From 7e6e7bb391526de130301329fb2f9d03b9dc4fb7 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 12:19:48 -0500
Subject: [PATCH 1/8] OP-499 OP-216: Simple list of objects saved in flash to
 prevent objId collision.  Note, this will wipe ALL your settings.

---
 flight/PiOS/Common/pios_flashfs_objlist.c | 261 ++++++++++++++++++++++
 flight/PiOS/inc/pios_flashfs_objlist.h    |  37 +++
 2 files changed, 298 insertions(+)
 create mode 100644 flight/PiOS/Common/pios_flashfs_objlist.c
 create mode 100644 flight/PiOS/inc/pios_flashfs_objlist.h

diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
new file mode 100644
index 000000000..0b13a239a
--- /dev/null
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -0,0 +1,261 @@
+/**
+ ******************************************************************************
+ *
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
+ * @{
+ *
+ * @file       pios_flashfs_objlist.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      A file system for storing UAVObject in flash chip
+ * @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 "uavobjectmanager.h"
+
+// Private functions
+static int32_t PIOS_FLASHFS_EraseLocationHeader();
+static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
+static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
+
+// Private variables
+static int32_t numObjects = -1;
+
+// Private structures
+// Header for objects in the file system table
+struct objectHeader {
+	uint32_t objMagic;
+	uint32_t objId;
+	uint32_t instId;
+	uint32_t address;
+} __attribute__((packed));;
+
+struct fileHeader {
+	uint32_t id;
+	uint16_t instId;
+	uint16_t size;
+} __attribute__((packed));
+
+
+
+#define OBJ_MAGIC          0x3015AE71
+#define OBJECT_TABLE_START 0
+#define OBJECT_TABLE_END   0x00001000
+#define SECTOR_SIZE        0x00001000
+
+/**
+ * @brief Initialize the flash object setting FS
+ * @return 0 if success, -1 if failure
+ */
+int32_t PIOS_FLASHFS_Init()
+{
+	numObjects = 0;
+	bool found = true;
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+	
+	// Loop through header area while objects detect to count how many saved
+	while(found && addr < OBJECT_TABLE_END) {
+		// Read the instance data
+		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
+			return -1;
+		if(header.objMagic != OBJ_MAGIC) 
+			found = false;
+		else 
+			numObjects++;		
+	}	
+}
+
+/**
+ * @brief Erase the headers for all objects in the flash chip
+ * @return 0 if successful, -1 if not
+ */
+static int32_t PIOS_FLASHFS_EraseLocationHeader() 
+{
+	if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
+		return -1;
+	return 0;
+}
+
+/**
+ * @brief Get the address of an object
+ * @param obj UAVObjHandle for that object
+ * @parma instId Instance id for that object
+ * @return 0 if success, -1 if not found
+ */
+static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) 
+{
+	bool found = true;
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+		
+	// Loop through header area while objects detect to count how many saved
+	while(found && addr < OBJECT_TABLE_END) {
+		// Read the instance data
+		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+			return -1;
+		if(header.objMagic != OBJ_MAGIC) 
+			found = false;
+		else if (header.objId == objId && header.instId == instId)
+			break;
+	}
+	
+	if (found)
+		return header.address;
+}
+
+/**
+ * @brief Returns an address for a new object and creates entry into object table
+ * @param[in] obj Object handle for object to be saved
+ * @param[in] instId The instance id of object to be saved
+ * @return 0 if success or error code
+ * @retval -1 Object not found
+ * @retval -2 No room in object table 
+ * @retval -3 Unable to write entry into object table
+ * @retval -4 FS not initialized
+ */
+int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
+{
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+
+	if(numObjects < 0)
+		return -4;
+	
+	// Don't worry about max size of flash chip here, other code will catch that
+	header.objMagic = OBJ_MAGIC;
+	header.objId = objId;
+	header.instId = instId;
+	header.address = SECTOR_SIZE * numObjects;
+	
+	// No room for this header in object table
+	if((addr + sizeof(header)) > OBJECT_TABLE_END) 
+		return -2;		
+	
+	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -3;
+		
+	// This numObejcts value must stay consistent or there will be a break in the table
+	// and later the table will have bad values in it
+	numObjects++;	
+	return header.address;	
+}
+
+
+/**
+ * @brief Saves one object instance per sector
+ * @param[in] obj UAVObjHandle the object to save
+ * @param[in] instId The instance of the object to save
+ * @return 0 if success or -1 if failure
+ * @note This uses one sector on the flash chip per object so that no buffering in ram
+ * must be done when erasing the sector before a save
+ */
+int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) 
+{
+	uint32_t objId = UAVObjGetID(obj);
+
+	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
+	
+	// Object currently not saved
+	if(addr < 0) 
+		addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
+	
+	// Could not allocate a sector
+	if(addr < 0)
+		return -1;
+	
+	struct fileHeader header = {
+		.id = objId,
+		.instId = instId,
+		.size = UAVObjGetNumBytes(obj);
+	};
+	
+	uint32_t addr = (objEntry->id & FLASH_MASK);
+	PIOS_Flash_W25X_EraseSector(addr);
+
+	// Save header
+	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.	
+	PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
+		
+	// Save data
+	PIOS_Flash_W25X_WriteData(addr + sizeof(header), data,objEntry->numBytes);	
+}
+
+/**
+ * @brief Load one object instance per sector
+ * @param[in] obj UAVObjHandle the object to save
+ * @param[in] instId The instance of the object to save
+ * @return 0 if success or error code
+ * @retval -1 if object not in file table
+ * @retval -2 if loaded data instId or objId don't match
+ * @retval -3 if unable to retrieve instance data
+ * @note This uses one sector on the flash chip per object so that no buffering in ram
+ * must be done when erasing the sector before a save
+ */
+int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
+{
+	uint32_t objId = UAVObjGetID(obj);
+	
+	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
+		
+	// Object currently not saved
+	if(addr < 0) 
+		return -1;
+	
+	struct fileHeader header;
+	
+	// Load header
+	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.
+	PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
+	
+	if((header.id != objId) || (header.instId != instId))
+		return -2;
+	
+	// Read the instance data
+	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, objEntry->numBytes) != 0)
+		return -3
+}
+
+/**
+ * @brief Delete object from flash
+ * @param[in] obj UAVObjHandle the object to save
+ * @param[in] instId The instance of the object to save
+ * @return 0 if success or error code
+ * @retval -1 if object not in file table
+ * @retval -2 Erase failed
+ * @note To avoid buffering the file table (1k ram!) the entry in the file table 
+ * remains but destination sector is erased.  This will make the load fail as the 
+ * file header won't match the object.  At next save it goes back there.
+ */
+int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
+{
+	uint32_t objId = UAVObjGetID(obj);
+	
+	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
+	
+	// Object currently not saved
+	if(addr < 0) 
+		return -1;
+
+	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
+		return -2;
+}
\ No newline at end of file
diff --git a/flight/PiOS/inc/pios_flashfs_objlist.h b/flight/PiOS/inc/pios_flashfs_objlist.h
new file mode 100644
index 000000000..945df4068
--- /dev/null
+++ b/flight/PiOS/inc/pios_flashfs_objlist.h
@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ *
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
+ * @{
+ *
+ * @file       pios_flashfs_objlist.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      A file system for storing UAVObject in flash chip
+ * @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 "uavobjectmanager.h"
+
+int32_t PIOS_FLASHFS_Init();
+int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
+int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
+int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);
\ No newline at end of file

From 2087441006e2a98b52f827e1a7cf6bef04fa06ef Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 14:23:02 -0500
Subject: [PATCH 2/8] OP-216: Make the object manager use new flash fs for
 objects

---
 flight/CopterControl/Makefile                 |   1 +
 flight/CopterControl/System/pios_board.c      |   4 +-
 flight/PiOS/pios.h                            | 271 +++++++++---------
 .../OpenPilotOSX.xcodeproj/project.pbxproj    |   4 +
 flight/UAVObjects/uavobjectmanager.c          |  44 +--
 5 files changed, 149 insertions(+), 175 deletions(-)

diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index f499d549a..7c3895534 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -205,6 +205,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
 SRC += $(PIOSCOMMON)/pios_flash_w25x.c
 SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_com.c
diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 45164052f..c5943ca3c 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -678,8 +678,10 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 
-	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
+	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);	
 	PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
+	
+	PIOS_FLASHFS_Init();
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 	/* SPEKTRUM init must come before comms */
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index cbf2a2249..0fdb03570 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -1,135 +1,136 @@
-/**
- ******************************************************************************
- *
- * @file       pios.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Main PiOS header. 
- *                 - Central header for the project.
- * @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 PIOS_H
-#define PIOS_H
-
-/* PIOS Feature Selection */
-#include "pios_config.h"
-
-#if defined(PIOS_INCLUDE_FREERTOS)
-/* FreeRTOS Includes */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-#include "semphr.h"
-#endif
-
-/* C Lib Includes */
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdarg.h>
-#include <string.h>
-#include <math.h>
-
-/* STM32 Std Perf Lib */
-#include <stm32f10x.h>
-#include <stm32f10x_conf.h>
-
-#if defined(PIOS_INCLUDE_SDCARD)
-/* Dosfs Includes */
-#include <dosfs.h>
-
-/* Mass Storage Device Includes */
-#include <msd.h>
-#endif
-
-/* Generic initcall infrastructure */
-#include "pios_initcall.h"
-
-/* PIOS Board Specific Device Configuration */
-#include "pios_board.h"
-
-/* PIOS Hardware Includes (STM32F10x) */
-#include <pios_sys.h>
-#include <pios_delay.h>
-#include <pios_led.h>
-#include <pios_sdcard.h>
-#include <pios_usart.h>
-#include <pios_irq.h>
-#include <pios_adc.h>
-#include <pios_servo.h>
-#include <pios_i2c.h>
-#include <pios_spi.h>
-#include <pios_ppm.h>
-#include <pios_pwm.h>
-#include <pios_spektrum.h>
-#include <pios_usb_hid.h>
-#include <pios_debug.h>
-#include <pios_gpio.h>
-#if defined(PIOS_INCLUDE_EXTI)
-#include <pios_exti.h>
-#endif
-#include <pios_wdg.h>
-
-/* PIOS Hardware Includes (Common) */
-#include <pios_sdcard.h>
-#include <pios_com.h>
-#if defined(PIOS_INCLUDE_BMP085)
-#include <pios_bmp085.h>
-#endif
-#if defined(PIOS_INCLUDE_HCSR04)
-#include <pios_hcsr04.h>
-#endif
-#if defined(PIOS_INCLUDE_HMC5843)
-#include <pios_hmc5843.h>
-#endif
-#if defined(PIOS_INCLUDE_HMC5883)
-#include <pios_hmc5883.h>
-#endif
-#if defined(PIOS_INCLUDE_I2C_ESC)
-#include <pios_i2c_esc.h>
-#endif
-#if defined(PIOS_INCLUDE_IMU3000)
-#include <pios_imu3000.h>
-#endif
-#include <pios_iap.h>
-
-#if defined(PIOS_INCLUDE_ADXL345)
-#include <pios_adxl345.h>
-#endif
-
-#if defined(PIOS_INCLUDE_BMA180)
-#include <pios_bma180.h>
-#endif
-
-#if defined(PIOS_INCLUDE_FLASH)
-#include <pios_flash_w25x.h>
-#endif
-
-#if defined(PIOS_INCLUDE_BL_HELPER)
-#include <pios_bl_helper.h>
-#endif
-
-#if defined(PIOS_INCLUDE_USB)
-/* USB Libs */
-#include <usb_lib.h>
-#endif
-
-#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
-
-#endif /* PIOS_H */
+/**
+ ******************************************************************************
+ *
+ * @file       pios.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Main PiOS header. 
+ *                 - Central header for the project.
+ * @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 PIOS_H
+#define PIOS_H
+
+/* PIOS Feature Selection */
+#include "pios_config.h"
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+/* FreeRTOS Includes */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "semphr.h"
+#endif
+
+/* C Lib Includes */
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <string.h>
+#include <math.h>
+
+/* STM32 Std Perf Lib */
+#include <stm32f10x.h>
+#include <stm32f10x_conf.h>
+
+#if defined(PIOS_INCLUDE_SDCARD)
+/* Dosfs Includes */
+#include <dosfs.h>
+
+/* Mass Storage Device Includes */
+#include <msd.h>
+#endif
+
+/* Generic initcall infrastructure */
+#include "pios_initcall.h"
+
+/* PIOS Board Specific Device Configuration */
+#include "pios_board.h"
+
+/* PIOS Hardware Includes (STM32F10x) */
+#include <pios_sys.h>
+#include <pios_delay.h>
+#include <pios_led.h>
+#include <pios_sdcard.h>
+#include <pios_usart.h>
+#include <pios_irq.h>
+#include <pios_adc.h>
+#include <pios_servo.h>
+#include <pios_i2c.h>
+#include <pios_spi.h>
+#include <pios_ppm.h>
+#include <pios_pwm.h>
+#include <pios_spektrum.h>
+#include <pios_usb_hid.h>
+#include <pios_debug.h>
+#include <pios_gpio.h>
+#if defined(PIOS_INCLUDE_EXTI)
+#include <pios_exti.h>
+#endif
+#include <pios_wdg.h>
+
+/* PIOS Hardware Includes (Common) */
+#include <pios_sdcard.h>
+#include <pios_com.h>
+#if defined(PIOS_INCLUDE_BMP085)
+#include <pios_bmp085.h>
+#endif
+#if defined(PIOS_INCLUDE_HCSR04)
+#include <pios_hcsr04.h>
+#endif
+#if defined(PIOS_INCLUDE_HMC5843)
+#include <pios_hmc5843.h>
+#endif
+#if defined(PIOS_INCLUDE_HMC5883)
+#include <pios_hmc5883.h>
+#endif
+#if defined(PIOS_INCLUDE_I2C_ESC)
+#include <pios_i2c_esc.h>
+#endif
+#if defined(PIOS_INCLUDE_IMU3000)
+#include <pios_imu3000.h>
+#endif
+#include <pios_iap.h>
+
+#if defined(PIOS_INCLUDE_ADXL345)
+#include <pios_adxl345.h>
+#endif
+
+#if defined(PIOS_INCLUDE_BMA180)
+#include <pios_bma180.h>
+#endif
+
+#if defined(PIOS_INCLUDE_FLASH)
+#include <pios_flash_w25x.h>
+#include <pios_flashfs_objlist.h>
+#endif
+
+#if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_bl_helper.h>
+#endif
+
+#if defined(PIOS_INCLUDE_USB)
+/* USB Libs */
+#include <usb_lib.h>
+#endif
+
+#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
+
+#endif /* PIOS_H */
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 5dd95349b..7095dfad5 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -3171,6 +3171,8 @@
 		65FF4BE913791C3300146BE4 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
 		65FF4BEA13791C3300146BE4 /* op_dfu.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = op_dfu.c; sourceTree = "<group>"; };
 		65FF4BEB13791C3300146BE4 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
+		65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flashfs_objlist.c; sourceTree = "<group>"; };
+		65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_flashfs_objlist.h; sourceTree = "<group>"; };
 /* End PBXFileReference section */
 
 /* Begin PBXGroup section */
@@ -7657,6 +7659,7 @@
 				65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
 				6528CCB412E406B800CF5144 /* pios_adxl345.c */,
 				6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
+				65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
 			);
 			name = Common;
 			path = ../../PiOS/Common;
@@ -7681,6 +7684,7 @@
 				65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
 				65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
 				65E8F04011EFF25C00BBF654 /* pios_exti.h */,
+				65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
 				65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
 				65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
 				65E8F04311EFF25C00BBF654 /* pios_i2c.h */,
diff --git a/flight/UAVObjects/uavobjectmanager.c b/flight/UAVObjects/uavobjectmanager.c
index 50558d411..2d681ab3b 100644
--- a/flight/UAVObjects/uavobjectmanager.c
+++ b/flight/UAVObjects/uavobjectmanager.c
@@ -562,14 +562,6 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 	return 0;
 }
 
-struct fileHeader {
-	uint32_t id;
-	uint16_t instId;
-	uint16_t size;
-} __attribute__((packed));
-
-#define FLASH_MASK 0x001ff000  /* Select a sector */
-
 /**
  * Save the data of the specified object to the file system (SD card).
  * If the object contains multiple instances, all of them will be saved.
@@ -596,17 +588,8 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	if(instEntry->data == NULL)
 		return -1;
 	
-
-	struct fileHeader header = {
-		.id = objEntry->id,
-		.instId = instId,
-		.size = objEntry->numBytes
-	};
-
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-	PIOS_Flash_W25X_EraseSector(addr);
-	PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
-	PIOS_Flash_W25X_WriteData(addr + sizeof(header), instEntry->data,objEntry->numBytes);
+	if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
+		return -1;
 #endif	
 #if defined(PIOS_INCLUDE_SDCARD)
 	FILEINFO file;
@@ -758,19 +741,8 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	if(instEntry->data == NULL)
 		return -1;
 	
-	struct fileHeader header;
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-
-	PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
-	
-	if(header.id != objEntry->id)
-		return -1;
-	
-	// Read the instance data
-	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header) ,instEntry->data, objEntry->numBytes) != 0)
-		return -1;
-		
-	// Fire event
+	// Fire event on success
+	if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) == 0)
 	sendEvent(objEntry, instId, EV_UNPACKED);		
 #endif
 	
@@ -837,13 +809,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
 {
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
-	
-	if(objEntry == NULL)
-		return -1;
-		
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-	PIOS_Flash_W25X_EraseSector(addr);
+	PIOS_FLASHFS_ObjDelete(obj, instId);
 #endif	
 #if defined(PIOS_INCLUDE_SDCARD)
 	ObjectList* objEntry;

From 0438f5cf664b319c8a109d93ee08cdc651dfd2fc Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 14:23:23 -0500
Subject: [PATCH 3/8] OP-216: Check for existence of file table in flash and
 wipe sector and create it if missing.

---
 flight/PiOS/Common/pios_flashfs_objlist.c | 50 +++++++++++++++++------
 1 file changed, 37 insertions(+), 13 deletions(-)

diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
index 0b13a239a..5e403599b 100644
--- a/flight/PiOS/Common/pios_flashfs_objlist.c
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -33,7 +33,7 @@
 #include "uavobjectmanager.h"
 
 // Private functions
-static int32_t PIOS_FLASHFS_EraseLocationHeader();
+static int32_t PIOS_FLAHFS_CleabObjectTableHeader();
 static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
 static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
 
@@ -56,9 +56,9 @@ struct fileHeader {
 } __attribute__((packed));
 
 
-
+#define OBJECT_TABLE_MAGIC 0x85FB3C33
 #define OBJ_MAGIC          0x3015AE71
-#define OBJECT_TABLE_START 0
+#define OBJECT_TABLE_START 0x00000010
 #define OBJECT_TABLE_END   0x00001000
 #define SECTOR_SIZE        0x00001000
 
@@ -68,11 +68,21 @@ struct fileHeader {
  */
 int32_t PIOS_FLASHFS_Init()
 {
-	numObjects = 0;
+	
+	// Check for valid object table or create one
+	uint32_t object_table_magic;
+	if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
+		return -1;	
+	if(object_table_magic != OBJECT_TABLE_MAGIC) {
+		if(PIOS_FLAHFS_CleabObjectTableHeader() < 0)
+			return -1;
+	}
+	
 	bool found = true;
 	int32_t addr = OBJECT_TABLE_START;
 	struct objectHeader header;
-	
+	numObjects = 0;
+		
 	// Loop through header area while objects detect to count how many saved
 	while(found && addr < OBJECT_TABLE_END) {
 		// Read the instance data
@@ -82,17 +92,24 @@ int32_t PIOS_FLASHFS_Init()
 			found = false;
 		else 
 			numObjects++;		
-	}	
+	}
+	
+	return 0;
 }
 
 /**
  * @brief Erase the headers for all objects in the flash chip
  * @return 0 if successful, -1 if not
  */
-static int32_t PIOS_FLASHFS_EraseLocationHeader() 
+static int32_t PIOS_FLAHFS_CleabObjectTableHeader() 
 {
 	if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
 		return -1;
+
+	uint32_t object_table_magic = OBJECT_TABLE_MAGIC;
+	if (PIOS_Flash_W25X_WriteData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
+		return -1;
+
 	return 0;
 }
 
