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Code Issues Releases Activity

Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into next

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This commit is contained in:
chris pember 2012-09-27 20:41:33 -07:00
commit c6c8ff9487
28 changed files with 531 additions and 430 deletions
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3
flight/PiOS/Common/pios_mpu6000.c
View File

@ -435,9 +435,6 @@ void PIOS_MPU6000_IRQHandler(void)
if(PIOS_MPU6000_ClaimBus() != 0)
return;
uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
PIOS_MPU6000_ReleaseBus();
mpu6000_fails++;

27
flight/PiOS/STM32F10x/pios_usb_cdc.c
View File

@ -321,7 +321,10 @@ 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);
if (!valid) {
/* No CDC interface is configured */
return USB_UNSUPPORT;
}
uint8_t wValue0 = pInformation->USBwValue0;
uint8_t wValue1 = pInformation->USBwValue1;
@ -338,14 +341,25 @@ static struct usb_cdc_line_coding line_coding = {
.bDataBits = 8,
};
RESULT PIOS_USB_CDC_SetLineCoding(void)
uint8_t *PIOS_USB_CDC_SetLineCoding(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 (!valid) {
/* No CDC interface is configured */
return NULL;
}
return USB_SUCCESS;
if (Length == 0) {
/* Report the number of bytes we're prepared to consume */
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
pInformation->Ctrl_Info.Usb_rLength = sizeof(line_coding);
return NULL;
} else {
/* Give out a pointer to the data struct */
return ((uint8_t *) &line_coding);
}
}
const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
@ -353,7 +367,10 @@ 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;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
if (!valid) {
/* No CDC interface is configured */
return NULL;
}
if (Length == 0) {
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);

44
flight/PiOS/STM32F10x/pios_usbhook.c
View File

@ -293,13 +293,16 @@ static void PIOS_USBHOOK_Status_Out(void)
* Output : None.
* Return : USB_UNSUPPORT or USB_SUCCESS.
*******************************************************************************/
extern uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length);
extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
{
const uint8_t *(*CopyRoutine) (uint16_t);
uint8_t *(*CopyOutRoutine) (uint16_t);
const uint8_t *(*CopyInRoutine) (uint16_t);
CopyRoutine = NULL;
CopyInRoutine = NULL;
CopyOutRoutine = NULL;
switch (Type_Recipient) {
case (STANDARD_REQUEST | INTERFACE_RECIPIENT):
@ -313,10 +316,10 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
case GET_DESCRIPTOR:
switch (pInformation->USBwValue1) {
case USB_DESC_TYPE_REPORT:
CopyRoutine = PIOS_USBHOOK_GetReportDescriptor;
CopyInRoutine = PIOS_USBHOOK_GetReportDescriptor;
break;
case USB_DESC_TYPE_HID:
CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor;
CopyInRoutine = PIOS_USBHOOK_GetHIDDescriptor;
break;
}
}
@ -332,7 +335,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
#endif
switch (RequestNo) {
case USB_HID_REQ_GET_PROTOCOL:
CopyRoutine = PIOS_USBHOOK_GetProtocolValue;
CopyInRoutine = PIOS_USBHOOK_GetProtocolValue;
break;
}
@ -340,8 +343,11 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
#if defined(PIOS_INCLUDE_USB_CDC)
case 0: /* CDC Call Control Interface */
switch (RequestNo) {
case USB_CDC_REQ_SET_LINE_CODING:
CopyOutRoutine = PIOS_USB_CDC_SetLineCoding;
break;
case USB_CDC_REQ_GET_LINE_CODING:
//CopyRoutine = PIOS_USB_CDC_GetLineCoding;
CopyInRoutine = PIOS_USB_CDC_GetLineCoding;
break;
}
@ -359,13 +365,27 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
break;
}
if (CopyRoutine == NULL) {
/* No registered copy routine */
if ((CopyInRoutine == NULL) && (CopyOutRoutine == NULL)) {
return USB_UNSUPPORT;
}
pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
pInformation->Ctrl_Info.Usb_wOffset = 0;
(*CopyRoutine) (0);
/* Registered copy in AND copy out routine */
if ((CopyInRoutine != NULL) && (CopyOutRoutine != NULL)) {
/* This should never happen */
return USB_UNSUPPORT;
}
if (CopyInRoutine != NULL) {
pInformation->Ctrl_Info.CopyDataIn = CopyInRoutine;
pInformation->Ctrl_Info.Usb_wOffset = 0;
(*CopyInRoutine) (0);
} else if (CopyOutRoutine != NULL) {
pInformation->Ctrl_Info.CopyDataOut = CopyOutRoutine;
pInformation->Ctrl_Info.Usb_rOffset = 0;
(*CopyOutRoutine) (0);
}
return USB_SUCCESS;
}
@ -377,7 +397,6 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
* Return : USB_UNSUPPORT or USB_SUCCESS.
*******************************************************************************/
extern RESULT PIOS_USB_CDC_SetControlLineState(void);
extern RESULT PIOS_USB_CDC_SetLineCoding(void);
static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
{
@ -400,9 +419,6 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
#if defined(PIOS_INCLUDE_USB_CDC)
case 0: /* CDC Call Control Interface */
switch (RequestNo) {
case USB_CDC_REQ_SET_LINE_CODING:
return PIOS_USB_CDC_SetLineCoding();
break;
case USB_CDC_REQ_SET_CONTROL_LINE_STATE:
return PIOS_USB_CDC_SetControlLineState();
break;

