enabled permanent setting on rotorcraft firmware.... beware

conf/Makefile.stm32

@@ -138,7 +138,7 @@ else
 LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles  -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
 endif
 LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
-LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32
+LDLIBS  += -lc -lm -lgcc -lcmsis -lstm32 -lopencm3_stm32
 
 CPFLAGS = -j .isr_vector -j .text -j .data
 CPFLAGS_BIN = -Obinary

conf/autopilot/rotorcraft.makefile

@@ -93,6 +93,8 @@ endif
 # or
 # include subsystems/rotorcraft/telemetry_xbee_api.makefile
 #
+ap.srcs += subsystems/settings.c
+ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 # I2C is needed for speed controllers and barometers on lisa

sw/airborne/arch/lpc21/subsystems/settings_arch.c

@@ -0,0 +1,10 @@
+#include "subsystems/settings.h"
+
+
+int32_t persistent_write(uint32_t ptr, uint32_t size) {
+  return 0;
+}
+
+int32_t persistent_read(uint32_t ptr, uint32_t size) {
+  return 0;
+}

sw/airborne/firmwares/rotorcraft/main.c

@@ -32,6 +32,7 @@
 #include "downlink.h"
 #include "firmwares/rotorcraft/telemetry.h"
 #include "datalink.h"
+#include "subsystems/settings.h"
 #include "xbee.h"
 
 #include "booz2_commands.h"
@@ -46,7 +47,6 @@
 
 #include "subsystems/electrical.h"
 
-// #include "booz_fms.h"  // FIXME
 #include "firmwares/rotorcraft/autopilot.h"
 
 #include "firmwares/rotorcraft/stabilization.h"
@@ -108,7 +108,6 @@ STATIC_INLINE void main_init( void ) {
 
   baro_init();
   imu_init();
-  //  booz_fms_init(); // FIXME
   autopilot_init();
   nav_init();
   guidance_h_init();
@@ -126,6 +125,8 @@ STATIC_INLINE void main_init( void ) {
 
   modules_init();
 
+  settings_init();
+
   mcu_int_enable();
 
 }

sw/airborne/subsystems/settings.c

@@ -6,9 +6,11 @@ bool_t settings_store_now;
 
 
 void settings_init(void) {
+#ifdef USE_PERMANENT_SETTINGS
   if (persistent_read((uint32_t)&pers_settings, sizeof(struct PersistentSettings))) 
     return; // return -1 ?
   persitent_settings_load();
+#endif
 }
 
 

sw/airborne/test/subsystems/test_settings.c

@@ -34,6 +34,7 @@
 #include "mcu_periph/uart.h"
 #include "messages.h"
 
+#include "my_debug_servo.h"
 
 static inline void main_init( void );
 static inline void main_periodic( void );
@@ -61,13 +62,22 @@ static inline void main_init( void ) {
   mcu_init();
   sys_time_init();
   settings_init();
+  //  DEBUG_SERVO2_INIT();
+  //  LED_ON(1);
+  //  LED_ON(2);
+  //  DEBUG_S4_ON();
+  //  DEBUG_S5_ON();
+  //  DEBUG_S6_ON();
   mcu_int_enable();
 
 }
 
 static inline void main_periodic( void ) {
 
-  RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel,  16, MD5SUM);});
+  RunOnceEvery(100, {
+      DOWNLINK_SEND_ALIVE(DefaultChannel,  16, MD5SUM);
+      PeriodicSendDlValue(DefaultChannel);
+    });
 
 }
 

sw/tools/gen_settings.ml

@@ -138,14 +138,14 @@ let print_dl_settings = fun settings ->
   left()
 
 (*
-   Blaaaaaa
+   Generate code for persitent settings
 *)
 let print_persistent_settings = fun settings ->
   let settings = flatten settings [] in
   let pers_settings = 
     List.filter (fun x -> try let _ = Xml.attrib x "persistent" in true with _ -> false) settings in
   (* structure declaration *)
-  if List.length pers_settings > 0 then begin
+(*  if List.length pers_settings > 0 then begin *)
   lprintf "\n/* Persistent Settings */\n";
   lprintf "struct PersistentSettings {\n";
   right();
@@ -180,7 +180,7 @@ let print_persistent_settings = fun settings ->
     pers_settings;
   left();
   lprintf "};\n"
-  end
+(*  end *)
 
 
 (*