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Code Issues Releases Activity

merged chages 995:1015 into posix branch

Browse Source 
(See? That's why I hate branching - thank the gods that subversion has the "merge" command)


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1016 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-04 08:50:40 +00:00 committed by corvus
parent ca66593709
commit c7479b796b
13 changed files with 567 additions and 168 deletions
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20
flight/OpenPilot.posix/Makefile
View File

@ -57,7 +57,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
MODULES = Telemetry GPS ManualControl Actuator Altitude AHRSComms Stabilization
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
@ -159,10 +159,12 @@ SRC += $(OPUAVOBJ)/manualcontrolcommand.c
SRC += $(OPUAVOBJ)/manualcontrolsettings.c
SRC += $(OPUAVOBJ)/attitudedesired.c
SRC += $(OPUAVOBJ)/stabilizationsettings.c
SRC += $(OPUAVOBJ)/ahrsstatus.c
SRC += $(OPUAVOBJ)/altitudeactual.c
SRC += $(OPUAVOBJ)/attitudeactual.c
SRC += $(OPUAVOBJ)/attitudesettings.c
SRC += $(OPUAVOBJ)/flightbatterystate.c
SRC += $(OPUAVOBJ)/headingactual.c
endif
## PIOS Hardware (STM32F10x)
@ -189,6 +191,7 @@ SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_bmp085.c
SRC += $(PIOSCOMMON)/pios_opahrs.c
SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
## CMSIS for STM32
@ -275,21 +278,6 @@ EXTRAINCDIRS += $(OPUAVTALK)
EXTRAINCDIRS += $(OPUAVTALKINC)
EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(MODEXAMPLE)
EXTRAINCDIRS += $(MODEXAMPLEINC)
EXTRAINCDIRS += $(MODSYSTEMINC)
EXTRAINCDIRS += $(MODTELEMETRY)
EXTRAINCDIRS += $(MODTELEMETRYINC)
EXTRAINCDIRS += $(MODGPS)
EXTRAINCDIRS += $(MODGPSINC)
EXTRAINCDIRS += $(MODMANUALCONTROL)
EXTRAINCDIRS += $(MODMANUALCONTROLINC)
EXTRAINCDIRS += $(MODACTUATOR)
EXTRAINCDIRS += $(MODACTUATORINC)
EXTRAINCDIRS += $(MODALTITUDE)
EXTRAINCDIRS += $(MODALTITUDEINC)
EXTRAINCDIRS += $(MODATTITUDE)
EXTRAINCDIRS += $(MODATTITUDEINC)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(PIOSSTM32F10X)

17
flight/OpenPilot.posix/Makefile.posix
View File

@ -145,10 +145,12 @@ SRC += $(OPUAVOBJ)/manualcontrolcommand.c
SRC += $(OPUAVOBJ)/manualcontrolsettings.c
SRC += $(OPUAVOBJ)/attitudedesired.c
SRC += $(OPUAVOBJ)/stabilizationsettings.c
SRC += $(OPUAVOBJ)/ahrsstatus.c
SRC += $(OPUAVOBJ)/altitudeactual.c
SRC += $(OPUAVOBJ)/attitudeactual.c
SRC += $(OPUAVOBJ)/attitudesettings.c
SRC += $(OPUAVOBJ)/flightbatterystate.c
SRC += $(OPUAVOBJ)/headingactual.c
endif
## PIOS Hardware (posix)
@ -193,21 +195,6 @@ EXTRAINCDIRS += $(OPUAVTALK)
EXTRAINCDIRS += $(OPUAVTALKINC)
EXTRAINCDIRS += $(OPUAVOBJ)
EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(MODEXAMPLE)
EXTRAINCDIRS += $(MODEXAMPLEINC)
EXTRAINCDIRS += $(MODSYSTEMINC)
EXTRAINCDIRS += $(MODTELEMETRY)
EXTRAINCDIRS += $(MODTELEMETRYINC)
EXTRAINCDIRS += $(MODGPS)
EXTRAINCDIRS += $(MODGPSINC)
EXTRAINCDIRS += $(MODMANUALCONTROL)
EXTRAINCDIRS += $(MODMANUALCONTROLINC)
EXTRAINCDIRS += $(MODACTUATOR)
EXTRAINCDIRS += $(MODACTUATORINC)
EXTRAINCDIRS += $(MODALTITUDE)
EXTRAINCDIRS += $(MODALTITUDEINC)
EXTRAINCDIRS += $(MODATTITUDE)
EXTRAINCDIRS += $(MODATTITUDEINC)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(PIOSPOSIX)