2
flight/PiOS/inc/pios_usb_defs.h
View File

@ -267,7 +267,7 @@ enum usb_cdc_requests {
USB_CDC_REQ_SET_LINE_CODING = 0x20,
USB_CDC_REQ_GET_LINE_CODING = 0x21,
USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x23,
USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x22,
};
struct usb_cdc_header_func_desc {

53
ground/openpilotgcs/src/libs/utils/homelocationutil.cpp
View File

@ -38,40 +38,41 @@
namespace Utils {
HomeLocationUtil::HomeLocationUtil()
HomeLocationUtil::HomeLocationUtil()
{
}
/*
/**
* @brief Get local magnetic field
* @param[in] LLA The longitude-latitude-altitude coordinate to compute the magnetic field at
* @param[out] Be The resulting magnetic field at that location and time in [mGau](?)
* @returns 0 if successful, -1 otherwise.
*/
int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
{
// Initialize();
}
// *************
// check input parms
// input params: LLA
//
// output params: ECEF, RNE and Be
int HomeLocationUtil::getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3])
{
// *************
// check input parms
double latitude = LLA[0];
double longitude = LLA[1];
double altitude = LLA[2];
double latitude = LLA[0];
double longitude = LLA[1];
double altitude = LLA[2];
if (latitude != latitude) return -1; // prevent nan error
if (longitude != longitude) return -2; // prevent nan error
if (altitude != altitude) return -3; // prevent nan error
if (latitude != latitude) return -1; // prevent nan error
if (longitude != longitude) return -2; // prevent nan error
if (altitude != altitude) return -3; // prevent nan error
if (latitude < -90 || latitude > 90) return -4; // range checking
if (longitude < -180 || longitude > 180) return -5; // range checking
if (latitude < -90 || latitude > 90) return -4; // range checking
if (longitude < -180 || longitude > 180) return -5; // range checking
// *************
// *************
QDateTime dt = QDateTime::currentDateTime().toUTC();
QDateTime dt = QDateTime::currentDateTime().toUTC();
//Fetch world magnetic model
Q_ASSERT(WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) >= 0);
CoordinateConversions().LLA2ECEF(LLA, ECEF);
CoordinateConversions().RneFromLLA(LLA, (double (*)[3])RNE);
if (WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) < 0)
return -6;
return 0; // OK
return 0; // OK
}
}

2
ground/openpilotgcs/src/libs/utils/homelocationutil.h
View File

@ -40,7 +40,7 @@ namespace Utils {
public:
HomeLocationUtil();
int getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
int getDetails(double LLA[3], double Be[3]);
private:

2
ground/openpilotgcs/src/plugins/coreplugin/coreconstants.h
View File

@ -52,8 +52,10 @@ const char * const GCS_YEAR = "2012";
const char * const GCS_HELP = "http://wiki.openpilot.org";
#ifdef GCS_REVISION
const char * const GCS_REVISION_STR = STRINGIFY(GCS_REVISION);
const char * const UAVOSHA1_STR = STRINGIFY(UAVO_HASH);
#else
const char * const GCS_REVISION_STR = "";
const char * const UAVOSHA1_STR = "";
#endif
#undef GCS_VERSION

2
ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri
View File

@ -12,12 +12,14 @@
VERSION_INFO_SCRIPT = $$ROOT_DIR/make/scripts/version-info.py
VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcsversioninfotemplate.h
VERSION_INFO_COMMAND = python \"$$VERSION_INFO_SCRIPT\"
UAVO_DEF_PATH = $$ROOT_DIR/shared/uavobjectdefinition
# Create custom version_info target which generates a header
version_info.target = $$VERSION_INFO_HEADER
version_info.commands = $$VERSION_INFO_COMMAND \
--path=\"$$GCS_SOURCE_TREE\" \
--template=\"$$VERSION_INFO_TEMPLATE\" \
--uavodir=\"$$UAVO_DEF_PATH\" \
--outfile=\"$$VERSION_INFO_HEADER\"
version_info.depends = FORCE
QMAKE_EXTRA_TARGETS += version_info

24
ground/openpilotgcs/src/plugins/coreplugin/versiondialog.cpp
View File

@ -67,6 +67,26 @@ VersionDialog::VersionDialog(QWidget *parent)
//: This gets conditionally inserted as argument %8 into the description string.
ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(60));
#endif
QString uavoHashStr;
#ifdef UAVO_HASH
//: This gets conditionally inserted as argument %11 into the description string.
QByteArray uavoHashArray;
QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
uavoHash.chop(2);
uavoHash.remove(0,2);
uavoHash=uavoHash.trimmed();
bool ok;
foreach(QString str,uavoHash.split(","))
{
uavoHashArray.append(str.toInt(&ok,16));
}
QString gcsUavoHashStr;
foreach(char i, uavoHashArray)
{
gcsUavoHashStr.append(QString::number(i,16).right(2));
}
uavoHashStr = tr("UAVO hash %1<br/>").arg(gcsUavoHashStr);
#endif
const QString description = tr(
"<h3>OpenPilot GCS %1 %9 (%10)</h3>"
@ -76,6 +96,8 @@ VersionDialog::VersionDialog(QWidget *parent)
"<br/>"
"%8"
"<br/>"
"%11"
"<br/>"
"Copyright 2010-%6 %7. All rights reserved.<br/>"
"<br/>"
"<small>This program is free software; you can redistribute it and/or modify<br/>"
@ -87,7 +109,7 @@ VersionDialog::VersionDialog(QWidget *parent)
"PARTICULAR PURPOSE.</small><br/>")
.arg(version, QLatin1String(QT_VERSION_STR), QString::number(QSysInfo::WordSize),
QLatin1String(__DATE__), QLatin1String(__TIME__), QLatin1String(GCS_YEAR),
(QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME));
(QLatin1String(GCS_AUTHOR)), ideRev).arg(QLatin1String(GCS_VERSION_TYPE), QLatin1String(GCS_VERSION_CODENAME), uavoHashStr);
QLabel *copyRightLabel = new QLabel(description);
copyRightLabel->setWordWrap(true);

