Merge branch 'OP-499_216_Saving'

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

flight/CopterControl/System/pios_board.c

@@ -681,6 +681,8 @@ void PIOS_Board_Init(void) {
 	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 */
 	PIOS_SPEKTRUM_Init();

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)

flight/PiOS/Common/pios_flashfs_objlist.c

@@ -0,0 +1,294 @@
+/**
+ ******************************************************************************
+ *
+ * @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_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);
+
+// 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 OBJECT_TABLE_MAGIC 0x85FB3C33
+#define OBJ_MAGIC          0x3015AE71
+#define OBJECT_TABLE_START 0x00000010
+#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()
+{
+	
+	// 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_FLASHFS_CleabObjectTableHeader() < 0)
+			return -1;
+	}
+
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+	numObjects = 0;
+		
+	// Loop through header area while objects detect to count how many saved
+	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) 
+			break;
+		
+		numObjects++;
+		addr += sizeof(header);
+	}
+	
+	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_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;
+}
+
+/**
+ * @brief Get the address of an object
+ * @param obj UAVObjHandle for that object
+ * @parma instId Instance id for that object
+ * @return address if successful, -1 if not found
+ */
+static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) 
+{
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+		
+	// Loop through header area while objects detect to count how many saved
+	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) 
+			break; // stop searching once hit first non-object header
+		else if (header.objId == objId && header.instId == instId)
+			break;
+		addr += sizeof(header);
+	}
+	
+	if (header.objId == objId && header.instId == instId)
+		return header.address;
+	
+	return -1;
+}
+
+/**
+ * @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)
+{
+	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 = 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;		
+	
+	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)
+	};
+	
+	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.	
+	
+	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -3;
+		
+	// Save data
+	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+		return -4;
+	
+	return 0;
+}
+
+/**
+ * @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 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
+ */
+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.
+	if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -2;
+	
+	if((header.id != objId) || (header.instId != instId))
+		return -3;
+	
+	// Read the instance data
+	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+		return -4;
+	
+	return 0;
+}
+
+/**
+ * @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;
+	
+	return 0;
+}

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);

flight/PiOS/pios.h

@@ -119,6 +119,7 @@
 
 #if defined(PIOS_INCLUDE_FLASH)
 #include <pios_flash_w25x.h>
+#include <pios_flashfs_objlist.h>
 #endif
 
 #if defined(PIOS_INCLUDE_BL_HELPER)

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 */,

flight/UAVObjects/uavobjectmanager.c

@@ -62,26 +62,40 @@ typedef struct ObjectInstListStruct ObjectInstList;
  * List of objects registered in the object manager
  */
 struct ObjectListStruct {
-	uint32_t id; /** The object ID */
+	  uint32_t id;
-	const char* name; /** The object name */
+		     /** The object ID */
-	int8_t isMetaobject; /** Set to 1 if this is a metaobject */
+	  const char *name;
-	int8_t isSingleInstance; /** Set to 1 if this object has a single instance */
+			  /** The object name */
-	int8_t isSettings; /** Set to 1 if this object is a settings object */
+	  int8_t isMetaobject;
-	uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
+			     /** Set to 1 if this is a metaobject */
-	uint16_t numInstances; /** Number of instances */
+	  int8_t isSingleInstance;
-	struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
+				 /** Set to 1 if this object has a single instance */
-	ObjectInstList instances; /** List of object instances, instance 0 always exists */
+	  int8_t isSettings;
-	ObjectEventList* events; /** Event queues registered on the object */
+			   /** Set to 1 if this object is a settings object */
-	struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
+	  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 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 connectObj(UAVObjHandle obj, xQueueHandle queue,
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
+			  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);
@@ -160,8 +174,11 @@ void UAVObjClearStats()
  * \return Object handle, or NULL if failure.
  * \return
  */
-UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
+UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
-		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
+			    const char *metaName, int32_t isMetaobject,
+			    int32_t isSingleInstance, int32_t isSettings,
+			    uint32_t numBytes,
+			    UAVObjInitializeCallback initCb)
 {
 	  ObjectList *objEntry;
 	  ObjectInstList *instEntry;
@@ -171,10 +188,8 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Check that the object is not already registered
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
+		    if (objEntry->id == id) {
-		if (objEntry->id == id)
-		{
 			      // Already registered, ignore
 			      xSemaphoreGiveRecursive(mutex);
 			      return NULL;
@@ -183,8 +198,7 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
 
 	  // Create and append entry
 	  objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
-	if (objEntry == NULL)
+	  if (objEntry == NULL) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
@@ -204,44 +218,38 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
 
