usb_hid_prop.c => pios_usbhook.c} | 154 ++++++++++-------- .../{pios_usb_hid_prop.h => pios_usbhook.h} | 36 +--- flight/PipXtreme/Makefile | 2 +- 9 files changed, 100 insertions(+), 110 deletions(-) rename flight/PiOS/STM32F10x/{pios_usb_hid_prop.c => pios_usbhook.c} (74%) rename flight/PiOS/inc/{pios_usb_hid_prop.h => pios_usbhook.h} (57%) diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index 010eadd7a..07c13b190 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -106,10 +106,10 @@ SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_com.c diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index d673f4353..c172387f7 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -109,10 +109,10 @@ SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_com.c diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile index aad33dd73..36b4b1568 100644 --- a/flight/Bootloaders/PipXtreme/Makefile +++ b/flight/Bootloaders/PipXtreme/Makefile @@ -105,10 +105,10 @@ SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_com.c diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 22778ba61..f0eb31cb9 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -204,9 +204,9 @@ SRC += $(PIOSSTM32F10X)/pios_tim.c # PIOS USB related files (separated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_com.c diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 0fe336af9..73f3f766c 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -180,11 +180,11 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c #SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_com.c diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h index c4bac0caf..bd777f000 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h @@ -232,10 +232,10 @@ RESULT Standard_ClearFeature(void); void SetDeviceAddress(uint8_t); void NOP_Process(void); -/*extern*/ DEVICE_PROP Device_Property; -/*extern*/ USER_STANDARD_REQUESTS User_Standard_Requests; -/*extern*/ DEVICE Device_Table; -/*extern*/ DEVICE_INFO Device_Info; +extern DEVICE_PROP Device_Property; +extern USER_STANDARD_REQUESTS User_Standard_Requests; +extern DEVICE Device_Table; +extern DEVICE_INFO Device_Info; /* cells saving status during interrupt servicing */ extern __IO uint16_t SaveRState; diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_prop.c b/flight/PiOS/STM32F10x/pios_usbhook.c similarity index 74% rename from flight/PiOS/STM32F10x/pios_usb_hid_prop.c rename to flight/PiOS/STM32F10x/pios_usbhook.c index 916cfff8e..92836db29 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid_prop.c +++ b/flight/PiOS/STM32F10x/pios_usbhook.c @@ -1,5 +1,5 @@ /******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_prop.c +* File Name : pios_usbhook.c * Author : MCD Application Team * Version : V3.2.1 * Date : 07/05/2010 @@ -18,7 +18,7 @@ #include "usb_lib.h" #include "usb_conf.h" #include "pios.h" -#include "pios_usb_hid_prop.h" +#include "pios_usbhook.h" #include "pios_usb_hid_desc.h" #include "pios_usb_hid_pwr.h" #include "pios_usb_hid.h" @@ -40,54 +40,68 @@ DEVICE Device_Table = { 1 }; +static void PIOS_USBHOOK_Init(void); +static void PIOS_USBHOOK_Reset(void); +static void PIOS_USBHOOK_Status_In(void); +static void PIOS_USBHOOK_Status_Out(void); +static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo); +static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo); +static RESULT PIOS_USBHOOK_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting); +static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length); +static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length); +static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length); + DEVICE_PROP Device_Property = { - PIOS_HID_init, - PIOS_HID_Reset, - PIOS_HID_Status_In, - PIOS_HID_Status_Out, - PIOS_HID_Data_Setup, - PIOS_HID_NoData_Setup, - PIOS_HID_Get_Interface_Setting, - PIOS_HID_GetDeviceDescriptor, - PIOS_HID_GetConfigDescriptor, - PIOS_HID_GetStringDescriptor, - 0, - 0x40 /*MAX PACKET SIZE */ + .Init = PIOS_USBHOOK_Init, + .Reset = PIOS_USBHOOK_Reset, + .Process_Status_IN = PIOS_USBHOOK_Status_In, + .Process_Status_OUT = PIOS_USBHOOK_Status_Out, + .Class_Data_Setup = PIOS_USBHOOK_Data_Setup, + .Class_NoData_Setup = PIOS_USBHOOK_NoData_Setup, + .Class_Get_Interface_Setting = PIOS_USBHOOK_Get_Interface_Setting, + .GetDeviceDescriptor = PIOS_USBHOOK_GetDeviceDescriptor, + .GetConfigDescriptor = PIOS_USBHOOK_GetConfigDescriptor, + .GetStringDescriptor = PIOS_USBHOOK_GetStringDescriptor, + .RxEP_buffer = 0, + .MaxPacketSize = 0x40, }; +static void PIOS_USBHOOK_SetConfiguration(void); +static void PIOS_USBHOOK_SetDeviceAddress(void); + USER_STANDARD_REQUESTS User_Standard_Requests = { - PIOS_HID_GetConfiguration, - PIOS_HID_SetConfiguration, - PIOS_HID_GetInterface, - PIOS_HID_SetInterface, - PIOS_HID_GetStatus, - PIOS_HID_ClearFeature, - PIOS_HID_SetEndPointFeature, - PIOS_HID_SetDeviceFeature, - PIOS_HID_SetDeviceAddress + .User_GetConfiguration = NOP_Process, + .User_SetConfiguration = PIOS_USBHOOK_SetConfiguration, + .User_GetInterface = NOP_Process, + .User_SetInterface = NOP_Process, + .User_GetStatus = NOP_Process, + .User_ClearFeature = NOP_Process, + .User_SetEndPointFeature = NOP_Process, + .User_SetDeviceFeature = NOP_Process, + .User_SetDeviceAddress = PIOS_USBHOOK_SetDeviceAddress }; -ONE_DESCRIPTOR Device_Descriptor = { +static ONE_DESCRIPTOR Device_Descriptor = { (uint8_t *) PIOS_HID_DeviceDescriptor, PIOS_HID_SIZ_DEVICE_DESC }; -ONE_DESCRIPTOR Config_Descriptor = { +static ONE_DESCRIPTOR Config_Descriptor = { (uint8_t *) PIOS_HID_ConfigDescriptor, PIOS_HID_SIZ_CONFIG_DESC }; -ONE_DESCRIPTOR PIOS_HID_Report_Descriptor = { +static ONE_DESCRIPTOR PIOS_HID_Report_Descriptor = { (uint8_t *) PIOS_HID_ReportDescriptor, PIOS_HID_SIZ_REPORT_DESC }; -ONE_DESCRIPTOR PIOS_HID_Hid_Descriptor = { +static ONE_DESCRIPTOR PIOS_HID_Hid_Descriptor = { (uint8_t *) PIOS_HID_ConfigDescriptor + PIOS_HID_OFF_HID_DESC, PIOS_HID_SIZ_HID_DESC }; -ONE_DESCRIPTOR String_Descriptor[4] = { +static ONE_DESCRIPTOR String_Descriptor[4] = { {(uint8_t *) PIOS_HID_StringLangID, PIOS_HID_SIZ_STRING_LANGID} , {(uint8_t *) PIOS_HID_StringVendor, PIOS_HID_SIZ_STRING_VENDOR} @@ -99,17 +113,21 @@ ONE_DESCRIPTOR String_Descriptor[4] = { /* Extern variables ----------------------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/ +static RESULT PIOS_USBHOOK_SetProtocol(void); +static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length); +static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length); +static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length); /* Extern function prototypes ------------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ /******************************************************************************* -* Function Name : PIOS_HID_init. +* Function Name : PIOS_USBHOOK_Init. * Description : Custom HID init routine. * Input : None. * Output : None. * Return : None. *******************************************************************************/ -void PIOS_HID_init(void) +static void PIOS_USBHOOK_Init(void) { /* Update the serial number string descriptor with the data from the unique ID */ @@ -126,15 +144,15 @@ void PIOS_HID_init(void) } /******************************************************************************* -* Function Name : PIOS_HID_Reset. +* Function Name : PIOS_USBHOOK_Reset. * Description : Custom HID reset routine. * Input : None. * Output : None. * Return : None. *******************************************************************************/ -void PIOS_HID_Reset(void) +static void PIOS_USBHOOK_Reset(void) { - /* Set Joystick_DEVICE as not configured */ + /* Set DEVICE as not configured */ pInformation->Current_Configuration = 0; pInformation->Current_Interface = 0; /*the default Interface */ @@ -201,13 +219,13 @@ void PIOS_HID_Reset(void) } /******************************************************************************* -* Function Name : PIOS_HID_SetConfiguration. +* Function Name : PIOS_USBHOOK_SetConfiguration. * Description : Update the device state to configured * Input : None. * Output : None. * Return : None. *******************************************************************************/ -void PIOS_HID_SetConfiguration(void) +static void PIOS_USBHOOK_SetConfiguration(void) { if (pInformation->Current_Configuration != 0) { /* Device configured */ @@ -219,47 +237,47 @@ void PIOS_HID_SetConfiguration(void) } /******************************************************************************* -* Function Name : PIOS_HID_SetConfiguration. +* Function Name : PIOS_USBHOOK_SetConfiguration. * Description : Update the device state to addressed. * Input : None. * Output : None. * Return : None. *******************************************************************************/ -void PIOS_HID_SetDeviceAddress(void) +static void PIOS_USBHOOK_SetDeviceAddress(void) { bDeviceState = ADDRESSED; } /******************************************************************************* -* Function Name : PIOS_HID_Status_In. -* Description : Joystick status IN routine. +* Function Name : PIOS_USBHOOK_Status_In. +* Description : status IN routine. * Input : None. * Output : None. * Return : None. *******************************************************************************/ -void PIOS_HID_Status_In(void) +static void PIOS_USBHOOK_Status_In(void) { } /******************************************************************************* -* Function Name : PIOS_HID_Status_Out -* Description : Joystick status OUT routine. +* Function Name : PIOS_USBHOOK_Status_Out +* Description : status OUT routine. * Input : None. * Output : None. * Return : None. *******************************************************************************/ -void PIOS_HID_Status_Out(void) +static void PIOS_USBHOOK_Status_Out(void) { } /******************************************************************************* -* Function Name : PIOS_HID_Data_Setup +* Function Name : PIOS_USBHOOK_Data_Setup * Description : Handle the data class specific requests. * Input : Request Nb. * Output : None. * Return : USB_UNSUPPORT or USB_SUCCESS. *******************************************************************************/ -RESULT PIOS_HID_Data_Setup(uint8_t RequestNo) +static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo) { uint8_t *(*CopyRoutine) (uint16_t); @@ -273,10 +291,10 @@ RESULT PIOS_HID_Data_Setup(uint8_t RequestNo) case GET_DESCRIPTOR: switch (pInformation->USBwValue1) { case REPORT_DESCRIPTOR: - CopyRoutine = PIOS_HID_GetReportDescriptor; + CopyRoutine = PIOS_USBHOOK_GetReportDescriptor; break; case HID_DESCRIPTOR_TYPE: - CopyRoutine = PIOS_HID_GetHIDDescriptor; + CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor; break; } } @@ -288,7 +306,7 @@ RESULT PIOS_HID_Data_Setup(uint8_t RequestNo) case 0: /* HID Interface */ switch (RequestNo) { case GET_PROTOCOL: - CopyRoutine = PIOS_HID_GetProtocolValue; + CopyRoutine = PIOS_USBHOOK_GetProtocolValue; break; } @@ -326,13 +344,13 @@ RESULT PIOS_HID_Data_Setup(uint8_t RequestNo) } /******************************************************************************* -* Function Name : PIOS_HID_NoData_Setup +* Function Name : PIOS_USBHOOK_NoData_Setup * Description : handle the no data class specific requests * Input : Request Nb. * Output : None. * Return : USB_UNSUPPORT or USB_SUCCESS. *******************************************************************************/ -RESULT PIOS_HID_NoData_Setup(uint8_t RequestNo) +static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo) { switch (Type_Recipient) { case (CLASS_REQUEST | INTERFACE_RECIPIENT): @@ -340,7 +358,7 @@ RESULT PIOS_HID_NoData_Setup(uint8_t RequestNo) case 0: /* HID */ switch (RequestNo) { case SET_PROTOCOL: - return PIOS_HID_SetProtocol(); + return PIOS_USBHOOK_SetProtocol(); break; } @@ -368,37 +386,37 @@ RESULT PIOS_HID_NoData_Setup(uint8_t RequestNo) } /******************************************************************************* -* Function Name : PIOS_HID_GetDeviceDescriptor. +* Function Name : PIOS_USBHOOK_GetDeviceDescriptor. * Description : Gets the device descriptor. * Input : Length * Output : None. * Return : The address of the device descriptor. *******************************************************************************/ -uint8_t *PIOS_HID_GetDeviceDescriptor(uint16_t Length) +static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &Device_Descriptor); } /******************************************************************************* -* Function Name : PIOS_HID_GetConfigDescriptor. +* Function Name : PIOS_USBHOOK_GetConfigDescriptor. * Description : Gets the configuration descriptor. * Input : Length * Output : None. * Return : The address of the configuration descriptor. *******************************************************************************/ -uint8_t *PIOS_HID_GetConfigDescriptor(uint16_t Length) +static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &Config_Descriptor); } /******************************************************************************* -* Function Name : PIOS_HID_GetStringDescriptor +* Function Name : PIOS_USBHOOK_GetStringDescriptor * Description : Gets the string descriptors according to the needed index * Input : Length * Output : None. * Return : The address of the string descriptors. *******************************************************************************/ -uint8_t *PIOS_HID_GetStringDescriptor(uint16_t Length) +static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length) { uint8_t wValue0 = pInformation->USBwValue0; if (wValue0 > 4) { @@ -409,31 +427,31 @@ uint8_t *PIOS_HID_GetStringDescriptor(uint16_t Length) } /******************************************************************************* -* Function Name : PIOS_HID_GetReportDescriptor. +* Function Name : PIOS_USBHOOK_GetReportDescriptor. * Description : Gets the HID report descriptor. * Input : Length * Output : None. * Return : The address of the configuration descriptor. *******************************************************************************/ -uint8_t *PIOS_HID_GetReportDescriptor(uint16_t Length) +static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &PIOS_HID_Report_Descriptor); } /******************************************************************************* -* Function Name : PIOS_HID_GetHIDDescriptor. +* Function Name : PIOS_USBHOOK_GetHIDDescriptor. * Description : Gets the HID descriptor. * Input : Length * Output : None. * Return : The address of the configuration descriptor. *******************************************************************************/ -uint8_t *PIOS_HID_GetHIDDescriptor(uint16_t Length) +static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &PIOS_HID_Hid_Descriptor); } /******************************************************************************* -* Function Name : PIOS_HID_Get_Interface_Setting. +* Function Name : PIOS_USBHOOK_Get_Interface_Setting. * Description : tests the interface and the alternate setting according to the * supported one. * Input : - Interface : interface number. @@ -441,7 +459,7 @@ uint8_t *PIOS_HID_GetHIDDescriptor(uint16_t Length) * Output : None. * Return : USB_SUCCESS or USB_UNSUPPORT. *******************************************************************************/ -RESULT PIOS_HID_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting) +static RESULT PIOS_USBHOOK_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting) { if (AlternateSetting > 0) { return USB_UNSUPPORT; @@ -452,13 +470,13 @@ RESULT PIOS_HID_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSettin } /******************************************************************************* -* Function Name : PIOS_HID_SetProtocol -* Description : Joystick Set Protocol request routine. +* Function Name : PIOS_USBHOOK_SetProtocol +* Description : Set Protocol request routine. * Input : None. * Output : None. * Return : USB SUCCESS. *******************************************************************************/ -RESULT PIOS_HID_SetProtocol(void) +static RESULT PIOS_USBHOOK_SetProtocol(void) { uint8_t wValue0 = pInformation->USBwValue0; ProtocolValue = wValue0; @@ -466,13 +484,13 @@ RESULT PIOS_HID_SetProtocol(void) } /******************************************************************************* -* Function Name : PIOS_HID_GetProtocolValue +* Function Name : PIOS_USBHOOK_GetProtocolValue * Description : get the protocol value * Input : Length. * Output : None. * Return : address of the protcol value. *******************************************************************************/ -uint8_t *PIOS_HID_GetProtocolValue(uint16_t Length) +static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length) { if (Length == 0) { pInformation->Ctrl_Info.Usb_wLength = 1; diff --git a/flight/PiOS/inc/pios_usb_hid_prop.h b/flight/PiOS/inc/pios_usbhook.h similarity index 57% rename from flight/PiOS/inc/pios_usb_hid_prop.h rename to flight/PiOS/inc/pios_usbhook.h index 57e5c9fda..7b1a6f2c5 100644 --- a/flight/PiOS/inc/pios_usb_hid_prop.h +++ b/flight/PiOS/inc/pios_usbhook.h @@ -1,5 +1,5 @@ /******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_prop.h +* File Name : pios_usbhook.h * Author : MCD Application Team * Version : V3.2.1 * Date : 07/05/2010 @@ -14,8 +14,8 @@ *******************************************************************************/ /* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USB_PROP_H -#define __USB_PROP_H +#ifndef PIOS_USBHOOK_H +#define PIOS_USBHOOK_H /* Includes ------------------------------------------------------------------*/ /* Exported types ------------------------------------------------------------*/ @@ -38,37 +38,9 @@ typedef enum CDC_REQUESTS { /* Exported constants --------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/ /* Exported functions ------------------------------------------------------- */ -void PIOS_HID_init(void); -void PIOS_HID_Reset(void); -void PIOS_HID_SetConfiguration(void); -void PIOS_HID_SetDeviceAddress(void); -void PIOS_HID_Status_In(void); -void PIOS_HID_Status_Out(void); -RESULT PIOS_HID_Data_Setup(uint8_t); -RESULT PIOS_HID_NoData_Setup(uint8_t); -RESULT PIOS_HID_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting); -uint8_t *PIOS_HID_GetDeviceDescriptor(uint16_t); -uint8_t *PIOS_HID_GetConfigDescriptor(uint16_t); -uint8_t *PIOS_HID_GetStringDescriptor(uint16_t); -RESULT PIOS_HID_SetProtocol(void); -uint8_t *PIOS_HID_GetProtocolValue(uint16_t Length); -RESULT PIOS_HID_SetProtocol(void); -uint8_t *PIOS_HID_GetReportDescriptor(uint16_t Length); -uint8_t *PIOS_HID_GetHIDDescriptor(uint16_t Length); - /* Exported define -----------------------------------------------------------*/ -#define PIOS_HID_GetConfiguration NOP_Process -//#define PIOS_HID_SetConfiguration NOP_Process -#define PIOS_HID_GetInterface NOP_Process -#define PIOS_HID_SetInterface NOP_Process -#define PIOS_HID_GetStatus NOP_Process -#define PIOS_HID_ClearFeature NOP_Process -#define PIOS_HID_SetEndPointFeature NOP_Process -#define PIOS_HID_SetDeviceFeature NOP_Process -//#define PIOS_HID_SetDeviceAddress NOP_Process - #define REPORT_DESCRIPTOR 0x22 -#endif /* __USB_PROP_H */ +#endif /* PIOS_USBHOOK_H */ /******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile index ebb7254be..dc4d9bf5f 100644 --- a/flight/PipXtreme/Makefile +++ b/flight/PipXtreme/Makefile @@ -115,11 +115,11 @@ SRC += $(PIOSSTM32F10X)/pios_ppm.c # PIOS USB related files (seperated to make code maintenance more easy) ifeq ($(USE_USB), YES) + SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c #SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c #SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c - SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(PIOSSTM32F10X)/pios_usb_com.c endif From 617a30c07c69b6e2158e4a55caa50331add0ebc0 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 10 Sep 2011 20:14:09 -0400 Subject: [PATCH 027/121] usb cdc: attach telemetry to CDC rather than HID --- flight/Modules/Telemetry/telemetry.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 3e935d089..266ae5313 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -311,7 +311,7 @@ static void telemetryRxTask(void *parameters) #if defined(PIOS_INCLUDE_USB_HID) // Determine input port (USB takes priority over telemetry port) if (PIOS_USB_HID_CheckAvailable(0)) { - inputPort = PIOS_COM_TELEM_USB_HID; + inputPort = PIOS_COM_TELEM_USB_CDC; } else #endif /* PIOS_INCLUDE_USB_HID */ { @@ -348,7 +348,7 @@ static int32_t transmitData(uint8_t * data, int32_t length) // Determine input port (USB takes priority over telemetry port) #if defined(PIOS_INCLUDE_USB_HID) if (PIOS_USB_HID_CheckAvailable(0)) { - outputPort = PIOS_COM_TELEM_USB_HID; + outputPort = PIOS_COM_TELEM_USB_CDC; } else #endif /* PIOS_INCLUDE_USB_HID */ { From e6ead85857fe9229b56b90997f7641c83a30b52f Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 12 Sep 2011 12:18:05 -0400 Subject: [PATCH 028/121] usb cdc: fix device descriptor to work on Mac Apple is very particular about requiring the bDeviceClass to be set to 2 (Commmunication Device) even for composite devices which seems wrong. Device is enumerated without error on Mac now. Not sure if it works though. --- flight/CopterControl/System/pios_usb_hid_desc.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/flight/CopterControl/System/pios_usb_hid_desc.c b/flight/CopterControl/System/pios_usb_hid_desc.c index 2ca8f8246..b57191d67 100644 --- a/flight/CopterControl/System/pios_usb_hid_desc.c +++ b/flight/CopterControl/System/pios_usb_hid_desc.c @@ -27,9 +27,9 @@ const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] = USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType 0x00, // bcdUSB 0x02, - 0xEF, // bDeviceClass (Misc) - 0x02, // bDeviceSubClass (common) - 0x01, // bDeviceProtocol (IAD) + 0x02, // bDeviceClass (Communication Device) + 0x00, // bDeviceSubClass (Use Interface SubClass) + 0x00, // bDeviceProtocol 0x40, // bMaxPacketSize40 (uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor (uint8_t)((PIOS_USB_VENDOR_ID) >> 8), From eebdda6276dcdc8610e2fb1b9a51a176fad344a3 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 14 Sep 2011 17:04:15 -0400 Subject: [PATCH 029/121] usb cdc: make HID/CDC configurable in hwsettings --- flight/Bootloaders/CopterControl/main.c | 4 +- flight/Bootloaders/CopterControl/op_dfu.c | 8 +- flight/Bootloaders/CopterControl/pios_board.c | 4 +- flight/Bootloaders/OpenPilot/main.c | 4 +- flight/Bootloaders/OpenPilot/op_dfu.c | 8 +- flight/Bootloaders/OpenPilot/pios_board.c | 5 +- flight/Bootloaders/PipXtreme/main.c | 4 +- flight/Bootloaders/PipXtreme/op_dfu.c | 10 +-- flight/Bootloaders/PipXtreme/pios_board.c | 4 +- flight/CopterControl/System/pios_board.c | 74 ++++++++++++------- flight/Modules/Telemetry/telemetry.c | 4 +- flight/OpenPilot/System/pios_board.c | 5 +- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 7 +- .../PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h | 4 +- flight/PiOS/Boards/STM3210E_OP.h | 7 +- flight/PipXtreme/api_config.c | 2 +- flight/PipXtreme/pios_board.c | 5 +- flight/PipXtreme/transparent_comms.c | 2 +- shared/uavobjectdefinition/hwsettings.xml | 1 + 19 files changed, 86 insertions(+), 76 deletions(-) diff --git a/flight/Bootloaders/CopterControl/main.c b/flight/Bootloaders/CopterControl/main.c index e60696115..aa375a49c 100644 --- a/flight/Bootloaders/CopterControl/main.c +++ b/flight/Bootloaders/CopterControl/main.c @@ -198,8 +198,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB_HID) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB_HID, mReceive_Buffer, 63, 0) == 63) { + while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { processComand(mReceive_Buffer); } } diff --git a/flight/Bootloaders/CopterControl/op_dfu.c b/flight/Bootloaders/CopterControl/op_dfu.c index dc2b1836d..b45e1e798 100644 --- a/flight/Bootloaders/CopterControl/op_dfu.c +++ b/flight/Bootloaders/CopterControl/op_dfu.c @@ -113,7 +113,7 @@ void processComand(uint8_t *xReceive_Buffer) { #ifdef DEBUG_SSP char str[63]= {0}; sprintf(str,"Received COMMAND:%d|",Command); - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); #endif EchoReqFlag = (Command >> 7); EchoAnsFlag = (Command >> 6) & 0x01; @@ -324,11 +324,11 @@ void processComand(uint8_t *xReceive_Buffer) { case Download_Req: #ifdef DEBUG_SSP sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState); - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); #endif if (DeviceState == DFUidle) { #ifdef DEBUG_SSP - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,"COMMAND:DOWNLOAD_REQ 1|"); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|"); #endif downType = Data0; downPacketTotal = Count; @@ -442,7 +442,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, buf, size); + PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); if (DeviceState == downloading) PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid } diff --git a/flight/Bootloaders/CopterControl/pios_board.c b/flight/Bootloaders/CopterControl/pios_board.c index 118143679..e017e8282 100644 --- a/flight/Bootloaders/CopterControl/pios_board.c +++ b/flight/Bootloaders/CopterControl/pios_board.c @@ -68,7 +68,7 @@ const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { #endif /* PIOS_INCLUDE_USB_COM */ -uint32_t pios_com_telem_usb_hid_id; +uint32_t pios_com_telem_usb_id; /** * PIOS_Board_Init() @@ -103,7 +103,7 @@ void PIOS_Board_Init(void) { if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c index 25f38fdb9..8e15952ea 100644 --- a/flight/Bootloaders/OpenPilot/main.c +++ b/flight/Bootloaders/OpenPilot/main.c @@ -249,8 +249,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { uint8_t processRX() { if (ProgPort == Usb) { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB_HID) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB_HID, mReceive_Buffer, 63, 0) == 63) { + while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { processComand(mReceive_Buffer); } } diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c index 102dca079..bc62fff6c 100644 --- a/flight/Bootloaders/OpenPilot/op_dfu.c +++ b/flight/Bootloaders/OpenPilot/op_dfu.c @@ -121,7 +121,7 @@ void processComand(uint8_t *xReceive_Buffer) { #ifdef DEBUG_SSP char str[63]= {0}; sprintf(str,"Received COMMAND:%d|",Command); - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); #endif EchoReqFlag = (Command >> 7); EchoAnsFlag = (Command >> 6) & 0x01; @@ -389,11 +389,11 @@ void processComand(uint8_t *xReceive_Buffer) { case Download_Req: #ifdef DEBUG_SSP sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState); - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); #endif if (DeviceState == DFUidle) { #ifdef DEBUG_SSP - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,"COMMAND:DOWNLOAD_REQ 1|"); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|"); #endif downType = Data0; downPacketTotal = Count; @@ -551,7 +551,7 @@ uint32_t CalcFirmCRC() { void sendData(uint8_t * buf, uint16_t size) { if (ProgPort == Usb) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, buf, size); + PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); if (DeviceState == downloading) PIOS_DELAY_WaitmS(10); diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c index 0da0f1a4a..9e8db4723 100644 --- a/flight/Bootloaders/OpenPilot/pios_board.c +++ b/flight/Bootloaders/OpenPilot/pios_board.c @@ -226,8 +226,7 @@ const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { #endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; -uint32_t pios_com_telem_usb_hid_id; -uint32_t pios_com_telem_usb_cdc_id; +uint32_t pios_com_telem_usb_id; #include "pios_opahrs.h" @@ -275,7 +274,7 @@ void PIOS_Board_Init(void) { if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c index 4161657c8..3f1c4bd54 100644 --- a/flight/Bootloaders/PipXtreme/main.c +++ b/flight/Bootloaders/PipXtreme/main.c @@ -204,8 +204,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB_HID) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB_HID, mReceive_Buffer, 63, 0) == 63) { + while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { processComand(mReceive_Buffer); } } diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c index c5c465ab3..770ce8237 100644 --- a/flight/Bootloaders/PipXtreme/op_dfu.c +++ b/flight/Bootloaders/PipXtreme/op_dfu.c @@ -141,7 +141,7 @@ void processComand(uint8_t *xReceive_Buffer) { #ifdef DEBUG_SSP char str[63]= {0}; sprintf(str,"Received COMMAND:%d|",Command); - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); #endif EchoReqFlag = (Command >> 7); EchoAnsFlag = (Command >> 6) & 0x01; @@ -322,7 +322,7 @@ void processComand(uint8_t *xReceive_Buffer) { Buffer[15] = devicesTable[Data0 - 1].devID; } sendData(Buffer + 1, 63); - //PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, Buffer + 1, 63);//FIX+1 + //PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1 break; case JumpFW: FLASH_Lock(); @@ -356,11 +356,11 @@ void processComand(uint8_t *xReceive_Buffer) { case Download_Req: #ifdef DEBUG_SSP sprintf(str,"COMMAND:DOWNLOAD_REQ 1 Status=%d|",DeviceState); - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,str); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,str); #endif if (DeviceState == DFUidle) { #ifdef DEBUG_SSP - PIOS_COM_SendString(PIOS_COM_TELEM_USB_HID,"COMMAND:DOWNLOAD_REQ 1|"); + PIOS_COM_SendString(PIOS_COM_TELEM_USB,"COMMAND:DOWNLOAD_REQ 1|"); #endif downType = Data0; downPacketTotal = Count; @@ -474,7 +474,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB_HID, buf, size); + PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); if (DeviceState == downloading) PIOS_DELAY_WaitmS(10); } diff --git a/flight/Bootloaders/PipXtreme/pios_board.c b/flight/Bootloaders/PipXtreme/pios_board.c index 118143679..e017e8282 100644 --- a/flight/Bootloaders/PipXtreme/pios_board.c +++ b/flight/Bootloaders/PipXtreme/pios_board.c @@ -68,7 +68,7 @@ const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { #endif /* PIOS_INCLUDE_USB_COM */ -uint32_t pios_com_telem_usb_hid_id; +uint32_t pios_com_telem_usb_id; /** * PIOS_Board_Init() @@ -103,7 +103,7 @@ void PIOS_Board_Init(void) { if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 76cf473c1..716e170df 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1101,8 +1101,7 @@ const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = { #endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; -uint32_t pios_com_telem_usb_hid_id; -uint32_t pios_com_telem_usb_cdc_id; +uint32_t pios_com_telem_usb_id; uint32_t pios_com_gps_id; /** @@ -1436,34 +1435,53 @@ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_USB_HID) uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); -#if defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, - rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { - PIOS_Assert(0); - } - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer2 = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); - uint8_t * tx_buffer2 = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); - PIOS_Assert(rx_buffer2); - PIOS_Assert(tx_buffer2); - if (PIOS_COM_Init(&pios_com_telem_usb_cdc_id, &pios_usb_cdc_com_driver, pios_usb_com_id, - rx_buffer2, PIOS_COM_TELEM_USB_RX_BUF_LEN, - tx_buffer2, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { - PIOS_Assert(0); - } + /* Configure the usb telemetry protocol */ + uint8_t hwsettings_usb_telemetry_channel; + HwSettingsUSB_TelemetryChannelGet(&hwsettings_usb_telemetry_channel); + + switch (hwsettings_usb_telemetry_channel) { + case HWSETTINGS_USB_TELEMETRYCHANNEL_HID: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } #endif /* PIOS_INCLUDE_COM */ + break; + case HWSETTINGS_USB_TELEMETRYCHANNEL_CDC: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_com_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + default: + PIOS_Assert(0); + } #endif /* PIOS_INCLUDE_USB_HID */ PIOS_IAP_Init(); diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 266ae5313..e0f8b2d5f 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -311,7 +311,7 @@ static void telemetryRxTask(void *parameters) #if defined(PIOS_INCLUDE_USB_HID) // Determine input port (USB takes priority over telemetry port) if (PIOS_USB_HID_CheckAvailable(0)) { - inputPort = PIOS_COM_TELEM_USB_CDC; + inputPort = PIOS_COM_TELEM_USB; } else #endif /* PIOS_INCLUDE_USB_HID */ { @@ -348,7 +348,7 @@ static int32_t transmitData(uint8_t * data, int32_t length) // Determine input port (USB takes priority over telemetry port) #if defined(PIOS_INCLUDE_USB_HID) if (PIOS_USB_HID_CheckAvailable(0)) { - outputPort = PIOS_COM_TELEM_USB_CDC; + outputPort = PIOS_COM_TELEM_USB; } else #endif /* PIOS_INCLUDE_USB_HID */ { diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index f5cbfac43..df2ea246d 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1069,8 +1069,7 @@ const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { #endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_telem_rf_id; -uint32_t pios_com_telem_usb_hid_id; -uint32_t pios_com_telem_usb_cdc_id; +uint32_t pios_com_telem_usb_id; uint32_t pios_com_gps_id; uint32_t pios_com_aux_id; uint32_t pios_com_dsm_id; @@ -1299,7 +1298,7 @@ void PIOS_Board_Init(void) { uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index f585fbee4..a88589ed2 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -141,11 +141,8 @@ extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) #endif /* PIOS_INCLUDE_GPS */ -extern uint32_t pios_com_telem_usb_hid_id; -#define PIOS_COM_TELEM_USB_HID (pios_com_telem_usb_hid_id) - -extern uint32_t pios_com_telem_usb_cdc_id; -#define PIOS_COM_TELEM_USB_CDC (pios_com_telem_usb_cdc_id) +extern uint32_t pios_com_telem_usb_id; +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) //------------------------- // ADC diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h index 4fcf034da..e29a6249b 100644 --- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h @@ -156,8 +156,8 @@ extern uint32_t pios_com_serial_id; //#define PIOS_COM_DEBUG PIOS_COM_SERIAL // uncomment this to send debug info out the serial port #if defined(PIOS_INCLUDE_USB_HID) -extern uint32_t pios_com_telem_usb_hid_id; -#define PIOS_COM_TELEM_USB_HID (pios_com_telem_usb_hid_id) +extern uint32_t pios_com_telem_usb_id; +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #endif #if defined(PIOS_COM_DEBUG) diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 72732c0d0..2d1c80038 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -152,11 +152,8 @@ extern uint32_t pios_com_telem_rf_id; extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) -extern uint32_t pios_com_telem_usb_hid_id; -#define PIOS_COM_TELEM_USB_HID (pios_com_telem_usb_hid_id) - -extern uint32_t pios_com_telem_usb_cdc_id; -#define PIOS_COM_TELEM_USB_CDC (pios_com_telem_usb_cdc_id) +extern uint32_t pios_com_telem_usb_id; +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) #ifdef PIOS_ENABLE_AUX_UART extern uint32_t pios_com_aux_id; diff --git a/flight/PipXtreme/api_config.c b/flight/PipXtreme/api_config.c index 5f476e330..2cecfc65e 100644 --- a/flight/PipXtreme/api_config.c +++ b/flight/PipXtreme/api_config.c @@ -777,7 +777,7 @@ void apiconfig_process(void) if (PIOS_USB_HID_CheckAvailable(0)) { // USB comms is up, use the USB comm-port instead of the USART comm-port apiconfig_usb_comms = true; - apiconfig_comm_port = PIOS_COM_TELEM_USB_HID; + apiconfig_comm_port = PIOS_COM_TELEM_USB; } #endif diff --git a/flight/PipXtreme/pios_board.c b/flight/PipXtreme/pios_board.c index 5f0b49964..99fade5e1 100644 --- a/flight/PipXtreme/pios_board.c +++ b/flight/PipXtreme/pios_board.c @@ -339,8 +339,7 @@ const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { #endif /* PIOS_INCLUDE_USB_COM */ uint32_t pios_com_serial_id; -uint32_t pios_com_telem_usb_hid_id; -uint32_t pios_com_telem_usb_cdc_id; +uint32_t pios_com_telem_usb_id; /** * PIOS_Board_Init() @@ -378,7 +377,7 @@ void PIOS_Board_Init(void) { if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); diff --git a/flight/PipXtreme/transparent_comms.c b/flight/PipXtreme/transparent_comms.c index aebbc20a7..b30f5f581 100644 --- a/flight/PipXtreme/transparent_comms.c +++ b/flight/PipXtreme/transparent_comms.c @@ -74,7 +74,7 @@ void trans_process(void) if (PIOS_USB_HID_CheckAvailable(0)) { // USB comms is up, use the USB comm-port instead of the USART comm-port usb_comms = true; - comm_port = PIOS_COM_TELEM_USB_HID; + comm_port = PIOS_COM_TELEM_USB; } #endif diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index 9ec859fa3..0b77d0857 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -11,6 +11,7 @@ + From 504cf3417fd58d68a170731f4bf1cf32bb28cd37 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 21 Dec 2011 21:03:41 -0500 Subject: [PATCH 030/121] init: collapse usart definitions for generic usage Telemetry and GPS usarts are generic users of the uart devices. This collapses the duplicated usart configuration structs into a single generic one. --- flight/CopterControl/System/pios_board.c | 110 +++-------------------- 1 file changed, 14 insertions(+), 96 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 716e170df..a5131bf10 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -541,11 +541,7 @@ static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = { #include "pios_usart_priv.h" -#if defined(PIOS_INCLUDE_TELEMETRY_RF) -/* - * Telemetry USART - */ -static const struct pios_usart_cfg pios_usart_telem_main_cfg = { +static const struct pios_usart_cfg pios_usart_generic_main_cfg = { .regs = USART1, .init = { .USART_BaudRate = 57600, @@ -581,7 +577,7 @@ static const struct pios_usart_cfg pios_usart_telem_main_cfg = { }, }; -static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = { +static const struct pios_usart_cfg pios_usart_generic_flexi_cfg = { .regs = USART3, .init = { .USART_BaudRate = 57600, @@ -616,84 +612,6 @@ static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_TELEMETRY_RF */ - -#if defined(PIOS_INCLUDE_GPS) -/* - * GPS USART - */ -static const struct pios_usart_cfg pios_usart_gps_main_cfg = { - .regs = USART1, - .init = { - .USART_BaudRate = 57600, - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_No, - .USART_StopBits = USART_StopBits_1, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART1_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = GPIOA, - .init = { - .GPIO_Pin = GPIO_Pin_9, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, -}; - -static const struct pios_usart_cfg pios_usart_gps_flexi_cfg = { - .regs = USART3, - .init = { - .USART_BaudRate = 57600, - .USART_WordLength = USART_WordLength_8b, - .USART_Parity = USART_Parity_No, - .USART_StopBits = USART_StopBits_1, - .USART_HardwareFlowControl = USART_HardwareFlowControl_None, - .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, - }, - .irq = { - .init = { - .NVIC_IRQChannel = USART3_IRQn, - .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, - .NVIC_IRQChannelSubPriority = 0, - .NVIC_IRQChannelCmd = ENABLE, - }, - }, - .rx = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_11, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_IPU, - }, - }, - .tx = { - .gpio = GPIOB, - .init = { - .GPIO_Pin = GPIO_Pin_10, - .GPIO_Speed = GPIO_Speed_2MHz, - .GPIO_Mode = GPIO_Mode_AF_PP, - }, - }, -}; -#endif /* PIOS_INCLUDE_GPS */ #if defined(PIOS_INCLUDE_DSM) /* @@ -1159,8 +1077,8 @@ void PIOS_Board_Init(void) { case HWSETTINGS_CC_MAINPORT_TELEMETRY: #if defined(PIOS_INCLUDE_TELEMETRY_RF) { - uint32_t pios_usart_telem_rf_id; - if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) { + uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) { PIOS_Assert(0); } @@ -1168,7 +1086,7 @@ void PIOS_Board_Init(void) { uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); @@ -1201,14 +1119,14 @@ void PIOS_Board_Init(void) { case HWSETTINGS_CC_MAINPORT_GPS: #if defined(PIOS_INCLUDE_GPS) { - uint32_t pios_usart_gps_id; - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) { + uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, NULL, 0)) { PIOS_Assert(0); @@ -1273,15 +1191,15 @@ void PIOS_Board_Init(void) { case HWSETTINGS_CC_FLEXIPORT_TELEMETRY: #if defined(PIOS_INCLUDE_TELEMETRY_RF) { - uint32_t pios_usart_telem_rf_id; - if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) { + uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); @@ -1292,13 +1210,13 @@ void PIOS_Board_Init(void) { case HWSETTINGS_CC_FLEXIPORT_GPS: #if defined(PIOS_INCLUDE_GPS) { - uint32_t pios_usart_gps_id; - if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) { + uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); - if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, + if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, NULL, 0)) { PIOS_Assert(0); From 64f498e48a1ebf5f4585f8b44e62badece40df56 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 21 Dec 2011 21:04:29 -0500 Subject: [PATCH 031/121] com-bridge: add usart to usb vcp bridge --- flight/CopterControl/Makefile | 2 +- flight/CopterControl/System/pios_board.c | 146 +++++++++++++-------- flight/Modules/ComUsbBridge/ComUsbBridge.c | 135 +++++++++++++++++++ flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 6 + shared/uavobjectdefinition/hwsettings.xml | 4 +- 5 files changed, 237 insertions(+), 56 deletions(-) create mode 100644 flight/Modules/ComUsbBridge/ComUsbBridge.c diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index f0eb31cb9..66186ed86 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -70,7 +70,7 @@ ifeq ($(USE_GPS), YES) OPTMODULES += GPS endif -MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP +MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP ComUsbBridge # Telemetry must be last to grab the optional modules (why?) MODULES += Telemetry diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index a5131bf10..70c60d1bb 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -788,6 +788,9 @@ static const struct pios_sbus_cfg pios_sbus_cfg = { #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 +#define PIOS_COM_BRIDGE_RX_BUF_LEN 65 +#define PIOS_COM_BRIDGE_TX_BUF_LEN 65 + #endif /* PIOS_INCLUDE_COM */ #if defined(PIOS_INCLUDE_RTC) @@ -1020,7 +1023,9 @@ const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = { uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; +uint32_t pios_com_vcp_id = 0; uint32_t pios_com_gps_id; +uint32_t pios_com_bridge_id = 0; /** * PIOS_Board_Init() @@ -1065,6 +1070,58 @@ void PIOS_Board_Init(void) { PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_4_cfg); +#if defined(PIOS_INCLUDE_USB_HID) + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); + + /* Configure the usb telemetry protocol */ + uint8_t hwsettings_usb_telemetry_channel; + HwSettingsUSB_TelemetryChannelGet(&hwsettings_usb_telemetry_channel); + + switch (hwsettings_usb_telemetry_channel) { + case HWSETTINGS_USB_TELEMETRYCHANNEL_HID: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + case HWSETTINGS_USB_TELEMETRYCHANNEL_CDC: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_com_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + default: + PIOS_Assert(0); + } +#endif /* PIOS_INCLUDE_USB_HID */ + /* Configure the main IO port */ uint8_t hwsettings_DSMxBind; HwSettingsDSMxBindGet(&hwsettings_DSMxBind); @@ -1179,6 +1236,40 @@ void PIOS_Board_Init(void) { break; case HWSETTINGS_CC_MAINPORT_COMAUX: break; + case HWSETTINGS_CC_MAINPORT_COMBRIDGE: + { + uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) { + PIOS_Assert(0); + } + + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); + PIOS_Assert(rx_buffer); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id, + rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, + tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } + { + uint32_t pios_usb_vcp_id; + if (PIOS_USB_COM_Init(&pios_usb_vcp_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_vcp_id, + rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, + tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + + } + break; } /* Configure the flexi port */ @@ -1278,6 +1369,8 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_I2C */ break; + case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE: + break; } /* Configure the rcvr port */ @@ -1349,59 +1442,6 @@ void PIOS_Board_Init(void) { PIOS_ADC_Init(); PIOS_GPIO_Init(); - -#if defined(PIOS_INCLUDE_USB_HID) - uint32_t pios_usb_id; - PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); - - /* Configure the usb telemetry protocol */ - uint8_t hwsettings_usb_telemetry_channel; - HwSettingsUSB_TelemetryChannelGet(&hwsettings_usb_telemetry_channel); - - switch (hwsettings_usb_telemetry_channel) { - case HWSETTINGS_USB_TELEMETRYCHANNEL_HID: -#if defined(PIOS_INCLUDE_COM) - { - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, - rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { - PIOS_Assert(0); - } - } -#endif /* PIOS_INCLUDE_COM */ - break; - case HWSETTINGS_USB_TELEMETRYCHANNEL_CDC: -#if defined(PIOS_INCLUDE_COM) - { - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_com_id, - rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { - PIOS_Assert(0); - } - } -#endif /* PIOS_INCLUDE_COM */ - break; - default: - PIOS_Assert(0); - } -#endif /* PIOS_INCLUDE_USB_HID */ - PIOS_IAP_Init(); #ifndef ERASE_FLASH PIOS_WDG_Init(); diff --git a/flight/Modules/ComUsbBridge/ComUsbBridge.c b/flight/Modules/ComUsbBridge/ComUsbBridge.c new file mode 100644 index 000000000..c84c93c22 --- /dev/null +++ b/flight/Modules/ComUsbBridge/ComUsbBridge.c @@ -0,0 +1,135 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup ComUsbBridgeModule Com Port to USB VCP Bridge Module + * @brief Bridge Com and USB VCP ports + * @{ + * + * @file ComUsbBridge.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @brief Bridges selected Com Port to the USB VCP emulated serial port + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +// **************** + +#include "openpilot.h" + +#include + +// **************** +// Private functions + +static void com2UsbBridgeTask(void *parameters); +static void usb2ComBridgeTask(void *parameters); + +// **************** +// Private constants + +#define STACK_SIZE_BYTES 280 +#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) + +#define BRIDGE_BUF_LEN 10 + +// **************** +// Private variables + +static xTaskHandle com2UsbBridgeTaskHandle; +static xTaskHandle usb2ComBridgeTaskHandle; + +static uint8_t * com2usb_buf; +static uint8_t * usb2com_buf; + +static uint32_t usart_port; +static uint32_t vcp_port; + +/** + * Initialise the module + * \return -1 if initialisation failed + * \return 0 on success + */ + +static int32_t comUsbBridgeStart(void) +{ + if (usart_port && vcp_port) { + // Start tasks + xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle); + xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle); + } + + return 0; +} +/** + * Initialise the module + * \return -1 if initialisation failed + * \return 0 on success + */ +static int32_t comUsbBridgeInitialize(void) +{ + // TODO: Get from settings object + usart_port = PIOS_COM_BRIDGE; + vcp_port = PIOS_COM_VCP; + + com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN); + PIOS_Assert(com2usb_buf); + usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN); + PIOS_Assert(usb2com_buf); + + return 0; +} +MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart) + +/** + * Main task. It does not return. + */ + +static void com2UsbBridgeTask(void *parameters) +{ + /* Handle usart -> vcp direction */ + while (1) { + uint32_t rx_bytes; + + rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500); + if (rx_bytes > 0) { + if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes)) { + vTaskDelay(10 / portTICK_RATE_MS); + } + } else { + vTaskDelay(10 / portTICK_RATE_MS); + } + } +} + +static void usb2ComBridgeTask(void * parameters) +{ + /* Handle vcp -> usart direction */ + while (1) { + uint32_t rx_bytes; + + rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500); + if (rx_bytes > 0) { + if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes)) { + vTaskDelay(10 / portTICK_RATE_MS); + } + } else { + vTaskDelay(10 / portTICK_RATE_MS); + } + } +} diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index a88589ed2..8221d659b 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -141,6 +141,12 @@ extern uint32_t pios_com_gps_id; #define PIOS_COM_GPS (pios_com_gps_id) #endif /* PIOS_INCLUDE_GPS */ +extern uint32_t pios_com_bridge_id; +#define PIOS_COM_BRIDGE (pios_com_bridge_id) + +extern uint32_t pios_com_vcp_id; +#define PIOS_COM_VCP (pios_com_vcp_id) + extern uint32_t pios_com_telem_usb_id; #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index 0b77d0857..d259ee6c2 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -2,8 +2,8 @@ Selection of optional hardware configurations. - - + + From 202b1bd428ba7089bbc5489cd3a030440f7f661d Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 25 Dec 2011 17:54:43 -0500 Subject: [PATCH 032/121] com: Always kick rx_start if we got zero bytes This will ensure that we kick rx_start at least once every time that a user tries to receive bytes from the underlying device. --- flight/PiOS/Common/pios_com.c | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index e7fba8867..9f325fa1f 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -463,7 +463,7 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len uint16_t bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len); PIOS_IRQ_Enable(); - if (bytes_from_fifo == 0 && timeout_ms > 0) { + if (bytes_from_fifo == 0) { /* No more bytes in receive buffer */ /* Make sure the receiver is running while we wait */ if (com_dev->driver->rx_start) { @@ -471,17 +471,19 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len (com_dev->driver->rx_start)(com_dev->lower_id, fifoBuf_getFree(&com_dev->rx)); } + if (timeout_ms > 0) { #if defined(PIOS_INCLUDE_FREERTOS) - if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) { - /* Make sure we don't come back here again */ - timeout_ms = 0; - goto check_again; - } + if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) { + /* Make sure we don't come back here again */ + timeout_ms = 0; + goto check_again; + } #else - PIOS_DELAY_WaitmS(1); - timeout_ms--; - goto check_again; + PIOS_DELAY_WaitmS(1); + timeout_ms--; + goto check_again; #endif + } } /* Return received byte */ From f54c0552ce09d5717d3ad45ea44339fcb0244d43 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 25 Dec 2011 17:56:38 -0500 Subject: [PATCH 033/121] com: make sure we know when a higher prio task is woken --- flight/PiOS/Common/pios_com.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index 9f325fa1f..739329f15 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -161,7 +161,7 @@ out_fail: static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield) { #if defined(PIOS_INCLUDE_FREERTOS) - static signed portBASE_TYPE xHigherPriorityTaskWoken; + static signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; xSemaphoreGiveFromISR(com_dev->rx_sem, &xHigherPriorityTaskWoken); if (xHigherPriorityTaskWoken != pdFALSE) { @@ -177,7 +177,7 @@ static void PIOS_COM_UnblockRx(struct pios_com_dev * com_dev, bool * need_yield) static void PIOS_COM_UnblockTx(struct pios_com_dev * com_dev, bool * need_yield) { #if defined(PIOS_INCLUDE_FREERTOS) - static signed portBASE_TYPE xHigherPriorityTaskWoken; + static signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; xSemaphoreGiveFromISR(com_dev->tx_sem, &xHigherPriorityTaskWoken); if (xHigherPriorityTaskWoken != pdFALSE) { From 86aead52ce2d57e8f2051b18b603e5134f9fe726 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 25 Dec 2011 17:58:37 -0500 Subject: [PATCH 034/121] usb cdc: only pass valid bytes from USB rx up to com layer Previously, up to 63 random bytes would be passed to the COM layer and would be delivered to the application as though the far end had sent them. --- flight/PiOS/STM32F10x/pios_usb_com.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index 8bdcbed6a..8fa56a752 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -481,7 +481,7 @@ static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) bool need_yield = false; (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, usb_com_dev->rx_packet_buffer, - sizeof(usb_com_dev->rx_packet_buffer), + DataLength, &headroom, &need_yield); From e2bb7140feca702be19b8ff122649a600fbf78fc Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 25 Dec 2011 18:00:17 -0500 Subject: [PATCH 035/121] usb cdc: allow use of entire rx buffer Previously, the code only allowed n-1 bytes of the available space to be used. --- flight/PiOS/STM32F10x/pios_usb_com.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index 8fa56a752..a9c9b4bb7 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -266,7 +266,7 @@ static void PIOS_USB_COM_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail // If endpoint was stalled and there is now space make it valid PIOS_IRQ_Disable(); if ((GetEPRxStatus(usb_com_dev->cfg->data_rx_ep) != EP_RX_VALID) && - (rx_bytes_avail > PIOS_USB_COM_DATA_LENGTH)) { + (rx_bytes_avail >= PIOS_USB_COM_DATA_LENGTH)) { SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); } PIOS_IRQ_Enable(); @@ -355,7 +355,7 @@ static void PIOS_USB_COM_HID_EP_OUT_Callback(void) &headroom, &need_yield); #endif - if (headroom > PIOS_USB_COM_DATA_LENGTH) { + if (headroom >= PIOS_USB_COM_DATA_LENGTH) { /* We have room for a maximum length message */ SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); } else { @@ -385,7 +385,7 @@ static void PIOS_USB_COM_CDC_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail // If endpoint was stalled and there is now space make it valid PIOS_IRQ_Disable(); if ((GetEPRxStatus(usb_com_dev->cfg->data_rx_ep) != EP_RX_VALID) && - (rx_bytes_avail > sizeof(usb_com_dev->rx_packet_buffer))) { + (rx_bytes_avail >= sizeof(usb_com_dev->rx_packet_buffer))) { SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); } PIOS_IRQ_Enable(); @@ -485,7 +485,7 @@ static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) &headroom, &need_yield); - if (headroom > sizeof(usb_com_dev->rx_packet_buffer)) { + if (headroom >= sizeof(usb_com_dev->rx_packet_buffer)) { /* We have room for a maximum length message */ SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); } else { From 34af9ac92dc6b5c48b3d6af9186dbc1e01c57e55 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:09:08 -0500 Subject: [PATCH 036/121] usb_com: NAK rather than STALL on buffer full STALL should only be used to indicate an error has occurred. NAK is the correct mechanism to provide backpressure. --- flight/PiOS/STM32F10x/pios_usb_com.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index a9c9b4bb7..ac758b808 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -490,7 +490,7 @@ static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); } else { /* Not enough room left for a message, apply backpressure */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_STALL); + SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); } #if defined(PIOS_INCLUDE_FREERTOS) From 20406451714ced1c8434755771bbed442cf04a08 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:11:50 -0500 Subject: [PATCH 037/121] com: Use all bytes in Tx buffer Code would previously fail Tx if we happen to send data that happened to be exactly the size of the available space in the tx buffer. --- flight/PiOS/Common/pios_com.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index 739329f15..c7f252973 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -285,7 +285,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u PIOS_Assert(com_dev->has_tx); - if (len >= fifoBuf_getFree(&com_dev->tx)) { + if (len > fifoBuf_getFree(&com_dev->tx)) { /* Buffer cannot accept all requested bytes (retry) */ return -2; } From b858cf387e9aa5eaaec1a4a2cbda028d9fba8432 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:13:20 -0500 Subject: [PATCH 038/121] com: track dropped bytes on rx for usart and usb com --- flight/PiOS/STM32F10x/pios_usart.c | 9 ++++++++- flight/PiOS/STM32F10x/pios_usb_com.c | 10 +++++++++- 2 files changed, 17 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c index 68a9265ee..a8221ad0b 100644 --- a/flight/PiOS/STM32F10x/pios_usart.c +++ b/flight/PiOS/STM32F10x/pios_usart.c @@ -63,6 +63,8 @@ struct pios_usart_dev { uint32_t rx_in_context; pios_com_callback tx_out_cb; uint32_t tx_out_context; + + uint32_t rx_dropped; }; static bool PIOS_USART_validate(struct pios_usart_dev * usart_dev) @@ -285,7 +287,12 @@ static void PIOS_USART_generic_irq_handler(uint32_t usart_id) if (sr & USART_SR_RXNE) { uint8_t byte = dr; if (usart_dev->rx_in_cb) { - (void) (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield); + uint16_t rc; + rc = (usart_dev->rx_in_cb)(usart_dev->rx_in_context, &byte, 1, NULL, &rx_need_yield); + if (rc < 1) { + /* Lost bytes on rx */ + usart_dev->rx_dropped += 1; + } } } diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index ac758b808..2c7ea646e 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -81,6 +81,8 @@ struct pios_usb_com_dev { uint8_t rx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; uint8_t tx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; + + uint32_t rx_dropped; }; static bool PIOS_USB_COM_validate(struct pios_usb_com_dev * usb_com_dev) @@ -479,12 +481,18 @@ static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) uint16_t headroom; bool need_yield = false; - (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, + uint16_t rc; + rc = (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, usb_com_dev->rx_packet_buffer, DataLength, &headroom, &need_yield); + if (rc < DataLength) { + /* Lost bytes on rx */ + usb_com_dev->rx_dropped += (DataLength - rc); + } + if (headroom >= sizeof(usb_com_dev->rx_packet_buffer)) { /* We have room for a maximum length message */ SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); From 407bec0c95ba37b80a4050227b9baf6e2c753ea3 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:15:14 -0500 Subject: [PATCH 039/121] usb cdc: track oversized rx buffers --- flight/PiOS/STM32F10x/pios_usb_com.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index 2c7ea646e..808f81afd 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -83,6 +83,7 @@ struct pios_usb_com_dev { uint8_t tx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; uint32_t rx_dropped; + uint32_t rx_oversize; }; static bool PIOS_USB_COM_validate(struct pios_usb_com_dev * usb_com_dev) @@ -465,6 +466,7 @@ static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) /* Get the number of received data on the selected Endpoint */ DataLength = GetEPRxCount(usb_com_dev->cfg->data_rx_ep); if (DataLength > sizeof(usb_com_dev->rx_packet_buffer)) { + usb_com_dev->rx_oversize++; DataLength = sizeof(usb_com_dev->rx_packet_buffer); } From 80e0be3cece78f6e00c0b43fd2b1a6b9bb30523a Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:20:29 -0500 Subject: [PATCH 040/121] com: fragment transmitted buffers to match underlying device PIOS_COM_SendBufferNonBlocking() will now fragment its buffer to match the max size of the underlying device. This allows the buffer size of the underlying device to shrink below the maximum message size, thus allowing us to use smaller buffers on memory-constrained platforms. --- flight/PiOS/Common/pios_com.c | 57 ++++++++++++++++++++++++----------- 1 file changed, 39 insertions(+), 18 deletions(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index c7f252973..29179c99f 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -272,7 +272,7 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud) * \return -1 if port not available * \return -2 if non-blocking mode activated: buffer is full * caller should retry until buffer is free again -* \return 0 on success +* \return number of bytes transmitted on success */ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len) { @@ -302,7 +302,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u } } - return (0); + return (bytes_into_fifo); } /** @@ -312,7 +312,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u * \param[in] buffer character buffer * \param[in] len buffer length * \return -1 if port not available -* \return 0 on success +* \return number of bytes transmitted on success */ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len) { @@ -325,25 +325,46 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len PIOS_Assert(com_dev->has_tx); - int32_t rc; - do { - rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, len); + uint32_t max_frag_len = fifoBuf_getSize(&com_dev->tx); + uint32_t bytes_to_send = len; + while (bytes_to_send) { + uint32_t frag_size; + if (bytes_to_send > max_frag_len) { + frag_size = max_frag_len; + } else { + frag_size = bytes_to_send; + } + int32_t rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, frag_size); + if (rc >= 0) { + bytes_to_send -= rc; + buffer += rc; + } else { + switch (rc) { + case -1: + /* Device is invalid, this will never work */ + return -1; + case -2: + /* Device is busy, wait for the underlying device to free some space and retry */ + /* Make sure the transmitter is running while we wait */ + if (com_dev->driver->tx_start) { + (com_dev->driver->tx_start)(com_dev->lower_id, + fifoBuf_getUsed(&com_dev->tx)); + } #if defined(PIOS_INCLUDE_FREERTOS) - if (rc == -2) { - /* Make sure the transmitter is running while we wait */ - if (com_dev->driver->tx_start) { - (com_dev->driver->tx_start)(com_dev->lower_id, - fifoBuf_getUsed(&com_dev->tx)); - } - if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) { - return -3; - } - } + if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) { + return -3; + } #endif - } while (rc == -2); + continue; + default: + /* Unhandled return code */ + return rc; + } + } + } - return rc; + return len; } /** From a68f5a4fc997a43cd170f4a1d76550e3696f571a Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:21:36 -0500 Subject: [PATCH 041/121] com-bridge: detect lost characters on transmit --- flight/Modules/ComUsbBridge/ComUsbBridge.c | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/flight/Modules/ComUsbBridge/ComUsbBridge.c b/flight/Modules/ComUsbBridge/ComUsbBridge.c index c84c93c22..3b52119ae 100644 --- a/flight/Modules/ComUsbBridge/ComUsbBridge.c +++ b/flight/Modules/ComUsbBridge/ComUsbBridge.c @@ -103,16 +103,17 @@ MODULE_INITCALL(comUsbBridgeInitialize, comUsbBridgeStart) static void com2UsbBridgeTask(void *parameters) { /* Handle usart -> vcp direction */ + volatile uint32_t tx_errors = 0; while (1) { uint32_t rx_bytes; rx_bytes = PIOS_COM_ReceiveBuffer(usart_port, com2usb_buf, BRIDGE_BUF_LEN, 500); if (rx_bytes > 0) { - if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes)) { - vTaskDelay(10 / portTICK_RATE_MS); + /* Bytes available to transfer */ + if (PIOS_COM_SendBuffer(vcp_port, com2usb_buf, rx_bytes) != rx_bytes) { + /* Error on transmit */ + tx_errors++; } - } else { - vTaskDelay(10 / portTICK_RATE_MS); } } } @@ -120,16 +121,17 @@ static void com2UsbBridgeTask(void *parameters) static void usb2ComBridgeTask(void * parameters) { /* Handle vcp -> usart direction */ + volatile uint32_t tx_errors = 0; while (1) { uint32_t rx_bytes; rx_bytes = PIOS_COM_ReceiveBuffer(vcp_port, usb2com_buf, BRIDGE_BUF_LEN, 500); if (rx_bytes > 0) { - if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes)) { - vTaskDelay(10 / portTICK_RATE_MS); + /* Bytes available to transfer */ + if (PIOS_COM_SendBuffer(usart_port, usb2com_buf, rx_bytes) != rx_bytes) { + /* Error on transmit */ + tx_errors++; } - } else { - vTaskDelay(10 / portTICK_RATE_MS); } } } From 16619584e42ecfd43f3c790427bf6f8deea191eb Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 26 Dec 2011 17:23:06 -0500 Subject: [PATCH 042/121] usb cdc: return valid data in response to SetLineCoding --- flight/PiOS/STM32F10x/pios_usb_com.c | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c index 808f81afd..5795d967e 100644 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ b/flight/PiOS/STM32F10x/pios_usb_com.c @@ -527,6 +527,13 @@ RESULT PIOS_CDC_SetControlLineState(void) return USB_SUCCESS; } +static uint8_t line_coding[] = { + 0x00, 0xE1, 0x00, 0x00, /* 57600bps */ + 0x00, /* 1 stop bit */ + 0x00, /* Even parity */ + 0x08, /* 8 data bits */ +}; + RESULT PIOS_CDC_SetLineCoding(void) { struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; @@ -544,7 +551,12 @@ uint8_t *PIOS_CDC_GetLineCoding(uint16_t Length) bool valid = PIOS_USB_COM_validate(usb_com_dev); PIOS_Assert(valid); - return NULL; + if (Length == 0) { + pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding); + return NULL; + } else { + return (line_coding); + } } static uint8_t serial_state[] = { From 785a7ccd887c4233e5c44d1657f3c9a3049e4069 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 27 Dec 2011 12:19:05 -0500 Subject: [PATCH 043/121] uavtalk: convert tx to use blocking send routines The uavtalk layer was previously implementing a poor version of packet fragmentation based on a hard-coded max packet size. Since this was hard-coded, there was no guarantee that it would match the underlying devices. Now that the COM layer sending routines support fragmentation, remove fragmentation and use the COM layer directly. This will support future buffer size reductions in the COM layer. --- flight/Modules/Telemetry/telemetry.c | 7 +++-- flight/UAVTalk/inc/uavtalk.h | 2 +- flight/UAVTalk/uavtalk.c | 42 +++++++++++++--------------- 3 files changed, 25 insertions(+), 26 deletions(-) diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index e0f8b2d5f..cf24ec12a 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -133,7 +133,7 @@ int32_t TelemetryInitialize(void) updateSettings(); // Initialise UAVTalk - uavTalkCon = UAVTalkInitialize(&transmitData,256); + uavTalkCon = UAVTalkInitialize(&transmitData); // Create periodic event that will be used to update the telemetry stats txErrors = 0; @@ -339,7 +339,8 @@ static void telemetryRxTask(void *parameters) * Transmit data buffer to the modem or USB port. * \param[in] data Data buffer to send * \param[in] length Length of buffer - * \return 0 Success + * \return -1 on failure + * \return number of bytes transmitted on success */ static int32_t transmitData(uint8_t * data, int32_t length) { @@ -356,7 +357,7 @@ static int32_t transmitData(uint8_t * data, int32_t length) } if (outputPort) { - return PIOS_COM_SendBufferNonBlocking(outputPort, data, length); + return PIOS_COM_SendBuffer(outputPort, data, length); } else { return -1; } diff --git a/flight/UAVTalk/inc/uavtalk.h b/flight/UAVTalk/inc/uavtalk.h index 71114ce74..3b7f2a2f9 100644 --- a/flight/UAVTalk/inc/uavtalk.h +++ b/flight/UAVTalk/inc/uavtalk.h @@ -46,7 +46,7 @@ typedef struct { typedef void* UAVTalkConnection; // Public functions -UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t maxPacketSize); +UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream); int32_t UAVTalkSetOutputStream(UAVTalkConnection connection, UAVTalkOutputStream outputStream); UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connection); int32_t UAVTalkSendObject(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs); diff --git a/flight/UAVTalk/uavtalk.c b/flight/UAVTalk/uavtalk.c index 900dc24b3..844ed5e38 100644 --- a/flight/UAVTalk/uavtalk.c +++ b/flight/UAVTalk/uavtalk.c @@ -48,9 +48,8 @@ static void updateAck(UAVTalkConnectionData *connection, UAVObjHandle obj, uint1 * \return 0 Success * \return -1 Failure */ -UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t maxPacketSize) +UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream) { - if (maxPacketSize<1) return 0; // allocate object UAVTalkConnectionData * connection = pvPortMalloc(sizeof(UAVTalkConnectionData)); if (!connection) return 0; @@ -60,7 +59,6 @@ UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream, uint32_t m connection->outStream = outputStream; connection->lock = xSemaphoreCreateRecursiveMutex(); connection->transLock = xSemaphoreCreateRecursiveMutex(); - connection->txSize = maxPacketSize; // allocate buffers connection->rxBuffer = pvPortMalloc(UAVTALK_MAX_PACKET_LENGTH); if (!connection->rxBuffer) return 0; @@ -646,7 +644,9 @@ static int32_t sendSingleObject(UAVTalkConnectionData *connection, UAVObjHandle int32_t length; int32_t dataOffset; uint32_t objId; - + + if (!connection->outStream) return -1; + // Setup type and object id fields objId = UAVObjGetID(obj); connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte @@ -701,22 +701,16 @@ static int32_t sendSingleObject(UAVTalkConnectionData *connection, UAVObjHandle // Calculate checksum connection->txBuffer[dataOffset+length] = PIOS_CRC_updateCRC(0, connection->txBuffer, dataOffset+length); - // Send buffer (partially if needed) - uint32_t sent=0; - while (sent < dataOffset+length+UAVTALK_CHECKSUM_LENGTH) { - uint32_t sending = dataOffset+length+UAVTALK_CHECKSUM_LENGTH - sent; - if ( sending > connection->txSize ) sending = connection->txSize; - if ( connection->outStream != NULL ) { - (*connection->outStream)(connection->txBuffer+sent, sending); - } - sent += sending; + uint16_t tx_msg_len = dataOffset+length+UAVTALK_CHECKSUM_LENGTH; + int32_t rc = (*connection->outStream)(connection->txBuffer, tx_msg_len); + + if (rc == tx_msg_len) { + // Update stats + ++connection->stats.txObjects; + connection->stats.txBytes += tx_msg_len; + connection->stats.txObjectBytes += length; } - // Update stats - ++connection->stats.txObjects; - connection->stats.txBytes += dataOffset+length+UAVTALK_CHECKSUM_LENGTH; - connection->stats.txObjectBytes += length; - // Done return 0; } @@ -732,6 +726,8 @@ static int32_t sendNack(UAVTalkConnectionData *connection, uint32_t objId) { int32_t dataOffset; + if (!connection->outStream) return -1; + connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte connection->txBuffer[1] = UAVTALK_TYPE_NACK; // data length inserted here below @@ -749,11 +745,13 @@ static int32_t sendNack(UAVTalkConnectionData *connection, uint32_t objId) // Calculate checksum connection->txBuffer[dataOffset] = PIOS_CRC_updateCRC(0, connection->txBuffer, dataOffset); - // Send buffer - if (connection->outStream!