20
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -46,7 +46,6 @@
#include "uavtalk/telemetrymanager.h"
#include "uavobject.h"
#include "uavobjectmanager.h"
#include "positionactual.h"
#include "homelocation.h"
@ -590,6 +589,7 @@ void OPMapGadgetWidget::updatePosition()
VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
Gyros *gyrosObj = Gyros::GetInstance(obm);
Q_ASSERT(attitudeActualObj);
Q_ASSERT(positionActualObj);
Q_ASSERT(velocityActualObj);
Q_ASSERT(gyrosObj);
@ -919,7 +919,7 @@ void OPMapGadgetWidget::setHome(QPointF pos)
/**
Sets the home position on the map widget
*/
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitude)
void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon, double altitude)
{
if (!m_widget || !m_map)
return;
@ -941,13 +941,13 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitu
if (longitude > 180) longitude = 180;
else
if (longitude < -180) longitude = -180;
else if(altitude != altitude) altitude=0;
// *********
m_home_position.coord = internals::PointLatLng(latitude, longitude);
m_home_position.coord = internals::PointLatLng(latitude, longitude);
m_home_position.altitude = altitude;
m_map->Home->SetCoord(m_home_position.coord);
m_map->Home->SetCoord(m_home_position.coord);
m_map->Home->SetAltitude(altitude);
m_map->Home->RefreshPos();
@ -1659,7 +1659,15 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
if (!m_widget || !m_map)
return;
setHome(m_context_menu_lat_lon,0);
float altitude=0;
bool ok;
//Get desired HomeLocation altitude from dialog box.
//TODO: Populate box with altitude already in HomeLocation UAVO
altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
setHome(m_context_menu_lat_lon, altitude);
setHomeLocationObject(); // update the HomeLocation UAVObject
}

10
ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp
View File

@ -281,15 +281,7 @@ void OsgEarthItemRenderer::initScene()
//setup caching
osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(m_model.get());
if (mapNode) {
osgEarth::TMSCacheOptions cacheOptions;
//cacheOptions.cacheOnly() = true;
QString cacheDir = Utils::PathUtils().GetStoragePath()+QLatin1String("osgEarth_cache");
cacheOptions.setPath(cacheDir.toStdString());
osgEarth::Cache *cache= new osgEarth::TMSCache(cacheOptions);
mapNode->getMap()->setCache(cache);
} else {
if (!mapNode) {
qWarning() << Q_FUNC_INFO << sceneFile << " doesn't look like an osgEarth file";
}

3
ground/openpilotgcs/src/plugins/pfdqml/osgearth.h
View File

@ -126,9 +126,6 @@ public slots:
signals:
void frameReady();
private slots:
void updateFBO();
private:
enum { FboCount = 3 };
OsgEarthItem *m_item;

1
ground/openpilotgcs/src/plugins/plugins.pro
View File

@ -92,6 +92,7 @@ plugin_uploader.subdir = uploader
plugin_uploader.depends = plugin_coreplugin
plugin_uploader.depends += plugin_uavobjects
plugin_uploader.depends += plugin_rawhid
plugin_uploader.depends += plugin_uavobjectutil
SUBDIRS += plugin_uploader
#Dial gadget

2
ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
View File

@ -8,6 +8,8 @@ public:
QString gitHash;
QString gitDate;
QString gitTag;
QByteArray fwHash;
QByteArray uavoHash;
int boardType;
int boardRevision;
static QString idToBoardName(int id)