 	  // Create instance zero
 	  instEntry = createInstance(objEntry, 0);
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-
 	  // Create metaobject and update linkedObj
-	if (isMetaobject)
+	  if (isMetaobject) {
-	{
 		    objEntry->linkedObj = NULL;	// will be set later
-	}
+	  } else {
-	else
-	{
 		    // Create metaobject
-		metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
+		    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 )
+	  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 )
+	  if (!objEntry->isMetaobject) {
-	{
 		    UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
 	  }
-
 	  // If this is a settings object, attempt to load from SD card
-	if ( objEntry->isSettings )
+	  if (objEntry->isSettings) {
-	{
 		    UAVObjLoad((UAVObjHandle) objEntry, 0);
 	  }
-
 	  // Release lock
 	  xSemaphoreGiveRecursive(mutex);
 	  return (UAVObjHandle) objEntry;
@@ -260,10 +268,8 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Look for object
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
+		    if (objEntry->id == id) {
-		if (objEntry->id == id)
-		{
 			      // Release lock
 			      xSemaphoreGiveRecursive(mutex);
 			      // Done, object found
@@ -289,10 +295,9 @@ UAVObjHandle UAVObjGetByName(char* name)
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Look for object
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
+		    if (objEntry->name != NULL
-		if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
+			&& strcmp(objEntry->name, name) == 0) {
-		{
 			      // Release lock
 			      xSemaphoreGiveRecursive(mutex);
 			      // Done, object found
@@ -366,7 +371,8 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
  * \param[in] obj The object handle
  * \return The instance ID or 0 if an error
  */
-uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
+uint16_t UAVObjCreateInstance(UAVObjHandle obj,
+			      UAVObjInitializeCallback initCb)
 {
 	  ObjectList *objEntry;
 	  ObjectInstList *instEntry;
@@ -377,18 +383,14 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
 	  // Create new instance
 	  objEntry = (ObjectList *) obj;
 	  instEntry = createInstance(objEntry, objEntry->numInstances);
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Initialize instance data
-	if ( initCb != NULL )
+	  if (initCb != NULL) {
-	{
 		    initCb(obj, instEntry->instId);
 	  }
-
 	  // Unlock
 	  xSemaphoreGiveRecursive(mutex);
 	  return instEntry->instId;
@@ -431,7 +433,8 @@ int32_t UAVObjIsSettings(UAVObjHandle obj)
  * \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)
+int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
+		     const uint8_t * dataIn)
 {
 	  ObjectList *objEntry;
 	  ObjectInstList *instEntry;
@@ -446,17 +449,14 @@ int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
 	  instEntry = getInstance(objEntry, instId);
 
 	  // If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
+		    if (instEntry == NULL) {
-		{
 			      // Error, unlock and return
 			      xSemaphoreGiveRecursive(mutex);
 			      return -1;
 		    }
 	  }
-
 	  // Set the data
 	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
 
@@ -488,13 +488,11 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
 
 	  // Get the instance
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    // Error, unlock and return
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Pack data
 	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
 
@@ -512,7 +510,8 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
  * @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)
+int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
+			 FILEINFO * file)
 {
 #if defined(PIOS_INCLUDE_SDCARD)
 	  uint32_t bytesWritten;
@@ -520,11 +519,9 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 	  ObjectInstList *instEntry;
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
+	  if (PIOS_SDCARD_IsMounted() == 0) {
-	{
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -533,43 +530,32 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
 
 	  // Get the instance information
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Write the object ID
-	PIOS_FWRITE(file,&objEntry->id,sizeof(objEntry->id),&bytesWritten);
+	  PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
+		      &bytesWritten);
 
 	  // Write the instance ID
-	if (!objEntry->isSingleInstance)
+	  if (!objEntry->isSingleInstance) {
-	{
+		    PIOS_FWRITE(file, &instEntry->instId,
-		PIOS_FWRITE(file,&instEntry->instId,sizeof(instEntry->instId),&bytesWritten);
+				sizeof(instEntry->instId), &bytesWritten);
 	  }
-
 	  // Write the data and check that the write was successful
-	PIOS_FWRITE(file,instEntry->data,objEntry->numBytes,&bytesWritten);
+	  PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
-	if ( bytesWritten != objEntry->numBytes )
+		      &bytesWritten);
-	{
+	  if (bytesWritten != objEntry->numBytes) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Done
 	  xSemaphoreGiveRecursive(mutex);
 #endif /* PIOS_INCLUDE_SDCARD */
 	  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 +582,8 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	  if (instEntry->data == NULL)
 		    return -1;
 