=NULL) (*connection->outStream)(connection->txBuffer, dataOffset+UAVTALK_CHECKSUM_LENGTH); + uint16_t tx_msg_len = dataOffset+UAVTALK_CHECKSUM_LENGTH; + int32_t rc = (*connection->outStream)(connection->txBuffer, tx_msg_len); - // Update stats - connection->stats.txBytes += dataOffset+UAVTALK_CHECKSUM_LENGTH; + if (rc == tx_msg_len) { + // Update stats + connection->stats.txBytes += tx_msg_len; + } // Done return 0; From 5b3227d1ff930e54450e834220165ca8c92c2d5e Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Tue, 27 Dec 2011 21:12:20 -0500 Subject: [PATCH 044/121] com: reduce buffer sizes for com layer This saves a few hundred bytes of RAM in a typical configuration. --- flight/CopterControl/System/pios_board.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 70c60d1bb..7d2e8532f 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -780,16 +780,16 @@ static const struct pios_sbus_cfg pios_sbus_cfg = { #include "pios_com_priv.h" -#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 -#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 +#define PIOS_COM_TELEM_RF_RX_BUF_LEN 96 +#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12 #define PIOS_COM_GPS_RX_BUF_LEN 32 -#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 -#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 +#define PIOS_COM_TELEM_USB_RX_BUF_LEN 96 +#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65 #define PIOS_COM_BRIDGE_RX_BUF_LEN 65 -#define PIOS_COM_BRIDGE_TX_BUF_LEN 65 +#define PIOS_COM_BRIDGE_TX_BUF_LEN 12 #endif /* PIOS_INCLUDE_COM */ From ab135aa00ba9c3c06f121df2ba7e7c201b42194a Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 28 Dec 2011 12:24:32 -0500 Subject: [PATCH 045/121] com-bridge: Make com-bridge an optional (and configurable) module --- flight/Modules/ComUsbBridge/ComUsbBridge.c | 70 ++++++++++++++++++++-- shared/uavobjectdefinition/hwsettings.xml | 3 +- shared/uavobjectdefinition/taskinfo.xml | 6 +- 3 files changed, 69 insertions(+), 10 deletions(-) diff --git a/flight/Modules/ComUsbBridge/ComUsbBridge.c b/flight/Modules/ComUsbBridge/ComUsbBridge.c index 3b52119ae..984a53944 100644 --- a/flight/Modules/ComUsbBridge/ComUsbBridge.c +++ b/flight/Modules/ComUsbBridge/ComUsbBridge.c @@ -31,6 +31,7 @@ // **************** #include "openpilot.h" +#include "hwsettings.h" #include @@ -39,6 +40,7 @@ static void com2UsbBridgeTask(void *parameters); static void usb2ComBridgeTask(void *parameters); +static void updateSettings(); // **************** // Private constants @@ -60,6 +62,8 @@ static uint8_t * usb2com_buf; static uint32_t usart_port; static uint32_t vcp_port; +static bool bridge_enabled = false; + /** * Initialise the module * \return -1 if initialisation failed @@ -68,13 +72,16 @@ static uint32_t vcp_port; static int32_t comUsbBridgeStart(void) { - if (usart_port && vcp_port) { + if (bridge_enabled) { // Start tasks xTaskCreate(com2UsbBridgeTask, (signed char *)"Com2UsbBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle); xTaskCreate(usb2ComBridgeTask, (signed char *)"Usb2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle); + return 0; } - return 0; + return -1; } /** * Initialise the module @@ -87,10 +94,25 @@ static int32_t comUsbBridgeInitialize(void) usart_port = PIOS_COM_BRIDGE; vcp_port = PIOS_COM_VCP; - com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN); - PIOS_Assert(com2usb_buf); - usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN); - PIOS_Assert(usb2com_buf); + HwSettingsInitialize(); + uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; + + HwSettingsOptionalModulesGet(optionalModules); + + if (usart_port && vcp_port && + (optionalModules[HWSETTINGS_OPTIONALMODULES_COMUSBBRIDGE] == HWSETTINGS_OPTIONALMODULES_ENABLED)) + bridge_enabled = true; + else + bridge_enabled = false; + + if (bridge_enabled) { + com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN); + PIOS_Assert(com2usb_buf); + usb2com_buf = pvPortMalloc(BRIDGE_BUF_LEN); + PIOS_Assert(usb2com_buf); + + updateSettings(); + } return 0; } @@ -135,3 +157,39 @@ static void usb2ComBridgeTask(void * parameters) } } } + + +static void updateSettings() +{ + if (usart_port) { + + // Retrieve settings + uint8_t speed; + HwSettingsComUsbBridgeSpeedGet(&speed); + + // Set port speed + switch (speed) { + case HWSETTINGS_COMUSBBRIDGESPEED_2400: + PIOS_COM_ChangeBaud(usart_port, 2400); + break; + case HWSETTINGS_COMUSBBRIDGESPEED_4800: + PIOS_COM_ChangeBaud(usart_port, 4800); + break; + case HWSETTINGS_COMUSBBRIDGESPEED_9600: + PIOS_COM_ChangeBaud(usart_port, 9600); + break; + case HWSETTINGS_COMUSBBRIDGESPEED_19200: + PIOS_COM_ChangeBaud(usart_port, 19200); + break; + case HWSETTINGS_COMUSBBRIDGESPEED_38400: + PIOS_COM_ChangeBaud(usart_port, 38400); + break; + case HWSETTINGS_COMUSBBRIDGESPEED_57600: + PIOS_COM_ChangeBaud(usart_port, 57600); + break; + case HWSETTINGS_COMUSBBRIDGESPEED_115200: + PIOS_COM_ChangeBaud(usart_port, 115200); + break; + } + } +} diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index d259ee6c2..dbb605c51 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -11,9 +11,10 @@ + - + diff --git a/shared/uavobjectdefinition/taskinfo.xml b/shared/uavobjectdefinition/taskinfo.xml index cbccac73f..11b550089 100644 --- a/shared/uavobjectdefinition/taskinfo.xml +++ b/shared/uavobjectdefinition/taskinfo.xml @@ -1,9 +1,9 @@ Task information - - - + + + From 87be56eff7a93744ba8ec1aa2bc4cda2ece37bc7 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 28 Dec 2011 12:25:16 -0500 Subject: [PATCH 046/121] hwsettings: add support for com-bridge to hwsettings config gui --- .../src/plugins/config/cc_hw_settings.ui | 20 +++++++++++++++++++ .../plugins/config/config_cc_hw_widget.cpp | 4 +++- 2 files changed, 23 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui index 929c9053d..99e173cd3 100644 --- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui +++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui @@ -123,6 +123,19 @@ + + + + + 55 + 0 + + + + ComUsbBridge speed: + + + @@ -137,6 +150,13 @@ + + + + Select the speed here. + + + diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index 1d0f723d0..afd25e865 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -46,6 +46,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr); addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed); addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_telemetry->gpsSpeed); + addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_telemetry->comUsbBridgeSpeed); connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp())); enableControls(false); populateWidgets(); @@ -67,7 +68,8 @@ void ConfigCCHWWidget::widgetsContentsChanged() if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) || ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) || - ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMAUX) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMAUX))) + ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMAUX) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMAUX)) || + ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMBRIDGE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMBRIDGE))) { enableControls(false); m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported")); From 60969b57d8f7180e60ece8b6130b35d2cf85f026 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 28 Dec 2011 16:16:29 -0500 Subject: [PATCH 047/121] usb-hid: split apart hwsettings for HID and VCP ports This allows the HID and VCP functions to be configured separately so that additional functions can be more easily bound to the VCP port. This change also provides a safety net that forces either the HID or VCP to be configured for USB Telemetry. This safety net may vanish in the future once the GCS can check it. Disabling USB Telemetry entirely would save more than 400 bytes of RAM. --- flight/CopterControl/System/pios_board.c | 100 +++++++++++++--------- shared/uavobjectdefinition/hwsettings.xml | 3 +- 2 files changed, 61 insertions(+), 42 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 7d2e8532f..385c03283 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1074,31 +1074,14 @@ void PIOS_Board_Init(void) { uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); - /* Configure the usb telemetry protocol */ - uint8_t hwsettings_usb_telemetry_channel; - HwSettingsUSB_TelemetryChannelGet(&hwsettings_usb_telemetry_channel); + /* Configure the usb VCP port */ + uint8_t hwsettings_usb_vcpport; + HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); - switch (hwsettings_usb_telemetry_channel) { - case HWSETTINGS_USB_TELEMETRYCHANNEL_HID: -#if defined(PIOS_INCLUDE_COM) - { - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, - rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { - PIOS_Assert(0); - } - } -#endif /* PIOS_INCLUDE_COM */ + switch (hwsettings_usb_vcpport) { + case HWSETTINGS_USB_VCPPORT_DISABLED: break; - case HWSETTINGS_USB_TELEMETRYCHANNEL_CDC: + case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { uint32_t pios_usb_com_id; @@ -1117,9 +1100,60 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_COM */ break; - default: - PIOS_Assert(0); + case HWSETTINGS_USB_VCPPORT_COMBRIDGE: + { + uint32_t pios_usb_vcp_id; + if (PIOS_USB_COM_Init(&pios_usb_vcp_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_vcp_id, + rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, + tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + + } + break; } + + /* Configure the usb HID port */ + uint8_t hwsettings_usb_hidport; + HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); + + /* Make sure we have at least one telemetry link over USB */ + if (hwsettings_usb_vcpport != HWSETTINGS_USB_VCPPORT_USBTELEMETRY) { + hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_USBTELEMETRY; + } + + switch (hwsettings_usb_hidport) { + case HWSETTINGS_USB_HIDPORT_DISABLED: + break; + case HWSETTINGS_USB_HIDPORT_USBTELEMETRY: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_com_id; + if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + } + + #endif /* PIOS_INCLUDE_USB_HID */ /* Configure the main IO port */ @@ -1253,22 +1287,6 @@ void PIOS_Board_Init(void) { PIOS_Assert(0); } } - { - uint32_t pios_usb_vcp_id; - if (PIOS_USB_COM_Init(&pios_usb_vcp_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_vcp_id, - rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, - tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { - PIOS_Assert(0); - } - - } break; } diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index dbb605c51..263d5f279 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -12,7 +12,8 @@ - + + From 56c4ff8f40532524ceaea6d07f23780ee8399582 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 28 Dec 2011 16:17:10 -0500 Subject: [PATCH 048/121] com-bridge: add support for bridging to flexiport --- flight/CopterControl/System/pios_board.c | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 385c03283..3a28f5d4c 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1316,6 +1316,24 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ break; + case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE: + { + uint32_t pios_usart_generic_id; + if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) { + PIOS_Assert(0); + } + + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id, + rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, + tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } + break; case HWSETTINGS_CC_FLEXIPORT_GPS: #if defined(PIOS_INCLUDE_GPS) { @@ -1387,8 +1405,6 @@ void PIOS_Board_Init(void) { } #endif /* PIOS_INCLUDE_I2C */ break; - case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE: - break; } /* Configure the rcvr port */ From ad793f0b815c86734a8cff930a12bb83afdb21a7 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 28 Dec 2011 16:18:44 -0500 Subject: [PATCH 049/121] hwsettings: add HID and VCP config to hwsettings gui --- .../src/plugins/config/cc_hw_settings.ui | 28 ++++++++++++++++++- .../plugins/config/config_cc_hw_widget.cpp | 7 +++++ 2 files changed, 34 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui index 99e173cd3..118acb6e4 100644 --- a/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui +++ b/ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui @@ -71,7 +71,7 @@ - + Qt::Horizontal @@ -84,6 +84,32 @@ + + + + USB HID Port + + + Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft + + + + + + + + + + USB VCP Port + + + Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index afd25e865..67ae8901b 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -44,6 +44,8 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent) addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi); addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele); addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr); + addUAVObjectToWidgetRelation("HwSettings","USB_HIDPort",m_telemetry->cbUsbHid); + addUAVObjectToWidgetRelation("HwSettings","USB_VCPPort",m_telemetry->cbUsbVcp); addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed); addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_telemetry->gpsSpeed); addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_telemetry->comUsbBridgeSpeed); @@ -74,6 +76,11 @@ void ConfigCCHWWidget::widgetsContentsChanged() enableControls(false); m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported")); } + else if ((m_telemetry->cbUsbHid->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY)) + { + enableControls(false); + m_telemetry->problems->setText(tr("Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported")); + } else { m_telemetry->problems->setText(""); From 7c03875013143069f133b0d094222962aeb297e5 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 12:49:27 -0500 Subject: [PATCH 050/121] diag-tasks: make taskinfo diagnostics a separate enable This allows task stack analysis without turning on all of the other diagnostics. --- flight/CopterControl/Makefile | 4 ++++ flight/CopterControl/System/inc/FreeRTOSConfig.h | 2 +- flight/CopterControl/System/taskmonitor.c | 4 ++-- flight/Modules/System/systemmod.c | 4 +++- 4 files changed, 10 insertions(+), 4 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 66186ed86..fc24341f8 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -435,6 +435,10 @@ ifeq ($(DIAGNOSTICS),YES) CFLAGS = -DDIAGNOSTICS endif +ifeq ($(DIAG_TASKS),YES) +CFLAGS = -DDIAG_TASKS +endif + CFLAGS += -g$(DEBUGF) CFLAGS += -O$(OPT) CFLAGS += -mcpu=$(MCU) diff --git a/flight/CopterControl/System/inc/FreeRTOSConfig.h b/flight/CopterControl/System/inc/FreeRTOSConfig.h index 994956008..68bb9da0e 100644 --- a/flight/CopterControl/System/inc/FreeRTOSConfig.h +++ b/flight/CopterControl/System/inc/FreeRTOSConfig.h @@ -76,7 +76,7 @@ NVIC value of 255. */ #endif /* Enable run time stats collection */ -#if defined(DIAGNOSTICS) +#if defined(DIAG_TASKS) #define configCHECK_FOR_STACK_OVERFLOW 2 #define configGENERATE_RUN_TIME_STATS 1 diff --git a/flight/CopterControl/System/taskmonitor.c b/flight/CopterControl/System/taskmonitor.c index 6ff6299d0..627dedaab 100644 --- a/flight/CopterControl/System/taskmonitor.c +++ b/flight/CopterControl/System/taskmonitor.c @@ -47,7 +47,7 @@ int32_t TaskMonitorInitialize(void) lock = xSemaphoreCreateRecursiveMutex(); memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM); lastMonitorTime = 0; -#if defined(DIAGNOSTICS) +#if defined(DIAG_TASKS) lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE(); #endif return 0; @@ -76,7 +76,7 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle) */ void TaskMonitorUpdateAll(void) { -#if defined(DIAGNOSTICS) +#if defined(DIAG_TASKS) TaskInfoData data; int n; diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index b3da26870..67701ace1 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -115,8 +115,10 @@ int32_t SystemModInitialize(void) SystemStatsInitialize(); FlightStatusInitialize(); ObjectPersistenceInitialize(); -#if defined(DIAGNOSTICS) +#if defined(DIAG_TASKS) TaskInfoInitialize(); +#endif +#if defined(DIAGNOSTICS) I2CStatsInitialize(); WatchdogStatusInitialize(); #endif From 2cf1fe93c68df58abeb36e736c695fd46b8fdec4 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 12:55:51 -0500 Subject: [PATCH 051/121] com: don't block forever waiting for a transmitter Not all transmitters will continue to run when disconnected. USB is one example of this. When the USB cable was disconnected, any transmitter blocked here would wait forever. This was particularly noticeable when the telemetry Tx task blocked forever on USB disconnect. This also resulted in the telemetry Rx task blocking forever waiting on the UAVTalk connection lock. We now block for a max of 5s waiting for space in the transmit buffer. --- flight/PiOS/Common/pios_com.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index 29179c99f..e5440d065 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -352,7 +352,7 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len fifoBuf_getUsed(&com_dev->tx)); } #if defined(PIOS_INCLUDE_FREERTOS) - if (xSemaphoreTake(com_dev->tx_sem, portMAX_DELAY) != pdTRUE) { + if (xSemaphoreTake(com_dev->tx_sem, 5000) != pdTRUE) { return -3; } #endif From fa9702db97a45819c60f6b787dce8f362523c547 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:00:37 -0500 Subject: [PATCH 052/121] gcs serial: fix broken baud rate selection The difference between 56000 and 57600 baud is very important. When using a USB to serial adapter that is capable of synthesizing arbitrary baud rates, these errors resulted in a completely mismatched/unusable serial link. --- .../src/plugins/serialconnection/serialplugin.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp index 23bb8f9f9..d799e843f 100644 --- a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp +++ b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp @@ -209,9 +209,9 @@ BaudRateType SerialConnection::stringToBaud(QString str) if(str=="1200") return BAUD1200; else if(str=="2400") - return BAUD1200; - else if(str== "4800") return BAUD2400; + else if(str== "4800") + return BAUD4800; else if(str== "9600") return BAUD9600; else if(str== "19200") @@ -219,7 +219,7 @@ BaudRateType SerialConnection::stringToBaud(QString str) else if(str== "38400") return BAUD38400; else if(str== "57600") - return BAUD56000; + return BAUD57600; else if(str== "115200") return BAUD115200; else if(str== "230400") @@ -229,7 +229,7 @@ BaudRateType SerialConnection::stringToBaud(QString str) else if(str== "921600") return BAUD921600; else - return BAUD56000; + return BAUD57600; } SerialPlugin::SerialPlugin() From bd9f3569db85ffb5dcb2dcf1330b7b22c830bf3d Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:02:42 -0500 Subject: [PATCH 053/121] gcs uavtalk: Add full state-level debug logs These logs are disabled by default, and can be turned on at compile time by defining: UAVTALK_DEBUG at the top of uavtalk.cpp. These logs proved very helpful in diagnosing a serial comms issue. --- .../src/plugins/uavtalk/uavtalk.cpp | 94 ++++++++++++++++++- 1 file changed, 93 insertions(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp index 7295f79c3..aa5428bfd 100644 --- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp +++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp @@ -28,6 +28,11 @@ #include #include +//#define UAVTALK_DEBUG +#ifdef UAVTALK_DEBUG +#include "qxtlogger.h" +#endif + #define SYNC_VAL 0x3C const quint8 UAVTalk::crc_table[256] = { @@ -207,7 +212,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte) case STATE_SYNC: if (rxbyte != SYNC_VAL) + { +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Sync->Sync (" + QString::number(rxbyte) + " " + QString("0x%1").arg(rxbyte,2,16) + ")"); +#endif break; + } // Initialize and update CRC rxCS = updateCRC(0, rxbyte); @@ -215,6 +225,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxPacketLength = 1; rxState = STATE_TYPE; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Sync->Type"); +#endif break; case STATE_TYPE: @@ -225,6 +238,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if ((rxbyte & TYPE_MASK) != TYPE_VER) { rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Type->Sync"); +#endif break; } @@ -233,6 +249,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) packetSize = 0; rxState = STATE_SIZE; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Type->Size"); +#endif rxCount = 0; break; @@ -245,6 +264,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { packetSize += rxbyte; rxCount++; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Size->Size"); +#endif break; } @@ -253,11 +275,17 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect packet size rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Size->Sync"); +#endif break; } rxCount = 0; rxState = STATE_OBJID; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Size->ObjID"); +#endif break; case STATE_OBJID: @@ -267,7 +295,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxTmpBuffer[rxCount++] = rxbyte; if (rxCount < 4) + { +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->ObjID"); +#endif break; + } // Search for object, if not found reset state machine rxObjId = (qint32)qFromLittleEndian(rxTmpBuffer); @@ -277,6 +310,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { stats.rxErrors++; rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->Sync (badtype)"); +#endif break; } @@ -297,6 +333,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { stats.rxErrors++; rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->Sync (oversize)"); +#endif break; } @@ -305,6 +344,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // packet error - mismatched packet size stats.rxErrors++; rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->Sync (length mismatch)"); +#endif break; } @@ -314,6 +356,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) // This is a non-existing object, just skip to checksum // and we'll send a NACK next. rxState = STATE_CS; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->CSum (no obj)"); +#endif rxInstId = 0; rxCount = 0; } @@ -321,15 +366,28 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // If there is a payload get it, otherwise receive checksum if (rxLength > 0) + { rxState = STATE_DATA; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->Data (needs data)"); +#endif + } else + { rxState = STATE_CS; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->Checksum"); +#endif + } rxInstId = 0; rxCount = 0; } else { rxState = STATE_INSTID; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ObjID->InstID"); +#endif rxCount = 0; } } @@ -343,7 +401,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxTmpBuffer[rxCount++] = rxbyte; if (rxCount < 2) + { +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: InstID->InstID"); +#endif break; + } rxInstId = (qint16)qFromLittleEndian(rxTmpBuffer); @@ -351,10 +414,19 @@ bool UAVTalk::processInputByte(quint8 rxbyte) // If there is a payload get it, otherwise receive checksum if (rxLength > 0) + { rxState = STATE_DATA; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: InstID->Data"); +#endif + } else + { rxState = STATE_CS; - +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: InstID->CSum"); +#endif + } break; case STATE_DATA: @@ -364,9 +436,17 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxBuffer[rxCount++] = rxbyte; if (rxCount < rxLength) + { +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Data->Data"); +#endif break; + } rxState = STATE_CS; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: Data->CSum"); +#endif rxCount = 0; break; @@ -379,6 +459,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // packet error - faulty CRC stats.rxErrors++; rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: CSum->Sync (badcrc)"); +#endif break; } @@ -386,6 +469,9 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // packet error - mismatched packet size stats.rxErrors++; rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: CSum->Sync (length mismatch)"); +#endif break; } @@ -396,11 +482,17 @@ bool UAVTalk::processInputByte(quint8 rxbyte) mutex->unlock(); rxState = STATE_SYNC; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: CSum->Sync (OK)"); +#endif break; default: rxState = STATE_SYNC; stats.rxErrors++; +#ifdef UAVTALK_DEBUG + qxtLog->debug("UAVTalk: ???->Sync"); +#endif } // Done From e980bb863fc2197af62d71c34ae551d937c11a06 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:04:05 -0500 Subject: [PATCH 054/121] uavobj browser: add object size to tree display --- .../src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp index 64ad9544c..ac2e4bcee 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp @@ -95,7 +95,7 @@ void UAVObjectTreeModel::addDataObject(UAVDataObject *obj) int index = root->objIds().indexOf(obj->getObjID()); addInstance(obj, root->child(index)); } else { - DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName()); + DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName() + " (" + QString::number(obj->getNumBytes()) + " bytes)"); connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*))); int index = root->nameIndex(obj->getName()); root->insert(index, data); From 45615b5812afc9269edc420de915a043bd248f01 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:07:25 -0500 Subject: [PATCH 055/121] com: reduce buffer sizes on com interfaces on CC Now that the COM layer fragments to the underlying buffer sizes, the COM layer buffers can shrink below single message sizes. --- flight/CopterControl/System/pios_board.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 3a28f5d4c..c8320175d 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -780,12 +780,12 @@ static const struct pios_sbus_cfg pios_sbus_cfg = { #include "pios_com_priv.h" -#define PIOS_COM_TELEM_RF_RX_BUF_LEN 96 +#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 12 #define PIOS_COM_GPS_RX_BUF_LEN 32 -#define PIOS_COM_TELEM_USB_RX_BUF_LEN 96 +#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 65 #define PIOS_COM_BRIDGE_RX_BUF_LEN 65 @@ -1023,9 +1023,9 @@ const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = { uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; -uint32_t pios_com_vcp_id = 0; +uint32_t pios_com_vcp_id; uint32_t pios_com_gps_id; -uint32_t pios_com_bridge_id = 0; +uint32_t pios_com_bridge_id; /** * PIOS_Board_Init() From 1543a6dbd394b376a9279f7a05822b654498e160 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:12:46 -0500 Subject: [PATCH 056/121] hwsettings: allow disabling of USB telemetry entirely The GCS hwsettings config widget now disallows any configuration that disables both HID and VCP telemetry over the USB port. The firmware will allow it if the UAVObj is set manually. This allows a mechanism to reduce RAM usage by another 500 more bytes if USB telemetry can be sacrificed in certain configurations. --- flight/CopterControl/System/pios_board.c | 5 ----- flight/Modules/Telemetry/telemetry.c | 4 ++-- .../openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp | 5 +++++ 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index c8320175d..9df05515a 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1124,11 +1124,6 @@ void PIOS_Board_Init(void) { uint8_t hwsettings_usb_hidport; HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); - /* Make sure we have at least one telemetry link over USB */ - if (hwsettings_usb_vcpport != HWSETTINGS_USB_VCPPORT_USBTELEMETRY) { - hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_USBTELEMETRY; - } - switch (hwsettings_usb_hidport) { case HWSETTINGS_USB_HIDPORT_DISABLED: break; diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index cf24ec12a..23b1a0549 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -310,7 +310,7 @@ static void telemetryRxTask(void *parameters) while (1) { #if defined(PIOS_INCLUDE_USB_HID) // Determine input port (USB takes priority over telemetry port) - if (PIOS_USB_HID_CheckAvailable(0)) { + if (PIOS_USB_HID_CheckAvailable(0) && PIOS_COM_TELEM_USB) { inputPort = PIOS_COM_TELEM_USB; } else #endif /* PIOS_INCLUDE_USB_HID */ @@ -348,7 +348,7 @@ static int32_t transmitData(uint8_t * data, int32_t length) // Determine input port (USB takes priority over telemetry port) #if defined(PIOS_INCLUDE_USB_HID) - if (PIOS_USB_HID_CheckAvailable(0)) { + if (PIOS_USB_HID_CheckAvailable(0) && PIOS_COM_TELEM_USB) { outputPort = PIOS_COM_TELEM_USB; } else #endif /* PIOS_INCLUDE_USB_HID */ diff --git a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp index 67ae8901b..ed6e6e551 100644 --- a/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp +++ b/ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp @@ -81,6 +81,11 @@ void ConfigCCHWWidget::widgetsContentsChanged() enableControls(false); m_telemetry->problems->setText(tr("Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported")); } + else if ((m_telemetry->cbUsbHid->currentIndex() != HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() != HwSettings::USB_VCPPORT_USBTELEMETRY)) + { + enableControls(false); + m_telemetry->problems->setText(tr("Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported")); + } else { m_telemetry->problems->setText(""); From b91f40eb94772541bf58cec3472bedabdf86e5f0 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:15:39 -0500 Subject: [PATCH 057/121] iap: extend API to support read/write of boot counter Also clean up unused/obsolete definitions. --- flight/PiOS/Common/pios_iap.c | 21 ++++++++++----------- flight/PiOS/inc/pios_iap.h | 15 +++------------ 2 files changed, 13 insertions(+), 23 deletions(-) diff --git a/flight/PiOS/Common/pios_iap.c b/flight/PiOS/Common/pios_iap.c index b9a71a331..bb679f067 100644 --- a/flight/PiOS/Common/pios_iap.c +++ b/flight/PiOS/Common/pios_iap.c @@ -20,17 +20,6 @@ #define IAP_MAGIC_WORD_1 0x1122 #define IAP_MAGIC_WORD_2 0xAA55 -#define IAP_REQLOC_1 BKP_DR1 -#define IAP_CRCLOC_LOW BKP_DR2 -#define IAP_CRCLOC_UPPER BKP_DR3 -#define IAP_PORTLOC BKP_DR4 -#define IAP_REQLOC_2 BKP_RR5 - -#define IAP_UPLOAD_REQ_1 0x20AA -#define IAP_UPLOAD_REQ_2 0x2055 -#define IAP_DNLOAD_REQ_1 0x30AA -#define IAP_DNLOAD_REQ_2 0x3055 - #define UPPERWORD16(lw) (uint16_t)((uint32_t)(lw)>>16) #define LOWERWORD16(lw) (uint16_t)((uint32_t)(lw)&0x0000ffff) #define UPPERBYTE(w) (uint8_t)((w)>>8) @@ -121,3 +110,13 @@ void PIOS_IAP_ClearRequest(void) BKP_WriteBackupRegister( MAGIC_REG_1, 0); BKP_WriteBackupRegister( MAGIC_REG_2, 0); } + +uint16_t PIOS_IAP_ReadBootCount(void) +{ + return BKP_ReadBackupRegister ( IAP_BOOTCOUNT ); +} + +void PIOS_IAP_WriteBootCount (uint16_t boot_count) +{ + BKP_WriteBackupRegister ( IAP_BOOTCOUNT, boot_count ); +} diff --git a/flight/PiOS/inc/pios_iap.h b/flight/PiOS/inc/pios_iap.h index aae0132f0..1f67d651f 100644 --- a/flight/PiOS/inc/pios_iap.h +++ b/flight/PiOS/inc/pios_iap.h @@ -19,27 +19,18 @@ ****************************************************************************************/ #define MAGIC_REG_1 BKP_DR1 #define MAGIC_REG_2 BKP_DR2 -#define IAP_COMM BKP_DR3 - -#define IAP_COMM_INVALID 0 -#define IAP_COMM_USB 1 -#define IAP_COMM_TELEMETRY 2 -#define IAP_COMM_SPI_AHRS 3 -#define IAP_COMM_I2C 4 -// Additional types can be added along with the proper support code. +#define IAP_BOOTCOUNT BKP_DR3 /**************************************************************************************** * Public Functions ****************************************************************************************/ void PIOS_IAP_Init(void); -uint32_t PIOS_IAP_CRCVerify( void ); uint32_t PIOS_IAP_CheckRequest( void ); -void PIOS_IAP_SetCommInput( uint16_t comm ); -uint16_t PIOS_IAP_GetCommInput( void ); void PIOS_IAP_SetRequest1(void); void PIOS_IAP_SetRequest2(void); void PIOS_IAP_ClearRequest(void); -void PIOS_IAP_SetCRC( uint32_t crcval ); +uint16_t PIOS_IAP_ReadBootCount(void); +void PIOS_IAP_WriteBootCount(uint16_t); /**************************************************************************************** * Public Data From f886af186d309571919e03248428f6c13160a73d Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 13:26:54 -0500 Subject: [PATCH 058/121] bootfault: add support for recovery from init failures After 3 failed warm start attempts, the init sequence will force the RAM version of the HWSettings object to its defaults. This should allow a user to regain connectivity to a board that is continually faulting during init. This is accomplished by: - Incrementing a boot counter that is stored in the STM32 BKP registers. These registers survive a warm start but are cleared on a cold start (ie. powerup). - On multiple failures, force hwsettings to defaults and raise the (new) BootFault alarm to prevent arming. - Resetting the boot counter whenever the system manages to successfully run the System Module task. NOTE: This does not actually change the hwsettings object in flash. That's up to the user. This is intended to catch ONLY faults during early initialization. It should not be used to recover from faults after the application is up and running. --- flight/CopterControl/System/pios_board.c | 31 +++++++++++++++------ flight/Modules/System/systemmod.c | 14 +++++++++- shared/uavobjectdefinition/systemalarms.xml | 2 +- 3 files changed, 36 insertions(+), 11 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 9df05515a..9d8981eeb 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1052,15 +1052,32 @@ void PIOS_Board_Init(void) { UAVObjInitialize(); HwSettingsInitialize(); - -#if defined(PIOS_INCLUDE_RTC) - /* Initialize the real-time clock and its associated tick */ - PIOS_RTC_Init(&pios_rtc_main_cfg); + +#ifndef ERASE_FLASH + /* Initialize watchdog as early as possible to catch faults during init */ + PIOS_WDG_Init(); #endif /* Initialize the alarms library */ AlarmsInitialize(); + /* Check for repeated boot failures */ + PIOS_IAP_Init(); + uint16_t boot_count = PIOS_IAP_ReadBootCount(); + if (boot_count < 3) { + PIOS_IAP_WriteBootCount(++boot_count); + AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); + } else { + /* Too many failed boot attempts, force hwsettings to defaults */ + HwSettingsSetDefaults(HwSettingsHandle(), 0); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); + } + +#if defined(PIOS_INCLUDE_RTC) + /* Initialize the real-time clock and its associated tick */ + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + /* Initialize the task monitor library */ TaskMonitorInitialize(); @@ -1450,7 +1467,7 @@ void PIOS_Board_Init(void) { pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; #endif /* PIOS_INCLUDE_GCSRCVR */ - /* Remap AFIO pin */ + /* Remap AFIO pin for PB4 (Servo 5 Out)*/ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS @@ -1471,10 +1488,6 @@ void PIOS_Board_Init(void) { PIOS_ADC_Init(); PIOS_GPIO_Init(); - PIOS_IAP_Init(); -#ifndef ERASE_FLASH - PIOS_WDG_Init(); -#endif } /** diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 67701ace1..bb3496b0f 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -48,6 +48,7 @@ #include "taskinfo.h" #include "watchdogstatus.h" #include "taskmonitor.h" +#include "pios_iap.h" // Private constants @@ -137,7 +138,18 @@ static void systemTask(void *parameters) portTickType lastSysTime; /* create all modules thread */ - MODULE_TASKCREATE_ALL + MODULE_TASKCREATE_ALL; + + if (mallocFailed) { + /* We failed to malloc during task creation, + * system behaviour is undefined. Reset and let + * the BootFault code recover for us. + */ + PIOS_SYS_Reset(); + } + + /* Record a successful boot */ + PIOS_IAP_WriteBootCount(0); // Initialize vars idleCounter = 0; diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml index 54eedc8cd..09b37bcd2 100644 --- a/shared/uavobjectdefinition/systemalarms.xml +++ b/shared/uavobjectdefinition/systemalarms.xml @@ -2,7 +2,7 @@ Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules. + elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/> From f4f0dab764c73c43ea4ba2e9818ed0ec6193f0af Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 19:43:09 -0500 Subject: [PATCH 059/121] fixup make combridge an optional module --- flight/CopterControl/Makefile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index fc24341f8..7b4fb96f2 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -65,12 +65,12 @@ endif FLASH_TOOL = OPENOCD # List of modules to include -OPTMODULES = CameraStab +OPTMODULES = CameraStab ComUsbBridge ifeq ($(USE_GPS), YES) OPTMODULES += GPS endif -MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP ComUsbBridge +MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP # Telemetry must be last to grab the optional modules (why?) MODULES += Telemetry From 5c0921e92cafd42027c0f2572626a0b02bc1c44e Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 30 Dec 2011 22:53:09 -0500 Subject: [PATCH 060/121] fault: add optional fault insertion module This module and its associated settings uavo can be used to test various fault conditions during initialization. To enable the module, add the TEST_FAULTS=YES to your make command line: make fw_coptercontrol TEST_FAULTS=YES Once this module is part of your firmware load, you can enable it in the hwsettings uavo and then select the type of fault to insert by editing the faultsettings uavo. On the next reset, the configured fault will be inserted into the init sequence to allow you to test the boot fault recovery code. With a fault inserted, you should see 3 failed boot attempts followed by a successful (recovery) boot. You will see the BootFault alarm set to Critical, and the RAM version of your hwsettings will be reset to defaults. Since the defaults have all optional modules disabled, the fault module will be out of the way during the recovery boot. You can then "Load" the flash version of the hwsettings uavo in the object browser, disable the Fault module and then "Save" the hwsettings module back to the board. The next reset will boot normally without the fault inserted. --- flight/CopterControl/Makefile | 5 + flight/Modules/Fault/Fault.c | 131 ++++++++++++++++++ .../src/plugins/uavobjects/uavobjects.pro | 6 +- shared/uavobjectdefinition/faultsettings.xml | 12 ++ shared/uavobjectdefinition/hwsettings.xml | 2 +- 5 files changed, 153 insertions(+), 3 deletions(-) create mode 100644 flight/Modules/Fault/Fault.c create mode 100644 shared/uavobjectdefinition/faultsettings.xml diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 7b4fb96f2..a6136a416 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -70,6 +70,10 @@ ifeq ($(USE_GPS), YES) OPTMODULES += GPS endif +ifeq ($(TEST_FAULTS), YES) +OPTMODULES += Fault +endif + MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP # Telemetry must be last to grab the optional modules (why?) MODULES += Telemetry @@ -151,6 +155,7 @@ SRC += $(OPUAVSYNTHDIR)/accessorydesired.c SRC += $(OPUAVSYNTHDIR)/objectpersistence.c SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c +SRC += $(OPUAVSYNTHDIR)/faultsettings.c SRC += $(OPUAVSYNTHDIR)/flightstatus.c SRC += $(OPUAVSYNTHDIR)/systemstats.c SRC += $(OPUAVSYNTHDIR)/systemalarms.c diff --git a/flight/Modules/Fault/Fault.c b/flight/Modules/Fault/Fault.c new file mode 100644 index 000000000..a76ebb4ec --- /dev/null +++ b/flight/Modules/Fault/Fault.c @@ -0,0 +1,131 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotModules OpenPilot Modules + * @{ + * @addtogroup FaultModule Fault Module + * @brief Insert various fault conditions for testing + * @{ + * + * @file FaultInsertion.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Fault module, inserts faults for testing + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +// **************** + +#include "openpilot.h" +#include +#include "hwsettings.h" +#include "faultsettings.h" + +static bool module_enabled; +static uint8_t active_fault; + +static int32_t fault_initialize(void) +{ + HwSettingsInitialize(); + uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; + + HwSettingsOptionalModulesGet(optionalModules); + + if (optionalModules[HWSETTINGS_OPTIONALMODULES_FAULT] == HWSETTINGS_OPTIONALMODULES_ENABLED) { + module_enabled = true; + } else { + module_enabled = false; + } + + /* Do this outside the module_enabled test so that it + * can be changed even when the module has been disabled. + * This is important so we can remove faults even when + * we've booted in BootFault recovery mode with all optional + * modules disabled. + */ + FaultSettingsInitialize(); + + if (module_enabled) { + FaultSettingsActivateFaultGet(&active_fault); + + switch (active_fault) { + case FAULTSETTINGS_ACTIVATEFAULT_MODULEINITASSERT: + /* Simulate an assert during module init */ + PIOS_Assert(0); + break; + case FAULTSETTINGS_ACTIVATEFAULT_INITOUTOFMEMORY: + /* Leak all available memory */ + while (pvPortMalloc(10)) ; + break; + case FAULTSETTINGS_ACTIVATEFAULT_INITBUSERROR: + { + /* Force a bad access */ + uint32_t * bad_ptr = (uint32_t *)0xFFFFFFFF; + *bad_ptr = 0xAA55AA55; + } + break; + } + } + + return 0; +} + +static void fault_task(void *parameters); + +static int32_t fault_start(void) +{ + xTaskHandle fault_task_handle; + + if (module_enabled) { + switch (active_fault) { + case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK: + case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY: + xTaskCreate(fault_task, + (signed char *)"Fault", + configMINIMAL_STACK_SIZE, + NULL, + configMAX_PRIORITIES-1, + &fault_task_handle); + return 0; + break; + } + } + return -1; +} +MODULE_INITCALL(fault_initialize, fault_start) + +static void fault_task(void *parameters) +{ + switch (active_fault) { + case FAULTSETTINGS_ACTIVATEFAULT_RUNAWAYTASK: + /* Consume all realtime, not letting the systemtask run */ + while(1); + break; + case FAULTSETTINGS_ACTIVATEFAULT_TASKOUTOFMEMORY: + /* Leak all available memory and then sleep */ + while (pvPortMalloc(10)) ; + while (1) { + vTaskDelay(1000); + } + break; + } +} + +/** + * @} + * @} + */ diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro index 511253626..0b17a6755 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro @@ -72,7 +72,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \ $$UAVOBJECT_SYNTHETICS/gcsreceiver.h \ $$UAVOBJECT_SYNTHETICS/receiveractivity.h \ $$UAVOBJECT_SYNTHETICS/attitudesettings.h \ - $$UAVOBJECT_SYNTHETICS/cameradesired.h + $$UAVOBJECT_SYNTHETICS/cameradesired.h \ + $$UAVOBJECT_SYNTHETICS/faultsettings.h SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \ @@ -124,4 +125,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \ $$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \ $$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \ $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp \ - $$UAVOBJECT_SYNTHETICS/cameradesired.cpp + $$UAVOBJECT_SYNTHETICS/cameradesired.cpp \ + $$UAVOBJECT_SYNTHETICS/faultsettings.cpp diff --git a/shared/uavobjectdefinition/faultsettings.xml b/shared/uavobjectdefinition/faultsettings.xml new file mode 100644 index 000000000..8d02f0d78 --- /dev/null +++ b/shared/uavobjectdefinition/faultsettings.xml @@ -0,0 +1,12 @@ + + + Allows testers to simulate various fault scenarios. + + + + + + + + + diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index 263d5f279..1e34e0808 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -15,7 +15,7 @@ - + From e7053c77f04067aae78c8a524e1d972c8edf80a9 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 31 Dec 2011 13:02:43 -0500 Subject: [PATCH 061/121] usb config: remove unused macro for number of endpoints This is no longer referenced and is confusing. --- flight/Bootloaders/CopterControl/inc/pios_usb.h | 1 - flight/Bootloaders/OpenPilot/inc/pios_usb.h | 1 - flight/Bootloaders/PipXtreme/inc/pios_usb.h | 1 - flight/CopterControl/System/inc/pios_usb.h | 1 - flight/PiOS/inc/pios_usb.h | 1 - flight/PipXtreme/inc/pios_usb.h | 1 - 6 files changed, 6 deletions(-) diff --git a/flight/Bootloaders/CopterControl/inc/pios_usb.h b/flight/Bootloaders/CopterControl/inc/pios_usb.h index f95a31835..f81bb3294 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_usb.h +++ b/flight/Bootloaders/CopterControl/inc/pios_usb.h @@ -55,7 +55,6 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 2 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 diff --git a/flight/Bootloaders/OpenPilot/inc/pios_usb.h b/flight/Bootloaders/OpenPilot/inc/pios_usb.h index bca8a883b..708e18578 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_usb.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_usb.h @@ -55,7 +55,6 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 2 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 diff --git a/flight/Bootloaders/PipXtreme/inc/pios_usb.h b/flight/Bootloaders/PipXtreme/inc/pios_usb.h index 1b7688217..1b0eb5502 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_usb.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_usb.h @@ -55,7 +55,6 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 2 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 diff --git a/flight/CopterControl/System/inc/pios_usb.h b/flight/CopterControl/System/inc/pios_usb.h index 3e20a7b03..a20803d23 100644 --- a/flight/CopterControl/System/inc/pios_usb.h +++ b/flight/CopterControl/System/inc/pios_usb.h @@ -55,7 +55,6 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 5 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 diff --git a/flight/PiOS/inc/pios_usb.h b/flight/PiOS/inc/pios_usb.h index f86926e8d..986062e1e 100644 --- a/flight/PiOS/inc/pios_usb.h +++ b/flight/PiOS/inc/pios_usb.h @@ -55,7 +55,6 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 2 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 diff --git a/flight/PipXtreme/inc/pios_usb.h b/flight/PipXtreme/inc/pios_usb.h index bab436469..517bfde90 100644 --- a/flight/PipXtreme/inc/pios_usb.h +++ b/flight/PipXtreme/inc/pios_usb.h @@ -48,7 +48,6 @@ #endif /* Internal defines which are used by PIOS USB HID (don't touch) */ -#define PIOS_USB_EP_NUM 2 /* Buffer table base address */ #define PIOS_USB_BTABLE_ADDRESS 0x000 From 6c192f67eed502c044c7c50256232d473cf5ea58 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 31 Dec 2011 13:03:49 -0500 Subject: [PATCH 062/121] gasp: delete clutter --- flight/PiOS/inc/pios_com_priv.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/flight/PiOS/inc/pios_com_priv.h b/flight/PiOS/inc/pios_com_priv.h index 85f2af9e1..ff7a97d83 100644 --- a/flight/PiOS/inc/pios_com_priv.h +++ b/flight/PiOS/inc/pios_com_priv.h @@ -32,8 +32,6 @@ #ifndef PIOS_COM_PRIV_H #define PIOS_COM_PRIV_H -//#include - #endif /* PIOS_COM_PRIV_H */ /** From 075eb65603f2a13c3041618eacd53b34528fb628 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 31 Dec 2011 13:08:30 -0500 Subject: [PATCH 063/121] bootfault: fail initialization if no telemetry link is configured This detects a locked out state and fails the init. The new bootfault detection code will automatically drop to default hwsettings after 3 consecutive boot failures. That will put the board back into an unlocked state where the user can now enable a telemetry link using the GCS and everything will be OK. NOTE: Any configured telemetry link will be considered enough to boot up. If you only configure a serial telemetry link but don't know how to hook anything up to it, this will not save you. As the ultimate recovery, you can always load firmware on the board that wipes the settings entirely and start over. --- flight/CopterControl/System/pios_board.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 9d8981eeb..a1f78f5dd 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1488,6 +1488,9 @@ void PIOS_Board_Init(void) { PIOS_ADC_Init(); PIOS_GPIO_Init(); + + /* Make sure we have at least one telemetry link configured or else fail initialization */ + PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id); } /** From d43258f2fbedbbd4ffd39d7f075ff42c0dda4319 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 1 Jan 2012 09:24:22 -0500 Subject: [PATCH 064/121] gcs uavtalk: improve readability of debug logging --- .../src/plugins/uavtalk/uavtalk.cpp | 103 +++++------------- 1 file changed, 29 insertions(+), 74 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp index aa5428bfd..4c218379d 100644 --- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp +++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp @@ -30,8 +30,11 @@ //#define UAVTALK_DEBUG #ifdef UAVTALK_DEBUG -#include "qxtlogger.h" -#endif + #include "qxtlogger.h" + #define UAVTALK_QXTLOG_DEBUG(args...) qxtLog->debug(args...) +#else // UAVTALK_DEBUG + #define UAVTALK_QXTLOG_DEBUG(args...) +#endif // UAVTALK_DEBUG #define SYNC_VAL 0x3C @@ -213,9 +216,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if (rxbyte != SYNC_VAL) { -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Sync->Sync (" + QString::number(rxbyte) + " " + QString("0x%1").arg(rxbyte,2,16) + ")"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Sync->Sync (" + QString::number(rxbyte) + " " + QString("0x%1").arg(rxbyte,2,16) + ")"); break; } @@ -225,9 +226,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxPacketLength = 1; rxState = STATE_TYPE; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Sync->Type"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Sync->Type"); break; case STATE_TYPE: @@ -238,9 +237,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if ((rxbyte & TYPE_MASK) != TYPE_VER) { rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Type->Sync"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Type->Sync"); break; } @@ -249,9 +246,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) packetSize = 0; rxState = STATE_SIZE; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Type->Size"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Type->Size"); rxCount = 0; break; @@ -264,9 +259,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { packetSize += rxbyte; rxCount++; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Size->Size"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Size->Size"); break; } @@ -275,17 +268,13 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if (packetSize < MIN_HEADER_LENGTH || packetSize > MAX_HEADER_LENGTH + MAX_PAYLOAD_LENGTH) { // incorrect packet size rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Size->Sync"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Size->Sync"); break; } rxCount = 0; rxState = STATE_OBJID; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Size->ObjID"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Size->ObjID"); break; case STATE_OBJID: @@ -296,9 +285,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxTmpBuffer[rxCount++] = rxbyte; if (rxCount < 4) { -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->ObjID"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->ObjID"); break; } @@ -310,9 +297,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { stats.rxErrors++; rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->Sync (badtype)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->Sync (badtype)"); break; } @@ -333,9 +318,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { stats.rxErrors++; rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->Sync (oversize)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->Sync (oversize)"); break; } @@ -344,9 +327,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // packet error - mismatched packet size stats.rxErrors++; rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->Sync (length mismatch)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->Sync (length mismatch)"); break; } @@ -356,9 +337,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) // This is a non-existing object, just skip to checksum // and we'll send a NACK next. rxState = STATE_CS; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->CSum (no obj)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->CSum (no obj)"); rxInstId = 0; rxCount = 0; } @@ -368,16 +347,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if (rxLength > 0) { rxState = STATE_DATA; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->Data (needs data)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->Data (needs data)"); } else { rxState = STATE_CS; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->Checksum"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->Checksum"); } rxInstId = 0; rxCount = 0; @@ -385,9 +360,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) else { rxState = STATE_INSTID; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ObjID->InstID"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ObjID->InstID"); rxCount = 0; } } @@ -402,9 +375,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxTmpBuffer[rxCount++] = rxbyte; if (rxCount < 2) { -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: InstID->InstID"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: InstID->InstID"); break; } @@ -416,16 +387,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte) if (rxLength > 0) { rxState = STATE_DATA; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: InstID->Data"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: InstID->Data"); } else { rxState = STATE_CS; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: InstID->CSum"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: InstID->CSum"); } break; @@ -437,16 +404,12 @@ bool UAVTalk::processInputByte(quint8 rxbyte) rxBuffer[rxCount++] = rxbyte; if (rxCount < rxLength) { -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Data->Data"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Data->Data"); break; } rxState = STATE_CS; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: Data->CSum"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: Data->CSum"); rxCount = 0; break; @@ -459,9 +422,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // packet error - faulty CRC stats.rxErrors++; rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: CSum->Sync (badcrc)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: CSum->Sync (badcrc)"); break; } @@ -469,9 +430,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte) { // packet error - mismatched packet size stats.rxErrors++; rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: CSum->Sync (length mismatch)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: CSum->Sync (length mismatch)"); break; } @@ -482,17 +441,13 @@ bool UAVTalk::processInputByte(quint8 rxbyte) mutex->unlock(); rxState = STATE_SYNC; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: CSum->Sync (OK)"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: CSum->Sync (OK)"); break; default: rxState = STATE_SYNC; stats.rxErrors++; -#ifdef UAVTALK_DEBUG - qxtLog->debug("UAVTalk: ???->Sync"); -#endif + UAVTALK_QXTLOG_DEBUG("UAVTalk: ???->Sync"); } // Done From 21714911e8e8a1e3cc3af91aebb77f4898186d80 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 1 Jan 2012 13:14:18 -0600 Subject: [PATCH 065/121] Convert log files to structure of array instead of array of struct from Kenz --- .../plugins/uavobjects/uavobjecttemplate.m | 79 ++++++++++++++++--- .../matlab/uavobjectgeneratormatlab.cpp | 69 +++++++++------- .../matlab/uavobjectgeneratormatlab.h | 1 + 3 files changed, 110 insertions(+), 39 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m index 5cfcb6068..96d727dff 100644 --- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m +++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m @@ -1,39 +1,54 @@ -function [] = OPLogConvert(logfile) +function [] = OPLogConvert(varargin) %% Define indices and arrays of structures to hold data % THIS FILE IS AUTOMATICALLY GENERATED. -$(ALLOCATIONCODE) + +outputType='mat'; %Default output is a .mat file if nargin==0 %% if (exist('uigetfile')) - [FileName, PathName]=uigetfile; + [FileName, PathName]=uigetfile('*.opl'); logfile=fullfile(PathName, FileName); else error('Your technical computing program does not support file choosers. Please input the file name in the argument. ') + end +elseif nargin>0 + logfile=varargin{1}; + if nargin>1 + outputType=varargin{2}; end end +if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv') + error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.'); +end + +$(ALLOCATIONCODE) + + fid = fopen(logfile); +correctMsgByte=hex2dec('20'); +correctSyncByte=hex2dec('3C'); % Parse log file, entry by entry while (1) %% Read logging header - timestamp = fread(fid, 1, 'uint32'); + timestamp = fread(fid, 1, '*uint32'); if (feof(fid)); break; end - datasize = fread(fid, 1, 'int64'); + datasize = fread(fid, 1, '*int64'); %% Read message header % get sync field (0x3C, 1 byte) sync = fread(fid, 1, 'uint8'); - if sync ~= hex2dec('3C') + if sync ~= correctSyncByte disp ('Wrong sync byte'); return end % get msg type (quint8 1 byte ) should be 0x20, ignore the rest? msgType = fread(fid, 1, 'uint8'); - if msgType ~= hex2dec('20') + if msgType ~= correctMsgByte disp ('Wrong msgType'); return end @@ -42,12 +57,15 @@ while (1) % get obj id (quint32 4 bytes) objID = fread(fid, 1, 'uint32'); + if (isempty(objID)) %End of file + break; + end %% Read object switch objID $(SWITCHCODE) otherwise - disp(['Unknown object ID: 0x' dec2hex(objID)]); + disp(['Unknown object ID: 0x' dec2hex(objID)]); msgBytesLeft = datasize - 1 - 1 - 2 - 4; fread(fid, msgBytesLeft, 'uint8'); end @@ -60,13 +78,52 @@ fclose(fid); % Trim output structs $(CLEANUPCODE) -matfile = strrep(logfile,'opl','mat'); -save(matfile $(SAVEOBJECTSCODE)); - +if strcmpi(outputType,'mat') + matfile = strrep(logfile,'opl','mat'); + save(matfile $(SAVEOBJECTSCODE)); +else +$(EXPORTCSVCODE); +end %% Object reading functions $(FUNCTIONSCODE) +% This function prunes the excess pre-allocated space +function [structOut]=PruneStructOfArrays(structIn, lastIndex) + + fieldNames = fieldnames(structIn); + for i=1:length(fieldNames) + structOut.(fieldNames{i})=structIn.(fieldNames{i})(1:lastIndex); + end + + +function OPLog2csv(structIn, structName, logfile) + %Get each field name from the structure + fieldNames = fieldnames(structIn); + + %Create a text string with the field names + headerOut=sprintf('%s,',fieldNames{:}); + headerOut=headerOut(1:end-1); %Trim off last `,` and `\t` + + %Assign the structure arrays to a matrix. + matOut=zeros(max(size(structIn.(fieldNames{1}))), length(fieldNames)); + + if isempty(structIn.(fieldNames{1})); + matOut=[]; + else + for i=1:length(fieldNames) + matOut(:,i)=structIn.(fieldNames{i}); + end + end + % Create filename by replacing opl by csv + [path, name] = fileparts(logfile); + csvDirName=[name '_csv']; + [dummyA, dummyB]=mkdir(fullfile(path, csvDirName)); %Dummy outputs so the program doens't throw warnings about "Directory already exists" + csvfile=fullfile(path, csvDirName , [name '.csv']); + + %Write to csv. + dlmwrite(csvfile, headerOut, ''); + dlmwrite(csvfile, matOut, '-append'); diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp index c7cedddda..9f160ad52 100644 --- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp +++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp @@ -54,6 +54,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode); matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode); matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode); + matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode); bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate ); if (!res) { @@ -78,7 +79,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info) QString objectTableName(objectName); QString tableIdxName(objectName.toLower() + "Idx"); QString functionName("Read" + info->name + "Object"); - QString functionCall(functionName + "(fid, timestamp)"); + QString functionCall(functionName + "(fid, timestamp, "); QString objectID(QString().setNum(info->id)); QString isSingleInst = boolTo01String( info->isSingleInst ); @@ -87,7 +88,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info) // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) // //===================================================================// // matlabSwitchCode.append("\t\tcase " + objectID + "\n"); - matlabAllocationCode.append("\n\t" + tableIdxName + " = 1;\n"); + matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n"); QString type; QString allocfields; if (0){ @@ -97,7 +98,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info) type = fieldTypeStrMatlab[info->fields[n]->type]; // Append field if ( info->fields[n]->numElements > 1 ) - allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n"); + allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n"); else allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n"); } @@ -112,52 +113,64 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info) type = fieldTypeStrMatlab[info->fields[n]->type]; // Append field if ( info->fields[n]->numElements > 1 ) - allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(1," + QString::number(info->fields[n]->numElements, 10) + ")"); + allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)"); else allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0"); } allocfields.append(");\n"); - } + } matlabAllocationCode.append(allocfields); - matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n"); + matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n"); - //=============================================================// + //==============================================================// // Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) // - //=============================================================// + //==============================================================// + + + matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n"); - matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n"); - matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n"); - matlabSwitchCode.append("\t\t\tif " + tableIdxName + " > length(" + objectTableName +")\n"); - matlabSwitchCode.append("\t\t\t\t" + objectTableName + "(" + tableIdxName + "*2+1) = " + objectTableName +"(end);\n"); - matlabSwitchCode.append("\t\t\t\t" + objectTableName +"(end)=[];\n"); +// matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n"); + matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n"); + matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n"); + matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +") %Check to see if pre-allocated memory is exhausted\n"); + matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n"); + matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n"); + matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n"); + matlabSwitchCode.append("\t\t\t\tend;\n"); matlabSwitchCode.append("\t\t\tend\n"); - //=============================================================// + //============================================================// // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) // - //=============================================================// - matlabCleanupCode.append(objectTableName + "(" + tableIdxName +":end) = [];\n"); + //============================================================// + matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +"); %#ok\n" ); + - - //=============================================================================// - // Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) // - //=============================================================================// + //========================================================================// + // Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) // + //========================================================================// matlabSaveObjectsCode.append(",'"+objectTableName+"'"); - matlabFunctionsCode.append("%%\n% " + objectName + " read function\n"); + //==========================================================================// + // Generate objects csv export code (will replace the $(EXPORTCSVCODE) tag) // + //==========================================================================// + matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n"); +// OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile) //=================================================================// // Generate functions code (will replace the $(FUNCTIONSCODE) tag) // //=================================================================// - //Generate function description comment - matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n"); - matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n"); + //Generate function description comment + matlabFunctionsCode.append("%%\n% " + objectName + " read function\n"); + + matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n"); + matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n"); matlabFunctionsCode.append("\tif " + isSingleInst + "\n"); matlabFunctionsCode.append("\t\theaderSize = 8;\n"); matlabFunctionsCode.append("\telse\n"); - matlabFunctionsCode.append("\t\t" + objectName + ".instanceID = fread(fid, 1, 'uint16');\n"); + matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n"); matlabFunctionsCode.append("\t\theaderSize = 10;\n"); matlabFunctionsCode.append("\tend\n\n"); @@ -169,14 +182,14 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info) type = fieldTypeStrMatlab[info->fields[n]->type]; // Append field if ( info->fields[n]->numElements > 1 ) - funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n"); + funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n"); else - funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n"); + funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n"); } matlabFunctionsCode.append(funcfields); matlabFunctionsCode.append("\t% read CRC\n"); - matlabFunctionsCode.append("\tfread(fid, 1, 'uint8');\n"); + matlabFunctionsCode.append("\tfread(fid, 1, '*uint8');\n"); matlabFunctionsCode.append("\n\n"); diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h index b86b001a5..c4025a4f4 100644 --- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h +++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h @@ -40,6 +40,7 @@ private: QString matlabSwitchCode; QString matlabCleanupCode; QString matlabSaveObjectsCode; + QString matlabExportCsvCode; QString matlabFunctionsCode; QStringList fieldTypeStrMatlab; From 2eb5130a7cf59877add86bdee58f97c1c7cbe231 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Fri, 16 Dec 2011 22:27:13 +0200 Subject: [PATCH 066/121] CameraStab: new camera stabilization mode and low-pass stick input filtering This patch is based on work of Crubier (LPF) and Cossacs (AxisLock mode). I've just reworked it a bit by adding a dynamic memory allocation for static module data. --- flight/Modules/CameraStab/camerastab.c | 87 ++++++++++++------- .../camerastabsettings.xml | 4 + 2 files changed, 62 insertions(+), 29 deletions(-) diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c index 770ff7ab6..fce2f70d9 100644 --- a/flight/Modules/CameraStab/camerastab.c +++ b/flight/Modules/CameraStab/camerastab.c @@ -61,10 +61,17 @@ // Private types // Private variables +static struct CameraStab_data { + UAVObjEvent ev; + portTickType lastSysTime; + float dT; + float inputs[CAMERASTABSETTINGS_INPUTS_NUMELEM]; + float inputs_filtered[CAMERASTABSETTINGS_INPUTS_NUMELEM]; +} *csd; // Private functions static void attitudeUpdated(UAVObjEvent* ev); -static float bound(float val); +static float bound(float val, float limit); /** * Initialise the module, called on startup @@ -72,8 +79,6 @@ static float bound(float val); */ int32_t CameraStabInitialize(void) { - static UAVObjEvent ev; - bool cameraStabEnabled; uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; @@ -87,16 +92,26 @@ int32_t CameraStabInitialize(void) if (cameraStabEnabled) { + // allocate and initialize the static data storage only if module is enabled + csd = (struct CameraStab_data *) pvPortMalloc(sizeof(struct CameraStab_data)); + if (!csd) + return -1; + + // make sure that all inputs[] and inputs_filtered[] are zeroed + memset(csd, 0, sizeof(struct CameraStab_data)); + csd->lastSysTime = xTaskGetTickCount(); + csd->dT = 1; + AttitudeActualInitialize(); - ev.obj = AttitudeActualHandle(); - ev.instId = 0; - ev.event = 0; + csd->ev.obj = AttitudeActualHandle(); + csd->ev.instId = 0; + csd->ev.event = 0; CameraStabSettingsInitialize(); CameraDesiredInitialize(); - EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS); + EventPeriodicCallbackCreate(&(csd->ev), attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS); return 0; } @@ -117,47 +132,61 @@ static void attitudeUpdated(UAVObjEvent* ev) if (ev->obj != AttitudeActualHandle()) return; - float attitude; - float output; AccessoryDesiredData accessory; CameraStabSettingsData cameraStab; CameraStabSettingsGet(&cameraStab); - // Read any input channels - float inputs[3] = {0,0,0}; - if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) { - if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) - inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL]; - } - if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) { - if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) - inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH]; - } - if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) { - if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) - inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW]; + // Check how long since last update, time delta between calls in ms + portTickType thisSysTime = xTaskGetTickCount(); + if (thisSysTime > csd->lastSysTime) // reuse dt in case of wraparound + csd->dT = (thisSysTime - csd->lastSysTime) / portTICK_RATE_MS; + csd->lastSysTime = thisSysTime; + + // Read any input channels and apply LPF + for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUTS_NUMELEM; i++) { + if (cameraStab.Inputs[i] != CAMERASTABSETTINGS_INPUTS_NONE) { + if (AccessoryDesiredInstGet(cameraStab.Inputs[i] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) { + float input_rate; + switch (cameraStab.StabilizationMode[i]) { + case CAMERASTABSETTINGS_STABILIZATIONMODE_ATTITUDE: + csd->inputs[i] = accessory.AccessoryVal * cameraStab.InputRange[i]; + break; + case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK: + input_rate = accessory.AccessoryVal * cameraStab.InputRate[i]; + if (abs(input_rate) > cameraStab.MaxAxisLockRate) + csd->inputs[i] = bound(csd->inputs[i] + input_rate * csd->dT / 1000.0f, cameraStab.InputRange[i]); + break; + default: + PIOS_Assert(0); + } + csd->inputs_filtered[i] = (cameraStab.ResponseTime[i] / (cameraStab.ResponseTime[i] + csd->dT)) * csd->inputs_filtered[i] + + (csd->dT / (cameraStab.ResponseTime[i] + csd->dT)) * csd->inputs[i]; + } + } } // Set output channels + float attitude; + float output; + AttitudeActualRollGet(&attitude); - output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]); + output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f); CameraDesiredRollSet(&output); AttitudeActualPitchGet(&attitude); - output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]); + output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f); CameraDesiredPitchSet(&output); AttitudeActualYawGet(&attitude); - output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]); + output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f); CameraDesiredYawSet(&output); - } -float bound(float val) +float bound(float val, float limit) { - return (val > 1) ? 