182
flight/OpenPilot.posix/Modules/AHRSComms/ahrs_comms.c Normal file
View File

@ -0,0 +1,182 @@
/**
******************************************************************************
*
* @file ahrs_comms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @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
*/
/**
* Input object: AttitudeSettings
* Output object: AttitudeActual
*
* This module will periodically update the value of latest attitude solution
* that is available from the AHRS.
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "ahrs_comms.h"
#include "attitudeactual.h"
#include "attitudesettings.h"
#include "headingactual.h"
#include "ahrsstatus.h"
#include "alarms.h"
#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
#include "pios_opahrs_proto.h"
// Private constants
#define STACK_SIZE 400
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void ahrscommsTask(void* parameters);
static void update_attitude_actual(struct opahrs_msg_v1_rsp_attitude * attitude);
static void update_heading_actual(struct opahrs_msg_v1_rsp_heading * heading);
static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
PIOS_OPAHRS_Init();
// Start main task
xTaskCreate(ahrscommsTask, (signed char*)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void ahrscommsTask(void* parameters)
{
// Main task loop
while (1) {
struct opahrs_msg_v1 rsp;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
/* Spin here until we're in sync */
while (PIOS_OPAHRS_resync() != OPAHRS_RESULT_OK) {
vTaskDelay(100 / portTICK_RATE_MS);
}
/* Give the other side a chance to keep up */
//vTaskDelay(100 / portTICK_RATE_MS);
if (PIOS_OPAHRS_GetSerial(&rsp) == OPAHRS_RESULT_OK) {
update_ahrs_status(&(rsp.payload.user.v.rsp.serial));
} else {
/* Comms error */
continue;
}
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
/* We're in sync with the AHRS, spin here until an error occurs */
while (1) {
AttitudeSettingsData settings;
/* Update settings with latest value */
AttitudeSettingsGet(&settings);
if (PIOS_OPAHRS_GetAttitude(&rsp) == OPAHRS_RESULT_OK) {
update_attitude_actual(&(rsp.payload.user.v.rsp.attitude));
} else {
/* Comms error */
break;
}
if (PIOS_OPAHRS_GetHeading(&rsp) == OPAHRS_RESULT_OK) {
update_heading_actual(&(rsp.payload.user.v.rsp.heading));
} else {
/* Comms error */
break;
}
/* Wait for the next update interval */
vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
}
}
}
static void update_attitude_actual(struct opahrs_msg_v1_rsp_attitude * attitude)
{
AttitudeActualData data;
data.q1 = attitude->quaternion.q1;
data.q2 = attitude->quaternion.q2;
data.q3 = attitude->quaternion.q3;
data.q4 = attitude->quaternion.q4;
data.Roll = attitude->euler.roll;
data.Pitch = attitude->euler.pitch;
data.Yaw = attitude->euler.yaw;
AttitudeActualSet(&data);
}
static void update_heading_actual(struct opahrs_msg_v1_rsp_heading * heading)
{
HeadingActualData data;
data.raw[HEADINGACTUAL_RAW_X] = heading->raw_mag.x;
data.raw[HEADINGACTUAL_RAW_Y] = heading->raw_mag.y;
data.raw[HEADINGACTUAL_RAW_Z] = heading->raw_mag.z;
data.heading = heading->heading;
HeadingActualSet(&data);
}
static void update_ahrs_status(struct opahrs_msg_v1_rsp_serial * serial)
{
AhrsStatusData data;
// Get the current object data
AhrsStatusGet(&data);
for (uint8_t i = 0; i < sizeof(serial->serial_bcd); i++) {
data.SerialNumber[i] = serial->serial_bcd[i];
}
AhrsStatusSet(&data);
}

12
flight/OpenPilot.posix/Modules/Attitude/inc/attitude.h → flight/OpenPilot.posix/Modules/AHRSComms/inc/ahrs_comms.h
View File

@ -1,9 +1,9 @@
/**
******************************************************************************
*
* @file attitude.h
* @file ahrs_comms.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the attitude solution from the AHRS on a periodic basis.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @see The GNU Public License (GPL) Version 3
*
@ -23,12 +23,12 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ATTITUDE_H
#define ATTITUDE_H
#ifndef AHRS_COMMS_H
#define AHRS_COMMS_H
#include "openpilot.h"
int32_t AttitudeInitialize(void);
int32_t AHRSCommsInitialize(void);
#endif // ATTITUDE_H
#endif // AHRS_COMMS_H