@@ -100,7 +117,7 @@ static int32_t PIOS_FLASHFS_EraseLocationHeader()
  * @brief Get the address of an object
  * @param obj UAVObjHandle for that object
  * @parma instId Instance id for that object
- * @return 0 if success, -1 if not found
+ * @return address if successful, -1 if not found
  */
 static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) 
 {
@@ -121,6 +138,8 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
 	
 	if (found)
 		return header.address;
+	
+	return -1;
 }
 
 /**
@@ -186,10 +205,9 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	struct fileHeader header = {
 		.id = objId,
 		.instId = instId,
-		.size = UAVObjGetNumBytes(obj);
+		.size = UAVObjGetNumBytes(obj)
 	};
 	
-	uint32_t addr = (objEntry->id & FLASH_MASK);
 	PIOS_Flash_W25X_EraseSector(addr);
 
 	// Save header
@@ -197,7 +215,9 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
 		
 	// Save data
-	PIOS_Flash_W25X_WriteData(addr + sizeof(header), data,objEntry->numBytes);	
+	PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj));	
+	
+	return 0;
 }
 
 /**
@@ -231,8 +251,10 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 		return -2;
 	
 	// Read the instance data
-	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, objEntry->numBytes) != 0)
-		return -3
+	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+		return -3;
+	
+	return 0;
 }
 
 /**
@@ -258,4 +280,6 @@ int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
 
 	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
 		return -2;
+	
+	return 0;
 }
\ No newline at end of file

From c689d979615af353afac26fe25f0608f535ff18a Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 14:28:11 -0500
Subject: [PATCH 4/8] OP-216: Improved error handling

---
 flight/PiOS/Common/pios_flash_w25x.c      |  8 ++++++++
 flight/PiOS/Common/pios_flashfs_objlist.c | 22 ++++++++++++++--------
 2 files changed, 22 insertions(+), 8 deletions(-)

diff --git a/flight/PiOS/Common/pios_flash_w25x.c b/flight/PiOS/Common/pios_flash_w25x.c
index b1c602422..624f76ef8 100644
--- a/flight/PiOS/Common/pios_flash_w25x.c
+++ b/flight/PiOS/Common/pios_flash_w25x.c
@@ -222,6 +222,14 @@ int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
 	return 0;
 }
 
+/** 
+ * @brief Read data from a location in flash memory
+ * @param[in] addr Address in flash to write to
+ * @param[in] data Pointer to data to write from flash
+ * @param[in] len Length of data to write (max 256 bytes)
+ * @return Zero if success or error code
+ * @retval -1 Unable to claim SPI bus
+ */
 int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
 {
 	if(PIOS_Flash_W25X_ClaimBus() == -1)
diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
index 5e403599b..4f39125db 100644
--- a/flight/PiOS/Common/pios_flashfs_objlist.c
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -208,14 +208,18 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 		.size = UAVObjGetNumBytes(obj)
 	};
 	
-	PIOS_Flash_W25X_EraseSector(addr);
+	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
+		return -2;
 
 	// Save header
 	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.	
-	PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
+	
+	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -3;
 		
 	// Save data
-	PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj));	
+	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+		return -4;
 	
 	return 0;
 }
@@ -226,8 +230,9 @@ int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data)
  * @param[in] instId The instance of the object to save
  * @return 0 if success or error code
  * @retval -1 if object not in file table
- * @retval -2 if loaded data instId or objId don't match
- * @retval -3 if unable to retrieve instance data
+ * @retval -2 if unable to retrieve object header
+ * @retval -3 if loaded data instId or objId don't match
+ * @retval -4 if unable to retrieve instance data
  * @note This uses one sector on the flash chip per object so that no buffering in ram
  * must be done when erasing the sector before a save
  */
@@ -245,14 +250,15 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	
 	// Load header
 	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.
-	PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
+	if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -2;
 	
 	if((header.id != objId) || (header.instId != instId))
-		return -2;
+		return -3;
 	
 	// Read the instance data
 	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
-		return -3;
+		return -4;
 	
 	return 0;
 }

From 934addfdcc64ad6f2d4d07cf739e158822bf3aa2 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 15:11:33 -0500
Subject: [PATCH 5/8] OP-216: Silly typo

---
 flight/UAVObjects/uavobjectmanager.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/flight/UAVObjects/uavobjectmanager.c b/flight/UAVObjects/uavobjectmanager.c
index 2d681ab3b..83af9ae13 100644
--- a/flight/UAVObjects/uavobjectmanager.c
+++ b/flight/UAVObjects/uavobjectmanager.c
@@ -742,8 +742,10 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 		return -1;
 	
 	// Fire event on success
-	if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) == 0)
+	if(PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
 	sendEvent(objEntry, instId, EV_UNPACKED);		
+	else
+		return -1;
 #endif
 	
 #if defined(PIOS_INCLUDE_SDCARD)

From d883c8af9f5473a5876bac17b7360a3114ef1a28 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 15:15:33 -0500
Subject: [PATCH 6/8] Whitespace and line endings

---
 flight/UAVObjects/uavobjectmanager.c | 3073 +++++++++++++-------------
 1 file changed, 1498 insertions(+), 1575 deletions(-)