1 : - (val < -1) ? -1 : + return (val > limit) ? limit : + (val < -limit) ? -limit : val; } /** diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml index 09199b77a..27ba09536 100644 --- a/shared/uavobjectdefinition/camerastabsettings.xml +++ b/shared/uavobjectdefinition/camerastabsettings.xml @@ -3,6 +3,10 @@ Settings for the @ref CameraStab mmodule + + + + From e11904c42f746d97943a3912d89251818d8c7e49 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 18 Dec 2011 01:34:45 +0200 Subject: [PATCH 067/121] CameraStab: change ResponseTime type from float to int16 --- flight/Modules/CameraStab/camerastab.c | 7 ++++--- shared/uavobjectdefinition/camerastabsettings.xml | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c index fce2f70d9..87f07e079 100644 --- a/flight/Modules/CameraStab/camerastab.c +++ b/flight/Modules/CameraStab/camerastab.c @@ -154,14 +154,15 @@ static void attitudeUpdated(UAVObjEvent* ev) break; case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK: input_rate = accessory.AccessoryVal * cameraStab.InputRate[i]; - if (abs(input_rate) > cameraStab.MaxAxisLockRate) + if (fabs(input_rate) > cameraStab.MaxAxisLockRate) csd->inputs[i] = bound(csd->inputs[i] + input_rate * csd->dT / 1000.0f, cameraStab.InputRange[i]); break; default: PIOS_Assert(0); } - csd->inputs_filtered[i] = (cameraStab.ResponseTime[i] / (cameraStab.ResponseTime[i] + csd->dT)) * csd->inputs_filtered[i] - + (csd->dT / (cameraStab.ResponseTime[i] + csd->dT)) * csd->inputs[i]; + float rt = (float)cameraStab.ResponseTime[i]; + csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i] + + (csd->dT / (rt + csd->dT)) * csd->inputs[i]; } } } diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml index 27ba09536..3208b9f24 100644 --- a/shared/uavobjectdefinition/camerastabsettings.xml +++ b/shared/uavobjectdefinition/camerastabsettings.xml @@ -4,7 +4,7 @@ - + From 406cff296da2b4b4a2bbb71e9005a425ebbfa8d4 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Sun, 18 Dec 2011 02:24:15 +0200 Subject: [PATCH 068/121] CameraStab: bypass LPF calculation if ResponseTime is zero --- flight/Modules/CameraStab/camerastab.c | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c index 87f07e079..20f4db03a 100644 --- a/flight/Modules/CameraStab/camerastab.c +++ b/flight/Modules/CameraStab/camerastab.c @@ -160,9 +160,14 @@ static void attitudeUpdated(UAVObjEvent* ev) default: PIOS_Assert(0); } + + // bypass LPF calculation if ResponseTime is zero float rt = (float)cameraStab.ResponseTime[i]; - csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i] - + (csd->dT / (rt + csd->dT)) * csd->inputs[i]; + if (rt) + csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i] + + (csd->dT / (rt + csd->dT)) * csd->inputs[i]; + else + csd->inputs_filtered[i] = csd->inputs[i]; } } } From 65abb8f81953eb937d977c9161c7075b284c4a0a Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 19 Dec 2011 02:16:32 +0200 Subject: [PATCH 069/121] CameraStab: small optimization, freed 8 more heap bytes --- flight/Modules/CameraStab/camerastab.c | 26 ++++++++++++-------------- 1 file changed, 12 insertions(+), 14 deletions(-) diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c index 20f4db03a..715da1aca 100644 --- a/flight/Modules/CameraStab/camerastab.c +++ b/flight/Modules/CameraStab/camerastab.c @@ -62,9 +62,7 @@ // Private variables static struct CameraStab_data { - UAVObjEvent ev; portTickType lastSysTime; - float dT; float inputs[CAMERASTABSETTINGS_INPUTS_NUMELEM]; float inputs_filtered[CAMERASTABSETTINGS_INPUTS_NUMELEM]; } *csd; @@ -100,18 +98,17 @@ int32_t CameraStabInitialize(void) // make sure that all inputs[] and inputs_filtered[] are zeroed memset(csd, 0, sizeof(struct CameraStab_data)); csd->lastSysTime = xTaskGetTickCount(); - csd->dT = 1; AttitudeActualInitialize(); - - csd->ev.obj = AttitudeActualHandle(); - csd->ev.instId = 0; - csd->ev.event = 0; - CameraStabSettingsInitialize(); CameraDesiredInitialize(); - EventPeriodicCallbackCreate(&(csd->ev), attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS); + UAVObjEvent ev = { + .obj = AttitudeActualHandle(), + .instId = 0, + .event = 0, + }; + EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS); return 0; } @@ -139,8 +136,9 @@ static void attitudeUpdated(UAVObjEvent* ev) // Check how long since last update, time delta between calls in ms portTickType thisSysTime = xTaskGetTickCount(); - if (thisSysTime > csd->lastSysTime) // reuse dt in case of wraparound - csd->dT = (thisSysTime - csd->lastSysTime) / portTICK_RATE_MS; + float dT = (thisSysTime > csd->lastSysTime) ? + (thisSysTime - csd->lastSysTime) / portTICK_RATE_MS : + (float)SAMPLE_PERIOD_MS / 1000.0f; csd->lastSysTime = thisSysTime; // Read any input channels and apply LPF @@ -155,7 +153,7 @@ static void attitudeUpdated(UAVObjEvent* ev) case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK: input_rate = accessory.AccessoryVal * cameraStab.InputRate[i]; if (fabs(input_rate) > cameraStab.MaxAxisLockRate) - csd->inputs[i] = bound(csd->inputs[i] + input_rate * csd->dT / 1000.0f, cameraStab.InputRange[i]); + csd->inputs[i] = bound(csd->inputs[i] + input_rate * dT / 1000.0f, cameraStab.InputRange[i]); break; default: PIOS_Assert(0); @@ -164,8 +162,8 @@ static void attitudeUpdated(UAVObjEvent* ev) // bypass LPF calculation if ResponseTime is zero float rt = (float)cameraStab.ResponseTime[i]; if (rt) - csd->inputs_filtered[i] = (rt / (rt + csd->dT)) * csd->inputs_filtered[i] - + (csd->dT / (rt + csd->dT)) * csd->inputs[i]; + csd->inputs_filtered[i] = (rt / (rt + dT)) * csd->inputs_filtered[i] + + (dT / (rt + dT)) * csd->inputs[i]; else csd->inputs_filtered[i] = csd->inputs[i]; } From 445fd79b110b40a0382a4376dd715716695d41fd Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 19 Dec 2011 02:27:58 +0200 Subject: [PATCH 070/121] CameraStab: update README.txt --- HISTORY.txt | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/HISTORY.txt b/HISTORY.txt index aba9effab..a69fae150 100644 --- a/HISTORY.txt +++ b/HISTORY.txt @@ -1,5 +1,17 @@ Short summary of changes. For a complete list see the git log. +2011-12-19 +Added new camera stabilization features: AxisLock mode and LPF. +New options: + StabilizationMode: Attitude (default) or AxisLock. + InputRate: 50deg/s by default. Changes stick sensitivity in AxisLock mode. + MaxAxisLockRate: 1deg/s by default. The same meaning as similar option + for AxisLock stabilization. + ResponseTime: 150ms by default. Zero value disables LPF. +The GUI does not currently expose the configuration for using the transmitter +to change the view angle and advanced options but this is supported by the +hardware. + 2011-12-10 Merged a change that sorts the UAVO fields based on size. Because this changes all of the objects, erase all existing flash files based on this. From 9c35570df6df0110e55a041775df8c55b3cb33b2 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Fri, 30 Dec 2011 22:25:24 +0200 Subject: [PATCH 071/121] CameraStab: add advanced camera settings to the config GUI --- HISTORY.txt | 3 - .../src/plugins/config/camerastabilization.ui | 954 ++++++++++++------ .../configcamerastabilizationwidget.cpp | 139 ++- 3 files changed, 732 insertions(+), 364 deletions(-) diff --git a/HISTORY.txt b/HISTORY.txt index a69fae150..4ef00b1af 100644 --- a/HISTORY.txt +++ b/HISTORY.txt @@ -8,9 +8,6 @@ New options: MaxAxisLockRate: 1deg/s by default. The same meaning as similar option for AxisLock stabilization. ResponseTime: 150ms by default. Zero value disables LPF. -The GUI does not currently expose the configuration for using the transmitter -to change the view angle and advanced options but this is supported by the -hardware. 2011-12-10 Merged a change that sorts the UAVO fields based on size. Because this changes diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui index 76ff38fcb..f65e8b585 100644 --- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui @@ -1,328 +1,626 @@ - - - CameraStabilizationWidget - - - - 0 - 0 - 720 - 567 - - - - Form - - - - - - Enable CameraStabilization module - - - - - - - After enabling the module, you must power cycle before using and configuring. - - - - - - - Qt::Horizontal - - - - - - - Channel Ranges (number of degrees full range) - - - - - - - - Pitch - - - - - - - Yaw - - - - - - - Roll - - - - - - - 180 - - - - - - - 180 - - - - - - - 180 - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 212 - 20 - - - - - - - - - - - Channel Mapping (select output channel or none to disable) - - - - - - - - Roll - - - - - - - - None - - - - - - - - - None - - - - - - - - Pitch - - - - - - - - None - - - - - - - - Yaw - - - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - Qt::Horizontal - - - - 212 - 20 - - - - - - - - - - - - - - - - - - Qt::Vertical - - - - 20 - 40 - - - - - - - - - - QFrame::StyledPanel - - - QFrame::Raised - - - - - - - Qt::Horizontal - - - - 40 - 20 - - - - - - - - - 0 - 0 - - - - - 32 - 32 - - - - - true - - - - - - - - :/core/images/helpicon.svg:/core/images/helpicon.svg - - - - 32 - 32 - - - - Ctrl+S - - - false - - - true - - - - - - - Save settings to the board (RAM only). - -This does not save the calibration settings, this is done using the -specific calibration button on top of the screen. - - - Apply - - - - - - - Send settings to the board, and save to the non-volatile memory. - - - Save - - - false - - - - - - - - - - - - + + + CameraStabilizationWidget + + + + 0 + 0 + 720 + 567 + + + + Form + + + + + + QFrame::NoFrame + + + true + + + + + 0 + 0 + 702 + 488 + + + + + + + Enable CameraStabilization module + + + + + + + After enabling the module, you must power cycle before using and configuring. + + + + + + + Qt::Horizontal + + + + + + + Qt::Vertical + + + QSizePolicy::Preferred + + + + 20 + 10 + + + + + + + + + 0 + 0 + + + + + 0 + 100 + + + + Basic Settings (Stabilization) + + + + + + 180 + + + 20 + + + + + + + 180 + + + 20 + + + + + + + 180 + + + 20 + + + + + + + + None + + + + + + + + + None + + + + + + + + + None + + + + + + + + Output Channel + + + + + + + Output Range + + + + + + + Yaw + + + Qt::AlignCenter + + + + + + + Pitch + + + Qt::AlignCenter + + + + + + + Roll + + + Qt::AlignCenter + + + + + + + + + + Qt::Vertical + + + QSizePolicy::Preferred + + + + 20 + 10 + + + + + + + + + 0 + 0 + + + + + 0 + 204 + + + + Advanced Settings (Control) + + + + + + Yaw + + + Qt::AlignCenter + + + + + + + Pitch + + + Qt::AlignCenter + + + + + + + Roll + + + Qt::AlignCenter + + + + + + + + None + + + + + + + + + None + + + + + + + + + None + + + + + + + + Input Channel + + + + + + + + Attitude + + + + + + + + 180 + + + 20 + + + + + + + 180 + + + 50 + + + + + + + 1000 + + + 150 + + + + + + + + Attitude + + + + + + + + 180 + + + 20 + + + + + + + 180 + + + 50 + + + + + + + 1000 + + + 150 + + + + + + + + Attitude + + + + + + + + 180 + + + 20 + + + + + + + 180 + + + 50 + + + + + + + 1000 + + + 150 + + + + + + + MaxAxisLockRate + + + + + + + Response Time + + + + + + + Input Rate + + + + + + + Input Range + + + + + + + Stabilization Mode + + + + + + + (the same value for Roll, Pitch, Yaw) + + + + + + + 1 + + + 0.100000000000000 + + + 1.000000000000000 + + + + + + + + + + Qt::Vertical + + + + 20 + 40 + + + + + + + + + + + + + + + + + + + + + + + QFrame::StyledPanel + + + QFrame::Raised + + + + + + + Qt::Horizontal + + + + 40 + 20 + + + + + + + + + 0 + 0 + + + + + 32 + 32 + + + + + true + + + + + + + + :/core/images/helpicon.svg:/core/images/helpicon.svg + + + + 32 + 32 + + + + Ctrl+S + + + false + + + true + + + + + + + Save settings to the board (RAM only). + +This does not save the calibration settings, this is done using the +specific calibration button on top of the screen. + + + Apply + + + + + + + Send settings to the board, and save to the non-volatile memory. + + + Save + + + false + + + + + + + + + + + enableCameraStabilization + rollChannel + pitchChannel + yawChannel + rollOutputRange + pitchOutputRange + yawOutputRange + rollInputChannel + pitchInputChannel + yawInputChannel + rollStabilizationMode + pitchStabilizationMode + yawStabilizationMode + rollInputRange + pitchInputRange + yawInputRange + rollInputRate + pitchInputRate + yawInputRate + rollResponseTime + pitchResponseTime + yawResponseTime + MaxAxisLockRate + camerastabilizationHelp + camerastabilizationSaveRAM + camerastabilizationSaveSD + scrollArea + + + + + + diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp index a1e6c1afb..9343b34e8 100644 --- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp @@ -27,16 +27,13 @@ #include "configcamerastabilizationwidget.h" #include -#include #include #include #include #include #include -#include -#include -#include #include +#include #include "camerastabsettings.h" #include "hwsettings.h" @@ -45,27 +42,57 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent) { + // TODO: this widget should use the addUAVObjectToWidgetRelation() m_camerastabilization = new Ui_CameraStabilizationWidget(); m_camerastabilization->setupUi(this); - QComboBox * selectors[3] = { + QComboBox *outputs[3] = { m_camerastabilization->rollChannel, m_camerastabilization->pitchChannel, m_camerastabilization->yawChannel }; + QComboBox *inputs[3] = { + m_camerastabilization->rollInputChannel, + m_camerastabilization->pitchInputChannel, + m_camerastabilization->yawInputChannel, + }; + + QComboBox *stabilizationMode[3] = { + m_camerastabilization->rollStabilizationMode, + m_camerastabilization->pitchStabilizationMode, + m_camerastabilization->yawStabilizationMode, + }; + + CameraStabSettings *cameraStab = CameraStabSettings::GetInstance(getObjectManager()); + CameraStabSettings::DataFields cameraStabData = cameraStab->getData(); + for (int i = 0; i < 3; i++) { - selectors[i]->clear(); - selectors[i]->addItem("None"); - for (int j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++) - selectors[i]->addItem(QString("Channel %1").arg(j+1)); + outputs[i]->clear(); + outputs[i]->addItem("None"); + for (quint32 j = 0; j < ActuatorCommand::CHANNEL_NUMELEM; j++) + outputs[i]->addItem(QString("Channel %1").arg(j+1)); + + UAVObjectField *field; + + field = cameraStab->getField("Inputs"); + Q_ASSERT(field); + inputs[i]->clear(); + inputs[i]->addItems(field->getOptions()); + inputs[i]->setCurrentIndex(cameraStabData.Inputs[i]); + + field = cameraStab->getField("StabilizationMode"); + Q_ASSERT(field); + stabilizationMode[i]->clear(); + stabilizationMode[i]->addItems(field->getOptions()); + stabilizationMode[i]->setCurrentIndex(cameraStabData.StabilizationMode[i]); } connectUpdates(); // Connect buttons - connect(m_camerastabilization->camerastabilizationSaveRAM,SIGNAL(clicked()),this,SLOT(applySettings())); - connect(m_camerastabilization->camerastabilizationSaveSD,SIGNAL(clicked()),this,SLOT(saveSettings())); + connect(m_camerastabilization->camerastabilizationSaveRAM, SIGNAL(clicked()), this, SLOT(applySettings())); + connect(m_camerastabilization->camerastabilizationSaveSD, SIGNAL(clicked()), this, SLOT(saveSettings())); connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp())); } @@ -77,19 +104,19 @@ ConfigCameraStabilizationWidget::~ConfigCameraStabilizationWidget() void ConfigCameraStabilizationWidget::connectUpdates() { // Now connect the widget to the StabilizationSettings object - connect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); - connect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + connect(MixerSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues())); + connect(CameraStabSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues())); // TODO: This will need to support both CC and OP later - connect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + connect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues())); } void ConfigCameraStabilizationWidget::disconnectUpdates() { // Now connect the widget to the StabilizationSettings object - disconnect(MixerSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); - disconnect(CameraStabSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + disconnect(MixerSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues())); + disconnect(CameraStabSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues())); // TODO: This will need to support both CC and OP later - disconnect(HwSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(refreshValues())); + disconnect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues())); } /** @@ -99,7 +126,7 @@ void ConfigCameraStabilizationWidget::disconnectUpdates() void ConfigCameraStabilizationWidget::applySettings() { // Enable or disable the settings - HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager()); + HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager()); HwSettings::DataFields hwSettingsData = hwSettings->getData(); hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] = m_camerastabilization->enableCameraStabilization->isChecked() ? @@ -107,11 +134,11 @@ void ConfigCameraStabilizationWidget::applySettings() HwSettings::OPTIONALMODULES_DISABLED; // Update the mixer settings - MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); const int NUM_MIXERS = 10; - QComboBox * selectors[3] = { + QComboBox *outputs[3] = { m_camerastabilization->rollChannel, m_camerastabilization->pitchChannel, m_camerastabilization->yawChannel @@ -136,14 +163,14 @@ void ConfigCameraStabilizationWidget::applySettings() for (int i = 0; i < 3; i++) { // Channel 1 is second entry, so becomes zero - int mixerNum = selectors[i]->currentIndex() - 1; + int mixerNum = outputs[i]->currentIndex() - 1; if ( mixerNum >= 0 && // Short circuit in case of none *mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED && (*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) { // If the mixer channel already to something that isn't what we are // about to set it to reset to none - selectors[i]->setCurrentIndex(0); + outputs[i]->setCurrentIndex(0); m_camerastabilization->message->setText("One of the channels is already assigned, reverted to none"); } else { // Make sure no other channels have this output set @@ -158,13 +185,36 @@ void ConfigCameraStabilizationWidget::applySettings() } } - // Update the ranges - CameraStabSettings * cameraStab = CameraStabSettings::GetInstance(getObjectManager()); + // Update the settings + CameraStabSettings *cameraStab = CameraStabSettings::GetInstance(getObjectManager()); CameraStabSettings::DataFields cameraStabData = cameraStab->getData(); + cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL] = m_camerastabilization->rollOutputRange->value(); cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value(); cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value(); + cameraStabData.Inputs[CameraStabSettings::INPUTS_ROLL] = m_camerastabilization->rollInputChannel->currentIndex(); + cameraStabData.Inputs[CameraStabSettings::INPUTS_PITCH] = m_camerastabilization->pitchInputChannel->currentIndex(); + cameraStabData.Inputs[CameraStabSettings::INPUTS_YAW] = m_camerastabilization->yawInputChannel->currentIndex(); + + cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL] = m_camerastabilization->rollStabilizationMode->currentIndex(); + cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH] = m_camerastabilization->pitchStabilizationMode->currentIndex(); + cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_YAW] = m_camerastabilization->yawStabilizationMode->currentIndex(); + + cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_ROLL] = m_camerastabilization->rollInputRange->value(); + cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_PITCH] = m_camerastabilization->pitchInputRange->value(); + cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_YAW] = m_camerastabilization->yawInputRange->value(); + + cameraStabData.InputRate[CameraStabSettings::INPUTRATE_ROLL] = m_camerastabilization->rollInputRate->value(); + cameraStabData.InputRate[CameraStabSettings::INPUTRATE_PITCH] = m_camerastabilization->pitchInputRate->value(); + cameraStabData.InputRate[CameraStabSettings::INPUTRATE_YAW] = m_camerastabilization->yawInputRate->value(); + + cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_ROLL] = m_camerastabilization->rollResponseTime->value(); + cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_PITCH] = m_camerastabilization->pitchResponseTime->value(); + cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_YAW] = m_camerastabilization->yawResponseTime->value(); + + cameraStabData.MaxAxisLockRate = m_camerastabilization->MaxAxisLockRate->value(); + // Because multiple objects are updated, and all of them trigger the callback // they must be done together (if update one then load settings from second // the first update would wipe the UI controls). However to be extra cautious @@ -182,7 +232,7 @@ void ConfigCameraStabilizationWidget::applySettings() void ConfigCameraStabilizationWidget::saveSettings() { applySettings(); - UAVObject * obj = HwSettings::GetInstance(getObjectManager()); + UAVObject *obj = HwSettings::GetInstance(getObjectManager()); saveObjectToSD(obj); obj = MixerSettings::GetInstance(getObjectManager()); saveObjectToSD(obj); @@ -192,22 +242,45 @@ void ConfigCameraStabilizationWidget::saveSettings() void ConfigCameraStabilizationWidget::refreshValues() { - HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager()); + HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager()); HwSettings::DataFields hwSettingsData = hwSettings->getData(); m_camerastabilization->enableCameraStabilization->setChecked( hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] == HwSettings::OPTIONALMODULES_ENABLED); - CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager()); + CameraStabSettings *cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager()); CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData(); + m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]); m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]); m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]); - MixerSettings * mixerSettings = MixerSettings::GetInstance(getObjectManager()); + m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_ROLL]); + m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_PITCH]); + m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_YAW]); + + m_camerastabilization->rollStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL]); + m_camerastabilization->pitchStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH]); + m_camerastabilization->yawStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_YAW]); + + m_camerastabilization->rollInputRange->setValue(cameraStab.InputRange[CameraStabSettings::INPUTRANGE_ROLL]); + m_camerastabilization->pitchInputRange->setValue(cameraStab.InputRange[CameraStabSettings::INPUTRANGE_PITCH]); + m_camerastabilization->yawInputRange->setValue(cameraStab.InputRange[CameraStabSettings::INPUTRANGE_YAW]); + + m_camerastabilization->rollInputRate->setValue(cameraStab.InputRate[CameraStabSettings::INPUTRATE_ROLL]); + m_camerastabilization->pitchInputRate->setValue(cameraStab.InputRate[CameraStabSettings::INPUTRATE_PITCH]); + m_camerastabilization->yawInputRate->setValue(cameraStab.InputRate[CameraStabSettings::INPUTRATE_YAW]); + + m_camerastabilization->rollResponseTime->setValue(cameraStab.ResponseTime[CameraStabSettings::RESPONSETIME_ROLL]); + m_camerastabilization->pitchResponseTime->setValue(cameraStab.ResponseTime[CameraStabSettings::RESPONSETIME_PITCH]); + m_camerastabilization->yawResponseTime->setValue(cameraStab.ResponseTime[CameraStabSettings::RESPONSETIME_YAW]); + + m_camerastabilization->MaxAxisLockRate->setValue(cameraStab.MaxAxisLockRate); + + MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); const int NUM_MIXERS = 10; - QComboBox * selectors[3] = { + QComboBox *outputs[3] = { m_camerastabilization->rollChannel, m_camerastabilization->pitchChannel, m_camerastabilization->yawChannel @@ -232,17 +305,17 @@ void ConfigCameraStabilizationWidget::refreshValues() { // Default to none if not found. Then search for any mixer channels set to // this - selectors[i]->setCurrentIndex(0); + outputs[i]->setCurrentIndex(0); for (int j = 0; j < NUM_MIXERS; j++) if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) && - selectors[i]->currentIndex() != (j + 1)) - selectors[i]->setCurrentIndex(j + 1); + outputs[i]->currentIndex() != (j + 1)) + outputs[i]->setCurrentIndex(j + 1); } } void ConfigCameraStabilizationWidget::openHelp() { - QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization", QUrl::StrictMode) ); + QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration", QUrl::StrictMode) ); } void ConfigCameraStabilizationWidget::enableControls(bool enable) From b01e332e03e77e1dee62cfd7971ac6ea66bedee6 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Fri, 30 Dec 2011 19:18:33 +0200 Subject: [PATCH 072/121] CameraStab: rename UAVO field --- flight/Modules/CameraStab/camerastab.c | 16 ++++++++-------- .../config/configcamerastabilizationwidget.cpp | 16 ++++++++-------- .../uavobjectdefinition/camerastabsettings.xml | 2 +- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c index 715da1aca..b0625693f 100644 --- a/flight/Modules/CameraStab/camerastab.c +++ b/flight/Modules/CameraStab/camerastab.c @@ -63,8 +63,8 @@ // Private variables static struct CameraStab_data { portTickType lastSysTime; - float inputs[CAMERASTABSETTINGS_INPUTS_NUMELEM]; - float inputs_filtered[CAMERASTABSETTINGS_INPUTS_NUMELEM]; + float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM]; + float inputs_filtered[CAMERASTABSETTINGS_INPUT_NUMELEM]; } *csd; // Private functions @@ -142,9 +142,9 @@ static void attitudeUpdated(UAVObjEvent* ev) csd->lastSysTime = thisSysTime; // Read any input channels and apply LPF - for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUTS_NUMELEM; i++) { - if (cameraStab.Inputs[i] != CAMERASTABSETTINGS_INPUTS_NONE) { - if (AccessoryDesiredInstGet(cameraStab.Inputs[i] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) { + for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) { + if (cameraStab.Input[i] != CAMERASTABSETTINGS_INPUT_NONE) { + if (AccessoryDesiredInstGet(cameraStab.Input[i] - CAMERASTABSETTINGS_INPUT_ACCESSORY0, &accessory) == 0) { float input_rate; switch (cameraStab.StabilizationMode[i]) { case CAMERASTABSETTINGS_STABILIZATIONMODE_ATTITUDE: @@ -175,15 +175,15 @@ static void attitudeUpdated(UAVObjEvent* ev) float output; AttitudeActualRollGet(&attitude); - output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f); + output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f); CameraDesiredRollSet(&output); AttitudeActualPitchGet(&attitude); - output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f); + output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f); CameraDesiredPitchSet(&output); AttitudeActualYawGet(&attitude); - output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f); + output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f); CameraDesiredYawSet(&output); } diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp index 9343b34e8..28959b58b 100644 --- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp @@ -75,11 +75,11 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent UAVObjectField *field; - field = cameraStab->getField("Inputs"); + field = cameraStab->getField("Input"); Q_ASSERT(field); inputs[i]->clear(); inputs[i]->addItems(field->getOptions()); - inputs[i]->setCurrentIndex(cameraStabData.Inputs[i]); + inputs[i]->setCurrentIndex(cameraStabData.Input[i]); field = cameraStab->getField("StabilizationMode"); Q_ASSERT(field); @@ -193,9 +193,9 @@ void ConfigCameraStabilizationWidget::applySettings() cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value(); cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value(); - cameraStabData.Inputs[CameraStabSettings::INPUTS_ROLL] = m_camerastabilization->rollInputChannel->currentIndex(); - cameraStabData.Inputs[CameraStabSettings::INPUTS_PITCH] = m_camerastabilization->pitchInputChannel->currentIndex(); - cameraStabData.Inputs[CameraStabSettings::INPUTS_YAW] = m_camerastabilization->yawInputChannel->currentIndex(); + cameraStabData.Input[CameraStabSettings::INPUT_ROLL] = m_camerastabilization->rollInputChannel->currentIndex(); + cameraStabData.Input[CameraStabSettings::INPUT_PITCH] = m_camerastabilization->pitchInputChannel->currentIndex(); + cameraStabData.Input[CameraStabSettings::INPUT_YAW] = m_camerastabilization->yawInputChannel->currentIndex(); cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL] = m_camerastabilization->rollStabilizationMode->currentIndex(); cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH] = m_camerastabilization->pitchStabilizationMode->currentIndex(); @@ -255,9 +255,9 @@ void ConfigCameraStabilizationWidget::refreshValues() m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]); m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]); - m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_ROLL]); - m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_PITCH]); - m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_YAW]); + m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_ROLL]); + m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_PITCH]); + m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_YAW]); m_camerastabilization->rollStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL]); m_camerastabilization->pitchStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH]); diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml index 3208b9f24..069abdeb3 100644 --- a/shared/uavobjectdefinition/camerastabsettings.xml +++ b/shared/uavobjectdefinition/camerastabsettings.xml @@ -1,7 +1,7 @@ Settings for the @ref CameraStab mmodule - + From 595c0978b34b28063e19f3380ebb6f1ab531a671 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 2 Jan 2012 03:32:03 +0200 Subject: [PATCH 073/121] CameraStab: add "Reset To Defaults" button This loads the default settings (except output channels) to the GUI page but does not apply them automatically. User can apply/save them or reload current values from the board using UAVObjBrowser. --- .../src/plugins/config/camerastabilization.ui | 8 ++ .../configcamerastabilizationwidget.cpp | 92 +++++++++++-------- .../config/configcamerastabilizationwidget.h | 18 ++-- 3 files changed, 66 insertions(+), 52 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui index f65e8b585..184aebda1 100644 --- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui @@ -502,6 +502,13 @@ + + + + Reset To Defaults + + + @@ -614,6 +621,7 @@ specific calibration button on top of the screen. pitchResponseTime yawResponseTime MaxAxisLockRate + camerastabilizationResetToDefaults camerastabilizationHelp camerastabilizationSaveRAM camerastabilizationSaveSD diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp index 28959b58b..eece2e214 100644 --- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp @@ -2,7 +2,7 @@ ****************************************************************************** * * @file configcamerastabilizationwidget.cpp - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin @@ -25,21 +25,15 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "configcamerastabilizationwidget.h" - -#include -#include -#include -#include -#include -#include -#include -#include - #include "camerastabsettings.h" #include "hwsettings.h" #include "mixersettings.h" #include "actuatorcommand.h" +#include +#include +#include + ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent) { // TODO: this widget should use the addUAVObjectToWidgetRelation() @@ -49,7 +43,7 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent QComboBox *outputs[3] = { m_camerastabilization->rollChannel, m_camerastabilization->pitchChannel, - m_camerastabilization->yawChannel + m_camerastabilization->yawChannel, }; QComboBox *inputs[3] = { @@ -91,6 +85,7 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent connectUpdates(); // Connect buttons + connect(m_camerastabilization->camerastabilizationResetToDefaults, SIGNAL(clicked()), this, SLOT(resetToDefaults())); connect(m_camerastabilization->camerastabilizationSaveRAM, SIGNAL(clicked()), this, SLOT(applySettings())); connect(m_camerastabilization->camerastabilizationSaveSD, SIGNAL(clicked()), this, SLOT(saveSettings())); connect(m_camerastabilization->camerastabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp())); @@ -141,7 +136,7 @@ void ConfigCameraStabilizationWidget::applySettings() QComboBox *outputs[3] = { m_camerastabilization->rollChannel, m_camerastabilization->pitchChannel, - m_camerastabilization->yawChannel + m_camerastabilization->yawChannel, }; // TODO: Need to reformat object so types are an @@ -240,6 +235,40 @@ void ConfigCameraStabilizationWidget::saveSettings() saveObjectToSD(obj); } +/** + * Refresh UI with new settings of CameraStabSettings object + * (either from active configuration or just loaded defaults + * to be applied or saved) + */ +void ConfigCameraStabilizationWidget::refreshUIValues(CameraStabSettings::DataFields &cameraStabData) +{ + m_camerastabilization->rollOutputRange->setValue(cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]); + m_camerastabilization->pitchOutputRange->setValue(cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]); + m_camerastabilization->yawOutputRange->setValue(cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]); + + m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStabData.Input[CameraStabSettings::INPUT_ROLL]); + m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStabData.Input[CameraStabSettings::INPUT_PITCH]); + m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStabData.Input[CameraStabSettings::INPUT_YAW]); + + m_camerastabilization->rollStabilizationMode->setCurrentIndex(cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL]); + m_camerastabilization->pitchStabilizationMode->setCurrentIndex(cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH]); + m_camerastabilization->yawStabilizationMode->setCurrentIndex(cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_YAW]); + + m_camerastabilization->rollInputRange->setValue(cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_ROLL]); + m_camerastabilization->pitchInputRange->setValue(cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_PITCH]); + m_camerastabilization->yawInputRange->setValue(cameraStabData.InputRange[CameraStabSettings::INPUTRANGE_YAW]); + + m_camerastabilization->rollInputRate->setValue(cameraStabData.InputRate[CameraStabSettings::INPUTRATE_ROLL]); + m_camerastabilization->pitchInputRate->setValue(cameraStabData.InputRate[CameraStabSettings::INPUTRATE_PITCH]); + m_camerastabilization->yawInputRate->setValue(cameraStabData.InputRate[CameraStabSettings::INPUTRATE_YAW]); + + m_camerastabilization->rollResponseTime->setValue(cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_ROLL]); + m_camerastabilization->pitchResponseTime->setValue(cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_PITCH]); + m_camerastabilization->yawResponseTime->setValue(cameraStabData.ResponseTime[CameraStabSettings::RESPONSETIME_YAW]); + + m_camerastabilization->MaxAxisLockRate->setValue(cameraStabData.MaxAxisLockRate); +} + void ConfigCameraStabilizationWidget::refreshValues() { HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager()); @@ -249,33 +278,8 @@ void ConfigCameraStabilizationWidget::refreshValues() HwSettings::OPTIONALMODULES_ENABLED); CameraStabSettings *cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager()); - CameraStabSettings::DataFields cameraStab = cameraStabSettings->getData(); - - m_camerastabilization->rollOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_ROLL]); - m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]); - m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]); - - m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_ROLL]); - m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_PITCH]); - m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_YAW]); - - m_camerastabilization->rollStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL]); - m_camerastabilization->pitchStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH]); - m_camerastabilization->yawStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_YAW]); - - m_camerastabilization->rollInputRange->setValue(cameraStab.InputRange[CameraStabSettings::INPUTRANGE_ROLL]); - m_camerastabilization->pitchInputRange->setValue(cameraStab.InputRange[CameraStabSettings::INPUTRANGE_PITCH]); - m_camerastabilization->yawInputRange->setValue(cameraStab.InputRange[CameraStabSettings::INPUTRANGE_YAW]); - - m_camerastabilization->rollInputRate->setValue(cameraStab.InputRate[CameraStabSettings::INPUTRATE_ROLL]); - m_camerastabilization->pitchInputRate->setValue(cameraStab.InputRate[CameraStabSettings::INPUTRATE_PITCH]); - m_camerastabilization->yawInputRate->setValue(cameraStab.InputRate[CameraStabSettings::INPUTRATE_YAW]); - - m_camerastabilization->rollResponseTime->setValue(cameraStab.ResponseTime[CameraStabSettings::RESPONSETIME_ROLL]); - m_camerastabilization->pitchResponseTime->setValue(cameraStab.ResponseTime[CameraStabSettings::RESPONSETIME_PITCH]); - m_camerastabilization->yawResponseTime->setValue(cameraStab.ResponseTime[CameraStabSettings::RESPONSETIME_YAW]); - - m_camerastabilization->MaxAxisLockRate->setValue(cameraStab.MaxAxisLockRate); + CameraStabSettings::DataFields cameraStabData = cameraStabSettings->getData(); + refreshUIValues(cameraStabData); MixerSettings *mixerSettings = MixerSettings::GetInstance(getObjectManager()); MixerSettings::DataFields mixerSettingsData = mixerSettings->getData(); @@ -313,6 +317,13 @@ void ConfigCameraStabilizationWidget::refreshValues() } } +void ConfigCameraStabilizationWidget::resetToDefaults() +{ + CameraStabSettings cameraStabDefaults; + CameraStabSettings::DataFields defaults = cameraStabDefaults.getData(); + refreshUIValues(defaults); +} + void ConfigCameraStabilizationWidget::openHelp() { QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Camera+Stabilization+Configuration", QUrl::StrictMode) ); @@ -320,6 +331,7 @@ void ConfigCameraStabilizationWidget::openHelp() void ConfigCameraStabilizationWidget::enableControls(bool enable) { + m_camerastabilization->camerastabilizationResetToDefaults->setEnabled(enable); m_camerastabilization->camerastabilizationSaveSD->setEnabled(enable); m_camerastabilization->camerastabilizationSaveRAM->setEnabled(enable); } diff --git a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h index f5440e360..4534bdc65 100644 --- a/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h +++ b/ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.h @@ -1,8 +1,8 @@ /** ****************************************************************************** * - * @file configahrstwidget.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @file configcamerastabilizationtwidget.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. * @addtogroup GCSPlugins GCS Plugins * @{ * @addtogroup ConfigPlugin Config Plugin @@ -32,13 +32,6 @@ #include "extensionsystem/pluginmanager.h" #include "uavobjectmanager.h" #include "uavobject.h" -#include -#include -#include -#include -#include -#include - #include "camerastabsettings.h" class ConfigCameraStabilizationWidget: public ConfigTaskWidget @@ -50,12 +43,13 @@ public: ~ConfigCameraStabilizationWidget(); private: - virtual void enableControls(bool enable); - Ui_CameraStabilizationWidget *m_camerastabilization; + virtual void enableControls(bool enable); + void refreshUIValues(CameraStabSettings::DataFields &cameraStabData); private slots: void openHelp(); + void resetToDefaults(); void applySettings(); void saveSettings(); void refreshValues(); @@ -65,4 +59,4 @@ protected: void disconnectUpdates(); }; -#endif // ConfigCameraStabilization_H +#endif // CONFIGCAMERASTABILIZATIONWIDGET_H From f62330fefe9da44d446d77d7d11fa56fa03b5143 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 2 Jan 2012 04:29:56 +0200 Subject: [PATCH 074/121] CameraStab: add tooltips to all configuration settings --- .../src/plugins/config/camerastabilization.ui | 103 ++++++++++++++++++ 1 file changed, 103 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui index 184aebda1..dccdc3cf2 100644 --- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui @@ -89,6 +89,12 @@ + + Camera yaw angle for 100% output value, deg. + +This value should be tuned for particular gimbal and servo. You also +have to define channel output range using Output configuration tab. + 180 @@ -99,6 +105,12 @@ + + Camera pitch angle for 100% output value, deg. + +This value should be tuned for particular gimbal and servo. You also +have to define channel output range using Output configuration tab. + 180 @@ -109,6 +121,12 @@ + + Camera roll angle for 100% output value, deg. + +This value should be tuned for particular gimbal and servo. You also +have to define channel output range using Output configuration tab. + 180 @@ -119,6 +137,9 @@ + + Yaw output channel for camera gimbal + None @@ -128,6 +149,9 @@ + + Pitch output channel for camera gimbal + None @@ -137,6 +161,9 @@ + + Roll output channel for camera gimbal + None @@ -257,6 +284,11 @@ + + Input channel to control camera yaw + +Don't forget to map this channel using Input configuration tab. + None @@ -266,6 +298,11 @@ + + Input channel to control camera pitch + +Don't forget to map this channel using Input configuration tab. + None @@ -275,6 +312,11 @@ + + Input channel to control camera roll + +Don't forget to map this channel using Input configuration tab. + None @@ -291,6 +333,12 @@ + + Axis stabilization mode + +Attitude: camera tracks level for the axis. Input controls the deflection. +AxisLock: camera remembers tracking attitude. Input controls the rate of deflection. + Attitude @@ -300,6 +348,9 @@ + + Maximum camera yaw deflection for 100% input in Attitude mode, deg. + 180 @@ -310,6 +361,9 @@ + + Maximum camera yaw rate for 100% input in AxisLock mode, deg/s. + 180 @@ -320,6 +374,11 @@ + + Input low-pass filter response time for yaw axis, ms. + +This option smoothes the stick input. Zero value disables LPF. + 1000 @@ -330,6 +389,12 @@ + + Axis stabilization mode + +Attitude: camera tracks level for the axis. Input controls the deflection. +AxisLock: camera remembers tracking attitude. Input controls the rate of deflection. + Attitude @@ -339,6 +404,9 @@ + + Maximum camera pitch deflection for 100% input in Attitude mode, deg. + 180 @@ -349,6 +417,9 @@ + + Maximum camera pitch rate for 100% input in AxisLock mode, deg/s. + 180 @@ -359,6 +430,11 @@ + + Input low-pass filter response time for pitch axis, ms. + +This option smoothes the stick input. Zero value disables LPF. + 1000 @@ -369,6 +445,12 @@ + + Axis stabilization mode + +Attitude: camera tracks level for the axis. Input controls the deflection. +AxisLock: camera remembers tracking attitude. Input controls the rate of deflection. + Attitude @@ -378,6 +460,9 @@ + + Maximum camera roll deflection for 100% input in Attitude mode, deg. + 180 @@ -388,6 +473,9 @@ + + Maximum camera roll rate for 100% input in AxisLock mode, deg/s. + 180 @@ -398,6 +486,11 @@ + + Input low-pass filter response time for roll axis, ms. + +This option smoothes the stick input. Zero value disables LPF. + 1000 @@ -450,6 +543,16 @@ + + Stick input deadband for all axes in AxisLock mode, deg/s. + +When stick input is within the MaxAxisLockRate range, camera tracks +current attitude. Otherwise it starts moving according to input with +rate depending on input value. + +If you have drift in your Tx controls, you may want to increase this +value. + 1 From 6e09d61d87e8eb0219a1468258f364b9546f0d36 Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 2 Jan 2012 04:50:44 +0200 Subject: [PATCH 075/121] CameraStab: fix button tooltips --- .../src/plugins/config/camerastabilization.ui | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui index dccdc3cf2..e85d7f5f3 100644 --- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui @@ -607,6 +607,12 @@ value. + + Load default CameraStabilization settings except output channels + +Loaded settings are not applied automatically. You have to click the +Apply or Save button afterwards. + Reset To Defaults @@ -671,10 +677,7 @@ value. - Save settings to the board (RAM only). - -This does not save the calibration settings, this is done using the -specific calibration button on top of the screen. + Send settings to the board but do not save to the non-volatile memory Apply @@ -684,7 +687,7 @@ specific calibration button on top of the screen. - Send settings to the board, and save to the non-volatile memory. + Send settings to the board and save to the non-volatile memory Save From e9ffa9d03a3d2c1354bcb58143708449eb026b3a Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 2 Jan 2012 04:55:39 +0200 Subject: [PATCH 076/121] CameraStab: move defaults button to the right --- .../src/plugins/config/camerastabilization.ui | 28 +++++++++---------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui index e85d7f5f3..fb27f1654 100644 --- a/ground/openpilotgcs/src/plugins/config/camerastabilization.ui +++ b/ground/openpilotgcs/src/plugins/config/camerastabilization.ui @@ -605,19 +605,6 @@ value. - - - - Load default CameraStabilization settings except output channels - -Loaded settings are not applied automatically. You have to click the -Apply or Save button afterwards. - - - Reset To Defaults - - - @@ -674,6 +661,19 @@ Apply or Save button afterwards. + + + + Load default CameraStabilization settings except output channels + +Loaded settings are not applied automatically. You have to click the +Apply or Save button afterwards. + + + Reset To Defaults + + + @@ -727,8 +727,8 @@ Apply or Save button afterwards. pitchResponseTime yawResponseTime MaxAxisLockRate - camerastabilizationResetToDefaults camerastabilizationHelp + camerastabilizationResetToDefaults camerastabilizationSaveRAM camerastabilizationSaveSD scrollArea From a11a65782ce72dc421982b208423cca26c8de47a Mon Sep 17 00:00:00 2001 From: Oleg Semyonov Date: Mon, 2 Jan 2012 14:26:18 +0200 Subject: [PATCH 077/121] CameraStab: remove extra details from HISTORY.txt Since there are tooltips which explain it better and more correctly. --- HISTORY.txt | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/HISTORY.txt b/HISTORY.txt index 4ef00b1af..9640c6e1f 100644 --- a/HISTORY.txt +++ b/HISTORY.txt @@ -1,13 +1,7 @@ Short summary of changes. For a complete list see the git log. -2011-12-19 +2012-01-02 Added new camera stabilization features: AxisLock mode and LPF. -New options: - StabilizationMode: Attitude (default) or AxisLock. - InputRate: 50deg/s by default. Changes stick sensitivity in AxisLock mode. - MaxAxisLockRate: 1deg/s by default. The same meaning as similar option - for AxisLock stabilization. - ResponseTime: 150ms by default. Zero value disables LPF. 2011-12-10 Merged a change that sorts the UAVO fields based on size. Because this changes From a2b067e4d5d5145c17817c8d77a1a968f1065bfa Mon Sep 17 00:00:00 2001 From: James Cotton Date: Mon, 2 Jan 2012 09:19:50 -0600 Subject: [PATCH 078/121] Fix GUI bug for the GCS controller --- .../src/plugins/gcscontrol/gcscontrol.ui | 66 ++++++++++--------- .../gcscontrol/gcscontrolgadgetwidget.cpp | 1 - 2 files changed, 34 insertions(+), 33 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui index f48029e47..024db71bb 100644 --- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui +++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui @@ -20,7 +20,7 @@ Form - background:transparent + @@ -30,42 +30,41 @@ 5 - + + + + - - - - - GCS Control - - - - - - - Armed - - - - - - - Flight Mode: - - - Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter - - - - - - - + + + GCS Control + + + + + + + Armed + + + + + + + Flight Mode: + + + Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter + + + + + - + 10 @@ -121,6 +120,9 @@ 100 + + background:transparent + diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp index d266ec18b..68f0162f5 100644 --- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp @@ -67,7 +67,6 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent) // Connect object updated event from UAVObject to also update check boxes and dropdown connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*))); - leftX = 0; leftY = 0; rightX = 0; From 7f03195abab523f9dd9e2db511965e41f4243e47 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 14:04:30 -0500 Subject: [PATCH 079/121] stm32 usb: allow descriptor data to be const through API This allows a few more data structures to be const to save some RAM. --- .../Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h | 2 +- .../Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h index bd777f000..84f975da6 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h @@ -225,7 +225,7 @@ uint8_t *Standard_GetConfiguration(uint16_t Length); RESULT Standard_SetConfiguration(void); uint8_t *Standard_GetInterface(uint16_t Length); RESULT Standard_SetInterface(void); -uint8_t *Standard_GetDescriptorData(uint16_t Length, PONE_DESCRIPTOR pDesc); +uint8_t *Standard_GetDescriptorData(uint16_t Length, const ONE_DESCRIPTOR * pDesc); uint8_t *Standard_GetStatus(uint16_t Length); RESULT Standard_ClearFeature(void); diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c index 8cdd749f5..fb5ca3e40 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c @@ -415,7 +415,7 @@ RESULT Standard_SetDeviceFeature(void) * wOffset The buffer pointed by this address contains at least * Length bytes. *******************************************************************************/ -uint8_t *Standard_GetDescriptorData(uint16_t Length, ONE_DESCRIPTOR *pDesc) +uint8_t *Standard_GetDescriptorData(uint16_t Length, const ONE_DESCRIPTOR * pDesc) { uint32_t wOffset; From b94f4b49a408099b9ad59de43546f59d13a2d4eb Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 14:03:15 -0500 Subject: [PATCH 080/121] usb: major refactoring of USB descriptors, CDC and HID Summary of changes: * USB CDC and HID drivers are completely split apart. * This will allow different max buffer sizes for HID and CDC. * USB descriptors have been overhauled: * Proper structs/macros/enums declared for USB (see pios_usb_defs.h) * Two common descriptor definitions. One for HID+CDC another for HID only. See pios_usb_desc_{hid_cdc,hid_only}.c for details. * Long standing bugs in OP USB descriptors became much more obvious with the new struct definitions. * Board specific USB initialization is now in pios_usb_board_data.h in each build target. * Definition of USB descriptors is now entirely indpendent of STM32 libs. Glue into STM32 libs is provided by pios_usbhook.c. * Removed a lot of stale/irrelevant USB #defines throughout the tree. * Improved naming consistency throughout USB code: * PIOS_USB_HID_* now refers to the HID endpoint code. * PIOS_USB_CDC_* now refers to the CDC endpoint code. * PIOS_USB_* now refers to the low-level USB code. * PIOS_USB_BOARD_* now refers to board-specific USB data * PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs. * struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec. * Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM. * Made a few more USB related variables static to save some RAM. --- flight/Bootloaders/CopterControl/Makefile | 5 +- .../CopterControl/inc/pios_config.h | 3 +- .../Bootloaders/CopterControl/inc/pios_usb.h | 84 --- .../CopterControl/inc/pios_usb_board_data.h | 48 ++ flight/Bootloaders/CopterControl/pios_board.c | 30 +- .../CopterControl/pios_usb_board_data.c | 20 + flight/Bootloaders/OpenPilot/Makefile | 5 +- .../Bootloaders/OpenPilot/inc/pios_config.h | 3 +- flight/Bootloaders/OpenPilot/inc/pios_usb.h | 84 --- .../OpenPilot/inc/pios_usb_board_data.h | 48 ++ flight/Bootloaders/OpenPilot/pios_board.c | 32 +- .../OpenPilot/pios_usb_board_data.c | 15 + flight/Bootloaders/PipXtreme/Makefile | 5 +- .../Bootloaders/PipXtreme/inc/pios_config.h | 3 +- flight/Bootloaders/PipXtreme/inc/pios_usb.h | 84 --- .../PipXtreme/inc/pios_usb_board_data.h | 48 ++ flight/Bootloaders/PipXtreme/pios_board.c | 26 +- .../PipXtreme/pios_usb_board_data.c | 16 + flight/CopterControl/Makefile | 6 +- flight/CopterControl/System/inc/pios_config.h | 4 +- flight/CopterControl/System/inc/pios_usb.h | 84 --- .../System/inc/pios_usb_board_data.h | 52 ++ .../System/inc/pios_usb_hid_desc.h | 56 -- flight/CopterControl/System/pios_board.c | 52 +- .../System/pios_usb_board_data.c | 20 + .../CopterControl/System/pios_usb_hid_desc.c | 318 --------- flight/Modules/Telemetry/telemetry.c | 13 +- flight/OpenPilot/Makefile | 6 +- flight/OpenPilot/System/inc/pios_config.h | 2 +- .../System/inc/pios_usb_board_data.h | 52 ++ flight/OpenPilot/System/pios_board.c | 34 +- flight/OpenPilot/System/pios_usb_board_data.c | 15 + flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 3 +- .../PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h | 2 +- flight/PiOS/Boards/STM3210E_OP.h | 2 +- flight/PiOS/Common/pios_usb_desc_hid_cdc.c | 247 +++++++ flight/PiOS/Common/pios_usb_desc_hid_only.c | 165 +++++ flight/PiOS/STM32F10x/pios_usb.c | 225 +++++++ flight/PiOS/STM32F10x/pios_usb_cdc.c | 400 ++++++++++++ flight/PiOS/STM32F10x/pios_usb_com.c | 606 ------------------ flight/PiOS/STM32F10x/pios_usb_hid.c | 417 +++++++----- flight/PiOS/STM32F10x/pios_usb_hid_desc.c | 183 ------ flight/PiOS/STM32F10x/pios_usbhook.c | 129 ++-- flight/PiOS/inc/pios_usb.h | 51 +- ...ios_usb_com_priv.h => pios_usb_cdc_priv.h} | 30 +- flight/PiOS/inc/pios_usb_defs.h | 292 +++++++++ flight/PiOS/inc/pios_usb_hid.h | 12 - flight/PiOS/inc/pios_usb_hid_desc.h | 56 -- flight/PiOS/inc/pios_usb_hid_priv.h | 22 +- flight/PiOS/inc/pios_usb_priv.h | 49 ++ flight/PiOS/inc/pios_usbhook.h | 25 - flight/PiOS/inc/usb_conf.h | 5 - flight/PipXtreme/Makefile | 10 +- flight/PipXtreme/api_config.c | 5 +- flight/PipXtreme/inc/pios_config.h | 2 +- flight/PipXtreme/inc/pios_usb.h | 78 --- flight/PipXtreme/inc/pios_usb_board_data.h | 40 ++ flight/PipXtreme/inc/usb_conf.h | 196 ------ flight/PipXtreme/pios_board.c | 32 +- flight/PipXtreme/pios_usb_board_data.c | 16 + flight/PipXtreme/transparent_comms.c | 5 +- 61 files changed, 2273 insertions(+), 2305 deletions(-) delete mode 100644 flight/Bootloaders/CopterControl/inc/pios_usb.h create mode 100644 flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h create mode 100644 flight/Bootloaders/CopterControl/pios_usb_board_data.c delete mode 100644 flight/Bootloaders/OpenPilot/inc/pios_usb.h create mode 100644 flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h create mode 100644 flight/Bootloaders/OpenPilot/pios_usb_board_data.c delete mode 100644 flight/Bootloaders/PipXtreme/inc/pios_usb.h create mode 100644 flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h create mode 100644 flight/Bootloaders/PipXtreme/pios_usb_board_data.c delete mode 100644 flight/CopterControl/System/inc/pios_usb.h create mode 100644 flight/CopterControl/System/inc/pios_usb_board_data.h delete mode 100644 flight/CopterControl/System/inc/pios_usb_hid_desc.h create mode 100644 flight/CopterControl/System/pios_usb_board_data.c delete mode 100644 flight/CopterControl/System/pios_usb_hid_desc.c create mode 100644 flight/OpenPilot/System/inc/pios_usb_board_data.h create mode 100644 flight/OpenPilot/System/pios_usb_board_data.c create mode 100644 flight/PiOS/Common/pios_usb_desc_hid_cdc.c create mode 100644 flight/PiOS/Common/pios_usb_desc_hid_only.c create mode 100644 flight/PiOS/STM32F10x/pios_usb.c create mode 100644 flight/PiOS/STM32F10x/pios_usb_cdc.c delete mode 100644 flight/PiOS/STM32F10x/pios_usb_com.c delete mode 100644 flight/PiOS/STM32F10x/pios_usb_hid_desc.c rename flight/PiOS/inc/{pios_usb_com_priv.h => pios_usb_cdc_priv.h} (67%) create mode 100644 flight/PiOS/inc/pios_usb_defs.h delete mode 100644 flight/PiOS/inc/pios_usb_hid_desc.h create mode 100644 flight/PiOS/inc/pios_usb_priv.h delete mode 100644 flight/PipXtreme/inc/pios_usb.h create mode 100644 flight/PipXtreme/inc/pios_usb_board_data.h delete mode 100644 flight/PipXtreme/inc/usb_conf.h create mode 100644 flight/PipXtreme/pios_usb_board_data.c diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index 07c13b190..1257ed579 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -106,12 +106,13 @@ SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c -SRC += $(PIOSSTM32F10X)/pios_usb_com.c +SRC += $(OPSYSTEM)/pios_usb_board_data.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c diff --git a/flight/Bootloaders/CopterControl/inc/pios_config.h b/flight/Bootloaders/CopterControl/inc/pios_config.h index 5c25f2aa5..081ed1b0f 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_config.h +++ b/flight/Bootloaders/CopterControl/inc/pios_config.h @@ -32,14 +32,13 @@ #define PIOS_CONFIG_H #define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT -#define USB_HID /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED #define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO #define PIOS_NO_GPS diff --git a/flight/Bootloaders/CopterControl/inc/pios_usb.h b/flight/Bootloaders/CopterControl/inc/pios_usb.h deleted file mode 100644 index f81bb3294..000000000 --- a/flight/Bootloaders/CopterControl/inc/pios_usb.h +++ /dev/null @@ -1,84 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer - * @{ - * @addtogroup PIOS_USB USB Functions - * @brief PIOS USB interface code - * @{ - * - * @file pios_usb.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB functions header. - * @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 PIOS_USB_H -#define PIOS_USB_H - -/* Local defines */ -/* Following settings allow to customise the USB device descriptor */ -#ifndef PIOS_USB_VENDOR_ID -#define PIOS_USB_VENDOR_ID 0x20A0 -#endif - -#ifndef PIOS_USB_VENDOR_STR -#define PIOS_USB_VENDOR_STR "openpilot.org" -#endif - -#ifndef PIOS_USB_PRODUCT_STR -#define PIOS_USB_PRODUCT_STR "CopterControl" -#endif - -#ifndef PIOS_USB_PRODUCT_ID -#define PIOS_USB_PRODUCT_ID 0x415B -#endif - -#ifndef PIOS_USB_VERSION_ID -#define PIOS_USB_VERSION_ID 0x0401 /* CopterControl (04) Bootloader (01) */ -#endif - -/* Internal defines which are used by PIOS USB HID (don't touch) */ - -/* Buffer table base address */ -#define PIOS_USB_BTABLE_ADDRESS 0x000 - -/* EP0 rx/tx buffer base address */ -#define PIOS_USB_ENDP0_RXADDR 0x040 -#define PIOS_USB_ENDP0_TXADDR 0x080 - -/* EP1 Rx/Tx buffer base address for HID driver */ -#define PIOS_USB_ENDP1_TXADDR 0x0C0 -#define PIOS_USB_ENDP1_RXADDR 0x100 - -/* Global Variables */ -extern void (*pEpInt_IN[7])(void); -extern void (*pEpInt_OUT[7])(void); - -/* Public Functions */ -extern int32_t PIOS_USB_Init(uint32_t mode); -extern int32_t PIOS_USB_IsInitialized(void); -extern int32_t PIOS_USB_CableConnected(void); - -#endif /* PIOS_USB_H */ - -/** - * @} - * @} - */ diff --git a/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h b/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h new file mode 100644 index 000000000..14fdd6cfb --- /dev/null +++ b/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h @@ -0,0 +1,48 @@ +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 2 + +#include "pios_usb_defs.h" /* struct usb_* */ + +struct usb_board_config { + struct usb_configuration_desc config; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; +} __attribute__((packed)); + +extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; +extern const struct usb_board_config PIOS_USB_BOARD_Configuration; +extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; + +/* NOTE NOTE NOTE + * + * Care must be taken to ensure that the _actual_ contents of + * these arrays (in each board's pios_usb_board_data.c) is no + * smaller than the stated sizes here or these descriptors + * will end up with trailing zeros on the wire. + * + * The compiler will catch any time that these definitions are + * too small. + */ +extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; +extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; +extern const uint8_t PIOS_USB_BOARD_StringProductID[28]; +extern uint8_t PIOS_USB_BOARD_StringSerial[52]; + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_BL) + +/* + * The bootloader uses a simplified report structure + * BL: ... + * FW: ... + * This define changes the behaviour in pios_usb_hid.c + */ +#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/Bootloaders/CopterControl/pios_board.c b/flight/Bootloaders/CopterControl/pios_board.c index e017e8282..1b3c54af3 100644 --- a/flight/Bootloaders/CopterControl/pios_board.c +++ b/flight/Bootloaders/CopterControl/pios_board.c @@ -41,8 +41,8 @@ static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; // *********************************************************************************** -#if defined(PIOS_INCLUDE_USB_HID) -#include "pios_usb_hid_priv.h" +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { @@ -54,19 +54,18 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ -#if defined(PIOS_INCLUDE_USB_COM) -#include +#if defined(PIOS_INCLUDE_USB_HID) +#include -const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { - .type = PIOS_USB_COM_HID, +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; -#endif /* PIOS_INCLUDE_USB_COM */ +#endif /* PIOS_INCLUDE_USB_HID */ uint32_t pios_com_telem_usb_id; @@ -93,23 +92,24 @@ void PIOS_Board_Init(void) { /* Initialize the PiOS library */ PIOS_GPIO_Init(); -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) uint32_t pios_usb_id; if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } -#if defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_COM */ -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ + +#endif /* PIOS_INCLUDE_USB */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar diff --git a/flight/Bootloaders/CopterControl/pios_usb_board_data.c b/flight/Bootloaders/CopterControl/pios_usb_board_data.c new file mode 100644 index 000000000..68761609a --- /dev/null +++ b/flight/Bootloaders/CopterControl/pios_usb_board_data.c @@ -0,0 +1,20 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const uint8_t PIOS_USB_BOARD_StringProductID[] = { + sizeof(PIOS_USB_BOARD_StringProductID), + USB_DESC_TYPE_STRING, + 'C', 0, + 'o', 0, + 'p', 0, + 't', 0, + 'e', 0, + 'r', 0, + 'C', 0, + 'o', 0, + 'n', 0, + 't', 0, + 'r', 0, + 'o', 0, + 'l', 0, +}; + diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index c172387f7..e9b55e134 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -109,12 +109,13 @@ SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c -SRC += $(PIOSSTM32F10X)/pios_usb_com.c +SRC += $(OPSYSTEM)/pios_usb_board_data.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c diff --git a/flight/Bootloaders/OpenPilot/inc/pios_config.h b/flight/Bootloaders/OpenPilot/inc/pios_config.h index 3268ca3ca..024bcae9a 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_config.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_config.h @@ -31,7 +31,6 @@ #define PIOS_CONFIG_H #define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT -#define USB_HID /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_IRQ @@ -39,8 +38,8 @@ #define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USART +#define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_OPAHRS #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO diff --git a/flight/Bootloaders/OpenPilot/inc/pios_usb.h b/flight/Bootloaders/OpenPilot/inc/pios_usb.h deleted file mode 100644 index 708e18578..000000000 --- a/flight/Bootloaders/OpenPilot/inc/pios_usb.h +++ /dev/null @@ -1,84 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer - * @{ - * @addtogroup PIOS_USB USB Functions - * @brief PIOS USB interface code - * @{ - * - * @file pios_usb.