/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t AttitudeActualInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(ATTITUDEACTUAL_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(ATTITUDEACTUAL_OBJID,
ATTITUDEACTUAL_ISSINGLEINST, ATTITUDEACTUAL_ISSETTINGS, ATTITUDEACTUAL_NUMBYTES, &AttitudeActualSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t WaypointInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(WAYPOINT_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(WAYPOINT_OBJID,
WAYPOINT_ISSINGLEINST, WAYPOINT_ISSETTINGS, WAYPOINT_NUMBYTES, &WaypointSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t GPSSatellitesInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(GPSSATELLITES_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(GPSSATELLITES_OBJID,
GPSSATELLITES_ISSINGLEINST, GPSSATELLITES_ISSETTINGS, GPSSATELLITES_NUMBYTES, &GPSSatellitesSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t PipXStatusInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(PIPXSTATUS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(PIPXSTATUS_OBJID,
PIPXSTATUS_ISSINGLEINST, PIPXSTATUS_ISSETTINGS, PIPXSTATUS_NUMBYTES, &PipXStatusSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t PoiLocationInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(POILOCATION_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(POILOCATION_OBJID,
POILOCATION_ISSINGLEINST, POILOCATION_ISSETTINGS, POILOCATION_NUMBYTES, &PoiLocationSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t I2CVMInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(I2CVM_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(I2CVM_OBJID,
I2CVM_ISSINGLEINST, I2CVM_ISSETTINGS, I2CVM_NUMBYTES, &I2CVMSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t VtolPathFollowerSettingsInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(VTOLPATHFOLLOWERSETTINGS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(VTOLPATHFOLLOWERSETTINGS_OBJID,
VTOLPATHFOLLOWERSETTINGS_ISSINGLEINST, VTOLPATHFOLLOWERSETTINGS_ISSETTINGS, VTOLPATHFOLLOWERSETTINGS_NUMBYTES, &VtolPathFollowerSettingsSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t RFM22BReceiverInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(RFM22BRECEIVER_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(RFM22BRECEIVER_OBJID,
RFM22BRECEIVER_ISSINGLEINST, RFM22BRECEIVER_ISSETTINGS, RFM22BRECEIVER_NUMBYTES, &RFM22BReceiverSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t InertialSensorSettingsInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(INERTIALSENSORSETTINGS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(INERTIALSENSORSETTINGS_OBJID,
INERTIALSENSORSETTINGS_ISSINGLEINST, INERTIALSENSORSETTINGS_ISSETTINGS, INERTIALSENSORSETTINGS_NUMBYTES, &InertialSensorSettingsSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t HwQuantonInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(HWQUANTON_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(HWQUANTON_OBJID,
HWQUANTON_ISSINGLEINST, HWQUANTON_ISSETTINGS, HWQUANTON_NUMBYTES, &HwQuantonSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t AltitudeHoldDesiredInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(ALTITUDEHOLDDESIRED_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(ALTITUDEHOLDDESIRED_OBJID,
ALTITUDEHOLDDESIRED_ISSINGLEINST, ALTITUDEHOLDDESIRED_ISSETTINGS, ALTITUDEHOLDDESIRED_NUMBYTES, &AltitudeHoldDesiredSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t MagnetometerInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(MAGNETOMETER_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(MAGNETOMETER_OBJID,
MAGNETOMETER_ISSINGLEINST, MAGNETOMETER_ISSETTINGS, MAGNETOMETER_NUMBYTES, &MagnetometerSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t GroundTruthInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(GROUNDTRUTH_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(GROUNDTRUTH_OBJID,
GROUNDTRUTH_ISSINGLEINST, GROUNDTRUTH_ISSETTINGS, GROUNDTRUTH_NUMBYTES, &GroundTruthSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t FixedWingPathFollowerStatusInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(FIXEDWINGPATHFOLLOWERSTATUS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(FIXEDWINGPATHFOLLOWERSTATUS_OBJID,
FIXEDWINGPATHFOLLOWERSTATUS_ISSINGLEINST, FIXEDWINGPATHFOLLOWERSTATUS_ISSETTINGS, FIXEDWINGPATHFOLLOWERSTATUS_NUMBYTES, &FixedWingPathFollowerStatusSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t ModuleSettingsInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(MODULESETTINGS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(MODULESETTINGS_OBJID,