358
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -35,7 +35,10 @@
#include <QEventLoop>
#include <QTimer>
#include <objectpersistence.h>
#include <firmwareiapobj.h>
#include "firmwareiapobj.h"
#include "homelocation.h"
#include "gpsposition.h"
// ******************************
// constructor/destructor
@ -48,6 +51,18 @@ UAVObjectUtilManager::UAVObjectUtilManager()
failureTimer.setSingleShot(true);
failureTimer.setInterval(1000);
connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
pm = NULL;
obm = NULL;
obum = NULL;
pm = ExtensionSystem::PluginManager::instance();
if (pm)
{
obm = pm->getObject<UAVObjectManager>();
obum = pm->getObject<UAVObjectUtilManager>();
}
}
UAVObjectUtilManager::~UAVObjectUtilManager()
@ -67,10 +82,8 @@ UAVObjectUtilManager::~UAVObjectUtilManager()
UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
return objMngr;
Q_ASSERT(obm);
return obm;
}
@ -107,7 +120,7 @@ void UAVObjectUtilManager::saveNextObject()
// Get next object from the queue
UAVObject* obj = queue.head();
qDebug() << "Request board to save object " << obj->getName();
qDebug() << "Send save object request to board " << obj->getName();
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
@ -233,16 +246,7 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
{
FirmwareIAPObj::DataFields dummy;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
if (!pm)
return dummy;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
Q_ASSERT(om);
if (!om)
return dummy;
FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(obm);
Q_ASSERT(firmwareIap);
if (!firmwareIap)
return dummy;
@ -257,7 +261,12 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
int UAVObjectUtilManager::getBoardModel()
{
FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
qDebug()<<"Board type="<<firmwareIapData.BoardType;
qDebug()<<"Board revision="<<firmwareIapData.BoardRevision;
int ret=firmwareIapData.BoardType <<8;
ret = ret + firmwareIapData.BoardRevision;
qDebug()<<"Board info="<<ret;
return ret;
}
/**
@ -301,121 +310,47 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
{
double ECEF[3];
double RNE[9];
double Be[3];
UAVObjectField *field;
double Be[3];
QMutexLocker locker(mutex);
Q_ASSERT (Utils::HomeLocationUtil().getDetails(LLA, Be) >= 0);
if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
return -1; // error
// ******************
// save the new settings
// ******************
// save the new settings
HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
Q_ASSERT(homeLocation != NULL);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -2;
HomeLocation::DataFields homeLocationData = homeLocation->getData();
homeLocationData.Latitude = LLA[0] * 1e7;
homeLocationData.Longitude = LLA[1] * 1e7;
homeLocationData.Altitude = LLA[2];
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -3;
homeLocationData.Be[0] = Be[0];
homeLocationData.Be[1] = Be[1];
homeLocationData.Be[2] = Be[2];
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
if (!obj) return -4;
homeLocationData.Set = HomeLocation::SET_TRUE;
UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
if (!ECEF_field) return -5;
homeLocation->setData(homeLocationData);
UAVObjectField *RNE_field = obj->getField(QString("RNE"));
if (!RNE_field) return -6;
if (save_to_sdcard)
saveObjectToSD(homeLocation);
UAVObjectField *Be_field = obj->getField(QString("Be"));
if (!Be_field) return -7;
field = obj->getField("Latitude");
if (!field) return -8;
field->setDouble(LLA[0] * 10e6);
field = obj->getField("Longitude");
if (!field) return -9;
field->setDouble(LLA[1] * 10e6);
field = obj->getField("Altitude");
if (!field) return -10;
field->setDouble(LLA[2]);
for (int i = 0; i < 3; i++)
ECEF_field->setDouble(ECEF[i] * 100, i);
for (int i = 0; i < 9; i++)
RNE_field->setDouble(RNE[i], i);
for (int i = 0; i < 3; i++)
Be_field->setDouble(Be[i], i);
field = obj->getField("Set");
if (!field) return -11;
field->setValue("TRUE");
obj->updated();
// ******************
// save the new setting to SD card
if (save_to_sdcard)
saveObjectToSD(obj);
// ******************
// debug
/*
qDebug() << "setting HomeLocation UAV Object .. " << endl;
QString s;
s = " LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
qDebug() << s << endl;
s = " ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
qDebug() << s << endl;
s = " RNE "; for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
qDebug() << s << endl;
s = " Be "; for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
qDebug() << s << endl;
*/
// ******************
return 0; // OK
return 0;
}
int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
{
UAVObjectField *field;
HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
Q_ASSERT(homeLocation != NULL);
QMutexLocker locker(mutex);
HomeLocation::DataFields homeLocationData = homeLocation->getData();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -1;
set = homeLocationData.Set;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -2;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
if (!obj) return -3;
// obj->requestUpdate();
field = obj->getField("Set");
if (!field) return -4;
set = field->getValue().toBool();
field = obj->getField("Latitude");
if (!field) return -5;
LLA[0] = field->getDouble() * 1e-7;
field = obj->getField("Longitude");
if (!field) return -6;
LLA[1] = field->getDouble() * 1e-7;
field = obj->getField("Altitude");
if (!field) return -7;
LLA[2] = field->getDouble();
LLA[0] = homeLocationData.Latitude*1e-7;
LLA[1] = homeLocationData.Longitude*1e-7;
LLA[2] = homeLocationData.Altitude;
if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
else
@ -434,88 +369,20 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
return 0; // OK
}
int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
{
UAVObjectField *field;
QMutexLocker locker(mutex);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -1;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -2;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
if (!obj) return -3;
// obj->requestUpdate();
field = obj->getField("Set");
if (!field) return -4;
set = field->getValue().toBool();
field = obj->getField("Latitude");
if (!field) return -5;
LLA[0] = field->getDouble() * 1e-7;
field = obj->getField("Longitude");
if (!field) return -6;
LLA[1] = field->getDouble() * 1e-7;
field = obj->getField("Altitude");
if (!field) return -7;
LLA[2] = field->getDouble();
field = obj->getField(QString("ECEF"));
if (!field) return -8;
for (int i = 0; i < 3; i++)
ECEF[i] = field->getDouble(i);
field = obj->getField(QString("RNE"));
if (!field) return -9;
for (int i = 0; i < 9; i++)
RNE[i] = field->getDouble(i);
field = obj->getField(QString("Be"));
if (!field) return -10;
for (int i = 0; i < 3; i++)
Be[i] = field->getDouble(i);
return 0; // OK
}
// ******************************
// GPS
int UAVObjectUtilManager::getGPSPosition(double LLA[3])
{
UAVObjectField *field;
GPSPosition *gpsPosition = GPSPosition::GetInstance(obm);
Q_ASSERT(gpsPosition != NULL);
QMutexLocker locker(mutex);
GPSPosition::DataFields gpsPositionData = gpsPosition->getData();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -1;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -2;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
if (!obj) return -3;
// obj->requestUpdate();
field = obj->getField(QString("Latitude"));
if (!field) return -4;
LLA[0] = field->getDouble() * 1e-7;
field = obj->getField(QString("Longitude"));
if (!field) return -5;
LLA[1] = field->getDouble() * 1e-7;
field = obj->getField(QString("Altitude"));
if (!field) return -6;
LLA[2] = field->getDouble();
LLA[0] = gpsPositionData.Latitude;
LLA[1] = gpsPositionData.Longitude;
LLA[2] = gpsPositionData.Altitude;
if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
else
@ -534,102 +401,14 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
return 0; // OK
}
// ******************************
// telemetry port
int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
{
UAVObjectField *field;
QMutexLocker locker(mutex);
// ******************
// save the new settings
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -1;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -2;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
if (!obj) return -3;
field = obj->getField(QString("Speed"));
if (!field) return -4;
field->setValue(speed);
obj->updated();
// ******************
// save the new setting to SD card
if (save_to_sdcard)
saveObjectToSD(obj);
// ******************
return 0; // OK
}
int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
{
UAVObjectField *field;
QMutexLocker locker(mutex);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -1;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -2;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
if (!obj) return -3;
// obj->requestUpdate();
field = obj->getField(QString("Speed"));
if (!field) return -4;
speed = field->getValue().toString();
return 0; // OK
}
int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
{
UAVObjectField *field;
QMutexLocker locker(mutex);
if (!comboBox) return -1;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
if (!pm) return -2;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om) return -3;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
if (!obj) return -4;
// obj->requestUpdate();
field = obj->getField(QString("Speed"));
if (!field) return -5;
comboBox->addItems(field->getOptions());
return 0; // OK
}
deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
{
deviceDescriptorStruct ret;
descriptionToStructure(getBoardDescription(),&ret);
descriptionToStructure(getBoardDescription(),ret);
return ret;
}
bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct *struc)
bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc)
{
if (desc.startsWith("OpFw")) {
/*
@ -639,9 +418,9 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
* 4 bytes: Unix timestamp of last git commit
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
* ---- 40 bytes limit ---
* 20 bytes: SHA1 sum of the firmware.
* 40 bytes: free for now.
* 20 bytes: SHA1 sum of the UAVO definition files.
* 20 bytes: free for now.
*/
// Note: the ARM binary is big-endian:
@ -650,23 +429,26 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
gitCommitHash = gitCommitHash << 8;
gitCommitHash += desc.at(7-i) & 0xFF;
}
struc->gitHash = QString::number(gitCommitHash, 16);
struc.gitHash = QString("%1").arg(gitCommitHash, 8, 16, QChar('0'));
quint32 gitDate = desc.at(11) & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += desc.at(11-i) & 0xFF;
}
struc->gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
struc.gitDate = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyyMMdd HH:mm");
QString gitTag = QString(desc.mid(14,26));
struc->gitTag = gitTag;
struc.gitTag = gitTag;
// TODO: check platform compatibility
QByteArray targetPlatform = desc.mid(12,2);
struc->boardType = (int)targetPlatform.at(0);
struc->boardRevision = (int)targetPlatform.at(1);
struc.boardType = (int)targetPlatform.at(0);
struc.boardRevision = (int)targetPlatform.at(1);
struc.fwHash.clear();
struc.fwHash=desc.mid(40,20);
struc.uavoHash.clear();
struc.uavoHash=desc.mid(60,20);
return true;
}
return false;