121
flight/OpenPilot.posix/Modules/Attitude/attitude.c
View File

@ -1,121 +0,0 @@
/**
******************************************************************************
*
* @file attitude.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the attitude solution from the AHRS on a periodic basis.
*
* @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
*/
/**
* Input object: AttitudeSettings
* Output object: AttitudeActual
*
* This module will periodically update the value of latest attitude solution
* that is available from the AHRS.
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "attitude.h"
#include "attitudeactual.h" // object that will be updated by the module
#include "attitudesettings.h" // object holding module settings
#include "pios_opahrs.h" // library for OpenPilot AHRS access functions
// Private constants
#define STACK_SIZE 200
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void attitudeTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeInitialize(void)
{
// Start main task
xTaskCreate(attitudeTask, (signed char*)"Attitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void attitudeTask(void* parameters)
{
AttitudeSettingsData settings;
AttitudeActualData data;
// Main task loop
while (1)
{
// Update settings with latest value
AttitudeSettingsGet(&settings);
// Get the current object data
AttitudeActualGet(&data);
// Query the latest attitude solution from the AHRS
PIOS_OPAHRS_ReadAttitude();
// Update the data
data.seq++;
data.q1 += 0.111;
data.q2 += 1.1;
data.q3 += 7.0;
data.q4 -= 2.321;
data.Roll += 0.01;
data.Pitch -= 0.03;
data.Yaw += 0.05;
// Update the ExampleObject, after this function is called
// notifications to any other modules listening to that object
// will be sent and the GCS object will be updated through the
// telemetry link. All operations will take place asynchronously
// and the following call will return immediately.
AttitudeActualSet(&data);
// Since this module executes at fixed time intervals, we need to
// block the task until it is time for the next update.
// The settings field is in ms, to convert to RTOS ticks we need
// to divide by portTICK_RATE_MS.
vTaskDelay( settings.UpdatePeriod / portTICK_RATE_MS );
}
}

11
flight/OpenPilot.posix/System/pios_board.c
View File

@ -76,10 +76,12 @@ void PIOS_Board_Init(void) {
/* MicroSD Interface
*
* NOTE: Leave this declared as const static data so that it ends up in the
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_sdcard_irq_handler(void);
void DMA1_Channel2_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
void DMA1_Channel3_IRQHandler() __attribute__ ((alias ("PIOS_SPI_sdcard_irq_handler")));
const struct pios_spi_cfg pios_spi_sdcard_cfg = {
.regs = SPI1,
.init = {
@ -172,10 +174,12 @@ const struct pios_spi_cfg pios_spi_sdcard_cfg = {
/* AHRS Interface
*
* NOTE: Leave this declared as const static data so that it ends up in the
* NOTE: Leave this declared as const data so that it ends up in the
* .rodata section (ie. Flash) rather than in the .bss section (RAM).
*/
void PIOS_SPI_ahrs_irq_handler(void);
void DMA1_Channel4_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
void DMA1_Channel5_IRQHandler() __attribute__ ((alias ("PIOS_SPI_ahrs_irq_handler")));
const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.regs = SPI2,
.init = {
@ -189,6 +193,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.SPI_CPHA = SPI_CPHA_2Edge,
.SPI_BaudRatePrescaler = 7 << 3, /* Maximum divider (ie. slowest clock rate) */
},
.use_crc = TRUE,
.dma = {
.ahb_clk = RCC_AHBPeriph_DMA1,
@ -253,7 +258,7 @@ const struct pios_spi_cfg pios_spi_ahrs_cfg = {
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_50MHz,
.GPIO_Mode = GPIO_Mode_IPU,
.GPIO_Mode = GPIO_Mode_IN_FLOATING,
},
},
.mosi = {

102
flight/OpenPilot.posix/UAVObjects/ahrsstatus.c Normal file
View File

@ -0,0 +1,102 @@
/**
******************************************************************************
*
* @file ahrsstatus.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AhrsStatus object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: ahrsstatus.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 "ahrsstatus.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t AhrsStatusInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(AHRSSTATUS_OBJID, AHRSSTATUS_NAME, AHRSSTATUS_METANAME, 0,
AHRSSTATUS_ISSINGLEINST, AHRSSTATUS_ISSETTINGS, AHRSSTATUS_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
AhrsStatusData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AhrsStatusData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle AhrsStatusHandle()
{
return handle;
}

