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84e1a81f8b
LibrePilot/flight/pios/pios.h
Richard Flay (Hyper) 84e1a81f8b OP-936: Moves the task monitor code out of the flight library and into PiOS. 
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem,
and pushes the responsibility for updating the TaskInfo UAVO into the System module.

+review OPReview
2013-05-03 07:01:14 +09:30

341 lines
7.3 KiB
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/**
******************************************************************************
* @file pios.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013
* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @brief Main PiOS header.
* @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
*/
/*
* To add new PIOS options, drivers or functions please insert their
* includes below into a corresponding group. If new driver has optional
* features, add them as comments before including the driver header.
* Finally update all pios_config.h files for every board in the same order
* as in this file. Include new definition and all options, but comment
* out unused ones.
*/
#ifndef PIOS_H
#define PIOS_H
#include <pios_helpers.h>
#include <pios_math.h>
#include <pios_constants.h>
#ifdef USE_SIM_POSIX
/* SimPosix version of this file. This will probably be removed later */
#include <pios_sim_posix.h>
#else
/* C Lib includes */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <math.h>
/* STM32 Std Peripherals Lib */
#ifdef STM32F4XX
#include <stm32f4xx.h>
#include <stm32f4xx_rcc.h>
#else
#include <stm32f10x.h>
#endif
/* PIOS board specific feature selection */
#include "pios_config.h"
/* PIOS board specific device configuration */
#include "pios_board.h"
/* PIOS debug interface */
/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
/* #define DEBUG_LEVEL 0 */
#include <pios_debug.h>
/* PIOS common functions */
#include <pios_crc.h>
/* PIOS FreeRTOS support */
#ifdef PIOS_INCLUDE_FREERTOS
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#endif
#ifdef PIOS_INCLUDE_TASK_MONITOR
#ifndef PIOS_INCLUDE_FREERTOS
#error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
#endif
#include <pios_task_monitor.h>
#endif
/* PIOS bootloader helper */
#ifdef PIOS_INCLUDE_BL_HELPER
/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
#include <pios_bl_helper.h>
#endif
/* PIOS system functions */
#ifdef PIOS_INCLUDE_DELAY
#include <pios_delay.h>
#endif
#ifdef PIOS_INCLUDE_INITCALL
#include "pios_initcall.h"
#endif
#ifdef PIOS_INCLUDE_SYS
#include <pios_sys.h>
#endif
/* PIOS hardware peripherals */
#ifdef PIOS_INCLUDE_IRQ
#include <pios_irq.h>
#endif
#ifdef PIOS_INCLUDE_RTC
#include <pios_rtc.h>
#endif
#ifdef PIOS_INCLUDE_TIM
#include <pios_tim.h>
#endif
#ifdef PIOS_INCLUDE_USART
#include <pios_usart.h>
#endif
#ifdef PIOS_INCLUDE_ADC
#include <pios_adc.h>
#endif
#ifdef PIOS_INCLUDE_I2C
#include <pios_i2c.h>
#endif
#ifdef PIOS_INCLUDE_SPI
#include <pios_spi.h>
#endif
#ifdef PIOS_INCLUDE_GPIO
#include <pios_gpio.h>
#endif
#ifdef PIOS_INCLUDE_EXTI
#include <pios_exti.h>
#endif
#ifdef PIOS_INCLUDE_WDG
#include <pios_wdg.h>
#endif
/* PIOS USB functions */
#ifdef PIOS_INCLUDE_USB
/* #define PIOS_INCLUDE_USB_HID */
/* #define PIOS_INCLUDE_USB_CDC */
/* #define PIOS_INCLUDE_USB_RCTX */
#include <pios_usb.h>
#ifdef PIOS_INCLUDE_USB_HID
#include <pios_usb_hid.h>
#endif
#ifdef PIOS_INCLUDE_USB_RCTX
#include <pios_usb_rctx.h>
#endif
#endif
/* PIOS sensor interfaces */
#ifdef PIOS_INCLUDE_ADXL345
/* ADXL345 3-Axis Accelerometer */