21
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -55,20 +55,15 @@ public:
int setHomeLocation(double LLA[3], bool save_to_sdcard);
int getHomeLocation(bool &set, double LLA[3]);
int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
int getGPSPosition(double LLA[3]);
int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
int getTelemetrySerialPortSpeed(QString &speed);
int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
int getBoardModel();
QByteArray getBoardCPUSerial();
quint32 getFirmwareCRC();
QByteArray getBoardDescription();
deviceDescriptorStruct getBoardDescriptionStruct();
static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct & struc);
UAVObjectManager* getObjectManager();
void saveObjectToSD(UAVObject *obj);
protected:
@ -78,11 +73,15 @@ signals:
void saveCompleted(int objectID, bool status);
private:
QMutex *mutex;
QQueue<UAVObject *> queue;
enum {IDLE, AWAITING_ACK, AWAITING_COMPLETED} saveState;
void saveNextObject();
QTimer failureTimer;
QMutex *mutex;
QQueue<UAVObject *> queue;
enum {IDLE, AWAITING_ACK, AWAITING_COMPLETED} saveState;
void saveNextObject();
QTimer failureTimer;
ExtensionSystem::PluginManager *pm;
UAVObjectManager *obm;
UAVObjectUtilManager *obum;
private slots:
//void transactionCompleted(UAVObject *obj, bool success);