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB functions header. - * @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 PIOS_USB_H -#define PIOS_USB_H - -/* Local defines */ -/* Following settings allow to customise the USB device descriptor */ -#ifndef PIOS_USB_VENDOR_ID -#define PIOS_USB_VENDOR_ID 0x20A0 -#endif - -#ifndef PIOS_USB_VENDOR_STR -#define PIOS_USB_VENDOR_STR "openpilot.org" -#endif - -#ifndef PIOS_USB_PRODUCT_STR -#define PIOS_USB_PRODUCT_STR "OpenPilot" -#endif - -#ifndef PIOS_USB_PRODUCT_ID -#define PIOS_USB_PRODUCT_ID 0x415A -#endif - -#ifndef PIOS_USB_VERSION_ID -#define PIOS_USB_VERSION_ID 0x0101 /* OpenPilot (01) Bootloader (01) */ -#endif - -/* Internal defines which are used by PIOS USB HID (don't touch) */ - -/* Buffer table base address */ -#define PIOS_USB_BTABLE_ADDRESS 0x000 - -/* EP0 rx/tx buffer base address */ -#define PIOS_USB_ENDP0_RXADDR 0x040 -#define PIOS_USB_ENDP0_TXADDR 0x080 - -/* EP1 Rx/Tx buffer base address for HID driver */ -#define PIOS_USB_ENDP1_TXADDR 0x0C0 -#define PIOS_USB_ENDP1_RXADDR 0x100 - -/* Global Variables */ -extern void (*pEpInt_IN[7])(void); -extern void (*pEpInt_OUT[7])(void); - -/* Public Functions */ -extern int32_t PIOS_USB_Init(uint32_t mode); -extern int32_t PIOS_USB_IsInitialized(void); -extern int32_t PIOS_USB_CableConnected(void); - -#endif /* PIOS_USB_H */ - -/** - * @} - * @} - */ diff --git a/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h b/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h new file mode 100644 index 000000000..612c85ff4 --- /dev/null +++ b/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h @@ -0,0 +1,48 @@ +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 2 + +#include "pios_usb_defs.h" /* struct usb_* */ + +struct usb_board_config { + struct usb_configuration_desc config; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; +} __attribute__((packed)); + +extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; +extern const struct usb_board_config PIOS_USB_BOARD_Configuration; +extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; + +/* NOTE NOTE NOTE + * + * Care must be taken to ensure that the _actual_ contents of + * these arrays (in each board's pios_usb_board_data.c) is no + * smaller than the stated sizes here or these descriptors + * will end up with trailing zeros on the wire. + * + * The compiler will catch any time that these definitions are + * too small. + */ +extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; +extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; +extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; +extern uint8_t PIOS_USB_BOARD_StringSerial[52]; + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_BL) + +/* + * The bootloader uses a simplified report structure + * BL: ... + * FW: ... + * This define changes the behaviour in pios_usb_hid.c + */ +#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c index 9e8db4723..a2630815a 100644 --- a/flight/Bootloaders/OpenPilot/pios_board.c +++ b/flight/Bootloaders/OpenPilot/pios_board.c @@ -198,8 +198,8 @@ static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN]; #endif /* PIOS_INCLUDE_COM */ -#if defined(PIOS_INCLUDE_USB_HID) -#include "pios_usb_hid_priv.h" +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { @@ -213,17 +213,16 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }; #endif /* PIOS_INCLUDE_USB_HID */ -#if defined(PIOS_INCLUDE_USB_COM) -#include +#if defined(PIOS_INCLUDE_USB_HID) +#include -const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { - .type = PIOS_USB_COM_HID, +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; -#endif /* PIOS_INCLUDE_USB_COM */ +#endif /* PIOS_INCLUDE_USB_HID */ uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; @@ -266,21 +265,24 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) uint32_t pios_usb_id; - PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); -#if defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_COM */ -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ + +#endif /* PIOS_INCLUDE_USB */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar diff --git a/flight/Bootloaders/OpenPilot/pios_usb_board_data.c b/flight/Bootloaders/OpenPilot/pios_usb_board_data.c new file mode 100644 index 000000000..c23cc2891 --- /dev/null +++ b/flight/Bootloaders/OpenPilot/pios_usb_board_data.c @@ -0,0 +1,15 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const uint8_t PIOS_USB_BOARD_StringProductID[] = { + sizeof(PIOS_USB_BOARD_StringProductID), + USB_DESC_TYPE_STRING, + 'O', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'P', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, +}; diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile index 36b4b1568..af6469ae0 100644 --- a/flight/Bootloaders/PipXtreme/Makefile +++ b/flight/Bootloaders/PipXtreme/Makefile @@ -105,12 +105,13 @@ SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c -SRC += $(PIOSSTM32F10X)/pios_usb_com.c +SRC += $(OPSYSTEM)/pios_usb_board_data.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c diff --git a/flight/Bootloaders/PipXtreme/inc/pios_config.h b/flight/Bootloaders/PipXtreme/inc/pios_config.h index 28ab42143..0c2cc7877 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_config.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_config.h @@ -31,14 +31,13 @@ #define PIOS_CONFIG_H #define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT -#define USB_HID /* Enable/Disable PiOS Modules */ #define PIOS_INCLUDE_DELAY #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED #define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO //#define DEBUG_SSP diff --git a/flight/Bootloaders/PipXtreme/inc/pios_usb.h b/flight/Bootloaders/PipXtreme/inc/pios_usb.h deleted file mode 100644 index 1b0eb5502..000000000 --- a/flight/Bootloaders/PipXtreme/inc/pios_usb.h +++ /dev/null @@ -1,84 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer - * @{ - * @addtogroup PIOS_USB USB Functions - * @brief PIOS USB interface code - * @{ - * - * @file pios_usb.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB functions header. - * @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 PIOS_USB_H -#define PIOS_USB_H - -/* Local defines */ -/* Following settings allow to customise the USB device descriptor */ -#ifndef PIOS_USB_VENDOR_ID -#define PIOS_USB_VENDOR_ID 0x20A0 -#endif - -#ifndef PIOS_USB_VENDOR_STR -#define PIOS_USB_VENDOR_STR "openpilot.org" -#endif - -#ifndef PIOS_USB_PRODUCT_STR -#define PIOS_USB_PRODUCT_STR "PipXtreme" -#endif - -#ifndef PIOS_USB_PRODUCT_ID -#define PIOS_USB_PRODUCT_ID 0x415C -#endif - -#ifndef PIOS_USB_VERSION_ID -#define PIOS_USB_VERSION_ID 0x0301 /* PipXtreme (03) Bootloader (01) */ -#endif - -/* Internal defines which are used by PIOS USB HID (don't touch) */ - -/* Buffer table base address */ -#define PIOS_USB_BTABLE_ADDRESS 0x000 - -/* EP0 rx/tx buffer base address */ -#define PIOS_USB_ENDP0_RXADDR 0x040 -#define PIOS_USB_ENDP0_TXADDR 0x080 - -/* EP1 Rx/Tx buffer base address for HID driver */ -#define PIOS_USB_ENDP1_TXADDR 0x0C0 -#define PIOS_USB_ENDP1_RXADDR 0x100 - -/* Global Variables */ -extern void (*pEpInt_IN[7])(void); -extern void (*pEpInt_OUT[7])(void); - -/* Public Functions */ -extern int32_t PIOS_USB_Init(uint32_t mode); -extern int32_t PIOS_USB_IsInitialized(void); -extern int32_t PIOS_USB_CableConnected(void); - -#endif /* PIOS_USB_H */ - -/** - * @} - * @} - */ diff --git a/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h b/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h new file mode 100644 index 000000000..7fd697d38 --- /dev/null +++ b/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h @@ -0,0 +1,48 @@ +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 2 + +#include "pios_usb_defs.h" /* struct usb_* */ + +struct usb_board_config { + struct usb_configuration_desc config; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; +} __attribute__((packed)); + +extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; +extern const struct usb_board_config PIOS_USB_BOARD_Configuration; +extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; + +/* NOTE NOTE NOTE + * + * Care must be taken to ensure that the _actual_ contents of + * these arrays (in each board's pios_usb_board_data.c) is no + * smaller than the stated sizes here or these descriptors + * will end up with trailing zeros on the wire. + * + * The compiler will catch any time that these definitions are + * too small. + */ +extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; +extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; +extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; +extern uint8_t PIOS_USB_BOARD_StringSerial[52]; + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_BL) + +/* + * The bootloader uses a simplified report structure + * BL: ... + * FW: ... + * This define changes the behaviour in pios_usb_hid.c + */ +#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/Bootloaders/PipXtreme/pios_board.c b/flight/Bootloaders/PipXtreme/pios_board.c index e017e8282..abf079340 100644 --- a/flight/Bootloaders/PipXtreme/pios_board.c +++ b/flight/Bootloaders/PipXtreme/pios_board.c @@ -41,8 +41,8 @@ static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; // *********************************************************************************** -#if defined(PIOS_INCLUDE_USB_HID) -#include "pios_usb_hid_priv.h" +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { @@ -54,19 +54,19 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_USB_HID */ -#if defined(PIOS_INCLUDE_USB_COM) -#include +#endif /* PIOS_INCLUDE_USB */ -const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { - .type = PIOS_USB_COM_HID, +#if defined(PIOS_INCLUDE_USB_HID) +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; -#endif /* PIOS_INCLUDE_USB_COM */ +#endif /* PIOS_INCLUDE_USB_HID */ uint32_t pios_com_telem_usb_id; @@ -93,14 +93,14 @@ void PIOS_Board_Init(void) { /* Initialize the PiOS library */ PIOS_GPIO_Init(); -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) uint32_t pios_usb_id; if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } -#if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + if (PIOS_USB_HID_Init(&pios_usb_com_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, @@ -108,8 +108,8 @@ void PIOS_Board_Init(void) { pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_COM */ -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_USB */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar diff --git a/flight/Bootloaders/PipXtreme/pios_usb_board_data.c b/flight/Bootloaders/PipXtreme/pios_usb_board_data.c new file mode 100644 index 000000000..3266e1b45 --- /dev/null +++ b/flight/Bootloaders/PipXtreme/pios_usb_board_data.c @@ -0,0 +1,16 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const uint8_t PIOS_USB_BOARD_StringProductID[] = { + sizeof(PIOS_USB_BOARD_StringProductID), + USB_DESC_TYPE_STRING, + 'P', 0, + 'i', 0, + 'p', 0, + 'X', 0, + 't', 0, + 'r', 0, + 'e', 0, + 'm', 0, + 'e', 0, +}; + diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index a6136a416..589251a4a 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -140,7 +140,6 @@ SRC += $(OPSYSTEM)/taskmonitor.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c -SRC += $(OPSYSTEM)/pios_usb_hid_desc.c else ## TESTCODE SRC += $(OPTESTS)/test_common.c @@ -209,11 +208,14 @@ SRC += $(PIOSSTM32F10X)/pios_tim.c # PIOS USB related files (separated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c +SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c -SRC += $(PIOSSTM32F10X)/pios_usb_com.c +SRC += $(OPSYSTEM)/pios_usb_board_data.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_crc.c diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 4e5827149..54c5b3b22 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -61,9 +61,9 @@ #define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USART +#define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_COM -#define PIOS_INCLUDE_USB_COM_CDC +#define PIOS_INCLUDE_USB_CDC #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_SETTINGS #define PIOS_INCLUDE_FREERTOS diff --git a/flight/CopterControl/System/inc/pios_usb.h b/flight/CopterControl/System/inc/pios_usb.h deleted file mode 100644 index a20803d23..000000000 --- a/flight/CopterControl/System/inc/pios_usb.h +++ /dev/null @@ -1,84 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer - * @{ - * @addtogroup PIOS_USB USB Functions - * @brief PIOS USB interface code - * @{ - * - * @file pios_usb.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB functions header. - * @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 PIOS_USB_H -#define PIOS_USB_H - -/* Local defines */ -/* Following settings allow to customise the USB device descriptor */ -#ifndef PIOS_USB_VENDOR_ID -#define PIOS_USB_VENDOR_ID 0x20A0 -#endif - -#ifndef PIOS_USB_VENDOR_STR -#define PIOS_USB_VENDOR_STR "openpilot.org" -#endif - -#ifndef PIOS_USB_PRODUCT_STR -#define PIOS_USB_PRODUCT_STR "CopterControl" -#endif - -#ifndef PIOS_USB_PRODUCT_ID -#define PIOS_USB_PRODUCT_ID 0x415B -#endif - -#ifndef PIOS_USB_VERSION_ID -#define PIOS_USB_VERSION_ID 0x0402 /* CopterControl board (04), Running state (02) */ -#endif - -/* Internal defines which are used by PIOS USB HID (don't touch) */ - -/* Buffer table base address */ -#define PIOS_USB_BTABLE_ADDRESS 0x000 - -/* EP0 rx/tx buffer base address */ -#define PIOS_USB_ENDP0_RXADDR 0x040 -#define PIOS_USB_ENDP0_TXADDR 0x080 - -/* EP1 Rx/Tx buffer base address for HID driver */ -#define PIOS_USB_ENDP1_TXADDR 0x0C0 -#define PIOS_USB_ENDP1_RXADDR 0x100 - -/* Global Variables */ -extern void (*pEpInt_IN[7]) (void); -extern void (*pEpInt_OUT[7]) (void); - -/* Public Functions */ -extern int32_t PIOS_USB_Init(uint32_t mode); -extern int32_t PIOS_USB_IsInitialized(void); -extern int32_t PIOS_USB_CableConnected(void); - -#endif /* PIOS_USB_H */ - -/** - * @} - * @} - */ diff --git a/flight/CopterControl/System/inc/pios_usb_board_data.h b/flight/CopterControl/System/inc/pios_usb_board_data.h new file mode 100644 index 000000000..9f175ce10 --- /dev/null +++ b/flight/CopterControl/System/inc/pios_usb_board_data.h @@ -0,0 +1,52 @@ +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64 +#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32 +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 4 + +#include "pios_usb_defs.h" /* struct usb_* */ + +struct usb_board_config { + struct usb_configuration_desc config; + struct usb_interface_association_desc iad; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; + struct usb_interface_desc cdc_control_if; + struct usb_cdc_header_func_desc cdc_header; + struct usb_cdc_callmgmt_func_desc cdc_callmgmt; + struct usb_cdc_acm_func_desc cdc_acm; + struct usb_cdc_union_func_desc cdc_union; + struct usb_endpoint_desc cdc_mgmt_in; + struct usb_interface_desc cdc_data_if; + struct usb_endpoint_desc cdc_in; + struct usb_endpoint_desc cdc_out; +} __attribute__((packed)); + +extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; +extern const struct usb_board_config PIOS_USB_BOARD_Configuration; +extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; + +/* NOTE NOTE NOTE + * + * Care must be taken to ensure that the _actual_ contents of + * these arrays (in each board's pios_usb_board_data.c) is no + * smaller than the stated sizes here or these descriptors + * will end up with trailing zeros on the wire. + * + * The compiler will catch any time that these definitions are + * too small. + */ +extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; +extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; +extern const uint8_t PIOS_USB_BOARD_StringProductID[28]; +extern uint8_t PIOS_USB_BOARD_StringSerial[52]; + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW) + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/CopterControl/System/inc/pios_usb_hid_desc.h b/flight/CopterControl/System/inc/pios_usb_hid_desc.h deleted file mode 100644 index d6bc3720f..000000000 --- a/flight/CopterControl/System/inc/pios_usb_hid_desc.h +++ /dev/null @@ -1,56 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_desc.h -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Descriptor Header for Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USB_DESC_H -#define __USB_DESC_H - -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported define -----------------------------------------------------------*/ -#define USB_DEVICE_DESCRIPTOR_TYPE 0x01 -#define USB_CONFIGURATION_DESCRIPTOR_TYPE 0x02 -#define USB_STRING_DESCRIPTOR_TYPE 0x03 -#define USB_INTERFACE_DESCRIPTOR_TYPE 0x04 -#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05 - -#define HID_DESCRIPTOR_TYPE 0x21 -#define PIOS_HID_SIZ_HID_DESC 0x09 -#define PIOS_HID_OFF_HID_DESC 0x12 - -#define PIOS_HID_SIZ_DEVICE_DESC 18 -#define PIOS_HID_SIZ_CONFIG_DESC 107 -#define PIOS_HID_SIZ_REPORT_DESC 36 -#define PIOS_HID_SIZ_STRING_LANGID 4 -#define PIOS_HID_SIZ_STRING_VENDOR 28 -#define PIOS_HID_SIZ_STRING_PRODUCT 28 -#define PIOS_HID_SIZ_STRING_SERIAL 52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */ - -#define STANDARD_ENDPOINT_DESC_SIZE 0x09 - -/* Exported functions ------------------------------------------------------- */ -extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC]; -extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC]; -extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC]; -extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID]; -extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR]; -extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT]; -extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL]; - -#endif /* __USB_DESC_H */ - -/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index a1f78f5dd..3a4c3e89f 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -985,8 +985,8 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; #endif /* PIOS_INCLUDE_RCVR */ -#if defined(PIOS_INCLUDE_USB_HID) -#include "pios_usb_hid_priv.h" +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { @@ -998,20 +998,22 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ -#if defined(PIOS_INCLUDE_USB_COM) -#include +#if defined(PIOS_INCLUDE_USB_HID) +#include -const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { - .type = PIOS_USB_COM_HID, +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; +#endif /* PIOS_INCLUDE_USB_HID */ -const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = { - .type = PIOS_USB_COM_CDC, +#if defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { .ctrl_if = 1, .ctrl_tx_ep = 2, @@ -1019,7 +1021,7 @@ const struct pios_usb_com_cfg pios_usb_com_cdc_cfg = { .data_rx_ep = 3, .data_tx_ep = 3, }; -#endif /* PIOS_INCLUDE_USB_COM */ +#endif /* PIOS_INCLUDE_USB_CDC */ uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; @@ -1087,11 +1089,12 @@ void PIOS_Board_Init(void) { PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_4_cfg); -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); - /* Configure the usb VCP port */ +#if defined(PIOS_INCLUDE_USB_CDC) + /* Configure the USB VCP port */ uint8_t hwsettings_usb_vcpport; HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); @@ -1101,15 +1104,15 @@ void PIOS_Board_Init(void) { case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + uint32_t pios_usb_cdc_id; + if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); @@ -1118,25 +1121,29 @@ void PIOS_Board_Init(void) { #endif /* PIOS_INCLUDE_COM */ break; case HWSETTINGS_USB_VCPPORT_COMBRIDGE: +#if defined(PIOS_INCLUDE_COM) { - uint32_t pios_usb_vcp_id; - if (PIOS_USB_COM_Init(&pios_usb_vcp_id, &pios_usb_com_cdc_cfg, pios_usb_id)) { + uint32_t pios_usb_cdc_id; + if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_vcp_id, + if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { PIOS_Assert(0); } } +#endif /* PIOS_INCLUDE_COM */ break; } +#endif /* PIOS_INCLUDE_USB_CDC */ +#if defined(PIOS_INCLUDE_USB_HID) /* Configure the usb HID port */ uint8_t hwsettings_usb_hidport; HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); @@ -1147,15 +1154,15 @@ void PIOS_Board_Init(void) { case HWSETTINGS_USB_HIDPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); @@ -1165,9 +1172,10 @@ void PIOS_Board_Init(void) { break; } - #endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ + /* Configure the main IO port */ uint8_t hwsettings_DSMxBind; HwSettingsDSMxBindGet(&hwsettings_DSMxBind); diff --git a/flight/CopterControl/System/pios_usb_board_data.c b/flight/CopterControl/System/pios_usb_board_data.c new file mode 100644 index 000000000..68761609a --- /dev/null +++ b/flight/CopterControl/System/pios_usb_board_data.c @@ -0,0 +1,20 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const uint8_t PIOS_USB_BOARD_StringProductID[] = { + sizeof(PIOS_USB_BOARD_StringProductID), + USB_DESC_TYPE_STRING, + 'C', 0, + 'o', 0, + 'p', 0, + 't', 0, + 'e', 0, + 'r', 0, + 'C', 0, + 'o', 0, + 'n', 0, + 't', 0, + 'r', 0, + 'o', 0, + 'l', 0, +}; + diff --git a/flight/CopterControl/System/pios_usb_hid_desc.c b/flight/CopterControl/System/pios_usb_hid_desc.c deleted file mode 100644 index b57191d67..000000000 --- a/flight/CopterControl/System/pios_usb_hid_desc.c +++ /dev/null @@ -1,318 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_desc.c -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Descriptors for Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -#include "usb_lib.h" -#include "pios_usb.h" -#include "pios_usb_hid.h" -#include "pios_usb_hid_desc.h" - -// ************************************************* -// USB Standard Device Descriptor - -const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] = - { - 0x12, // bLength - USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType - 0x00, // bcdUSB - 0x02, - 0x02, // bDeviceClass (Communication Device) - 0x00, // bDeviceSubClass (Use Interface SubClass) - 0x00, // bDeviceProtocol - 0x40, // bMaxPacketSize40 - (uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor - (uint8_t)((PIOS_USB_VENDOR_ID) >> 8), - (uint8_t)((PIOS_USB_PRODUCT_ID) & 0xff), // idProduct - (uint8_t)((PIOS_USB_PRODUCT_ID) >> 8), - (uint8_t)((PIOS_USB_VERSION_ID) & 0xff), // bcdDevice - (uint8_t)((PIOS_USB_VERSION_ID) >> 8), - 0x01, // Index of string descriptor describing manufacturer - 0x02, // Index of string descriptor describing product - 0x03, // Index of string descriptor describing the device serial number - 0x01 // bNumConfigurations - }; - -// ************************************************* -// USB Configuration Descriptor -// All Descriptors (Configuration, Interface, Endpoint, Class, Vendor - -const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = - { - 0x09, // bLength: Configuation Descriptor size - USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration - PIOS_HID_SIZ_CONFIG_DESC, // wTotalLength: Bytes returned - 0x00, - 0x03, // bNumInterfaces: 3 interfaces - 0x01, // bConfigurationValue: Configuration value - 0x00, // iConfiguration: Index of string descriptor describing the configuration - 0xC0, // bmAttributes: Bus powered - 0x7D, // MaxPower 250 mA - needed to power the RF transmitter - - // *************** Interface Association Descriptor ***************** - // 9 - 0x08, /* bLength */ - 0x0B, /* bDescriptorType (IAD) */ - 0x01, /* bFirstInterface */ - 0x02, /* bInterfaceCount */ - 0x02, /* bFunctionClass (Communication Class) */ - 0x02, /* bFunctionSubClass (Abstract Control Model) */ - 0x00, /* bFunctionProtocol (V.25ter, Common AT commands) */ - 0x00, /* iInterface */ - - // ************** Descriptor of Custom HID interface **************** - // 17 - 0x09, // bLength: Interface Descriptor size - USB_INTERFACE_DESCRIPTOR_TYPE, // bDescriptorType: Interface descriptor type - 0x00, // bInterfaceNumber: Number of Interface - 0x00, // bAlternateSetting: Alternate setting - 0x02, // bNumEndpoints - 0x03, // bInterfaceClass: HID - 0x00, // bInterfaceSubClass : 1=BOOT, 0=no boot - 0x00, // nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse - 0, // iInterface: Index of string descriptor - - // ******************** Descriptor of Custom HID HID ******************** - // 26 - 0x09, // bLength: HID Descriptor size - HID_DESCRIPTOR_TYPE, // bDescriptorType: HID - 0x10, // bcdHID: HID Class Spec release number - 0x01, - 0x00, // bCountryCode: Hardware target country - 0x02, // bNumDescriptors: Number of HID class descriptors to follow - 0x22, // bDescriptorType - PIOS_HID_SIZ_REPORT_DESC, // wItemLength: Total length of Report descriptor - 0x00, - - // ******************** Descriptor of Custom HID endpoints ****************** - // 35 - 0x07, // bLength: Endpoint Descriptor size - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: - - 0x81, // bEndpointAddress: Endpoint Address (IN) - 0x03, // bmAttributes: Interrupt endpoint - 0x40, // wMaxPacketSize: 2 Bytes max - 0x00, - 0x04, // bInterval: Polling Interval in ms - - // 42 - 0x07, // bLength: Endpoint Descriptor size - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: (Endpoint descriptor type) - 0x01, // bEndpointAddress: Endpoint Address (OUT) - 0x03, // bmAttributes: Interrupt endpoint - 0x40, // wMaxPacketSize: 2 Bytes max - 0x00, - 0x04, // bInterval: Polling Interval in ms - - // ************** Descriptor of CDC Control interface **************** - // 49 - 0x09, /* bLength */ - USB_INTERFACE_DESCRIPTOR_TYPE, /* bDescriptorType */ - 0x01, /* bInterfaceNumber */ - 0x00, /* bAlternateSetting */ - 0x01, /* bNumEndpoints */ - 0x02, /* bInterfaceClass (Communication Class) */ - 0x02, /* bInterfaceSubClass (Abstract Control Model) */ - 0x01, /* bFunctionProtocol (V.25ter, Common AT commands) */ - 0x00, /* iInterface */ - - // ************** Header Functional Descriptor **************** - // 58 - 0x05, /* bLength */ - 0x24, /* bDescriptorType (Class Specific Interface) */ - 0x00, /* bDescriptorSubtype (CDC Header Functional) */ - 0x10, /* bcdCDC (CDC spec release number, 1.10 */ - 0x01, - - // ************** Call Management Functional Descriptor **************** - // 63 - 0x05, /* bLength */ - 0x24, /* bDescriptorType (Class Specific Interface) */ - 0x01, /* bDescriptorSubtype (CDC Call Management) */ - 0x00, /* bmCapabilities (No call handling) */ - 0x02, /* bDataInterface (Interface number of Data Class Interface) */ - - // ************** Abstract Control Management Functional Descriptor **************** - // 68 - 0x04, /* bLength */ - 0x24, /* bDescriptorType (Class Specific Interface) */ - 0x02, /* bDescriptorSubtype (CDC Abstract Control Management) */ - 0x00, /* bmCapabilities */ - - // ************** Union Functional Descriptor **************** - // 72 - 0x05, /* bLength */ - 0x24, /* bDescriptorType (Class Specific Interface) */ - 0x06, /* bDescriptorSubtype (CDC Union) */ - 0x01, /* bMasterInterface (Interface number of master interface in the union) */ - 0x02, /* bSlaveInterface (Interface number of slave interface in the union) */ - - // ************** Endpoint2 Functional Descriptor **************** - // 77 - 0x07, /* bLength */ - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType (Endpoint) - 0x82, /* bEndpointAddress*/ - 0x03, /* bmAttributes (Interrupt Endpoint) */ - 0x40, /* wMaxPacketSize (bytes) */ - 0x00, - 0x04, /* bInterval (ms) */ - - // ************** Descriptor of CDC Data interface **************** - // 84 - 0x09, /* bLength */ - USB_INTERFACE_DESCRIPTOR_TYPE, /* bDescriptorType */ - 0x02, /* bInterfaceNumber */ - 0x00, /* bAlternateSetting */ - 0x02, /* bNumEndpoints */ - 0x0A, /* bInterfaceClass (Data Interface Class) */ - 0x00, /* bInterfaceSubClass */ - 0x00, /* bFunctionProtocol (No class specific protocol) */ - 0x00, /* iInterface */ - - // ************** Endpoint3 Functional Descriptor **************** - // 93 - 0x07, /* bLength */ - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType (Endpoint) - 0x83, /* bEndpointAddress*/ - 0x02, /* bmAttributes (Bulk) */ - 0x40, /* wMaxPacketSize (bytes) */ - 0x00, - 0x00, /* bInterval (ms) */ - - // ************** Endpoint3 Functional Descriptor **************** - // 100 - 0x07, /* bLength */ - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType (Endpoint) - 0x03, /* bEndpointAddress*/ - 0x02, /* bmAttributes (Bulk) */ - 0x40, /* wMaxPacketSize (bytes) */ - 0x00, - 0x00 /* bInterval (ms) */ - - // 107 - }; - -// ************************************************* - - const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] = - { - 0x06, 0x9c, 0xff, // USAGE_PAGE (Vendor Page: 0xFF00) - 0x09, 0x01, // USAGE (Demo Kit) - 0xa1, 0x01, // COLLECTION (Application) - // 7 - - // Data 1 - 0x85, 0x01, // REPORT_ID (1) - 0x09, 0x02, // USAGE (LED 1) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0xff, // LOGICAL_MAXIMUM (255) - 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) - 0x81, 0x83, // INPUT (Const,Var,Array) - // 21 - - // Data 1 - 0x85, 0x02, // REPORT_ID (2) - 0x09, 0x03, // USAGE (LED 1) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0xff, // LOGICAL_MAXIMUM (255) - 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) - 0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol) - // 35 - - 0xc0 // END_COLLECTION - }; - -// ************************************************* -// USB String Descriptors (optional) - -const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] = - { - PIOS_HID_SIZ_STRING_LANGID, - USB_STRING_DESCRIPTOR_TYPE, - 0x09, 0x08 // LangID = 0x0809: UK. English -// 0x09, 0x04 // LangID = 0x0409: U.S. English - }; - -const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] = - { - PIOS_HID_SIZ_STRING_VENDOR, // Size of Vendor string - USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType - // Manufacturer: "STMicroelectronics" - 'o', 0, - 'p', 0, - 'e', 0, - 'n', 0, - 'p', 0, - 'i', 0, - 'l', 0, - 'o', 0, - 't', 0, - '.', 0, - 'o', 0, - 'r', 0, - 'g', 0 - }; - -const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] = - { - PIOS_HID_SIZ_STRING_PRODUCT, // bLength - USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType - 'C', 0, - 'o', 0, - 'p', 0, - 't', 0, - 'e', 0, - 'r', 0, - 'C', 0, - 'o', 0, - 'n', 0, - 't', 0, - 'r', 0, - 'o', 0, - 'l', 0 - }; - -uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] = - { - PIOS_HID_SIZ_STRING_SERIAL, // bLength - USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0 - }; - -// ************************************************* diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index 23b1a0549..d01085591 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -35,6 +35,7 @@ #include "flighttelemetrystats.h" #include "gcstelemetrystats.h" #include "hwsettings.h" +#include "pios_usb.h" /* PIOS_USB_* */ // Private constants #define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE @@ -308,12 +309,12 @@ static void telemetryRxTask(void *parameters) // Task loop while (1) { -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) // Determine input port (USB takes priority over telemetry port) - if (PIOS_USB_HID_CheckAvailable(0) && PIOS_COM_TELEM_USB) { + if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) { inputPort = PIOS_COM_TELEM_USB; } else -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ { inputPort = telemetryPort; } @@ -347,11 +348,11 @@ static int32_t transmitData(uint8_t * data, int32_t length) uint32_t outputPort; // Determine input port (USB takes priority over telemetry port) -#if defined(PIOS_INCLUDE_USB_HID) - if (PIOS_USB_HID_CheckAvailable(0) && PIOS_COM_TELEM_USB) { +#if defined(PIOS_INCLUDE_USB) + if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB) { outputPort = PIOS_COM_TELEM_USB; } else -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ { outputPort = telemetryPort; } diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 73f3f766c..8f9d9bef9 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -180,13 +180,13 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c # PIOS USB related files (seperated to make code maintenance more easy) +SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c -#SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c -SRC += $(PIOSSTM32F10X)/pios_usb_com.c +SRC += $(OPSYSTEM)/pios_usb_board_data.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_crc.c diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 491bc4be9..3ec902e8e 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -55,8 +55,8 @@ #define PIOS_INCLUDE_SPI #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USART +#define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_COM #define PIOS_INCLUDE_BMP085 //#define PIOS_INCLUDE_HCSR04 #define PIOS_INCLUDE_OPAHRS diff --git a/flight/OpenPilot/System/inc/pios_usb_board_data.h b/flight/OpenPilot/System/inc/pios_usb_board_data.h new file mode 100644 index 000000000..067cf31e6 --- /dev/null +++ b/flight/OpenPilot/System/inc/pios_usb_board_data.h @@ -0,0 +1,52 @@ +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64 +#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32 +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 4 + +#include "pios_usb_defs.h" /* struct usb_* */ + +struct usb_board_config { + struct usb_configuration_desc config; + struct usb_interface_association_desc iad; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; + struct usb_interface_desc cdc_control_if; + struct usb_cdc_header_func_desc cdc_header; + struct usb_cdc_callmgmt_func_desc cdc_callmgmt; + struct usb_cdc_acm_func_desc cdc_acm; + struct usb_cdc_union_func_desc cdc_union; + struct usb_endpoint_desc cdc_mgmt_in; + struct usb_interface_desc cdc_data_if; + struct usb_endpoint_desc cdc_in; + struct usb_endpoint_desc cdc_out; +} __attribute__((packed)); + +extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; +extern const struct usb_board_config PIOS_USB_BOARD_Configuration; +extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; + +/* NOTE NOTE NOTE + * + * Care must be taken to ensure that the _actual_ contents of + * these arrays (in each board's pios_usb_board_data.c) is no + * smaller than the stated sizes here or these descriptors + * will end up with trailing zeros on the wire. + * + * The compiler will catch any time that these definitions are + * too small. + */ +extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; +extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; +extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; +extern uint8_t PIOS_USB_BOARD_StringSerial[52]; + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_FW) + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index df2ea246d..314a8e24d 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1041,8 +1041,8 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; #endif /* PIOS_INCLUDE_RCVR */ -#if defined(PIOS_INCLUDE_USB_HID) -#include "pios_usb_hid_priv.h" +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { @@ -1054,19 +1054,18 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ -#if defined(PIOS_INCLUDE_USB_COM) -#include +#if defined(PIOS_INCLUDE_USB_HID) +#include -const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { - .type = PIOS_USB_COM_HID, +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; -#endif /* PIOS_INCLUDE_USB_COM */ +#endif /* PIOS_INCLUDE_USB_HID */ uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; @@ -1286,25 +1285,28 @@ void PIOS_Board_Init(void) { break; } -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) uint32_t pios_usb_id; - PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); -#if defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { + PIOS_Assert(0); + } +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_COM */ -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ + +#endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { diff --git a/flight/OpenPilot/System/pios_usb_board_data.c b/flight/OpenPilot/System/pios_usb_board_data.c new file mode 100644 index 000000000..c23cc2891 --- /dev/null +++ b/flight/OpenPilot/System/pios_usb_board_data.c @@ -0,0 +1,15 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const uint8_t PIOS_USB_BOARD_StringProductID[] = { + sizeof(PIOS_USB_BOARD_StringProductID), + USB_DESC_TYPE_STRING, + 'O', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'P', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, +}; diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 8221d659b..437a49109 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -271,10 +271,11 @@ extern uint32_t pios_com_telem_usb_id; //------------------------- // USB //------------------------- +#define PIOS_USB_HID_MAX_DEVS 1 + #define PIOS_USB_ENABLED 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC #define PIOS_USB_MAX_DEVS 1 -#define PIOS_USB_COM_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15 #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15 #define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h index e29a6249b..b918ead67 100644 --- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h @@ -399,7 +399,7 @@ extern uint32_t pios_com_telem_usb_id; #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 #define PIOS_IRQ_USB_PRIORITY 8 #endif -#define PIOS_USB_COM_MAX_DEVS 1 +#define PIOS_USB_HID_MAX_DEVS 1 // ***************************************************************** // RFM22 diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 2d1c80038..a7754c2ed 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -311,7 +311,7 @@ extern uint32_t pios_com_aux_id; #define PIOS_USB_ENABLED 1 #define PIOS_USB_DETECT_GPIO_PORT GPIOC #define PIOS_USB_MAX_DEVS 1 -#define PIOS_USB_COM_MAX_DEVS 1 +#define PIOS_USB_HID_MAX_DEVS 1 #define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_4 #define PIOS_USB_DETECT_EXTI_LINE EXTI_Line4 #define PIOS_IRQ_USB_PRIORITY PIOS_IRQ_PRIO_MID diff --git a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c new file mode 100644 index 000000000..776a5be87 --- /dev/null +++ b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c @@ -0,0 +1,247 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { + .bLength = sizeof(struct usb_device_desc), + .bDescriptorType = USB_DESC_TYPE_DEVICE, + .bcdUSB = htousbs(0x0200), + .bDeviceClass = 0x02, + .bDeviceSubClass = 0x00, + .bDeviceProtocol = 0x00, + .bMaxPacketSize0 = 64, /* Must be 64 for high-speed devices */ + .idVendor = htousbs(USB_VENDOR_ID_OPENPILOT), + .idProduct = htousbs(PIOS_USB_BOARD_PRODUCT_ID), + .bcdDevice = htousbs(PIOS_USB_BOARD_DEVICE_VER), + .iManufacturer = 1, + .iProduct = 2, + .iSerialNumber = 3, + .bNumConfigurations = 1, +}; + +const struct usb_board_config PIOS_USB_BOARD_Configuration = { + .config = { + .bLength = sizeof(struct usb_configuration_desc), + .bDescriptorType = USB_DESC_TYPE_CONFIGURATION, + .wTotalLength = htousbs(sizeof(struct usb_board_config)), + .bNumInterfaces = 3, + .bConfigurationValue = 1, + .iConfiguration = 0, + .bmAttributes = 0xC0, + .bMaxPower = 250/2, /* in units of 2ma */ + }, + .iad = { + .bLength = sizeof(struct usb_interface_association_desc), + .bDescriptorType = USB_DESC_TYPE_IAD, + .bFirstInterface = 1, + .bInterfaceCount = 2, + .bFunctionClass = 2, /* Communication */ + .bFunctionSubClass = 2, /* Abstract Control Model */ + .bFunctionProtocol = 0, /* V.25ter, Common AT commands */ + .iInterface = 0, + }, + .hid_if = { + .bLength = sizeof(struct usb_interface_desc), + .bDescriptorType = USB_DESC_TYPE_INTERFACE, + .bInterfaceNumber = 0, + .bAlternateSetting = 0, + .bNumEndpoints = 2, + .bInterfaceClass = USB_INTERFACE_CLASS_HID, + .bInterfaceSubClass = 0, /* no boot */ + .nInterfaceProtocol = 0, /* none */ + .iInterface = 0, + }, + .hid = { + .bLength = sizeof(struct usb_hid_desc), + .bDescriptorType = USB_DESC_TYPE_HID, + .bcdHID = htousbs(0x0110), + .bCountryCode = 0, + .bNumDescriptors = 1, + .bClassDescriptorType = USB_DESC_TYPE_REPORT, + .wItemLength = htousbs(sizeof(PIOS_USB_BOARD_HidReportDescriptor)), + }, + .hid_in = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_IN(1), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), + .bInterval = 4, /* ms */ + }, + .hid_out = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_OUT(1), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), + .bInterval = 4, /* ms */ + }, + .cdc_control_if = { + .bLength = sizeof(struct usb_interface_desc), + .bDescriptorType = USB_DESC_TYPE_INTERFACE, + .bInterfaceNumber = 1, + .bAlternateSetting = 0, + .bNumEndpoints = 1, + .bInterfaceClass = USB_INTERFACE_CLASS_CDC, + .bInterfaceSubClass = 2, /* Abstract Control Model */ + .nInterfaceProtocol = 1, /* V.25ter, Common AT commands */ + .iInterface = 0, + }, + .cdc_header = { + .bLength = sizeof(struct usb_cdc_header_func_desc), + .bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC, + .bDescriptorSubType = USB_CDC_DESC_SUBTYPE_HEADER, + .bcdCDC = htousbs(0x0110), + }, + .cdc_callmgmt = { + .bLength = sizeof(struct usb_cdc_callmgmt_func_desc), + .bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC, + .bDescriptorSubType = USB_CDC_DESC_SUBTYPE_CALLMGMT, + .bmCapabilities = 0x00, /* No call handling */ + .bDataInterface = 2, + }, + .cdc_acm = { + .bLength = sizeof(struct usb_cdc_acm_func_desc), + .bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC, + .bDescriptorSubType = USB_CDC_DESC_SUBTYPE_ABSTRACT_CTRL, + .bmCapabilities = 0, + }, + .cdc_union = { + .bLength = sizeof(struct usb_cdc_union_func_desc), + .bDescriptorType = USB_DESC_TYPE_CLASS_SPECIFIC, + .bDescriptorSubType = USB_CDC_DESC_SUBTYPE_UNION, + .bMasterInterface = 1, + .bSlaveInterface = 2, + }, + .cdc_mgmt_in = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_IN(2), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(16), + .bInterval = 4, /* ms */ + }, + .cdc_data_if = { + .bLength = sizeof(struct usb_interface_desc), + .bDescriptorType = USB_DESC_TYPE_INTERFACE, + .bInterfaceNumber = 2, + .bAlternateSetting = 0, + .bNumEndpoints = 2, + .bInterfaceClass = USB_INTERFACE_CLASS_DATA, + .bInterfaceSubClass = 0, + .nInterfaceProtocol = 0, /* No class specific protocol */ + .iInterface = 0, + }, + .cdc_in = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_IN(3), + .bmAttributes = USB_EP_ATTR_TT_BULK, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_CDC_DATA_LENGTH), + .bInterval = 0, /* ms */ + }, + .cdc_out = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_OUT(3), + .bmAttributes = USB_EP_ATTR_TT_BULK, /* Bulk */ + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_CDC_DATA_LENGTH), + .bInterval = 0, /* ms */ + }, +}; + +const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = { + HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE), + 0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x01, /* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */ + + HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION), + 0x01, /* Application */ + + /* Device -> Host emulated serial channel */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), + 0x01, /* OpenPilot emulated serial channel (Device -> Host) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x02, + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), + 0x00, /* Values range from min = 0x00 */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), + 0xFF, /* Values range to max = 0xFF */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), + 0x08, /* 8 bits wide */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), + PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ + HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT), + 0x03, /* Variable, Constant (read-only) */ + + /* Host -> Host emulated serial channel */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), + 0x02, /* OpenPilot emulated Serial Channel (Host -> Device) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x02, + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), + 0x00, /* Values range from min = 0x00 */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), + 0xFF, /* Values range to max = 0xFF */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), + 0x08, /* 8 bits wide */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), + PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ + HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT), + 0x82, /* Volatile, Variable */ + + HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION), +}; + +const struct usb_string_langid PIOS_USB_BOARD_StringLangID = { + .bLength = sizeof(PIOS_USB_BOARD_StringLangID), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +const uint8_t PIOS_USB_BOARD_StringVendorID[] = { + sizeof(PIOS_USB_BOARD_StringVendorID), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +uint8_t PIOS_USB_BOARD_StringSerial[] = { + sizeof(PIOS_USB_BOARD_StringSerial), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; diff --git a/flight/PiOS/Common/pios_usb_desc_hid_only.c b/flight/PiOS/Common/pios_usb_desc_hid_only.c new file mode 100644 index 000000000..68e24e491 --- /dev/null +++ b/flight/PiOS/Common/pios_usb_desc_hid_only.c @@ -0,0 +1,165 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { + .bLength = sizeof(struct usb_device_desc), + .bDescriptorType = USB_DESC_TYPE_DEVICE, + .bcdUSB = htousbs(0x0200), + .bDeviceClass = 0x00, + .bDeviceSubClass = 0x00, + .bDeviceProtocol = 0x00, + .bMaxPacketSize0 = 64, /* Must be 64 for high-speed devices */ + .idVendor = htousbs(USB_VENDOR_ID_OPENPILOT), + .idProduct = htousbs(PIOS_USB_BOARD_PRODUCT_ID), + .bcdDevice = htousbs(PIOS_USB_BOARD_DEVICE_VER), + .iManufacturer = 1, + .iProduct = 2, + .iSerialNumber = 3, + .bNumConfigurations = 1, +}; + +const struct usb_board_config PIOS_USB_BOARD_Configuration = { + .config = { + .bLength = sizeof(struct usb_configuration_desc), + .bDescriptorType = USB_DESC_TYPE_CONFIGURATION, + .wTotalLength = htousbs(sizeof(struct usb_board_config)), + .bNumInterfaces = 1, + .bConfigurationValue = 1, + .iConfiguration = 0, + .bmAttributes = 0xC0, + .bMaxPower = 250/2, /* in units of 2ma */ + }, + .hid_if = { + .bLength = sizeof(struct usb_interface_desc), + .bDescriptorType = USB_DESC_TYPE_INTERFACE, + .bInterfaceNumber = 0, + .bAlternateSetting = 0, + .bNumEndpoints = 2, + .bInterfaceClass = USB_INTERFACE_CLASS_HID, + .bInterfaceSubClass = 0, /* no boot */ + .nInterfaceProtocol = 0, /* none */ + .iInterface = 0, + }, + .hid = { + .bLength = sizeof(struct usb_hid_desc), + .bDescriptorType = USB_DESC_TYPE_HID, + .bcdHID = htousbs(0x0110), + .bCountryCode = 0, + .bNumDescriptors = 1, + .bClassDescriptorType = USB_DESC_TYPE_REPORT, + .wItemLength = htousbs(sizeof(PIOS_USB_BOARD_HidReportDescriptor)), + }, + .hid_in = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_IN(1), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), + .bInterval = 4, /* ms */ + }, + .hid_out = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_OUT(1), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), + .bInterval = 4, /* ms */ + }, +}; + +const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = { + HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE), + 0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x01, /* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */ + + HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION), + 0x01, /* Application */ + + /* Device -> Host emulated serial channel */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), + 0x01, /* OpenPilot emulated serial channel (Device -> Host) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x02, + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), + 0x00, /* Values range from min = 0x00 */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), + 0xFF, /* Values range to max = 0xFF */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), + 0x08, /* 8 bits wide */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), + PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ + HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT), + 0x03, /* Variable, Constant (read-only) */ + + /* Host -> Host emulated serial channel */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), + 0x02, /* OpenPilot emulated Serial Channel (Host -> Device) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x02, + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), + 0x00, /* Values range from min = 0x00 */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), + 0xFF, /* Values range to max = 0xFF */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), + 0x08, /* 8 bits wide */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), + PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ + HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT), + 0x82, /* Volatile, Variable */ + + HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION), +}; + +const struct usb_string_langid PIOS_USB_BOARD_StringLangID = { + .bLength = sizeof(PIOS_USB_BOARD_StringLangID), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +const uint8_t PIOS_USB_BOARD_StringVendorID[] = { + sizeof(PIOS_USB_BOARD_StringVendorID), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +uint8_t PIOS_USB_BOARD_StringSerial[] = { + sizeof(PIOS_USB_BOARD_StringSerial), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; diff --git a/flight/PiOS/STM32F10x/pios_usb.c b/flight/PiOS/STM32F10x/pios_usb.c new file mode 100644 index 000000000..df17777c7 --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_usb.c @@ -0,0 +1,225 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB USB Setup Functions + * @brief PIOS USB device implementation + * @{ + * + * @file pios_usb.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB device functions (STM32 dependent code) + * @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 + */ + +/* Project Includes */ +#include "pios.h" +#include "usb_lib.h" +#include "pios_usb_board_data.h" +#include "stm32f10x.h" + +#include "pios_usb.h" +#include "pios_usb_priv.h" + +#if defined(PIOS_INCLUDE_USB_HID) + +/* Rx/Tx status */ +static uint8_t transfer_possible = 0; + +enum pios_usb_dev_magic { + PIOS_USB_DEV_MAGIC = 0x17365904, +}; + +struct pios_usb_dev { + enum pios_usb_dev_magic magic; + const struct pios_usb_cfg * cfg; +}; + +#if 0 +static bool PIOS_USB_validate(struct pios_usb_dev * usb_dev) +{ + return (usb_dev->magic == PIOS_USB_DEV_MAGIC); +} +#endif + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_usb_dev * PIOS_USB_alloc(void) +{ + struct pios_usb_dev * usb_dev; + + usb_dev = (struct pios_usb_dev *)pvPortMalloc(sizeof(*usb_dev)); + if (!usb_dev) return(NULL); + + usb_dev->magic = PIOS_USB_DEV_MAGIC; + return(usb_dev); +} +#else +static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS]; +static uint8_t pios_usb_num_devs; +static struct pios_usb_dev * PIOS_USB_alloc(void) +{ + struct pios_usb_dev * usb_dev; + + if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) { + return (NULL); + } + + usb_dev = &pios_usb_devs[pios_usb_num_devs++]; + usb_dev->magic = PIOS_USB_DEV_MAGIC; + + return (usb_dev); +} +#endif + + +/** + * Initialises USB COM layer + * \return < 0 if initialisation failed + * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions + */ +static uint32_t pios_usb_com_id; +int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg) +{ + PIOS_Assert(usb_id); + PIOS_Assert(cfg); + + struct pios_usb_dev * usb_dev; + + usb_dev = (struct pios_usb_dev *) PIOS_USB_alloc(); + if (!usb_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + usb_dev->cfg = cfg; + + PIOS_USB_Reenumerate(); + + /* + * This is a horrible hack to make this available to + * the interrupt callbacks. This should go away ASAP. + */ + pios_usb_com_id = (uint32_t) usb_dev; + + /* Enable the USB Interrupts */ + NVIC_Init(&usb_dev->cfg->irq.init); + + /* Select USBCLK source */ + RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); + /* Enable the USB clock */ + RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE); + + /* Update the USB serial number from the chip */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_USB_BOARD_StringSerial[0]; i++) { + PIOS_USB_BOARD_StringSerial[2 + 2 * i] = sn[i]; + } + + USB_Init(); + USB_SIL_Init(); + + *usb_id = (uint32_t) usb_dev; + + return 0; /* No error */ + +out_fail: + return(-1); +} + +/** + * This function is called by the USB driver on cable connection/disconnection + * \param[in] connected connection status (1 if connected) + * \return < 0 on errors + * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions + */ +int32_t PIOS_USB_ChangeConnectionState(uint32_t Connected) +{ + // In all cases: re-initialise USB HID driver + if (Connected) { + transfer_possible = 1; + + //TODO: Check SetEPRxValid(ENDP1); + +#if defined(USB_LED_ON) + USB_LED_ON; // turn the USB led on +#endif + } else { + // Cable disconnected: disable transfers + transfer_possible = 0; + +#if defined(USB_LED_OFF) + USB_LED_OFF; // turn the USB led off +#endif + } + + return 0; +} + +int32_t PIOS_USB_Reenumerate() +{ + /* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */ + _SetCNTR(CNTR_FRES | CNTR_PDWN); + + /* Using a "dirty" method to force a re-enumeration: */ + /* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */ + /* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */ + GPIO_InitTypeDef GPIO_InitStructure; + GPIO_StructInit(&GPIO_InitStructure); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + PIOS_DELAY_WaitmS(50); + + /* Release power-down, still hold reset */ + _SetCNTR(CNTR_PDWN); + PIOS_DELAY_WaituS(5); + + /* CNTR_FRES = 0 */ + _SetCNTR(0); + + /* Clear pending interrupts */ + _SetISTR(0); + + /* Configure USB clock */ + /* USBCLK = PLLCLK / 1.5 */ + RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); + /* Enable USB clock */ + RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE); + + return 0; +} + +/** + * This function returns the connection status of the USB HID interface + * \return 1: interface available + * \return 0: interface not available + * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions + */ +bool PIOS_USB_CheckAvailable(uint8_t id) +{ + return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0; +} + +#endif + +/** + * @} + * @} + */ diff --git a/flight/PiOS/STM32F10x/pios_usb_cdc.c b/flight/PiOS/STM32F10x/pios_usb_cdc.c new file mode 100644 index 000000000..994c276ea --- /dev/null +++ b/flight/PiOS/STM32F10x/pios_usb_cdc.c @@ -0,0 +1,400 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_COM USB COM Functions + * @brief PIOS USB COM implementation for CDC interfaces + * @notes This implements a CDC Serial Port + * @{ + * + * @file pios_usb_com_cdc.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB COM functions (STM32 dependent code) + * @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 + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_USB_CDC) + +#include "pios_usb.h" +#include "pios_usb_cdc_priv.h" +#include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */ + +static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context); +static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context); +static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail); +static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail); + +const struct pios_com_driver pios_usb_cdc_com_driver = { + .tx_start = PIOS_USB_CDC_TxStart, + .rx_start = PIOS_USB_CDC_RxStart, + .bind_tx_cb = PIOS_USB_CDC_RegisterTxCallback, + .bind_rx_cb = PIOS_USB_CDC_RegisterRxCallback, +}; + +enum pios_usb_cdc_dev_magic { + PIOS_USB_CDC_DEV_MAGIC = 0xAABBCCDD, +}; + +struct pios_usb_cdc_dev { + enum pios_usb_cdc_dev_magic magic; + const struct pios_usb_cdc_cfg * cfg; + + uint32_t lower_id; + + pios_com_callback rx_in_cb; + uint32_t rx_in_context; + pios_com_callback tx_out_cb; + uint32_t tx_out_context; + + uint8_t rx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH]; + uint8_t tx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH]; + + uint32_t rx_dropped; + uint32_t rx_oversize; +}; + +static bool PIOS_USB_CDC_validate(struct pios_usb_cdc_dev * usb_cdc_dev) +{ + return (usb_cdc_dev->magic == PIOS_USB_CDC_DEV_MAGIC); +} + +#if defined(PIOS_INCLUDE_FREERTOS) +static struct pios_usb_cdc_dev * PIOS_USB_CDC_alloc(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev; + + usb_cdc_dev = (struct pios_usb_cdc_dev *)pvPortMalloc(sizeof(*usb_cdc_dev)); + if (!usb_cdc_dev) return(NULL); + + usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC; + return(usb_cdc_dev); +} +#else +static struct pios_usb_cdc_dev pios_usb_cdc_devs[PIOS_USB_CDC_MAX_DEVS]; +static uint8_t pios_usb_cdc_num_devs; +static struct pios_usb_cdc_dev * PIOS_USB_CDC_alloc(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev; + + if (pios_usb_cdc_num_devs >= PIOS_USB_CDC_MAX_DEVS) { + return (NULL); + } + + usb_cdc_dev = &pios_usb_cdc_devs[pios_usb_cdc_num_devs++]; + usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC; + + return (usb_cdc_dev); +} +#endif + +static void PIOS_USB_CDC_DATA_EP_IN_Callback(void); +static void PIOS_USB_CDC_DATA_EP_OUT_Callback(void); +static void PIOS_USB_CDC_CTRL_EP_IN_Callback(void); + +static uint32_t pios_usb_cdc_id; + +/* Need a better way to pull these in */ +extern void (*pEpInt_IN[7])(void); +extern void (*pEpInt_OUT[7])(void); + +int32_t PIOS_USB_CDC_Init(uint32_t * usbcdc_id, const struct pios_usb_cdc_cfg * cfg, uint32_t lower_id) +{ + PIOS_Assert(usbcdc_id); + PIOS_Assert(cfg); + + struct pios_usb_cdc_dev * usb_cdc_dev; + + usb_cdc_dev = (struct pios_usb_cdc_dev *) PIOS_USB_CDC_alloc(); + if (!usb_cdc_dev) goto out_fail; + + /* Bind the configuration to the device instance */ + usb_cdc_dev->cfg = cfg; + usb_cdc_dev->lower_id = lower_id; + + pios_usb_cdc_id = (uint32_t) usb_cdc_dev; + + /* Bind lower level callbacks into the USB infrastructure */ + pEpInt_OUT[cfg->ctrl_tx_ep - 1] = PIOS_USB_CDC_CTRL_EP_IN_Callback; + pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_CDC_DATA_EP_IN_Callback; + pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_CDC_DATA_EP_OUT_Callback; + + *usbcdc_id = (uint32_t) usb_cdc_dev; + + return 0; + +out_fail: + return -1; +} + + + +static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + usb_cdc_dev->rx_in_context = context; + usb_cdc_dev->rx_in_cb = rx_in_cb; +} + +static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + usb_cdc_dev->tx_out_context = context; + usb_cdc_dev->tx_out_cb = tx_out_cb; +} + +static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail) { + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) { + return; + } + + // If endpoint was stalled and there is now space make it valid + PIOS_IRQ_Disable(); + if ((GetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep) != EP_RX_VALID) && + (rx_bytes_avail >= sizeof(usb_cdc_dev->rx_packet_buffer))) { + SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_VALID); + } + PIOS_IRQ_Enable(); +} + +static void PIOS_USB_CDC_SendData(struct pios_usb_cdc_dev * usb_cdc_dev) +{ + uint16_t bytes_to_tx; + + if (!usb_cdc_dev->tx_out_cb) { + return; + } + + bool need_yield = false; + bytes_to_tx = (usb_cdc_dev->tx_out_cb)(usb_cdc_dev->tx_out_context, + usb_cdc_dev->tx_packet_buffer, + sizeof(usb_cdc_dev->tx_packet_buffer), + NULL, + &need_yield); + if (bytes_to_tx == 0) { + return; + } + + UserToPMABufferCopy(usb_cdc_dev->tx_packet_buffer, + GetEPTxAddr(usb_cdc_dev->cfg->data_tx_ep), + bytes_to_tx); + SetEPTxCount(usb_cdc_dev->cfg->data_tx_ep, bytes_to_tx); + SetEPTxValid(usb_cdc_dev->cfg->data_tx_ep); + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) { + return; + } + + if (GetEPTxStatus(usb_cdc_dev->cfg->data_tx_ep) == EP_TX_VALID) { + /* Endpoint is already transmitting */ + return; + } + + PIOS_USB_CDC_SendData(usb_cdc_dev); +} + +static void PIOS_USB_CDC_DATA_EP_IN_Callback(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + PIOS_USB_CDC_SendData(usb_cdc_dev); +} + +static void PIOS_USB_CDC_DATA_EP_OUT_Callback(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + uint32_t DataLength; + + /* Get the number of received data on the selected Endpoint */ + DataLength = GetEPRxCount(usb_cdc_dev->cfg->data_rx_ep); + if (DataLength > sizeof(usb_cdc_dev->rx_packet_buffer)) { + usb_cdc_dev->rx_oversize++; + DataLength = sizeof(usb_cdc_dev->rx_packet_buffer); + } + + /* Use the memory interface function to read from the selected endpoint */ + PMAToUserBufferCopy((uint8_t *) usb_cdc_dev->rx_packet_buffer, + GetEPRxAddr(usb_cdc_dev->cfg->data_rx_ep), + DataLength); + + if (!usb_cdc_dev->rx_in_cb) { + /* No Rx call back registered, disable the receiver */ + SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_NAK); + return; + } + + uint16_t headroom; + bool need_yield = false; + uint16_t rc; + rc = (usb_cdc_dev->rx_in_cb)(usb_cdc_dev->rx_in_context, + usb_cdc_dev->rx_packet_buffer, + DataLength, + &headroom, + &need_yield); + + if (rc < DataLength) { + /* Lost bytes on rx */ + usb_cdc_dev->rx_dropped += (DataLength - rc); + } + + if (headroom >= sizeof(usb_cdc_dev->rx_packet_buffer)) { + /* We have room for a maximum length message */ + SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_VALID); + } else { + /* Not enough room left for a message, apply backpressure */ + SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_NAK); + } + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +RESULT PIOS_USB_CDC_SetControlLineState(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + static uint16_t control_line_state; + + uint8_t wValue0 = pInformation->USBwValue0; + uint8_t wValue1 = pInformation->USBwValue1; + + control_line_state = wValue1 << 8 | wValue0; + + return USB_SUCCESS; +} + +static struct usb_cdc_line_coding line_coding = { + .dwDTERate = htousbl(57600), + .bCharFormat = USB_CDC_LINE_CODING_STOP_1, + .bParityType = USB_CDC_LINE_CODING_PARITY_NONE, + .bDataBits = 8, +}; + +RESULT PIOS_USB_CDC_SetLineCoding(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + return USB_SUCCESS; +} + +uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + if (Length == 0) { + pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding); + return NULL; + } else { + return ((uint8_t *) &line_coding); + } +} + +struct usb_cdc_serial_state_report uart_state = { + .bmRequestType = 0xA1, + .bNotification = USB_CDC_NOTIFICATION_SERIAL_STATE, + .wValue = 0, + .wIndex = htousbs(1), + .wLength = htousbs(2), + .bmUartState = htousbs(0), +}; + +static void PIOS_USB_CDC_CTRL_EP_IN_Callback(void) +{ + struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; + + bool valid = PIOS_USB_CDC_validate(usb_cdc_dev); + PIOS_Assert(valid); + + /* Give back UART State Bitmap */ + /* UART State Bitmap + * 15-7: reserved + * 6: bOverRun overrun error + * 5: bParity parity error + * 4: bFraming framing error + * 3: bRingSignal RI + * 2: bBreak break reception + * 1: bTxCarrier DSR + * 0: bRxCarrier DCD + */ + uart_state.bmUartState = htousbs(0x0003); + + UserToPMABufferCopy((uint8_t *) &uart_state, + GetEPTxAddr(usb_cdc_dev->cfg->data_tx_ep), + sizeof(uart_state)); + SetEPTxCount(usb_cdc_dev->cfg->data_tx_ep, PIOS_USB_BOARD_CDC_MGMT_LENGTH); + SetEPTxValid(usb_cdc_dev->cfg->data_tx_ep); +} + +#endif /* PIOS_INCLUDE_USB_CDC */ diff --git a/flight/PiOS/STM32F10x/pios_usb_com.c b/flight/PiOS/STM32F10x/pios_usb_com.c deleted file mode 100644 index 5795d967e..000000000 --- a/flight/PiOS/STM32F10x/pios_usb_com.c +++ /dev/null @@ -1,606 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer - * @{ - * @addtogroup PIOS_USB_COM USB COM Functions - * @brief PIOS USB COM implementation - * @notes This implements both a simple HID device and a CDC Serial Port - * @{ - * - * @file pios_usb_com.