102
flight/OpenPilot.posix/UAVObjects/headingactual.c Normal file
View File

@ -0,0 +1,102 @@
/**
******************************************************************************
*
* @file headingactual.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the HeadingActual object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: headingactual.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 "headingactual.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t HeadingActualInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(HEADINGACTUAL_OBJID, HEADINGACTUAL_NAME, HEADINGACTUAL_METANAME, 0,
HEADINGACTUAL_ISSINGLEINST, HEADINGACTUAL_ISSETTINGS, HEADINGACTUAL_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
HeadingActualData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(HeadingActualData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 500;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle HeadingActualHandle()
{
return handle;
}

74
flight/OpenPilot.posix/UAVObjects/inc/ahrsstatus.h Normal file
View File

@ -0,0 +1,74 @@
/**
******************************************************************************
*
* @file ahrsstatus.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AhrsStatus object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: ahrsstatus.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 AHRSSTATUS_H
#define AHRSSTATUS_H
// Object constants
#define AHRSSTATUS_OBJID 3344048156U
#define AHRSSTATUS_NAME "AhrsStatus"
#define AHRSSTATUS_METANAME "AhrsStatusMeta"
#define AHRSSTATUS_ISSINGLEINST 1
#define AHRSSTATUS_ISSETTINGS 0
#define AHRSSTATUS_NUMBYTES sizeof(AhrsStatusData)
// Object access macros
#define AhrsStatusGet(dataOut) UAVObjGetData(AhrsStatusHandle(), dataOut)
#define AhrsStatusSet(dataIn) UAVObjSetData(AhrsStatusHandle(), dataIn)
#define AhrsStatusInstGet(instId, dataOut) UAVObjGetInstanceData(AhrsStatusHandle(), instId, dataOut)
#define AhrsStatusInstSet(instId, dataIn) UAVObjSetInstanceData(AhrsStatusHandle(), instId, dataIn)
#define AhrsStatusConnectQueue(queue) UAVObjConnectQueue(AhrsStatusHandle(), queue, EV_MASK_ALL_UPDATES)
#define AhrsStatusConnectCallback(cb) UAVObjConnectCallback(AhrsStatusHandle(), cb, EV_MASK_ALL_UPDATES)
#define AhrsStatusCreateInstance() UAVObjCreateInstance(AhrsStatusHandle())
#define AhrsStatusRequestUpdate() UAVObjRequestUpdate(AhrsStatusHandle())
#define AhrsStatusRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AhrsStatusHandle(), instId)
#define AhrsStatusUpdated() UAVObjUpdated(AhrsStatusHandle())
#define AhrsStatusInstUpdated(instId) UAVObjUpdated(AhrsStatusHandle(), instId)
#define AhrsStatusGetMetadata(dataOut) UAVObjGetMetadata(AhrsStatusHandle(), dataOut)
#define AhrsStatusSetMetadata(dataIn) UAVObjSetMetadata(AhrsStatusHandle(), dataIn)
// Object data
typedef struct {
uint8_t SerialNumber[25];
} __attribute__((packed)) AhrsStatusData;
// Field information
// Field SerialNumber information
/* Number of elements for field SerialNumber */
#define AHRSSTATUS_SERIALNUMBER_NUMELEM 25
// Generic interface functions
int32_t AhrsStatusInitialize();
UAVObjHandle AhrsStatusHandle();
#endif // AHRSSTATUS_H

4
flight/OpenPilot.posix/UAVObjects/inc/attitudeactual.h
View File

@ -33,7 +33,7 @@
#define ATTITUDEACTUAL_H
// Object constants
#define ATTITUDEACTUAL_OBJID 1730350400U
#define ATTITUDEACTUAL_OBJID 4233858292U
#define ATTITUDEACTUAL_NAME "AttitudeActual"
#define ATTITUDEACTUAL_METANAME "AttitudeActualMeta"
#define ATTITUDEACTUAL_ISSINGLEINST 1
@ -57,7 +57,6 @@
// Object data
typedef struct {
uint32_t seq;
float q1;
float q2;
float q3;
@ -69,7 +68,6 @@ typedef struct {
} __attribute__((packed)) AttitudeActualData;
// Field information
// Field seq information
// Field q1 information
// Field q2 information
// Field q3 information