diff --git a/flight/UAVObjects/uavobjectmanager.c b/flight/UAVObjects/uavobjectmanager.c
index 83af9ae13..ef1774628 100644
--- a/flight/UAVObjects/uavobjectmanager.c
+++ b/flight/UAVObjects/uavobjectmanager.c
@@ -1,1575 +1,1498 @@
-/**
- ******************************************************************************
- * @addtogroup UAVObjects OpenPilot UAVObjects
- * @{ 
- * @addtogroup UAV Object Manager 
- * @brief The core UAV Objects functions, most of which are wrappered by
- * autogenerated defines
- * @{ 
- *
- *
- * @file       uavobjectmanager.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Object manager library. This library holds a collection of all objects.
- *             It can be used by all modules/libraries to find an object reference.
- * @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"
-
-// Constants
-
-// Private types
-
-/**
- * List of event queues and the eventmask associated with the queue.
- */
-struct ObjectEventListStruct {
-	xQueueHandle queue;
-	UAVObjEventCallback cb;
-	int32_t eventMask;
-	struct ObjectEventListStruct* next;
-};
-typedef struct ObjectEventListStruct ObjectEventList;
-
-/**
- * List of object instances, holds the actual data structure and instance ID
- */
-struct ObjectInstListStruct {
-	void* data;
-	uint16_t instId;
-	struct ObjectInstListStruct* next;
-};
-typedef struct ObjectInstListStruct ObjectInstList;
-
-/**
- * List of objects registered in the object manager
- */
-struct ObjectListStruct {
-	uint32_t id; /** The object ID */
-	const char* name; /** The object name */
-	int8_t isMetaobject; /** Set to 1 if this is a metaobject */
-	int8_t isSingleInstance; /** Set to 1 if this object has a single instance */
-	int8_t isSettings; /** Set to 1 if this object is a settings object */
-	uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
-	uint16_t numInstances; /** Number of instances */
-	struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
-	ObjectInstList instances; /** List of object instances, instance 0 always exists */
-	ObjectEventList* events; /** Event queues registered on the object */
-	struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
-};
-typedef struct ObjectListStruct ObjectList;
-
-// Private functions
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
-static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
-static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
-static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
-
-#if defined(PIOS_INCLUDE_SDCARD)
-static void objectFilename(ObjectList* obj, uint8_t* filename);
-static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
-#endif
-
-// Private variables
-static ObjectList* objList;
-static xSemaphoreHandle mutex;
-static UAVObjMetadata defMetadata;
-static UAVObjStats stats;
-
-/**
- * Initialize the object manager
- * \return 0 Success
- * \return -1 Failure
- */
-int32_t UAVObjInitialize()
-{
-	// Initialize variables
-	objList = NULL;
-	memset(&stats, 0, sizeof(UAVObjStats));
-
-	// Create mutex
-	mutex = xSemaphoreCreateRecursiveMutex();
-	if (mutex == NULL)
-		return -1;
-
-	// Initialize default metadata structure (metadata of metaobjects)
-	defMetadata.access = ACCESS_READWRITE;
-	defMetadata.gcsAccess = ACCESS_READWRITE;
-	defMetadata.telemetryAcked = 1;
-	defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
-	defMetadata.telemetryUpdatePeriod = 0;
-	defMetadata.gcsTelemetryAcked = 1;
-	defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
-	defMetadata.gcsTelemetryUpdatePeriod = 0;
-	defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
-	defMetadata.loggingUpdatePeriod = 0;
-
-	// Done
-	return 0;
-}
-
-/**
- * Get the statistics counters
- * @param[out] statsOut The statistics counters will be copied there
- */
-void UAVObjGetStats(UAVObjStats* statsOut)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	memcpy(statsOut, &stats, sizeof(UAVObjStats));
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Clear the statistics counters
- */
-void UAVObjClearStats()
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	memset(&stats, 0, sizeof(UAVObjStats));
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Register and new object in the object manager.
- * \param[in] id Unique object ID
- * \param[in] name Object name
- * \param[in] nameName Metaobject name
- * \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
- * \param[in] isSingleInstance Is this a single instance or multi-instance object
- * \param[in] isSettings Is this a settings object
- * \param[in] numBytes Number of bytes of object data (for one instance)
- * \param[in] initCb Default field and metadata initialization function
- * \return Object handle, or NULL if failure.
- * \return
- */
-UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
-		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	ObjectList* metaObj;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Check that the object is not already registered
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->id == id)
-		{
-			// Already registered, ignore
-			xSemaphoreGiveRecursive(mutex);
-			return NULL;
-		}
-	}
-
-	// Create and append entry
-	objEntry = (ObjectList*)pvPortMalloc(sizeof(ObjectList));
-	if (objEntry == NULL)
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-	objEntry->id = id;
-	objEntry->name = name;
-	objEntry->isMetaobject = (int8_t)isMetaobject;
-	objEntry->isSingleInstance = (int8_t)isSingleInstance;
-	objEntry->isSettings = (int8_t)isSettings;
-	objEntry->numBytes = numBytes;
-	objEntry->events = NULL;
-	objEntry->numInstances = 0;
-	objEntry->instances.data = NULL;
-	objEntry->instances.instId = 0xFFFF;
-	objEntry->instances.next = NULL;	
-	objEntry->linkedObj = NULL; // will be set later
-	LL_APPEND(objList, objEntry);
-
-	// Create instance zero
-	instEntry = createInstance(objEntry, 0);
-	if ( instEntry == NULL )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-
-	// Create metaobject and update linkedObj
-	if (isMetaobject)
-	{
-		objEntry->linkedObj = NULL; // will be set later
-	}
-	else
-	{
-		// Create metaobject
-		metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
-		// Link two objects
-		objEntry->linkedObj = metaObj;
-		metaObj->linkedObj = objEntry;
-	}
-
-	// Initialize object fields and metadata to default values
-	if ( initCb != NULL )
-	{
-		initCb((UAVObjHandle)objEntry, 0);
-	}
-
-	// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
-	if ( !objEntry->isMetaobject )
-	{
-		UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
-	}
-
-	// If this is a settings object, attempt to load from SD card
-	if ( objEntry->isSettings )
-	{
-		UAVObjLoad( (UAVObjHandle)objEntry, 0 );
-	}
-
-	// Release lock
-	xSemaphoreGiveRecursive(mutex);
-	return (UAVObjHandle)objEntry;
-}
-
-/**
- * Retrieve an object from the list given its id
- * \param[in] The object ID
- * \return The object or NULL if not found.
- */
-UAVObjHandle UAVObjGetByID(uint32_t id)
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Look for object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->id == id)
-		{
-			// Release lock
-			xSemaphoreGiveRecursive(mutex);
-			// Done, object found
-			return (UAVObjHandle)objEntry;
-		}
-	}
-
-	// Object not found, release lock and return error
-	xSemaphoreGiveRecursive(mutex);
-	return NULL;
-}
-
-/**
- * Retrieve an object from the list given its name
- * \param[in] name The name of the object
- * \return The object or NULL if not found.
- */
-UAVObjHandle UAVObjGetByName(char* name)
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Look for object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
-		{
-			// Release lock
-			xSemaphoreGiveRecursive(mutex);
-			// Done, object found
-			return (UAVObjHandle)objEntry;
-		}
-	}
-
-	// Object not found, release lock and return error
-	xSemaphoreGiveRecursive(mutex);
-	return NULL;
-}
-
-/**
- * Get the object's ID
- * \param[in] obj The object handle
- * \return The object ID
- */
-uint32_t UAVObjGetID(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->id;
-}
-
-/**
- * Get the object's name
- * \param[in] obj The object handle
- * \return The object's name
- */
-const char* UAVObjGetName(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->name;
-}
-
-/**
- * Get the number of bytes of the object's data (for one instance)
- * \param[in] obj The object handle
- * \return The number of bytes
- */
-uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->numBytes;
-}
-
-/**
- * Get the object this object is linked to. For regular objects, the linked object
- * is the metaobject. For metaobjects the linked object is the parent object.
- * This function is normally only needed by the telemetry module.
- * \param[in] obj The object handle
- * \return The object linked object handle
- */
-UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
-{
-	return (UAVObjHandle)(((ObjectList*)obj)->linkedObj);
-}
-
-/**
- * Get the number of instances contained in the object.
- * \param[in] obj The object handle
- * \return The number of instances
- */
-uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
-{
-	uint32_t numInstances;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	numInstances = ((ObjectList*)obj)->numInstances;
-	xSemaphoreGiveRecursive(mutex);
-	return numInstances;
-}
-
-/**
- * Create a new instance in the object.
- * \param[in] obj The object handle
- * \return The instance ID or 0 if an error
- */
-uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Create new instance
-	objEntry = (ObjectList*)obj;
-	instEntry = createInstance(objEntry, objEntry->numInstances);
-	if ( instEntry == NULL )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Initialize instance data
-	if ( initCb != NULL )
-	{
-		initCb(obj, instEntry->instId);
-	}
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return instEntry->instId;
-}
-
-/**
- * Does this object contains a single instance or multiple instances?
- * \param[in] obj The object handle
- * \return True (1) if this is a single instance object
- */
-int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->isSingleInstance;
-}
-
-/**
- * Is this a metaobject?
- * \param[in] obj The object handle
- * \return True (1) if this is metaobject
- */
-int32_t UAVObjIsMetaobject(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->isMetaobject;
-}
-
-/**
- * Is this a settings object?
- * \param[in] obj The object handle
- * \return True (1) if this is a settings object
- */
-int32_t UAVObjIsSettings(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->isSettings;
-}
-
-/**
- * Unpack an object from a byte array
- * \param[in] obj The object handle
- * \param[in] instId The instance ID
- * \param[in] dataIn The byte array
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast handle to object
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance
-	instEntry = getInstance(objEntry, instId);
-
-	// If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
-	{
-		instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
-		{
-			// Error, unlock and return
-			xSemaphoreGiveRecursive(mutex);
-			return -1;
-		}
-	}
-
-	// Set the data
-	memcpy(instEntry->data, dataIn, objEntry->numBytes);
-
-	// Fire event
-	sendEvent(objEntry, instId, EV_UNPACKED);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Pack an object to a byte array
- * \param[in] obj The object handle
- * \param[in] instId The instance ID
- * \param[out] dataOut The byte array
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast handle to object
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		// Error, unlock and return
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Pack data
-	memcpy(dataOut, instEntry->data, objEntry->numBytes);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Save the data of the specified object instance to the file system (SD card).
- * The object will be appended and the file will not be closed.
- * The object data can be restored using the UAVObjLoad function.
- * @param[in] obj The object handle.
- * @param[in] instId The instance ID
- * @param[in] file File to append to
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
-{
-#if defined(PIOS_INCLUDE_SDCARD)
-	uint32_t bytesWritten;
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance information
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Write the object ID
-	PIOS_FWRITE(file,&objEntry->id,sizeof(objEntry->id),&bytesWritten);
-
-	// Write the instance ID
-	if (!objEntry->isSingleInstance)
-	{
-		PIOS_FWRITE(file,&instEntry->instId,sizeof(instEntry->instId),&bytesWritten);
-	}
-
-	// Write the data and check that the write was successful
-	PIOS_FWRITE(file,instEntry->data,objEntry->numBytes,&bytesWritten);
-	if ( bytesWritten != objEntry->numBytes )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Save the data of the specified object to the file system (SD card).
- * If the object contains multiple instances, all of them will be saved.
- * A new file with the name of the object will be created.
- * The object data can be restored using the UAVObjLoad function.
- * @param[in] obj The object handle.
- * @param[in] instId The instance ID
- * @param[in] file File to append to
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
-{
-#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
-	
-	if(objEntry == NULL)
-		return -1;
-	
-	ObjectInstList* instEntry = getInstance(objEntry, instId);
-	
-	if(instEntry == NULL)
-		return -1;
-	
-	if(instEntry->data == NULL)
-		return -1;
-	
-	if(PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
-		return -1;
-#endif	
-#if defined(PIOS_INCLUDE_SDCARD)
-	FILEINFO file;
-	ObjectList* objEntry;
-	uint8_t filename[14];
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get filename
-	objectFilename(objEntry, filename);
-
-	// Open file
-	if ( PIOS_FOPEN_WRITE(filename,file) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Append object
-	if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
-	{
-		PIOS_FCLOSE(file);
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Done, close file and unlock
-	PIOS_FCLOSE(file);
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Load an object from the file system (SD card).
- * @param[in] file File to read from
- * @return The handle of the object loaded or NULL if a failure
- */
-UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
-{
-#if defined(PIOS_INCLUDE_SDCARD)
-	uint32_t bytesRead;
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	uint32_t objId;
-	uint16_t instId;
-	UAVObjHandle obj;
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return NULL;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Read the object ID
-	if ( PIOS_FREAD(file,&objId,sizeof(objId),&bytesRead) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-
-	// Get the object
-	obj = UAVObjGetByID(objId);
-	if ( obj == 0 )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance ID
-	instId = 0;
-	if ( !objEntry->isSingleInstance )
-	{
-		if ( PIOS_FREAD(file,&instId,sizeof(instId),&bytesRead) )
-		{
-			xSemaphoreGiveRecursive(mutex);
-			return NULL;
-		}
-	}
-
-	// Get the instance information
-	instEntry = getInstance(objEntry, instId);
-
-	// If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
-	{
-		instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
-		{
-			// Error, unlock and return
-			xSemaphoreGiveRecursive(mutex);
-			return NULL;