#include <pios_adxl345.h>
#endif
#ifdef PIOS_INCLUDE_BMA180
/* BMA180 3-Axis Accelerometer */
#include <pios_bma180.h>
#endif
#ifdef PIOS_INCLUDE_L3GD20
/* L3GD20 3-Axis Gyro */
#include <pios_l3gd20.h>
#endif
#ifdef PIOS_INCLUDE_MPU6000
/* MPU6000 3-Axis Gyro/Accelerometer */
/* #define PIOS_MPU6000_ACCEL */
#include <pios_mpu6000.h>
#endif
#ifdef PIOS_INCLUDE_HMC5843
/* HMC5843 3-Axis Digital Compass */
#include <pios_hmc5843.h>
#endif
#ifdef PIOS_INCLUDE_HMC5883
/* HMC5883 3-Axis Digital Compass */
/* #define PIOS_HMC5883_HAS_GPIOS */
#include <pios_hmc5883.h>
#endif
#ifdef PIOS_INCLUDE_BMP085
/* BMP085 Barometric Pressure Sensor */
#include <pios_bmp085.h>
#endif
#ifdef PIOS_INCLUDE_MS5611
/* MS5611 Barometric Pressure Sensor */
#include <pios_ms5611.h>
#endif
#ifdef PIOS_INCLUDE_MPXV
/* MPXV5004, MPXV7002 based Airspeed Sensor */
#include <pios_mpxv.h>
#endif
#ifdef PIOS_INCLUDE_ETASV3
/* Eagle Tree Systems Airspeed MicroSensor V3 */
#include <pios_etasv3.h>
#endif
#ifdef PIOS_INCLUDE_HCSR04
/* HC-SR04 Ultrasonic Sensor */
#include <pios_hcsr04.h>
#endif
/* PIOS receiver drivers */
#ifdef PIOS_INCLUDE_PWM
#include <pios_pwm.h>
#endif
#ifdef PIOS_INCLUDE_PPM
#include <pios_ppm.h>
#endif
#ifdef PIOS_INCLUDE_PPM_FLEXI
/* PPM on CC flexi port */
#endif
#ifdef PIOS_INCLUDE_DSM
#include <pios_dsm.h>
#endif
#ifdef PIOS_INCLUDE_SBUS
#include <pios_sbus.h>
#endif
#ifdef PIOS_INCLUDE_GCSRCVR
/* only priv header */
#endif
/* PIOS abstract receiver interface */
#ifdef PIOS_INCLUDE_RCVR
#include <pios_rcvr.h>
#endif
/* PIOS common peripherals */
#ifdef PIOS_INCLUDE_LED
#include <pios_led.h>
#endif
#ifdef PIOS_INCLUDE_IAP
#include <pios_iap.h>
#endif
#ifdef PIOS_INCLUDE_SERVO
#include <pios_servo.h>
#endif
#ifdef PIOS_INCLUDE_I2C_ESC
#include <pios_i2c_esc.h>
#endif
#ifdef PIOS_INCLUDE_OVERO
/* #define PIOS_OVERO_SPI */
#include <pios_overo.h>
#endif
#ifdef PIOS_INCLUDE_SDCARD
/* #define LOG_FILENAME "startup.log" */
#include <dosfs.h>
#include <pios_sdcard.h>
#endif
#ifdef PIOS_INCLUDE_FLASH
/* #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS */
/* #define FLASH_FREERTOS */
#include <pios_flash.h>
#include <pios_flashfs.h>
#endif
#ifdef PIOS_INCLUDE_FLASH_EEPROM
#include <pios_eeprom.h>
#endif
/* PIOS radio modules */
#ifdef PIOS_INCLUDE_RFM22B
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
#include <pios_rfm22b.h>
#ifdef PIOS_INCLUDE_RFM22B_COM
#include <pios_rfm22b_com.h>
#endif
#ifdef PIOS_INCLUDE_RFM22B_RCVR
#include <pios_rfm22b_rcvr.h>
#endif
#endif /* PIOS_INCLUDE_RFM22B */
/* PIOS misc peripherals */
#ifdef PIOS_INCLUDE_VIDEO
#include <pios_video.h>
#endif
#ifdef PIOS_INCLUDE_WAVE
#include <pios_wavplay.h>
#endif
#ifdef PIOS_INCLUDE_UDP
#include <pios_udp.h>
#endif
/* PIOS abstract comms interface with options */
#ifdef PIOS_INCLUDE_COM
/* #define PIOS_INCLUDE_COM_MSG */
/* #define PIOS_INCLUDE_TELEMETRY_RF */
/* #define PIOS_INCLUDE_COM_TELEM */
/* #define PIOS_INCLUDE_COM_FLEXI */
/* #define PIOS_INCLUDE_COM_AUX */
/* #define PIOS_TELEM_PRIORITY_QUEUE */
/* #define PIOS_INCLUDE_GPS */
/* #define PIOS_GPS_MINIMAL */
/* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
/* #define PIOS_INCLUDE_GPS_UBX_PARSER */
/* #define PIOS_GPS_SETS_HOMELOCATION */
#include <pios_com.h>
#endif
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */
/* Performance counters */
/* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
#endif /* USE_SIM_POSIX */
#endif /* PIOS_H */
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