them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535
ManualControl: Make it deal with the values explicitly. A timed out value
should not be treated like a minimum duration signal. Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.
This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.
A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap. That's our new baseline.
Approximate RAM (heap) costs of enabling various features:
+ 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
+ 108 PWM Rcvr
+ 152 PPM Rcvr
+ 112 Spektrum Rcvr
+ 24 S.Bus (Should be closer to 68 since driver is still using
static memory)
There are still some drivers that pre-allocate all of their memory
as static data. It'll take some work to convert those over to
dynamically allocating their instance data.
PWM and PPM can now coexist in the same load and be
selected at boot time via the hwsettings UAVObject.
This is basically a complete restructuring of the
way the drivers interact with the TIM peripheral in
the STM32.
As a side effect, the PWM and PPM drivers are now
ready to support multiple instances of each.
This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins. Still more work required, but this is
a good start.
needed by users because if too much changes I change the FS magic and trigger a
wipe.
Possibly the erase should require a particular "magic" object id value to
execute? This would make it harder to do manually through UAVOs though.
This allows the GCS to emulate a receiver device via the
telemetry link.
Select "GCS" as your input type in the manualcontrol config
screen and calibrate it as normal.
Note: The expected values for the channels are in microseconds
just like a PWM or PPM input device. The channel values
are validated against minimum/maximum pulse lengths just
like normal receivers.
The small bootloaders (CC and PipX) are out of flash space
so their stopwatch implementation has been swapped out for
one based on the DELAY clock that takes about 500 bytes less
of code space.
Identical functionality is preserved.
This allows the spektrum and sbus receiver drivers to bind
directly to the usart layer using a properly exported API
rather than overriding the interrupt handler.
Bytes are now pushed directly from the usart layer into the
com layer without any buffering. The com layer performs all
of the buffering.
A further benefit from this approach is that we can put all
blocking/non-blocking behaviour into the COM layer and not
in the underlying drivers.
Misc related changes:
- Remove obsolete .handler field from irq configs
- Adapt all users of PIOS_COM_* functions to new API
- Fixup callers of PIOS_USB_HID_Init()
Update to use 32-bit microsecond values.
Remove PIOS_DELAY_DiffuS per consensus (caller can do it easily themselves).
Update the core delay logic per Stac's suggestion to a version that is
resistant to various overflows.
Address the following review feedback items:
- use stdint types
- avoid the use of magic numbers (define CYCCNTENA)
- remove expository comment about sneakiness and corresponding code, replace with something simpler based on the API
- remove commented/#if 0 code
Each channel was previously tracking a separate driver.
Now, channels are grouped within a channel group to save
RAM used for tracking and to better reflect how channels
are actually mapped.