-		}
-	}
-
-	// Read the instance data
-	if ( PIOS_FREAD(file,instEntry->data,objEntry->numBytes,&bytesRead) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-
-	// Fire event
-	sendEvent(objEntry, instId, EV_UNPACKED);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return obj;
-#else /* PIOS_INCLUDE_SDCARD */
-	return NULL;
-#endif
-}
-
-/**
- * Load an object from the file system (SD card).
- * A file with the name of the object will be opened.
- * The object data can be saved using the UAVObjSave function.
- * @param[in] obj The object handle.
- * @param[in] instId The object instance
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
-{
-#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
-	
-	if(objEntry == NULL)
-		return -1;
-	
-	ObjectInstList* instEntry = getInstance(objEntry, instId);
-	
-	if(instEntry == NULL)
-		return -1;
-	
-	if(instEntry->data == NULL)
-		return -1;
-	
-	// Fire event on success
-	if(PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
-	sendEvent(objEntry, instId, EV_UNPACKED);		
-	else
-		return -1;
-#endif
-	
-#if defined(PIOS_INCLUDE_SDCARD)
-	FILEINFO file;
-	ObjectList* objEntry;
-	UAVObjHandle loadedObj;
-	ObjectList* loadedObjEntry;
-	uint8_t filename[14];
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get filename
-	objectFilename(objEntry, filename);
-
-	// Open file
-	if ( PIOS_FOPEN_READ(filename,file) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Load object
-	loadedObj = UAVObjLoadFromFile(&file);
-	if (loadedObj == 0)
-	{
-		PIOS_FCLOSE(file);
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Check that the IDs match
-	loadedObjEntry = (ObjectList*)loadedObj;
-	if ( loadedObjEntry->id != objEntry->id )
-	{
-		PIOS_FCLOSE(file);
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Done, close file and unlock
-	PIOS_FCLOSE(file);
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Delete an object from the file system (SD card).
- * @param[in] obj The object handle.
- * @param[in] instId The object instance
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
-{
-#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	PIOS_FLASHFS_ObjDelete(obj, instId);
-#endif	
-#if defined(PIOS_INCLUDE_SDCARD)
-	ObjectList* objEntry;
-	uint8_t filename[14];
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get filename
-	objectFilename(objEntry, filename);
-
-	// Delete file
-	PIOS_FUNLINK(filename);
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Save all settings objects to the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveSettings()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
-			// Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Load all settings objects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoadSettings()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
-			// Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Delete all settings objects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjDeleteSettings()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
-			// Save object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Save all metaobjects to the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveMetaobjects()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
-			// Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Load all metaobjects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoadMetaobjects()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
-			// Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Delete all metaobjects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjDeleteMetaobjects()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
-			// Load object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Set the object data
- * \param[in] obj The object handle
- * \param[in] dataIn The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
-{
-	return UAVObjSetInstanceData(obj, 0, dataIn);
-}
-
-/**
- * Get the object data
- * \param[in] obj The object handle
- * \param[out] dataOut The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
-{
-	return UAVObjGetInstanceData(obj, 0, dataOut);
-}
-
-/**
- * Set the data of a specific object instance
- * \param[in] obj The object handle
- * \param[in] instId The object instance ID
- * \param[in] dataIn The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	UAVObjMetadata* mdata;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object info
-	objEntry = (ObjectList*)obj;
-
-	// Check access level
-	if ( !objEntry->isMetaobject )
-	{
-		mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
-		if ( mdata->access == ACCESS_READONLY )
-		{
-			xSemaphoreGiveRecursive(mutex);
-			return -1;
-		}
-	}
-
-	// Get instance information
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		// Error, unlock and return
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Set data
-	memcpy(instEntry->data, dataIn, objEntry->numBytes);
-
-	// Fire event
-	sendEvent(objEntry, instId, EV_UPDATED);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Get the data of a specific object instance
- * \param[in] obj The object handle
- * \param[in] instId The object instance ID
- * \param[out] dataOut The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object info
-	objEntry = (ObjectList*)obj;
-
-	// Get instance information
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		// Error, unlock and return
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Set data
-	memcpy(dataOut, instEntry->data, objEntry->numBytes);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Set the object metadata
- * \param[in] obj The object handle
- * \param[in] dataIn The object's metadata structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
-{
-	ObjectList* objEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Set metadata (metadata of metaobjects can not be modified)
-	objEntry = (ObjectList*)obj;
-	if (!objEntry->isMetaobject)
-	{
-		UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
-	}
-	else
-	{
-		return -1;
-	}
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Get the object metadata
- * \param[in] obj The object handle
- * \param[out] dataOut The object's metadata structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
-{
-	ObjectList* objEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Get metadata
-	objEntry = (ObjectList*)obj;
-	if (objEntry->isMetaobject)
-	{
-		memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
-	}
-	else
-	{
-		UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
-	}
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Check if an object is read only
- * \param[in] obj The object handle
- * \return 
- *   \arg 0 if not read only 
- *   \arg 1 if read only
- *   \arg -1 if unable to get meta data
- */
-int8_t UAVObjReadOnly(UAVObjHandle obj)
-{
-    ObjectList* objEntry;
-    UAVObjMetadata* mdata;
-    
-    // Cast to object info
-    objEntry = (ObjectList*)obj;
-    
-    // Check access level
-    if ( !objEntry->isMetaobject )
-    {
-        mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
-        return mdata->access == ACCESS_READONLY;
-    }
-    return -1;
-}
-
-/**
- * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
- * All events matching the event mask will be pushed to the event queue.
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = connectObj(obj, queue, 0, eventMask);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-/**
- * Disconnect an event queue from the object.
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = disconnectObj(obj, queue, 0);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-/**
- * Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
- * The supplied callback will be invoked on all events matching the event mask.
- * \param[in] obj The object handle
- * \param[in] cb The event callback
- * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = connectObj(obj, 0, cb, eventMask);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-/**
- * Disconnect an event callback from the object.
- * \param[in] obj The object handle
- * \param[in] cb The event callback
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = disconnectObj(obj, 0, cb);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-
-/**
- * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
- * will be generated as soon as the object is updated.
- * \param[in] obj The object handle
- */
-void UAVObjRequestUpdate(UAVObjHandle obj)
-{
-	UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
-}
-
-/**
- * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
- * will be generated as soon as the object is updated.
- * \param[in] obj The object handle
- * \param[in] instId Object instance ID to update
- */
-void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATE_REQ);
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
- * \param[in] obj The object handle
- */
-void UAVObjUpdated(UAVObjHandle obj)
-{
-	UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
-}
-
-/**
- * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
- * \param[in] obj The object handle
- * \param[in] instId The object instance ID
- */
-void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Iterate through all objects in the list.
- * \param iterator This function will be called once for each object,
- * the object will be passed as a parameter
- */
-void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Iterate through the list and invoke iterator for each object
-	LL_FOREACH(objList, objEntry)
-	{
-		(*iterator)((UAVObjHandle)objEntry);
-	}
-
-	// Release lock
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Send an event to all event queues registered on the object.
- */
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
-{
-	ObjectEventList* eventEntry;
-	UAVObjEvent msg;
-
-	// Setup event
-	msg.obj = (UAVObjHandle)obj;
-	msg.event = event;
-	msg.instId = instId;
-
-	// Go through each object and push the event message in the queue (if event is activated for the queue)
-	LL_FOREACH(obj->events, eventEntry)
-	{
-    	if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
-    	{
-    		// Send to queue if a valid queue is registered
-    		if (eventEntry->queue != 0)
-    		{
-    			if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
-    			{
-    				++stats.eventErrors;
-    			}
-    		}
-    		// Invoke callback (from event task) if a valid one is registered
-    		if (eventEntry->cb != 0)
-    		{
-    			if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
-    			{
-    				++stats.eventErrors;
-    			}
-    		}
-    	}
-    }
-
-    // Done
-    return 0;
-}
-
-/**
- * Create a new object instance, return the instance info or NULL if failure.
- */
-static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
-{
-	ObjectInstList* instEntry;
-	int32_t n;
-
-	// For single instance objects, only instance zero is allowed
-	if (obj->isSingleInstance && instId != 0)
-	{
-		return NULL;
-	}
-
-	// Make sure that the instance ID is within limits
-	if (instId >= UAVOBJ_MAX_INSTANCES)
-	{
-		return NULL;
-	}
-
-	// Check if the instance already exists
-	if ( getInstance(obj, instId) != NULL )
-	{
-		return NULL;
-	}
-
-	// Create any missing instances (all instance IDs must be sequential)
-	for (n = obj->numInstances; n < instId; ++n)
-	{
-		if ( createInstance(obj, n) == NULL )
-		{
-			return NULL;
-		}
-	}
-
-	if(instId == 0)  /* Instance 0 ObjectInstList allocated with ObjectList element */
-	{		
-		instEntry = &obj->instances;
-		instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
-		memset(instEntry->data, 0, obj->numBytes);
-		instEntry->instId = instId;
-	} else 
-	{	
-		// Create the actual instance
-		instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
-		if (instEntry == NULL) return NULL;
-		instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
-		memset(instEntry->data, 0, obj->numBytes);
-		instEntry->instId = instId;
-		LL_APPEND(obj->instances.next, instEntry);
-	}
-	++obj->numInstances;
-
-	// Fire event
-	UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
-
-	// Done
-	return instEntry;
-}
-
-/**
- * Get the instance information or NULL if the instance does not exist
- */
-static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
-{
-	ObjectInstList* instEntry;
-
-	// Look for specified instance ID
-	LL_FOREACH(&(obj->instances), instEntry)
-	{
-		if (instEntry->instId == instId)
-		{
-			return instEntry;
-		}
-	}
-	// If this point is reached then instance id was not found
-	return NULL;
-}
-
-/**
- * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \param[in] cb The event callback
- * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
- * \return 0 if success or -1 if failure
- */
-static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
-{
-	ObjectEventList* eventEntry;
-	ObjectList* objEntry;
-
-	// Check that the queue is not already connected, if it is simply update event mask
-	objEntry = (ObjectList*)obj;
-	LL_FOREACH(objEntry->events, eventEntry)
-	{
-		if ( eventEntry->queue == queue && eventEntry->cb == cb )
-		{
-			// Already connected, update event mask and return
-			eventEntry->eventMask = eventMask;
-			return 0;
-		}
-	}
-
-	// Add queue to list
-	eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
-	if (eventEntry == NULL)
-	{
-		return -1;
-	}
-	eventEntry->queue = queue;
-	eventEntry->cb = cb;
-	eventEntry->eventMask = eventMask;
-	LL_APPEND(objEntry->events, eventEntry);
-
-	// Done
-	return 0;
-}
-
-/**
- * Disconnect an event queue from the object
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \param[in] cb The event callback
- * \return 0 if success or -1 if failure
- */
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
-{
-	ObjectEventList* eventEntry;
-	ObjectList* objEntry;
-
-	// Find queue and remove it
-	objEntry = (ObjectList*)obj;
-	LL_FOREACH(objEntry->events, eventEntry)
-	{
-		if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
-		{
-			LL_DELETE(objEntry->events, eventEntry);
-			vPortFree(eventEntry);
-			return 0;
-		}
-	}
-
-	// If this point is reached the queue was not found
-	return -1;
-}
-
-#if defined(PIOS_INCLUDE_SDCARD)
-/**
- * Wrapper for the sprintf function
- */
-static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
-{
-	va_list args;
-	va_start(args, format);
-	vsprintf((char *)buffer, (char *)format, args);
-}
-
-/**
- * Get an 8 character (plus extension) filename for the object.
- */
-static void objectFilename(ObjectList* obj, uint8_t* filename)
-{
-	customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
-}
-#endif /* PIOS_INCLUDE_SDCARD */
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+/**
+ ******************************************************************************
+ * @addtogroup UAVObjects OpenPilot UAVObjects
+ * @{ 
+ * @addtogroup UAV Object Manager 
+ * @brief The core UAV Objects functions, most of which are wrappered by
+ * autogenerated defines
+ * @{ 
+ *
+ *
+ * @file       uavobjectmanager.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Object manager library. This library holds a collection of all objects.
+ *             It can be used by all modules/libraries to find an object reference.
+ * @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"
+
+// Constants
+
+// Private types
+
+/**
+ * List of event queues and the eventmask associated with the queue.
+ */