4
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -154,7 +154,7 @@ void deviceWidget::freeze()
*/
bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
{
if(UAVObjectUtilManager::descriptionToStructure(desc,&onBoardDescription))
if(UAVObjectUtilManager::descriptionToStructure(desc,onBoardDescription))
{
myDevice->lblGitTag->setText(onBoardDescription.gitHash);
myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
@ -184,7 +184,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
}
bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
{
if(UAVObjectUtilManager::descriptionToStructure(desc,&LoadedDescription))
if(UAVObjectUtilManager::descriptionToStructure(desc,LoadedDescription))
{
myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));

2
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -101,7 +101,7 @@ void runningDeviceWidget::populate()
QByteArray description = utilMngr->getBoardDescription();
deviceDescriptorStruct devDesc;
if(UAVObjectUtilManager::descriptionToStructure(description,&devDesc))
if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
{
if(devDesc.gitTag.startsWith("release",Qt::CaseInsensitive))
{

41
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -650,18 +650,41 @@ void UploaderGadgetWidget::versionMatchCheck()
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
deviceDescriptorStruct boardDescription = utilMngr->getBoardDescriptionStruct();
QByteArray uavoHashArray;
QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
uavoHash.chop(2);
uavoHash.remove(0,2);
uavoHash=uavoHash.trimmed();
bool ok;
foreach(QString str,uavoHash.split(","))
{
uavoHashArray.append(str.toInt(&ok,16));
}
QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
gcsGitHash.remove( QRegExp("^[0]*") );
QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
QString gcsVersion = gcsGitDate + " (" + gcsGitHash + ")";
QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + ")";
QByteArray fwVersion=boardDescription.uavoHash;
if (fwVersion != uavoHashArray) {
QString gcsDescription = QString::fromLatin1(Core::Constants::GCS_REVISION_STR);
QString gcsGitHash = gcsDescription.mid(gcsDescription.indexOf(":")+1, 8);
gcsGitHash.remove( QRegExp("^[0]*") );
QString gcsGitDate = gcsDescription.mid(gcsDescription.indexOf(" ")+1, 14);
QString gcsUavoHashStr;
QString fwUavoHashStr;
foreach(char i, fwVersion)
{
fwUavoHashStr.append(QString::number(i,16).right(2));
}
foreach(char i, uavoHashArray)
{
gcsUavoHashStr.append(QString::number(i,16).right(2));
}
QString gcsVersion = gcsGitDate + " (" + gcsGitHash + "-"+ gcsUavoHashStr.right(8) + ")";
QString fwVersion = boardDescription.gitDate + " (" + boardDescription.gitHash + "-" + fwUavoHashStr.right(8) + ")";
if (boardDescription.gitHash != gcsGitHash) {
QString warning = QString(tr(
"GCS and firmware versions do not match which can cause configuration problems. "
"GCS version: %1. Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
"GCS and firmware versions of the UAV objects set do not match which can cause configuration problems. "
"GCS version: %1 Firmware version: %2.")).arg(gcsVersion).arg(fwVersion);
msg->showMessage(warning);
}
}

3
ground/uavobjgenerator/main.cpp
View File

@ -161,6 +161,9 @@ int main(int argc, char *argv[])
QString res = parser->parseXML(xmlstr, filename);
if (!res.isNull()) {
if (!verbose) {
cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
}
cout << "Error parsing " << res.toStdString() << endl;
return RETURN_ERR_XML;
}

96
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Make sure that required elements were found
if ( !fieldFound )
return QString("Object::field element is missing");
if ( !accessFound )
return QString("Object::access element is missing");
@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
// Get name attribute
QDomNamedNodeMap elemAttributes = childNode.attributes();
QDomNode elemAttr = elemAttributes.namedItem("name");
if ( elemAttr.isNull() )
if (elemAttr.isNull()) {
return QString("Object:field:name attribute is missing");
}
QString name = elemAttr.nodeValue();
field->name = elemAttr.nodeValue();
// Check to see is this field is a clone of another
// field that has already been declared
elemAttr = elemAttributes.namedItem("cloneof");
if (!elemAttr.isNull()) {
QString parentName = elemAttr.nodeValue();
if (!parentName.isEmpty()) {
foreach(FieldInfo * parent, info->fields) {
if (parent->name == parentName) {
// clone from this parent
*field = *parent; // safe shallow copy, no ptrs in struct
field->name = name; // set our name
// Add field to object
info->fields.append(field);
// Done
return QString();
}
}
return QString("Object:field::cloneof parent unknown");
}
else {
return QString("Object:field:cloneof attribute is empty");
}
}
else {
// this field is not a clone, so remember its name
field->name = name;
}
// Get units attribute
elemAttr = elemAttributes.namedItem("units");
@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
}
// Get numelements or elementnames attribute
field->numElements = 0;
// Look for element names as an attribute first
elemAttr = elemAttributes.namedItem("elementnames");
if ( !elemAttr.isNull() ) {
// Get element names
@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
field->defaultElementNames = false;
}
else {
// Look for a list of child elementname nodes
QDomNode listNode = childNode.firstChildElement("elementnames");
if (!listNode.isNull()) {
for (QDomElement node = listNode.firstChildElement("elementname");
!node.isNull(); node = node.nextSiblingElement("elementname")) {
QDomNode name = node.firstChild();
if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
field->elementNames.append(name.nodeValue());
}
}
field->numElements = field->elementNames.length();
field->defaultElementNames = false;
}
}
// If no element names were found, then fall back to looking
// for the number of elements in the 'elements' attribute
if (field->numElements == 0) {
elemAttr = elemAttributes.namedItem("elements");
if ( elemAttr.isNull() ) {
return QString("Object:field:elements and Object:field:elementnames attribute is missing");
return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
}
else {
field->numElements = elemAttr.nodeValue().toInt();
@ -434,19 +483,34 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
field->defaultElementNames = true;
}
}
// Get options attribute (only if an enum type)
// Get options attribute or child elements (only if an enum type)
if (field->type == FIELDTYPE_ENUM) {
// Get options attribute
// Look for options attribute
elemAttr = elemAttributes.namedItem("options");
if ( elemAttr.isNull() )
return QString("Object:field:options attribute is missing");
QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
for (int n = 0; n < options.length(); ++n)
options[n] = options[n].trimmed();
field->options = options;
if (!elemAttr.isNull()) {
QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
for (int n = 0; n < options.length(); ++n) {
options[n] = options[n].trimmed();
}
field->options = options;
}
else {
// Look for a list of child 'option' nodes
QDomNode listNode = childNode.firstChildElement("options");
if (!listNode.isNull()) {
for (QDomElement node = listNode.firstChildElement("option");
!node.isNull(); node = node.nextSiblingElement("option")) {
QDomNode name = node.firstChild();
if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
field->options.append(name.nodeValue());
}
}
}
}
if (field->options.length() == 0) {
return QString("Object:field:options attribute/element is missing");
}
}
// Get the default value attribute (required for settings objects, optional for the rest)
@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
return QString("Object:field:incorrect number of default values");
/*support legacy single default for multiple elements
We sould really issue a warning*/
We should really issue a warning*/
for(int ct=1; ct< field->numElements; ct++)
defaults.append(defaults[0]);
}
field->defaultValues = defaults;
}
// Limits attribute
elemAttr = elemAttributes.namedItem("limits");
if ( elemAttr.isNull() ) {
field->limitValues=QString();

