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2f86e4dd4f
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.
164 lines
4.5 KiB
C
164 lines
4.5 KiB
C
/**
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******************************************************************************
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*
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* @file ahrs_comm_objects.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief AHRS comms AUVObjects. This file defined teh objects to be used.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#include "ahrs_spi_comm.h"
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#include "pios_debug.h"
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static AttitudeRawData AttitudeRaw;
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static AttitudeActualData AttitudeActual;
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static AHRSCalibrationData AHRSCalibration;
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static AhrsStatusData AhrsStatus;
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static BaroAltitudeData BaroAltitude;
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static GPSPositionData GPSPosition;
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static PositionActualData PositionActual;
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static VelocityActualData VelocityActual;
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static HomeLocationData HomeLocation;
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static AHRSSettingsData AHRSSettings;
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static FirmwareIAPObjData FirmwareIAPObj;
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AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
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#ifndef NULL
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#define NULL ((void *)0)
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#endif
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#ifdef IN_AHRS
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//slightly hacky - implement our own version of the xxxHandle() functions
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#define CREATEHANDLE(n,obj) \
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void * obj##Handle() {return (&objectHandles[n]);}
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CREATEHANDLE(0, AttitudeRaw);
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CREATEHANDLE(1, AttitudeActual);
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CREATEHANDLE(2, AHRSCalibration);
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CREATEHANDLE(3, AhrsStatus);
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CREATEHANDLE(4, BaroAltitude);
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CREATEHANDLE(5, GPSPosition);
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CREATEHANDLE(6, PositionActual);
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CREATEHANDLE(7, VelocityActual);
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CREATEHANDLE(8, HomeLocation);
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CREATEHANDLE(9, AHRSSettings);
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CREATEHANDLE(10, FirmwareIAPObj);
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#if 11 != MAX_AHRS_OBJECTS //sanity check
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#error We did not create the correct number of xxxHandle() functions
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#endif
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#define ADDHANDLE(idx,obj) {\
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int n = idx;\
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objectHandles[n].data = &obj;\
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objectHandles[n].size = sizeof(obj);\
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objectHandles[n].index = n;\
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}
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#else
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static void ObjectUpdatedCb(UAVObjEvent * ev);
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#define ADDHANDLE(idx,obj) {\
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obj##Initialize();\
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int n = idx;\
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objectHandles[n].data = &obj;\
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objectHandles[n].uavHandle = obj##Handle();\
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objectHandles[n].size = sizeof(obj);\
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objectHandles[n].index = n;\
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}
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#endif
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void AhrsInitHandles(void)
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{
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int idx = 0;
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//Note: the first item in this list has the highest priority
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//the last has the lowest priority
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ADDHANDLE(idx++, AttitudeRaw);
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ADDHANDLE(idx++, AttitudeActual);
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ADDHANDLE(idx++, AHRSCalibration);
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ADDHANDLE(idx++, AhrsStatus);
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ADDHANDLE(idx++, BaroAltitude);
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ADDHANDLE(idx++, GPSPosition);
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ADDHANDLE(idx++, PositionActual);
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ADDHANDLE(idx++, VelocityActual);
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ADDHANDLE(idx++, HomeLocation);
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ADDHANDLE(idx++, AHRSSettings);
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ADDHANDLE(idx++, FirmwareIAPObj);
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if (idx != MAX_AHRS_OBJECTS) {
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PIOS_DEBUG_Assert(0);
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}
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//Note: Only connect objects that the AHRS needs to read
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//When the AHRS writes to these the data does a round trip
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//AHRS->OP->AHRS due to these events
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#ifndef IN_AHRS
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AHRSSettingsConnectCallback(ObjectUpdatedCb);
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BaroAltitudeConnectCallback(ObjectUpdatedCb);
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GPSPositionConnectCallback(ObjectUpdatedCb);
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HomeLocationConnectCallback(ObjectUpdatedCb);
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AHRSCalibrationConnectCallback(ObjectUpdatedCb);
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FirmwareIAPObjConnectCallback(ObjectUpdatedCb);
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#endif
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}
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AhrsObjHandle AhrsFromIndex(uint8_t index)
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{
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if (index >= MAX_AHRS_OBJECTS) {
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return (NULL);
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}
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return (&objectHandles[index]);
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}
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#ifndef IN_AHRS
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AhrsObjHandle AhrsFromUAV(UAVObjHandle obj)
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{
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if (objectHandles[0].uavHandle == NULL) { //Oops - we haven't been initialised!
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PIOS_DEBUG_Assert(0);
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}
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for (int ct = 0; ct < MAX_AHRS_OBJECTS; ct++) {
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if (objectHandles[ct].uavHandle == obj) {
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return (&objectHandles[ct]);
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}
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}
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return (NULL);
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}
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/** Callback to update AHRS from UAVObjects
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*/
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static void ObjectUpdatedCb(UAVObjEvent * ev)
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{
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if (!(ev->event & EV_MASK_ALL_UPDATES)) {
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return;
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}
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AhrsObjHandle hdl = AhrsFromUAV(ev->obj);
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if (hdl) {
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AhrsSharedData data; //this is guaranteed to be big enough
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UAVObjGetData(ev->obj, &data);
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AhrsSetData(hdl, &data);
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}
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}
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#endif
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