-
+	  if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
-	struct fileHeader header = {
+		    return -1;
-		.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);
 #endif
 #if defined(PIOS_INCLUDE_SDCARD)
 	  FILEINFO file;
@@ -614,11 +591,9 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	  uint8_t filename[14];
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
+	  if (PIOS_SDCARD_IsMounted() == 0) {
-	{
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -629,20 +604,16 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	  objectFilename(objEntry, filename);
 
 	  // Open file
-	if ( PIOS_FOPEN_WRITE(filename,file) )
+	  if (PIOS_FOPEN_WRITE(filename, file)) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Append object
-	if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
+	  if (UAVObjSaveToFile(obj, instId, &file) == -1) {
-	{
 		    PIOS_FCLOSE(file);
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Done, close file and unlock
 	  PIOS_FCLOSE(file);
 	  xSemaphoreGiveRecursive(mutex);
@@ -666,25 +637,20 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
 	  UAVObjHandle obj;
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
+	  if (PIOS_SDCARD_IsMounted() == 0) {
-	{
 		    return NULL;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Read the object ID
-	if ( PIOS_FREAD(file,&objId,sizeof(objId),&bytesRead) )
+	  if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-
 	  // Get the object
 	  obj = UAVObjGetByID(objId);
-	if ( obj == 0 )
+	  if (obj == 0) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
@@ -692,37 +658,31 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
 
 	  // Get the instance ID
 	  instId = 0;
-	if ( !objEntry->isSingleInstance )
+	  if (!objEntry->isSingleInstance) {
-	{
+		    if (PIOS_FREAD
-		if ( PIOS_FREAD(file,&instId,sizeof(instId),&bytesRead) )
+			(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 )
+	  if (instEntry == NULL) {
-	{
 		    instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
+		    if (instEntry == NULL) {
-		{
 			      // Error, unlock and return
 			      xSemaphoreGiveRecursive(mutex);
 			      return NULL;
 		    }
 	  }
-
 	  // Read the instance data
-	if ( PIOS_FREAD(file,instEntry->data,objEntry->numBytes,&bytesRead) )
+	  if (PIOS_FREAD
-	{
+	      (file, instEntry->data, objEntry->numBytes, &bytesRead)) {
 		    xSemaphoreGiveRecursive(mutex);
 		    return NULL;
 	  }
-
 	  // Fire event
 	  sendEvent(objEntry, instId, EV_UNPACKED);
 
@@ -758,20 +718,11 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	  if (instEntry->data == NULL)
 		    return -1;
 
-	struct fileHeader header;
+	  // Fire event on success
-	uint32_t addr = (objEntry->id & FLASH_MASK);
+	  if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
-
-	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
 		    sendEvent(objEntry, instId, EV_UNPACKED);
+	  else
+		    return -1;
 #endif
 
 #if defined(PIOS_INCLUDE_SDCARD)
@@ -782,11 +733,9 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	  uint8_t filename[14];
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
+	  if (PIOS_SDCARD_IsMounted() == 0) {
-	{
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -797,30 +746,24 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	  objectFilename(objEntry, filename);
 
 	  // Open file
-	if ( PIOS_FOPEN_READ(filename,file) )
+	  if (PIOS_FOPEN_READ(filename, file)) {
-	{
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Load object
 	  loadedObj = UAVObjLoadFromFile(&file);
-	if (loadedObj == 0)
+	  if (loadedObj == 0) {
-	{
 		    PIOS_FCLOSE(file);
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Check that the IDs match
 	  loadedObjEntry = (ObjectList *) loadedObj;
-	if ( loadedObjEntry->id != objEntry->id )
+	  if (loadedObjEntry->id != objEntry->id) {
-	{
 		    PIOS_FCLOSE(file);
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Done, close file and unlock
 	  PIOS_FCLOSE(file);
 	  xSemaphoreGiveRecursive(mutex);
@@ -837,24 +780,16 @@ 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;
+	  PIOS_FLASHFS_ObjDelete(obj, instId);
-	
-	if(objEntry == NULL)
-		return -1;
-		
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-	PIOS_Flash_W25X_EraseSector(addr);
 #endif
 #if defined(PIOS_INCLUDE_SDCARD)
 	  ObjectList *objEntry;
 	  uint8_t filename[14];
 
