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Code Issues Releases Activity

HWSettings: Allow late Initialization and Start of Modules as defined in Makefile(available modules) and UAVObject(actually started modules)

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This commit is contained in:
Corvus Corax 2011-08-20 01:24:06 +02:00
parent b75890fcd4
commit dfd301571a
9 changed files with 99 additions and 15 deletions
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32
flight/CopterControl/Makefile
View File

@ -64,8 +64,10 @@ endif
FLASH_TOOL = OPENOCD
OPTMODULES = CameraStab GPS
# List of modules to include
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP CameraStab
MODULES = ${OPTMODULES}
MODULES += Attitude Stabilization Actuator ManualControl FirmwareIAP
# Telemetry must be last to grab the optional modules
MODULES += Telemetry
@ -166,6 +168,7 @@ SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/gpsposition.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
@ -511,6 +514,19 @@ endif
endif
endif
gencode: ${OUTDIR}/InitOptMods.h
# this is supposed to be standard function, but apparently it is not
uc = $(subst a,A,$(subst b,B,$(subst c,C,$(subst d,D,$(subst e,E,$(subst f,F,$(subst g,G,$(subst h,H,$(subst i,I,$(subst j,J,$(subst k,K,$(subst l,L,$(subst m,M,$(subst n,N,$(subst o,O,$(subst p,P,$(subst q,Q,$(subst r,R,$(subst s,S,$(subst t,T,$(subst u,U,$(subst v,V,$(subst w,W,$(subst x,X,$(subst y,Y,$(subst z,Z,$1))))))))))))))))))))))))))
${OUTDIR}/InitOptMods.h:
@echo ${quote}${foreach MOD, ${OPTMODULES}, int32_t ${MOD}Initialize(); }${quote} > ${OUTDIR}/InitOptMods.h
@echo ${quote}${foreach MOD, ${OPTMODULES}, int32_t ${MOD}Start(); }${quote} >> ${OUTDIR}/InitOptMods.h
@echo ${quote}#define MODULE_INITIALISE_OPTIONAL(list) \${quote} >> ${OUTDIR}/InitOptMods.h
@echo ${quote}${foreach MOD, ${OPTMODULES}, OPTMODULE_INIT(list, $(call uc, ${MOD}), ${MOD});}${quote} >> ${OUTDIR}/InitOptMods.h
@echo ${quote}#define MODULE_TASKCREATE_OPTIONAL(list) \${quote} >> ${OUTDIR}/InitOptMods.h
@echo ${quote}${foreach MOD, ${OPTMODULES}, OPTMODULE_START(list, $(call uc, ${MOD}), ${MOD});}${quote} >> ${OUTDIR}/InitOptMods.h
# Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
@ -553,13 +569,13 @@ $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISI
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
sym: $(OUTDIR)/$(TARGET).sym
hex: $(OUTDIR)/$(TARGET).hex
bin: $(OUTDIR)/$(TARGET).bin
bino: $(OUTDIR)/$(TARGET).bin.o
opfw: $(OUTDIR)/$(TARGET).opfw
elf: gencode $(OUTDIR)/$(TARGET).elf
lss: gencode $(OUTDIR)/$(TARGET).lss
sym: gencode $(OUTDIR)/$(TARGET).sym
hex: gencode $(OUTDIR)/$(TARGET).hex
bin: gencode $(OUTDIR)/$(TARGET).bin
bino: gencode $(OUTDIR)/$(TARGET).bin.o
opfw: gencode $(OUTDIR)/$(TARGET).opfw
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))

5
flight/CopterControl/System/coptercontrol.c
View File

@ -36,7 +36,6 @@
#include "openpilot.h"
#include "uavobjectsinit.h"
#include "hwsettings.h"
#include "camerastab.h"
#include "systemmod.h"
/* Task Priorities */
@ -78,9 +77,7 @@ int main()
* it grows */
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
CameraStabInitialize();
}
MODULE_INITIALISE_OPTIONAL(optionalModules)
/* swap the stack to use the IRQ stack */
Stack_Change();

6
flight/Modules/CameraStab/camerastab.c
View File

@ -84,6 +84,12 @@ int32_t CameraStabInitialize(void)
return 0;
}
/* stub: module has no module thread */
int32_t CameraStabStart(void)
{
return 0;
}
static void attitudeUpdated(UAVObjEvent* ev)
{
if (ev->obj != AttitudeActualHandle())

6
flight/Modules/System/systemmod.c
View File

@ -46,6 +46,7 @@
#include "systemsettings.h"
#include "i2cstats.h"
#include "taskinfo.h"
#include "hwsettings.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "pios_config.h"
@ -135,6 +136,11 @@ static void systemTask(void *parameters)
/* create all modules thread */
MODULE_TASKCREATE_ALL
/* create optional module threads */
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
MODULE_TASKCREATE_OPTIONAL(optionalModules)
// Initialize vars
idleCounter = 0;
idleCounterClear = 0;

35
flight/OpenPilot/System/inc/InitOptMods.h Normal file
View File

@ -0,0 +1,35 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
* @file InitOptMods.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Main OpenPilot header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* This file is a stub since no such file is autogenerated yet.
* This architecture does not use optional modules yet.
*/
#define MODULE_INITIALISE_OPTIONAL(list)
#define MODULE_TASKCREATE_OPTIONAL(list)

12
flight/PiOS.posix/inc/pios_initcall.h
View File

@ -31,6 +31,8 @@
#ifndef PIOS_INITCALL_H
#define PIOS_INITCALL_H
#include "InitOptMods.h"
/**
* Just a stub define to make things compile.
* Automatically link based initialization currently doesn't work
@ -64,6 +66,16 @@ extern void StartModules();
/* Initialize the system thread */ \
SystemModInitialize();}
#define OPTMODULE_INIT(list,mod) \
if(list[HWSETTINGS_OPTIONALMODULES_##mod##] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
mod##Initialize(); \
}
#define OPTMODULE_START(list,mod) \
if(list[HWSETTINGS_OPTIONALMODULES_##mod##] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
mod##Start(); \
}
#endif /* PIOS_INITCALL_H */
/**

12
flight/PiOS/inc/pios_initcall.h
View File

@ -31,6 +31,8 @@
#ifndef PIOS_INITCALL_H
#define PIOS_INITCALL_H
#include "InitOptMods.h"
/*
* This implementation is heavily based on the Linux Kernel initcall
* infrastructure:
@ -77,6 +79,16 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
if (fn->fn_tinit) \
(fn->fn_tinit)(); }
#define OPTMODULE_INIT(list,moduc,mod) \
if(list[ HWSETTINGS_OPTIONALMODULES_##moduc ] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
mod##Initialize(); \
}
#define OPTMODULE_START(list,moduc,mod) \
if(list[ HWSETTINGS_OPTIONALMODULES_##moduc ] == HWSETTINGS_OPTIONALMODULES_ENABLED) { \
mod##Start(); \
}
#endif /* PIOS_INITCALL_H */
/**

4
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -87,7 +87,7 @@ void ConfigCameraStabilizationWidget::applySettings()
// Enable or disable the settings
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] =
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] =
m_camerastabilization->enableCameraStabilization->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED :
HwSettings::OPTIONALMODULES_DISABLED;
@ -177,7 +177,7 @@ void ConfigCameraStabilizationWidget::refreshValues()
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
m_camerastabilization->enableCameraStabilization->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] ==
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] ==
HwSettings::OPTIONALMODULES_ENABLED);
CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -3,7 +3,7 @@
<description>Selection of optional hardware configurations.</description>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>