Merge branch 'revo-next' into corvuscorax/new_navigation

Makefile

@@ -602,7 +602,7 @@ define EF_TEMPLATE
 .PHONY: ef_$(1)
 ef_$(1): ef_$(1)_bin
 
-ef_$(1)_%: bl_$(1)_bin fw_$(1)_bin
+ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
 	$(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep
 	$(V1) cd $(ROOT_DIR)/flight/EntireFlash && \
 		$$(MAKE) -r --no-print-directory \
@@ -646,10 +646,15 @@ BL_BOARDS  := $(ALL_BOARDS)
 BU_BOARDS  := $(ALL_BOARDS)
 EF_BOARDS  := $(ALL_BOARDS)
 
-# FIXME: The INS build doesn't have a bootloader or bootloader
+# FIXME: The BU image doesn't work for F4 boards so we need to
-#        updater yet so we need to filter them out to prevent errors.
+#        filter them out to prevent errors.
-BL_BOARDS  := $(filter-out ins, $(BL_BOARDS))
+BU_BOARDS  := $(filter-out revolution, $(BU_BOARDS))
-BU_BOARDS  := $(filter-out ins, $(BU_BOARDS))
+
+# SimPosix doesn't have a BL, BU or EF target so we need to
+# filter them out to prevent errors on the all_flight target.
+BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
+BU_BOARDS  := $(filter-out simposix, $(BU_BOARDS))
+EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
 
 # Generate the targets for whatever boards are left in each list
 FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
@@ -670,7 +675,7 @@ all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
 all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 
 .PHONY: all_ef all_ef_clean
-all_ef:        $(EF_TARGETS))
+all_ef:        $(EF_TARGETS)
 all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
 
 .PHONY: all_flight all_flight_clean

flight/Bootloaders/Revolution/Makefile

@@ -81,6 +81,7 @@ SRC += $(PIOSCOMMON)/pios_board_info.c
 SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
+SRC += $(PIOSCOMMON)/pios_usb_util.c
 
 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
 # use file-extension c for "c-only"-files

flight/Bootloaders/Revolution/inc/pios_usb_board_data.h

@@ -39,6 +39,7 @@
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_BL)
+#define PIOS_USB_BOARD_SN_SUFFIX "+BL"
 
 /*
  * The bootloader uses a simplified report structure

flight/Bootloaders/Revolution/pios_usb_board_data.c

@@ -31,6 +31,7 @@
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
 #include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
 #include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
+#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[22] = {
 	sizeof(usb_product_id),
@@ -47,40 +48,15 @@ static const uint8_t usb_product_id[22] = {
 	'n', 0,
 };
 
-static uint8_t usb_serial_number[52] = {
+static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
 	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),
+	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
 };
 
 static const uint8_t usb_vendor_id[28] = {
@@ -104,11 +80,13 @@ static const uint8_t usb_vendor_id[28] = {
 int32_t PIOS_USB_BOARD_DATA_Init(void)
 {
 	/* Load device serial number into serial number string */
-	uint8_t sn[25];
+	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
 	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];
+	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	}
+	uint8_t * utf8 = &(usb_serial_number[2]);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
 
 	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));

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld

@@ -98,15 +98,8 @@ SECTIONS
         _init_stack_top = . - 4 ;
     } > SRAM
 
-    
+    _eram = ORIGIN(SRAM) + LENGTH(SRAM) ;
-    _free_ram = . ;
+    _ebss = _eram;
-    .free_ram (NOLOAD) :
-    {
-	. = ORIGIN(SRAM) + LENGTH(SRAM) - _free_ram ;
-        /* This is used by the startup in order to initialize the .bss section */
-	_ebss = . ;
-	_eram = . ;
-    } > SRAM
 
     /* keep the heap section at the end of the SRAM
      * this will allow to claim the remaining bytes not used

flight/PiOS/STM32F4xx/pios_adc.c

@@ -45,6 +45,8 @@
 #include "pios.h"
 #include <pios_adc_priv.h>
 
+#if defined(PIOS_INCLUDE_ADC)
+
 #if !defined(PIOS_ADC_MAX_SAMPLES)
 #define PIOS_ADC_MAX_SAMPLES 0
 #endif
@@ -465,6 +467,8 @@ void PIOS_ADC_DMA_Handler(void)
 #endif
 }
 