 	  // Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
+	  if (PIOS_SDCARD_IsMounted() == 0) {
-	{
 		    return -1;
 	  }
-
 	  // Lock
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -885,14 +820,12 @@ int32_t UAVObjSaveSettings()
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Save all settings objects
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    // Check if this is a settings object
-		if ( objEntry->isSettings )
+		    if (objEntry->isSettings) {
-		{
 			      // Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-			{
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -916,14 +849,12 @@ int32_t UAVObjLoadSettings()
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Load all settings objects
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    // Check if this is a settings object
-		if ( objEntry->isSettings )
+		    if (objEntry->isSettings) {
-		{
 			      // Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-			{
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -947,14 +878,12 @@ int32_t UAVObjDeleteSettings()
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Save all settings objects
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    // Check if this is a settings object
-		if ( objEntry->isSettings )
+		    if (objEntry->isSettings) {
-		{
 			      // Save object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
-			{
+				  == -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -978,14 +907,12 @@ int32_t UAVObjSaveMetaobjects()
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Save all settings objects
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    // Check if this is a settings object
-		if ( objEntry->isMetaobject )
+		    if (objEntry->isMetaobject) {
-		{
 			      // Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-			{
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -1009,14 +936,12 @@ int32_t UAVObjLoadMetaobjects()
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Load all settings objects
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    // Check if this is a settings object
-		if ( objEntry->isMetaobject )
+		    if (objEntry->isMetaobject) {
-		{
 			      // Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-			{
+				  -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -1040,14 +965,12 @@ int32_t UAVObjDeleteMetaobjects()
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Load all settings objects
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    // Check if this is a settings object
-		if ( objEntry->isMetaobject )
+		    if (objEntry->isMetaobject) {
-		{
 			      // Load object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
-			{
+				  == -1) {
 					xSemaphoreGiveRecursive(mutex);
 					return -1;
 			      }
@@ -1088,7 +1011,8 @@ int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
  * \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)
+int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      const void *dataIn)
 {
 	  ObjectList *objEntry;
 	  ObjectInstList *instEntry;
@@ -1101,25 +1025,22 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dat
 	  objEntry = (ObjectList *) obj;
 
 	  // Check access level
-	if ( !objEntry->isMetaobject )
+	  if (!objEntry->isMetaobject) {
-	{
+		    mdata =
-		mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
-		if ( mdata->access == ACCESS_READONLY )
+					    data);
-		{
+		    if (mdata->access == ACCESS_READONLY) {
 			      xSemaphoreGiveRecursive(mutex);
 			      return -1;
 		    }
 	  }
-
 	  // Get instance information
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    // Error, unlock and return
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Set data
 	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
 
@@ -1138,7 +1059,8 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dat
  * \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)
+int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      void *dataOut)
 {
 	  ObjectList *objEntry;
 	  ObjectInstList *instEntry;
@@ -1151,13 +1073,11 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
 
 	  // Get instance information
 	  instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
+	  if (instEntry == NULL) {
-	{
 		    // Error, unlock and return
 		    xSemaphoreGiveRecursive(mutex);
 		    return -1;
 	  }
-
 	  // Set data
 	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
 
@@ -1181,12 +1101,10 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
 
 	  // Set metadata (metadata of metaobjects can not be modified)
 	  objEntry = (ObjectList *) obj;
-	if (!objEntry->isMetaobject)
+	  if (!objEntry->isMetaobject) {
-	{
+		    UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
-		UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
+				  dataIn);
-	}
+	  } else {
-	else
-	{
 		    return -1;
 	  }
 
@@ -1210,13 +1128,11 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
 
 	  // Get metadata
 	  objEntry = (ObjectList *) obj;
-	if (objEntry->isMetaobject)
+	  if (objEntry->isMetaobject) {
-	{
 		    memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
-	}
+	  } else {
-	else
+		    UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
-	{
+				  dataOut);
-		UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
 	  }
 
 	  // Unlock
@@ -1241,9 +1157,10 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
 	  objEntry = (ObjectList *) obj;
 
 	  // Check access level
-    if ( !objEntry->isMetaobject )
+	  if (!objEntry->isMetaobject) {
-    {
+		    mdata =
-        mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
 		    return mdata->access == ACCESS_READONLY;
 	  }
 	  return -1;
@@ -1257,7 +1174,8 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
  * \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 UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
+			   int32_t eventMask)
 {
 	  int32_t res;
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@@ -1289,7 +1207,8 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle 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 UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
+int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
+			      int32_t eventMask)
 {
 	  int32_t res;
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@@ -1313,7 +1232,6 @@ int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
 	  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.
@@ -1371,8 +1289,7 @@ void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
 	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
 	  // Iterate through the list and invoke iterator for each object
-	LL_FOREACH(objList, objEntry)
+	  LL_FOREACH(objList, objEntry) {
-	{
 		    (*iterator) ((UAVObjHandle) objEntry);
 	  }
 
