The exti layer now allows drivers to register interrupt callbacks
during board initialization. All details of the driver using a
particular EXTI pin have been removed from the EXTI layer so it
can now be used on any board without board-specific modification.
This includes some nice refinements provided by Mike Smith during
initial review. His original commits have been squashed into this
one.
Board specific HW configuration is now collected in a single .c
file for each board. This HW configuration is #include'd into
the FW, BL and BU builds for each board.
These new .c files are found in:
flight/board_hw_defs/<board_name>/board_hw_defs.c
Parts of this information were previously duplicated between
the BL and FW builds. This commit cleans up the duplication.
Using a #include on a .c file is a bit ugly but it allows us
to ensure that all of the symbols in the board_hw_defs.c file
are *ONLY* used in the PIOS_Board_Init() function for each
software build.
If no telemetry link is configured, this will force the board
to reset before finishing init. The BootFault logic will
catch this after 3 resets and will boot with default hwsettings
on the next reset.
This won't currently ever fire on OP though since we always
configure the serial telemetry interface. This just makes sure
the pattern is present in case anyone decides to compile without
serial telemetry.
OpenPilot platform (and thus sim too) was missed when the
DIAG_TASKS macro was broken out from the DIAGNOSTICS macro.
This allowed accesses to the TaskInfo UAVO even though it hadn't
been initialized.
Changed file format to be able to save settings and data together.
Old settings files still can be imported. Data export will also contain
settings, so we always have the system settings with the system state.
Sample file:
<!DOCTYPE UAVObjects>
<uavobjects>
<version>
...
</version>
<data>
<object id="0xC409985A" name="AccessoryDesired">
<field values="0" name="AccessoryVal"/>
</object>
...
</data>
<settings>
<object id="0xF2875746" name="ActuatorSettings">
...
</settings>
</uavobjects>
Some modules are written such that they can be included
or excluded at runtime. These are added to the OPTMODULES
list in the makefile for a given board.
This change provides a mechanism to allow a build to force
a given module to be built-in (ie. always initialized)
regardless of the configuration in hwsettings.
The main use case for this is to handle a module being optional
on one platform but essential on another.
All modules added to the MODULES list in the Makefile will
automatically result in a matching #define in the form
MODULE_TheModuleName_BUILTIN
being defined in the CFLAGS for all compiled source.
Note that the capitalization of TheModuleName must match
exactly the capitalization used in the MODULES list.