3
make/firmware-defs.mk
View File

@ -131,7 +131,8 @@ $(1).firmwareinfo.c: $(1) $(TOP)/make/templates/firmwareinfotemplate.c FORCE
--outfile=$$@ \
--image=$(1) \
--type=$(2) \
--revision=$(3)
--revision=$(3) \
--uavodir=$(TOP)/shared/uavobjectdefinition
$(eval $(call COMPILE_C_TEMPLATE, $(1).firmwareinfo.c))

55
make/scripts/version-info.py
View File

@ -250,6 +250,57 @@ def xtrim(string, suffix, length):
assert n > 0, "length of truncated string+suffix exceeds maximum length"
return ''.join([string[:n], '+', suffix])
def GetHashofDirs(directory, verbose=0):
import hashlib, os
SHAhash = hashlib.sha1()
if not os.path.exists (directory):
return -1
try:
for root, dirs, files in os.walk(directory):
# os.walk() is unsorted. Must make sure we process files in sorted order so
# that the hash is stable across invocations and across OSes.
if files:
files.sort()
for names in files:
if verbose == 1:
print 'Hashing', names
filepath = os.path.join(root,names)
try:
f1 = open(filepath, 'rb')
except:
# You can't open the file for some reason
f1.close()
continue
# Compute file hash. Same as running "sha1sum <file>".
f1hash = hashlib.sha1()
while 1:
# Read file in as little chunks
buf = f1.read(4096)
if not buf : break
f1hash.update(buf)
f1.close()
if verbose == 1:
print 'Hash is', f1hash.hexdigest()
# Append the hex representation of the current file's hash into the cumulative hash
SHAhash.update(f1hash.hexdigest())
except:
import traceback
# Print the stack traceback
traceback.print_exc()
return -2
if verbose == 1:
print 'Final hash is', SHAhash.hexdigest()
hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
return hex_stream(SHAhash.digest())
def main():
"""This utility uses git repository in the current working directory
or from the given path to extract some info about it and HEAD commit.
@ -302,7 +353,8 @@ dependent targets.
help='board type, for example, 0x04 for CopterControl');
parser.add_option('--revision', default = "",
help='board revision, for example, 0x01');
parser.add_option('--uavodir', default = "",
help='uav object definition directory');
(args, positional_args) = parser.parse_args()
if len(positional_args) != 0:
parser.error("incorrect number of arguments, try --help for help")
@ -328,6 +380,7 @@ dependent targets.
BOARD_TYPE = args.type,
BOARD_REVISION = args.revision,
SHA1 = sha1(args.image),
UAVOSHA1= GetHashofDirs(args.uavodir,0),
)
if args.info:

10
make/templates/firmwareinfotemplate.c
View File

@ -30,8 +30,6 @@
/**
* We have 100 bytes for the whole description.
*
* Only the first 40 are visible on the FirmwareIAP uavobject, the remaining
* 60 are ok to use for packaging and will be saved in the flash.
*
* Structure is:
* 4 bytes: header: "OpFw".
@ -39,9 +37,9 @@
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* ---- 40 bytes limit ---
* 20 bytes: SHA1 sum of the firmware.
* 40 bytes: free for now.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*
*/
@ -53,7 +51,8 @@ struct __attribute__((packed)) fw_version_info {
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[20];
uint8_t pad[40];
uint8_t uavosha1[20];
uint8_t pad[20];
};
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
@ -64,6 +63,7 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
.board_revision = ${BOARD_REVISION},
.commit_tag_name = "${FWTAG}",
.sha1sum = { ${SHA1} },
.uavosha1 = { ${UAVOSHA1} },
};
/**