+struct ObjectEventListStruct {
+	  xQueueHandle queue;
+	  UAVObjEventCallback cb;
+	  int32_t eventMask;
+	  struct ObjectEventListStruct *next;
+};
+typedef struct ObjectEventListStruct ObjectEventList;
+
+/**
+ * List of object instances, holds the actual data structure and instance ID
+ */
+struct ObjectInstListStruct {
+	  void *data;
+	  uint16_t instId;
+	  struct ObjectInstListStruct *next;
+};
+typedef struct ObjectInstListStruct ObjectInstList;
+
+/**
+ * List of objects registered in the object manager
+ */
+struct ObjectListStruct {
+	  uint32_t id;
+		     /** The object ID */
+	  const char *name;
+			  /** The object name */
+	  int8_t isMetaobject;
+			     /** Set to 1 if this is a metaobject */
+	  int8_t isSingleInstance;
+				 /** Set to 1 if this object has a single instance */
+	  int8_t isSettings;
+			   /** Set to 1 if this object is a settings object */
+	  uint16_t numBytes;
+			   /** Number of data bytes contained in the object (for a single instance) */
+	  uint16_t numInstances;
+			       /** Number of instances */
+	  struct ObjectListStruct *linkedObj;
+					    /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
+	  ObjectInstList instances;
+				  /** List of object instances, instance 0 always exists */
+	  ObjectEventList *events;
+				 /** Event queues registered on the object */
+	  struct ObjectListStruct *next;
+				       /** Needed by linked list library (utlist.h) */
+};
+typedef struct ObjectListStruct ObjectList;
+
+// Private functions
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event);
+static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
+static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
+			  UAVObjEventCallback cb, int32_t eventMask);
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
+			     UAVObjEventCallback cb);
+
+#if defined(PIOS_INCLUDE_SDCARD)
+static void objectFilename(ObjectList * obj, uint8_t * filename);
+static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
+#endif
+
+// Private variables
+static ObjectList *objList;
+static xSemaphoreHandle mutex;
+static UAVObjMetadata defMetadata;
+static UAVObjStats stats;
+
+/**
+ * Initialize the object manager
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t UAVObjInitialize()
+{
+	  // Initialize variables
+	  objList = NULL;
+	  memset(&stats, 0, sizeof(UAVObjStats));
+
+	  // Create mutex
+	  mutex = xSemaphoreCreateRecursiveMutex();
+	  if (mutex == NULL)
+		    return -1;
+
+	  // Initialize default metadata structure (metadata of metaobjects)
+	  defMetadata.access = ACCESS_READWRITE;
+	  defMetadata.gcsAccess = ACCESS_READWRITE;
+	  defMetadata.telemetryAcked = 1;
+	  defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	  defMetadata.telemetryUpdatePeriod = 0;
+	  defMetadata.gcsTelemetryAcked = 1;
+	  defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	  defMetadata.gcsTelemetryUpdatePeriod = 0;
+	  defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
+	  defMetadata.loggingUpdatePeriod = 0;
+
+	  // Done
+	  return 0;
+}
+
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void UAVObjGetStats(UAVObjStats * statsOut)
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  memcpy(statsOut, &stats, sizeof(UAVObjStats));
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void UAVObjClearStats()
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  memset(&stats, 0, sizeof(UAVObjStats));
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Register and new object in the object manager.
+ * \param[in] id Unique object ID
+ * \param[in] name Object name
+ * \param[in] nameName Metaobject name
+ * \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
+ * \param[in] isSingleInstance Is this a single instance or multi-instance object
+ * \param[in] isSettings Is this a settings object
+ * \param[in] numBytes Number of bytes of object data (for one instance)
+ * \param[in] initCb Default field and metadata initialization function
+ * \return Object handle, or NULL if failure.
+ * \return
+ */
+UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
+			    const char *metaName, int32_t isMetaobject,
+			    int32_t isSingleInstance, int32_t isSettings,
+			    uint32_t numBytes,
+			    UAVObjInitializeCallback initCb)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  ObjectList *metaObj;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Check that the object is not already registered
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->id == id) {
+			      // Already registered, ignore
+			      xSemaphoreGiveRecursive(mutex);
+			      return NULL;
+		    }
+	  }
+
+	  // Create and append entry
+	  objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
+	  if (objEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  objEntry->id = id;
+	  objEntry->name = name;
+	  objEntry->isMetaobject = (int8_t) isMetaobject;
+	  objEntry->isSingleInstance = (int8_t) isSingleInstance;
+	  objEntry->isSettings = (int8_t) isSettings;
+	  objEntry->numBytes = numBytes;
+	  objEntry->events = NULL;
+	  objEntry->numInstances = 0;
+	  objEntry->instances.data = NULL;
+	  objEntry->instances.instId = 0xFFFF;
+	  objEntry->instances.next = NULL;
+	  objEntry->linkedObj = NULL;	// will be set later
+	  LL_APPEND(objList, objEntry);
+
+	  // Create instance zero
+	  instEntry = createInstance(objEntry, 0);
+	  if (instEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  // Create metaobject and update linkedObj
+	  if (isMetaobject) {
+		    objEntry->linkedObj = NULL;	// will be set later
+	  } else {
+		    // Create metaobject
+		    metaObj =
+			(ObjectList *) UAVObjRegister(id + 1, metaName,
+						      NULL, 1, 1, 0,
+						      sizeof
+						      (UAVObjMetadata),
+						      NULL);
+		    // Link two objects
+		    objEntry->linkedObj = metaObj;
+		    metaObj->linkedObj = objEntry;
+	  }
+
+	  // Initialize object fields and metadata to default values
+	  if (initCb != NULL) {
+		    initCb((UAVObjHandle) objEntry, 0);
+	  }
+	  // Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
+	  if (!objEntry->isMetaobject) {
+		    UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
+	  }
+	  // If this is a settings object, attempt to load from SD card
+	  if (objEntry->isSettings) {
+		    UAVObjLoad((UAVObjHandle) objEntry, 0);
+	  }
+	  // Release lock
+	  xSemaphoreGiveRecursive(mutex);
+	  return (UAVObjHandle) objEntry;
+}
+
+/**
+ * Retrieve an object from the list given its id
+ * \param[in] The object ID
+ * \return The object or NULL if not found.
+ */
+UAVObjHandle UAVObjGetByID(uint32_t id)
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Look for object
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->id == id) {
+			      // Release lock
+			      xSemaphoreGiveRecursive(mutex);
+			      // Done, object found
+			      return (UAVObjHandle) objEntry;
+		    }
+	  }
+
+	  // Object not found, release lock and return error
+	  xSemaphoreGiveRecursive(mutex);
+	  return NULL;
+}
+
+/**
+ * Retrieve an object from the list given its name
+ * \param[in] name The name of the object
+ * \return The object or NULL if not found.
+ */
+UAVObjHandle UAVObjGetByName(char *name)
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Look for object
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->name != NULL
+			&& strcmp(objEntry->name, name) == 0) {
+			      // Release lock
+			      xSemaphoreGiveRecursive(mutex);
+			      // Done, object found
+			      return (UAVObjHandle) objEntry;
+		    }
+	  }
+
+	  // Object not found, release lock and return error
+	  xSemaphoreGiveRecursive(mutex);
+	  return NULL;
+}
+
+/**
+ * Get the object's ID
+ * \param[in] obj The object handle
+ * \return The object ID
+ */
+uint32_t UAVObjGetID(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->id;
+}
+
+/**
+ * Get the object's name
+ * \param[in] obj The object handle
+ * \return The object's name
+ */
+const char *UAVObjGetName(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->name;
+}
+
+/**
+ * Get the number of bytes of the object's data (for one instance)
+ * \param[in] obj The object handle
+ * \return The number of bytes
+ */
+uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->numBytes;
+}
+
+/**
+ * Get the object this object is linked to. For regular objects, the linked object
+ * is the metaobject. For metaobjects the linked object is the parent object.
+ * This function is normally only needed by the telemetry module.
+ * \param[in] obj The object handle
+ * \return The object linked object handle
+ */
+UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
+{
+	  return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
+}
+
+/**
+ * Get the number of instances contained in the object.
+ * \param[in] obj The object handle
+ * \return The number of instances
+ */
+uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
+{
+	  uint32_t numInstances;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  numInstances = ((ObjectList *) obj)->numInstances;
+	  xSemaphoreGiveRecursive(mutex);
+	  return numInstances;
+}
+
+/**
+ * Create a new instance in the object.
+ * \param[in] obj The object handle
+ * \return The instance ID or 0 if an error
+ */
+uint16_t UAVObjCreateInstance(UAVObjHandle obj,
+			      UAVObjInitializeCallback initCb)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Create new instance
+	  objEntry = (ObjectList *) obj;
+	  instEntry = createInstance(objEntry, objEntry->numInstances);
+	  if (instEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Initialize instance data
+	  if (initCb != NULL) {
+		    initCb(obj, instEntry->instId);
+	  }
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return instEntry->instId;
+}
+
+/**
+ * Does this object contains a single instance or multiple instances?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a single instance object
+ */
+int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->isSingleInstance;
+}
+
+/**
+ * Is this a metaobject?
+ * \param[in] obj The object handle
+ * \return True (1) if this is metaobject
+ */
+int32_t UAVObjIsMetaobject(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->isMetaobject;
+}
+
+/**
+ * Is this a settings object?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a settings object
+ */
+int32_t UAVObjIsSettings(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->isSettings;
+}
+
+/**
+ * Unpack an object from a byte array
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[in] dataIn The byte array
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
+		     const uint8_t * dataIn)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast handle to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance
+	  instEntry = getInstance(objEntry, instId);
+
+	  // If the instance does not exist create it and any other instances before it
+	  if (instEntry == NULL) {
+		    instEntry = createInstance(objEntry, instId);
+		    if (instEntry == NULL) {
+			      // Error, unlock and return
+			      xSemaphoreGiveRecursive(mutex);
+			      return -1;
+		    }
+	  }
+	  // Set the data
+	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
+
+	  // Fire event
+	  sendEvent(objEntry, instId, EV_UNPACKED);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Pack an object to a byte array
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[out] dataOut The byte array
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast handle to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    // Error, unlock and return
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Pack data
+	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Save the data of the specified object instance to the file system (SD card).
+ * The object will be appended and the file will not be closed.
+ * The object data can be restored using the UAVObjLoad function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file File to append to
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
+			 FILEINFO * file)
+{
+#if defined(PIOS_INCLUDE_SDCARD)
+	  uint32_t bytesWritten;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance information
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Write the object ID
+	  PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
+		      &bytesWritten);
+
+	  // Write the instance ID
+	  if (!objEntry->isSingleInstance) {
+		    PIOS_FWRITE(file, &instEntry->instId,
+				sizeof(instEntry->instId), &bytesWritten);
+	  }
+	  // Write the data and check that the write was successful
+	  PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
+		      &bytesWritten);
+	  if (bytesWritten != objEntry->numBytes) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Save the data of the specified object to the file system (SD card).
+ * If the object contains multiple instances, all of them will be saved.
+ * A new file with the name of the object will be created.
+ * The object data can be restored using the UAVObjLoad function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file File to append to
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
+{
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	  ObjectList *objEntry = (ObjectList *) obj;
+
+	  if (objEntry == NULL)
+		    return -1;
+
+	  ObjectInstList *instEntry = getInstance(objEntry, instId);
+
+	  if (instEntry == NULL)
+		    return -1;
+
+	  if (instEntry->data == NULL)
+		    return -1;
+
+	  if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
+		    return -1;
+#endif
+#if defined(PIOS_INCLUDE_SDCARD)
+	  FILEINFO file;
+	  ObjectList *objEntry;
+	  uint8_t filename[14];
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get filename
+	  objectFilename(objEntry, filename);
+
+	  // Open file
+	  if (PIOS_FOPEN_WRITE(filename, file)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Append object
+	  if (UAVObjSaveToFile(obj, instId, &file) == -1) {
+		    PIOS_FCLOSE(file);
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Done, close file and unlock
+	  PIOS_FCLOSE(file);
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Load an object from the file system (SD card).
+ * @param[in] file File to read from
+ * @return The handle of the object loaded or NULL if a failure
+ */
+UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
+{
+#if defined(PIOS_INCLUDE_SDCARD)
+	  uint32_t bytesRead;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  uint32_t objId;
+	  uint16_t instId;
+	  UAVObjHandle obj;
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return NULL;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Read the object ID
+	  if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  // Get the object
+	  obj = UAVObjGetByID(objId);
+	  if (obj == 0) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance ID
+	  instId = 0;
+	  if (!objEntry->isSingleInstance) {
+		    if (PIOS_FREAD
+			(file, &instId, sizeof(instId), &bytesRead)) {
+			      xSemaphoreGiveRecursive(mutex);
+			      return NULL;
+		    }
+	  }
+	  // Get the instance information
+	  instEntry = getInstance(objEntry, instId);
+
+	  // If the instance does not exist create it and any other instances before it
+	  if (instEntry == NULL) {
+		    instEntry = createInstance(objEntry, instId);
+		    if (instEntry == NULL) {
+			      // Error, unlock and return
+			      xSemaphoreGiveRecursive(mutex);