78
flight/OpenPilot.posix/UAVObjects/inc/headingactual.h Normal file
View File

@ -0,0 +1,78 @@
/**
******************************************************************************
*
* @file headingactual.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the HeadingActual object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: headingactual.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 HEADINGACTUAL_H
#define HEADINGACTUAL_H
// Object constants
#define HEADINGACTUAL_OBJID 2921442332U
#define HEADINGACTUAL_NAME "HeadingActual"
#define HEADINGACTUAL_METANAME "HeadingActualMeta"
#define HEADINGACTUAL_ISSINGLEINST 1
#define HEADINGACTUAL_ISSETTINGS 0
#define HEADINGACTUAL_NUMBYTES sizeof(HeadingActualData)
// Object access macros
#define HeadingActualGet(dataOut) UAVObjGetData(HeadingActualHandle(), dataOut)
#define HeadingActualSet(dataIn) UAVObjSetData(HeadingActualHandle(), dataIn)
#define HeadingActualInstGet(instId, dataOut) UAVObjGetInstanceData(HeadingActualHandle(), instId, dataOut)
#define HeadingActualInstSet(instId, dataIn) UAVObjSetInstanceData(HeadingActualHandle(), instId, dataIn)
#define HeadingActualConnectQueue(queue) UAVObjConnectQueue(HeadingActualHandle(), queue, EV_MASK_ALL_UPDATES)
#define HeadingActualConnectCallback(cb) UAVObjConnectCallback(HeadingActualHandle(), cb, EV_MASK_ALL_UPDATES)
#define HeadingActualCreateInstance() UAVObjCreateInstance(HeadingActualHandle())
#define HeadingActualRequestUpdate() UAVObjRequestUpdate(HeadingActualHandle())
#define HeadingActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(HeadingActualHandle(), instId)
#define HeadingActualUpdated() UAVObjUpdated(HeadingActualHandle())
#define HeadingActualInstUpdated(instId) UAVObjUpdated(HeadingActualHandle(), instId)
#define HeadingActualGetMetadata(dataOut) UAVObjGetMetadata(HeadingActualHandle(), dataOut)
#define HeadingActualSetMetadata(dataIn) UAVObjSetMetadata(HeadingActualHandle(), dataIn)
// Object data
typedef struct {
int16_t raw[3];
float heading;
} __attribute__((packed)) HeadingActualData;
// Field information
// Field raw information
/* Array element names for field raw */
typedef enum { HEADINGACTUAL_RAW_X=0, HEADINGACTUAL_RAW_Y=1, HEADINGACTUAL_RAW_Z=2, } HeadingActualrawElem;
/* Number of elements for field raw */
#define HEADINGACTUAL_RAW_NUMELEM 3
// Field heading information
// Generic interface functions
int32_t HeadingActualInitialize();
UAVObjHandle HeadingActualHandle();
#endif // HEADINGACTUAL_H

8
flight/OpenPilot.posix/UAVObjects/inc/systemalarms.h
View File

@ -33,7 +33,7 @@
#define SYSTEMALARMS_H
// Object constants
#define SYSTEMALARMS_OBJID 2311311520U
#define SYSTEMALARMS_OBJID 2311311584U
#define SYSTEMALARMS_NAME "SystemAlarms"
#define SYSTEMALARMS_METANAME "SystemAlarmsMeta"
#define SYSTEMALARMS_ISSINGLEINST 1
@ -57,7 +57,7 @@
// Object data
typedef struct {
uint8_t Alarm[9];
uint8_t Alarm[10];
} __attribute__((packed)) SystemAlarmsData;
@ -66,9 +66,9 @@ typedef struct {
/* Enumeration options for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3, } SystemAlarmsAlarmOptions;
/* Array element names for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, } SystemAlarmsAlarmElem;
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, SYSTEMALARMS_ALARM_AHRSCOMMS=9, } SystemAlarmsAlarmElem;
/* Number of elements for field Alarm */
#define SYSTEMALARMS_ALARM_NUMELEM 9
#define SYSTEMALARMS_ALARM_NUMELEM 10
// Generic interface functions

4
flight/OpenPilot.posix/UAVObjects/uavobjectsinit.c
View File

@ -31,6 +31,7 @@
#include "actuatorcommand.h"
#include "actuatordesired.h"
#include "actuatorsettings.h"
#include "ahrsstatus.h"
#include "altitudeactual.h"
#include "attitudeactual.h"
#include "attitudedesired.h"
@ -41,6 +42,7 @@
#include "flightbatterystate.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "headingactual.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "objectpersistence.h"
@ -61,6 +63,7 @@ void UAVObjectsInitializeAll()
ActuatorCommandInitialize();
ActuatorDesiredInitialize();
ActuatorSettingsInitialize();
AhrsStatusInitialize();
AltitudeActualInitialize();
AttitudeActualInitialize();
AttitudeDesiredInitialize();
@ -71,6 +74,7 @@ void UAVObjectsInitializeAll()
FlightBatteryStateInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
HeadingActualInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
ObjectPersistenceInitialize();