MODULESETTINGS_ISSINGLEINST, MODULESETTINGS_ISSETTINGS, MODULESETTINGS_NUMBYTES, &ModuleSettingsSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t ManualControlCommandInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(MANUALCONTROLCOMMAND_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(MANUALCONTROLCOMMAND_OBJID,
MANUALCONTROLCOMMAND_ISSINGLEINST, MANUALCONTROLCOMMAND_ISSETTINGS, MANUALCONTROLCOMMAND_NUMBYTES, &ManualControlCommandSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t FlightStatsSettingsInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(FLIGHTSTATSSETTINGS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(FLIGHTSTATSSETTINGS_OBJID,
FLIGHTSTATSSETTINGS_ISSINGLEINST, FLIGHTSTATSSETTINGS_ISSETTINGS, FLIGHTSTATSSETTINGS_NUMBYTES, &FlightStatsSettingsSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t BaroAltitudeInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(BAROALTITUDE_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(BAROALTITUDE_OBJID,
BAROALTITUDE_ISSINGLEINST, BAROALTITUDE_ISSETTINGS, BAROALTITUDE_NUMBYTES, &BaroAltitudeSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t GCSTelemetryStatsInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(GCSTELEMETRYSTATS_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(GCSTELEMETRYSTATS_OBJID,
GCSTELEMETRYSTATS_ISSINGLEINST, GCSTELEMETRYSTATS_ISSETTINGS, GCSTELEMETRYSTATS_NUMBYTES, &GCSTelemetryStatsSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t CameraDesiredInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(CAMERADESIRED_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(CAMERADESIRED_OBJID,
CAMERADESIRED_ISSINGLEINST, CAMERADESIRED_ISSETTINGS, CAMERADESIRED_NUMBYTES, &CameraDesiredSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure to initialize or -2 for already initialized
*/
int32_t VibrationAnalysisOutputInitialize(void)
{
// Don't set the handle to null if already registered
if(UAVObjGetByID(VIBRATIONANALYSISOUTPUT_OBJID) != NULL)
return -2;
// Register object with the object manager
handle = UAVObjRegister(VIBRATIONANALYSISOUTPUT_OBJID,
VIBRATIONANALYSISOUTPUT_ISSINGLEINST, VIBRATIONANALYSISOUTPUT_ISSETTINGS, VIBRATIONANALYSISOUTPUT_NUMBYTES, &VibrationAnalysisOutputSetDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Register and new object in the object manager.
* \param[in] id Unique object ID
* \param[in] name Object name
* \param[in] nameName Metaobject name
* \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
* \param[in] isSingleInstance Is this a single instance or multi-instance object
* \param[in] isSettings Is this a settings object
* \param[in] numBytes Number of bytes of object data (for one instance)
* \param[in] initCb Default field and metadata initialization function
* \return Object handle, or NULL if failure.
* \return
*/
UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
const char *metaName, int32_t isMetaobject,
int32_t isSingleInstance, int32_t isSettings,
uint32_t numBytes,
UAVObjInitializeCallback initCb)
{
ObjectList *objEntry;
ObjectInstList *instEntry;
ObjectList *metaObj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Check that the object is not already registered
LL_FOREACH(objList, objEntry) {
if (objEntry->id == id) {
// Already registered, ignore
xSemaphoreGiveRecursive(mutex);
return NULL;
}
}
// Create and append entry
objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
if (objEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t) isMetaobject;
objEntry->isSingleInstance = (int8_t) isSingleInstance;
objEntry->isSettings = (int8_t) isSettings;
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
objEntry->instances.data = NULL;
objEntry->instances.instId = 0xFFFF;
objEntry->instances.next = NULL;
objEntry->linkedObj = NULL; // will be set later
LL_APPEND(objList, objEntry);
// Create instance zero
instEntry = createInstance(objEntry, 0);
if (instEntry == NULL) {
xSemaphoreGiveRecursive(mutex);
return NULL;
}
// Create metaobject and update linkedObj
if (isMetaobject) {
objEntry->linkedObj = NULL; // will be set later
} else {
// Create metaobject
metaObj =
(ObjectList *) UAVObjRegister(id + 1, metaName,
NULL, 1, 1, 0,
sizeof
(UAVObjMetadata),
NULL);
// Link two objects
objEntry->linkedObj = metaObj;
metaObj->linkedObj = objEntry;
}
// Initialize object fields and metadata to default values
if (initCb != NULL) {
initCb((UAVObjHandle) objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!objEntry->isMetaobject) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (objEntry->isSettings) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
xSemaphoreGiveRecursive(mutex);
return (UAVObjHandle) objEntry;
}