+#endif /* PIOS_INCLUDE_ADC */
+
 /** 
  * @}
  * @}

flight/PipXtreme/Makefile

@@ -53,7 +53,7 @@ USE_GPS ?= NO
 USE_I2C ?= YES
 
 # Set to YES when using Code Sourcery toolchain
-CODE_SOURCERY ?= YES
+CODE_SOURCERY ?= NO
 
 # Remove command is different for Code Sourcery on Windows
 ifeq ($(CODE_SOURCERY), YES)

flight/PipXtreme/System/pios_board.c

@@ -190,6 +190,10 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_USB_HID)
 
+	if (!usb_hid_present) {
+		PIOS_Assert(0);
+	}
+
 	/* Configure the usb HID port */
 #if defined(PIOS_INCLUDE_COM)
 	{

flight/Revolution/Makefile

@@ -159,6 +159,7 @@ SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
+SRC += $(PIOSCOMMON)/pios_usb_util.c
 
 include ./UAVObjects.inc
 SRC += $(UAVOBJSRC)

flight/Revolution/System/inc/pios_usb_board_data.h

@@ -41,5 +41,6 @@
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_FW)
+#define PIOS_USB_BOARD_SN_SUFFIX "+FW"
 
 #endif	/* PIOS_USB_BOARD_DATA_H */

flight/Revolution/System/pios_board.c

@@ -27,15 +27,21 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <pios.h>
+/* Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.  
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "board_hw_defs.c"
 
+#include <pios.h>
 #include <openpilot.h>
 #include <uavobjectsinit.h>
 #include "hwsettings.h"
 #include "manualcontrolsettings.h"
 
-#include "board_hw_defs.c"
-
 /**
  * Sensor configurations 
  */
@@ -413,28 +419,18 @@ void PIOS_Board_Init(void) {
 	bool usb_hid_present = false;
 	bool usb_cdc_present = false;
 
-	uint8_t hwsettings_usb_devicetype;
+#if defined(PIOS_INCLUDE_USB_CDC)
-	HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
+	if (PIOS_USB_DESC_HID_CDC_Init()) {
-
-	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);
 	}
+	usb_hid_present = true;
+	usb_cdc_present = true;
+#else
+	if (PIOS_USB_DESC_HID_ONLY_Init()) {
+		PIOS_Assert(0);
+	}
+	usb_hid_present = true;
+#endif
 
 	uint32_t pios_usb_id;
 	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

flight/Revolution/System/pios_usb_board_data.c

@@ -31,6 +31,7 @@
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
 #include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
 #include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
+#include "pios_usb_util.h"	 /* PIOS_USB_UTIL_AsciiToUtf8 */
 
 static const uint8_t usb_product_id[22] = {
 	sizeof(usb_product_id),
@@ -47,40 +48,15 @@ static const uint8_t usb_product_id[22] = {
 	'n', 0,
 };
 
-static uint8_t usb_serial_number[52] = {
+static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN*2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1)*2] = {
 	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),
+	.bLangID = htousbs(USB_LANGID_ENGLISH_US),
 };
 
 static const uint8_t usb_vendor_id[28] = {
@@ -104,11 +80,13 @@ static const uint8_t usb_vendor_id[28] = {
 int32_t PIOS_USB_BOARD_DATA_Init(void)
 {
 	/* Load device serial number into serial number string */
-	uint8_t sn[25];
+	uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
 	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];
+	/* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
-	}
+	uint8_t * utf8 = &(usb_serial_number[2]);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
+	utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX)-1);
 
 	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));

flight/board_hw_defs/pipxtreme/board_hw_defs.c

@@ -1,4 +1,5 @@
 #include <pios_config.h>
+#include <pios_board_info.h>
 
 #if defined(PIOS_INCLUDE_LED)
 
@@ -51,6 +52,11 @@ static const struct pios_led_cfg pios_led_cfg = {
 	.num_leds = NELEMENTS(pios_leds),
 };
 
+const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
+{
+	return &pios_led_cfg;
+}
+
 #endif	/* PIOS_INCLUDE_LED */
 
 #if defined(PIOS_INCLUDE_SPI)

flight/board_hw_defs/revolution/board_hw_defs.c

@@ -27,6 +27,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include <pios_config.h>
+#include <pios_board_info.h>
 
 #if defined(PIOS_INCLUDE_LED)
 
@@ -63,6 +64,11 @@ static const struct pios_led_cfg pios_led_cfg = {
 	.num_leds = NELEMENTS(pios_leds),
 };
 
+const struct pios_led_cfg * PIOS_BOARD_HW_DEFS_GetLedCfg (uint32_t board_revision)
+{
+	return &pios_led_cfg;
+}
+
 #endif	/* PIOS_INCLUDE_LED */
 
 #if defined(PIOS_INCLUDE_SPI)