@@ -1383,7 +1300,8 @@ void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
 /**
  * Send an event to all event queues registered on the object.
  */
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event)
 {
 	  ObjectEventList *eventEntry;
 	  UAVObjEvent msg;
@@ -1394,21 +1312,18 @@ static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType 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)
+	  LL_FOREACH(obj->events, eventEntry) {
-	{
+		    if (eventEntry->eventMask == 0
-    	if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
+			|| (eventEntry->eventMask & event) != 0) {
-    	{
 			      // Send to queue if a valid queue is registered
-    		if (eventEntry->queue != 0)
+			      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 (eventEntry->cb != 0) {
-    		{
 					if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE)	// invoke callback from the event task, will not block
 					{
 						  ++stats.eventErrors;
@@ -1430,46 +1345,41 @@ static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
 	  int32_t n;
 
 	  // For single instance objects, only instance zero is allowed
-	if (obj->isSingleInstance && instId != 0)
+	  if (obj->isSingleInstance && instId != 0) {
-	{
 		    return NULL;
 	  }
-
 	  // Make sure that the instance ID is within limits
-	if (instId >= UAVOBJ_MAX_INSTANCES)
+	  if (instId >= UAVOBJ_MAX_INSTANCES) {
-	{
 		    return NULL;
 	  }
-
 	  // Check if the instance already exists
-	if ( getInstance(obj, instId) != NULL )
+	  if (getInstance(obj, instId) != NULL) {
-	{
 		    return NULL;
 	  }
-
 	  // Create any missing instances (all instance IDs must be sequential)
-	for (n = obj->numInstances; n < instId; ++n)
+	  for (n = obj->numInstances; n < instId; ++n) {
-	{
+		    if (createInstance(obj, n) == NULL) {
-		if ( createInstance(obj, n) == NULL )
-		{
 			      return NULL;
 		    }
 	  }
 
-	if(instId == 0)  /* Instance 0 ObjectInstList allocated with ObjectList element */
+	  if (instId == 0) {	/* Instance 0 ObjectInstList allocated with ObjectList element */
-	{		
 		    instEntry = &obj->instances;
 		    instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
+		    if (instEntry->data == NULL)
+			      return NULL;
 		    memset(instEntry->data, 0, obj->numBytes);
 		    instEntry->instId = instId;
-	} else 
+	  } else {
-	{	
 		    // Create the actual instance
-		instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
+		    instEntry =
-		if (instEntry == NULL) return NULL;
+			(ObjectInstList *)
+			pvPortMalloc(sizeof(ObjectInstList));
+		    if (instEntry == NULL)
+			      return NULL;
 		    instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
+		    if (instEntry->data == NULL)
+			      return NULL;
 		    memset(instEntry->data, 0, obj->numBytes);
 		    instEntry->instId = instId;
 		    LL_APPEND(obj->instances.next, instEntry);
@@ -1491,10 +1401,8 @@ static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
 	  ObjectInstList *instEntry;
 
 	  // Look for specified instance ID
-	LL_FOREACH(&(obj->instances), instEntry)
+	  LL_FOREACH(&(obj->instances), instEntry) {
-	{
+		    if (instEntry->instId == instId) {
-		if (instEntry->instId == instId)
-		{
 			      return instEntry;
 		    }
 	  }
@@ -1510,17 +1418,16 @@ static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
  * \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)
+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)
+	  LL_FOREACH(objEntry->events, eventEntry) {
-	{
+		    if (eventEntry->queue == queue && eventEntry->cb == cb) {
-		if ( eventEntry->queue == queue && eventEntry->cb == cb )
-		{
 			      // Already connected, update event mask and return
 			      eventEntry->eventMask = eventMask;
 			      return 0;
@@ -1528,9 +1435,9 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallb
 	  }
 
 	  // Add queue to list
-	eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
+	  eventEntry =
-	if (eventEntry == NULL)
+	      (ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
-	{
+	  if (eventEntry == NULL) {
 		    return -1;
 	  }
 	  eventEntry->queue = queue;
@@ -1549,17 +1456,17 @@ static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallb
  * \param[in] cb The event callback
  * \return 0 if success or -1 if failure
  */
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
+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)
+	  LL_FOREACH(objEntry->events, eventEntry) {
-	{
+		    if ((eventEntry->queue == queue
-		if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
+			 && eventEntry->cb == cb)) {
-		{
 			      LL_DELETE(objEntry->events, eventEntry);
 			      vPortFree(eventEntry);
 			      return 0;
@@ -1589,19 +1496,3 @@ static void objectFilename(ObjectList* obj, uint8_t* filename)
 	  customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
 }
 #endif /* PIOS_INCLUDE_SDCARD */
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