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief USB COM functions (STM32 dependent code) - * @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 - */ - -/* Project Includes */ -#include "pios.h" - -#if defined(PIOS_INCLUDE_USB_COM) - -#include "pios_usb.h" -#include "usb_lib.h" -#include "pios_usb_com_priv.h" - -static void PIOS_USB_COM_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context); -static void PIOS_USB_COM_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context); - -static void PIOS_USB_COM_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail); -static void PIOS_USB_COM_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail); - -const struct pios_com_driver pios_usb_hid_com_driver = { - .tx_start = PIOS_USB_COM_HID_TxStart, - .rx_start = PIOS_USB_COM_HID_RxStart, - .bind_tx_cb = PIOS_USB_COM_RegisterTxCallback, - .bind_rx_cb = PIOS_USB_COM_RegisterRxCallback, -}; - -#if defined(PIOS_INCLUDE_USB_COM_CDC) - -static void PIOS_USB_COM_CDC_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail); -static void PIOS_USB_COM_CDC_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail); - -const struct pios_com_driver pios_usb_cdc_com_driver = { - .tx_start = PIOS_USB_COM_CDC_TxStart, - .rx_start = PIOS_USB_COM_CDC_RxStart, - .bind_tx_cb = PIOS_USB_COM_RegisterTxCallback, - .bind_rx_cb = PIOS_USB_COM_RegisterRxCallback, -}; -#endif /* PIOS_INCLUDE_USB_COM_CDC */ - -enum pios_usb_com_dev_magic { - PIOS_USB_COM_DEV_MAGIC = 0xAABBCCDD, -}; - -struct pios_usb_com_dev { - enum pios_usb_com_dev_magic magic; - const struct pios_usb_com_cfg * cfg; - - uint32_t lower_id; - - pios_com_callback rx_in_cb; - uint32_t rx_in_context; - pios_com_callback tx_out_cb; - uint32_t tx_out_context; - - uint8_t rx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; - uint8_t tx_packet_buffer[PIOS_USB_COM_DATA_LENGTH + 2]; - - uint32_t rx_dropped; - uint32_t rx_oversize; -}; - -static bool PIOS_USB_COM_validate(struct pios_usb_com_dev * usb_com_dev) -{ - return (usb_com_dev->magic == PIOS_USB_COM_DEV_MAGIC); -} - -#if defined(PIOS_INCLUDE_FREERTOS) -static struct pios_usb_com_dev * PIOS_USB_COM_alloc(void) -{ - struct pios_usb_com_dev * usb_com_dev; - - usb_com_dev = (struct pios_usb_com_dev *)pvPortMalloc(sizeof(*usb_com_dev)); - if (!usb_com_dev) return(NULL); - - usb_com_dev->magic = PIOS_USB_COM_DEV_MAGIC; - return(usb_com_dev); -} -#else -static struct pios_usb_com_dev pios_usb_com_devs[PIOS_USB_COM_MAX_DEVS]; -static uint8_t pios_usb_com_num_devs; -static struct pios_usb_com_dev * PIOS_USB_COM_alloc(void) -{ - struct pios_usb_com_dev * usb_com_dev; - - if (pios_usb_com_num_devs >= PIOS_USB_COM_MAX_DEVS) { - return (NULL); - } - - usb_com_dev = &pios_usb_com_devs[pios_usb_com_num_devs++]; - usb_com_dev->magic = PIOS_USB_COM_DEV_MAGIC; - - return (usb_com_dev); -} -#endif - -static void PIOS_USB_COM_HID_EP_IN_Callback(void); -static void PIOS_USB_COM_HID_EP_OUT_Callback(void); - -static uint32_t pios_usb_com_hid_id; - -#if defined(PIOS_INCLUDE_USB_COM_CDC) - -static void PIOS_USB_COM_CDC_DATA_EP_IN_Callback(void); -static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void); -static void PIOS_USB_COM_CDC_CTRL_EP_IN_Callback(void); - -static uint32_t pios_usb_com_cdc_id; - -#endif /* PIOS_INCLUDE_USB_COM_CDC */ - -int32_t PIOS_USB_COM_Init(uint32_t * usbcom_id, const struct pios_usb_com_cfg * cfg, uint32_t lower_id) -{ - PIOS_Assert(usbcom_id); - PIOS_Assert(cfg); - - struct pios_usb_com_dev * usb_com_dev; - - usb_com_dev = (struct pios_usb_com_dev *) PIOS_USB_COM_alloc(); - if (!usb_com_dev) goto out_fail; - - /* Bind the configuration to the device instance */ - usb_com_dev->cfg = cfg; - usb_com_dev->lower_id = lower_id; - - switch (cfg->type) { -#if defined(PIOS_INCLUDE_USB_COM_CDC) - case PIOS_USB_COM_CDC: - pios_usb_com_cdc_id = (uint32_t) usb_com_dev; - pEpInt_OUT[cfg->ctrl_tx_ep - 1] = PIOS_USB_COM_CDC_CTRL_EP_IN_Callback; - pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_COM_CDC_DATA_EP_IN_Callback; - pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_COM_CDC_DATA_EP_OUT_Callback; - break; -#endif /* PIOS_INCLUDE_USB_COM_CDC */ - case PIOS_USB_COM_HID: - pios_usb_com_hid_id = (uint32_t) usb_com_dev; - pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_COM_HID_EP_IN_Callback; - pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_COM_HID_EP_OUT_Callback; - break; - default: - PIOS_Assert(0); - } - - *usbcom_id = (uint32_t) usb_com_dev; - - return 0; - -out_fail: - return -1; -} - - -static void PIOS_USB_COM_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - /* - * Order is important in these assignments since ISR uses _cb - * field to determine if it's ok to dereference _cb and _context - */ - usb_com_dev->rx_in_context = context; - usb_com_dev->rx_in_cb = rx_in_cb; -} - -static void PIOS_USB_COM_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - /* - * Order is important in these assignments since ISR uses _cb - * field to determine if it's ok to dereference _cb and _context - */ - usb_com_dev->tx_out_context = context; - usb_com_dev->tx_out_cb = tx_out_cb; -} - -static void PIOS_USB_COM_HID_SendReport(struct pios_usb_com_dev * usb_com_dev) -{ - uint16_t bytes_to_tx; - - if (!usb_com_dev->tx_out_cb) { - return; - } - - bool need_yield = false; -#ifdef USB_HID - bytes_to_tx = (usb_com_dev->tx_out_cb)(usb_com_dev->tx_out_context, - &usb_com_dev->tx_packet_buffer[1], - sizeof(usb_com_dev->tx_packet_buffer)-1, - NULL, - &need_yield); -#else - bytes_to_tx = (usb_com_dev->tx_out_cb)(usb_com_dev->tx_out_context, - &usb_com_dev->tx_packet_buffer[2], - sizeof(usb_com_dev->tx_packet_buffer)-2, - NULL, - &need_yield); -#endif - if (bytes_to_tx == 0) { - return; - } - - /* Always set type as report ID */ - usb_com_dev->tx_packet_buffer[0] = 1; - -#ifdef USB_HID - UserToPMABufferCopy(usb_com_dev->tx_packet_buffer, - GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), - bytes_to_tx + 1); -#else - usb_com_dev->tx_packet_buffer[1] = bytes_to_tx; - UserToPMABufferCopy(usb_com_dev->tx_packet_buffer, - GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), - bytes_to_tx + 2); -#endif - /* Is this correct? Why do we always send the whole buffer? */ - SetEPTxCount(usb_com_dev->cfg->data_tx_ep, sizeof(usb_com_dev->tx_packet_buffer)); - SetEPTxValid(usb_com_dev->cfg->data_tx_ep); - -#if defined(PIOS_INCLUDE_FREERTOS) - if (need_yield) { - vPortYieldFromISR(); - } -#endif /* PIOS_INCLUDE_FREERTOS */ -} - -static void PIOS_USB_COM_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) { - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { - return; - } - - // If endpoint was stalled and there is now space make it valid - PIOS_IRQ_Disable(); - if ((GetEPRxStatus(usb_com_dev->cfg->data_rx_ep) != EP_RX_VALID) && - (rx_bytes_avail >= PIOS_USB_COM_DATA_LENGTH)) { - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); - } - PIOS_IRQ_Enable(); -} - -static void PIOS_USB_COM_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { - return; - } - - if (GetEPTxStatus(usb_com_dev->cfg->data_tx_ep) == EP_TX_VALID) { - /* Endpoint is already transmitting */ - return; - } - - PIOS_USB_COM_HID_SendReport(usb_com_dev); -} - -/** - * @brief Callback used to indicate a transmission from device INto host completed - * Checks if any data remains, pads it into HID packet and sends. - */ -static void PIOS_USB_COM_HID_EP_IN_Callback(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_hid_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { - return; - } - - PIOS_USB_COM_HID_SendReport(usb_com_dev); -} - -/** - * EP1 OUT Callback Routine - */ -static void PIOS_USB_COM_HID_EP_OUT_Callback(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_hid_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - uint32_t DataLength = 0; - - /* Read received data (63 bytes) */ - /* Get the number of received data on the selected Endpoint */ - DataLength = GetEPRxCount(usb_com_dev->cfg->data_rx_ep); - if (DataLength > sizeof(usb_com_dev->rx_packet_buffer)) { - DataLength = sizeof(usb_com_dev->rx_packet_buffer); - } - - /* Use the memory interface function to read from the selected endpoint */ - PMAToUserBufferCopy((uint8_t *) usb_com_dev->rx_packet_buffer, - GetEPRxAddr(usb_com_dev->cfg->data_rx_ep), - DataLength); - - if (!usb_com_dev->rx_in_cb) { - /* No Rx call back registered, disable the receiver */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); - return; - } - - /* The first byte is report ID (not checked), the second byte is the valid data length */ - uint16_t headroom; - bool need_yield = false; -#ifdef USB_HID - (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, - &usb_com_dev->rx_packet_buffer[1], - sizeof(usb_com_dev->rx_packet_buffer)-1, - &headroom, - &need_yield); -#else - (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, - &usb_com_dev->rx_packet_buffer[2], - usb_com_dev->rx_packet_buffer[1], - &headroom, - &need_yield); -#endif - if (headroom >= PIOS_USB_COM_DATA_LENGTH) { - /* We have room for a maximum length message */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); - } else { - /* Not enough room left for a message, apply backpressure */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); - } - -#if defined(PIOS_INCLUDE_FREERTOS) - if (need_yield) { - vPortYieldFromISR(); - } -#endif /* PIOS_INCLUDE_FREERTOS */ -} - -#if defined(PIOS_INCLUDE_USB_COM_CDC) - -static void PIOS_USB_COM_CDC_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) { - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { - return; - } - - // If endpoint was stalled and there is now space make it valid - PIOS_IRQ_Disable(); - if ((GetEPRxStatus(usb_com_dev->cfg->data_rx_ep) != EP_RX_VALID) && - (rx_bytes_avail >= sizeof(usb_com_dev->rx_packet_buffer))) { - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); - } - PIOS_IRQ_Enable(); -} - -static void PIOS_USB_COM_CDC_SendData(struct pios_usb_com_dev * usb_com_dev) -{ - uint16_t bytes_to_tx; - - if (!usb_com_dev->tx_out_cb) { - return; - } - - bool need_yield = false; - bytes_to_tx = (usb_com_dev->tx_out_cb)(usb_com_dev->tx_out_context, - usb_com_dev->tx_packet_buffer, - sizeof(usb_com_dev->tx_packet_buffer), - NULL, - &need_yield); - if (bytes_to_tx == 0) { - return; - } - - UserToPMABufferCopy(usb_com_dev->tx_packet_buffer, - GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), - bytes_to_tx); - SetEPTxCount(usb_com_dev->cfg->data_tx_ep, bytes_to_tx); - SetEPTxValid(usb_com_dev->cfg->data_tx_ep); - -#if defined(PIOS_INCLUDE_FREERTOS) - if (need_yield) { - vPortYieldFromISR(); - } -#endif /* PIOS_INCLUDE_FREERTOS */ -} - -static void PIOS_USB_COM_CDC_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)usbcom_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - if (!PIOS_USB_HID_CheckAvailable(usb_com_dev->lower_id)) { - return; - } - - if (GetEPTxStatus(usb_com_dev->cfg->data_tx_ep) == EP_TX_VALID) { - /* Endpoint is already transmitting */ - return; - } - - PIOS_USB_COM_CDC_SendData(usb_com_dev); -} - -static void PIOS_USB_COM_CDC_DATA_EP_IN_Callback(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - PIOS_USB_COM_CDC_SendData(usb_com_dev); -} - -static void PIOS_USB_COM_CDC_DATA_EP_OUT_Callback(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - uint32_t DataLength = 0; - - /* Get the number of received data on the selected Endpoint */ - DataLength = GetEPRxCount(usb_com_dev->cfg->data_rx_ep); - if (DataLength > sizeof(usb_com_dev->rx_packet_buffer)) { - usb_com_dev->rx_oversize++; - DataLength = sizeof(usb_com_dev->rx_packet_buffer); - } - - /* Use the memory interface function to read from the selected endpoint */ - PMAToUserBufferCopy((uint8_t *) usb_com_dev->rx_packet_buffer, - GetEPRxAddr(usb_com_dev->cfg->data_rx_ep), - DataLength); - - if (!usb_com_dev->rx_in_cb) { - /* No Rx call back registered, disable the receiver */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); - return; - } - - uint16_t headroom; - bool need_yield = false; - uint16_t rc; - rc = (usb_com_dev->rx_in_cb)(usb_com_dev->rx_in_context, - usb_com_dev->rx_packet_buffer, - DataLength, - &headroom, - &need_yield); - - if (rc < DataLength) { - /* Lost bytes on rx */ - usb_com_dev->rx_dropped += (DataLength - rc); - } - - if (headroom >= sizeof(usb_com_dev->rx_packet_buffer)) { - /* We have room for a maximum length message */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_VALID); - } else { - /* Not enough room left for a message, apply backpressure */ - SetEPRxStatus(usb_com_dev->cfg->data_rx_ep, EP_RX_NAK); - } - -#if defined(PIOS_INCLUDE_FREERTOS) - if (need_yield) { - vPortYieldFromISR(); - } -#endif /* PIOS_INCLUDE_FREERTOS */ -} - -RESULT PIOS_CDC_SetControlLineState(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - static uint16_t control_line_state; - - uint8_t wValue0 = pInformation->USBwValue0; - uint8_t wValue1 = pInformation->USBwValue1; - - control_line_state = wValue1 << 8 | wValue0; - - return USB_SUCCESS; -} - -static uint8_t line_coding[] = { - 0x00, 0xE1, 0x00, 0x00, /* 57600bps */ - 0x00, /* 1 stop bit */ - 0x00, /* Even parity */ - 0x08, /* 8 data bits */ -}; - -RESULT PIOS_CDC_SetLineCoding(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - return USB_SUCCESS; -} - -uint8_t *PIOS_CDC_GetLineCoding(uint16_t Length) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - if (Length == 0) { - pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding); - return NULL; - } else { - return (line_coding); - } -} - -static uint8_t serial_state[] = { - 0xA1, /* bmRequestType */ - 0x20, /* bNotification (Serial State) */ - 0x00, /* wValue */ - 0x00, - 0x01, /* wIndex (Interface #, LSB first) */ - 0x00, - 0x02, /* wLength (Data length) */ - 0x00, - - 0x00, /* USART State Bitmap (LSB first) */ - 0x00, -}; - -static void PIOS_USB_COM_CDC_CTRL_EP_IN_Callback(void) -{ - struct pios_usb_com_dev * usb_com_dev = (struct pios_usb_com_dev *)pios_usb_com_cdc_id; - - bool valid = PIOS_USB_COM_validate(usb_com_dev); - PIOS_Assert(valid); - - /* Give back UART State Bitmap */ - /* UART State Bitmap - * 15-7: reserved - * 6: bOverRun overrun error - * 5: bParity parity error - * 4: bFraming framing error - * 3: bRingSignal RI - * 2: bBreak break reception - * 1: bTxCarrier DSR - * 0: bRxCarrier DCD - */ - serial_state[8] = 0x03; - serial_state[9] = 0x00; - - UserToPMABufferCopy(serial_state, - GetEPTxAddr(usb_com_dev->cfg->data_tx_ep), - sizeof(serial_state)); - SetEPTxCount(usb_com_dev->cfg->data_tx_ep, PIOS_USB_COM_DATA_LENGTH + 2); - SetEPTxValid(usb_com_dev->cfg->data_tx_ep); -} - -#endif /* PIOS_INCLUDE_USB_COM_CDC */ - -#endif /* PIOS_INCLUDE_USB_COM */ diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c index 99d709a99..11eb988c1 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid.c @@ -2,16 +2,14 @@ ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ - * @addtogroup PIOS_USB_HID USB HID Functions - * @brief PIOS USB HID implementation - * @notes This implements a very simple HID device with a simple data in - * and data out endpoints. + * @addtogroup PIOS_USB_HID USB COM Functions + * @brief PIOS USB COM implementation for HID interfaces + * @notes This implements serial emulation over HID reports * @{ * * @file pios_usb_hid.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB HID functions (STM32 dependent code) + * @brief USB COM functions (STM32 dependent code) * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ @@ -33,195 +31,316 @@ /* Project Includes */ #include "pios.h" -#include "usb_lib.h" -#include "pios_usb_hid_desc.h" -#include "stm32f10x.h" - -#include "pios_usb_hid_priv.h" #if defined(PIOS_INCLUDE_USB_HID) -/* Rx/Tx status */ -static uint8_t transfer_possible = 0; +#include "pios_usb.h" +#include "pios_usb_hid_priv.h" +#include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */ -enum pios_usb_dev_magic { - PIOS_USB_DEV_MAGIC = 0x17365904, +static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbhid_id, pios_com_callback tx_out_cb, uint32_t context); +static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context); +static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail); +static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail); + +const struct pios_com_driver pios_usb_hid_com_driver = { + .tx_start = PIOS_USB_HID_TxStart, + .rx_start = PIOS_USB_HID_RxStart, + .bind_tx_cb = PIOS_USB_HID_RegisterTxCallback, + .bind_rx_cb = PIOS_USB_HID_RegisterRxCallback, }; -struct pios_usb_dev { - enum pios_usb_dev_magic magic; - const struct pios_usb_cfg * cfg; +enum pios_usb_hid_dev_magic { + PIOS_USB_HID_DEV_MAGIC = 0xAA00BB00, }; -#if 0 -static bool PIOS_USB_validate(struct pios_usb_dev * usb_dev) +struct pios_usb_hid_dev { + enum pios_usb_hid_dev_magic magic; + const struct pios_usb_hid_cfg * cfg; + + uint32_t lower_id; + + pios_com_callback rx_in_cb; + uint32_t rx_in_context; + pios_com_callback tx_out_cb; + uint32_t tx_out_context; + + uint8_t rx_packet_buffer[PIOS_USB_BOARD_HID_DATA_LENGTH]; + uint8_t tx_packet_buffer[PIOS_USB_BOARD_HID_DATA_LENGTH]; + + uint32_t rx_dropped; + uint32_t rx_oversize; +}; + +static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev) { - return (usb_dev->magic == PIOS_USB_DEV_MAGIC); + return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC); } -#endif #if defined(PIOS_INCLUDE_FREERTOS) -static struct pios_usb_dev * PIOS_USB_alloc(void) +static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) { - struct pios_usb_dev * usb_dev; + struct pios_usb_hid_dev * usb_hid_dev; - usb_dev = (struct pios_usb_dev *)pvPortMalloc(sizeof(*usb_dev)); - if (!usb_dev) return(NULL); + usb_hid_dev = (struct pios_usb_hid_dev *)pvPortMalloc(sizeof(*usb_hid_dev)); + if (!usb_hid_dev) return(NULL); - usb_dev->magic = PIOS_USB_DEV_MAGIC; - return(usb_dev); + usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; + return(usb_hid_dev); } #else -static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS]; -static uint8_t pios_usb_num_devs; -static struct pios_usb_dev * PIOS_USB_alloc(void) +static struct pios_usb_hid_dev pios_usb_hid_devs[PIOS_USB_HID_MAX_DEVS]; +static uint8_t pios_usb_hid_num_devs; +static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) { - struct pios_usb_dev * usb_dev; + struct pios_usb_hid_dev * usb_hid_dev; - if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) { + if (pios_usb_hid_num_devs >= PIOS_USB_HID_MAX_DEVS) { return (NULL); } - usb_dev = &pios_usb_devs[pios_usb_num_devs++]; - usb_dev->magic = PIOS_USB_DEV_MAGIC; + usb_hid_dev = &pios_usb_hid_devs[pios_usb_hid_num_devs++]; + usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; - return (usb_dev); + return (usb_hid_dev); } #endif +static void PIOS_USB_HID_EP_IN_Callback(void); +static void PIOS_USB_HID_EP_OUT_Callback(void); -/** - * Initialises USB COM layer - * \return < 0 if initialisation failed - * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions - */ -static uint32_t pios_usb_com_id; -int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg) +static uint32_t pios_usb_hid_id; + +/* Need a better way to pull these in */ +extern void (*pEpInt_IN[7])(void); +extern void (*pEpInt_OUT[7])(void); + +int32_t PIOS_USB_HID_Init(uint32_t * usbhid_id, const struct pios_usb_hid_cfg * cfg, uint32_t lower_id) { - PIOS_Assert(usb_id); + PIOS_Assert(usbhid_id); PIOS_Assert(cfg); - struct pios_usb_dev * usb_dev; + struct pios_usb_hid_dev * usb_hid_dev; - usb_dev = (struct pios_usb_dev *) PIOS_USB_alloc(); - if (!usb_dev) goto out_fail; + usb_hid_dev = (struct pios_usb_hid_dev *) PIOS_USB_HID_alloc(); + if (!usb_hid_dev) goto out_fail; /* Bind the configuration to the device instance */ - usb_dev->cfg = cfg; + usb_hid_dev->cfg = cfg; + usb_hid_dev->lower_id = lower_id; - PIOS_USB_HID_Reenumerate(); + pios_usb_hid_id = (uint32_t) usb_hid_dev; - /* - * This is a horrible hack to make this available to - * the interrupt callbacks. This should go away ASAP. - */ - pios_usb_com_id = (uint32_t) usb_dev; + /* Bind lower level callbacks into the USB infrastructure */ + pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_HID_EP_IN_Callback; + pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_HID_EP_OUT_Callback; - /* Enable the USB Interrupts */ - NVIC_Init(&usb_dev->cfg->irq.init); + *usbhid_id = (uint32_t) usb_hid_dev; - /* Select USBCLK source */ - RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); - /* Enable the USB clock */ - RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE); - - /* Update the USB serial number from the chip */ - uint8_t sn[25]; - PIOS_SYS_SerialNumberGet((char *)sn); - for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_HID_StringSerial[0]; i++) { - PIOS_HID_StringSerial[2 + 2 * i] = sn[i]; - } - - USB_Init(); - USB_SIL_Init(); - - *usb_id = (uint32_t) usb_dev; - - return 0; /* No error */ + return 0; out_fail: - return(-1); + return -1; } -/** - * This function is called by the USB driver on cable connection/disconnection - * \param[in] connected connection status (1 if connected) - * \return < 0 on errors - * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions - */ -int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected) + + + +static void PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev) { - // In all cases: re-initialise USB HID driver - if (Connected) { - transfer_possible = 1; + uint16_t bytes_to_tx; - //TODO: Check SetEPRxValid(ENDP1); - -#if defined(USB_LED_ON) - USB_LED_ON; // turn the USB led on -#endif - } else { - // Cable disconnected: disable transfers - transfer_possible = 0; - -#if defined(USB_LED_OFF) - USB_LED_OFF; // turn the USB led off -#endif + if (!usb_hid_dev->tx_out_cb) { + return; } - return 0; -} - -int32_t PIOS_USB_HID_Reenumerate() -{ - /* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */ - _SetCNTR(CNTR_FRES | CNTR_PDWN); - - /* Using a "dirty" method to force a re-enumeration: */ - /* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */ - /* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */ - GPIO_InitTypeDef GPIO_InitStructure; - GPIO_StructInit(&GPIO_InitStructure); - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; - GPIO_Init(GPIOA, &GPIO_InitStructure); - - PIOS_DELAY_WaitmS(50); - - /* Release power-down, still hold reset */ - _SetCNTR(CNTR_PDWN); - PIOS_DELAY_WaituS(5); - - /* CNTR_FRES = 0 */ - _SetCNTR(0); - - /* Clear pending interrupts */ - _SetISTR(0); - - /* Configure USB clock */ - /* USBCLK = PLLCLK / 1.5 */ - RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); - /* Enable USB clock */ - RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE); - - return 0; -} - -/** - * This function returns the connection status of the USB HID interface - * \return 1: interface available - * \return 0: interface not available - * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions - */ -bool PIOS_USB_HID_CheckAvailable(uint8_t id) -{ - return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0; -} - + bool need_yield = false; +#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context, + &usb_hid_dev->tx_packet_buffer[1], + sizeof(usb_hid_dev->tx_packet_buffer)-1, + NULL, + &need_yield); +#else + bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context, + &usb_hid_dev->tx_packet_buffer[2], + sizeof(usb_hid_dev->tx_packet_buffer)-2, + NULL, + &need_yield); #endif + if (bytes_to_tx == 0) { + return; + } + + /* Always set type as report ID */ + usb_hid_dev->tx_packet_buffer[0] = 1; + +#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, + GetEPTxAddr(usb_hid_dev->cfg->data_tx_ep), + bytes_to_tx + 1); +#else + usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx; + UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, + GetEPTxAddr(usb_hid_dev->cfg->data_tx_ep), + bytes_to_tx + 2); +#endif + /* Is this correct? Why do we always send the whole buffer? */ + SetEPTxCount(usb_hid_dev->cfg->data_tx_ep, sizeof(usb_hid_dev->tx_packet_buffer)); + SetEPTxValid(usb_hid_dev->cfg->data_tx_ep); + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) { + struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; + + bool valid = PIOS_USB_HID_validate(usb_hid_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) { + return; + } + + // If endpoint was stalled and there is now space make it valid + PIOS_IRQ_Disable(); + if ((GetEPRxStatus(usb_hid_dev->cfg->data_rx_ep) != EP_RX_VALID) && + (rx_bytes_avail >= PIOS_USB_BOARD_HID_DATA_LENGTH)) { + SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID); + } + PIOS_IRQ_Enable(); +} + +static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail) +{ + struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; + + bool valid = PIOS_USB_HID_validate(usb_hid_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) { + return; + } + + if (GetEPTxStatus(usb_hid_dev->cfg->data_tx_ep) == EP_TX_VALID) { + /* Endpoint is already transmitting */ + return; + } + + PIOS_USB_HID_SendReport(usb_hid_dev); +} + +static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context) +{ + struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; + + bool valid = PIOS_USB_HID_validate(usb_hid_dev); + PIOS_Assert(valid); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + usb_hid_dev->rx_in_context = context; + usb_hid_dev->rx_in_cb = rx_in_cb; +} + +static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbhid_id, pios_com_callback tx_out_cb, uint32_t context) +{ + struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; + + bool valid = PIOS_USB_HID_validate(usb_hid_dev); + PIOS_Assert(valid); + + /* + * Order is important in these assignments since ISR uses _cb + * field to determine if it's ok to dereference _cb and _context + */ + usb_hid_dev->tx_out_context = context; + usb_hid_dev->tx_out_cb = tx_out_cb; +} /** - * @} - * @} + * @brief Callback used to indicate a transmission from device INto host completed + * Checks if any data remains, pads it into HID packet and sends. */ +static void PIOS_USB_HID_EP_IN_Callback(void) +{ + struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id; + + bool valid = PIOS_USB_HID_validate(usb_hid_dev); + PIOS_Assert(valid); + + if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) { + return; + } + + PIOS_USB_HID_SendReport(usb_hid_dev); +} + +/** + * EP1 OUT Callback Routine + */ +static void PIOS_USB_HID_EP_OUT_Callback(void) +{ + struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id; + + bool valid = PIOS_USB_HID_validate(usb_hid_dev); + PIOS_Assert(valid); + + uint32_t DataLength; + + /* Read received data (63 bytes) */ + /* Get the number of received data on the selected Endpoint */ + DataLength = GetEPRxCount(usb_hid_dev->cfg->data_rx_ep); + if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) { + DataLength = sizeof(usb_hid_dev->rx_packet_buffer); + } + + /* Use the memory interface function to read from the selected endpoint */ + PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer, + GetEPRxAddr(usb_hid_dev->cfg->data_rx_ep), + DataLength); + + if (!usb_hid_dev->rx_in_cb) { + /* No Rx call back registered, disable the receiver */ + SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_NAK); + return; + } + + /* The first byte is report ID (not checked), the second byte is the valid data length */ + uint16_t headroom; + bool need_yield = false; +#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + (usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context, + &usb_hid_dev->rx_packet_buffer[1], + sizeof(usb_hid_dev->rx_packet_buffer)-1, + &headroom, + &need_yield); +#else + (usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context, + &usb_hid_dev->rx_packet_buffer[2], + usb_hid_dev->rx_packet_buffer[1], + &headroom, + &need_yield); +#endif + if (headroom >= PIOS_USB_BOARD_HID_DATA_LENGTH) { + /* We have room for a maximum length message */ + SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID); + } else { + /* Not enough room left for a message, apply backpressure */ + SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_NAK); + } + +#if defined(PIOS_INCLUDE_FREERTOS) + if (need_yield) { + vPortYieldFromISR(); + } +#endif /* PIOS_INCLUDE_FREERTOS */ +} + +#endif /* PIOS_INCLUDE_USB_HID */ diff --git a/flight/PiOS/STM32F10x/pios_usb_hid_desc.c b/flight/PiOS/STM32F10x/pios_usb_hid_desc.c deleted file mode 100644 index 98f76f9e5..000000000 --- a/flight/PiOS/STM32F10x/pios_usb_hid_desc.c +++ /dev/null @@ -1,183 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_desc.c -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Descriptors for Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Includes ------------------------------------------------------------------*/ -#include "usb_lib.h" -#include "pios_usb.h" -#include "pios_usb_hid.h" -#include "pios_usb_hid_desc.h" - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Extern variables ----------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/* USB Standard Device Descriptor */ -const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] = { - 0x12, /*bLength */ - USB_DEVICE_DESCRIPTOR_TYPE, /*bDescriptorType */ - 0x00, /*bcdUSB */ - 0x02, - 0x00, /*bDeviceClass */ - 0x00, /*bDeviceSubClass */ - 0x00, /*bDeviceProtocol */ - 0x40, /*bMaxPacketSize40 */ - (uint8_t) ((PIOS_USB_VENDOR_ID) & 0xff), /*idVendor */ - (uint8_t) ((PIOS_USB_VENDOR_ID) >> 8), - (uint8_t) ((PIOS_USB_PRODUCT_ID) & 0xff), /*idProduct */ - (uint8_t) ((PIOS_USB_PRODUCT_ID) >> 8), - (uint8_t) ((PIOS_USB_VERSION_ID) & 0xff), /*bcdDevice */ - (uint8_t) ((PIOS_USB_VERSION_ID) >> 8), - 0x01, /*Index of string descriptor describing - manufacturer */ - 0x02, /*Index of string descriptor describing - product */ - 0x03, /*Index of string descriptor describing the - device serial number */ - 0x01 /*bNumConfigurations */ -} - -; /* PIOS_HID_DeviceDescriptor */ - -/* USB Configuration Descriptor */ -/* All Descriptors (Configuration, Interface, Endpoint, Class, Vendor */ -const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = { - 0x09, /* bLength: Configuation Descriptor size */ - USB_CONFIGURATION_DESCRIPTOR_TYPE, /* bDescriptorType: Configuration */ - PIOS_HID_SIZ_CONFIG_DESC, - /* wTotalLength: Bytes returned */ - 0x00, - 0x01, /* bNumInterfaces: 1 interface */ - 0x01, /* bConfigurationValue: Configuration value */ - 0x00, /* iConfiguration: Index of string descriptor describing - the configuration */ - 0xC0, /* bmAttributes: Bus powered */ - 0x32, /* MaxPower 100 mA: this current is used for detecting Vbus */ - - /************** Descriptor of Custom HID interface ****************/ - /* 09 */ - 0x09, /* bLength: Interface Descriptor size */ - USB_INTERFACE_DESCRIPTOR_TYPE, /* bDescriptorType: Interface descriptor type */ - 0x00, /* bInterfaceNumber: Number of Interface */ - 0x00, /* bAlternateSetting: Alternate setting */ - 0x02, /* bNumEndpoints */ - 0x03, /* bInterfaceClass: HID */ - 0x00, /* bInterfaceSubClass : 1=BOOT, 0=no boot */ - 0x00, /* nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse */ - 0, /* iInterface: Index of string descriptor */ - /******************** Descriptor of Custom HID HID ********************/ - /* 18 */ - 0x09, /* bLength: HID Descriptor size */ - HID_DESCRIPTOR_TYPE, /* bDescriptorType: HID */ - 0x10, /* bcdHID: HID Class Spec release number */ - 0x01, - 0x00, /* bCountryCode: Hardware target country */ - 0x01, /* bNumDescriptors: Number of HID class descriptors to follow */ - 0x22, /* bDescriptorType */ - PIOS_HID_SIZ_REPORT_DESC, /* wItemLength: Total length of Report descriptor */ - 0x00, - /******************** Descriptor of Custom HID endpoints ******************/ - /* 27 */ - 0x07, /* bLength: Endpoint Descriptor size */ - USB_ENDPOINT_DESCRIPTOR_TYPE, /* bDescriptorType: */ - - 0x81, /* bEndpointAddress: Endpoint Address (IN) */ - 0x03, /* bmAttributes: Interrupt endpoint */ - 0x40, /* wMaxPacketSize: 2 Bytes max */ - 0x00, - 0x04, /* bInterval: Polling Interval (32 ms) */ - /* 34 */ - - 0x07, /* bLength: Endpoint Descriptor size */ - USB_ENDPOINT_DESCRIPTOR_TYPE, /* bDescriptorType: */ - /* Endpoint descriptor type */ - 0x01, /* bEndpointAddress: */ - /* Endpoint Address (OUT) */ - 0x03, /* bmAttributes: Interrupt endpoint */ - 0x40, /* wMaxPacketSize: 2 Bytes max */ - 0x00, - 0x04, /* bInterval: Polling Interval (20 ms) */ - /* 41 */ -} - -; /* PIOS_HID_ConfigDescriptor */ -const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] = { - 0x06, 0x9c, 0xff, /* USAGE_PAGE (Vendor Page: 0xFF00) */ - 0x09, 0x01, /* USAGE (Demo Kit) */ - 0xa1, 0x01, /* COLLECTION (Application) */ - /* 6 */ - - /* Data 1 */ - 0x85, 0x01, /* REPORT_ID (1) */ - 0x09, 0x02, /* USAGE (LED 1) */ - 0x15, 0x00, /* LOGICAL_MINIMUM (0) */ - 0x25, 0xff, /* LOGICAL_MAXIMUM (255) */ - 0x75, 0x08, /* REPORT_SIZE (8) */ - 0x95, PIOS_USB_COM_DATA_LENGTH + 1, /* REPORT_COUNT (1) */ - 0x81, 0x83, /* INPUT (Const,Var,Array) */ - /* 20 */ - - /* Data 1 */ - 0x85, 0x02, /* REPORT_ID (2) */ - 0x09, 0x03, /* USAGE (LED 1) */ - 0x15, 0x00, /* LOGICAL_MINIMUM (0) */ - 0x25, 0xff, /* LOGICAL_MAXIMUM (255) */ - 0x75, 0x08, /* REPORT_SIZE (8) */ - 0x95, PIOS_USB_COM_DATA_LENGTH + 1, /* REPORT_COUNT (1) */ - 0x91, 0x82, /* OUTPUT (Data,Var,Abs,Vol) */ - /* 34 */ - - 0xc0 /* END_COLLECTION */ -}; /* PIOS_HID_ReportDescriptor */ - -/* USB String Descriptors (optional) */ -const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] = { - PIOS_HID_SIZ_STRING_LANGID, - USB_STRING_DESCRIPTOR_TYPE, - 0x09, - 0x04 -} - -; /* LangID = 0x0409: U.S. English */ - -const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] = { - PIOS_HID_SIZ_STRING_VENDOR, /* Size of Vendor string */ - USB_STRING_DESCRIPTOR_TYPE, /* bDescriptorType */ - /* Manufacturer: "STMicroelectronics" */ - 'o', 0, 'p', 0, 'e', 0, 'n', 0, 'p', 0, 'i', 0, 'l', 0, 'o', 0, - 't', 0, '.', 0, 'o', 0, 'r', 0, 'g', 0 -}; - -const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] = { - PIOS_HID_SIZ_STRING_PRODUCT, /* bLength */ - USB_STRING_DESCRIPTOR_TYPE, /* bDescriptorType */ - 'O', 0, 'p', 0, 'e', 0, 'n', 0, 'P', 0, 'i', 0, 'l', 0, - 'o', 0, 't', 0 -}; - -uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] = { - PIOS_HID_SIZ_STRING_SERIAL, /* bLength */ - USB_STRING_DESCRIPTOR_TYPE, /* bDescriptorType */ - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 -}; - -/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ diff --git a/flight/PiOS/STM32F10x/pios_usbhook.c b/flight/PiOS/STM32F10x/pios_usbhook.c index 92836db29..3d2bb8df2 100644 --- a/flight/PiOS/STM32F10x/pios_usbhook.c +++ b/flight/PiOS/STM32F10x/pios_usbhook.c @@ -1,42 +1,18 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : pios_usbhook.c -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : All processings related to Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f10x.h" -#include "usb_lib.h" -#include "usb_conf.h" #include "pios.h" +#include "pios_usb.h" /* PIOS_USB_* */ #include "pios_usbhook.h" -#include "pios_usb_hid_desc.h" +#include "pios_usb_defs.h" /* struct usb_* */ #include "pios_usb_hid_pwr.h" -#include "pios_usb_hid.h" -#include "pios_usb_com_priv.h" +#include "pios_usb_cdc_priv.h" /* PIOS_USB_CDC_* */ +#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */ -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -uint32_t ProtocolValue; +#include "stm32f10x.h" /* __IO */ __IO uint8_t EXTI_Enable; -/* -------------------------------------------------------------------------- */ -/* Structures initializations */ -/* -------------------------------------------------------------------------- */ +uint32_t ProtocolValue; DEVICE Device_Table = { - EP_NUM, + PIOS_USB_BOARD_EP_NUM, 1 }; @@ -81,44 +57,49 @@ USER_STANDARD_REQUESTS User_Standard_Requests = { .User_SetDeviceAddress = PIOS_USBHOOK_SetDeviceAddress }; -static ONE_DESCRIPTOR Device_Descriptor = { - (uint8_t *) PIOS_HID_DeviceDescriptor, - PIOS_HID_SIZ_DEVICE_DESC +const static ONE_DESCRIPTOR Device_Descriptor = { + (uint8_t *) &PIOS_USB_BOARD_DeviceDescriptor, + sizeof(PIOS_USB_BOARD_DeviceDescriptor), }; static ONE_DESCRIPTOR Config_Descriptor = { - (uint8_t *) PIOS_HID_ConfigDescriptor, - PIOS_HID_SIZ_CONFIG_DESC + (uint8_t *) &PIOS_USB_BOARD_Configuration, + sizeof(PIOS_USB_BOARD_Configuration), }; -static ONE_DESCRIPTOR PIOS_HID_Report_Descriptor = { - (uint8_t *) PIOS_HID_ReportDescriptor, - PIOS_HID_SIZ_REPORT_DESC +const static ONE_DESCRIPTOR Hid_Report_Descriptor = { + (uint8_t *) &PIOS_USB_BOARD_HidReportDescriptor, + sizeof(PIOS_USB_BOARD_HidReportDescriptor), }; -static ONE_DESCRIPTOR PIOS_HID_Hid_Descriptor = { - (uint8_t *) PIOS_HID_ConfigDescriptor + PIOS_HID_OFF_HID_DESC, - PIOS_HID_SIZ_HID_DESC +const static ONE_DESCRIPTOR Hid_Interface_Descriptor = { + (uint8_t *) &PIOS_USB_BOARD_Configuration.hid_if, + sizeof(PIOS_USB_BOARD_Configuration.hid_if), }; -static ONE_DESCRIPTOR String_Descriptor[4] = { - {(uint8_t *) PIOS_HID_StringLangID, PIOS_HID_SIZ_STRING_LANGID} - , - {(uint8_t *) PIOS_HID_StringVendor, PIOS_HID_SIZ_STRING_VENDOR} - , - {(uint8_t *) PIOS_HID_StringProduct, PIOS_HID_SIZ_STRING_PRODUCT} - , - {(uint8_t *) PIOS_HID_StringSerial, PIOS_HID_SIZ_STRING_SERIAL} +const static ONE_DESCRIPTOR String_Descriptor[] = { + { + (uint8_t *) &PIOS_USB_BOARD_StringLangID, + sizeof(PIOS_USB_BOARD_StringLangID), + }, + { + (uint8_t *) PIOS_USB_BOARD_StringVendorID, + sizeof(PIOS_USB_BOARD_StringVendorID), + }, + { + (uint8_t *) PIOS_USB_BOARD_StringProductID, + sizeof(PIOS_USB_BOARD_StringProductID), + }, + { + (uint8_t *) PIOS_USB_BOARD_StringSerial, + sizeof(PIOS_USB_BOARD_StringSerial), + }, }; -/* Extern variables ----------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ static RESULT PIOS_USBHOOK_SetProtocol(void); static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length); static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length); static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length); -/* Extern function prototypes ------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ /******************************************************************************* * Function Name : PIOS_USBHOOK_Init. @@ -157,7 +138,7 @@ static void PIOS_USBHOOK_Reset(void) pInformation->Current_Interface = 0; /*the default Interface */ /* Current Feature initialization */ - pInformation->Current_Feature = PIOS_HID_ConfigDescriptor[7]; + pInformation->Current_Feature = 0; #ifdef STM32F10X_CL /* EP0 is already configured in DFU_Init() by USB_SIL_Init() function */ @@ -180,24 +161,26 @@ static void PIOS_USBHOOK_Reset(void) SetEPRxCount(ENDP0, Device_Property.MaxPacketSize); SetEPRxValid(ENDP0); +#if defined(PIOS_INCLUDE_USB_HID) /* Initialize Endpoint 1 (HID) */ SetEPType(ENDP1, EP_INTERRUPT); SetEPTxAddr(ENDP1, ENDP1_TXADDR); - SetEPTxCount(ENDP1, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPTxCount(ENDP1, PIOS_USB_BOARD_HID_DATA_LENGTH); SetEPTxStatus(ENDP1, EP_TX_NAK); SetEPRxAddr(ENDP1, ENDP1_RXADDR); - SetEPRxCount(ENDP1, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPRxCount(ENDP1, PIOS_USB_BOARD_HID_DATA_LENGTH); SetEPRxStatus(ENDP1, EP_RX_VALID); +#endif /* PIOS_INCLUDE_USB_HID */ -#if defined(PIOS_INCLUDE_USB_COM_CDC) +#if defined(PIOS_INCLUDE_USB_CDC) /* Initialize Endpoint 2 (CDC Call Control) */ SetEPType(ENDP2, EP_INTERRUPT); SetEPTxAddr(ENDP2, ENDP2_TXADDR); SetEPTxStatus(ENDP2, EP_TX_NAK); SetEPRxAddr(ENDP2, ENDP2_RXADDR); - SetEPRxCount(ENDP2, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPRxCount(ENDP2, PIOS_USB_BOARD_CDC_MGMT_LENGTH); SetEPRxStatus(ENDP2, EP_RX_DIS); /* Initialize Endpoint 3 (CDC Data) */ @@ -206,10 +189,10 @@ static void PIOS_USBHOOK_Reset(void) SetEPTxStatus(ENDP3, EP_TX_NAK); SetEPRxAddr(ENDP3, ENDP3_RXADDR); - SetEPRxCount(ENDP3, PIOS_USB_COM_DATA_LENGTH + 2); + SetEPRxCount(ENDP3, PIOS_USB_BOARD_CDC_DATA_LENGTH); SetEPRxStatus(ENDP3, EP_RX_VALID); -#endif /* PIOS_INCLUDE_USB_COM_CDC */ +#endif /* PIOS_INCLUDE_USB_CDC */ /* Set this device to response on default address */ SetDeviceAddress(0); @@ -233,7 +216,7 @@ static void PIOS_USBHOOK_SetConfiguration(void) } /* Enable transfers */ - PIOS_USB_HID_ChangeConnectionState(pInformation->Current_Configuration != 0); + PIOS_USB_ChangeConnectionState(pInformation->Current_Configuration != 0); } /******************************************************************************* @@ -290,10 +273,10 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo) switch (RequestNo) { case GET_DESCRIPTOR: switch (pInformation->USBwValue1) { - case REPORT_DESCRIPTOR: + case USB_DESC_TYPE_REPORT: CopyRoutine = PIOS_USBHOOK_GetReportDescriptor; break; - case HID_DESCRIPTOR_TYPE: + case USB_DESC_TYPE_HID: CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor; break; } @@ -311,11 +294,11 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo) } break; -#if defined(PIOS_INCLUDE_USB_COM_CDC) +#if defined(PIOS_INCLUDE_USB_CDC) case 1: /* CDC Call Control Interface */ switch (RequestNo) { case GET_LINE_CODING: - CopyRoutine = PIOS_CDC_GetLineCoding; + CopyRoutine = PIOS_USB_CDC_GetLineCoding; break; } @@ -328,7 +311,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo) } break; -#endif /* PIOS_INCLUDE_USB_COM_CDC */ +#endif /* PIOS_INCLUDE_USB_CDC */ } break; } @@ -364,19 +347,19 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo) break; -#if defined(PIOS_INCLUDE_USB_COM_CDC) +#if defined(PIOS_INCLUDE_USB_CDC) case 1: /* CDC Call Control Interface */ switch (RequestNo) { case SET_LINE_CODING: - return PIOS_CDC_SetLineCoding(); + return PIOS_USB_CDC_SetLineCoding(); break; case SET_CONTROL_LINE_STATE: - return PIOS_CDC_SetControlLineState(); + return PIOS_USB_CDC_SetControlLineState(); break; } break; -#endif /* PIOS_INCLUDE_USB_COM_CDC */ +#endif /* PIOS_INCLUDE_USB_CDC */ } break; @@ -435,7 +418,7 @@ static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length) *******************************************************************************/ static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length) { - return Standard_GetDescriptorData(Length, &PIOS_HID_Report_Descriptor); + return Standard_GetDescriptorData(Length, &Hid_Report_Descriptor); } /******************************************************************************* @@ -447,7 +430,7 @@ static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length) *******************************************************************************/ static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length) { - return Standard_GetDescriptorData(Length, &PIOS_HID_Hid_Descriptor); + return Standard_GetDescriptorData(Length, &Hid_Interface_Descriptor); } /******************************************************************************* diff --git a/flight/PiOS/inc/pios_usb.h b/flight/PiOS/inc/pios_usb.h index 986062e1e..1c6347a0d 100644 --- a/flight/PiOS/inc/pios_usb.h +++ b/flight/PiOS/inc/pios_usb.h @@ -3,13 +3,11 @@ * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_USB USB Functions - * @brief PIOS USB interface code * @{ * * @file pios_usb.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB functions header. + * @brief USB HID layer functions header * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ @@ -32,49 +30,10 @@ #ifndef PIOS_USB_H #define PIOS_USB_H -/* Local defines */ -/* Following settings allow to customise the USB device descriptor */ -#ifndef PIOS_USB_VENDOR_ID -#define PIOS_USB_VENDOR_ID 0x20A0 -#endif - -#ifndef PIOS_USB_VENDOR_STR -#define PIOS_USB_VENDOR_STR "openpilot.org" -#endif - -#ifndef PIOS_USB_PRODUCT_STR -#define PIOS_USB_PRODUCT_STR "OpenPilot" -#endif - -#ifndef PIOS_USB_PRODUCT_ID -#define PIOS_USB_PRODUCT_ID 0x415A -#endif - -#ifndef PIOS_USB_VERSION_ID -#define PIOS_USB_VERSION_ID 0x0102 /* OpenPilot board (01), Running state (02) */ -#endif - -/* Internal defines which are used by PIOS USB HID (don't touch) */ - -/* Buffer table base address */ -#define PIOS_USB_BTABLE_ADDRESS 0x000 - -/* EP0 rx/tx buffer base address */ -#define PIOS_USB_ENDP0_RXADDR 0x040 -#define PIOS_USB_ENDP0_TXADDR 0x080 - -/* EP1 Rx/Tx buffer base address for HID driver */ -#define PIOS_USB_ENDP1_TXADDR 0x0C0 -#define PIOS_USB_ENDP1_RXADDR 0x100 - -/* Global Variables */ -extern void (*pEpInt_IN[7]) (void); -extern void (*pEpInt_OUT[7]) (void); - -/* Public Functions */ -extern int32_t PIOS_USB_Init(uint32_t mode); -extern int32_t PIOS_USB_IsInitialized(void); -extern int32_t PIOS_USB_CableConnected(void); +/* Global functions */ +extern int32_t PIOS_USB_Reenumerate(); +extern int32_t PIOS_USB_ChangeConnectionState(uint32_t Connected); +extern bool PIOS_USB_CheckAvailable(uint8_t id); #endif /* PIOS_USB_H */ diff --git a/flight/PiOS/inc/pios_usb_com_priv.h b/flight/PiOS/inc/pios_usb_cdc_priv.h similarity index 67% rename from flight/PiOS/inc/pios_usb_com_priv.h rename to flight/PiOS/inc/pios_usb_cdc_priv.h index 525f71d13..e6b94bad8 100644 --- a/flight/PiOS/inc/pios_usb_com_priv.h +++ b/flight/PiOS/inc/pios_usb_cdc_priv.h @@ -2,13 +2,13 @@ ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ - * @addtogroup PIOS_USB_COM USB COM layer functions + * @addtogroup PIOS_USB_COM USB CDC COM layer functions * @brief Hardware communication layer * @{ * - * @file pios_usb_com_priv.h + * @file pios_usb_cdc_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief USB COM private definitions. + * @brief USB COM CDC private definitions. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ @@ -28,19 +28,12 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#ifndef PIOS_USB_COM_PRIV_H -#define PIOS_USB_COM_PRIV_H +#ifndef PIOS_USB_CDC_PRIV_H +#define PIOS_USB_CDC_PRIV_H #include "usb_core.h" /* RESULT */ -enum pios_usb_com_type { - PIOS_USB_COM_CDC, - PIOS_USB_COM_HID, -}; - -struct pios_usb_com_cfg { - enum pios_usb_com_type type; - +struct pios_usb_cdc_cfg { uint8_t ctrl_if; uint8_t ctrl_tx_ep; @@ -49,16 +42,15 @@ struct pios_usb_com_cfg { uint8_t data_tx_ep; }; -extern const struct pios_com_driver pios_usb_hid_com_driver; extern const struct pios_com_driver pios_usb_cdc_com_driver; -extern int32_t PIOS_USB_COM_Init(uint32_t * usbcom_id, const struct pios_usb_com_cfg * cfg, uint32_t lower_id); +extern int32_t PIOS_USB_CDC_Init(uint32_t * usbcdc_id, const struct pios_usb_cdc_cfg * cfg, uint32_t lower_id); -extern uint8_t *PIOS_CDC_GetLineCoding(uint16_t Length); -extern RESULT PIOS_CDC_SetControlLineState(void); -extern RESULT PIOS_CDC_SetLineCoding(void); +extern uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length); +extern RESULT PIOS_USB_CDC_SetControlLineState(void); +extern RESULT PIOS_USB_CDC_SetLineCoding(void); -#endif /* PIOS_USB_COM_PRIV_H */ +#endif /* PIOS_USB_CDC_PRIV_H */ /** * @} diff --git a/flight/PiOS/inc/pios_usb_defs.h b/flight/PiOS/inc/pios_usb_defs.h new file mode 100644 index 000000000..78b2eba69 --- /dev/null +++ b/flight/PiOS/inc/pios_usb_defs.h @@ -0,0 +1,292 @@ +#ifndef PIOS_USB_DEFS_H +#define PIOS_USB_DEFS_H + +#include /* uint*_t */ + +enum usb_desc_types { + USB_DESC_TYPE_DEVICE = 0x01, + USB_DESC_TYPE_CONFIGURATION = 0x02, + USB_DESC_TYPE_STRING = 0x03, + USB_DESC_TYPE_INTERFACE = 0x04, + USB_DESC_TYPE_ENDPOINT = 0x05, + USB_DESC_TYPE_IAD = 0x0B, + USB_DESC_TYPE_HID = 0x21, + USB_DESC_TYPE_REPORT = 0x22, + USB_DESC_TYPE_CLASS_SPECIFIC = 0x24, +} __attribute__((packed)); + +enum usb_interface_class { + USB_INTERFACE_CLASS_CDC = 0x02, + USB_INTERFACE_CLASS_HID = 0x03, + USB_INTERFACE_CLASS_DATA = 0x0A, +} __attribute__((packed)); + +enum usb_cdc_desc_subtypes { + USB_CDC_DESC_SUBTYPE_HEADER = 0x00, + USB_CDC_DESC_SUBTYPE_CALLMGMT = 0x01, + USB_CDC_DESC_SUBTYPE_ABSTRACT_CTRL = 0x02, + USB_CDC_DESC_SUBTYPE_UNION = 0x06, +} __attribute__((packed)); + +enum usb_ep_attr { + USB_EP_ATTR_TT_CONTROL = 0x00, + USB_EP_ATTR_TT_ISOCHRONOUS = 0x01, + USB_EP_ATTR_TT_BULK = 0x02, + USB_EP_ATTR_TT_INTERRUPT = 0x03, +} __attribute__((packed)); + +/* Standard macros to convert from host endian to USB endian (ie. little endian) */ +#if __BIG_ENDIAN__ +#define htousbs(v) ((uint16_t)(\ + ((((v) >> 0) & 0xFF) << 8) | \ + ((((v) >> 8) & 0xFF) << 0))) +#define htousbl(v) ((uint32_t)(\ + ((((v) >> 0) & 0xFF) << 24) | \ + ((((v) >> 8) & 0xFF) << 16) | \ + ((((v) >> 16) & 0xFF) << 8) | \ + ((((v) >> 24) & 0xFF) << 0))) +#else +#define htousbs(v) (v) +#define htousbl(v) (v) +#endif + +#define USB_EP_IN(ep) ((uint8_t) (0x80 | ((ep) & 0xF))) +#define USB_EP_OUT(ep) ((uint8_t) (0x00 | ((ep) & 0xF))) + +#define HID_ITEM_TYPE_MAIN 0x0 +#define HID_ITEM_TYPE_GLOBAL 0x1 +#define HID_ITEM_TYPE_LOCAL 0x2 +#define HID_ITEM_TYPE_RSVD 0x3 + +#define HID_TAG_GLOBAL_USAGE_PAGE 0x0 /* 0b0000 */ +#define HID_TAG_GLOBAL_LOGICAL_MIN 0x1 /* 0b0001 */ +#define HID_TAG_GLOBAL_LOGICAL_MAX 0x2 /* 0b0010 */ +#define HID_TAG_GLOBAL_PHYS_MIN 0x3 /* 0b0011 */ +#define HID_TAG_GLOBAL_PHYS_MAX 0x4 /* 0b0100 */ +#define HID_TAG_GLOBAL_UNIT_EXP 0x5 /* 0b0101 */ +#define HID_TAG_GLOBAL_UNIT 0x6 /* 0b0110 */ +#define HID_TAG_GLOBAL_REPORT_SIZE 0x7 /* 0b0111 */ +#define HID_TAG_GLOBAL_REPORT_ID 0x8 /* 0b1000 */ +#define HID_TAG_GLOBAL_REPORT_CNT 0x9 /* 0b1001 */ +#define HID_TAG_GLOBAL_PUSH 0xA /* 0b1010 */ +#define HID_TAG_GLOBAL_POP 0xB /* 0b1011 */ + +#define HID_TAG_MAIN_INPUT 0x8 /* 0b1000 */ +#define HID_TAG_MAIN_OUTPUT 0x9 /* 0b1001 */ +#define HID_TAG_MAIN_COLLECTION 0xA /* 0b1010 */ +#define HID_TAG_MAIN_FEATURE 0xB /* 0b1011 */ +#define HID_TAG_MAIN_ENDCOLLECTION 0xC /* 0b1100 */ + +#define HID_TAG_LOCAL_USAGE 0x0 /* 0b0000 */ +#define HID_TAG_LOCAL_USAGE_MIN 0x1 /* 0b0001 */ +#define HID_TAG_LOCAL_USAGE_MAX 0x2 /* 0b0010 */ +#define HID_TAG_LOCAL_DESIG_INDEX 0x3 /* 0b0011 */ +#define HID_TAG_LOCAL_DESIG_MIN 0x4 /* 0b0100 */ +#define HID_TAG_LOCAL_DESIG_MAX 0x5 /* 0b0101 */ +/* There is no value defined for 0x6 */ +#define HID_TAG_LOCAL_STRING_INDEX 0x7 /* 0b0111 */ +#define HID_TAG_LOCAL_STRING_MIN 0x8 /* 0b1000 */ +#define HID_TAG_LOCAL_STRING_MAX 0x9 /* 0b1001 */ +#define HID_TAG_LOCAL_DELIMITER 0xA /* 0b1010 */ + +#define HID_TAG_RSVD 0xF /* 0b1111 */ + +#define HID_ITEM_SIZE_0 0 +#define HID_ITEM_SIZE_1 1 +#define HID_ITEM_SIZE_2 2 +#define HID_ITEM_SIZE_4 3 /* Yes, 4 bytes is represented with a size field = 3 */ + +#define HID_SHORT_ITEM(tag,type,size) (\ + (((tag) & 0xF) << 4) | \ + (((type) & 0x3) << 2) | \ + (((size) & 0x3) << 0)) + +/* Long items have a fixed prefix */ +#define HID_LONG_ITEM HID_SHORT_ITEM(HID_TAG_RSVD, HID_ITEM_TYPE_RSVD, HID_ITEM_SIZE_2) + +#define HID_MAIN_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_0) +#define HID_MAIN_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_1) +#define HID_MAIN_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_2) +#define HID_MAIN_ITEM_4(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_4) + +#define HID_GLOBAL_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_0) +#define HID_GLOBAL_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_1) +#define HID_GLOBAL_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_2) +#define HID_GLOBAL_ITEM_4(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_4) + +#define HID_LOCAL_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_0) +#define HID_LOCAL_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_1) +#define HID_LOCAL_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_2) +#define HID_LOCAL_ITEM_3(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_3) + +struct usb_device_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t bcdUSB; + uint8_t bDeviceClass; + uint8_t bDeviceSubClass; + uint8_t bDeviceProtocol; + uint8_t bMaxPacketSize0; + uint16_t idVendor; + uint16_t idProduct; + uint16_t bcdDevice; + uint8_t iManufacturer; + uint8_t iProduct; + uint8_t iSerialNumber; + uint8_t bNumConfigurations; +} __attribute__((packed)); + +struct usb_configuration_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t wTotalLength; + uint8_t bNumInterfaces; + uint8_t bConfigurationValue; + uint8_t iConfiguration; + uint8_t bmAttributes; + uint8_t bMaxPower; +} __attribute__((packed)); + +struct usb_interface_association_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bFirstInterface; + uint8_t bInterfaceCount; + uint8_t bFunctionClass; + uint8_t bFunctionSubClass; + uint8_t bFunctionProtocol; + uint8_t iInterface; +} __attribute__((packed)); + +struct usb_interface_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bInterfaceNumber; + uint8_t bAlternateSetting; + uint8_t bNumEndpoints; + uint8_t bInterfaceClass; + uint8_t bInterfaceSubClass; + uint8_t nInterfaceProtocol; + uint8_t iInterface; +} __attribute__((packed)); + +struct usb_hid_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t bcdHID; + uint8_t bCountryCode; + uint8_t bNumDescriptors; + uint8_t bClassDescriptorType; + uint16_t wItemLength; +} __attribute__((packed)); + +struct usb_endpoint_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bEndpointAddress; + uint8_t bmAttributes; + uint16_t wMaxPacketSize; + uint8_t bInterval; +} __attribute__((packed)); + +struct usb_cdc_header_func_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubType; + uint16_t bcdCDC; +} __attribute__((packed)); + +struct usb_cdc_callmgmt_func_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubType; + uint8_t bmCapabilities; + uint8_t bDataInterface; +} __attribute__((packed)); + +struct usb_cdc_acm_func_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubType; + uint8_t bmCapabilities; +} __attribute__((packed)); + +struct usb_cdc_union_func_desc { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bDescriptorSubType; + uint8_t bMasterInterface; + uint8_t bSlaveInterface; +} __attribute__((packed)); + +#define USB_LANGID_ENGLISH_UK 0x0809 + +struct usb_string_langid { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t bLangID; +} __attribute__((packed)); + +struct usb_cdc_line_coding { + uint32_t dwDTERate; + uint8_t bCharFormat; + uint8_t bParityType; + uint8_t bDataBits; +} __attribute__((packed)); + +enum usb_cdc_line_coding_stop { + USB_CDC_LINE_CODING_STOP_1 = 0, + USB_CDC_LINE_CODING_STOP_1_5 = 1, + USB_CDC_LINE_CODING_STOP_2 = 2, +} __attribute__((packed)); + +enum usb_cdc_line_coding_parity { + USB_CDC_LINE_CODING_PARITY_NONE = 0, + USB_CDC_LINE_CODING_PARITY_ODD = 1, + USB_CDC_LINE_CODING_PARITY_EVEN = 2, + USB_CDC_LINE_CODING_PARITY_MARK = 3, + USB_CDC_LINE_CODING_PARITY_SPACE = 4, +} __attribute__((packed)); + +struct usb_cdc_serial_state_report { + uint8_t bmRequestType; + uint8_t bNotification; + uint16_t wValue; + uint16_t wIndex; + uint16_t wLength; + uint16_t bmUartState; +} __attribute__((packed)); + +enum usb_cdc_notification { + USB_CDC_NOTIFICATION_SERIAL_STATE = 0x20, +} __attribute__((packed)); + +/* + * OpenPilot Specific USB Definitions + */ + +#define USB_VENDOR_ID_OPENPILOT 0x20A0 + +enum usb_product_ids { + USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A, + USB_PRODUCT_ID_COPTERCONTROL = 0x415B, + USB_PRODUCT_ID_PIPXTREME = 0x415C, +} __attribute__((packed)); + +enum usb_op_board_ids { + USB_OP_BOARD_ID_OPENPILOT_MAIN = 1, + /* Board ID 2 may be unused or AHRS */ + USB_OP_BOARD_ID_PIPXTREME = 3, + USB_OP_BOARD_ID_COPTERCONTROL = 4, +} __attribute__((packed)); + +enum usb_op_board_modes { + USB_OP_BOARD_MODE_BL = 1, + USB_OP_BOARD_MODE_FW = 2, +} __attribute__((packed)); + +#define USB_OP_DEVICE_VER(board_id, board_mode) (\ + ((board_id & 0xFF) << 8) | \ + ((board_mode & 0xFF) << 0)) + +#endif /* PIOS_USB_DEFS_H */ diff --git a/flight/PiOS/inc/pios_usb_hid.h b/flight/PiOS/inc/pios_usb_hid.h index 10e3d6277..da353c555 100644 --- a/flight/PiOS/inc/pios_usb_hid.h +++ b/flight/PiOS/inc/pios_usb_hid.h @@ -31,23 +31,11 @@ #ifndef PIOS_USB_HID_H #define PIOS_USB_HID_H -/* Global Definitions */ -#define PIOS_USB_HID_SIZ_REPORT_DESC 36 -#define PIOS_USB_HID_REPORT_DESCRIPTOR 0x22 -#define PIOS_USB_HID_HID_DESCRIPTOR_TYPE 0x21 -#define PIOS_USB_HID_OFF_HID_DESC 0x12 -#define PIOS_USB_HID_SIZ_HID_DESC 0x09 - -#define PIOS_USB_COM_DATA_LENGTH 62 - /* Global functions */ extern int32_t PIOS_USB_HID_Reenumerate(); extern int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected); extern bool PIOS_USB_HID_CheckAvailable(uint8_t id); -extern int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo); -extern int32_t PIOS_USB_HID_CB_NoData_Setup(uint8_t RequestNo); - #endif /* PIOS_USB_HID_H */ /** diff --git a/flight/PiOS/inc/pios_usb_hid_desc.h b/flight/PiOS/inc/pios_usb_hid_desc.h deleted file mode 100644 index ba9af390b..000000000 --- a/flight/PiOS/inc/pios_usb_hid_desc.h +++ /dev/null @@ -1,56 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_desc.h -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Descriptor Header for Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USB_DESC_H -#define __USB_DESC_H - -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported define -----------------------------------------------------------*/ -#define USB_DEVICE_DESCRIPTOR_TYPE 0x01 -#define USB_CONFIGURATION_DESCRIPTOR_TYPE 0x02 -#define USB_STRING_DESCRIPTOR_TYPE 0x03 -#define USB_INTERFACE_DESCRIPTOR_TYPE 0x04 -#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05 - -#define HID_DESCRIPTOR_TYPE 0x21 -#define PIOS_HID_SIZ_HID_DESC 0x09 -#define PIOS_HID_OFF_HID_DESC 0x12 - -#define PIOS_HID_SIZ_DEVICE_DESC 18 -#define PIOS_HID_SIZ_CONFIG_DESC 41 -#define PIOS_HID_SIZ_REPORT_DESC 36 -#define PIOS_HID_SIZ_STRING_LANGID 4 -#define PIOS_HID_SIZ_STRING_VENDOR 28 -#define PIOS_HID_SIZ_STRING_PRODUCT 20 -#define PIOS_HID_SIZ_STRING_SERIAL 52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */ - -#define STANDARD_ENDPOINT_DESC_SIZE 0x09 - -/* Exported functions ------------------------------------------------------- */ -extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC]; -extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC]; -extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC]; -extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID]; -extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR]; -extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT]; -extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL]; - -#endif /* __USB_DESC_H */ - -/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ diff --git a/flight/PiOS/inc/pios_usb_hid_priv.h b/flight/PiOS/inc/pios_usb_hid_priv.h index 7e2be04ec..ac638cd54 100644 --- a/flight/PiOS/inc/pios_usb_hid_priv.h +++ b/flight/PiOS/inc/pios_usb_hid_priv.h @@ -1,14 +1,14 @@ - /** +/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ - * @addtogroup PIOS_USB_HID USB_HID Functions - * @brief PIOS interface for USB_HID port + * @addtogroup PIOS_USB_COM USB HID COM layer functions + * @brief Hardware communication layer * @{ * * @file pios_usb_hid_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief USB_HID private definitions. + * @brief USB COM HID private definitions. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ @@ -31,14 +31,17 @@ #ifndef PIOS_USB_HID_PRIV_H #define PIOS_USB_HID_PRIV_H -#include -#include +#include "usb_core.h" /* RESULT */ -struct pios_usb_cfg { - struct stm32_irq irq; +struct pios_usb_hid_cfg { + uint8_t data_if; + uint8_t data_rx_ep; + uint8_t data_tx_ep; }; -extern int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg); +extern const struct pios_com_driver pios_usb_hid_com_driver; + +extern int32_t PIOS_USB_HID_Init(uint32_t * usbhid_id, const struct pios_usb_hid_cfg * cfg, uint32_t lower_id); #endif /* PIOS_USB_HID_PRIV_H */ @@ -46,4 +49,3 @@ extern int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg) * @} * @} */ - diff --git a/flight/PiOS/inc/pios_usb_priv.h b/flight/PiOS/inc/pios_usb_priv.h new file mode 100644 index 000000000..dd3f949ee --- /dev/null +++ b/flight/PiOS/inc/pios_usb_priv.h @@ -0,0 +1,49 @@ + /** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB USB Setup Functions + * @brief PIOS interface for USB device driver + * @{ + * + * @file pios_usb_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB private definitions. + * @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 PIOS_USB_PRIV_H +#define PIOS_USB_PRIV_H + +#include +#include + +struct pios_usb_cfg { + struct stm32_irq irq; +}; + +extern int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg); + +#endif /* PIOS_USB_PRIV_H */ + +/** + * @} + * @} + */ + diff --git a/flight/PiOS/inc/pios_usbhook.h b/flight/PiOS/inc/pios_usbhook.h index 7b1a6f2c5..9246afcff 100644 --- a/flight/PiOS/inc/pios_usbhook.h +++ b/flight/PiOS/inc/pios_usbhook.h @@ -1,24 +1,6 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : pios_usbhook.h -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : All processings related to Custom HID demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Define to prevent recursive inclusion -------------------------------------*/ #ifndef PIOS_USBHOOK_H #define PIOS_USBHOOK_H -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ typedef enum _HID_REQUESTS { GET_REPORT = 1, GET_IDLE, @@ -35,12 +17,5 @@ typedef enum CDC_REQUESTS { SET_CONTROL_LINE_STATE = 0x23, } CDC_REQUESTS; -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions ------------------------------------------------------- */ -/* Exported define -----------------------------------------------------------*/ -#define REPORT_DESCRIPTOR 0x22 - #endif /* PIOS_USBHOOK_H */ -/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ diff --git a/flight/PiOS/inc/usb_conf.h b/flight/PiOS/inc/usb_conf.h index ad0c33c29..f174eaf62 100644 --- a/flight/PiOS/inc/usb_conf.h +++ b/flight/PiOS/inc/usb_conf.h @@ -23,11 +23,6 @@ /* Exported macro ------------------------------------------------------------*/ /* Exported functions ------------------------------------------------------- */ /* External variables --------------------------------------------------------*/ -/*-------------------------------------------------------------*/ -/* EP_NUM */ -/* defines how many endpoints are used by the device */ -/*-------------------------------------------------------------*/ -#define EP_NUM (4) #ifndef STM32F10X_CL /*-------------------------------------------------------------*/ diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile index dc4d9bf5f..c4bc900ca 100644 --- a/flight/PipXtreme/Makefile +++ b/flight/PipXtreme/Makefile @@ -97,10 +97,6 @@ SRC += $(HOME_DIR)/gpio_in.c SRC += $(HOME_DIR)/stopwatch.c SRC += $(HOME_DIR)/watchdog.c SRC += $(FLIGHTLIB)/fifo_buffer.c -ifeq ($(USE_USB), YES) - SRC += $(HOME_DIR)/pios_usb_hid_desc.c -endif - ## PIOS Hardware (STM32F10x) SRC += $(PIOSSTM32F10X)/pios_sys.c @@ -115,13 +111,13 @@ SRC += $(PIOSSTM32F10X)/pios_ppm.c # PIOS USB related files (seperated to make code maintenance more easy) ifeq ($(USE_USB), YES) + SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c - #SRC += $(PIOSSTM32F10X)/pios_usb_hid_desc.c - #SRC += $(PIOSSTM32F10X)/pios_usb_hid_endp.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c - SRC += $(PIOSSTM32F10X)/pios_usb_com.c + SRC += $(HOME_DIR)/pios_usb_board_data.c + SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c endif ## PIOS Hardware (Common) diff --git a/flight/PipXtreme/api_config.c b/flight/PipXtreme/api_config.c index 2cecfc65e..10587a6ee 100644 --- a/flight/PipXtreme/api_config.c +++ b/flight/PipXtreme/api_config.c @@ -35,6 +35,7 @@ #include "saved_settings.h" #include "crc.h" #include "main.h" +#include "pios_usb.h" /* PIOS_USB_* */ #if defined(PIOS_COM_DEBUG) // #define APICONFIG_DEBUG @@ -773,8 +774,8 @@ void apiconfig_process(void) // decide which comm-port we are using (usart or usb) apiconfig_usb_comms = false; // TRUE if we are using the usb port for comms. apiconfig_comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port - #if defined(PIOS_INCLUDE_USB_HID) - if (PIOS_USB_HID_CheckAvailable(0)) + #if defined(PIOS_INCLUDE_USB) + if (PIOS_USB_CheckAvailable(0)) { // USB comms is up, use the USB comm-port instead of the USART comm-port apiconfig_usb_comms = true; apiconfig_comm_port = PIOS_COM_TELEM_USB; diff --git a/flight/PipXtreme/inc/pios_config.h b/flight/PipXtreme/inc/pios_config.h index ca0f6c0c9..46728b2cb 100644 --- a/flight/PipXtreme/inc/pios_config.h +++ b/flight/PipXtreme/inc/pios_config.h @@ -39,7 +39,7 @@ #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_EXTI +#define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_COM #endif /* PIOS_CONFIG_H */ diff --git a/flight/PipXtreme/inc/pios_usb.h b/flight/PipXtreme/inc/pios_usb.h deleted file mode 100644 index 517bfde90..000000000 --- a/flight/PipXtreme/inc/pios_usb.h +++ /dev/null @@ -1,78 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup PIOS PIOS Core hardware abstraction layer - * @{ - * @addtogroup PIOS_USB USB Functions - * @brief PIOS USB interface code - * @{ - * - * @file pios_usb.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) - * @brief USB functions header. - * @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 PIOS_USB_H -#define PIOS_USB_H - -/* Local defines */ -/* Following settings allow to customise the USB device descriptor */ -#ifndef PIOS_USB_VENDOR_ID -#define PIOS_USB_VENDOR_ID 0x20A0 -#endif - - -#ifndef PIOS_USB_PRODUCT_ID -#define PIOS_USB_PRODUCT_ID 0x415C // PipXtreme PID -#endif - -#ifndef PIOS_USB_VERSION_ID -#define PIOS_USB_VERSION_ID 0x0302 // PipXtreme, board revision 1, Running state (02) -#endif - -/* Internal defines which are used by PIOS USB HID (don't touch) */ - -/* Buffer table base address */ -#define PIOS_USB_BTABLE_ADDRESS 0x000 - -/* EP0 rx/tx buffer base address */ -#define PIOS_USB_ENDP0_RXADDR 0x040 -#define PIOS_USB_ENDP0_TXADDR 0x080 - -/* EP1 Rx/Tx buffer base address for HID driver */ -#define PIOS_USB_ENDP1_TXADDR 0x0C0 -#define PIOS_USB_ENDP1_RXADDR 0x100 - - -/* Global Variables */ -extern void (*pEpInt_IN[7])(void); -extern void (*pEpInt_OUT[7])(void); - -/* Public Functions */ -extern int32_t PIOS_USB_Init(uint32_t mode); -extern int32_t PIOS_USB_IsInitialized(void); -extern int32_t PIOS_USB_CableConnected(void); - -#endif /* PIOS_USB_H */ - -/** - * @} - * @} - */ diff --git a/flight/PipXtreme/inc/pios_usb_board_data.h b/flight/PipXtreme/inc/pios_usb_board_data.h new file mode 100644 index 000000000..4ec9fa1c8 --- /dev/null +++ b/flight/PipXtreme/inc/pios_usb_board_data.h @@ -0,0 +1,40 @@ +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 2 + +#include "pios_usb_defs.h" /* struct usb_* */ + +struct usb_board_config { + struct usb_configuration_desc config; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; +} __attribute__((packed)); + +extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; +extern const struct usb_board_config PIOS_USB_BOARD_Configuration; +extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; + +/* NOTE NOTE NOTE + * + * Care must be taken to ensure that the _actual_ contents of + * these arrays (in each board's pios_usb_board_data.c) is no + * smaller than the stated sizes here or these descriptors + * will end up with trailing zeros on the wire. + * + * The compiler will catch any time that these definitions are + * too small. + */ +extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; +extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; +extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; +extern uint8_t PIOS_USB_BOARD_StringSerial[52]; + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_FW) + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/PipXtreme/inc/usb_conf.h b/flight/PipXtreme/inc/usb_conf.h deleted file mode 100644 index 1c56117e5..000000000 --- a/flight/PipXtreme/inc/usb_conf.h +++ /dev/null @@ -1,196 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_conf.h -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Custom HID demo configuration file -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USB_CONF_H -#define __USB_CONF_H - -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions ------------------------------------------------------- */ -/* External variables --------------------------------------------------------*/ -/*-------------------------------------------------------------*/ -/* EP_NUM */ -/* defines how many endpoints are used by the device */ -/*-------------------------------------------------------------*/ -#define EP_NUM (2) - -#ifndef STM32F10X_CL -/*-------------------------------------------------------------*/ -/* -------------- Buffer Description Table -----------------*/ -/*-------------------------------------------------------------*/ -/* buffer table base address */ -/* buffer table base address */ -#define BTABLE_ADDRESS (0x00) - -/* EP0 */ -/* rx/tx buffer base address */ -#define ENDP0_RXADDR (0x20) -#define ENDP0_TXADDR (0x40) - -/* EP1 */ -/* rx/tx buffer base address */ -#define ENDP1_TXADDR (0x60) -#define ENDP1_RXADDR (0x80) - -/* EP2 */ -/* rx/tx buffer base address */ -#define ENDP2_TXADDR (0x100) -#define ENDP2_RXADDR (0x140) - -/* EP3 */ -/* rx/tx buffer base address */ -#define ENDP3_TXADDR (0x180) -#define ENDP3_RXADDR (0x1C0) - -/*-------------------------------------------------------------*/ -/* ------------------- ISTR events -------------------------*/ -/*-------------------------------------------------------------*/ -/* IMR_MSK */ -/* mask defining which events has to be handled */ -/* by the device application software */ -#define IMR_MSK (CNTR_CTRM | CNTR_WKUPM | CNTR_SUSPM | CNTR_ERRM | CNTR_SOFM \ - | CNTR_ESOFM | CNTR_RESETM ) -#endif /* STM32F10X_CL */ - -#ifdef STM32F10X_CL - -/******************************************************************************* -* FIFO Size Configuration -* -* (i) Dedicated data FIFO SPRAM of 1.25 Kbytes = 1280 bytes = 320 32-bits words -* available for the endpoints IN and OUT. -* Device mode features: -* -1 bidirectional CTRL EP 0 -* -3 IN EPs to support any kind of Bulk, Interrupt or Isochronous transfer -* -3 OUT EPs to support any kind of Bulk, Interrupt or Isochronous transfer -* -* ii) Receive data FIFO size = RAM for setup packets + -* OUT endpoint control information + -* data OUT packets + miscellaneous -* Space = ONE 32-bits words -* --> RAM for setup packets = 4 * n + 6 space -* (n is the nbr of CTRL EPs the device core supports) -* --> OUT EP CTRL info = 1 space -* (one space for status information written to the FIFO along with each -* received packet) -* --> data OUT packets = (Largest Packet Size / 4) + 1 spaces -* (MINIMUM to receive packets) -* --> OR data OUT packets = at least 2*(Largest Packet Size / 4) + 1 spaces -* (if high-bandwidth EP is enabled or multiple isochronous EPs) -* --> miscellaneous = 1 space per OUT EP -* (one space for transfer complete status information also pushed to the -* FIFO with each endpoint's last packet) -* -* (iii)MINIMUM RAM space required for each IN EP Tx FIFO = MAX packet size for -* that particular IN EP. More space allocated in the IN EP Tx FIFO results -* in a better performance on the USB and can hide latencies on the AHB. -* -* (iv) TXn min size = 16 words. (n : Transmit FIFO index) -* (v) When a TxFIFO is not used, the Configuration should be as follows: -* case 1 : n > m and Txn is not used (n,m : Transmit FIFO indexes) -* --> Txm can use the space allocated for Txn. -* case2 : n < m and Txn is not used (n,m : Transmit FIFO indexes) -* --> Txn should be configured with the minimum space of 16 words -* (vi) The FIFO is used optimally when used TxFIFOs are allocated in the top -* of the FIFO.Ex: use EP1 and EP2 as IN instead of EP1 and EP3 as IN ones. -*******************************************************************************/ - -#define RX_FIFO_SIZE 128 -#define TX0_FIFO_SIZE 64 -#define TX1_FIFO_SIZE 64 -#define TX2_FIFO_SIZE 16 -#define TX3_FIFO_SIZE 16 - -/* OTGD-FS-DEVICE IP interrupts Enable definitions */ -/* Uncomment the define to enable the selected interrupt */ -//#define INTR_MODEMISMATCH -#define INTR_SOFINTR -#define INTR_RXSTSQLVL /* Mandatory */ -//#define INTR_NPTXFEMPTY -//#define INTR_GINNAKEFF -//#define INTR_GOUTNAKEFF -//#define INTR_ERLYSUSPEND -#define INTR_USBSUSPEND /* Mandatory */ -#define INTR_USBRESET /* Mandatory */ -#define INTR_ENUMDONE /* Mandatory */ -//#define INTR_ISOOUTDROP -//#define INTR_EOPFRAME -//#define INTR_EPMISMATCH -#define INTR_INEPINTR /* Mandatory */ -#define INTR_OUTEPINTR /* Mandatory */ -//#define INTR_INCOMPLISOIN -//#define INTR_INCOMPLISOOUT -#define INTR_WKUPINTR /* Mandatory */ - -/* OTGD-FS-DEVICE IP interrupts subroutines */ -/* Comment the define to enable the selected interrupt subroutine and replace it - by user code */ -#define INTR_MODEMISMATCH_Callback NOP_Process -#define INTR_SOFINTR_Callback NOP_Process -#define INTR_RXSTSQLVL_Callback NOP_Process -#define INTR_NPTXFEMPTY_Callback NOP_Process -#define INTR_NPTXFEMPTY_Callback NOP_Process -#define INTR_GINNAKEFF_Callback NOP_Process -#define INTR_GOUTNAKEFF_Callback NOP_Process -#define INTR_ERLYSUSPEND_Callback NOP_Process -#define INTR_USBSUSPEND_Callback NOP_Process -#define INTR_USBRESET_Callback NOP_Process -#define INTR_ENUMDONE_Callback NOP_Process -#define INTR_ISOOUTDROP_Callback NOP_Process -#define INTR_EOPFRAME_Callback NOP_Process -#define INTR_EPMISMATCH_Callback NOP_Process -#define INTR_INEPINTR_Callback NOP_Process -#define INTR_OUTEPINTR_Callback NOP_Process -#define INTR_INCOMPLISOIN_Callback NOP_Process -#define INTR_INCOMPLISOOUT_Callback NOP_Process -#define INTR_WKUPINTR_Callback NOP_Process - -/* Isochronous data update */ -#define INTR_RXSTSQLVL_ISODU_Callback NOP_Process - -/* Isochronous transfer parameters */ -/* Size of a single Isochronous buffer (size of a single transfer) */ -#define ISOC_BUFFER_SZE 1 -/* Number of sub-buffers (number of single buffers/transfers), should be even */ -#define NUM_SUB_BUFFERS 2 - -#endif /* STM32F10X_CL */ - - -/* CTR service routines */ -/* associated to defined endpoints */ -#define EP1_IN_Callback NOP_Process -#define EP2_IN_Callback NOP_Process -#define EP3_IN_Callback NOP_Process -#define EP4_IN_Callback NOP_Process -#define EP5_IN_Callback NOP_Process -#define EP6_IN_Callback NOP_Process -#define EP7_IN_Callback NOP_Process - -#define EP1_OUT_Callback NOP_Process -#define EP2_OUT_Callback NOP_Process -#define EP3_OUT_Callback NOP_Process -#define EP4_OUT_Callback NOP_Process -#define EP5_OUT_Callback NOP_Process -#define EP6_OUT_Callback NOP_Process -#define EP7_OUT_Callback NOP_Process - -#endif /*__USB_CONF_H*/ - -/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ - diff --git a/flight/PipXtreme/pios_board.c b/flight/PipXtreme/pios_board.c index 99fade5e1..7da3705a8 100644 --- a/flight/PipXtreme/pios_board.c +++ b/flight/PipXtreme/pios_board.c @@ -311,8 +311,8 @@ static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN]; // *********************************************************************************** -#if defined(PIOS_INCLUDE_USB_HID) -#include "pios_usb_hid_priv.h" +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" static const struct pios_usb_cfg pios_usb_main_cfg = { .irq = { @@ -324,19 +324,18 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_USB_HID */ +#endif /* PIOS_INCLUDE_USB */ -#if defined(PIOS_INCLUDE_USB_COM) -#include +#if defined(PIOS_INCLUDE_USB_HID) +#include -const struct pios_usb_com_cfg pios_usb_com_hid_cfg = { - .type = PIOS_USB_COM_HID, +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { .data_if = 0, .data_rx_ep = 1, .data_tx_ep = 1, }; -#endif /* PIOS_INCLUDE_USB_COM */ +#endif /* PIOS_INCLUDE_USB_HID */ uint32_t pios_com_serial_id; uint32_t pios_com_telem_usb_id; @@ -369,20 +368,23 @@ void PIOS_Board_Init(void) { PIOS_DEBUG_Assert(0); } -#if defined(PIOS_INCLUDE_USB_HID) +#if defined(PIOS_INCLUDE_USB) uint32_t pios_usb_id; - PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); -#if defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_com_id; - if (PIOS_USB_COM_Init(&pios_usb_com_id, &pios_usb_com_hid_cfg, pios_usb_id)) { + if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ + #endif /* PIOS_INCLUDE_USB_HID */ // ADC system diff --git a/flight/PipXtreme/pios_usb_board_data.c b/flight/PipXtreme/pios_usb_board_data.c new file mode 100644 index 000000000..3266e1b45 --- /dev/null +++ b/flight/PipXtreme/pios_usb_board_data.c @@ -0,0 +1,16 @@ +#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ + +const uint8_t PIOS_USB_BOARD_StringProductID[] = { + sizeof(PIOS_USB_BOARD_StringProductID), + USB_DESC_TYPE_STRING, + 'P', 0, + 'i', 0, + 'p', 0, + 'X', 0, + 't', 0, + 'r', 0, + 'e', 0, + 'm', 0, + 'e', 0, +}; + diff --git a/flight/PipXtreme/transparent_comms.c b/flight/PipXtreme/transparent_comms.c index b30f5f581..20d78290b 100644 --- a/flight/PipXtreme/transparent_comms.c +++ b/flight/PipXtreme/transparent_comms.c @@ -31,6 +31,7 @@ #include "packet_handler.h" #include "saved_settings.h" #include "main.h" +#include "pios_usb.h" /* PIOS_USB_* */ #if defined(PIOS_COM_DEBUG) #define TRANS_DEBUG @@ -70,8 +71,8 @@ void trans_process(void) bool usb_comms = false; // TRUE if we are using the usb port for comms. uint32_t comm_port = PIOS_COM_SERIAL; // default to using the usart comm-port - #if defined(PIOS_INCLUDE_USB_HID) - if (PIOS_USB_HID_CheckAvailable(0)) + #if defined(PIOS_INCLUDE_USB) + if (PIOS_USB_CheckAvailable(0)) { // USB comms is up, use the USB comm-port instead of the USART comm-port usb_comms = true; comm_port = PIOS_COM_TELEM_USB; From 481a13609e3fdf2d731ecf514444bc8a0a5e3763 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 14:08:32 -0500 Subject: [PATCH 081/121] com: remove all references to PIOS_COM_ReceiveBufferUsed() The PIOS_COM_ReceiveBufferUsed() function call is no longer necessary since the same semantics can be achieved using calls to PIOS_COM_ReceiveBuffer(). --- flight/Bootloaders/CopterControl/main.c | 6 ++--- flight/Bootloaders/OpenPilot/main.c | 19 ++++++---------- flight/Bootloaders/PipXtreme/main.c | 6 ++--- flight/PiOS/Common/pios_com.c | 18 --------------- flight/PiOS/inc/pios_com.h | 1 - flight/PipXtreme/api_config.c | 24 ++++---------------- flight/PipXtreme/transparent_comms.c | 30 ++++++------------------- 7 files changed, 22 insertions(+), 82 deletions(-) diff --git a/flight/Bootloaders/CopterControl/main.c b/flight/Bootloaders/CopterControl/main.c index aa375a49c..c1def4a46 100644 --- a/flight/Bootloaders/CopterControl/main.c +++ b/flight/Bootloaders/CopterControl/main.c @@ -198,10 +198,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { - processComand(mReceive_Buffer); - } + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + processComand(mReceive_Buffer); } return TRUE; } diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c index 8e15952ea..48056cff6 100644 --- a/flight/Bootloaders/OpenPilot/main.c +++ b/flight/Bootloaders/OpenPilot/main.c @@ -249,10 +249,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { uint8_t processRX() { if (ProgPort == Usb) { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { - processComand(mReceive_Buffer); - } + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + processComand(mReceive_Buffer); } } else if (ProgPort == Serial) { @@ -277,15 +275,12 @@ void SSP_CallBack(uint8_t *buf, uint16_t len) { fifoBuf_putData(&ssp_buffer, buf, len); } int16_t SSP_SerialRead(void) { - if (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_RF) > 0) { - uint8_t byte; - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) { - return byte; - } else { - return -1; - } - } else + uint8_t byte; + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_RF, &byte, 1, 0) == 1) { + return byte; + } else { return -1; + } } void SSP_SerialWrite(uint8_t value) { PIOS_COM_SendChar(PIOS_COM_TELEM_RF, value); diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c index 3f1c4bd54..f09881d42 100644 --- a/flight/Bootloaders/PipXtreme/main.c +++ b/flight/Bootloaders/PipXtreme/main.c @@ -204,10 +204,8 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - while (PIOS_COM_ReceiveBufferUsed(PIOS_COM_TELEM_USB) >= 63) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { - processComand(mReceive_Buffer); - } + if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + processComand(mReceive_Buffer); } return TRUE; } diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index e5440d065..992167bad 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -511,24 +511,6 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len return (bytes_from_fifo); } -/** -* 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(uint32_t com_id) -{ - struct pios_com_dev * com_dev = (struct pios_com_dev *)com_id; - - if (!PIOS_COM_validate(com_dev)) { - /* Undefined COM port for this board (see pios_board.c) */ - PIOS_Assert(0); - } - - PIOS_Assert(com_dev->has_rx); - return (fifoBuf_getUsed(&com_dev->rx)); -} - #endif /** diff --git a/flight/PiOS/inc/pios_com.h b/flight/PiOS/inc/pios_com.h index cbee33735..1bda392f6 100644 --- a/flight/PiOS/inc/pios_com.h +++ b/flight/PiOS/inc/pios_com.h @@ -55,7 +55,6 @@ extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str); extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...); extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...); extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms); -extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id); #endif /* PIOS_COM_H */ diff --git a/flight/PipXtreme/api_config.c b/flight/PipXtreme/api_config.c index 10587a6ee..5aa9fc6c0 100644 --- a/flight/PipXtreme/api_config.c +++ b/flight/PipXtreme/api_config.c @@ -792,13 +792,8 @@ void apiconfig_process(void) else if (apiconfig_usb_comms) { // we're using the USB for comms - keep the USART rx buffer empty - int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL); - while (bytes > 0) - { - uint8_t c; - PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0); - bytes--; - } + uint8_t c; + while (PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0) > 0); } apiconfig_previous_com_port = apiconfig_comm_port; // remember the current comm-port we are using @@ -808,20 +803,9 @@ void apiconfig_process(void) // fetch the data received via the comm-port // get the number of data bytes received down the comm-port - int32_t com_num = PIOS_COM_ReceiveBufferUsed(apiconfig_comm_port); + uint16_t buf_avail = sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr; - // limit number of bytes we will get to how much space we have in our RX buffer - if (com_num > sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr) - com_num = sizeof(apiconfig_rx_buffer) - apiconfig_rx_buffer_wr; - - - while (com_num > 0) - { // fetch a byte from the comm-port RX buffer and save it into our RX buffer - uint8_t c; - PIOS_COM_ReceiveBuffer(apiconfig_comm_port, &c, 1, 0); - apiconfig_rx_buffer[apiconfig_rx_buffer_wr++] = c; - com_num--; - } + PIOS_COM_ReceiveBuffer(apiconfig_comm_port, &(apiconfig_rx_buffer[apiconfig_rx_buffer_wr]), buf_avail, 0); apiconfig_processTx(); apiconfig_processRx(); diff --git a/flight/PipXtreme/transparent_comms.c b/flight/PipXtreme/transparent_comms.c index 20d78290b..dc5e0384a 100644 --- a/flight/PipXtreme/transparent_comms.c +++ b/flight/PipXtreme/transparent_comms.c @@ -89,13 +89,8 @@ void trans_process(void) else if (usb_comms) { // we're using the USB for comms - keep the USART rx buffer empty - int32_t bytes = PIOS_COM_ReceiveBufferUsed(PIOS_COM_SERIAL); - while (bytes > 0) - { - uint8_t c; - PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0); - bytes--; - } + uint8_t c; + while (PIOS_COM_ReceiveBuffer(PIOS_COM_SERIAL, &c, 1, 0) > 0); } trans_previous_com_port = comm_port; // remember the current comm-port we are using @@ -112,9 +107,6 @@ void trans_process(void) // free space size in the RF packet handler tx buffer uint16_t ph_num = ph_putData_free(connection_index); - // get the number of data bytes received down the comm-port - int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port); - // set the USART RTS handshaking line if (!usb_comms) { @@ -127,16 +119,12 @@ void trans_process(void) SERIAL_RTS_SET; // release the USART RTS line // limit number of bytes we will get to the size of the temp buffer - if (com_num > sizeof(trans_temp_buffer1)) - com_num = sizeof(trans_temp_buffer1); - - // limit number of bytes we will get to the size of the free space in the RF packet handler TX buffer - if (com_num > ph_num) - com_num = ph_num; + if (ph_num > sizeof(trans_temp_buffer1)) + ph_num = sizeof(trans_temp_buffer1); // copy data received down the comm-port into our temp buffer register uint16_t bytes_saved = 0; - bytes_saved = PIOS_COM_ReceiveBuffer(comm_port, trans_temp_buffer1, com_num, 0); + bytes_saved = PIOS_COM_ReceiveBuffer(comm_port, trans_temp_buffer1, ph_num, 0); // put the received comm-port data bytes into the RF packet handler TX buffer if (bytes_saved > 0) @@ -147,12 +135,8 @@ void trans_process(void) } else { // empty the comm-ports rx buffer - int32_t com_num = PIOS_COM_ReceiveBufferUsed(comm_port); - while (com_num > 0) { - uint8_t c; - PIOS_COM_ReceiveBuffer(comm_port, &c, 1, 0); - com_num--; - } + uint8_t c; + while (PIOS_COM_ReceiveBuffer(comm_port, &c, 1, 0) > 0); } // ******************** From 4d2760f11dc5e1f83dba5f09353d1fc21e20dab4 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 14:13:51 -0500 Subject: [PATCH 082/121] cc bl: allow bootloader to force safe-boot into firmware This can be used by the GCS firmware uploader widget to boot the firmware with a (temporarily) defaulted hwsettings uavo so that a user can easily recover from a bad/incompatible hwsettings configuration without wiping all settings. This uses the same mechanism that the BootFault auto-recovery code already uses in the CC firmware. The auto-recovery is triggered by setting the failed-boot counter to a maximum value forcing recovery on the next FW init. --- flight/Bootloaders/CopterControl/op_dfu.