+			      return NULL;
+		    }
+	  }
+	  // Read the instance data
+	  if (PIOS_FREAD
+	      (file, instEntry->data, objEntry->numBytes, &bytesRead)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  // Fire event
+	  sendEvent(objEntry, instId, EV_UNPACKED);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return obj;
+#else /* PIOS_INCLUDE_SDCARD */
+	  return NULL;
+#endif
+}
+
+/**
+ * Load an object from the file system (SD card).
+ * A file with the name of the object will be opened.
+ * The object data can be saved using the UAVObjSave function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The object instance
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
+{
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	  ObjectList *objEntry = (ObjectList *) obj;
+
+	  if (objEntry == NULL)
+		    return -1;
+
+	  ObjectInstList *instEntry = getInstance(objEntry, instId);
+
+	  if (instEntry == NULL)
+		    return -1;
+
+	  if (instEntry->data == NULL)
+		    return -1;
+
+	  // Fire event on success
+	  if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
+		    sendEvent(objEntry, instId, EV_UNPACKED);
+	  else
+		    return -1;
+#endif
+
+#if defined(PIOS_INCLUDE_SDCARD)
+	  FILEINFO file;
+	  ObjectList *objEntry;
+	  UAVObjHandle loadedObj;
+	  ObjectList *loadedObjEntry;
+	  uint8_t filename[14];
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get filename
+	  objectFilename(objEntry, filename);
+
+	  // Open file
+	  if (PIOS_FOPEN_READ(filename, file)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Load object
+	  loadedObj = UAVObjLoadFromFile(&file);
+	  if (loadedObj == 0) {
+		    PIOS_FCLOSE(file);
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Check that the IDs match
+	  loadedObjEntry = (ObjectList *) loadedObj;
+	  if (loadedObjEntry->id != objEntry->id) {
+		    PIOS_FCLOSE(file);
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Done, close file and unlock
+	  PIOS_FCLOSE(file);
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Delete an object from the file system (SD card).
+ * @param[in] obj The object handle.
+ * @param[in] instId The object instance
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
+{
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	  PIOS_FLASHFS_ObjDelete(obj, instId);
+#endif
+#if defined(PIOS_INCLUDE_SDCARD)
+	  ObjectList *objEntry;
+	  uint8_t filename[14];
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get filename
+	  objectFilename(objEntry, filename);
+
+	  // Delete file
+	  PIOS_FUNLINK(filename);
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Save all settings objects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveSettings()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Save all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isSettings) {
+			      // Save object
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Load all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadSettings()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Load all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isSettings) {
+			      // Load object
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Delete all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDeleteSettings()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Save all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isSettings) {
+			      // Save object
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
+				  == -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Save all metaobjects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveMetaobjects()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Save all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isMetaobject) {
+			      // Save object
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Load all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadMetaobjects()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Load all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isMetaobject) {
+			      // Load object
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Delete all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDeleteMetaobjects()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Load all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isMetaobject) {
+			      // Load object
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
+				  == -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Set the object data
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
+{
+	  return UAVObjSetInstanceData(obj, 0, dataIn);
+}
+
+/**
+ * Get the object data
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
+{
+	  return UAVObjGetInstanceData(obj, 0, dataOut);
+}
+
+/**
+ * Set the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      const void *dataIn)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  UAVObjMetadata *mdata;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object info
+	  objEntry = (ObjectList *) obj;
+
+	  // Check access level
+	  if (!objEntry->isMetaobject) {
+		    mdata =
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
+		    if (mdata->access == ACCESS_READONLY) {
+			      xSemaphoreGiveRecursive(mutex);
+			      return -1;
+		    }
+	  }
+	  // Get instance information
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    // Error, unlock and return
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Set data
+	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
+
+	  // Fire event
+	  sendEvent(objEntry, instId, EV_UPDATED);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Get the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      void *dataOut)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object info
+	  objEntry = (ObjectList *) obj;
+
+	  // Get instance information
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    // Error, unlock and return
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Set data
+	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Set the object metadata
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's metadata structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
+{
+	  ObjectList *objEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Set metadata (metadata of metaobjects can not be modified)
+	  objEntry = (ObjectList *) obj;
+	  if (!objEntry->isMetaobject) {
+		    UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
+				  dataIn);
+	  } else {
+		    return -1;
+	  }
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Get the object metadata
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's metadata structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
+{
+	  ObjectList *objEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Get metadata
+	  objEntry = (ObjectList *) obj;
+	  if (objEntry->isMetaobject) {
+		    memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
+	  } else {
+		    UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
+				  dataOut);
+	  }
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Check if an object is read only
+ * \param[in] obj The object handle
+ * \return 
+ *   \arg 0 if not read only 
+ *   \arg 1 if read only
+ *   \arg -1 if unable to get meta data
+ */
+int8_t UAVObjReadOnly(UAVObjHandle obj)
+{
+	  ObjectList *objEntry;
+	  UAVObjMetadata *mdata;
+
+	  // Cast to object info
+	  objEntry = (ObjectList *) obj;
+
+	  // Check access level
+	  if (!objEntry->isMetaobject) {
+		    mdata =
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
+		    return mdata->access == ACCESS_READONLY;
+	  }
+	  return -1;
+}
+
+/**
+ * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
+ * All events matching the event mask will be pushed to the event queue.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
+			   int32_t eventMask)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = connectObj(obj, queue, 0, eventMask);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Disconnect an event queue from the object.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = disconnectObj(obj, queue, 0);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
+ * The supplied callback will be invoked on all events matching the event mask.
+ * \param[in] obj The object handle
+ * \param[in] cb The event callback
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
+			      int32_t eventMask)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = connectObj(obj, 0, cb, eventMask);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Disconnect an event callback from the object.
+ * \param[in] obj The object handle
+ * \param[in] cb The event callback
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = disconnectObj(obj, 0, cb);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
+ * will be generated as soon as the object is updated.
+ * \param[in] obj The object handle
+ */
+void UAVObjRequestUpdate(UAVObjHandle obj)
+{
+	  UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
+}
+
+/**
+ * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
+ * will be generated as soon as the object is updated.
+ * \param[in] obj The object handle
+ * \param[in] instId Object instance ID to update
+ */
+void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
+ * \param[in] obj The object handle
+ */
+void UAVObjUpdated(UAVObjHandle obj)
+{
+	  UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
+}
+
+/**
+ * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ */
+void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Iterate through all objects in the list.
+ * \param iterator This function will be called once for each object,
+ * the object will be passed as a parameter
+ */
+void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Iterate through the list and invoke iterator for each object
+	  LL_FOREACH(objList, objEntry) {
+		    (*iterator) ((UAVObjHandle) objEntry);
+	  }
+
+	  // Release lock
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Send an event to all event queues registered on the object.
+ */
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event)
+{
+	  ObjectEventList *eventEntry;
+	  UAVObjEvent msg;
+
+	  // Setup event
+	  msg.obj = (UAVObjHandle) obj;
+	  msg.event = event;
+	  msg.instId = instId;
+
+	  // Go through each object and push the event message in the queue (if event is activated for the queue)
+	  LL_FOREACH(obj->events, eventEntry) {
+		    if (eventEntry->eventMask == 0
+			|| (eventEntry->eventMask & event) != 0) {
+			      // Send to queue if a valid queue is registered
+			      if (eventEntry->queue != 0) {
+					if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE)	// will not block
+					{
+						  ++stats.eventErrors;
+					}
+			      }
+			      // Invoke callback (from event task) if a valid one is registered
+			      if (eventEntry->cb != 0) {
+					if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE)	// invoke callback from the event task, will not block
+					{
+						  ++stats.eventErrors;
+					}
+			      }
+		    }
+	  }
+
+	  // Done
+	  return 0;
+}
+
+/**
+ * Create a new object instance, return the instance info or NULL if failure.
+ */
+static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
+{
+	  ObjectInstList *instEntry;
+	  int32_t n;
+
+	  // For single instance objects, only instance zero is allowed
+	  if (obj->isSingleInstance && instId != 0) {
+		    return NULL;
+	  }
+	  // Make sure that the instance ID is within limits
+	  if (instId >= UAVOBJ_MAX_INSTANCES) {
+		    return NULL;
+	  }
+	  // Check if the instance already exists
+	  if (getInstance(obj, instId) != NULL) {
+		    return NULL;
+	  }
+	  // Create any missing instances (all instance IDs must be sequential)
+	  for (n = obj->numInstances; n < instId; ++n) {
+		    if (createInstance(obj, n) == NULL) {
+			      return NULL;
+		    }
+	  }
+
+	  if (instId == 0) {	/* Instance 0 ObjectInstList allocated with ObjectList element */
+		    instEntry = &obj->instances;
+		    instEntry->data = pvPortMalloc(obj->numBytes);
+		    if (instEntry->data == NULL)
+			      return NULL;
+		    memset(instEntry->data, 0, obj->numBytes);
+		    instEntry->instId = instId;
+	  } else {
+		    // Create the actual instance
+		    instEntry =
+			(ObjectInstList *)
+			pvPortMalloc(sizeof(ObjectInstList));
+		    if (instEntry == NULL)
+			      return NULL;
+		    instEntry->data = pvPortMalloc(obj->numBytes);
+		    if (instEntry->data == NULL)
+			      return NULL;
+		    memset(instEntry->data, 0, obj->numBytes);
+		    instEntry->instId = instId;
+		    LL_APPEND(obj->instances.next, instEntry);
+	  }
+	  ++obj->numInstances;
+
+	  // Fire event
+	  UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
+
+	  // Done
+	  return instEntry;
+}
+
+/**
+ * Get the instance information or NULL if the instance does not exist
+ */
+static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
+{
+	  ObjectInstList *instEntry;
+
+	  // Look for specified instance ID
+	  LL_FOREACH(&(obj->instances), instEntry) {
+		    if (instEntry->instId == instId) {
+			      return instEntry;
+		    }
+	  }
+	  // If this point is reached then instance id was not found
+	  return NULL;
+}
+
+/**
+ * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] cb The event callback
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
+			  UAVObjEventCallback cb, int32_t eventMask)
+{
+	  ObjectEventList *eventEntry;
+	  ObjectList *objEntry;
+
+	  // Check that the queue is not already connected, if it is simply update event mask
+	  objEntry = (ObjectList *) obj;
+	  LL_FOREACH(objEntry->events, eventEntry) {
+		    if (eventEntry->queue == queue && eventEntry->cb == cb) {
+			      // Already connected, update event mask and return
+			      eventEntry->eventMask = eventMask;
+			      return 0;
+		    }
+	  }
+
+	  // Add queue to list
+	  eventEntry =
+	      (ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
+	  if (eventEntry == NULL) {
+		    return -1;
+	  }
+	  eventEntry->queue = queue;
+	  eventEntry->cb = cb;
+	  eventEntry->eventMask = eventMask;
+	  LL_APPEND(objEntry->events, eventEntry);
+
+	  // Done
+	  return 0;
+}
+
+/**
+ * Disconnect an event queue from the object
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] cb The event callback
+ * \return 0 if success or -1 if failure
+ */
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
+			     UAVObjEventCallback cb)
+{
+	  ObjectEventList *eventEntry;
+	  ObjectList *objEntry;
+
+	  // Find queue and remove it
+	  objEntry = (ObjectList *) obj;
+	  LL_FOREACH(objEntry->events, eventEntry) {
+		    if ((eventEntry->queue == queue
+			 && eventEntry->cb == cb)) {
+			      LL_DELETE(objEntry->events, eventEntry);
+			      vPortFree(eventEntry);
+			      return 0;
+		    }
+	  }
+
+	  // If this point is reached the queue was not found
+	  return -1;
+}
+
+#if defined(PIOS_INCLUDE_SDCARD)
+/**
+ * Wrapper for the sprintf function
+ */
+static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
+{
+	  va_list args;
+	  va_start(args, format);
+	  vsprintf((char *)buffer, (char *)format, args);
+}
+
+/**
+ * Get an 8 character (plus extension) filename for the object.
+ */
+static void objectFilename(ObjectList * obj, uint8_t * filename)
+{
+	  customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
+}
+#endif /* PIOS_INCLUDE_SDCARD */

