PX4 · LorenzMeier · Jul 25, 2014 · Jul 29, 2014 · Jul 30, 2014 · Jul 30, 2014
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -181,22 +181,25 @@ set(PERIPH_SRC
     )
 
 set(PX4FLOW_HDRS
+    inc/camera.h
     inc/communication.h
     inc/dcmi.h
     inc/debug.h
+    inc/filter.h
     inc/flow.h
     inc/gyro.h
     inc/i2c_frame.h
     inc/i2c.h
-    inc/led.h
     inc/main.h
     inc/mavlink_bridge_header.h
     inc/mt9v034.h
+    inc/result_accumulator.h
     inc/settings.h
     inc/sonar.h
     inc/sonar_mode_filter.h
     inc/stm32f4xx_conf.h
     inc/stm32f4xx_it.h
+    inc/timer.h
     inc/usart.h
     inc/usb_conf.h
     inc/usbd_cdc_vcp.h
@@ -206,29 +209,30 @@ set(PX4FLOW_HDRS
     )
 
 set(PX4FLOW_SRC
+    inc/camera.c
     src/communication.c
     src/dcmi.c
     src/debug.c
+    src/filter.c
     src/flow.c
     src/gyro.c
     src/i2c.c
-    src/led.c
     src/main.c
     src/mt9v034.c
     src/reset.c
+    src/result_accumulator.c
     src/settings.c
     src/sonar.c
     src/sonar_mode_filter.c
     src/stm32f4xx_it.c
     src/system_stm32f4xx.c
+    src/timer.c
     src/usart.c
     src/usb_bsp.c
     src/usbd_cdc_vcp.c
     src/usbd_desc.c
     src/usbd_usr.c
     src/utils.c
-    src/system_stm32f4xx.c
-    src/stm32f4xx_it.c
     )
 
 # building

diff --git a/Makefile b/Makefile
@@ -1,4 +1,3 @@
-#
 #   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
@@ -29,6 +28,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 
+
 #
 # Top-level Makefile for building PX4 firmware images.
 #

diff --git a/inc/no_warnings.h b/inc/no_warnings.h
diff --git a/makefiles/baremetal/config_px4flow-v1_default.mk b/makefiles/baremetal/config_px4flow-v1_default.mk
@@ -30,14 +30,15 @@ MODULES		+= drivers/boards/px4flow-v1
 #
 # General system control
 #
-##TODO EXPECT I2C - MODULES		+= modules/uavcannode
+MODULES		+= modules/i2c_slave
 
 # C support
 MODULES		+= modules/libc
 
 # Flow
 MODULES		+= modules/flow
 
+MODULES		+= modules/sonar
 
 
 # Generate parameter XML file

diff --git a/makefiles/baremetal/config_px4flow-v2_default.mk b/makefiles/baremetal/config_px4flow-v2_default.mk
@@ -41,7 +41,7 @@ MODULES		+= modules/libc
 # Flow
 MODULES		+= modules/flow
 
-
+MODULES		+= modules/lidar-sf10
 
 # Generate parameter XML file
 #GEN_PARAM_XML = 1

diff --git a/src/drivers/boards/px4flow-v1/module.mk b/src/drivers/boards/px4flow-v1/module.mk
@@ -8,6 +8,7 @@ ABS_BOOTLOADER_SRC := $(PX4_BOOTLOADER_BASE)src/
 
 SRCS   = \
 		   px4flow_init.c \
+			 px4flow_led.c \
 
 BOOTLOADER_SRC =  \
 			$(ABS_BOOTLOADER_SRC)common/boot_app_shared.c \

diff --git a/src/drivers/boards/px4flow-v1/px4flow_init.c b/src/drivers/boards/px4flow-v1/px4flow_init.c
@@ -134,131 +134,4 @@ __EXPORT int board_reset(int status)
 }
 