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/flight/Bootloaders/CopterControl/op_dfu.c b/flight/Bootloaders/CopterControl/op_dfu.c index b45e1e798..ae85160c2 100644 --- a/flight/Bootloaders/CopterControl/op_dfu.c +++ b/flight/Bootloaders/CopterControl/op_dfu.c @@ -294,6 +294,10 @@ void processComand(uint8_t *xReceive_Buffer) { sendData(Buffer + 1, 63); break; case JumpFW: + if (Data == 0x5AFE) { + /* Force board into safe mode */ + PIOS_IAP_WriteBootCount(0xFFFF); + } FLASH_Lock(); JumpToApp = 1; break; From 4fd40ca0d2afc58314fe6cb2101fd73f1bd957d4 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 14:21:12 -0500 Subject: [PATCH 083/121] gcs uploader: add support for "Safe Boot" to the GCS uploader When halted in the bootloader or while rescuing a board, the user can press the "Safe Boot" button in the uploader gadget to force the FW to boot with a default hwsettings configuration. The default conditions of the hwsettings uavo will disable all optional modules, disable all serial port config, and ensure that the board can communicate via the USB HID telemetry interface. Once booted in this mode, a user can easily reconfigure the hwsettings uavo through the config GUI and save the fixed settings to the board to be used on the next reboot. No need to wipe all settings just to recover from a non-functional HW config. NOTE: The GCS needs to grow some very clear visual clues to indicate when the board has booted in safe mode. The firmware helpfully raises a (new) critical alarm called BootFault whenever it boots in safe mode. --- .../src/plugins/uploader/op_dfu.cpp | 15 ++++++++++--- .../src/plugins/uploader/op_dfu.h | 2 +- .../src/plugins/uploader/uploader.ui | 18 +++++++++++++++ .../plugins/uploader/uploadergadgetwidget.cpp | 22 +++++++++++++++++-- .../plugins/uploader/uploadergadgetwidget.h | 2 ++ 5 files changed, 53 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp index 961103d22..0143a180b 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp @@ -509,7 +509,7 @@ int DFUObject::AbortOperation(void) /** Starts the firmware (leaves bootloader and boots the main software) */ -int DFUObject::JumpToApp() +int DFUObject::JumpToApp(bool safeboot) { char buf[BUF_LEN]; buf[0] =0x02;//reportID @@ -520,8 +520,17 @@ int DFUObject::JumpToApp() buf[5] = 0; buf[6] = 0; buf[7] = 0; - buf[8] = 0; - buf[9] = 0; + if (safeboot) + { + /* force system to safe boot mode (hwsettings == defaults) */ + buf[8] = 0x5A; + buf[9] = 0xFE; + } + else + { + buf[8] = 0; + buf[9] = 0; + } return sendData(buf, BUF_LEN); //return hidHandle.send(0,buf, BUF_LEN, 500); diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h index 79624b546..812f3f2fb 100644 --- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.h +++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.h @@ -129,7 +129,7 @@ namespace OP_DFU { // Service commands: bool enterDFU(int const &devNumber); bool findDevices(); - int JumpToApp(); + int JumpToApp(bool); int ResetDevice(void); OP_DFU::Status StatusRequest(); bool EndOperation(); diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui index d66fc02ef..b0dffd4a0 100644 --- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui +++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui @@ -50,6 +50,24 @@ menu on the right. + + + + true + + + Boots the system into safe mode (ie. default HwSettings). +Only useful if the system is halted +(mainboard blue LED blinking slowly, orange LED off) + +If telemetry is not running, select the link using the dropdown +menu on the right. + + + Safe Boot + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index c0a1aea90..bf0c66510 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -52,6 +52,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent) connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader())); connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset())); connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot())); + connect(m_config->safeBootButton, SIGNAL(clicked()), this, SLOT(systemSafeBoot())); connect(m_config->rescueButton, SIGNAL(clicked()), this, SLOT(systemRescue())); Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager(); connect(cm,SIGNAL(deviceConnected(QIODevice*)),this,SLOT(onPhisicalHWConnect())); @@ -117,6 +118,7 @@ QString UploaderGadgetWidget::getPortDevice(const QString &friendName) void UploaderGadgetWidget::onPhisicalHWConnect() { m_config->bootButton->setEnabled(false); + m_config->safeBootButton->setEnabled(false); m_config->rescueButton->setEnabled(false); m_config->telemetryLink->setEnabled(false); } @@ -132,6 +134,7 @@ void UploaderGadgetWidget::populate() { m_config->haltButton->setEnabled(true); m_config->resetButton->setEnabled(true); + m_config->safeBootButton->setEnabled(false); m_config->bootButton->setEnabled(false); m_config->rescueButton->setEnabled(false); m_config->telemetryLink->setEnabled(false); @@ -155,6 +158,7 @@ void UploaderGadgetWidget::onAutopilotDisconnect(){ m_config->haltButton->setEnabled(false); m_config->resetButton->setEnabled(false); m_config->bootButton->setEnabled(true); + m_config->safeBootButton->setEnabled(true); if (currentStep == IAP_STATE_BOOTLOADER) { m_config->rescueButton->setEnabled(false); m_config->telemetryLink->setEnabled(false); @@ -311,6 +315,7 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success) */ // Need to re-enable in case we were not connected m_config->bootButton->setEnabled(true); + m_config->safeBootButton->setEnabled(true); /* m_config->telemetryLink->setEnabled(false); m_config->rescueButton->setEnabled(false); @@ -348,14 +353,25 @@ void UploaderGadgetWidget::systemReset() goToBootloader(); } +void UploaderGadgetWidget::systemBoot() +{ + commonSystemBoot(false); +} + +void UploaderGadgetWidget::systemSafeBoot() +{ + commonSystemBoot(true); +} + /** Tells the system to boot (from Bootloader state) */ -void UploaderGadgetWidget::systemBoot() +void UploaderGadgetWidget::commonSystemBoot(bool safeboot) { clearLog(); m_config->bootButton->setEnabled(false); + m_config->safeBootButton->setEnabled(false); // Suspend telemety & polling in case it is not done yet Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager(); @@ -379,11 +395,12 @@ void UploaderGadgetWidget::systemBoot() delete dfu; dfu = NULL; m_config->bootButton->setEnabled(true); + m_config->safeBootButton->setEnabled(true); m_config->rescueButton->setEnabled(true); // Boot not possible, maybe Rescue OK? return; } log("Booting system..."); - dfu->JumpToApp(); + dfu->JumpToApp(safeboot); // Restart the polling thread cm->resumePolling(); m_config->rescueButton->setEnabled(true); @@ -530,6 +547,7 @@ void UploaderGadgetWidget::systemRescue() m_config->haltButton->setEnabled(false); m_config->resetButton->setEnabled(false); m_config->bootButton->setEnabled(true); + m_config->safeBootButton->setEnabled(true); m_config->rescueButton->setEnabled(false); currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards. } diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h index 9b1fa1433..998166d69 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h @@ -94,6 +94,8 @@ private slots: void goToBootloader(UAVObject* = NULL, bool = false); void systemReset(); void systemBoot(); + void systemSafeBoot(); + void commonSystemBoot(bool = false); void systemRescue(); void getSerialPorts(); void perform(); From 7b38bc3d2dabf9226e90b7c332ce6339aff58d88 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 14:25:20 -0500 Subject: [PATCH 084/121] jtag: add new make targets for reset and safeboot It is now easier to trigger warm restarts of a board via jtag. Examples: * make fw_coptercontrol_reset * make fw_coptercontrol_safeboot NOTE: These targets are making chip-specific assumptions so they have to be rewritten to support the F2/F4 boards. --- make/firmware-defs.mk | 31 +++++++++++++++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk index b22a66639..2eb0a13d8 100644 --- a/make/firmware-defs.mk +++ b/make/firmware-defs.mk @@ -49,6 +49,8 @@ MSG_OPFIRMWARE := ${quote} OPFW ${quote} MSG_FWINFO := ${quote} FWINFO ${quote} MSG_JTAG_PROGRAM := ${quote} JTAG-PGM ${quote} MSG_JTAG_WIPE := ${quote} JTAG-WIPE ${quote} +MSG_JTAG_RESET := ${quote} JTAG-RST ${quote} +MSG_JTAG_SAFEBOOT := ${quote} JTAG-SAFE ${quote} toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1))) @@ -243,5 +245,34 @@ wipe: -c "flash erase_address pad $(2) $(3)" \ -c "reset run" \ -c "shutdown" + +reset: + @echo $(MSG_JTAG_RESET) resetting device + $(V1) $(OOCD_EXE) \ + $$(OOCD_JTAG_SETUP) \ + $$(OOCD_BOARD_RESET) \ + -c "reset run" \ + -c "shutdown" + +# Enable PWR and BKP clocks (set RCC_APB1ENR[PWREN|BKPEN]) +OOCD_WRITE_BKPDR3 = -c "mww 0x4002101C 0x18000000" +# Enable writes to BKP registers (set PWR_CR[DBP] via bit op alias address) +# +# Direct register access would be: +# mww 0x40007000 0x00000100 +# +# Direct _bit_ access is: +# Bit 8 in 0x40007000 = 0x42000000 + 0x7000 * 32 + 8 * 4 = 420E0020 +OOCD_WRITE_BKPDR3 += -c "mww 0x420E0020 0x00000001" +# Set BR3 to max value to force a safe boot +OOCD_WRITE_BKPDR3 += -c "mwh 0x40006C0C 0xFFFF" +safeboot: + @echo $(MSG_JTAG_SAFEBOOT) forcing boot into safe mode + $(V1) $(OOCD_EXE) \ + $$(OOCD_JTAG_SETUP) \ + $$(OOCD_BOARD_RESET) \ + $$(OOCD_WRITE_BKPDR3) \ + -c "reset run" \ + -c "shutdown" endef From 8d8715c8c1c80792d8f7756b0207274ab1a87cb8 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 23:28:53 -0500 Subject: [PATCH 085/121] copyright: add/correct GPL + copyright boilerplate I missed some of the boilerplate text on some of the new files I've added recently. Fixed. --- .../CopterControl/inc/pios_usb_board_data.h | 30 +++++++++++++++++++ .../CopterControl/pios_usb_board_data.c | 30 +++++++++++++++++++ .../OpenPilot/inc/pios_usb_board_data.h | 30 +++++++++++++++++++ .../OpenPilot/pios_usb_board_data.c | 30 +++++++++++++++++++ .../PipXtreme/inc/pios_usb_board_data.h | 30 +++++++++++++++++++ .../PipXtreme/pios_usb_board_data.c | 30 +++++++++++++++++++ .../System/inc/pios_usb_board_data.h | 30 +++++++++++++++++++ .../System/pios_usb_board_data.c | 30 +++++++++++++++++++ flight/Modules/Fault/Fault.c | 2 +- .../System/inc/pios_usb_board_data.h | 30 +++++++++++++++++++ flight/OpenPilot/System/pios_usb_board_data.c | 30 +++++++++++++++++++ flight/PiOS/Common/pios_usb_desc_hid_cdc.c | 30 +++++++++++++++++++ flight/PiOS/Common/pios_usb_desc_hid_only.c | 30 +++++++++++++++++++ flight/PiOS/STM32F10x/pios_usbhook.c | 30 +++++++++++++++++++ flight/PiOS/inc/pios_usb_defs.h | 30 +++++++++++++++++++ flight/PiOS/inc/pios_usbhook.h | 30 +++++++++++++++++++ flight/PipXtreme/inc/pios_usb_board_data.h | 30 +++++++++++++++++++ flight/PipXtreme/pios_usb_board_data.c | 30 +++++++++++++++++++ 18 files changed, 511 insertions(+), 1 deletion(-) diff --git a/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h b/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h index 14fdd6cfb..85f407a9e 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h +++ b/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @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 PIOS_USB_BOARD_DATA_H #define PIOS_USB_BOARD_DATA_H diff --git a/flight/Bootloaders/CopterControl/pios_usb_board_data.c b/flight/Bootloaders/CopterControl/pios_usb_board_data.c index 68761609a..b39fcbec3 100644 --- a/flight/Bootloaders/CopterControl/pios_usb_board_data.c +++ b/flight/Bootloaders/CopterControl/pios_usb_board_data.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const uint8_t PIOS_USB_BOARD_StringProductID[] = { diff --git a/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h b/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h index 612c85ff4..d3e1079d6 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @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 PIOS_USB_BOARD_DATA_H #define PIOS_USB_BOARD_DATA_H diff --git a/flight/Bootloaders/OpenPilot/pios_usb_board_data.c b/flight/Bootloaders/OpenPilot/pios_usb_board_data.c index c23cc2891..9492d316e 100644 --- a/flight/Bootloaders/OpenPilot/pios_usb_board_data.c +++ b/flight/Bootloaders/OpenPilot/pios_usb_board_data.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const uint8_t PIOS_USB_BOARD_StringProductID[] = { diff --git a/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h b/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h index 7fd697d38..fb6ced1f8 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @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 PIOS_USB_BOARD_DATA_H #define PIOS_USB_BOARD_DATA_H diff --git a/flight/Bootloaders/PipXtreme/pios_usb_board_data.c b/flight/Bootloaders/PipXtreme/pios_usb_board_data.c index 3266e1b45..d54ca6565 100644 --- a/flight/Bootloaders/PipXtreme/pios_usb_board_data.c +++ b/flight/Bootloaders/PipXtreme/pios_usb_board_data.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const uint8_t PIOS_USB_BOARD_StringProductID[] = { diff --git a/flight/CopterControl/System/inc/pios_usb_board_data.h b/flight/CopterControl/System/inc/pios_usb_board_data.h index 9f175ce10..ee53c7455 100644 --- a/flight/CopterControl/System/inc/pios_usb_board_data.h +++ b/flight/CopterControl/System/inc/pios_usb_board_data.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @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 PIOS_USB_BOARD_DATA_H #define PIOS_USB_BOARD_DATA_H diff --git a/flight/CopterControl/System/pios_usb_board_data.c b/flight/CopterControl/System/pios_usb_board_data.c index 68761609a..b39fcbec3 100644 --- a/flight/CopterControl/System/pios_usb_board_data.c +++ b/flight/CopterControl/System/pios_usb_board_data.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const uint8_t PIOS_USB_BOARD_StringProductID[] = { diff --git a/flight/Modules/Fault/Fault.c b/flight/Modules/Fault/Fault.c index a76ebb4ec..0ac3748a6 100644 --- a/flight/Modules/Fault/Fault.c +++ b/flight/Modules/Fault/Fault.c @@ -6,7 +6,7 @@ * @brief Insert various fault conditions for testing * @{ * - * @file FaultInsertion.c + * @file Fault.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Fault module, inserts faults for testing * @see The GNU Public License (GPL) Version 3 diff --git a/flight/OpenPilot/System/inc/pios_usb_board_data.h b/flight/OpenPilot/System/inc/pios_usb_board_data.h index 067cf31e6..e2f079bc2 100644 --- a/flight/OpenPilot/System/inc/pios_usb_board_data.h +++ b/flight/OpenPilot/System/inc/pios_usb_board_data.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @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 PIOS_USB_BOARD_DATA_H #define PIOS_USB_BOARD_DATA_H diff --git a/flight/OpenPilot/System/pios_usb_board_data.c b/flight/OpenPilot/System/pios_usb_board_data.c index c23cc2891..9492d316e 100644 --- a/flight/OpenPilot/System/pios_usb_board_data.c +++ b/flight/OpenPilot/System/pios_usb_board_data.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const uint8_t PIOS_USB_BOARD_StringProductID[] = { diff --git a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c index 776a5be87..a6e95c774 100644 --- a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c +++ b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_DESC USB Descriptor definitions + * @brief USB Descriptor definitions for HID and CDC + * @{ + * + * @file pios_usb_desc_hid_cdc.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB Descriptor definitions for HID and CDC + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { diff --git a/flight/PiOS/Common/pios_usb_desc_hid_only.c b/flight/PiOS/Common/pios_usb_desc_hid_only.c index 68e24e491..913c18b16 100644 --- a/flight/PiOS/Common/pios_usb_desc_hid_only.c +++ b/flight/PiOS/Common/pios_usb_desc_hid_only.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_DESC USB Descriptor definitions + * @brief USB Descriptor definitions for HID only + * @{ + * + * @file pios_usb_desc_hid_only.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB Descriptor definitions for HID only + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { diff --git a/flight/PiOS/STM32F10x/pios_usbhook.c b/flight/PiOS/STM32F10x/pios_usbhook.c index 3d2bb8df2..ade1f8ac1 100644 --- a/flight/PiOS/STM32F10x/pios_usbhook.c +++ b/flight/PiOS/STM32F10x/pios_usbhook.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USBHOOK USB glue code + * @brief Glue between PiOS and STM32 libs + * @{ + * + * @file pios_usbhook.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Glue between PiOS and STM32 libs + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios.h" #include "pios_usb.h" /* PIOS_USB_* */ #include "pios_usbhook.h" diff --git a/flight/PiOS/inc/pios_usb_defs.h b/flight/PiOS/inc/pios_usb_defs.h index 78b2eba69..2e63a8fa4 100644 --- a/flight/PiOS/inc/pios_usb_defs.h +++ b/flight/PiOS/inc/pios_usb_defs.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_DEFS USB standard types and definitions + * @brief USB standard types and definitions + * @{ + * + * @file pios_usb_defs.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief USB Standard types and definitions + * @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 PIOS_USB_DEFS_H #define PIOS_USB_DEFS_H diff --git a/flight/PiOS/inc/pios_usbhook.h b/flight/PiOS/inc/pios_usbhook.h index 9246afcff..d5f032450 100644 --- a/flight/PiOS/inc/pios_usbhook.h +++ b/flight/PiOS/inc/pios_usbhook.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USBHOOK USB glue code + * @brief Glue between PiOS and STM32 libs + * @{ + * + * @file pios_usbhook.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief APIs for PIOS_USBHOOK layer + * @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 PIOS_USBHOOK_H #define PIOS_USBHOOK_H diff --git a/flight/PipXtreme/inc/pios_usb_board_data.h b/flight/PipXtreme/inc/pios_usb_board_data.h index 4ec9fa1c8..95dc03d73 100644 --- a/flight/PipXtreme/inc/pios_usb_board_data.h +++ b/flight/PipXtreme/inc/pios_usb_board_data.h @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @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 PIOS_USB_BOARD_DATA_H #define PIOS_USB_BOARD_DATA_H diff --git a/flight/PipXtreme/pios_usb_board_data.c b/flight/PipXtreme/pios_usb_board_data.c index 3266e1b45..d54ca6565 100644 --- a/flight/PipXtreme/pios_usb_board_data.c +++ b/flight/PipXtreme/pios_usb_board_data.c @@ -1,3 +1,33 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ const uint8_t PIOS_USB_BOARD_StringProductID[] = { From e22bc0c51b3b4e11a343458caa302fa48adbfe4e Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 23:33:07 -0500 Subject: [PATCH 086/121] copyright: remove incorrect attribution in boilerplate text These files do not contain content from the ID in the header. This name seems to have been cut/pasted all over throughout the openpilot source tree and should be removed from any files that should not rightfully be attributed to this person. --- flight/PiOS/Common/pios_com.c | 1 - flight/PiOS/STM32F10x/pios_i2c.c | 1 - flight/PiOS/STM32F10x/pios_spi.c | 1 - flight/PiOS/STM32F10x/pios_usart.c | 1 - flight/PiOS/inc/pios_com.h | 1 - flight/PiOS/inc/pios_com_priv.h | 1 - flight/PiOS/inc/pios_delay.h | 1 - flight/PiOS/inc/pios_i2c.h | 1 - flight/PiOS/inc/pios_i2c_priv.h | 1 - flight/PiOS/inc/pios_rcvr_priv.h | 1 - flight/PiOS/inc/pios_spi.h | 1 - flight/PiOS/inc/pios_spi_priv.h | 1 - flight/PiOS/inc/pios_usart.h | 1 - flight/PiOS/inc/pios_usart_priv.h | 1 - flight/PiOS/inc/pios_usb_hid.h | 1 - 15 files changed, 15 deletions(-) diff --git a/flight/PiOS/Common/pios_com.c b/flight/PiOS/Common/pios_com.c index 992167bad..20e32ffd3 100644 --- a/flight/PiOS/Common/pios_com.c +++ b/flight/PiOS/Common/pios_com.c @@ -8,7 +8,6 @@ * * @file pios_com.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief COM layer functions * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/STM32F10x/pios_i2c.c index 6e623d597..90c208133 100644 --- a/flight/PiOS/STM32F10x/pios_i2c.c +++ b/flight/PiOS/STM32F10x/pios_i2c.c @@ -8,7 +8,6 @@ * * @file pios_i2c.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief I2C Enable/Disable routines * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/STM32F10x/pios_spi.c b/flight/PiOS/STM32F10x/pios_spi.c index a5e57335f..a47e27d83 100644 --- a/flight/PiOS/STM32F10x/pios_spi.c +++ b/flight/PiOS/STM32F10x/pios_spi.c @@ -8,7 +8,6 @@ * * @file pios_spi.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * 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 * @notes diff --git a/flight/PiOS/STM32F10x/pios_usart.c b/flight/PiOS/STM32F10x/pios_usart.c index a8221ad0b..041738f70 100644 --- a/flight/PiOS/STM32F10x/pios_usart.c +++ b/flight/PiOS/STM32F10x/pios_usart.c @@ -8,7 +8,6 @@ * * @file pios_usart.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief USART commands. Inits USARTs, controls USARTs & Interupt handlers. (STM32 dependent) * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_com.h b/flight/PiOS/inc/pios_com.h index 1bda392f6..19abb2f27 100644 --- a/flight/PiOS/inc/pios_com.h +++ b/flight/PiOS/inc/pios_com.h @@ -8,7 +8,6 @@ * * @file pios_com.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief COM layer functions header * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_com_priv.h b/flight/PiOS/inc/pios_com_priv.h index ff7a97d83..7bd9a9be0 100644 --- a/flight/PiOS/inc/pios_com_priv.h +++ b/flight/PiOS/inc/pios_com_priv.h @@ -8,7 +8,6 @@ * * @file pios_com_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief COM private definitions. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_delay.h b/flight/PiOS/inc/pios_delay.h index 17e6d0452..545deb841 100644 --- a/flight/PiOS/inc/pios_delay.h +++ b/flight/PiOS/inc/pios_delay.h @@ -8,7 +8,6 @@ * * @file pios_settings.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief Settings functions header * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_i2c.h b/flight/PiOS/inc/pios_i2c.h index 5264e0122..cd8a0ff22 100644 --- a/flight/PiOS/inc/pios_i2c.h +++ b/flight/PiOS/inc/pios_i2c.h @@ -7,7 +7,6 @@ * * @file pios_i2c.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief I2C functions header. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_i2c_priv.h b/flight/PiOS/inc/pios_i2c_priv.h index 604087b18..5834fef34 100644 --- a/flight/PiOS/inc/pios_i2c_priv.h +++ b/flight/PiOS/inc/pios_i2c_priv.h @@ -3,7 +3,6 @@ * * @file pios_i2c_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief I2C private definitions. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_rcvr_priv.h b/flight/PiOS/inc/pios_rcvr_priv.h index 968dc2116..7b41d2764 100644 --- a/flight/PiOS/inc/pios_rcvr_priv.h +++ b/flight/PiOS/inc/pios_rcvr_priv.h @@ -8,7 +8,6 @@ * * @file pios_rcvr_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief USART private definitions. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_spi.h b/flight/PiOS/inc/pios_spi.h index d780b91a2..e34b7e4c9 100644 --- a/flight/PiOS/inc/pios_spi.h +++ b/flight/PiOS/inc/pios_spi.h @@ -7,7 +7,6 @@ * * @file pios_spi.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief SPI functions header. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_spi_priv.h b/flight/PiOS/inc/pios_spi_priv.h index 65c10e3e2..71468b63a 100644 --- a/flight/PiOS/inc/pios_spi_priv.h +++ b/flight/PiOS/inc/pios_spi_priv.h @@ -8,7 +8,6 @@ * * @file pios_spi_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief SPI private definitions. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_usart.h b/flight/PiOS/inc/pios_usart.h index 2eb009652..d7bebc18e 100644 --- a/flight/PiOS/inc/pios_usart.h +++ b/flight/PiOS/inc/pios_usart.h @@ -8,7 +8,6 @@ * * @file pios_usart.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief USART functions header. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_usart_priv.h b/flight/PiOS/inc/pios_usart_priv.h index edca829aa..defe3bb8a 100644 --- a/flight/PiOS/inc/pios_usart_priv.h +++ b/flight/PiOS/inc/pios_usart_priv.h @@ -8,7 +8,6 @@ * * @file pios_usart_priv.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief USART private definitions. * @see The GNU Public License (GPL) Version 3 * diff --git a/flight/PiOS/inc/pios_usb_hid.h b/flight/PiOS/inc/pios_usb_hid.h index da353c555..7a7409631 100644 --- a/flight/PiOS/inc/pios_usb_hid.h +++ b/flight/PiOS/inc/pios_usb_hid.h @@ -7,7 +7,6 @@ * * @file pios_usb_hid.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * Parts by Thorsten Klose (tk@midibox.org) * @brief USB HID layer functions header * @see The GNU Public License (GPL) Version 3 * From b9eecadbe297e664fd1a16182b941219488e1c87 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 2 Jan 2012 23:35:39 -0500 Subject: [PATCH 087/121] alarms: add BootFault alarm to system health SVG files Original changes provided by Jose, text was slightly modified to match alarm name. --- .../diagrams/default/system-health.svg | 71 ++++++++++++++----- 1 file changed, 55 insertions(+), 16 deletions(-) diff --git a/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg b/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg index d7928b89e..7667ecbb9 100644 --- a/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg +++ b/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg @@ -14,8 +14,8 @@ height="79.57505" id="svg3604" version="1.1" - inkscape:version="0.48.0 r9654" - sodipodi:docname="system-health-path.svg" + inkscape:version="0.47pre4 r22446" + sodipodi:docname="system-health1.svg" inkscape:export-filename="C:\NoBackup\OpenPilot\mainboard-health.png" inkscape:export-xdpi="269.53" inkscape:export-ydpi="269.53" @@ -594,17 +594,17 @@ borderopacity="1.0" inkscape:pageopacity="0.0" inkscape:pageshadow="2" - inkscape:zoom="4.6775775" - inkscape:cx="48.833406" - inkscape:cy="55.424138" - inkscape:current-layer="foreground" + inkscape:zoom="6.6150935" + inkscape:cx="44.907363" + inkscape:cy="47.413196" + inkscape:current-layer="g4794" id="namedview3608" showgrid="false" - inkscape:window-width="1366" - inkscape:window-height="691" + inkscape:window-width="1280" + inkscape:window-height="775" inkscape:window-x="0" - inkscape:window-y="24" - inkscape:window-maximized="1" + inkscape:window-y="25" + inkscape:window-maximized="0" showguides="true" inkscape:guide-bbox="true"> + + + Boot Fault + style="display:none"> Date: Mon, 2 Jan 2012 23:57:58 -0500 Subject: [PATCH 088/121] history: added notes about newly added features --- HISTORY.txt | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/HISTORY.txt b/HISTORY.txt index aba9effab..a2b6cd49a 100644 --- a/HISTORY.txt +++ b/HISTORY.txt @@ -1,5 +1,10 @@ Short summary of changes. For a complete list see the git log. +2012-01-02 +CC FW now supports USB Virtual Com Port (VCP/CDC) in addition to the original HID interface +New ComUsbBridge module can bridge any serial port to the USB CDC port +CC FW now detects repeated faults during init and boots with default hwsettings + 2011-12-10 Merged a change that sorts the UAVO fields based on size. Because this changes all of the objects, erase all existing flash files based on this. From 3bc45b0036e657a7b7972ad321d3d81ad14d0f7e Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Wed, 4 Jan 2012 00:38:19 -0500 Subject: [PATCH 089/121] usb cdc: use proper macro for CDC mgmt endpoint packet size The hard-coded value (16) in the descriptor differed from the macro (32) which was used to configure the low-level USB HW block in the STM32. --- flight/PiOS/Common/pios_usb_desc_hid_cdc.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c index a6e95c774..5c21e15ca 100644 --- a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c +++ b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c @@ -146,7 +146,7 @@ const struct usb_board_config PIOS_USB_BOARD_Configuration = { .bDescriptorType = USB_DESC_TYPE_ENDPOINT, .bEndpointAddress = USB_EP_IN(2), .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, - .wMaxPacketSize = htousbs(16), + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_CDC_MGMT_LENGTH), .bInterval = 4, /* ms */ }, .cdc_data_if = { From 82d91d9830f761917064a865e6981d0efd0560f2 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 3 Jan 2012 12:46:38 -0600 Subject: [PATCH 090/121] Talked PT into a simpler firmware mismatch warning in exchange for more photoshop. --- .../src/plugins/uploader/uploadergadgetwidget.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index c0a1aea90..73bc0c535 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -627,10 +627,8 @@ void UploaderGadgetWidget::versionMatchCheck() qDebug()<0) - msg->showMessage(QString("Incompatible GCS and FW detected, you should upgrade your board's Firmware to %1 version.").arg(gcsDescription)); - else - msg->showMessage(QString("Incompatible GCS and FW detected, you should upgrade your GCS to %1 version.").arg(boardDescription.gitTag+":"+boardDescription.buildDate)); - + msg->showMessage(QString(tr("GCS and FW versions do not match which can cause configuration problems.")) + " \n" + + QString(tr("GCS Versions: ")) + gcsDescription + " \n" + + QString(tr("FW Versions: ")) + boardDescription.gitTag+":"+boardDescription.buildDate); } } From 14ee6e4fb569d1255fd7e5c84159de17afc428d5 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Wed, 4 Jan 2012 11:13:54 -0600 Subject: [PATCH 091/121] When configuring a heli transmitter instruct the user to disable throttle hold. --- ground/openpilotgcs/src/plugins/config/configinputwidget.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp index 128f9885b..863104447 100644 --- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp @@ -622,6 +622,8 @@ void ConfigInputWidget::setChannel(int newChan) m_config->wzText->setText(QString(tr("Please enable throttle hold mode and move the collective pitch stick"))); else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE) m_config->wzText->setText(QString(tr("Please flick the flight mode switch. For switches you may have to repeat this rapidly."))); + else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE)) + m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick"))); else m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n" "Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan))); From 6c38114cfc7676ea4b7f3e0cdef3ee8c507cf75b Mon Sep 17 00:00:00 2001 From: naiiawah Date: Wed, 4 Jan 2012 21:39:23 -0700 Subject: [PATCH 092/121] Fixed borkage in the rules file where the if test was malformed. Added a change to force an error if the passed in ENV var is not defined. If that had been there, the borkage wouldn't have been undetected. Changed to only put the main FW in the firmware dir, instead of BL and FW. --- package/Makefile.linux | 2 +- package/linux/deb_common/rules | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) mode change 100755 => 100644 package/linux/deb_common/rules diff --git a/package/Makefile.linux b/package/Makefile.linux index fba2ef3ff..78e902d71 100644 --- a/package/Makefile.linux +++ b/package/Makefile.linux @@ -49,7 +49,7 @@ linux_deb_package: deb_build gcs deb_build: | $(DEB_BUILD_DIR) $(ALL_DEB_FILES) $(BUILD_DIR)/build @echo $@ starting - $(V1)$(shell echo $(PACKAGE_DIR) > $(BUILD_DIR)/package_dir) + $(V1)$(shell echo $(FW_DIR) > $(BUILD_DIR)/package_dir) $(V1)sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog $(BUILD_DIR)/build: package_flight diff --git a/package/linux/deb_common/rules b/package/linux/deb_common/rules old mode 100755 new mode 100644 index c4a7d9bd9..ba22c1e9c --- a/package/linux/deb_common/rules +++ b/package/linux/deb_common/rules @@ -43,8 +43,10 @@ install: cp -arp package/linux/openpilot_menu.png debian/openpilot/usr/share/pixmaps cp -arp package/linux/openpilot_menu.menu debian/openpilot/etc/xdg/menus/applications-merged cp -arp package/linux/openpilot_menu.directory debian/openpilot/usr/share/desktop-directories -ifdef $(PACKAGE_DIR) - cp -ar $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/ +ifdef PACKAGE_DIR + cp -a $(PACKAGE_DIR)/*.opfw debian/openpilot/usr/local/OpenPilot/firmware/ +else + $(error PACKAGE_DIR not defined! $(PACKAGE_DIR)) endif ln -s /usr/local/OpenPilot/bin/openpilotgcs.bin `pwd`/debian/openpilot/usr/bin/openpilot-gcs rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/sounds/sounds From 08a498aa484fa5c9640d3a834e29663322dd05b1 Mon Sep 17 00:00:00 2001 From: dankers Date: Sat, 7 Jan 2012 05:43:20 +1100 Subject: [PATCH 093/121] Update font file --- artwork/Font/OpenPilot.ttf | Bin 9588 -> 10120 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/artwork/Font/OpenPilot.ttf b/artwork/Font/OpenPilot.ttf index c3bb5765c75c3f450be3107a1bb88993bf56f9c1..c61597d72db64f6ba8f0eaadddd71818fb50ca0e 100644 GIT binary patch delta 1261 zcmc&vOHUJF6un<(_=ZAT9Xrzz6l|H10!AJV%v8aM38GOE;{!A?VuKW{eQ7IJX&ECi z8g-#*!osjn7qBxVO?)Jp7+)cT4PENOg*#0QF&YzXiURHUM&9&>xQhKq-Lt687T3(1ie3dG$0x1wir*4fs#~O1vAue^0TrAtYAW z*crrMv6P{3BKhc5z7A*I0$?tNqW%6aGoQx+=n3Rrg#F1F{IF<+-?5!YrqX}wW8v8=DL zyz3{H`~FS;egAA#u`U`8GY1v6dCL=62_C3}R@e#qp$CQ_1_?;PO&Etsfc2WLd8@tE zoF=&>7e_gUa})Q)XmQ=Fy;T`XiNiRg}f0(w!R z6Y}QN`DFjd_xEm(Ah1k%na3@NEL(Q0F4P~4G`H0{^u~kx+B>XdZi#8FvFi;7jqYt7 z)(U1ukSn*CZ3G@zG(xG^G}y5bO%cn1QJ& z(ijYy&15dPID4FBpG{Lbo$l@clr=k(}R(EISo-&u2Rvek|dhRz3Vq@L_ delta 729 zcmeD1|Kc@4v3{R~00RRn4+8^ZP2%uRL7#NtVa`KZCTR$`%U|?WN z0E!*TO{^$j_{C%fWP|i5 Date: Sat, 7 Jan 2012 09:45:33 -0500 Subject: [PATCH 094/121] usb cdc: fix index of first interface in IAD This error resulted in the HID interface being non functional on windows platforms. --- flight/PiOS/Common/pios_usb_desc_hid_cdc.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c index 5c21e15ca..3d5748163 100644 --- a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c +++ b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c @@ -61,7 +61,7 @@ const struct usb_board_config PIOS_USB_BOARD_Configuration = { .iad = { .bLength = sizeof(struct usb_interface_association_desc), .bDescriptorType = USB_DESC_TYPE_IAD, - .bFirstInterface = 1, + .bFirstInterface = 0, .bInterfaceCount = 2, .bFunctionClass = 2, /* Communication */ .bFunctionSubClass = 2, /* Abstract Control Model */ From fb0fbb150dae4e1e401e0d67a1191fb38d2ce5cd Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 7 Jan 2012 09:52:25 -0500 Subject: [PATCH 095/121] bl: bump CC bootloader version to reflect safe boot support --- make/boards/coptercontrol/board-info.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/make/boards/coptercontrol/board-info.mk b/make/boards/coptercontrol/board-info.mk index 547692212..1f8e52610 100644 --- a/make/boards/coptercontrol/board-info.mk +++ b/make/boards/coptercontrol/board-info.mk @@ -1,6 +1,6 @@ BOARD_TYPE := 0x04 BOARD_REVISION := 0x01 -BOOTLOADER_VERSION := 0x01 +BOOTLOADER_VERSION := 0x02 HW_TYPE := 0x01 MCU := cortex-m3 From 0ce95839ca1b1ccb8f48466aee1f0e335db64964 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 7 Jan 2012 17:28:00 -0500 Subject: [PATCH 096/121] stm32flash: Upgrade to revision 61 to support STM32F4 CPU --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 438f697a4..72adb05be 100644 --- a/Makefile +++ b/Makefile @@ -235,7 +235,7 @@ STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash .PHONY: stm32flash_install stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk -stm32flash_install: STM32FLASH_REV := 52 +stm32flash_install: STM32FLASH_REV := 61 stm32flash_install: stm32flash_clean # download the source $(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)" From 9f2b71a3518d1e848e0f556a3e1914a2d0968656 Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 9 Jan 2012 14:06:27 +0000 Subject: [PATCH 097/121] Convert filename to lowercase --- .../src/plugins/notify/{NotificationItem.h => notificationitem.h} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename ground/openpilotgcs/src/plugins/notify/{NotificationItem.h => notificationitem.h} (100%) diff --git a/ground/openpilotgcs/src/plugins/notify/NotificationItem.h b/ground/openpilotgcs/src/plugins/notify/notificationitem.h similarity index 100% rename from ground/openpilotgcs/src/plugins/notify/NotificationItem.h rename to ground/openpilotgcs/src/plugins/notify/notificationitem.h From 38392ee6389c19cf83acc11341b5fe52f8e080be Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 9 Jan 2012 16:09:50 +0000 Subject: [PATCH 098/121] several fixes to the notify plugin --- .../openpilotgcs/src/plugins/notify/notificationitem.cpp | 2 ++ ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp | 9 ++------- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp index 264ffed09..a54e7ff89 100644 --- a/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notificationitem.cpp @@ -333,6 +333,8 @@ QStringList valueToSoundList(QString value) QString stringFromValue(QVariant value, UAVObjectField* field) { + if(field==NULL) + return ""; Q_ASSERT(field); Q_ASSERT(!value.isNull()); QString str; diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 9acb4b6f3..6f74ec018 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -256,13 +256,6 @@ void SoundNotifyPlugin::on_arrived_Notification(UAVObject *object) .arg(ntf->singleValue().toString()) .arg(ntf->valueRange2()); - QString fieldName = ntf->getObjectField(); - UAVObjectField* field = object->getField(fieldName); - - qNotifyDebug() << QString("UAV object: %1 | value: %2") - .arg(object->getName()) - .arg(field->getValue().toString()); - checkNotificationRule(ntf, object); } connect(object, SIGNAL(objectUpdated(UAVObject*)), @@ -402,6 +395,8 @@ bool checkRange(double fieldValue, double min, double max, int direction) void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UAVObject* object) { + if(notification->getDataObject()!=object->getName() | object->getField(notification->getObjectField())==NULL) + return; bool condition=false; if (notification->mute()) From 00cb66ae79ae8842b003f6067542d0371433da63 Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 9 Jan 2012 16:35:35 +0000 Subject: [PATCH 099/121] OpenPilot OP-602 Please add a Help button on the Firmware page --- .../src/plugins/uploader/uploader.ui | 46 ++++++++++++++----- .../plugins/uploader/uploadergadgetwidget.cpp | 6 +++ .../plugins/uploader/uploadergadgetwidget.h | 2 + 3 files changed, 42 insertions(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/uploader/uploader.ui b/ground/openpilotgcs/src/plugins/uploader/uploader.ui index b0dffd4a0..540d69302 100644 --- a/ground/openpilotgcs/src/plugins/uploader/uploader.ui +++ b/ground/openpilotgcs/src/plugins/uploader/uploader.ui @@ -6,7 +6,7 @@ 0 0 - 580 + 583 350 @@ -144,6 +144,26 @@ halting a running board. + + + + + + + + :/core/images/helpicon.svg:/core/images/helpicon.svg + + + + 30 + 30 + + + + true + + + @@ -166,14 +186,14 @@ halting a running board. <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">To upgrade the firmware in your boards, proceed as follows:</p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Connect telemetry</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- Once telemetry is running, press &quot;Halt&quot; above</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You will get a list of devices.</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can then upload/download to/from each board as you wish</p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">- You can resume operations by pressing &quot;Boot&quot;</p></body></html> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To upgrade the firmware in your boards, proceed as follows:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">- Connect telemetry</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">- Once telemetry is running, press &quot;Halt&quot; above</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">- You will get a list of devices.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">- You can then upload/download to/from each board as you wish</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">- You can resume operations by pressing &quot;Boot&quot;</span></p></body></html> @@ -188,14 +208,16 @@ p, li { white-space: pre-wrap; } <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;"> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"></p></body></html> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"></p></body></html> - + + + diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp index 182753b24..851334c86 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp @@ -64,6 +64,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent) connect(m_config->refreshPorts, SIGNAL(clicked()), this, SLOT(getSerialPorts())); + connect(m_config->pbHelp,SIGNAL(clicked()),this,SLOT(openHelp())); // And check whether by any chance we are not already connected if (telMngr->isConnected()) { @@ -650,3 +651,8 @@ void UploaderGadgetWidget::versionMatchCheck() QString(tr("FW Versions: ")) + boardDescription.gitTag+":"+boardDescription.buildDate); } } +void UploaderGadgetWidget::openHelp() +{ + + QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Uploader+Plugin", QUrl::StrictMode) ); +} diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h index 998166d69..2c6814827 100755 --- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h +++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h @@ -55,6 +55,7 @@ #include "devicedescriptorstruct.h" #include #include +#include using namespace OP_DFU; @@ -74,6 +75,7 @@ public slots: void onAutopilotConnect(); void onAutopilotDisconnect(); void populate(); + void openHelp(); private: Ui_UploaderWidget *m_config; DFUObject *dfu; From dbd9fcda281974cdbe5392da5c18d078a1a49fb4 Mon Sep 17 00:00:00 2001 From: zedamota Date: Mon, 9 Jan 2012 16:53:59 +0000 Subject: [PATCH 100/121] OpenPilot OP-611 disable Flash button during operation --- ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp index 9e57a4225..cf4315596 100644 --- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp +++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp @@ -358,8 +358,10 @@ void deviceWidget::loadFirmware() */ void deviceWidget::uploadFirmware() { + myDevice->updateButton->setEnabled(false); if (!m_dfu->devices[deviceID].Writable) { status("Device not writable!", STATUSICON_FAIL); + myDevice->updateButton->setEnabled(true); return; } @@ -378,6 +380,7 @@ void deviceWidget::uploadFirmware() int firmwareBoard = ((desc.at(12)&0xff)<<8) + (desc.at(13)&0xff); if (firmwareBoard != board) { status("Error: firmware does not match board", STATUSICON_FAIL); + myDevice->updateButton->setEnabled(true); return; } // Check the firmware embedded in the file: @@ -385,6 +388,7 @@ void deviceWidget::uploadFirmware() QByteArray fileHash = QCryptographicHash::hash(loadedFW.left(loadedFW.length()-100), QCryptographicHash::Sha1); if (firmwareHash != fileHash) { status("Error: firmware file corrupt", STATUSICON_FAIL); + myDevice->updateButton->setEnabled(true); return; } } else { @@ -400,6 +404,7 @@ void deviceWidget::uploadFirmware() if(!m_dfu->enterDFU(deviceID)) { status("Error:Could not enter DFU mode", STATUSICON_FAIL); + myDevice->updateButton->setEnabled(true); return; } OP_DFU::Status ret=m_dfu->StatusRequest(); @@ -412,6 +417,7 @@ void deviceWidget::uploadFirmware() bool retstatus = m_dfu->UploadFirmware(filename,verify, deviceID); if(!retstatus ) { status("Could not start upload", STATUSICON_FAIL); + myDevice->updateButton->setEnabled(true); return; } status("Uploading, please wait...", STATUSICON_RUNNING); @@ -465,6 +471,7 @@ void deviceWidget::downloadFinished() */ void deviceWidget::uploadFinished(OP_DFU::Status retstatus) { + myDevice->updateButton->setEnabled(true); disconnect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status))); disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int))); disconnect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString))); From 63bb2874d732654180ca9126b6b3c53b17aa88fb Mon Sep 17 00:00:00 2001 From: zedamota Date: Tue, 10 Jan 2012 17:03:58 +0000 Subject: [PATCH 101/121] OP-608 Camera Stabilization settings not being read from CC board into GCS if CC is started first. Created connection callback only to be called after all plugins are loaded. --- .../src/libs/extensionsystem/pluginmanager.cpp | 4 +++- .../src/libs/extensionsystem/pluginmanager.h | 4 +++- .../plugins/coreplugin/connectionmanager.cpp | 17 +++++++++++++++++ .../src/plugins/coreplugin/connectionmanager.h | 3 ++- 4 files changed, 25 insertions(+), 3 deletions(-) diff --git a/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.cpp b/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.cpp index edd65d3ce..d8e637802 100644 --- a/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.cpp +++ b/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.cpp @@ -177,7 +177,7 @@ PluginManager *PluginManager::instance() Create a plugin manager. Should be done only once per application. */ PluginManager::PluginManager() - : d(new PluginManagerPrivate(this)) + : d(new PluginManagerPrivate(this)),m_allPluginsLoaded(false) { m_instance = this; } @@ -586,6 +586,8 @@ void PluginManagerPrivate::loadPlugins() loadPlugin(it.previous(), PluginSpec::Running); } emit q->pluginsChanged(); + q->m_allPluginsLoaded=true; + emit q->pluginsLoadEnded(); } /*! diff --git a/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.h b/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.h index 6182b388e..49bcd5c55 100644 --- a/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.h +++ b/ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.h @@ -56,7 +56,7 @@ class EXTENSIONSYSTEM_EXPORT PluginManager : public QObject public: static PluginManager *instance(); - + bool allPluginsLoaded(){return m_allPluginsLoaded;} PluginManager(); virtual ~PluginManager(); @@ -115,6 +115,7 @@ signals: void aboutToRemoveObject(QObject *obj); void pluginsChanged(); + void pluginsLoadEnded(); private slots: void startTests(); @@ -122,6 +123,7 @@ private: Internal::PluginManagerPrivate *d; static PluginManager *m_instance; mutable QReadWriteLock m_lock; + bool m_allPluginsLoaded; friend class Internal::PluginManagerPrivate; }; diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp index 9dfa46518..f49d98c0e 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp +++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp @@ -38,6 +38,7 @@ #include #include #include +#include namespace Core { @@ -333,6 +334,12 @@ void ConnectionManager::registerDevice(IConnection *conn, const QString &devN, c */ void ConnectionManager::devChanged(IConnection *connection) { + if(!ExtensionSystem::PluginManager::instance()->allPluginsLoaded()) + { + connectionBackup.append(connection); + connect(ExtensionSystem::PluginManager::instance(),SIGNAL(pluginsLoadEnded()),this,SLOT(connectionsCallBack()),Qt::UniqueConnection); + return; + } //clear device list combobox m_availableDevList->clear(); @@ -381,4 +388,14 @@ void ConnectionManager::devChanged(IConnection *connection) m_connectBtn->setEnabled(false); } +} + +void Core::ConnectionManager::connectionsCallBack() +{ + foreach(IConnection * con,connectionBackup) + { + devChanged(con); + } + connectionBackup.clear(); + disconnect(ExtensionSystem::PluginManager::instance(),SIGNAL(pluginsLoadEnded()),this,SLOT(connectionsCallBack())); } //namespace Core diff --git a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h index beb809915..289e65590 100644 --- a/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h +++ b/ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h @@ -98,7 +98,7 @@ private slots: // void onConnectionClosed(QObject *obj); void onConnectionDestroyed(QObject *obj); - + void connectionsCallBack(); //used to call devChange after all the plugins are loaded protected: QComboBox *m_availableDevList; QPushButton *m_connectBtn; @@ -114,6 +114,7 @@ protected: private: bool connectDevice(); Internal::MainWindow *m_mainWindow; + QList connectionBackup; }; From 1b314ee256eb584db81865b332b5277ce440bddb Mon Sep 17 00:00:00 2001 From: Michael Rumpler Date: Wed, 11 Jan 2012 22:16:26 +0100 Subject: [PATCH 102/121] * cleaned up notifyplugin MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit cause: /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp:104:6: warning: unused parameter ‘configInfo’ [-Wunused-parameter] /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp:353:6: warning: unused parameter ‘values’ [-Wunused-parameter] /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp:73:10: warning: unused parameter ‘parent’ [-Wunused-parameter] /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp:451:6: warning: unused parameter ‘rangeStr’ [-Wunused-parameter] /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp:512:7: warning: unused parameter ‘oldstate’ [-Wunused-parameter] /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp:527:6: warning: unused parameter ‘deselected’ [-Wunused-parameter] implemented solution: fixed all of them (commented out var name) * fixed bug in check code cause: /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp: In member function ‘void SoundNotifyPlugin::checkNotificationRule(NotificationItem*, UAVObject*)’: /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp:398:109: warning: suggest parentheses around comparison in operand of ‘|’ [-Wparentheses] implemented solution: this is an obvious bug that is syntactically correct but leads to a warning with a good compiler so this bug can be found. fixed that to use logical or instead of bitwise or. * fixed bug in include file (error in compilation under Linux) cause: In file included from /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp:47:0: /projects/OpenPilot/git/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h:86:39: error: reference ‘_list’ cannot be declared ‘mutable’ [-fpermissive] implemented solution: removed the mutable flag, as this is wrongly used on a reference (and therefore correctly causing a compile-time error --- ground/openpilotgcs/src/plugins/notify/notifylogging.h | 2 +- ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp | 6 +++--- .../src/plugins/notify/notifypluginoptionspage.cpp | 8 ++++---- ground/openpilotgcs/src/plugins/notify/notifytablemodel.h | 2 +- 4 files changed, 9 insertions(+), 9 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/notify/notifylogging.h b/ground/openpilotgcs/src/plugins/notify/notifylogging.h index ea7ea331c..43e54f3b7 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifylogging.h +++ b/ground/openpilotgcs/src/plugins/notify/notifylogging.h @@ -29,7 +29,7 @@ #ifndef NOTIFYLOGGING_H #define NOTIFYLOGGING_H -#include "QDebug.h" +#include "qdebug.h" #define DEBUG_NOTIFIES_ENABLE diff --git a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp index 6f74ec018..5c7d27e75 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifyplugin.cpp @@ -101,7 +101,7 @@ void SoundNotifyPlugin::saveConfig( QSettings* settings, UAVConfigInfo *configIn } -void SoundNotifyPlugin::readConfig( QSettings* settings, UAVConfigInfo *configInfo) +void SoundNotifyPlugin::readConfig( QSettings* settings, UAVConfigInfo * /* configInfo */) { // Just for migration to the new format. //Q_ASSERT(configInfo->version() == UAVConfigVersion()); @@ -350,7 +350,7 @@ void SoundNotifyPlugin::stateChanged(Phonon::State newstate, Phonon::State oldst } } -bool checkRange(QString fieldValue, QString enumValue, QStringList values, int direction) +bool checkRange(QString fieldValue, QString enumValue, QStringList /* values */, int direction) { bool ret = false; @@ -395,7 +395,7 @@ bool checkRange(double fieldValue, double min, double max, int direction) void SoundNotifyPlugin::checkNotificationRule(NotificationItem* notification, UAVObject* object) { - if(notification->getDataObject()!=object->getName() | object->getField(notification->getObjectField())==NULL) + if(notification->getDataObject()!=object->getName() || object->getField(notification->getObjectField())==NULL) return; bool condition=false; diff --git a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp index b7cc977c6..fa8ff053f 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp +++ b/ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp @@ -70,7 +70,7 @@ NotifyPluginOptionsPage::NotifyPluginOptionsPage(QObject *parent) NotifyPluginOptionsPage::~NotifyPluginOptionsPage() {} -QWidget *NotifyPluginOptionsPage::createPage(QWidget *parent) +QWidget *NotifyPluginOptionsPage::createPage(QWidget * /* parent */) { _optionsPage.reset(new Ui::NotifyPluginOptionsPage()); //main widget @@ -448,7 +448,7 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification) } -void NotifyPluginOptionsPage::on_changedIndex_rangeValue(QString rangeStr) +void NotifyPluginOptionsPage::on_changedIndex_rangeValue(QString /* rangeStr */) { Q_ASSERT(_dynamicFieldWidget); UAVObjectField* field = getObjectFieldFromSelected(); @@ -509,7 +509,7 @@ void NotifyPluginOptionsPage::on_changedIndex_soundLanguage(int index) } -void NotifyPluginOptionsPage::on_changed_playButtonText(Phonon::State newstate, Phonon::State oldstate) +void NotifyPluginOptionsPage::on_changed_playButtonText(Phonon::State newstate, Phonon::State /* oldstate */) { //Q_ASSERT(Phonon::ErrorState != newstate); @@ -524,7 +524,7 @@ void NotifyPluginOptionsPage::on_changed_playButtonText(Phonon::State newstate, } } -void NotifyPluginOptionsPage::on_changedSelection_notifyTable(const QItemSelection & selected, const QItemSelection & deselected ) +void NotifyPluginOptionsPage::on_changedSelection_notifyTable(const QItemSelection & selected, const QItemSelection & /* deselected */ ) { bool select = false; _testSound->stop(); diff --git a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h index 28eb8cc68..dd2e765bd 100644 --- a/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h +++ b/ground/openpilotgcs/src/plugins/notify/notifytablemodel.h @@ -83,7 +83,7 @@ private slots: void dropRows(int position, int count) const; private: - mutable QList& _list; + QList& _list; QStringList _headerStrings; }; From 2d27c54d4805a62e51321d390998978090ec2e68 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Thu, 12 Jan 2012 19:53:52 -0500 Subject: [PATCH 103/121] com_msg: Create new message based COM layer for bootloaders The main purpose of this new COM implementation is that it is much simpler, and requires less code space. This takes a bit of the pressure off of the CC bootloader which was right at the limit of available code space in the bootloader partition. This is not intended to ever be used by the application. This driver also formalizes the assumptions in the bootloader's usage of the COM layer. All messages are assumed to arrive in atomic chunks from the HID layer. --- flight/Bootloaders/CopterControl/Makefile | 2 +- .../CopterControl/inc/pios_config.h | 2 +- flight/Bootloaders/CopterControl/main.c | 5 +- flight/Bootloaders/CopterControl/op_dfu.c | 5 +- flight/Bootloaders/CopterControl/pios_board.c | 20 +- flight/Bootloaders/OpenPilot/Makefile | 1 + .../Bootloaders/OpenPilot/inc/pios_config.h | 1 + flight/Bootloaders/OpenPilot/main.c | 5 +- flight/Bootloaders/OpenPilot/op_dfu.c | 9 +- flight/Bootloaders/OpenPilot/pios_board.c | 24 +-- flight/Bootloaders/PipXtreme/Makefile | 2 +- .../Bootloaders/PipXtreme/inc/pios_config.h | 2 +- flight/Bootloaders/PipXtreme/main.c | 5 +- flight/Bootloaders/PipXtreme/op_dfu.c | 30 +-- flight/Bootloaders/PipXtreme/pios_board.c | 25 +-- flight/PiOS/Common/pios_com_msg.c | 185 ++++++++++++++++++ flight/PiOS/STM32F10x/pios_usb_hid.c | 18 +- flight/PiOS/inc/pios_com.h | 4 +- flight/PiOS/inc/pios_com_msg.h | 45 +++++ flight/PiOS/inc/pios_com_msg_priv.h | 44 +++++ flight/PiOS/inc/pios_com_priv.h | 2 + 21 files changed, 345 insertions(+), 91 deletions(-) create mode 100644 flight/PiOS/Common/pios_com_msg.c create mode 100644 flight/PiOS/inc/pios_com_msg.h create mode 100644 flight/PiOS/inc/pios_com_msg_priv.h diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index 1257ed579..a5effde9c 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -116,7 +116,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c -SRC += $(PIOSCOMMON)/pios_com.c +SRC += $(PIOSCOMMON)/pios_com_msg.c SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/printf-stdarg.c diff --git a/flight/Bootloaders/CopterControl/inc/pios_config.h b/flight/Bootloaders/CopterControl/inc/pios_config.h index 081ed1b0f..864ed4665 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_config.h +++ b/flight/Bootloaders/CopterControl/inc/pios_config.h @@ -39,7 +39,7 @@ #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO #define PIOS_NO_GPS diff --git a/flight/Bootloaders/CopterControl/main.c b/flight/Bootloaders/CopterControl/main.c index c1def4a46..7a61ae9e9 100644 --- a/flight/Bootloaders/CopterControl/main.c +++ b/flight/Bootloaders/CopterControl/main.c @@ -32,6 +32,7 @@ #include "usb_lib.h" #include "pios_iap.h" #include "fifo_buffer.h" +#include "pios_com_msg.h" /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); extern void FLASH_Download(); @@ -62,7 +63,7 @@ uint8_t JumpToApp = FALSE; uint8_t GO_dfu = FALSE; uint8_t USB_connected = FALSE; uint8_t User_DFU_request = FALSE; -static uint8_t mReceive_Buffer[64]; +static uint8_t mReceive_Buffer[63]; /* Private function prototypes -----------------------------------------------*/ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count); uint8_t processRX(); @@ -198,7 +199,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) { processComand(mReceive_Buffer); } return TRUE; diff --git a/flight/Bootloaders/CopterControl/op_dfu.c b/flight/Bootloaders/CopterControl/op_dfu.c index ae85160c2..9f98d3394 100644 --- a/flight/Bootloaders/CopterControl/op_dfu.c +++ b/flight/Bootloaders/CopterControl/op_dfu.c @@ -30,6 +30,7 @@ #include "pios.h" #include "op_dfu.h" #include "pios_bl_helper.h" +#include "pios_com_msg.h" #include //programmable devices Device devicesTable[10]; @@ -446,9 +447,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); - if (DeviceState == downloading) - PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid + PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size); } bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) { diff --git a/flight/Bootloaders/CopterControl/pios_board.c b/flight/Bootloaders/CopterControl/pios_board.c index 1b3c54af3..972a85be0 100644 --- a/flight/Bootloaders/CopterControl/pios_board.c +++ b/flight/Bootloaders/CopterControl/pios_board.c @@ -27,17 +27,11 @@ // *********************************************************************************** -#if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_COM_MSG) -#include +#include -#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 -#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 - -static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN]; -static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; - -#endif /* PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_COM_MSG */ // *********************************************************************************** @@ -97,17 +91,15 @@ void PIOS_Board_Init(void) { if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } -#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) uint32_t pios_usb_hid_id; if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, - pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), - pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ #endif /* PIOS_INCLUDE_USB */ diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index e9b55e134..6c3888797 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -119,6 +119,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c +SRC += $(PIOSCOMMON)/pios_com_msg.c SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_opahrs_v0.c SRC += $(PIOSCOMMON)/pios_bl_helper.c diff --git a/flight/Bootloaders/OpenPilot/inc/pios_config.h b/flight/Bootloaders/OpenPilot/inc/pios_config.h index 024bcae9a..cf8981339 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_config.