From d312e876c46df25b85f45c887141ea38b704b4d4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 May 2011 16:11:30 -0500
Subject: [PATCH 7/8] OP-216: Some small bugs where things were stored

---
 flight/PiOS/Common/pios_flashfs_objlist.c | 29 +++++++++++++----------
 1 file changed, 16 insertions(+), 13 deletions(-)

diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
index 4f39125db..f574169a9 100644
--- a/flight/PiOS/Common/pios_flashfs_objlist.c
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -77,21 +77,23 @@ int32_t PIOS_FLASHFS_Init()
 		if(PIOS_FLAHFS_CleabObjectTableHeader() < 0)
 			return -1;
 	}
-	
-	bool found = true;
+
 	int32_t addr = OBJECT_TABLE_START;
 	struct objectHeader header;
 	numObjects = 0;
 		
 	// Loop through header area while objects detect to count how many saved
-	while(found && addr < OBJECT_TABLE_END) {
+	while(addr < OBJECT_TABLE_END) {
 		// Read the instance data
 		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
 			return -1;
+		
+		// Counting number of valid headers	
 		if(header.objMagic != OBJ_MAGIC) 
-			found = false;
-		else 
-			numObjects++;		
+			break;
+		
+		numObjects++;
+		addr += sizeof(header);
 	}
 	
 	return 0;
@@ -121,22 +123,22 @@ static int32_t PIOS_FLAHFS_CleabObjectTableHeader()
  */
 static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) 
 {
-	bool found = true;
 	int32_t addr = OBJECT_TABLE_START;
 	struct objectHeader header;
 		
 	// Loop through header area while objects detect to count how many saved
-	while(found && addr < OBJECT_TABLE_END) {
+	while(addr < OBJECT_TABLE_END) {
 		// Read the instance data
 		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 			return -1;
 		if(header.objMagic != OBJ_MAGIC) 
-			found = false;
+			break; // stop searching once hit first non-object header
 		else if (header.objId == objId && header.instId == instId)
 			break;
+		addr += sizeof(header);
 	}
 	
-	if (found)
+	if (header.objId == objId && header.instId == instId)
 		return header.address;
 	
 	return -1;
@@ -154,7 +156,6 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
  */
 int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
 {
-	int32_t addr = OBJECT_TABLE_START;
 	struct objectHeader header;
 
 	if(numObjects < 0)
@@ -164,8 +165,10 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
 	header.objMagic = OBJ_MAGIC;
 	header.objId = objId;
 	header.instId = instId;
-	header.address = SECTOR_SIZE * numObjects;
+	header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
 	
+	int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
+
 	// No room for this header in object table
 	if((addr + sizeof(header)) > OBJECT_TABLE_END) 
 		return -2;		
@@ -245,7 +248,7 @@ int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
 	// Object currently not saved
 	if(addr < 0) 
 		return -1;
-	
+
 	struct fileHeader header;
 	
 	// Load header

From feb9c027804ff708689fd4244c97976dbd33af12 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sun, 15 May 2011 00:18:15 -0500
Subject: [PATCH 8/8] OP-216: Small typo in flashfs code (thanks Zippe)

---
 flight/PiOS/Common/pios_flashfs_objlist.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/flight/PiOS/Common/pios_flashfs_objlist.c b/flight/PiOS/Common/pios_flashfs_objlist.c
index f574169a9..5c8248f54 100644
--- a/flight/PiOS/Common/pios_flashfs_objlist.c
+++ b/flight/PiOS/Common/pios_flashfs_objlist.c
@@ -33,7 +33,7 @@
 #include "uavobjectmanager.h"
 
 // Private functions
-static int32_t PIOS_FLAHFS_CleabObjectTableHeader();
+static int32_t PIOS_FLASHFS_CleabObjectTableHeader();
 static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
 static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
 
@@ -74,7 +74,7 @@ int32_t PIOS_FLASHFS_Init()
 	if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
 		return -1;	
 	if(object_table_magic != OBJECT_TABLE_MAGIC) {
-		if(PIOS_FLAHFS_CleabObjectTableHeader() < 0)
+		if(PIOS_FLASHFS_CleabObjectTableHeader() < 0)
 			return -1;
 	}
 
@@ -103,7 +103,7 @@ int32_t PIOS_FLASHFS_Init()
  * @brief Erase the headers for all objects in the flash chip
  * @return 0 if successful, -1 if not
  */
-static int32_t PIOS_FLAHFS_CleabObjectTableHeader() 
+static int32_t PIOS_FLASHFS_CleabObjectTableHeader() 
 {
 	if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
 		return -1;