2
make/templates/gcsversioninfotemplate.h
View File

@ -26,7 +26,7 @@
*/
#define GCS_REVISION ${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}
#define UAVO_HASH "{ ${UAVOSHA1} }"
/**
* @}
*/

2
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -2,7 +2,7 @@
<object name="FirmwareIAPObj" singleinstance="true" settings="false">
<description>Queries board for SN, model, revision, and sends reset command</description>
<field name="Command" units="" type="uint16" elements="1"/>
<field name="Description" units="" type="uint8" elements="40"/>
<field name="Description" units="" type="uint8" elements="100"/>
<field name="CPUSerial" units="" type="uint8" elements="12" />
<field name="BoardRevision" units="" type="uint16" elements="1"/>
<field name="BoardType" units="" type="uint8" elements="1"/>

93
shared/uavobjectdefinition/mixersettings.xml
View File

@ -5,29 +5,76 @@
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
<field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
<options>
<option>Throttle</option>
<option>Roll</option>
<option>Pitch</option>
<option>Yaw</option>
<option>Collective</option>
<option>Accessory0</option>
<option>Accessory1</option>
<option>Accessory2</option>
<option>Accessory3</option>
<option>Accessory4</option>
<option>Accessory5</option>
</options>
</field>
<field name="ThrottleCurve2" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
<field name="Mixer1Type" units="" type="enum" elements="1" defaultvalue="Disabled">
<options>
<option>Disabled</option>
<option>Motor</option>
<option>Servo</option>
<option>CameraRoll</option>
<option>CameraPitch</option>
<option>CameraYaw</option>
<option>Accessory0</option>
<option>Accessory1</option>
<option>Accessory2</option>
<option>Accessory3</option>
<option>Accessory4</option>
<option>Accessory5</option>
</options>
</field>
<field name="Mixer1Vector" units="" type="int8" defaultvalue="0">
<elementnames>
<elementname>ThrottleCurve1</elementname>
<elementname>ThrottleCurve2</elementname>
<elementname>Roll</elementname>
<elementname>Pitch</elementname>
<elementname>Yaw</elementname>
</elementnames>
</field>
<field name="Mixer2Type" cloneof="Mixer1Type"/>
<field name="Mixer2Vector" cloneof="Mixer1Vector"/>
<field name="Mixer3Type" cloneof="Mixer1Type"/>
<field name="Mixer3Vector" cloneof="Mixer1Vector"/>
<field name="Mixer4Type" cloneof="Mixer1Type"/>
<field name="Mixer4Vector" cloneof="Mixer1Vector"/>
<field name="Mixer5Type" cloneof="Mixer1Type"/>
<field name="Mixer5Vector" cloneof="Mixer1Vector"/>
<field name="Mixer6Type" cloneof="Mixer1Type"/>
<field name="Mixer6Vector" cloneof="Mixer1Vector"/>
<field name="Mixer7Type" cloneof="Mixer1Type"/>
<field name="Mixer7Vector" cloneof="Mixer1Vector"/>
<field name="Mixer8Type" cloneof="Mixer1Type"/>
<field name="Mixer8Vector" cloneof="Mixer1Vector"/>
<field name="Mixer9Type" cloneof="Mixer1Type"/>
<field name="Mixer9Vector" cloneof="Mixer1Vector"/>
<field name="Mixer10Type" cloneof="Mixer1Type"/>
<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

76
shared/uavobjectdefinition/taskinfo.xml
View File

@ -1,9 +1,79 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
<field name="StackRemaining" units="bytes" type="uint16">
<elementnames>
<elementname>System</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<elementname>GPS</elementname>
<elementname>ManualControl</elementname>
<elementname>Altitude</elementname>
<elementname>Stabilization</elementname>
<elementname>AltitudeHold</elementname>
<elementname>Guidance</elementname>
<elementname>FlightPlan</elementname>
<elementname>Com2UsbBridge</elementname>
<elementname>Usb2ComBridge</elementname>
<elementname>OveroSync</elementname>
<elementname>Autotune</elementname>
<elementname>EventDispatcher</elementname>
</elementnames>
</field>
<field name="Running" units="bool" type="enum">
<elementnames>
<elementname>System</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<elementname>GPS</elementname>
<elementname>ManualControl</elementname>
<elementname>Altitude</elementname>
<elementname>Stabilization</elementname>
<elementname>AltitudeHold</elementname>
<elementname>Guidance</elementname>
<elementname>FlightPlan</elementname>
<elementname>Com2UsbBridge</elementname>
<elementname>Usb2ComBridge</elementname>
<elementname>OveroSync</elementname>
<elementname>Autotune</elementname>
<elementname>EventDispatcher</elementname>
</elementnames>
<options>
<option>False</option>
<option>True</option>
</options>
</field>
<field name="RunningTime" units="%" type="uint8">
<elementnames>
<elementname>System</elementname>
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<elementname>GPS</elementname>
<elementname>ManualControl</elementname>
<elementname>Altitude</elementname>
<elementname>Stabilization</elementname>
<elementname>AltitudeHold</elementname>
<elementname>Guidance</elementname>
<elementname>FlightPlan</elementname>
<elementname>Com2UsbBridge</elementname>
<elementname>Usb2ComBridge</elementname>
<elementname>OveroSync</elementname>
<elementname>Autotune</elementname>
<elementname>EventDispatcher</elementname>
</elementnames>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>