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

flight/CopterControl/Makefile

@@ -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
+elf: gencode $(OUTDIR)/$(TARGET).elf
-lss: $(OUTDIR)/$(TARGET).lss
+lss: gencode $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
+sym: gencode $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
+hex: gencode $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
+bin: gencode $(OUTDIR)/$(TARGET).bin
-bino: $(OUTDIR)/$(TARGET).bin.o
+bino: gencode $(OUTDIR)/$(TARGET).bin.o
-opfw: $(OUTDIR)/$(TARGET).opfw
+opfw: gencode $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))

flight/CopterControl/System/coptercontrol.c

@@ -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) {
+	MODULE_INITIALISE_OPTIONAL(optionalModules)
-		CameraStabInitialize();
-	}
 
 	/* swap the stack to use the IRQ stack */
 	Stack_Change();

flight/Modules/CameraStab/camerastab.c

@@ -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())

flight/Modules/System/systemmod.c

@@ -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;

flight/OpenPilot/System/inc/InitOptMods.h

@@ -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)

flight/PiOS.posix/inc/pios_initcall.h

@@ -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 */
 
 /**

flight/PiOS/inc/pios_initcall.h

@@ -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 */
 
 /**

ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp

@@ -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());

shared/uavobjectdefinition/hwsettings.xml

@@ -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"/>