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Commit Graph

55 Commits

Author SHA1 Message Date
Stacey Sheldon
27ceb7ea92 modules: Allow optional modules to be used as built-in
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.
2012-01-14 16:55:55 -05:00
Oleg Semyonov
4a99ec3298 code style: move variable into function and free 1 byte of RAM :-)
component     free heap used
    ----------------------------
    Nothing            2560    -
    PWM                2432  128
    PPM                2408  152
    DSM                2464   96
    S.Bus              2448  112
    GPS (port only)    2368  192
    GPS (port+module)  1312 1248
    CameraStab         2096  464
    Telemetry          1928  632
2011-11-13 18:27:52 +02:00
James Cotton
b110e9c549 Style suggestions to cleanup GPS from Stac 2011-11-12 21:31:01 -06:00
Corvus Corax
61ecc0d310 make optional modules check themselves if they should start or not 2011-11-11 11:39:57 +01:00
Corvus Corax
9679638244 Revert "Modules/GPS: removed comment line"
This reverts commit 109a58ef30.
2011-11-11 11:07:02 +01:00
Oleg Semyonov
a8b36ddd28 HwSettings: disable GPS and telemetry port speed updates at run-time
This is to be consistent across the HwSettings object fields which are
read on boot only by convention.
2011-10-31 23:04:17 +02:00
Oleg Semyonov
7800fbe6de gps: initialize GPS UAVO and start GPS module only if port is configured 2011-09-29 00:41:51 +03:00
Oleg Semyonov
a38c569cd0 HwSettings: move Telemetry and add GPS port speed to the HwSettings object
TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry
port speed moved to the HwSettings object. Added GPS port speed setting.
GCS code updated to reflect changes and support both fields.
2011-09-28 22:11:42 +03:00
Corvus Corax
109a58ef30 Modules/GPS: removed comment line 2011-08-25 16:25:19 +02:00
Corvus Corax
8173c7b7c6 Refactor GPS_PURISTIC into GPS_MINIMAL 2011-08-25 15:44:49 +02:00
Corvus Corax
1d797bf004 Fixed error introduced by merge 2011-08-25 15:40:45 +02:00
Corvus Corax
4bd72923e5 Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
2011-08-25 15:33:23 +02:00
Corvus Corax
54ecf233f3 Modules/PS: typo fix 2011-08-25 15:13:50 +02:00
Corvus Corax
7e396efbbf Modules/GPS: Assert buffer creation 2011-08-25 15:11:29 +02:00
Corvus Corax
dfdea16065 Modules/GPS: Make GPS COM unidirectional (rx only) and use smaller, runtime allocated heap buffers 2011-08-25 14:46:30 +02:00
Corvus Corax
697ac6067e OP-567 Modules/GPS: Block in PIOS_COM, not in TaskDelay - or we will miss updates! 2011-08-25 13:33:41 +02:00
Corvus Corax
838149b53f GPS: homelocation init is optional, satellites must be initialized 2011-08-21 18:20:33 +02:00
Corvus Corax
53d0732fc6 Enable GPS module as "optional module" in CooterControl 2011-08-20 01:25:49 +02:00
Corvus Corax
b75890fcd4 Merge branch 'next' into CC_GPS 2011-08-19 21:34:38 +02:00
James Cotton
ab7e57ad2b Initialize objects for guidance in the correct place. Init some objects in
pios_board_posix since AHRSComms not around.
2011-08-19 09:52:05 -05:00
James Cotton
2e5a36a4db Merge branch 'stac/refactor-usart-com' into camera_stabilization 2011-07-30 10:55:16 +09:00
James Cotton
96c2d24253 Merge branch 'next' into camera_stabilization
Conflicts:
	flight/CopterControl/Makefile
	flight/CopterControl/System/coptercontrol.c
	flight/Modules/Actuator/actuator.c
	flight/Modules/GPS/GPS.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
	flight/Modules/System/systemmod.c
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/stabilizationdesired.xml
2011-07-30 10:06:10 +09:00
Stacey Sheldon
5f8760a55c com: Move buffering out of USART/HID layer and into COM layer
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()
2011-07-27 19:45:38 -04:00
Mathieu Rondonneau
612a439199 OP-423: simplify the MODULE_INITCALL macro and remove the ordering loops 2011-07-12 20:44:32 -07:00
Mathieu Rondonneau
9b9b5a1367 OP-423: remove ';' at the end of macro 2011-07-05 19:44:54 -07:00
Mathieu Rondonneau
de55c56427 OP-423: Change capital on macro to be uppercase for consistency. 2011-06-24 22:03:03 -07:00
Mathieu Rondonneau
fc1e3f574c OP-423: Split task create and module init in order to postpone task creation once the full heap is available.
Also implement some ordering (quite ugly still) in the module init and task creation order so we can decide which module to start/init first
and which module to start/init last.
This will be replaced/adapter with the uavobject list later (once it's implemented).
reserving some space for module init and task create parameters to customize module/task creation (this will be usefull once we get the list and customization from customer).