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_config.h @@ -42,6 +42,7 @@ #define PIOS_INCLUDE_USB_HID #define PIOS_INCLUDE_OPAHRS #define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO //#define DEBUG_SSP diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c index 48056cff6..8a9e554ef 100644 --- a/flight/Bootloaders/OpenPilot/main.c +++ b/flight/Bootloaders/OpenPilot/main.c @@ -35,6 +35,7 @@ #include "pios_iap.h" #include "ssp.h" #include "fifo_buffer.h" +#include "pios_com_msg.h" /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); extern void FLASH_Download(); @@ -90,7 +91,7 @@ uint8_t JumpToApp = FALSE; uint8_t GO_dfu = FALSE; uint8_t USB_connected = FALSE; uint8_t User_DFU_request = FALSE; -static uint8_t mReceive_Buffer[64]; +static uint8_t mReceive_Buffer[63]; /* Private function prototypes -----------------------------------------------*/ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count); uint8_t processRX(); @@ -249,7 +250,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { uint8_t processRX() { if (ProgPort == Usb) { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) { processComand(mReceive_Buffer); } } else if (ProgPort == Serial) { diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c index bc62fff6c..ad5836ad7 100644 --- a/flight/Bootloaders/OpenPilot/op_dfu.c +++ b/flight/Bootloaders/OpenPilot/op_dfu.c @@ -30,6 +30,7 @@ #include "pios.h" #include "op_dfu.h" #include "pios_bl_helper.h" +#include "pios_com_msg.h" #include #include "pios_opahrs.h" #include "ssp.h" @@ -299,7 +300,6 @@ void processComand(uint8_t *xReceive_Buffer) { ++Next_Packet; } else { - DeviceState = wrong_packet_received; Aditionals = Count; } @@ -508,6 +508,7 @@ uint32_t baseOfAdressType(DFUTransfer type) { return currentDevice.startOfUserCode + currentDevice.sizeOfCode; break; default: + return 0; } } @@ -550,11 +551,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { if (ProgPort == Usb) { - - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); - if (DeviceState == downloading) - PIOS_DELAY_WaitmS(10); - + PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size); } else if (ProgPort == Serial) { ssp_SendData(&ssp_port, buf, size); } diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c index a2630815a..707600b4d 100644 --- a/flight/Bootloaders/OpenPilot/pios_board.c +++ b/flight/Bootloaders/OpenPilot/pios_board.c @@ -184,12 +184,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = { #include "pios_com_priv.h" -#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 -#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 - -static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN]; -static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; - #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 @@ -198,6 +192,16 @@ static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN]; #endif /* PIOS_INCLUDE_COM */ +// *********************************************************************************** + +#if defined(PIOS_INCLUDE_COM_MSG) + +#include + +#endif /* PIOS_INCLUDE_COM_MSG */ + +// *********************************************************************************** + #if defined(PIOS_INCLUDE_USB) #include "pios_usb_priv.h" @@ -270,17 +274,15 @@ void PIOS_Board_Init(void) { if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } -#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) uint32_t pios_usb_hid_id; if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, - pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), - pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ #endif /* PIOS_INCLUDE_USB */ diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile index af6469ae0..9bad695f7 100644 --- a/flight/Bootloaders/PipXtreme/Makefile +++ b/flight/Bootloaders/PipXtreme/Makefile @@ -115,7 +115,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_board_info.c -SRC += $(PIOSCOMMON)/pios_com.c +SRC += $(PIOSCOMMON)/pios_com_msg.c SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/printf-stdarg.c diff --git a/flight/Bootloaders/PipXtreme/inc/pios_config.h b/flight/Bootloaders/PipXtreme/inc/pios_config.h index 0c2cc7877..8084f9c0a 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_config.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_config.h @@ -38,7 +38,7 @@ #define PIOS_INCLUDE_SYS #define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO //#define DEBUG_SSP diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c index f09881d42..4923f8fc1 100644 --- a/flight/Bootloaders/PipXtreme/main.c +++ b/flight/Bootloaders/PipXtreme/main.c @@ -32,6 +32,7 @@ #include "usb_lib.h" #include "pios_iap.h" #include "fifo_buffer.h" +#include "pios_com_msg.h" /* Prototype of PIOS_Board_Init() function */ extern void PIOS_Board_Init(void); extern void FLASH_Download(); @@ -62,7 +63,7 @@ uint8_t JumpToApp = FALSE; uint8_t GO_dfu = FALSE; uint8_t USB_connected = FALSE; uint8_t User_DFU_request = FALSE; -static uint8_t mReceive_Buffer[64]; +static uint8_t mReceive_Buffer[63]; /* Private function prototypes -----------------------------------------------*/ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count); uint8_t processRX(); @@ -204,7 +205,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) { } uint8_t processRX() { - if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) { + if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) { processComand(mReceive_Buffer); } return TRUE; diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c index 770ce8237..cdc2d82b8 100644 --- a/flight/Bootloaders/PipXtreme/op_dfu.c +++ b/flight/Bootloaders/PipXtreme/op_dfu.c @@ -30,6 +30,7 @@ #include "pios.h" #include "op_dfu.h" #include "pios_bl_helper.h" +#include "pios_com_msg.h" #include /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ @@ -102,33 +103,9 @@ void DataDownload(DownloadAction action) { currentProgrammingDestination)) { DeviceState = Last_operation_failed; } - /* - switch (currentProgrammingDestination) { - case Remote_flash_via_spi: - if (downType == Descript) { - SendBuffer[6 + (x * 4)] - = spi_dev_desc[(uint8_t) partoffset]; - SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset - + 1]; - SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset - + 2]; - SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset - + 3]; - } - break; - case Self_flash: - SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset); - SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1); - SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2); - SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3); - break; - } - */ } - //PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64); downPacketCurrent = downPacketCurrent + 1; if (downPacketCurrent > downPacketTotal - 1) { - // STM_EVAL_LEDOn(LED2); DeviceState = Last_operation_Success; Aditionals = (uint32_t) Download; } @@ -322,7 +299,6 @@ void processComand(uint8_t *xReceive_Buffer) { Buffer[15] = devicesTable[Data0 - 1].devID; } sendData(Buffer + 1, 63); - //PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1 break; case JumpFW: FLASH_Lock(); @@ -474,9 +450,7 @@ uint32_t CalcFirmCRC() { } void sendData(uint8_t * buf, uint16_t size) { - PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size); - if (DeviceState == downloading) - PIOS_DELAY_WaitmS(10); + PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size); } bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) { diff --git a/flight/Bootloaders/PipXtreme/pios_board.c b/flight/Bootloaders/PipXtreme/pios_board.c index abf079340..3c06d820b 100644 --- a/flight/Bootloaders/PipXtreme/pios_board.c +++ b/flight/Bootloaders/PipXtreme/pios_board.c @@ -27,17 +27,11 @@ // *********************************************************************************** -#if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_COM_MSG) -#include +#include -#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 -#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 - -static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN]; -static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN]; - -#endif /* PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_COM_MSG */ // *********************************************************************************** @@ -98,17 +92,16 @@ void PIOS_Board_Init(void) { if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); } -#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_com_id; - if (PIOS_USB_HID_Init(&pios_usb_com_id, &pios_usb_hid_cfg, pios_usb_id)) { +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id, - pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer), - pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) { + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { PIOS_Assert(0); } -#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ + #endif /* PIOS_INCLUDE_USB */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar diff --git a/flight/PiOS/Common/pios_com_msg.c b/flight/PiOS/Common/pios_com_msg.c new file mode 100644 index 000000000..c1cebe1d9 --- /dev/null +++ b/flight/PiOS/Common/pios_com_msg.c @@ -0,0 +1,185 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_COM COM MSG layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_com_msg.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief COM MSG layer functions + * @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 + */ + +/* Project Includes */ +#include "pios.h" + +#if defined(PIOS_INCLUDE_COM_MSG) + +#include "pios_com.h" + +#define PIOS_COM_MSG_MAX_LEN 63 + +struct pios_com_msg_dev { + uint32_t lower_id; + const struct pios_com_driver * driver; + + uint8_t rx_msg_buffer[PIOS_COM_MSG_MAX_LEN]; + volatile bool rx_msg_full; + + uint8_t tx_msg_buffer[PIOS_COM_MSG_MAX_LEN]; + volatile bool tx_msg_full; +}; + +static struct pios_com_msg_dev com_msg_dev; + +static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield); +static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield); + +int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id) +{ + PIOS_Assert(com_id); + PIOS_Assert(driver); + + PIOS_Assert(driver->bind_tx_cb); + PIOS_Assert(driver->bind_rx_cb); + + struct pios_com_msg_dev * com_dev = &com_msg_dev; + + com_dev->driver = driver; + com_dev->lower_id = lower_id; + + com_dev->rx_msg_full = false; + (com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_MSG_RxInCallback, (uint32_t)com_dev); + (com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer)); + + com_dev->tx_msg_full = false; + (com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_MSG_TxOutCallback, (uint32_t)com_dev); + + *com_id = (uint32_t)com_dev; + return(0); +} + +static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) +{ + struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context; + + PIOS_Assert(buf); + PIOS_Assert(buf_len); + + uint16_t bytes_from_fifo = 0; + + if (com_dev->tx_msg_full && (buf_len >= sizeof(com_dev->tx_msg_buffer))) { + /* Room for an entire message, send it */ + memcpy(buf, com_dev->tx_msg_buffer, sizeof(com_dev->tx_msg_buffer)); + bytes_from_fifo = sizeof(com_dev->tx_msg_buffer); + com_dev->tx_msg_full = false; + } + + if (headroom) { + if (com_dev->tx_msg_full) { + *headroom = sizeof(com_dev->tx_msg_buffer); + } else { + *headroom = 0; + } + } + + return (bytes_from_fifo); +} + +static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield) +{ + struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context; + + uint16_t bytes_into_fifo = 0; + + if (!com_dev->rx_msg_full && (buf_len >= sizeof(com_dev->rx_msg_buffer))) { + memcpy(com_dev->rx_msg_buffer, buf, sizeof(com_dev->rx_msg_buffer)); + bytes_into_fifo = sizeof(com_dev->rx_msg_buffer); + com_dev->rx_msg_full = true; + } + + if (headroom) { + if (!com_dev->rx_msg_full) { + *headroom = sizeof(com_dev->rx_msg_buffer); + } else { + *headroom = 0; + } + } + + return (bytes_into_fifo); +} + +int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len) +{ + PIOS_Assert(msg); + PIOS_Assert(msg_len); + + struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id; + + PIOS_Assert(msg_len == sizeof(com_dev->tx_msg_buffer)); + + /* Wait forever for room in the tx buffer */ + while (com_dev->tx_msg_full) { + /* Kick the transmitter while we wait */ + if (com_dev->driver->tx_start) { + (com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer)); + } + } + + memcpy((void *) com_dev->tx_msg_buffer, msg, msg_len); + com_dev->tx_msg_full = true; + + /* Kick the transmitter now that we've queued our message */ + if (com_dev->driver->tx_start) { + (com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer)); + } + + return 0; +} + +uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * msg, uint16_t msg_len) +{ + PIOS_Assert(msg); + PIOS_Assert(msg_len); + + struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id; + + PIOS_Assert(msg_len == sizeof(com_dev->rx_msg_buffer)); + + if (!com_dev->rx_msg_full) { + /* There's room in our buffer, kick the receiver */ + (com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer)); + } else { + memcpy(msg, com_dev->rx_msg_buffer, msg_len); + com_dev->rx_msg_full = false; + + return msg_len; + } + + return 0; +} + +#endif /* PIOS_INCLUDE_COM_MSG */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/STM32F10x/pios_usb_hid.c b/flight/PiOS/STM32F10x/pios_usb_hid.c index 11eb988c1..e70c93046 100644 --- a/flight/PiOS/STM32F10x/pios_usb_hid.c +++ b/flight/PiOS/STM32F10x/pios_usb_hid.c @@ -207,9 +207,15 @@ static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) { } // If endpoint was stalled and there is now space make it valid +#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1; +#else + uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2; +#endif + PIOS_IRQ_Disable(); if ((GetEPRxStatus(usb_hid_dev->cfg->data_rx_ep) != EP_RX_VALID) && - (rx_bytes_avail >= PIOS_USB_BOARD_HID_DATA_LENGTH)) { + (rx_bytes_avail >= max_payload_length)) { SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID); } PIOS_IRQ_Enable(); @@ -328,7 +334,15 @@ static void PIOS_USB_HID_EP_OUT_Callback(void) &headroom, &need_yield); #endif - if (headroom >= PIOS_USB_BOARD_HID_DATA_LENGTH) { + +#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1; +#else + uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2; +#endif + + if (headroom >= max_payload_length) { + /* We have room for a maximum length message */ SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID); } else { diff --git a/flight/PiOS/inc/pios_com.h b/flight/PiOS/inc/pios_com.h index 19abb2f27..10591f116 100644 --- a/flight/PiOS/inc/pios_com.h +++ b/flight/PiOS/inc/pios_com.h @@ -31,6 +31,9 @@ #ifndef PIOS_COM_H #define PIOS_COM_H +#include /* uint*_t */ +#include /* bool */ + typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken); struct pios_com_driver { @@ -43,7 +46,6 @@ struct pios_com_driver { }; /* Public Functions */ -extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len); extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud); extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c); extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c); diff --git a/flight/PiOS/inc/pios_com_msg.h b/flight/PiOS/inc/pios_com_msg.h new file mode 100644 index 000000000..1caaeabeb --- /dev/null +++ b/flight/PiOS/inc/pios_com_msg.h @@ -0,0 +1,45 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_COM COM MSG layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_com_msg.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief COM MSG layer functions header + * @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 PIOS_COM_MSG_H +#define PIOS_COM_MSG_H + +#include /* uint*_t */ + +/* Public Functions */ +extern int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len); +extern uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * buf, uint16_t buf_len); + +#endif /* PIOS_COM_MSG_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_com_msg_priv.h b/flight/PiOS/inc/pios_com_msg_priv.h new file mode 100644 index 000000000..20992de47 --- /dev/null +++ b/flight/PiOS/inc/pios_com_msg_priv.h @@ -0,0 +1,44 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_COM COM MSG layer functions + * @brief Hardware communication layer + * @{ + * + * @file pios_com_msg_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief COM MSG private definitions. + * @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 PIOS_COM_MSG_PRIV_H +#define PIOS_COM_MSG_PRIV_H + +#include /* uint*_t */ +#include "pios_com_priv.h" /* struct pios_com_driver */ + +extern int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id); + +#endif /* PIOS_COM_MSG_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_com_priv.h b/flight/PiOS/inc/pios_com_priv.h index 7bd9a9be0..c39522f79 100644 --- a/flight/PiOS/inc/pios_com_priv.h +++ b/flight/PiOS/inc/pios_com_priv.h @@ -31,6 +31,8 @@ #ifndef PIOS_COM_PRIV_H #define PIOS_COM_PRIV_H +extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len); + #endif /* PIOS_COM_PRIV_H */ /** From 1d14ab00e1c6d0229466720cc6459606bbd02672 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 14 Jan 2012 14:28:11 -0500 Subject: [PATCH 104/121] safeboot: add safe boot support to OP and PIPX bootloaders Application support for OP and PIPX will show up in future commits. --- flight/Bootloaders/OpenPilot/op_dfu.c | 8 ++++++++ flight/Bootloaders/PipXtreme/op_dfu.c | 4 ++++ make/boards/openpilot/board-info.mk | 2 +- make/boards/pipxtreme/board-info.mk | 2 +- 4 files changed, 14 insertions(+), 2 deletions(-) diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c index ad5836ad7..40ef6fbda 100644 --- a/flight/Bootloaders/OpenPilot/op_dfu.c +++ b/flight/Bootloaders/OpenPilot/op_dfu.c @@ -353,10 +353,18 @@ void processComand(uint8_t *xReceive_Buffer) { DeviceState = failed_jump; break; } else { + if (Data == 0x5AFE) { + /* Force board into safe mode */ + PIOS_IAP_WriteBootCount(0xFFFF); + } FLASH_Lock(); JumpToApp = 1; } } else { + if (Data == 0x5AFE) { + /* Force board into safe mode */ + PIOS_IAP_WriteBootCount(0xFFFF); + } FLASH_Lock(); JumpToApp = 1; } diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c index cdc2d82b8..0d5da248f 100644 --- a/flight/Bootloaders/PipXtreme/op_dfu.c +++ b/flight/Bootloaders/PipXtreme/op_dfu.c @@ -301,6 +301,10 @@ void processComand(uint8_t *xReceive_Buffer) { sendData(Buffer + 1, 63); break; case JumpFW: + if (Data == 0x5AFE) { + /* Force board into safe mode */ + PIOS_IAP_WriteBootCount(0xFFFF); + } FLASH_Lock(); JumpToApp = 1; break; diff --git a/make/boards/openpilot/board-info.mk b/make/boards/openpilot/board-info.mk index d9cff166d..e98ac4480 100644 --- a/make/boards/openpilot/board-info.mk +++ b/make/boards/openpilot/board-info.mk @@ -1,6 +1,6 @@ BOARD_TYPE := 0x01 BOARD_REVISION := 0x01 -BOOTLOADER_VERSION := 0x00 +BOOTLOADER_VERSION := 0x01 HW_TYPE := 0x00 MCU := cortex-m3 diff --git a/make/boards/pipxtreme/board-info.mk b/make/boards/pipxtreme/board-info.mk index f9635109e..dbcb314df 100644 --- a/make/boards/pipxtreme/board-info.mk +++ b/make/boards/pipxtreme/board-info.mk @@ -1,6 +1,6 @@ BOARD_TYPE := 0x03 BOARD_REVISION := 0x01 -BOOTLOADER_VERSION := 0x00 +BOOTLOADER_VERSION := 0x01 HW_TYPE := 0x01 MCU := cortex-m3 From a51bf72bc76d2036fc4f58d61d9b14de8a4c53ec Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 14 Jan 2012 14:17:06 -0500 Subject: [PATCH 105/121] usb: allow runtime selection of USB descriptors via hwsettings --- flight/Bootloaders/CopterControl/Makefile | 1 - .../CopterControl/inc/pios_usb_board_data.h | 27 --- flight/Bootloaders/CopterControl/pios_board.c | 10 + .../CopterControl/pios_usb_board_data.c | 77 ++++++- flight/Bootloaders/OpenPilot/Makefile | 2 +- .../OpenPilot/inc/pios_usb_board_data.h | 27 --- flight/Bootloaders/OpenPilot/main.c | 5 - flight/Bootloaders/OpenPilot/op_dfu.c | 7 +- flight/Bootloaders/OpenPilot/pios_board.c | 12 +- .../OpenPilot/pios_usb_board_data.c | 78 ++++++- flight/Bootloaders/PipXtreme/Makefile | 2 +- .../Bootloaders/PipXtreme/inc/pios_config.h | 1 - .../PipXtreme/inc/pios_usb_board_data.h | 27 --- flight/Bootloaders/PipXtreme/main.c | 5 - flight/Bootloaders/PipXtreme/op_dfu.c | 11 +- flight/Bootloaders/PipXtreme/pios_board.c | 9 + .../PipXtreme/pios_usb_board_data.c | 77 ++++++- flight/CopterControl/Makefile | 1 + .../System/inc/pios_usb_board_data.h | 39 +--- flight/CopterControl/System/pios_board.c | 49 ++++- .../System/pios_usb_board_data.c | 77 ++++++- flight/OpenPilot/Makefile | 2 + flight/OpenPilot/System/inc/pios_config.h | 1 + .../System/inc/pios_usb_board_data.h | 37 ---- flight/OpenPilot/System/pios_board.c | 193 +++++++++++++++--- flight/OpenPilot/System/pios_usb_board_data.c | 79 ++++++- flight/PiOS/Common/pios_usb_desc_hid_cdc.c | 183 ++++++++--------- flight/PiOS/Common/pios_usb_desc_hid_only.c | 173 +++++++--------- .../STM32_USB-FS-Device_Driver/inc/usb_core.h | 19 +- .../STM32_USB-FS-Device_Driver/inc/usb_mem.h | 2 +- .../STM32_USB-FS-Device_Driver/src/usb_core.c | 20 +- .../STM32_USB-FS-Device_Driver/src/usb_mem.c | 2 +- flight/PiOS/STM32F10x/pios_usb.c | 7 - flight/PiOS/STM32F10x/pios_usb_cdc.c | 2 +- flight/PiOS/STM32F10x/pios_usbhook.c | 114 +++++------ flight/PiOS/inc/pios_usb_board_data_priv.h | 1 + flight/PiOS/inc/pios_usb_cdc_priv.h | 2 +- flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h | 8 + flight/PiOS/inc/pios_usb_desc_hid_only_priv.h | 8 + flight/PiOS/inc/pios_usbhook.h | 13 ++ flight/PipXtreme/inc/pios_usb_board_data.h | 27 --- flight/PipXtreme/pios_board.c | 14 +- flight/PipXtreme/pios_usb_board_data.c | 77 ++++++- shared/uavobjectdefinition/hwsettings.xml | 1 + 44 files changed, 980 insertions(+), 549 deletions(-) create mode 100644 flight/PiOS/inc/pios_usb_board_data_priv.h create mode 100644 flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h create mode 100644 flight/PiOS/inc/pios_usb_desc_hid_only_priv.h diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile index a5effde9c..699fd02e5 100644 --- a/flight/Bootloaders/CopterControl/Makefile +++ b/flight/Bootloaders/CopterControl/Makefile @@ -104,7 +104,6 @@ SRC += $(PIOSSTM32F10X)/pios_irq.c SRC += $(PIOSSTM32F10X)/pios_debug.c SRC += $(PIOSSTM32F10X)/pios_gpio.c - # PIOS USB related files (seperated to make code maintenance more easy) SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c diff --git a/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h b/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h index 85f407a9e..f1accee17 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h +++ b/flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h @@ -37,33 +37,6 @@ #include "pios_usb_defs.h" /* struct usb_* */ -struct usb_board_config { - struct usb_configuration_desc config; - struct usb_interface_desc hid_if; - struct usb_hid_desc hid; - struct usb_endpoint_desc hid_in; - struct usb_endpoint_desc hid_out; -} __attribute__((packed)); - -extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; -extern const struct usb_board_config PIOS_USB_BOARD_Configuration; -extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; - -/* NOTE NOTE NOTE - * - * Care must be taken to ensure that the _actual_ contents of - * these arrays (in each board's pios_usb_board_data.c) is no - * smaller than the stated sizes here or these descriptors - * will end up with trailing zeros on the wire. - * - * The compiler will catch any time that these definitions are - * too small. - */ -extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; -extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; -extern const uint8_t PIOS_USB_BOARD_StringProductID[28]; -extern uint8_t PIOS_USB_BOARD_StringSerial[52]; - #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_BL) diff --git a/flight/Bootloaders/CopterControl/pios_board.c b/flight/Bootloaders/CopterControl/pios_board.c index 972a85be0..a70537fcc 100644 --- a/flight/Bootloaders/CopterControl/pios_board.c +++ b/flight/Bootloaders/CopterControl/pios_board.c @@ -48,6 +48,10 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_only_priv.h" + #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_USB_HID) @@ -87,6 +91,12 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + uint32_t pios_usb_id; if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); diff --git a/flight/Bootloaders/CopterControl/pios_usb_board_data.c b/flight/Bootloaders/CopterControl/pios_usb_board_data.c index b39fcbec3..4f02ce424 100644 --- a/flight/Bootloaders/CopterControl/pios_usb_board_data.c +++ b/flight/Bootloaders/CopterControl/pios_usb_board_data.c @@ -29,9 +29,11 @@ */ #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_* */ -const uint8_t PIOS_USB_BOARD_StringProductID[] = { - sizeof(PIOS_USB_BOARD_StringProductID), +static const uint8_t usb_product_id[28] = { + sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'C', 0, 'o', 0, @@ -48,3 +50,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = { 'l', 0, }; +static uint8_t usb_serial_number[52] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) { + usb_serial_number[2 + 2 * i] = sn[i]; + } + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile index 6c3888797..05d1bec1d 100644 --- a/flight/Bootloaders/OpenPilot/Makefile +++ b/flight/Bootloaders/OpenPilot/Makefile @@ -293,7 +293,7 @@ CSTANDARD = -std=gnu99 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++) ifeq ($(DEBUG),YES) -CFLAGS = -DDEBUG +CFLAGS += -DDEBUG endif CFLAGS += -g$(DEBUGF) diff --git a/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h b/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h index d3e1079d6..ca9c948b0 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h @@ -37,33 +37,6 @@ #include "pios_usb_defs.h" /* struct usb_* */ -struct usb_board_config { - struct usb_configuration_desc config; - struct usb_interface_desc hid_if; - struct usb_hid_desc hid; - struct usb_endpoint_desc hid_in; - struct usb_endpoint_desc hid_out; -} __attribute__((packed)); - -extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; -extern const struct usb_board_config PIOS_USB_BOARD_Configuration; -extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; - -/* NOTE NOTE NOTE - * - * Care must be taken to ensure that the _actual_ contents of - * these arrays (in each board's pios_usb_board_data.c) is no - * smaller than the stated sizes here or these descriptors - * will end up with trailing zeros on the wire. - * - * The compiler will catch any time that these definitions are - * too small. - */ -extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; -extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; -extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; -extern uint8_t PIOS_USB_BOARD_StringSerial[52]; - #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_BL) diff --git a/flight/Bootloaders/OpenPilot/main.c b/flight/Bootloaders/OpenPilot/main.c index 8a9e554ef..3a06c9751 100644 --- a/flight/Bootloaders/OpenPilot/main.c +++ b/flight/Bootloaders/OpenPilot/main.c @@ -102,10 +102,6 @@ uint32_t sspTimeSource(); #define RED LED2 #define LED_PWM_TIMER TIM6 int main() { - /* NOTE: Do NOT modify the following start-up sequence */ - /* Any new initialization functions should be added in OpenPilotInit() */ - - /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); if (BSL_HOLD_STATE == 0) USB_connected = TRUE; @@ -228,7 +224,6 @@ void jump_to_app() { RCC_APB1PeriphResetCmd(0xffffffff, DISABLE); _SetCNTR(0); // clear interrupt mask _SetISTR(0); // clear all requests - JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4); Jump_To_Application = (pFunction) JumpAddress; /* Initialize user application's Stack Pointer */ diff --git a/flight/Bootloaders/OpenPilot/op_dfu.c b/flight/Bootloaders/OpenPilot/op_dfu.c index 40ef6fbda..ef30e4897 100644 --- a/flight/Bootloaders/OpenPilot/op_dfu.c +++ b/flight/Bootloaders/OpenPilot/op_dfu.c @@ -34,10 +34,6 @@ #include #include "pios_opahrs.h" #include "ssp.h" -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ //programmable devices Device devicesTable[10]; uint8_t numberOfDevices = 0; @@ -223,7 +219,7 @@ void processComand(uint8_t *xReceive_Buffer) { } } if (result != 1) { - DeviceState = Last_operation_failed;//ok + DeviceState = Last_operation_failed; Aditionals = (uint32_t) Command; } else { @@ -392,7 +388,6 @@ void processComand(uint8_t *xReceive_Buffer) { DeviceState = too_few_packets; } } - break; case Download_Req: #ifdef DEBUG_SSP diff --git a/flight/Bootloaders/OpenPilot/pios_board.c b/flight/Bootloaders/OpenPilot/pios_board.c index 707600b4d..d1ba74d8b 100644 --- a/flight/Bootloaders/OpenPilot/pios_board.c +++ b/flight/Bootloaders/OpenPilot/pios_board.c @@ -215,7 +215,11 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; -#endif /* PIOS_INCLUDE_USB_HID */ + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_only_priv.h" + +#endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_USB_HID) #include @@ -270,6 +274,12 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + uint32_t pios_usb_id; if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); diff --git a/flight/Bootloaders/OpenPilot/pios_usb_board_data.c b/flight/Bootloaders/OpenPilot/pios_usb_board_data.c index 9492d316e..b73419ba4 100644 --- a/flight/Bootloaders/OpenPilot/pios_usb_board_data.c +++ b/flight/Bootloaders/OpenPilot/pios_usb_board_data.c @@ -29,9 +29,11 @@ */ #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_* */ -const uint8_t PIOS_USB_BOARD_StringProductID[] = { - sizeof(PIOS_USB_BOARD_StringProductID), +static const uint8_t usb_product_id[20] = { + sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'O', 0, 'p', 0, @@ -43,3 +45,75 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = { 'o', 0, 't', 0, }; + +static uint8_t usb_serial_number[52] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) { + usb_serial_number[2 + 2 * i] = sn[i]; + } + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile index 9bad695f7..a411b6403 100644 --- a/flight/Bootloaders/PipXtreme/Makefile +++ b/flight/Bootloaders/PipXtreme/Makefile @@ -287,7 +287,7 @@ CSTANDARD = -std=gnu99 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++) ifeq ($(DEBUG),YES) -CFLAGS = -DDEBUG +CFLAGS += -DDEBUG endif CFLAGS += -g$(DEBUGF) diff --git a/flight/Bootloaders/PipXtreme/inc/pios_config.h b/flight/Bootloaders/PipXtreme/inc/pios_config.h index 8084f9c0a..cec926057 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_config.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_config.h @@ -40,7 +40,6 @@ #define PIOS_INCLUDE_USB_HID #define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO -//#define DEBUG_SSP /* Defaults for Logging */ #define LOG_FILENAME "PIOS.LOG" diff --git a/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h b/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h index fb6ced1f8..2e35f2fa4 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h @@ -37,33 +37,6 @@ #include "pios_usb_defs.h" /* struct usb_* */ -struct usb_board_config { - struct usb_configuration_desc config; - struct usb_interface_desc hid_if; - struct usb_hid_desc hid; - struct usb_endpoint_desc hid_in; - struct usb_endpoint_desc hid_out; -} __attribute__((packed)); - -extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; -extern const struct usb_board_config PIOS_USB_BOARD_Configuration; -extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; - -/* NOTE NOTE NOTE - * - * Care must be taken to ensure that the _actual_ contents of - * these arrays (in each board's pios_usb_board_data.c) is no - * smaller than the stated sizes here or these descriptors - * will end up with trailing zeros on the wire. - * - * The compiler will catch any time that these definitions are - * too small. - */ -extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; -extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; -extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; -extern uint8_t PIOS_USB_BOARD_StringSerial[52]; - #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_BL) diff --git a/flight/Bootloaders/PipXtreme/main.c b/flight/Bootloaders/PipXtreme/main.c index 4923f8fc1..602193f5c 100644 --- a/flight/Bootloaders/PipXtreme/main.c +++ b/flight/Bootloaders/PipXtreme/main.c @@ -72,10 +72,6 @@ void jump_to_app(); #define BLUE LED1 #define RED LED4 int main() { - /* NOTE: Do NOT modify the following start-up sequence */ - /* Any new initialization functions should be added in OpenPilotInit() */ - - /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); if (BSL_HOLD_STATE == 0) USB_connected = TRUE; @@ -182,7 +178,6 @@ void jump_to_app() { RCC_APB1PeriphResetCmd(0xffffffff, DISABLE); _SetCNTR(0); // clear interrupt mask _SetISTR(0); // clear all requests - JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4); Jump_To_Application = (pFunction) JumpAddress; /* Initialize user application's Stack Pointer */ diff --git a/flight/Bootloaders/PipXtreme/op_dfu.c b/flight/Bootloaders/PipXtreme/op_dfu.c index 0d5da248f..249e3d320 100644 --- a/flight/Bootloaders/PipXtreme/op_dfu.c +++ b/flight/Bootloaders/PipXtreme/op_dfu.c @@ -32,10 +32,6 @@ #include "pios_bl_helper.h" #include "pios_com_msg.h" #include -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ //programmable devices Device devicesTable[10]; uint8_t numberOfDevices = 0; @@ -145,7 +141,7 @@ void processComand(uint8_t *xReceive_Buffer) { case EnterDFU: if (((DeviceState == BLidle) && (Data0 < numberOfDevices)) || (DeviceState == DFUidle)) { - if (Data0 > 0)//PORQUE??? + if (Data0 > 0) OPDfuIni(TRUE); DeviceState = DFUidle; currentProgrammingDestination = devicesTable[Data0].programmingType; @@ -202,7 +198,7 @@ void processComand(uint8_t *xReceive_Buffer) { } } if (result != 1) { - DeviceState = Last_operation_failed;//ok + DeviceState = Last_operation_failed; Aditionals = (uint32_t) Command; } else { @@ -253,11 +249,9 @@ void processComand(uint8_t *xReceive_Buffer) { ++Next_Packet; } else { - DeviceState = wrong_packet_received; Aditionals = Count; } - // FLASH_ProgramWord(MemLocations[TransferType]+4,++Next_Packet);//+Count,Data); } else { DeviceState = Last_operation_failed; Aditionals = (uint32_t) Command; @@ -331,7 +325,6 @@ void processComand(uint8_t *xReceive_Buffer) { DeviceState = too_few_packets; } } - break; case Download_Req: #ifdef DEBUG_SSP diff --git a/flight/Bootloaders/PipXtreme/pios_board.c b/flight/Bootloaders/PipXtreme/pios_board.c index 3c06d820b..a70537fcc 100644 --- a/flight/Bootloaders/PipXtreme/pios_board.c +++ b/flight/Bootloaders/PipXtreme/pios_board.c @@ -49,6 +49,9 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }; +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_only_priv.h" + #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_USB_HID) @@ -88,6 +91,12 @@ void PIOS_Board_Init(void) { PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + uint32_t pios_usb_id; if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { PIOS_Assert(0); diff --git a/flight/Bootloaders/PipXtreme/pios_usb_board_data.c b/flight/Bootloaders/PipXtreme/pios_usb_board_data.c index d54ca6565..3e41e5ac9 100644 --- a/flight/Bootloaders/PipXtreme/pios_usb_board_data.c +++ b/flight/Bootloaders/PipXtreme/pios_usb_board_data.c @@ -29,9 +29,11 @@ */ #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_* */ -const uint8_t PIOS_USB_BOARD_StringProductID[] = { - sizeof(PIOS_USB_BOARD_StringProductID), +static const uint8_t usb_product_id[20] = { + sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'P', 0, 'i', 0, @@ -44,3 +46,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = { 'e', 0, }; +static uint8_t usb_serial_number[52] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) { + usb_serial_number[2 + 2 * i] = sn[i]; + } + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 589251a4a..891e7f6c6 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -216,6 +216,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(OPSYSTEM)/pios_usb_board_data.c SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) SRC += $(PIOSCOMMON)/pios_crc.c diff --git a/flight/CopterControl/System/inc/pios_usb_board_data.h b/flight/CopterControl/System/inc/pios_usb_board_data.h index ee53c7455..9907a4934 100644 --- a/flight/CopterControl/System/inc/pios_usb_board_data.h +++ b/flight/CopterControl/System/inc/pios_usb_board_data.h @@ -37,44 +37,7 @@ #define PIOS_USB_BOARD_EP_NUM 4 -#include "pios_usb_defs.h" /* struct usb_* */ - -struct usb_board_config { - struct usb_configuration_desc config; - struct usb_interface_association_desc iad; - struct usb_interface_desc hid_if; - struct usb_hid_desc hid; - struct usb_endpoint_desc hid_in; - struct usb_endpoint_desc hid_out; - struct usb_interface_desc cdc_control_if; - struct usb_cdc_header_func_desc cdc_header; - struct usb_cdc_callmgmt_func_desc cdc_callmgmt; - struct usb_cdc_acm_func_desc cdc_acm; - struct usb_cdc_union_func_desc cdc_union; - struct usb_endpoint_desc cdc_mgmt_in; - struct usb_interface_desc cdc_data_if; - struct usb_endpoint_desc cdc_in; - struct usb_endpoint_desc cdc_out; -} __attribute__((packed)); - -extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; -extern const struct usb_board_config PIOS_USB_BOARD_Configuration; -extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; - -/* NOTE NOTE NOTE - * - * Care must be taken to ensure that the _actual_ contents of - * these arrays (in each board's pios_usb_board_data.c) is no - * smaller than the stated sizes here or these descriptors - * will end up with trailing zeros on the wire. - * - * The compiler will catch any time that these definitions are - * too small. - */ -extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; -extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; -extern const uint8_t PIOS_USB_BOARD_StringProductID[28]; -extern uint8_t PIOS_USB_BOARD_StringSerial[52]; +#include "pios_usb_defs.h" /* USB_* macros */ #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 3a4c3e89f..ffdde4759 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -998,6 +998,11 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_cdc_priv.h" +#include "pios_usb_desc_hid_only_priv.h" + #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_USB_HID) @@ -1090,14 +1095,50 @@ void PIOS_Board_Init(void) { PIOS_TIM_InitClock(&tim_4_cfg); #if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Flags to determine if various USB interfaces are advertised */ + bool usb_hid_present = false; + bool usb_cdc_present = false; + + uint8_t hwsettings_usb_devicetype; + HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype); + + switch (hwsettings_usb_devicetype) { + case HWSETTINGS_USB_DEVICETYPE_HIDONLY: + if (PIOS_USB_DESC_HID_ONLY_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + break; + case HWSETTINGS_USB_DEVICETYPE_HIDVCP: + if (PIOS_USB_DESC_HID_CDC_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + usb_cdc_present = true; + break; + case HWSETTINGS_USB_DEVICETYPE_VCPONLY: + break; + default: + PIOS_Assert(0); + } + uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); #if defined(PIOS_INCLUDE_USB_CDC) - /* Configure the USB VCP port */ + uint8_t hwsettings_usb_vcpport; + /* Configure the USB VCP port */ HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); + if (!usb_cdc_present) { + /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ + hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED; + } + switch (hwsettings_usb_vcpport) { case HWSETTINGS_USB_VCPPORT_DISABLED: break; @@ -1136,7 +1177,6 @@ void PIOS_Board_Init(void) { tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { PIOS_Assert(0); } - } #endif /* PIOS_INCLUDE_COM */ break; @@ -1148,6 +1188,11 @@ void PIOS_Board_Init(void) { uint8_t hwsettings_usb_hidport; HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); + if (!usb_hid_present) { + /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ + hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED; + } + switch (hwsettings_usb_hidport) { case HWSETTINGS_USB_HIDPORT_DISABLED: break; diff --git a/flight/CopterControl/System/pios_usb_board_data.c b/flight/CopterControl/System/pios_usb_board_data.c index b39fcbec3..4f02ce424 100644 --- a/flight/CopterControl/System/pios_usb_board_data.c +++ b/flight/CopterControl/System/pios_usb_board_data.c @@ -29,9 +29,11 @@ */ #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_* */ -const uint8_t PIOS_USB_BOARD_StringProductID[] = { - sizeof(PIOS_USB_BOARD_StringProductID), +static const uint8_t usb_product_id[28] = { + sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'C', 0, 'o', 0, @@ -48,3 +50,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = { 'l', 0, }; +static uint8_t usb_serial_number[52] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) { + usb_serial_number[2 + 2 * i] = sn[i]; + } + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 8f9d9bef9..940c1f117 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -183,9 +183,11 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c SRC += $(PIOSSTM32F10X)/pios_usb.c SRC += $(PIOSSTM32F10X)/pios_usbhook.c SRC += $(PIOSSTM32F10X)/pios_usb_hid.c +SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c SRC += $(OPSYSTEM)/pios_usb_board_data.c +SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c ## PIOS Hardware (Common) diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index 3ec902e8e..ce0484a8d 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -57,6 +57,7 @@ #define PIOS_INCLUDE_USART #define PIOS_INCLUDE_USB #define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_CDC #define PIOS_INCLUDE_BMP085 //#define PIOS_INCLUDE_HCSR04 #define PIOS_INCLUDE_OPAHRS diff --git a/flight/OpenPilot/System/inc/pios_usb_board_data.h b/flight/OpenPilot/System/inc/pios_usb_board_data.h index e2f079bc2..08fc3423b 100644 --- a/flight/OpenPilot/System/inc/pios_usb_board_data.h +++ b/flight/OpenPilot/System/inc/pios_usb_board_data.h @@ -39,43 +39,6 @@ #include "pios_usb_defs.h" /* struct usb_* */ -struct usb_board_config { - struct usb_configuration_desc config; - struct usb_interface_association_desc iad; - struct usb_interface_desc hid_if; - struct usb_hid_desc hid; - struct usb_endpoint_desc hid_in; - struct usb_endpoint_desc hid_out; - struct usb_interface_desc cdc_control_if; - struct usb_cdc_header_func_desc cdc_header; - struct usb_cdc_callmgmt_func_desc cdc_callmgmt; - struct usb_cdc_acm_func_desc cdc_acm; - struct usb_cdc_union_func_desc cdc_union; - struct usb_endpoint_desc cdc_mgmt_in; - struct usb_interface_desc cdc_data_if; - struct usb_endpoint_desc cdc_in; - struct usb_endpoint_desc cdc_out; -} __attribute__((packed)); - -extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; -extern const struct usb_board_config PIOS_USB_BOARD_Configuration; -extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; - -/* NOTE NOTE NOTE - * - * Care must be taken to ensure that the _actual_ contents of - * these arrays (in each board's pios_usb_board_data.c) is no - * smaller than the stated sizes here or these descriptors - * will end up with trailing zeros on the wire. - * - * The compiler will catch any time that these definitions are - * too small. - */ -extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; -extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; -extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; -extern uint8_t PIOS_USB_BOARD_StringSerial[52]; - #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_FW) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 314a8e24d..8dbb5eee2 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -611,6 +611,9 @@ static const struct pios_dsm_cfg pios_dsm_cfg = { #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192 +#define PIOS_COM_BRIDGE_RX_BUF_LEN 65 +#define PIOS_COM_BRIDGE_TX_BUF_LEN 12 + #endif /* PIOS_INCLUDE_COM */ /** @@ -1054,6 +1057,10 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_cdc_priv.h" +#include "pios_usb_desc_hid_only_priv.h" #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_USB_HID) @@ -1067,8 +1074,22 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = { #endif /* PIOS_INCLUDE_USB_HID */ +#if defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { + .ctrl_if = 1, + .ctrl_tx_ep = 2, + + .data_if = 2, + .data_rx_ep = 3, + .data_tx_ep = 3, +}; +#endif /* PIOS_INCLUDE_USB_CDC */ + uint32_t pios_com_telem_rf_id; uint32_t pios_com_telem_usb_id; +uint32_t pios_com_vcp_id; uint32_t pios_com_gps_id; uint32_t pios_com_aux_id; uint32_t pios_com_dsm_id; @@ -1109,14 +1130,27 @@ void PIOS_Board_Init(void) { HwSettingsInitialize(); + PIOS_WDG_Init(); + + /* Initialize the alarms library */ + AlarmsInitialize(); + + PIOS_IAP_Init(); + uint16_t boot_count = PIOS_IAP_ReadBootCount(); + if (boot_count < 3) { + PIOS_IAP_WriteBootCount(++boot_count); + AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); + } else { + /* Too many failed boot attempts, force hwsettings to defaults */ + HwSettingsSetDefaults(HwSettingsHandle(), 0); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); + } + #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif - /* Initialize the alarms library */ - AlarmsInitialize(); - /* Initialize the task monitor library */ TaskMonitorInitialize(); @@ -1124,7 +1158,6 @@ void PIOS_Board_Init(void) { PIOS_TIM_InitClock(&tim_1_cfg); PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_5_cfg); - PIOS_TIM_InitClock(&tim_4_cfg); PIOS_TIM_InitClock(&tim_8_cfg); @@ -1139,6 +1172,133 @@ void PIOS_Board_Init(void) { /* Bind the AHRS comms layer to the AHRS SPI link */ AhrsConnect(pios_spi_ahrs_id); +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Flags to determine if various USB interfaces are advertised */ + bool usb_hid_present = false; + bool usb_cdc_present = false; + + uint8_t hwsettings_usb_devicetype; + HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype); + + switch (hwsettings_usb_devicetype) { + case HWSETTINGS_USB_DEVICETYPE_HIDONLY: + if (PIOS_USB_DESC_HID_ONLY_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + break; + case HWSETTINGS_USB_DEVICETYPE_HIDVCP: + if (PIOS_USB_DESC_HID_CDC_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + usb_cdc_present = true; + break; + case HWSETTINGS_USB_DEVICETYPE_VCPONLY: + break; + default: + PIOS_Assert(0); + } + + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); + +#if defined(PIOS_INCLUDE_USB_CDC) + /* Configure the USB VCP port */ + uint8_t hwsettings_usb_vcpport; + HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); + + if (!usb_cdc_present) { + /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ + hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED; + } + + switch (hwsettings_usb_vcpport) { + case HWSETTINGS_USB_VCPPORT_DISABLED: + break; + case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_cdc_id; + if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + case HWSETTINGS_USB_VCPPORT_COMBRIDGE: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_cdc_id; + if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, + rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, + tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + + } +#endif /* PIOS_INCLUDE_COM */ + break; + } +#endif /* PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) + /* Configure the usb HID port */ + uint8_t hwsettings_usb_hidport; + HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); + + if (!usb_hid_present) { + /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ + hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED; + } + + switch (hwsettings_usb_hidport) { + case HWSETTINGS_USB_HIDPORT_DISABLED: + break; + case HWSETTINGS_USB_HIDPORT_USBTELEMETRY: +#if defined(PIOS_INCLUDE_COM) + { + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + } + +#endif /* PIOS_INCLUDE_USB_HID */ + +#endif /* PIOS_INCLUDE_USB */ + /* Configure the main IO port */ uint8_t hwsettings_op_mainport; HwSettingsOP_MainPortGet(&hwsettings_op_mainport); @@ -1285,36 +1445,11 @@ void PIOS_Board_Init(void) { break; } -#if defined(PIOS_INCLUDE_USB) - uint32_t pios_usb_id; - if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { - PIOS_Assert(0); - } -#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) - uint32_t pios_usb_hid_id; - if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { - PIOS_Assert(0); - } - uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); - uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); - PIOS_Assert(rx_buffer); - PIOS_Assert(tx_buffer); - if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, - rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, - tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { - PIOS_Assert(0); - } -#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */ - -#endif /* PIOS_INCLUDE_USB */ - #if defined(PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_I2C */ - PIOS_IAP_Init(); - PIOS_WDG_Init(); } /** diff --git a/flight/OpenPilot/System/pios_usb_board_data.c b/flight/OpenPilot/System/pios_usb_board_data.c index 9492d316e..a6fa67abe 100644 --- a/flight/OpenPilot/System/pios_usb_board_data.c +++ b/flight/OpenPilot/System/pios_usb_board_data.c @@ -29,9 +29,11 @@ */ #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_* */ -const uint8_t PIOS_USB_BOARD_StringProductID[] = { - sizeof(PIOS_USB_BOARD_StringProductID), +static const uint8_t usb_product_id[20] = { + sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'O', 0, 'p', 0, @@ -43,3 +45,76 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = { 'o', 0, 't', 0, }; + +static uint8_t usb_serial_number[52] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) { + usb_serial_number[2 + 2 * i] = sn[i]; + } + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} + diff --git a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c index 3d5748163..cd4e8a1da 100644 --- a/flight/PiOS/Common/pios_usb_desc_hid_cdc.c +++ b/flight/PiOS/Common/pios_usb_desc_hid_cdc.c @@ -28,9 +28,12 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_usb_desc_hid_cdc_priv.h" /* exported API */ +#include "pios_usb_defs.h" /* struct usb_*, USB_* */ +#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_Register* */ -const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { +static const struct usb_device_desc device_desc = { .bLength = sizeof(struct usb_device_desc), .bDescriptorType = USB_DESC_TYPE_DEVICE, .bcdUSB = htousbs(0x0200), @@ -41,17 +44,79 @@ const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { .idVendor = htousbs(USB_VENDOR_ID_OPENPILOT), .idProduct = htousbs(PIOS_USB_BOARD_PRODUCT_ID), .bcdDevice = htousbs(PIOS_USB_BOARD_DEVICE_VER), - .iManufacturer = 1, - .iProduct = 2, - .iSerialNumber = 3, + .iManufacturer = USB_STRING_DESC_VENDOR, + .iProduct = USB_STRING_DESC_PRODUCT, + .iSerialNumber = USB_STRING_DESC_SERIAL, .bNumConfigurations = 1, }; -const struct usb_board_config PIOS_USB_BOARD_Configuration = { +static const uint8_t hid_report_desc[36] = { + HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE), + 0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x01, /* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */ + + HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION), + 0x01, /* Application */ + + /* Device -> Host emulated serial channel */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), + 0x01, /* OpenPilot emulated serial channel (Device -> Host) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x02, + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), + 0x00, /* Values range from min = 0x00 */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), + 0xFF, /* Values range to max = 0xFF */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), + 0x08, /* 8 bits wide */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), + PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ + HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT), + 0x03, /* Variable, Constant (read-only) */ + + /* Host -> Host emulated serial channel */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), + 0x02, /* OpenPilot emulated Serial Channel (Host -> Device) */ + HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), + 0x02, + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), + 0x00, /* Values range from min = 0x00 */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), + 0xFF, /* Values range to max = 0xFF */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), + 0x08, /* 8 bits wide */ + HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), + PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ + HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT), + 0x82, /* Volatile, Variable */ + + HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION), +}; + +struct usb_config_hid_cdc { + struct usb_configuration_desc config; + struct usb_interface_association_desc iad; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; + struct usb_interface_desc cdc_control_if; + struct usb_cdc_header_func_desc cdc_header; + struct usb_cdc_callmgmt_func_desc cdc_callmgmt; + struct usb_cdc_acm_func_desc cdc_acm; + struct usb_cdc_union_func_desc cdc_union; + struct usb_endpoint_desc cdc_mgmt_in; + struct usb_interface_desc cdc_data_if; + struct usb_endpoint_desc cdc_in; + struct usb_endpoint_desc cdc_out; +} __attribute__((packed)); + +static const struct usb_config_hid_cdc config_hid_cdc = { .config = { .bLength = sizeof(struct usb_configuration_desc), .bDescriptorType = USB_DESC_TYPE_CONFIGURATION, - .wTotalLength = htousbs(sizeof(struct usb_board_config)), + .wTotalLength = htousbs(sizeof(struct usb_config_hid_cdc)), .bNumInterfaces = 3, .bConfigurationValue = 1, .iConfiguration = 0, @@ -86,7 +151,7 @@ const struct usb_board_config PIOS_USB_BOARD_Configuration = { .bCountryCode = 0, .bNumDescriptors = 1, .bClassDescriptorType = USB_DESC_TYPE_REPORT, - .wItemLength = htousbs(sizeof(PIOS_USB_BOARD_HidReportDescriptor)), + .wItemLength = htousbs(sizeof(hid_report_desc)), }, .hid_in = { .bLength = sizeof(struct usb_endpoint_desc), @@ -178,100 +243,14 @@ const struct usb_board_config PIOS_USB_BOARD_Configuration = { }, }; -const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = { - HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE), - 0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */ - HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), - 0x01, /* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */ +int32_t PIOS_USB_DESC_HID_CDC_Init(void) +{ + PIOS_USBHOOK_RegisterConfig(1, (uint8_t *)&config_hid_cdc, sizeof(config_hid_cdc)); - HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION), - 0x01, /* Application */ + PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc)); - /* Device -> Host emulated serial channel */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), - 0x01, /* OpenPilot emulated serial channel (Device -> Host) */ - HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), - 0x02, - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), - 0x00, /* Values range from min = 0x00 */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), - 0xFF, /* Values range to max = 0xFF */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), - 0x08, /* 8 bits wide */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), - PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ - HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT), - 0x03, /* Variable, Constant (read-only) */ + PIOS_USBHOOK_RegisterHidInterface((uint8_t *)&(config_hid_cdc.hid_if), sizeof(config_hid_cdc.hid_if)); + PIOS_USBHOOK_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc)); - /* Host -> Host emulated serial channel */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID), - 0x02, /* OpenPilot emulated Serial Channel (Host -> Device) */ - HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), - 0x02, - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN), - 0x00, /* Values range from min = 0x00 */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX), - 0xFF, /* Values range to max = 0xFF */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE), - 0x08, /* 8 bits wide */ - HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT), - PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */ - HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT), - 0x82, /* Volatile, Variable */ - - HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION), -}; - -const struct usb_string_langid PIOS_USB_BOARD_StringLangID = { - .bLength = sizeof(PIOS_USB_BOARD_StringLangID), - .bDescriptorType = USB_DESC_TYPE_STRING, - .bLangID = htousbs(USB_LANGID_ENGLISH_UK), -}; - -const uint8_t PIOS_USB_BOARD_StringVendorID[] = { - sizeof(PIOS_USB_BOARD_StringVendorID), - USB_DESC_TYPE_STRING, - 'o', 0, - 'p', 0, - 'e', 0, - 'n', 0, - 'p', 0, - 'i', 0, - 'l', 0, - 'o', 0, - 't', 0, - '.', 0, - 'o', 0, - 'r', 0, - 'g', 0 -}; - -uint8_t PIOS_USB_BOARD_StringSerial[] = { - sizeof(PIOS_USB_BOARD_StringSerial), - USB_DESC_TYPE_STRING, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0 -}; + return 0; +} diff --git a/flight/PiOS/Common/pios_usb_desc_hid_only.c b/flight/PiOS/Common/pios_usb_desc_hid_only.c index 913c18b16..168efe841 100644 --- a/flight/PiOS/Common/pios_usb_desc_hid_only.c +++ b/flight/PiOS/Common/pios_usb_desc_hid_only.c @@ -28,9 +28,12 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -#include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_usb_desc_hid_only_priv.h" /* exported API */ +#include "pios_usb_defs.h" /* struct usb_*, USB_* */ +#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_Register* */ -const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { +static const struct usb_device_desc device_desc = { .bLength = sizeof(struct usb_device_desc), .bDescriptorType = USB_DESC_TYPE_DEVICE, .bcdUSB = htousbs(0x0200), @@ -47,56 +50,7 @@ const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = { .bNumConfigurations = 1, }; -const struct usb_board_config PIOS_USB_BOARD_Configuration = { - .config = { - .bLength = sizeof(struct usb_configuration_desc), - .bDescriptorType = USB_DESC_TYPE_CONFIGURATION, - .wTotalLength = htousbs(sizeof(struct usb_board_config)), - .bNumInterfaces = 1, - .bConfigurationValue = 1, - .iConfiguration = 0, - .bmAttributes = 0xC0, - .bMaxPower = 250/2, /* in units of 2ma */ - }, - .hid_if = { - .bLength = sizeof(struct usb_interface_desc), - .bDescriptorType = USB_DESC_TYPE_INTERFACE, - .bInterfaceNumber = 0, - .bAlternateSetting = 0, - .bNumEndpoints = 2, - .bInterfaceClass = USB_INTERFACE_CLASS_HID, - .bInterfaceSubClass = 0, /* no boot */ - .nInterfaceProtocol = 0, /* none */ - .iInterface = 0, - }, - .hid = { - .bLength = sizeof(struct usb_hid_desc), - .bDescriptorType = USB_DESC_TYPE_HID, - .bcdHID = htousbs(0x0110), - .bCountryCode = 0, - .bNumDescriptors = 1, - .bClassDescriptorType = USB_DESC_TYPE_REPORT, - .wItemLength = htousbs(sizeof(PIOS_USB_BOARD_HidReportDescriptor)), - }, - .hid_in = { - .bLength = sizeof(struct usb_endpoint_desc), - .bDescriptorType = USB_DESC_TYPE_ENDPOINT, - .bEndpointAddress = USB_EP_IN(1), - .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, - .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), - .bInterval = 4, /* ms */ - }, - .hid_out = { - .bLength = sizeof(struct usb_endpoint_desc), - .bDescriptorType = USB_DESC_TYPE_ENDPOINT, - .bEndpointAddress = USB_EP_OUT(1), - .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, - .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), - .bInterval = 4, /* ms */ - }, -}; - -const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = { +static const uint8_t hid_report_desc[36] = { HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE), 0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */ HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE), @@ -140,56 +94,71 @@ const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = { HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION), }; -const struct usb_string_langid PIOS_USB_BOARD_StringLangID = { - .bLength = sizeof(PIOS_USB_BOARD_StringLangID), - .bDescriptorType = USB_DESC_TYPE_STRING, - .