 
-/****************************************************************************
- * Name: board_led_initialize
- *
- * Description:
- *   This functions is called very early in initialization to perform board-
- *   specific initialization of LED-related resources.  This includes such
- *   things as, for example, configure GPIO pins to drive the LEDs and also
- *   putting the LEDs in their correct initial state.
- *
- *   NOTE: In most architectures, board_led_initialize() is called from
- *   board-specific initialization logic.  But there are a few architectures
- *   where this initialization function is still called from common chip
- *   architecture logic.  This interface is not, however, a common board
- *   interface in any event and, hence, the usage of the name
- *   board_led_initialize is deprecated.
- *
- *   WARNING: This interface name will eventually be removed; do not use it
- *   in new board ports.  New implementations should use the naming
- *   conventions for "Microprocessor-Specific Interfaces" or the "Board-
- *   Specific Interfaces" as described above.
- *
- * Input Parameters:
- *   None
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-
-__EXPORT void board_led_initialize(void)
-{
-
-}
-
-/****************************************************************************
- * Name: board_led_on
- *
- * Description:
- *   Set the LED configuration into the ON condition for the state provided
- *   by the led parameter.  This may be one of:
- *
- *     LED_STARTED       NuttX has been started
- *     LED_HEAPALLOCATE  Heap has been allocated
- *     LED_IRQSENABLED   Interrupts enabled
- *     LED_STACKCREATED  Idle stack created
- *     LED_INIRQ         In an interrupt
- *     LED_SIGNAL        In a signal handler
- *     LED_ASSERTION     An assertion failed
- *     LED_PANIC         The system has crashed
- *     LED_IDLE          MCU is in sleep mode
- *
- *   Where these values are defined in a board-specific way in the standard
- *   board.h header file exported by every architecture.
- *
- * Input Parameters:
- *   led - Identifies the LED state to put in the ON state (which may or may
- *         not equate to turning an LED on)
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-
-__EXPORT void board_led_on(int led)
-{
 
-}
-
-/****************************************************************************
- * Name: board_led_off
- *
- * Description:
- *   Set the LED configuration into the OFF condition for the state provided
- *   by the led parameter.  This may be one of:
- *
- *     LED_INIRQ         Leaving an interrupt
- *     LED_SIGNAL        Leaving a signal handler
- *     LED_ASSERTION     Recovering from an assertion failure
- *     LED_PANIC         The system has crashed (blinking).
- *     LED_IDLE          MCU is not in sleep mode
- *
- *   Where these values are defined in a board-specific way in the standard
- *   board.h header file exported by every architecture.
- *
- * Input Parameters:
- *   led - Identifies the LED state to put in the OFF state (which may or may
- *         not equate to turning an LED off)
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-
-__EXPORT void board_led_off(int led)
-{
-
-}
-
-/****************************************************************************
- * Name: board_crashdump
- *
- * Description:
- *   If CONFIG_BOARD_CRASHDUMP is selected then up_asseert will call out to
- *   board_crashdump prior to calling exit in the case of an assertion failure.
- *   Or in the case of a hardfault looping indefinitely. board_crashdump then
- *   has a chance to save the state of the machine. The provided
- *   board_crashdump should save as much information as it can about the cause
- *   of the fault and then most likely reset the system.
- *
- *   N.B. There are limited system resources that can be used by the provided
- *   board_crashdump function. The tems from the fact that most critical/fatal
- *   crashes are because of a hard fault or during interrupt processing.
- *   In these cases, up_assert is running from the context of an interrupt
- *   handlerand it is impossible to use any device driver in this context.
- *
- *   Also consider the following: Who knows what state the system is in? Is
- *   memory trashed? Is the Heap intact? Therefore all we can expect to do in
- *   board_crashdump is save the "machine state" in a place where on the next
- *   reset we can write it to more sophisticated storage in a sane operating
- *   environment.
- *
- ****************************************************************************/
-
-__EXPORT void board_crashdump(uint32_t currentsp, void *tcb, uint8_t *filename,
-                     int lineno)
-{
-
-}