Changes have been made for OP and CC. Tested comped with CC,OP, sim_posix.
Only ran on bench with CC for couple of minutes (code increase expected but no dropping of stack which is good).

This gives task creation at the time wherethe all heap is available.
2011-06-19 22:35:40 -07:00
James Cotton
5044ea36de Start initializing objects in the modules that consume them. Shouldn't affect
OP yet but not tested.
2011-06-18 14:20:51 -05:00
Mathieu Rondonneau
65cf467ca4 OP-423: move the module initialize funtion into a specific section for OP and CC.
- create linker section for those <module>Initialize()
- later this list will incorporate parameters as well. (this probably will be more a OP feature to swap/remove/delete module on the fly.
- this is not done at compile time anymore by Makefile.
- this will allow us to have control on the module start at run-time (not implemented but build the ground for it).
- this simplify the startup (Part of code re-org).
- this change does not affect sim_posix and win32 (since they don't need that)
- ensure it's compiling for PiOS.posix
- port to PiOS.win32 but not tested (not compiled)
- tested on CC
- compile on OP.
- this free ~200 bytes.
- current avalable bytes (is we keep the same remaining bytes on the stack than before) is easily passed the 1.2Ko mark on CC with new gcc (4.5.2)
- this does not include init-reorg for each module (I still think more can be freed)
2011-06-16 22:13:19 -07:00
James Cotton
3d5244c4b8 Fix small typo THRSHOLD to THRESHOLD in gps.c 2011-05-12 18:57:16 -05:00
Corvus Corax
bce51d4258 OP-435 Optionally allow building of GPS without support for GPSSatellites and GPSTime UAVObjects to save memory 2011-05-12 21:00:59 +02:00
Corvus Corax
8c7f3e2720 OP-435 #ifdef covered one command too many - bugfix 2011-04-25 18:37:28 +02:00
Corvus Corax
2bf7ea2271 Modules/GPS: Make code to deal with home location optional to allow a sleeker GPS module for RAM challenged systems 2011-04-23 16:49:07 +02:00
peabody124
4120937391 OP-364 OP-191: Convert the OPMap setting of HomeLocation to mGau to match the
changes in flight code

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3083 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-28 10:40:26 +00:00
fredericg
662a3e5cc8 OP-361 Also parse ZDA message in order to get GPS time info with new GTOP FW
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3074 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-26 11:13:11 +00:00
jonathan
160695e546 OP-191: Merge from full-calibration branch. Add the local gravitational field strength to the home location.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3055 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-21 00:48:32 +00:00
FredericG
5bdf836027 OP-324 No code change; commented debug-code
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3026 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-12 08:55:45 +00:00
FredericG
32c7596636 OP-324 Make NMEA parser more resilient to corrupted messages - For the new GTOP GPS FW, parsing of the VTG message is needed to get Heading and GroundSpeed
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2960 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-04 07:57:18 +00:00
FredericG
c890f596e4 NMEA: minor change to debug-messages
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2953 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-03-03 19:53:10 +00:00
FredericG
0124c42b8c OP-324 Make NMEA parser more resilient to corrupted messages - WANRING: NMEA parser refactored - VTG and ZDA messages no longer interpreted
Sometimes corrupted NMEA messages can get passed the NMEA "CRC" check and this caused the NEMA parser to crash because it assumed that the correct amount of parameters are present.
Now the NMEA message is split into its different parameters before it is passed to the message-specific parser. Hence the function-signature of the parser functions has changed and the implementations of these functions has changed. 
I also decided to no longer interpret the VTG and ZDA because they do not contain more data than the other messages that are being parsed.
Not tested in flight, and could not test the TOP message.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2904 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-27 13:45:19 +00:00
pip
4b4d9043fb Set PDOP and VDOP to 99.99 in binary mode (theose values are not available in binary mode). A couple of cleanups too.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2874 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-24 10:55:45 +00:00
pip
bee704176b Fixed a bug when scanning for start of packet.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2861 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-23 10:11:26 +00:00
pip
e9d7ab09be Improved efficiency (a lot) when scanning for and locking onto the start of a GPS binary packet.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2858 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-23 09:24:17 +00:00
pip
e7850ab25e Corrected scale for lat/lon - was out by a factor of 10
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2846 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 14:16:16 +00:00
pip
f6370a035d 'Slightly' more efficient binary packet handling.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2845 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 12:45:51 +00:00
pip
9da0fb47e2 Reduced GPS command resend to 2 second time-out, a few more white space corrections.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2844 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 12:32:08 +00:00
pip
3881c652c1 Simplified the binary code a little, added a 300ms delay after sending a FULL COLD RESTART to the GPS (IF we do that is), fixed some spelling mistakes.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2843 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 12:15:25 +00:00
pip
9d14723dcc Commenting tidy upping
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2842 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 11:32:24 +00:00
pip
d1d165adff More white space/tab corrections.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2841 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 11:19:12 +00:00
pip
0fd6170979 added another "#ifdef ENABLE_GPS_NMEA"
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2840 ebee16cc-31ac-478f-84a7-5cbb03baadba
2011-02-22 11:02:17 +00:00