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +struct usb_config_hid_only { + struct usb_configuration_desc config; + struct usb_interface_desc hid_if; + struct usb_hid_desc hid; + struct usb_endpoint_desc hid_in; + struct usb_endpoint_desc hid_out; +} __attribute__((packed)); + +const struct usb_config_hid_only config_hid_only = { + .config = { + .bLength = sizeof(struct usb_configuration_desc), + .bDescriptorType = USB_DESC_TYPE_CONFIGURATION, + .wTotalLength = htousbs(sizeof(struct usb_config_hid_only)), + .bNumInterfaces = 1, + .bConfigurationValue = 1, + .iConfiguration = 0, + .bmAttributes = 0xC0, + .bMaxPower = 250/2, /* in units of 2ma */ + }, + .hid_if = { + .bLength = sizeof(struct usb_interface_desc), + .bDescriptorType = USB_DESC_TYPE_INTERFACE, + .bInterfaceNumber = 0, + .bAlternateSetting = 0, + .bNumEndpoints = 2, + .bInterfaceClass = USB_INTERFACE_CLASS_HID, + .bInterfaceSubClass = 0, /* no boot */ + .nInterfaceProtocol = 0, /* none */ + .iInterface = 0, + }, + .hid = { + .bLength = sizeof(struct usb_hid_desc), + .bDescriptorType = USB_DESC_TYPE_HID, + .bcdHID = htousbs(0x0110), + .bCountryCode = 0, + .bNumDescriptors = 1, + .bClassDescriptorType = USB_DESC_TYPE_REPORT, + .wItemLength = htousbs(sizeof(hid_report_desc)), + }, + .hid_in = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_IN(1), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), + .bInterval = 4, /* ms */ + }, + .hid_out = { + .bLength = sizeof(struct usb_endpoint_desc), + .bDescriptorType = USB_DESC_TYPE_ENDPOINT, + .bEndpointAddress = USB_EP_OUT(1), + .bmAttributes = USB_EP_ATTR_TT_INTERRUPT, + .wMaxPacketSize = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH), + .bInterval = 4, /* ms */ + }, }; -const uint8_t PIOS_USB_BOARD_StringVendorID[] = { - sizeof(PIOS_USB_BOARD_StringVendorID), - USB_DESC_TYPE_STRING, - 'o', 0, - 'p', 0, - 'e', 0, - 'n', 0, - 'p', 0, - 'i', 0, - 'l', 0, - 'o', 0, - 't', 0, - '.', 0, - 'o', 0, - 'r', 0, - 'g', 0 -}; +int32_t PIOS_USB_DESC_HID_ONLY_Init(void) +{ + PIOS_USBHOOK_RegisterConfig(1, (uint8_t *)&config_hid_only, sizeof(config_hid_only)); -uint8_t PIOS_USB_BOARD_StringSerial[] = { - sizeof(PIOS_USB_BOARD_StringSerial), - USB_DESC_TYPE_STRING, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0 -}; + PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc)); + + PIOS_USBHOOK_RegisterHidInterface((uint8_t *)&(config_hid_only.hid_if), sizeof(config_hid_only.hid_if)); + PIOS_USBHOOK_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc)); + + return 0; +} diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h index 84f975da6..7e606e44b 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h @@ -35,7 +35,7 @@ typedef enum _CONTROL_STATE typedef struct OneDescriptor { - uint8_t *Descriptor; + const uint8_t *Descriptor; uint16_t Descriptor_Size; } ONE_DESCRIPTOR, *PONE_DESCRIPTOR; @@ -80,7 +80,8 @@ typedef struct _ENDPOINT_INFO uint16_t Usb_wLength; uint16_t Usb_wOffset; uint16_t PacketSize; - uint8_t *(*CopyData)(uint16_t Length); + const uint8_t *(*CopyDataIn)(uint16_t Length); + uint8_t *(*CopyDataOut)(uint16_t Length); }ENDPOINT_INFO; /*-*-*-*-*-*-*-*-*-*-*-* Definitions for device level -*-*-*-*-*-*-*-*-*-*-*-*/ @@ -169,9 +170,9 @@ typedef struct _DEVICE_PROP RESULT (*Class_Get_Interface_Setting)(uint8_t Interface, uint8_t AlternateSetting); - uint8_t* (*GetDeviceDescriptor)(uint16_t Length); - uint8_t* (*GetConfigDescriptor)(uint16_t Length); - uint8_t* (*GetStringDescriptor)(uint16_t Length); + const uint8_t* (*GetDeviceDescriptor)(uint16_t Length); + const uint8_t* (*GetConfigDescriptor)(uint16_t Length); + const uint8_t* (*GetStringDescriptor)(uint16_t Length); /* This field is not used in current library version. It is kept only for compatibility with previous versions */ @@ -221,13 +222,13 @@ uint8_t In0_Process(void); RESULT Standard_SetEndPointFeature(void); RESULT Standard_SetDeviceFeature(void); -uint8_t *Standard_GetConfiguration(uint16_t Length); +const uint8_t *Standard_GetConfiguration(uint16_t Length); RESULT Standard_SetConfiguration(void); -uint8_t *Standard_GetInterface(uint16_t Length); +const uint8_t *Standard_GetInterface(uint16_t Length); RESULT Standard_SetInterface(void); -uint8_t *Standard_GetDescriptorData(uint16_t Length, const ONE_DESCRIPTOR * pDesc); +const uint8_t *Standard_GetDescriptorData(uint16_t Length, ONE_DESCRIPTOR *pDesc); -uint8_t *Standard_GetStatus(uint16_t Length); +const uint8_t *Standard_GetStatus(uint16_t Length); RESULT Standard_ClearFeature(void); void SetDeviceAddress(uint8_t); void NOP_Process(void); diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h index 4d43fbe8c..f7f0ace12 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h @@ -22,7 +22,7 @@ /* Exported constants --------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/ /* Exported functions ------------------------------------------------------- */ -void UserToPMABufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes); +void UserToPMABufferCopy(const uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes); void PMAToUserBufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes); /* External variables --------------------------------------------------------*/ diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c index fb5ca3e40..75ddaa42e 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c @@ -58,7 +58,7 @@ static void Data_Setup0(void); * Return : Return 1 , if the request is invalid when "Length" is 0. * Return "Buffer" if the "Length" is not 0. *******************************************************************************/ -uint8_t *Standard_GetConfiguration(uint16_t Length) +const uint8_t *Standard_GetConfiguration(uint16_t Length) { if (Length == 0) { @@ -104,7 +104,7 @@ RESULT Standard_SetConfiguration(void) * Return : Return 0, if the request is invalid when "Length" is 0. * Return "Buffer" if the "Length" is not 0. *******************************************************************************/ -uint8_t *Standard_GetInterface(uint16_t Length) +const uint8_t *Standard_GetInterface(uint16_t Length) { if (Length == 0) { @@ -160,7 +160,7 @@ RESULT Standard_SetInterface(void) * Return : Return 0, if the request is at end of data block, * or is invalid when "Length" is 0. *******************************************************************************/ -uint8_t *Standard_GetStatus(uint16_t Length) +const uint8_t *Standard_GetStatus(uint16_t Length) { if (Length == 0) { @@ -415,7 +415,7 @@ RESULT Standard_SetDeviceFeature(void) * wOffset The buffer pointed by this address contains at least * Length bytes. *******************************************************************************/ -uint8_t *Standard_GetDescriptorData(uint16_t Length, const ONE_DESCRIPTOR * pDesc) +const uint8_t *Standard_GetDescriptorData(uint16_t Length, PONE_DESCRIPTOR pDesc) { uint32_t wOffset; @@ -443,7 +443,7 @@ void DataStageOut(void) save_rLength = pEPinfo->Usb_rLength; - if (pEPinfo->CopyData && save_rLength) + if (pEPinfo->CopyDataOut && save_rLength) { uint8_t *Buffer; uint32_t Length; @@ -454,7 +454,7 @@ void DataStageOut(void) Length = save_rLength; } - Buffer = (*pEPinfo->CopyData)(Length); + Buffer = (*pEPinfo->CopyDataOut)(Length); pEPinfo->Usb_rLength -= Length; pEPinfo->Usb_rOffset += Length; @@ -503,7 +503,7 @@ void DataStageIn(void) uint32_t save_wLength = pEPinfo->Usb_wLength; uint32_t ControlState = pInformation->ControlState; - uint8_t *DataBuffer; + const uint8_t *DataBuffer; uint32_t Length; if ((save_wLength == 0) && (ControlState == LAST_IN_DATA)) @@ -540,7 +540,7 @@ void DataStageIn(void) Length = save_wLength; } - DataBuffer = (*pEPinfo->CopyData)(Length); + DataBuffer = (*pEPinfo->CopyDataIn)(Length); #ifdef STM32F10X_CL PCD_EP_Write (ENDP0, DataBuffer, Length); @@ -697,7 +697,7 @@ exit_NoData_Setup0: *******************************************************************************/ void Data_Setup0(void) { - uint8_t *(*CopyRoutine)(uint16_t); + const uint8_t *(*CopyRoutine)(uint16_t); RESULT Result; uint32_t Request_No = pInformation->USBbRequest; @@ -802,7 +802,7 @@ void Data_Setup0(void) if (CopyRoutine) { pInformation->Ctrl_Info.Usb_wOffset = wOffset; - pInformation->Ctrl_Info.CopyData = CopyRoutine; + pInformation->Ctrl_Info.CopyDataIn = CopyRoutine; /* sb in the original the cast to word was directly */ /* now the cast is made step by step */ (*CopyRoutine)(0); diff --git a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c index e729b844c..ca50a23c4 100644 --- a/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c +++ b/flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c @@ -33,7 +33,7 @@ * Output : None. * Return : None . *******************************************************************************/ -void UserToPMABufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes) +void UserToPMABufferCopy(const uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes) { uint32_t n = (wNBytes + 1) >> 1; /* n = (wNBytes + 1) / 2 */ uint32_t i, temp1, temp2; diff --git a/flight/PiOS/STM32F10x/pios_usb.c b/flight/PiOS/STM32F10x/pios_usb.c index df17777c7..15decfca1 100644 --- a/flight/PiOS/STM32F10x/pios_usb.c +++ b/flight/PiOS/STM32F10x/pios_usb.c @@ -123,13 +123,6 @@ int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg) /* Enable the USB clock */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE); - /* Update the USB serial number from the chip */ - uint8_t sn[25]; - PIOS_SYS_SerialNumberGet((char *)sn); - for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_USB_BOARD_StringSerial[0]; i++) { - PIOS_USB_BOARD_StringSerial[2 + 2 * i] = sn[i]; - } - USB_Init(); USB_SIL_Init(); diff --git a/flight/PiOS/STM32F10x/pios_usb_cdc.c b/flight/PiOS/STM32F10x/pios_usb_cdc.c index 994c276ea..4bb1303d9 100644 --- a/flight/PiOS/STM32F10x/pios_usb_cdc.c +++ b/flight/PiOS/STM32F10x/pios_usb_cdc.c @@ -346,7 +346,7 @@ RESULT PIOS_USB_CDC_SetLineCoding(void) return USB_SUCCESS; } -uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length) +const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length) { struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id; diff --git a/flight/PiOS/STM32F10x/pios_usbhook.c b/flight/PiOS/STM32F10x/pios_usbhook.c index ade1f8ac1..7800faed1 100644 --- a/flight/PiOS/STM32F10x/pios_usbhook.c +++ b/flight/PiOS/STM32F10x/pios_usbhook.c @@ -36,6 +36,48 @@ #include "pios_usb_cdc_priv.h" /* PIOS_USB_CDC_* */ #include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */ +static ONE_DESCRIPTOR Device_Descriptor; + +void PIOS_USBHOOK_RegisterDevice(const uint8_t * desc, uint16_t desc_size) +{ + Device_Descriptor.Descriptor = desc; + Device_Descriptor.Descriptor_Size = desc_size; +} + +static ONE_DESCRIPTOR Config_Descriptor; + +void PIOS_USBHOOK_RegisterConfig(uint8_t config_id, const uint8_t * desc, uint16_t desc_size) +{ + Config_Descriptor.Descriptor = desc; + Config_Descriptor.Descriptor_Size = desc_size; +} + +static ONE_DESCRIPTOR String_Descriptor[4]; + +void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t * desc, uint16_t desc_size) +{ + if (string_id < NELEMENTS(String_Descriptor)) { + String_Descriptor[string_id].Descriptor = desc; + String_Descriptor[string_id].Descriptor_Size = desc_size; + } +} + +static ONE_DESCRIPTOR Hid_Interface_Descriptor; + +void PIOS_USBHOOK_RegisterHidInterface(const uint8_t * desc, uint16_t desc_size) +{ + Hid_Interface_Descriptor.Descriptor = desc; + Hid_Interface_Descriptor.Descriptor_Size = desc_size; +} + +static ONE_DESCRIPTOR Hid_Report_Descriptor; + +void PIOS_USBHOOK_RegisterHidReport(const uint8_t * desc, uint16_t desc_size) +{ + Hid_Report_Descriptor.Descriptor = desc; + Hid_Report_Descriptor.Descriptor_Size = desc_size; +} + #include "stm32f10x.h" /* __IO */ __IO uint8_t EXTI_Enable; @@ -53,9 +95,9 @@ static void PIOS_USBHOOK_Status_Out(void); static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo); static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo); static RESULT PIOS_USBHOOK_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting); -static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length); -static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length); -static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length); +static const uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length); +static const uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length); +static const uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length); DEVICE_PROP Device_Property = { .Init = PIOS_USBHOOK_Init, @@ -87,49 +129,10 @@ USER_STANDARD_REQUESTS User_Standard_Requests = { .User_SetDeviceAddress = PIOS_USBHOOK_SetDeviceAddress }; -const static ONE_DESCRIPTOR Device_Descriptor = { - (uint8_t *) &PIOS_USB_BOARD_DeviceDescriptor, - sizeof(PIOS_USB_BOARD_DeviceDescriptor), -}; - -static ONE_DESCRIPTOR Config_Descriptor = { - (uint8_t *) &PIOS_USB_BOARD_Configuration, - sizeof(PIOS_USB_BOARD_Configuration), -}; - -const static ONE_DESCRIPTOR Hid_Report_Descriptor = { - (uint8_t *) &PIOS_USB_BOARD_HidReportDescriptor, - sizeof(PIOS_USB_BOARD_HidReportDescriptor), -}; - -const static ONE_DESCRIPTOR Hid_Interface_Descriptor = { - (uint8_t *) &PIOS_USB_BOARD_Configuration.hid_if, - sizeof(PIOS_USB_BOARD_Configuration.hid_if), -}; - -const static ONE_DESCRIPTOR String_Descriptor[] = { - { - (uint8_t *) &PIOS_USB_BOARD_StringLangID, - sizeof(PIOS_USB_BOARD_StringLangID), - }, - { - (uint8_t *) PIOS_USB_BOARD_StringVendorID, - sizeof(PIOS_USB_BOARD_StringVendorID), - }, - { - (uint8_t *) PIOS_USB_BOARD_StringProductID, - sizeof(PIOS_USB_BOARD_StringProductID), - }, - { - (uint8_t *) PIOS_USB_BOARD_StringSerial, - sizeof(PIOS_USB_BOARD_StringSerial), - }, -}; - static RESULT PIOS_USBHOOK_SetProtocol(void); -static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length); -static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length); -static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length); +static const uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length); +static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length); +static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length); /******************************************************************************* * Function Name : PIOS_USBHOOK_Init. @@ -140,11 +143,8 @@ static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length); *******************************************************************************/ static void PIOS_USBHOOK_Init(void) { - /* Update the serial number string descriptor with the data from the unique - ID */ - //Get_SerialNum(); - pInformation->Current_Configuration = 0; + /* Connect the device */ PowerOn(); @@ -292,7 +292,7 @@ static void PIOS_USBHOOK_Status_Out(void) *******************************************************************************/ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo) { - uint8_t *(*CopyRoutine) (uint16_t); + const uint8_t *(*CopyRoutine) (uint16_t); CopyRoutine = NULL; @@ -350,7 +350,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo) return USB_UNSUPPORT; } - pInformation->Ctrl_Info.CopyData = CopyRoutine; + pInformation->Ctrl_Info.CopyDataIn = CopyRoutine; pInformation->Ctrl_Info.Usb_wOffset = 0; (*CopyRoutine) (0); return USB_SUCCESS; @@ -405,7 +405,7 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo) * Output : None. * Return : The address of the device descriptor. *******************************************************************************/ -static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length) +static const uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &Device_Descriptor); } @@ -417,7 +417,7 @@ static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length) * Output : None. * Return : The address of the configuration descriptor. *******************************************************************************/ -static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length) +static const uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &Config_Descriptor); } @@ -429,7 +429,7 @@ static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length) * Output : None. * Return : The address of the string descriptors. *******************************************************************************/ -static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length) +static const uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length) { uint8_t wValue0 = pInformation->USBwValue0; if (wValue0 > 4) { @@ -446,7 +446,7 @@ static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length) * Output : None. * Return : The address of the configuration descriptor. *******************************************************************************/ -static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length) +static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &Hid_Report_Descriptor); } @@ -458,7 +458,7 @@ static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length) * Output : None. * Return : The address of the configuration descriptor. *******************************************************************************/ -static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length) +static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length) { return Standard_GetDescriptorData(Length, &Hid_Interface_Descriptor); } @@ -503,7 +503,7 @@ static RESULT PIOS_USBHOOK_SetProtocol(void) * Output : None. * Return : address of the protcol value. *******************************************************************************/ -static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length) +static const uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length) { if (Length == 0) { pInformation->Ctrl_Info.Usb_wLength = 1; diff --git a/flight/PiOS/inc/pios_usb_board_data_priv.h b/flight/PiOS/inc/pios_usb_board_data_priv.h new file mode 100644 index 000000000..49166c25f --- /dev/null +++ b/flight/PiOS/inc/pios_usb_board_data_priv.h @@ -0,0 +1 @@ +extern int32_t PIOS_USB_BOARD_DATA_Init(void); diff --git a/flight/PiOS/inc/pios_usb_cdc_priv.h b/flight/PiOS/inc/pios_usb_cdc_priv.h index e6b94bad8..74d6e347d 100644 --- a/flight/PiOS/inc/pios_usb_cdc_priv.h +++ b/flight/PiOS/inc/pios_usb_cdc_priv.h @@ -46,7 +46,7 @@ extern const struct pios_com_driver pios_usb_cdc_com_driver; extern int32_t PIOS_USB_CDC_Init(uint32_t * usbcdc_id, const struct pios_usb_cdc_cfg * cfg, uint32_t lower_id); -extern uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length); +extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length); extern RESULT PIOS_USB_CDC_SetControlLineState(void); extern RESULT PIOS_USB_CDC_SetLineCoding(void); diff --git a/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h b/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h new file mode 100644 index 000000000..4836f4569 --- /dev/null +++ b/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h @@ -0,0 +1,8 @@ +#ifndef PIOS_USB_DESC_HID_CDC_PRIV_H +#define PIOS_USB_DESC_HID_CDC_PRIV_H + +#include + +extern int32_t PIOS_USB_DESC_HID_CDC_Init(void); + +#endif /* PIOS_USB_DESC_HID_CDC_PRIV_H */ diff --git a/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h b/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h new file mode 100644 index 000000000..5d161d233 --- /dev/null +++ b/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h @@ -0,0 +1,8 @@ +#ifndef PIOS_USB_DESC_HID_ONLY_PRIV_H +#define PIOS_USB_DESC_HID_ONLY_PRIV_H + +#include + +extern int32_t PIOS_USB_DESC_HID_ONLY_Init(void); + +#endif /* PIOS_USB_DESC_HID_ONLY_PRIV_H */ diff --git a/flight/PiOS/inc/pios_usbhook.h b/flight/PiOS/inc/pios_usbhook.h index d5f032450..f005a6fa1 100644 --- a/flight/PiOS/inc/pios_usbhook.h +++ b/flight/PiOS/inc/pios_usbhook.h @@ -47,5 +47,18 @@ typedef enum CDC_REQUESTS { SET_CONTROL_LINE_STATE = 0x23, } CDC_REQUESTS; +enum usb_string_desc { + USB_STRING_DESC_LANG = 0, + USB_STRING_DESC_VENDOR = 1, + USB_STRING_DESC_PRODUCT = 2, + USB_STRING_DESC_SERIAL = 3, +} __attribute__((packed)); + +extern void PIOS_USBHOOK_RegisterDevice(const uint8_t * desc, uint16_t desc_size); +extern void PIOS_USBHOOK_RegisterConfig(uint8_t config_id, const uint8_t * desc, uint16_t desc_size); +extern void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t * desc, uint16_t desc_size); +extern void PIOS_USBHOOK_RegisterHidInterface(const uint8_t * desc, uint16_t desc_size); +extern void PIOS_USBHOOK_RegisterHidReport(const uint8_t * desc, uint16_t desc_size); + #endif /* PIOS_USBHOOK_H */ diff --git a/flight/PipXtreme/inc/pios_usb_board_data.h b/flight/PipXtreme/inc/pios_usb_board_data.h index 95dc03d73..d4f4daf0a 100644 --- a/flight/PipXtreme/inc/pios_usb_board_data.h +++ b/flight/PipXtreme/inc/pios_usb_board_data.h @@ -37,33 +37,6 @@ #include "pios_usb_defs.h" /* struct usb_* */ -struct usb_board_config { - struct usb_configuration_desc config; - struct usb_interface_desc hid_if; - struct usb_hid_desc hid; - struct usb_endpoint_desc hid_in; - struct usb_endpoint_desc hid_out; -} __attribute__((packed)); - -extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor; -extern const struct usb_board_config PIOS_USB_BOARD_Configuration; -extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID; - -/* NOTE NOTE NOTE - * - * Care must be taken to ensure that the _actual_ contents of - * these arrays (in each board's pios_usb_board_data.c) is no - * smaller than the stated sizes here or these descriptors - * will end up with trailing zeros on the wire. - * - * The compiler will catch any time that these definitions are - * too small. - */ -extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36]; -extern const uint8_t PIOS_USB_BOARD_StringVendorID[28]; -extern const uint8_t PIOS_USB_BOARD_StringProductID[20]; -extern uint8_t PIOS_USB_BOARD_StringSerial[52]; - #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_FW) diff --git a/flight/PipXtreme/pios_board.c b/flight/PipXtreme/pios_board.c index 7da3705a8..ab6bcffef 100644 --- a/flight/PipXtreme/pios_board.c +++ b/flight/PipXtreme/pios_board.c @@ -324,6 +324,10 @@ static const struct pios_usb_cfg pios_usb_main_cfg = { }, }, }; + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_only_priv.h" + #endif /* PIOS_INCLUDE_USB */ #if defined(PIOS_INCLUDE_USB_HID) @@ -369,10 +373,16 @@ void PIOS_Board_Init(void) { } #if defined(PIOS_INCLUDE_USB) - uint32_t pios_usb_id; - if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) { + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } + + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); + #if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM) uint32_t pios_usb_hid_id; if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { diff --git a/flight/PipXtreme/pios_usb_board_data.c b/flight/PipXtreme/pios_usb_board_data.c index d54ca6565..3e41e5ac9 100644 --- a/flight/PipXtreme/pios_usb_board_data.c +++ b/flight/PipXtreme/pios_usb_board_data.c @@ -29,9 +29,11 @@ */ #include "pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */ +#include "pios_usbhook.h" /* PIOS_USBHOOK_* */ -const uint8_t PIOS_USB_BOARD_StringProductID[] = { - sizeof(PIOS_USB_BOARD_StringProductID), +static const uint8_t usb_product_id[20] = { + sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'P', 0, 'i', 0, @@ -44,3 +46,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = { 'e', 0, }; +static uint8_t usb_serial_number[52] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0, + 0, 0 +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_UK), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[25]; + PIOS_SYS_SerialNumberGet((char *)sn); + for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) { + usb_serial_number[2 + 2 * i] = sn[i]; + } + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index 1e34e0808..24727a080 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -12,6 +12,7 @@ + From ec6d5502252295db0881f17807d01b192fb23888 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 12 Nov 2011 21:34:47 -0500 Subject: [PATCH 106/121] i2c: allow i2c adapters to remap pin functions Allows us to support more complex pin configurations for i2c. --- flight/PiOS/STM32F10x/pios_i2c.c | 4 ++++ flight/PiOS/inc/pios_i2c_priv.h | 1 + 2 files changed, 5 insertions(+) diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/STM32F10x/pios_i2c.c index 90c208133..e1bdb44f8 100644 --- a/flight/PiOS/STM32F10x/pios_i2c.c +++ b/flight/PiOS/STM32F10x/pios_i2c.c @@ -891,6 +891,10 @@ int32_t PIOS_I2C_Init(uint32_t * i2c_id, const struct pios_i2c_adapter_cfg * cfg break; } + if (i2c_adapter->cfg->remap) { + GPIO_PinRemapConfig(i2c_adapter->cfg->remap, ENABLE); + } + /* Initialize the state machine */ i2c_adapter_fsm_init(i2c_adapter); diff --git a/flight/PiOS/inc/pios_i2c_priv.h b/flight/PiOS/inc/pios_i2c_priv.h index 5834fef34..a10fe0603 100644 --- a/flight/PiOS/inc/pios_i2c_priv.h +++ b/flight/PiOS/inc/pios_i2c_priv.h @@ -37,6 +37,7 @@ struct pios_i2c_adapter_cfg { uint32_t transfer_timeout_ms; struct stm32_gpio scl; struct stm32_gpio sda; + uint32_t remap; struct stm32_irq event; struct stm32_irq error; }; From feacec468d6b0127716fa23183977faa2fa4abad Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 12 Nov 2011 21:39:41 -0500 Subject: [PATCH 107/121] i2c: compile-time decoupling of i2c devices from adapters This allows each device to be moved (at compile time) to a different adapter. This is the first step to allowing devices to be attached to different i2c adapters. --- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 1 + flight/PiOS/Boards/STM3210E_OP.h | 1 + flight/PiOS/Common/pios_i2c_esc.c | 8 ++++---- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index 437a49109..ff37debdc 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -112,6 +112,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1 #define PIOS_I2C_MAX_DEVS 1 extern uint32_t pios_i2c_main_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id) +#define PIOS_I2C_ESC_ADAPTER (pios_i2c_main_adapter_id) //------------------------- // SPI diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index a7754c2ed..1cc4249f3 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -115,6 +115,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8 #define PIOS_I2C_MAX_DEVS 1 extern uint32_t pios_i2c_main_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id) +#define PIOS_I2C_ESC_ADAPTER (pios_i2c_main_adapter_id) //------------------------ // PIOS_BMP085 diff --git a/flight/PiOS/Common/pios_i2c_esc.c b/flight/PiOS/Common/pios_i2c_esc.c index fdb58eba0..d440bfa48 100644 --- a/flight/PiOS/Common/pios_i2c_esc.c +++ b/flight/PiOS/Common/pios_i2c_esc.c @@ -93,7 +93,7 @@ bool PIOS_I2C_ESC_SetSpeed(uint8_t speed[4]) } }; - return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); + return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list)); } bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) { @@ -115,7 +115,7 @@ bool PIOS_SetMKSpeed(uint8_t motornum, uint8_t speed) { } }; - return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); + return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list)); } bool PIOS_SetAstec4Address(uint8_t new_address) { @@ -134,7 +134,7 @@ bool PIOS_SetAstec4Address(uint8_t new_address) { } }; - return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); + return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list)); } bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) { @@ -161,7 +161,7 @@ bool PIOS_SetAstec4Speed(uint8_t motornum, uint8_t speed) { } }; - return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); + return PIOS_I2C_Transfer(PIOS_I2C_ESC_ADAPTER, txn_list, NELEMENTS(txn_list)); } #endif From a0089f072a03d878403efdfe2f263e0379a1a0c7 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 12 Nov 2011 21:50:53 -0500 Subject: [PATCH 108/121] i2c: rename main adapter to flexi adapter on CC --- flight/CopterControl/System/pios_board.c | 20 ++++++++++---------- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 6 +++--- 2 files changed, 13 insertions(+), 13 deletions(-) diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index ffdde4759..4e0495776 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -903,12 +903,12 @@ const struct pios_pwm_cfg pios_pwm_cfg = { * I2C Adapters */ -void PIOS_I2C_main_adapter_ev_irq_handler(void); -void PIOS_I2C_main_adapter_er_irq_handler(void); -void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_ev_irq_handler"))); -void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_main_adapter_er_irq_handler"))); +void PIOS_I2C_flexi_adapter_ev_irq_handler(void); +void PIOS_I2C_flexi_adapter_er_irq_handler(void); +void I2C2_EV_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_ev_irq_handler"))); +void I2C2_ER_IRQHandler() __attribute__ ((alias ("PIOS_I2C_flexi_adapter_er_irq_handler"))); -static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { +static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = { .regs = I2C2, .init = { .I2C_Mode = I2C_Mode_I2C, @@ -955,17 +955,17 @@ static const struct pios_i2c_adapter_cfg pios_i2c_main_adapter_cfg = { }, }; -uint32_t pios_i2c_main_adapter_id; -void PIOS_I2C_main_adapter_ev_irq_handler(void) +uint32_t pios_i2c_flexi_adapter_id; +void PIOS_I2C_flexi_adapter_ev_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ - PIOS_I2C_EV_IRQ_Handler(pios_i2c_main_adapter_id); + PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id); } -void PIOS_I2C_main_adapter_er_irq_handler(void) +void PIOS_I2C_flexi_adapter_er_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ - PIOS_I2C_ER_IRQ_Handler(pios_i2c_main_adapter_id); + PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id); } #endif /* PIOS_INCLUDE_I2C */ diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index ff37debdc..e908345b7 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -110,9 +110,9 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1 // See also pios_board.c //------------------------ #define PIOS_I2C_MAX_DEVS 1 -extern uint32_t pios_i2c_main_adapter_id; -#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id) -#define PIOS_I2C_ESC_ADAPTER (pios_i2c_main_adapter_id) +extern uint32_t pios_i2c_flexi_adapter_id; +#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id) +#define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexi_adapter_id) //------------------------- // SPI From 4cb0c4133855742b00a1a35a1375c1019d0403e4 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Fri, 25 Nov 2011 19:38:16 -0500 Subject: [PATCH 109/121] bmp085: only use eoc and drdy gpios when available When the bmp085 chip is on an external board, we don't have access to the eoc and drdy gpio lines. Only use them when available. --- flight/Modules/Altitude/altitude.c | 8 ++++++++ flight/PiOS/Boards/STM3210E_INS.h | 1 + flight/PiOS/Boards/STM3210E_OP.h | 1 + flight/PiOS/Common/pios_bmp085.c | 10 ++++++++++ flight/PiOS/STM32F10x/pios_exti.c | 2 +- 5 files changed, 21 insertions(+), 1 deletion(-) diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index d1655aaa8..163258c1c 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -144,13 +144,21 @@ static void altitudeTask(void *parameters) #endif // Update the temperature data PIOS_BMP085_StartADC(TemperatureConv); +#ifdef PIOS_BMP085_HAS_GPIOS xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); +#else + vTaskDelay(5 / portTICK_RATE_MS); +#endif PIOS_BMP085_ReadADC(); alt_ds_temp += PIOS_BMP085_GetTemperature(); // Update the pressure data PIOS_BMP085_StartADC(PressureConv); +#ifdef PIOS_BMP085_HAS_GPIOS xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); +#else + vTaskDelay(26 / portTICK_RATE_MS); +#endif PIOS_BMP085_ReadADC(); alt_ds_pres += PIOS_BMP085_GetPressure(); diff --git a/flight/PiOS/Boards/STM3210E_INS.h b/flight/PiOS/Boards/STM3210E_INS.h index d661e8b96..5973bd168 100644 --- a/flight/PiOS/Boards/STM3210E_INS.h +++ b/flight/PiOS/Boards/STM3210E_INS.h @@ -106,6 +106,7 @@ extern uint32_t pios_i2c_gyro_adapter_id; //------------------------ // PIOS_BMP085 //------------------------ +#define PIOS_BMP085_HAS_GPIOS #define PIOS_BMP085_EOC_GPIO_PORT GPIOC #define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_2 #define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 1cc4249f3..87d4ab4a0 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -120,6 +120,7 @@ extern uint32_t pios_i2c_main_adapter_id; //------------------------ // PIOS_BMP085 //------------------------ +#define PIOS_BMP085_HAS_GPIOS #define PIOS_BMP085_EOC_GPIO_PORT GPIOC #define PIOS_BMP085_EOC_GPIO_PIN GPIO_Pin_15 #define PIOS_BMP085_EOC_PORT_SOURCE GPIO_PortSourceGPIOC diff --git a/flight/PiOS/Common/pios_bmp085.c b/flight/PiOS/Common/pios_bmp085.c index 9a6a2310f..5d3668b2f 100644 --- a/flight/PiOS/Common/pios_bmp085.c +++ b/flight/PiOS/Common/pios_bmp085.c @@ -38,12 +38,17 @@ /* Glocal Variables */ ConversionTypeTypeDef CurrentRead; + +#ifdef PIOS_BMP085_HAS_GPIOS + #if defined(PIOS_INCLUDE_FREERTOS) xSemaphoreHandle PIOS_BMP085_EOC; #else int32_t PIOS_BMP085_EOC; #endif +#endif /* PIOS_BMP085_HAS_GPIOS */ + /* Local Variables */ static BMP085CalibDataTypeDef CalibData; @@ -60,6 +65,9 @@ static volatile uint16_t Temperature; */ void PIOS_BMP085_Init(void) { + +#ifdef PIOS_BMP085_HAS_GPIOS + GPIO_InitTypeDef GPIO_InitStructure; EXTI_InitTypeDef EXTI_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; @@ -101,6 +109,8 @@ void PIOS_BMP085_Init(void) GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(PIOS_BMP085_XCLR_GPIO_PORT, &GPIO_InitStructure); +#endif /* PIOS_BMP085_HAS_GPIOS */ + /* Read all 22 bytes of calibration data in one transfer, this is a very optimized way of doing things */ uint8_t Data[BMP085_CALIB_LEN]; while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN)) diff --git a/flight/PiOS/STM32F10x/pios_exti.c b/flight/PiOS/STM32F10x/pios_exti.c index 0b886666a..0b4a9a1ae 100644 --- a/flight/PiOS/STM32F10x/pios_exti.c +++ b/flight/PiOS/STM32F10x/pios_exti.c @@ -44,7 +44,7 @@ void EXTI15_10_IRQHandler(void) portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; #endif -#if defined(PIOS_INCLUDE_BMP085) +#if defined(PIOS_INCLUDE_BMP085) && defined(PIOS_BMP085_HAS_GPIOS) if (EXTI_GetITStatus(PIOS_BMP085_EOC_EXTI_LINE) != RESET) { /* Read the ADC Value */ #if defined(PIOS_INCLUDE_FREERTOS) From bae08fcad060712eb38fabdf11fe44a1972be3c9 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 10 Dec 2011 19:38:06 -0500 Subject: [PATCH 110/121] bmp085: decouple i2c adapter Let the bmp085 be attached to different adapters for different boards. --- flight/PiOS/Boards/STM3210E_INS.h | 1 + flight/PiOS/Boards/STM3210E_OP.h | 1 + flight/PiOS/Common/pios_bmp085.c | 4 ++-- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/flight/PiOS/Boards/STM3210E_INS.h b/flight/PiOS/Boards/STM3210E_INS.h index 5973bd168..37ca4abe3 100644 --- a/flight/PiOS/Boards/STM3210E_INS.h +++ b/flight/PiOS/Boards/STM3210E_INS.h @@ -100,6 +100,7 @@ TIM8 | | | | #define PIOS_I2C_MAX_DEVS 3 extern uint32_t pios_i2c_pres_mag_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_pres_mag_adapter_id) +#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_pres_mag_adapter_id) extern uint32_t pios_i2c_gyro_adapter_id; #define PIOS_I2C_GYRO_ADAPTER (pios_i2c_gyro_adapter_id) diff --git a/flight/PiOS/Boards/STM3210E_OP.h b/flight/PiOS/Boards/STM3210E_OP.h index 87d4ab4a0..7099234c6 100644 --- a/flight/PiOS/Boards/STM3210E_OP.h +++ b/flight/PiOS/Boards/STM3210E_OP.h @@ -116,6 +116,7 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8 extern uint32_t pios_i2c_main_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_main_adapter_id) #define PIOS_I2C_ESC_ADAPTER (pios_i2c_main_adapter_id) +#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_main_adapter_id) //------------------------ // PIOS_BMP085 diff --git a/flight/PiOS/Common/pios_bmp085.c b/flight/PiOS/Common/pios_bmp085.c index 5d3668b2f..5a4b0cd94 100644 --- a/flight/PiOS/Common/pios_bmp085.c +++ b/flight/PiOS/Common/pios_bmp085.c @@ -245,7 +245,7 @@ bool PIOS_BMP085_Read(uint8_t address, uint8_t * buffer, uint8_t len) } }; - return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); + return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list)); } /** @@ -274,7 +274,7 @@ bool PIOS_BMP085_Write(uint8_t address, uint8_t buffer) , }; - return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list)); + return PIOS_I2C_Transfer(PIOS_I2C_BMP085_ADAPTER, txn_list, NELEMENTS(txn_list)); } /** From 717c1311e62983889adc5fc34ac8a81bbb474f69 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 14 Jan 2012 15:04:49 -0500 Subject: [PATCH 111/121] altitude: allow altitude to be an optional module --- flight/Modules/Altitude/altitude.c | 66 ++++++++++++++--------- shared/uavobjectdefinition/hwsettings.xml | 2 +- 2 files changed, 41 insertions(+), 27 deletions(-) diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index 163258c1c..9c0d5399f 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -37,6 +37,7 @@ */ #include "openpilot.h" +#include "hwsettings.h" #include "altitude.h" #include "baroaltitude.h" // object that will be updated by the module #if defined(PIOS_INCLUDE_HCSR04) @@ -60,6 +61,8 @@ static int32_t alt_ds_temp = 0; static int32_t alt_ds_pres = 0; static int alt_ds_count = 0; +static bool altitudeEnabled; + // Private functions static void altitudeTask(void *parameters); @@ -69,17 +72,19 @@ static void altitudeTask(void *parameters); */ int32_t AltitudeStart() { - - BaroAltitudeInitialize(); -#if defined(PIOS_INCLUDE_HCSR04) - SonarAltitudeInitialze(); -#endif - - // Start main task - xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); - TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle); - return 0; + if (altitudeEnabled) { + BaroAltitudeInitialize(); +#if defined(PIOS_INCLUDE_HCSR04) + SonarAltitudeInitialze(); +#endif + + // Start main task + xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); + TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle); + return 0; + } + return -1; } /** @@ -89,10 +94,19 @@ int32_t AltitudeStart() int32_t AltitudeInitialize() { + HwSettingsInitialize(); + uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; + HwSettingsOptionalModulesGet(optionalModules); + if (optionalModules[HWSETTINGS_OPTIONALMODULES_ALTITUDE] == HWSETTINGS_OPTIONALMODULES_ENABLED) { + altitudeEnabled = 1; + } else { + altitudeEnabled = 0; + } + // init down-sampling data - alt_ds_temp = 0; - alt_ds_pres = 0; - alt_ds_count = 0; + alt_ds_temp = 0; + alt_ds_pres = 0; + alt_ds_count = 0; return 0; } @@ -163,23 +177,23 @@ static void altitudeTask(void *parameters) alt_ds_pres += PIOS_BMP085_GetPressure(); if (++alt_ds_count >= alt_ds_size) - { - alt_ds_count = 0; + { + alt_ds_count = 0; - // Convert from 1/10ths of degC to degC - data.Temperature = alt_ds_temp / (10.0 * alt_ds_size); - alt_ds_temp = 0; + // Convert from 1/10ths of degC to degC + data.Temperature = alt_ds_temp / (10.0 * alt_ds_size); + alt_ds_temp = 0; - // Convert from Pa to kPa - data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size); - alt_ds_pres = 0; + // Convert from Pa to kPa + data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size); + alt_ds_pres = 0; - // Compute the current altitude (all pressures in kPa) - data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255))); + // Compute the current altitude (all pressures in kPa) + data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255))); - // Update the AltitudeActual UAVObject - BaroAltitudeSet(&data); - } + // Update the AltitudeActual UAVObject + BaroAltitudeSet(&data); + } // Delay until it is time to read the next sample vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS); diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml index 24727a080..455e23cd7 100644 --- a/shared/uavobjectdefinition/hwsettings.xml +++ b/shared/uavobjectdefinition/hwsettings.xml @@ -16,7 +16,7 @@ - + From 53e9ef06b4261feed21e4e8fe3d0261d1560d416 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 14 Jan 2012 15:17:24 -0500 Subject: [PATCH 112/121] altitude: add optional altitude module --- flight/CopterControl/Makefile | 6 ++++-- flight/CopterControl/System/inc/pios_config.h | 2 ++ flight/CopterControl/System/pios_board.c | 2 +- flight/Modules/Altitude/altitude.c | 3 +-- flight/PiOS/Boards/STM32103CB_CC_Rev1.h | 6 ++++++ 5 files changed, 14 insertions(+), 5 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 891e7f6c6..7a1653c0e 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -50,7 +50,7 @@ ENABLE_AUX_UART ?= NO USE_GPS ?= YES -USE_I2C ?= NO +USE_I2C ?= YES # Set to YES when using Code Sourcery toolchain CODE_SOURCERY ?= YES @@ -65,7 +65,7 @@ endif FLASH_TOOL = OPENOCD # List of modules to include -OPTMODULES = CameraStab ComUsbBridge +OPTMODULES = CameraStab ComUsbBridge Altitude ifeq ($(USE_GPS), YES) OPTMODULES += GPS endif @@ -182,6 +182,7 @@ SRC += $(OPUAVSYNTHDIR)/receiveractivity.c SRC += $(OPUAVSYNTHDIR)/taskinfo.c SRC += $(OPUAVSYNTHDIR)/mixerstatus.c SRC += $(OPUAVSYNTHDIR)/ratedesired.c +SRC += $(OPUAVSYNTHDIR)/baroaltitude.c endif @@ -225,6 +226,7 @@ SRC += $(PIOSCOMMON)/pios_flash_w25x.c SRC += $(PIOSCOMMON)/pios_adxl345.c SRC += $(PIOSCOMMON)/pios_com.c SRC += $(PIOSCOMMON)/pios_i2c_esc.c +SRC += $(PIOSCOMMON)/pios_bmp085.c SRC += $(PIOSCOMMON)/pios_iap.c SRC += $(PIOSCOMMON)/pios_bl_helper.c SRC += $(PIOSCOMMON)/pios_rcvr.c diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 54c5b3b22..9be4387f0 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -76,6 +76,8 @@ #define PIOS_INCLUDE_ADXL345 #define PIOS_INCLUDE_FLASH +#define PIOS_INCLUDE_BMP085 + /* A really shitty setting saving implementation */ #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c index 4e0495776..a7197768d 100644 --- a/flight/CopterControl/System/pios_board.c +++ b/flight/CopterControl/System/pios_board.c @@ -1464,7 +1464,7 @@ void PIOS_Board_Init(void) { case HWSETTINGS_CC_FLEXIPORT_I2C: #if defined(PIOS_INCLUDE_I2C) { - if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { + if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) { PIOS_Assert(0); } } diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index 9c0d5399f..da90b7f7c 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -47,8 +47,7 @@ // Private constants #define STACK_SIZE_BYTES 500 #define TASK_PRIORITY (tskIDLE_PRIORITY+1) -//#define UPDATE_PERIOD 100 -#define UPDATE_PERIOD 25 +#define UPDATE_PERIOD 50 // Private types diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h index e908345b7..7773b9092 100644 --- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h +++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h @@ -113,6 +113,12 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1 extern uint32_t pios_i2c_flexi_adapter_id; #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id) #define PIOS_I2C_ESC_ADAPTER (pios_i2c_flexi_adapter_id) +#define PIOS_I2C_BMP085_ADAPTER (pios_i2c_flexi_adapter_id) + +//------------------------ +// PIOS_BMP085 +//------------------------ +#define PIOS_BMP085_OVERSAMPLING 3 //------------------------- // SPI From 27ceb7ea92c29f803ac5f3fd0cf12ae970727b96 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sat, 14 Jan 2012 16:55:55 -0500 Subject: [PATCH 113/121] modules: Allow optional modules to be used as built-in Some modules are written such that they can be included or excluded at runtime. These are added to the OPTMODULES list in the makefile for a given board. This change provides a mechanism to allow a build to force a given module to be built-in (ie. always initialized) regardless of the configuration in hwsettings. The main use case for this is to handle a module being optional on one platform but essential on another. All modules added to the MODULES list in the Makefile will automatically result in a matching #define in the form MODULE_TheModuleName_BUILTIN being defined in the CFLAGS for all compiled source. Note that the capitalization of TheModuleName must match exactly the capitalization used in the MODULES list. --- flight/CopterControl/Makefile | 3 +++ flight/Modules/Altitude/altitude.c | 5 ++++- flight/Modules/CameraStab/camerastab.c | 5 +++++ flight/Modules/ComUsbBridge/ComUsbBridge.c | 4 ++++ flight/Modules/Fault/Fault.c | 4 ++++ flight/Modules/GPS/GPS.c | 4 ++++ flight/OpenPilot/Makefile | 3 +++ 7 files changed, 27 insertions(+), 1 deletion(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 7a1653c0e..631a0e7c9 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -412,6 +412,9 @@ ifeq ($(USE_I2C), YES) CDEFS += -DUSE_I2C endif +# Declare all non-optional modules as built-in to force inclusion +CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN } + # Place project-specific -D and/or -U options for # Assembler with preprocessor here. #ADEFS = -DUSE_IRQ_ASM_WRAPPER diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c index da90b7f7c..87a4240b6 100644 --- a/flight/Modules/Altitude/altitude.c +++ b/flight/Modules/Altitude/altitude.c @@ -92,7 +92,9 @@ int32_t AltitudeStart() */ int32_t AltitudeInitialize() { - +#ifdef MODULE_Altitude_BUILTIN + altitudeEnabled = 1; +#else HwSettingsInitialize(); uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; HwSettingsOptionalModulesGet(optionalModules); @@ -101,6 +103,7 @@ int32_t AltitudeInitialize() } else { altitudeEnabled = 0; } +#endif // init down-sampling data alt_ds_temp = 0; diff --git a/flight/Modules/CameraStab/camerastab.c b/flight/Modules/CameraStab/camerastab.c index 770ff7ab6..0c5b189d9 100644 --- a/flight/Modules/CameraStab/camerastab.c +++ b/flight/Modules/CameraStab/camerastab.c @@ -75,6 +75,10 @@ int32_t CameraStabInitialize(void) static UAVObjEvent ev; bool cameraStabEnabled; + +#ifdef MODULE_CameraStab_BUILTIN + cameraStabEnabled = true; +#else uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; HwSettingsInitialize(); @@ -84,6 +88,7 @@ int32_t CameraStabInitialize(void) cameraStabEnabled = true; else cameraStabEnabled = false; +#endif if (cameraStabEnabled) { diff --git a/flight/Modules/ComUsbBridge/ComUsbBridge.c b/flight/Modules/ComUsbBridge/ComUsbBridge.c index 984a53944..678e7039d 100644 --- a/flight/Modules/ComUsbBridge/ComUsbBridge.c +++ b/flight/Modules/ComUsbBridge/ComUsbBridge.c @@ -94,6 +94,9 @@ static int32_t comUsbBridgeInitialize(void) usart_port = PIOS_COM_BRIDGE; vcp_port = PIOS_COM_VCP; +#ifdef MODULE_ComUsbBridge_BUILTIN + bridge_enabled = true; +#else HwSettingsInitialize(); uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; @@ -104,6 +107,7 @@ static int32_t comUsbBridgeInitialize(void) bridge_enabled = true; else bridge_enabled = false; +#endif if (bridge_enabled) { com2usb_buf = pvPortMalloc(BRIDGE_BUF_LEN); diff --git a/flight/Modules/Fault/Fault.c b/flight/Modules/Fault/Fault.c index 0ac3748a6..868330739 100644 --- a/flight/Modules/Fault/Fault.c +++ b/flight/Modules/Fault/Fault.c @@ -40,6 +40,9 @@ static uint8_t active_fault; static int32_t fault_initialize(void) { +#ifdef MODULE_Fault_BUILTIN + module_enabled = true; +#else HwSettingsInitialize(); uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; @@ -50,6 +53,7 @@ static int32_t fault_initialize(void) } else { module_enabled = false; } +#endif /* Do this outside the module_enabled test so that it * can be changed even when the module has been disabled. diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c index bc8f92c17..1f93d6dba 100644 --- a/flight/Modules/GPS/GPS.c +++ b/flight/Modules/GPS/GPS.c @@ -121,6 +121,9 @@ int32_t GPSInitialize(void) { gpsPort = PIOS_COM_GPS; +#ifdef MODULE_GPS_BUILTIN + gpsEnabled = true; +#else HwSettingsInitialize(); uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM]; @@ -130,6 +133,7 @@ int32_t GPSInitialize(void) gpsEnabled = true; else gpsEnabled = false; +#endif if (gpsPort && gpsEnabled) { GPSPositionInitialize(); diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 940c1f117..2130bf283 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -369,6 +369,9 @@ ifeq ($(ENABLE_AUX_UART), YES) CDEFS += -DPIOS_ENABLE_AUX_UART endif +# Declare all non-optional modules as built-in to force inclusion +CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN } + # Place project-specific -D and/or -U options for # Assembler with preprocessor here. #ADEFS = -DUSE_IRQ_ASM_WRAPPER From c97b108a1f2c1b9aa5acdd4ff130c306f3447443 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 15 Jan 2012 17:56:42 -0500 Subject: [PATCH 114/121] bootfault: make IAP usage depend on PiOS config The sim platforms don't support an IAP mechanism. Let PiOS config control when we try to use it. --- flight/AHRS/inc/pios_config.h | 1 + flight/Bootloaders/AHRS/inc/pios_config.h | 1 + flight/Bootloaders/CopterControl/inc/pios_config.h | 1 + flight/Bootloaders/OpenPilot/inc/pios_config.h | 1 + flight/Bootloaders/PipXtreme/inc/pios_config.h | 1 + flight/CopterControl/System/inc/pios_config.h | 1 + flight/INS/inc/pios_config.h | 1 + flight/Modules/System/systemmod.c | 4 ++-- flight/OpenPilot/System/inc/pios_config.h | 1 + flight/PiOS/pios.h | 3 +++ 10 files changed, 13 insertions(+), 2 deletions(-) diff --git a/flight/AHRS/inc/pios_config.h b/flight/AHRS/inc/pios_config.h index 64f3559a0..77ddf0f2f 100644 --- a/flight/AHRS/inc/pios_config.h +++ b/flight/AHRS/inc/pios_config.h @@ -41,5 +41,6 @@ #define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_EXTI #define PIOS_INCLUDE_BL_HELPER +#define PIOS_INCLUDE_IAP #endif /* PIOS_CONFIG_H */ diff --git a/flight/Bootloaders/AHRS/inc/pios_config.h b/flight/Bootloaders/AHRS/inc/pios_config.h index b24e0fc5b..82344e2ad 100644 --- a/flight/Bootloaders/AHRS/inc/pios_config.h +++ b/flight/Bootloaders/AHRS/inc/pios_config.h @@ -36,5 +36,6 @@ #define PIOS_INCLUDE_BL_HELPER #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT #define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_IAP #endif /* PIOS_CONFIG_H */ diff --git a/flight/Bootloaders/CopterControl/inc/pios_config.h b/flight/Bootloaders/CopterControl/inc/pios_config.h index 864ed4665..3eb2c281a 100644 --- a/flight/Bootloaders/CopterControl/inc/pios_config.h +++ b/flight/Bootloaders/CopterControl/inc/pios_config.h @@ -41,6 +41,7 @@ #define PIOS_INCLUDE_USB_HID #define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_IAP #define PIOS_NO_GPS #endif /* PIOS_CONFIG_H */ diff --git a/flight/Bootloaders/OpenPilot/inc/pios_config.h b/flight/Bootloaders/OpenPilot/inc/pios_config.h index cf8981339..932c1a913 100644 --- a/flight/Bootloaders/OpenPilot/inc/pios_config.h +++ b/flight/Bootloaders/OpenPilot/inc/pios_config.h @@ -44,6 +44,7 @@ #define PIOS_INCLUDE_COM #define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_IAP //#define DEBUG_SSP /* Defaults for Logging */ diff --git a/flight/Bootloaders/PipXtreme/inc/pios_config.h b/flight/Bootloaders/PipXtreme/inc/pios_config.h index cec926057..1b1b9c2bc 100644 --- a/flight/Bootloaders/PipXtreme/inc/pios_config.h +++ b/flight/Bootloaders/PipXtreme/inc/pios_config.h @@ -40,6 +40,7 @@ #define PIOS_INCLUDE_USB_HID #define PIOS_INCLUDE_COM_MSG #define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_IAP /* Defaults for Logging */ #define LOG_FILENAME "PIOS.LOG" diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h index 54c5b3b22..6ca38bf2c 100644 --- a/flight/CopterControl/System/inc/pios_config.h +++ b/flight/CopterControl/System/inc/pios_config.h @@ -42,6 +42,7 @@ #endif #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_IAP #define PIOS_INCLUDE_RCVR diff --git a/flight/INS/inc/pios_config.h b/flight/INS/inc/pios_config.h index ae6561236..a13394179 100644 --- a/flight/INS/inc/pios_config.h +++ b/flight/INS/inc/pios_config.h @@ -51,6 +51,7 @@ #define PIOS_INCLUDE_IMU3000 #define PIOS_INCLUDE_GPIO #define PIOS_INCLUDE_EXTI +#define PIOS_INCLUDE_IAP #define PIOS_INCLUDE_BMA180 diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index bb3496b0f..29fb99791 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -48,8 +48,6 @@ #include "taskinfo.h" #include "watchdogstatus.h" #include "taskmonitor.h" -#include "pios_iap.h" - // Private constants #define SYSTEM_UPDATE_PERIOD_MS 1000 @@ -148,8 +146,10 @@ static void systemTask(void *parameters) PIOS_SYS_Reset(); } +#if defined(PIOS_INCLUDE_IAP) /* Record a successful boot */ PIOS_IAP_WriteBootCount(0); +#endif // Initialize vars idleCounter = 0; diff --git a/flight/OpenPilot/System/inc/pios_config.h b/flight/OpenPilot/System/inc/pios_config.h index ce0484a8d..f5227019f 100644 --- a/flight/OpenPilot/System/inc/pios_config.h +++ b/flight/OpenPilot/System/inc/pios_config.h @@ -41,6 +41,7 @@ #define PIOS_INCLUDE_I2C #define PIOS_INCLUDE_IRQ #define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_IAP #define PIOS_INCLUDE_RCVR diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index 58d869517..4429c477a 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.h @@ -112,7 +112,10 @@ #if defined(PIOS_INCLUDE_IMU3000) #include #endif + +#if defined(PIOS_INCLUDE_IAP) #include +#endif #if defined(PIOS_INCLUDE_ADXL345) #include From 0575b45378cc17d89ee4bb06819a5b4cc3fceea6 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 15 Jan 2012 17:58:09 -0500 Subject: [PATCH 115/121] usb: make USB usage depend on PiOS config USB is not supported on sim platforms. Let PiOS config determine when we use it. --- flight/Modules/Telemetry/telemetry.c | 1 - flight/PiOS/pios.h | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/Modules/Telemetry/telemetry.c b/flight/Modules/Telemetry/telemetry.c index d01085591..12818529f 100644 --- a/flight/Modules/Telemetry/telemetry.c +++ b/flight/Modules/Telemetry/telemetry.c @@ -35,7 +35,6 @@ #include "flighttelemetrystats.h" #include "gcstelemetrystats.h" #include "hwsettings.h" -#include "pios_usb.h" /* PIOS_USB_* */ // Private constants #define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h index 4429c477a..e7d02dfd2 100644 --- a/flight/PiOS/pios.h +++ b/flight/PiOS/pios.h @@ -137,6 +137,7 @@ #if defined(PIOS_INCLUDE_USB) /* USB Libs */ #include +#include #endif #include From b05697c2cfcf5127e79b3bca554ede625cf45e0d Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 15 Jan 2012 18:02:38 -0500 Subject: [PATCH 116/121] taskinfo: ensure usage of TaskInfo uavo is covered by DIAG_TASKS OpenPilot platform (and thus sim too) was missed when the DIAG_TASKS macro was broken out from the DIAGNOSTICS macro. This allowed accesses to the TaskInfo UAVO even though it hadn't been initialized. --- flight/CopterControl/System/taskmonitor.c | 26 +++++++++++++++++++---- flight/Modules/System/systemmod.c | 3 +++ flight/OpenPilot/System/taskmonitor.c | 5 ++--- 3 files changed, 27 insertions(+), 7 deletions(-) diff --git a/flight/CopterControl/System/taskmonitor.c b/flight/CopterControl/System/taskmonitor.c index 627dedaab..fffc6435c 100644 --- a/flight/CopterControl/System/taskmonitor.c +++ b/flight/CopterControl/System/taskmonitor.c @@ -71,6 +71,24 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle) } } +/** + * Remove a task handle from the library + */ +int32_t TaskMonitorRemove(TaskInfoRunningElem task) +{ + if (task < TASKINFO_RUNNING_NUMELEM) + { + xSemaphoreTakeRecursive(lock, portMAX_DELAY); + handles[task] = 0; + xSemaphoreGiveRecursive(lock); + return 0; + } + else + { + return -1; + } +} + /** * Update the status of all tasks */ @@ -79,10 +97,10 @@ void TaskMonitorUpdateAll(void) #if defined(DIAG_TASKS) TaskInfoData data; int n; - + // Lock xSemaphoreTakeRecursive(lock, portMAX_DELAY); - + #if ( configGENERATE_RUN_TIME_STATS == 1 ) uint32_t currentTime; uint32_t deltaTime; @@ -121,10 +139,10 @@ void TaskMonitorUpdateAll(void) data.RunningTime[n] = 0; } } - + // Update object TaskInfoSet(&data); - + // Done xSemaphoreGiveRecursive(lock); #endif diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c index 29fb99791..7e476f686 100644 --- a/flight/Modules/System/systemmod.c +++ b/flight/Modules/System/systemmod.c @@ -170,8 +170,11 @@ static void systemTask(void *parameters) updateI2Cstats(); updateWDGstats(); #endif + +#if defined(DIAG_TASKS) // Update the task status object TaskMonitorUpdateAll(); +#endif // Flash the heartbeat LED PIOS_LED_Toggle(LED1); diff --git a/flight/OpenPilot/System/taskmonitor.c b/flight/OpenPilot/System/taskmonitor.c index dcd08945c..fffc6435c 100644 --- a/flight/OpenPilot/System/taskmonitor.c +++ b/flight/OpenPilot/System/taskmonitor.c @@ -47,7 +47,7 @@ int32_t TaskMonitorInitialize(void) lock = xSemaphoreCreateRecursiveMutex(); memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM); lastMonitorTime = 0; -#if defined(DIAGNOSTICS) +#if defined(DIAG_TASKS) lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE(); #endif return 0; @@ -94,7 +94,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task) */ void TaskMonitorUpdateAll(void) { -#if defined(DIAGNOSTICS) +#if defined(DIAG_TASKS) TaskInfoData data; int n; @@ -128,7 +128,6 @@ void TaskMonitorUpdateAll(void) #if ( configGENERATE_RUN_TIME_STATS == 1 ) /* Generate run time stats */ data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime; - #endif #endif From 387ea77d3091baaa1d4600d85919d2bc958c5ab8 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 15 Jan 2012 18:06:35 -0500 Subject: [PATCH 117/121] diagnostics: enable DIAG_TASKS on OP board by default --- flight/CopterControl/Makefile | 6 +++--- flight/OpenPilot/Makefile | 9 +++++++-- 2 files changed, 10 insertions(+), 5 deletions(-) diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index 891e7f6c6..c0e202453 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -436,15 +436,15 @@ CSTANDARD = -std=gnu99 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++) ifeq ($(DEBUG),YES) -CFLAGS = -DDEBUG +CFLAGS += -DDEBUG endif ifeq ($(DIAGNOSTICS),YES) -CFLAGS = -DDIAGNOSTICS +CFLAGS += -DDIAGNOSTICS endif ifeq ($(DIAG_TASKS),YES) -CFLAGS = -DDIAG_TASKS +CFLAGS += -DDIAG_TASKS endif CFLAGS += -g$(DEBUGF) diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 940c1f117..119762ce9 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -39,6 +39,7 @@ DEBUG ?= YES # Include objects that are just nice information to show DIAGNOSTICS ?= YES +DIAG_TASKS ?= YES # Set to YES to use the Servo output pins for debugging via scope or logic analyser ENABLE_DEBUG_PINS ?= NO @@ -395,11 +396,15 @@ CSTANDARD = -std=gnu99 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++) ifeq ($(DEBUG),YES) -CFLAGS = -DDEBUG +CFLAGS += -DDEBUG endif ifeq ($(DIAGNOSTICS),YES) -CFLAGS = -DDIAGNOSTICS +CFLAGS += -DDIAGNOSTICS +endif + +ifeq ($(DIAG_TASKS),YES) +CFLAGS += -DDIAG_TASKS endif CFLAGS += -g$(DEBUGF) From 8cd4816d7b3ac4a5ad2a68d933b34f6ed478dfe5 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 15 Jan 2012 21:37:10 -0500 Subject: [PATCH 118/121] taskmonitor: move taskmonitor into flight/Libraries taskmonitor.[ch] existed as (nearly) identical copies under CC and OP directories. Both builds now reference the common version under Libraries. --- flight/CopterControl/Makefile | 2 +- flight/CopterControl/System/inc/taskmonitor.h | 42 ----- .../System => Libraries}/inc/taskmonitor.h | 0 .../System => Libraries}/taskmonitor.c | 0 flight/OpenPilot/Makefile | 2 +- flight/OpenPilot/Makefile.posix | 2 +- flight/OpenPilot/System/taskmonitor.c | 149 ------------------ 7 files changed, 3 insertions(+), 194 deletions(-) delete mode 100644 flight/CopterControl/System/inc/taskmonitor.h rename flight/{OpenPilot/System => Libraries}/inc/taskmonitor.h (100%) rename flight/{CopterControl/System => Libraries}/taskmonitor.c (100%) delete mode 100644 flight/OpenPilot/System/taskmonitor.c diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile index c0e202453..562e1d9de 100644 --- a/flight/CopterControl/Makefile +++ b/flight/CopterControl/Makefile @@ -136,7 +136,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/coptercontrol.c SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/alarms.c -SRC += $(OPSYSTEM)/taskmonitor.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c @@ -233,6 +232,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/CoordinateConversions.c +SRC += $(FLIGHTLIB)/taskmonitor.c ## CMSIS for STM32 SRC += $(CMSISDIR)/core_cm3.c diff --git a/flight/CopterControl/System/inc/taskmonitor.h b/flight/CopterControl/System/inc/taskmonitor.h deleted file mode 100644 index 511f552f7..000000000 --- a/flight/CopterControl/System/inc/taskmonitor.h +++ /dev/null @@ -1,42 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotSystem OpenPilot System - * @{ - * @addtogroup OpenPilotLibraries OpenPilot System Libraries - * @{ - * @file taskmonitor.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Include file of the task monitoring 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 TASKMONITOR_H -#define TASKMONITOR_H - -#include "taskinfo.h" - -int32_t TaskMonitorInitialize(void); -int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle); -void TaskMonitorUpdateAll(void); - -#endif // TASKMONITOR_H - -/** - * @} - * @} - */ diff --git a/flight/OpenPilot/System/inc/taskmonitor.h b/flight/Libraries/inc/taskmonitor.h similarity index 100% rename from flight/OpenPilot/System/inc/taskmonitor.h rename to flight/Libraries/inc/taskmonitor.h diff --git a/flight/CopterControl/System/taskmonitor.c b/flight/Libraries/taskmonitor.c similarity index 100% rename from flight/CopterControl/System/taskmonitor.c rename to flight/Libraries/taskmonitor.c diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile index 119762ce9..6e4bf6279 100644 --- a/flight/OpenPilot/Makefile +++ b/flight/OpenPilot/Makefile @@ -139,7 +139,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/openpilot.c SRC += $(OPSYSTEM)/pios_board.c SRC += $(OPSYSTEM)/alarms.c -SRC += $(OPSYSTEM)/taskmonitor.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c @@ -208,6 +207,7 @@ SRC += $(FLIGHTLIB)/ahrs_comm_objects.c SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/WorldMagModel.c SRC += $(FLIGHTLIB)/CoordinateConversions.c +SRC += $(FLIGHTLIB)/taskmonitor.c ## CMSIS for STM32 SRC += $(CMSISDIR)/core_cm3.c diff --git a/flight/OpenPilot/Makefile.posix b/flight/OpenPilot/Makefile.posix index 4a947ae8d..5fbc66b4b 100644 --- a/flight/OpenPilot/Makefile.posix +++ b/flight/OpenPilot/Makefile.posix @@ -149,7 +149,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c SRC += $(OPSYSTEM)/openpilot.c SRC += $(OPSYSTEM)/pios_board_posix.c SRC += $(OPSYSTEM)/alarms.c -SRC += $(OPSYSTEM)/taskmonitor.c SRC += $(OPUAVTALK)/uavtalk.c SRC += $(OPUAVOBJ)/uavobjectmanager.c SRC += $(OPUAVOBJ)/eventdispatcher.c @@ -189,6 +188,7 @@ SRC += $(PIOSPOSIX)/pios_rcvr.c SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/WorldMagModel.c SRC += $(FLIGHTLIB)/CoordinateConversions.c +SRC += $(FLIGHTLIB)/taskmonitor.c ## RTOS and RTOS Portable SRC += $(RTOSSRCDIR)/list.c SRC += $(RTOSSRCDIR)/queue.c diff --git a/flight/OpenPilot/System/taskmonitor.c b/flight/OpenPilot/System/taskmonitor.c deleted file mode 100644 index fffc6435c..000000000 --- a/flight/OpenPilot/System/taskmonitor.c +++ /dev/null @@ -1,149 +0,0 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotSystem OpenPilot System - * @{ - * @addtogroup OpenPilotLibraries OpenPilot System Libraries - * @{ - * @file taskmonitor.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief Task monitoring 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 - */ -#include "openpilot.h" -//#include "taskmonitor.h" - -// Private constants - -// Private types - -// Private variables -static xSemaphoreHandle lock; -static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM]; -static uint32_t lastMonitorTime; - -// Private functions - -/** - * Initialize library - */ -int32_t TaskMonitorInitialize(void) -{ - lock = xSemaphoreCreateRecursiveMutex(); - memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM); - lastMonitorTime = 0; -#if defined(DIAG_TASKS) - lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE(); -#endif - return 0; -} - -/** - * Register a task handle with the library - */ -int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle) -{ - if (task < TASKINFO_RUNNING_NUMELEM) - { - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - handles[task] = handle; - xSemaphoreGiveRecursive(lock); - return 0; - } - else - { - return -1; - } -} - -/** - * Remove a task handle from the library - */ -int32_t TaskMonitorRemove(TaskInfoRunningElem task) -{ - if (task < TASKINFO_RUNNING_NUMELEM) - { - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - handles[task] = 0; - xSemaphoreGiveRecursive(lock); - return 0; - } - else - { - return -1; - } -} - -/** - * Update the status of all tasks - */ -void TaskMonitorUpdateAll(void) -{ -#if defined(DIAG_TASKS) - TaskInfoData data; - int n; - - // Lock - xSemaphoreTakeRecursive(lock, portMAX_DELAY); - -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - uint32_t currentTime; - uint32_t deltaTime; - - /* - * Calculate the amount of elapsed run time between the last time we - * measured and now. Scale so that we can convert task run times - * directly to percentages. - */ - currentTime = portGET_RUN_TIME_COUNTER_VALUE(); - deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */ - lastMonitorTime = currentTime; -#endif - - // Update all task information - for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n) - { - if (handles[n] != 0) - { - data.Running[n] = TASKINFO_RUNNING_TRUE; -#if defined(ARCH_POSIX) || defined(ARCH_WIN32) - data.StackRemaining[n] = 10000; -#else - data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4; -#if ( configGENERATE_RUN_TIME_STATS == 1 ) - /* Generate run time stats */ - data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime; -#endif -#endif - - } - else - { - data.Running[n] = TASKINFO_RUNNING_FALSE; - data.StackRemaining[n] = 0; - data.RunningTime[n] = 0; - } - } - - // Update object - TaskInfoSet(&data); - - // Done - xSemaphoreGiveRecursive(lock); -#endif -} From 3bda0f450d112df41b2d47921a8f5fa439d047ff Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Sun, 15 Jan 2012 23:04:31 -0500 Subject: [PATCH 119/121] bootfault: force fault when no telemetry available on OP too If no telemetry link is configured, this will force the board to reset before finishing init. The BootFault logic will catch this after 3 resets and will boot with default hwsettings on the next reset. This won't currently ever fire on OP though since we always configure the serial telemetry interface. This just makes sure the pattern is present in case anyone decides to compile without serial telemetry. --- flight/OpenPilot/System/pios_board.c | 3 +++ 1 file changed, 3 insertions(+) diff --git a/flight/OpenPilot/System/pios_board.c b/flight/OpenPilot/System/pios_board.c index 8dbb5eee2..0fb873f0a 100644 --- a/flight/OpenPilot/System/pios_board.c +++ b/flight/OpenPilot/System/pios_board.c @@ -1450,6 +1450,9 @@ void PIOS_Board_Init(void) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_I2C */ + + /* Make sure we have at least one telemetry link configured or else fail initialization */ + PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id); } /** From ee0895aa77c7cf198c1850f5c302c659f124ef17 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 16 Jan 2012 21:31:07 -0500 Subject: [PATCH 120/121] usb hid: remove stale files from pipx These files are no longer relevent for USB configuration. --- flight/PipXtreme/inc/pios_usb_hid_desc.h | 56 ------ flight/PipXtreme/pios_usb_hid_desc.c | 220 ----------------------- 2 files changed, 276 deletions(-) delete mode 100644 flight/PipXtreme/inc/pios_usb_hid_desc.h delete mode 100644 flight/PipXtreme/pios_usb_hid_desc.c diff --git a/flight/PipXtreme/inc/pios_usb_hid_desc.h b/flight/PipXtreme/inc/pios_usb_hid_desc.h deleted file mode 100644 index 4810c1274..000000000 --- a/flight/PipXtreme/inc/pios_usb_hid_desc.h +++ /dev/null @@ -1,56 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_desc.h -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Descriptor Header for Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __USB_DESC_H -#define __USB_DESC_H - -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported define -----------------------------------------------------------*/ -#define USB_DEVICE_DESCRIPTOR_TYPE 0x01 -#define USB_CONFIGURATION_DESCRIPTOR_TYPE 0x02 -#define USB_STRING_DESCRIPTOR_TYPE 0x03 -#define USB_INTERFACE_DESCRIPTOR_TYPE 0x04 -#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05 - -#define HID_DESCRIPTOR_TYPE 0x21 -#define PIOS_HID_SIZ_HID_DESC 0x09 -#define PIOS_HID_OFF_HID_DESC 0x12 - -#define PIOS_HID_SIZ_DEVICE_DESC 18 -#define PIOS_HID_SIZ_CONFIG_DESC 41 -#define PIOS_HID_SIZ_REPORT_DESC 36 -#define PIOS_HID_SIZ_STRING_LANGID 4 -#define PIOS_HID_SIZ_STRING_VENDOR 28 -#define PIOS_HID_SIZ_STRING_PRODUCT 20 -#define PIOS_HID_SIZ_STRING_SERIAL 52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */ - -#define STANDARD_ENDPOINT_DESC_SIZE 0x09 - -/* Exported functions ------------------------------------------------------- */ -extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC]; -extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC]; -extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC]; -extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID]; -extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR]; -extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT]; -extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL]; - -#endif /* __USB_DESC_H */ - -/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/ diff --git a/flight/PipXtreme/pios_usb_hid_desc.c b/flight/PipXtreme/pios_usb_hid_desc.c deleted file mode 100644 index c15a80551..000000000 --- a/flight/PipXtreme/pios_usb_hid_desc.c +++ /dev/null @@ -1,220 +0,0 @@ -/******************** (C) COPYRIGHT 2010 STMicroelectronics ******************** -* File Name : usb_desc.c -* Author : MCD Application Team -* Version : V3.2.1 -* Date : 07/05/2010 -* Description : Descriptors for Custom HID Demo -******************************************************************************** -* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. -* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, -* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE -* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING -* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. -*******************************************************************************/ - -#include "usb_lib.h" -#include "pios_usb.h" -#include "pios_usb_hid.h" -#include "pios_usb_hid_desc.h" - -// ************************************************* -// USB Standard Device Descriptor - -const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] = - { - 0x12, // bLength - USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType - 0x00, // bcdUSB - 0x02, - 0x00, // bDeviceClass - 0x00, // bDeviceSubClass - 0x00, // bDeviceProtocol - 0x40, // bMaxPacketSize40 - (uint8_t)((PIOS_USB_VENDOR_ID) & 0xff), // idVendor - (uint8_t)((PIOS_USB_VENDOR_ID) >> 8), - (uint8_t)((PIOS_USB_PRODUCT_ID) & 0xff), // idProduct - (uint8_t)((PIOS_USB_PRODUCT_ID) >> 8), - (uint8_t)((PIOS_USB_VERSION_ID) & 0xff), // bcdDevice - (uint8_t)((PIOS_USB_VERSION_ID) >> 8), - 0x01, // Index of string descriptor describing manufacturer - 0x02, // Index of string descriptor describing product - 0x03, // Index of string descriptor describing the device serial number - 0x01 // bNumConfigurations - }; - -// ************************************************* -// USB Configuration Descriptor -// All Descriptors (Configuration, Interface, Endpoint, Class, Vendor - -const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] = - { - 0x09, // bLength: Configuation Descriptor size - USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration - PIOS_HID_SIZ_CONFIG_DESC, - // wTotalLength: Bytes returned - 0x00, - 0x01, // bNumInterfaces: 1 interface - 0x01, // bConfigurationValue: Configuration value - 0x00, // iConfiguration: Index of string descriptor describing the configuration - 0xC0, // bmAttributes: Bus powered - 0x7D, // MaxPower 250 mA - needed to power the RF transmitter - - // ************** Descriptor of Custom HID interface **************** - // 09 - 0x09, // bLength: Interface Descriptor size - USB_INTERFACE_DESCRIPTOR_TYPE, // bDescriptorType: Interface descriptor type - 0x00, // bInterfaceNumber: Number of Interface - 0x00, // bAlternateSetting: Alternate setting - 0x02, // bNumEndpoints - 0x03, // bInterfaceClass: HID - 0x00, // bInterfaceSubClass : 1=BOOT, 0=no boot - 0x00, // nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse - 0, // iInterface: Index of string descriptor - - // ******************** Descriptor of Custom HID HID ******************** - // 18 - 0x09, // bLength: HID Descriptor size - HID_DESCRIPTOR_TYPE, // bDescriptorType: HID - 0x10, // bcdHID: HID Class Spec release number - 0x01, - 0x00, // bCountryCode: Hardware target country - 0x01, // bNumDescriptors: Number of HID class descriptors to follow - 0x22, // bDescriptorType - PIOS_HID_SIZ_REPORT_DESC, // wItemLength: Total length of Report descriptor - 0x00, - - // ******************** Descriptor of Custom HID endpoints ****************** - // 27 - 0x07, // bLength: Endpoint Descriptor size - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: - - 0x81, // bEndpointAddress: Endpoint Address (IN) - 0x03, // bmAttributes: Interrupt endpoint - 0x40, // wMaxPacketSize: 2 Bytes max - 0x00, - 0x04, // bInterval: Polling Interval in ms - // 34 - - 0x07, // bLength: Endpoint Descriptor size - USB_ENDPOINT_DESCRIPTOR_TYPE, // bDescriptorType: - // Endpoint descriptor type - 0x01, // bEndpointAddress: - // Endpoint Address (OUT) - 0x03, // bmAttributes: Interrupt endpoint - 0x40, // wMaxPacketSize: 2 Bytes max - 0x00, - 0x04, // bInterval: Polling Interval in ms - // 41 - }; - -// ************************************************* - - const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] = - { - 0x06, 0x9c, 0xff, // USAGE_PAGE (Vendor Page: 0xFF00) - 0x09, 0x01, // USAGE (Demo Kit) - 0xa1, 0x01, // COLLECTION (Application) - // 6 - - // Data 1 - 0x85, 0x01, // REPORT_ID (1) - 0x09, 0x02, // USAGE (LED 1) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0xff, // LOGICAL_MAXIMUM (255) - 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) - 0x81, 0x83, // INPUT (Const,Var,Array) - // 20 - - // Data 1 - 0x85, 0x02, // REPORT_ID (2) - 0x09, 0x03, // USAGE (LED 1) - 0x15, 0x00, // LOGICAL_MINIMUM (0) - 0x25, 0xff, // LOGICAL_MAXIMUM (255) - 0x75, 0x08, // REPORT_SIZE (8) - 0x95, PIOS_USB_COM_DATA_LENGTH+1, // REPORT_COUNT (1) - 0x91, 0x82, // OUTPUT (Data,Var,Abs,Vol) - // 34 - - 0xc0 // END_COLLECTION - }; - -// ************************************************* -// USB String Descriptors (optional) - -const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] = - { - PIOS_HID_SIZ_STRING_LANGID, - USB_STRING_DESCRIPTOR_TYPE, - 0x09, 0x08 // LangID = 0x0809: UK. English -// 0x09, 0x04 // LangID = 0x0409: U.S. English - }; - -const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] = - { - PIOS_HID_SIZ_STRING_VENDOR, // Size of Vendor string - USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType - // Manufacturer: "STMicroelectronics" - 'o', 0, - 'p', 0, - 'e', 0, - 'n', 0, - 'p', 0, - 'i', 0, - 'l', 0, - 'o', 0, - 't', 0, - '.', 0, - 'o', 0, - 'r', 0, - 'g', 0 - }; - -const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] = - { - PIOS_HID_SIZ_STRING_PRODUCT, // bLength - USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType - 'P', 0, - 'i', 0, - 'p', 0, - 'X', 0, - 't', 0, - 'r', 0, - 'e', 0, - 'm', 0, - 'e', 0 - }; - -uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] = - { - PIOS_HID_SIZ_STRING_SERIAL, // bLength - USB_STRING_DESCRIPTOR_TYPE, // bDescriptorType - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0, - 0, 0 - }; - -// ************************************************* From bffb184b7a62d3036f6c264fd3a0d60bfc0b3479 Mon Sep 17 00:00:00 2001 From: Stacey Sheldon Date: Mon, 16 Jan 2012 21:32:52 -0500 Subject: [PATCH 121/121] usb: add standard boilerplate to new files --- flight/PiOS/inc/pios_usb_board_data_priv.h | 39 +++++++++++++++++++ flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h | 34 ++++++++++++++++ flight/PiOS/inc/pios_usb_desc_hid_only_priv.h | 34 ++++++++++++++++ 3 files changed, 107 insertions(+) diff --git a/flight/PiOS/inc/pios_usb_board_data_priv.h b/flight/PiOS/inc/pios_usb_board_data_priv.h index 49166c25f..f4e7f7c05 100644 --- a/flight/PiOS/inc/pios_usb_board_data_priv.h +++ b/flight/PiOS/inc/pios_usb_board_data_priv.h @@ -1 +1,40 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD USB board layer functions + * @{ + * + * @file pios_usb_board_data_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines the API to the board-specific USB data setup code + * @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 PIOS_USB_BOARD_DATA_PRIV_H +#define PIOS_USB_BOARD_DATA_PRIV_H + extern int32_t PIOS_USB_BOARD_DATA_Init(void); + +#endif /* PIOS_USB_BOARD_DATA_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h b/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h index 4836f4569..2ae94c74e 100644 --- a/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h +++ b/flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h @@ -1,3 +1,32 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_DESC USB descriptor layer functions + * @{ + * + * @file pios_usb_desc_hid_cdc_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines the API to set up the HID + CDC USB descriptor config + * @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 PIOS_USB_DESC_HID_CDC_PRIV_H #define PIOS_USB_DESC_HID_CDC_PRIV_H @@ -6,3 +35,8 @@ extern int32_t PIOS_USB_DESC_HID_CDC_Init(void); #endif /* PIOS_USB_DESC_HID_CDC_PRIV_H */ + +/** + * @} + * @} + */ diff --git a/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h b/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h index 5d161d233..321d15efa 100644 --- a/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h +++ b/flight/PiOS/inc/pios_usb_desc_hid_only_priv.h @@ -1,3 +1,32 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_DESC USB descriptor layer functions + * @{ + * + * @file pios_usb_desc_hid_only_priv.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines the API to set up the HID-only USB descriptor config + * @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 PIOS_USB_DESC_HID_ONLY_PRIV_H #define PIOS_USB_DESC_HID_ONLY_PRIV_H @@ -6,3 +35,8 @@ extern int32_t PIOS_USB_DESC_HID_ONLY_Init(void); #endif /* PIOS_USB_DESC_HID_ONLY_PRIV_H */ + +/** + * @} + * @} + */