Merge pull request #22 from SenteraLLC/release-1.1.0

Release 1.1.0
SenteraLLC · Sep 18, 2015 · 37fb64e · 37fb64e
2 parents 203f89e + 92655de
commit 37fb64e
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Showing 7 changed files with 2,353 additions and 2,133 deletions.
diff --git a/http/index.htm b/http/index.htm
@@ -146,6 +146,25 @@
                 document.getElementById('cfgResp').value = "";
             }
 
+            function testModeAction()
+            {
+                // Only enabled the CAN Servo-Node Test "Send" button if "Test"
+                // mode is selected.
+                if (document.getElementById('testMode').value === "1")
+                {
+                    document.getElementById('testButton').disabled = false;
+                }
+                else
+                {
+                    document.getElementById('testButton').disabled = true;
+                }
+
+                // Issue command to server to identify operation state.
+                newAJAXCommand('buttons.cgi?button=sendModeValue' +
+                               '&mode='        + document.getElementById('testMode').value.toString() + 
+                               '&timestamp='   + (new Date()).getTime());
+            }
+
             // Action for sending a test value.
             function testValueAction()
             {
@@ -594,6 +613,30 @@
                         &nbsp;
                     </td>
                 </tr>
+                <tr>
+                    <td style="text-align: left">
+                        <b>Mode*</b>
+                    </td>
+                <td style="text-align: center">
+                    <select name="testMode" id="testMode" onchange="testModeAction()">
+                            <option value="0">Normal</option>
+                            <option value="1">Test</option>
+                        </select>
+                    </td>
+                    <td colspan="2">
+                        &nbsp;
+                    </td>
+                </tr>
+                <tr>
+                    <td style="text-align: left" colspan="4">
+                        <p><b>*</b>Setting the mode to <i>Test</i> inhibits the FMU from processing BeagleBone and RC servo commands.  Return the mode to <i>Normal</i> before closing this browser to resume normal operation.</p>
+                    </td>
+                </tr>
+                <tr>
+                    <td colspan="4">
+                        &nbsp;
+                    </td>
+                </tr>
                 <tr>
                     <td style="text-align: right">
                         <b>ID</b>
@@ -623,7 +666,7 @@
                         </select>
                     </td>
                     <td style="text-align: center">
-                        <button type="button" style="width: 50px" onclick="testValueAction()">send</button>
+                        <button id="testButton" type="button" style="width: 50px" onclick="testValueAction()" disabled="disabled">send</button>
                     </td>
                 </tr>
             </table>

diff --git a/inc/snode.h b/inc/snode.h
@@ -75,6 +75,20 @@ typedef struct
 ////////////////////////////////////////////////////////////////////////////////
 void SNodeTask( void );
 
+////////////////////////////////////////////////////////////////////////////////
+/// @brief  Set Intrusive Control Mode(ICM).
+///
+/// @param  icm
+///             Status of intrusive contorl:
+///                 true  - intrusive control is enabled.
+///                 false - intrusive control is disabled.
+///
+/// This function enabled/disables intrusive control.  During intrusive control, 
+/// the normal operation of sending Control Surface Command messages is 
+/// inhibited.
+////////////////////////////////////////////////////////////////////////////////
+void SNodeICMSet( bool icm );
+
 ////////////////////////////////////////////////////////////////////////////////
 /// @brief  Set Servo-Node calibration write.
 ///

diff --git a/nbproject/configurations.xml b/nbproject/configurations.xml
@@ -347,7 +347,7 @@
       </PICkit3PlatformTool>
       <RealICEPlatformTool>
         <property key="ADC 1" value="true"/>
-        <property key="AutoSelectMemRanges" value="auto"/>
+        <property key="AutoSelectMemRanges" value="manual"/>
         <property key="CAN1" value="true"/>
         <property key="CAN2" value="true"/>
         <property key="CHANGE NOTICE" value="true"/>
@@ -398,7 +398,6 @@
         <property key="UART5" value="true"/>
         <property key="UART6" value="true"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
-        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="hwtoolclock.instructionspeed" value="4"/>
         <property key="hwtoolclock.units" value="mips"/>
@@ -423,8 +422,8 @@
         <property key="programoptions.eraseb4program" value="true"/>
         <property key="programoptions.preservedataflash" value="false"/>
         <property key="programoptions.preserveeeprom" value="false"/>
-        <property key="programoptions.preserveprogramrange" value="false"/>
-        <property key="programoptions.preserveprogramrange.end" value="0x1d07ffff"/>
+        <property key="programoptions.preserveprogramrange" value="true"/>
+        <property key="programoptions.preserveprogramrange.end" value="0x1d0001ff"/>
         <property key="programoptions.preserveprogramrange.start" value="0x1d000000"/>
         <property key="programoptions.preserveuserid" value="false"/>
         <property key="programoptions.programcalmem" value="false"/>

diff --git a/src/snode.c b/src/snode.c
@@ -92,21 +92,26 @@ typedef struct
 static SNODE_RX_DATA  snode_rx_data_buf[ SNODE_RX_BUF_SIZE ];
 static SNODE_RX_DATA* snode_rx_data_id_p[ 128 ] = { 0 };
 
-SNODE_WRITE_ID_DATA snode_write_id_data = 
+static SNODE_WRITE_ID_DATA snode_write_id_data = 
 {
     .status = SNODE_ID_WRITE_SUCCESS,
 };
 
-SNODE_WRITE_CAL_DATA snode_write_cal_data = 
+static SNODE_WRITE_CAL_DATA snode_write_cal_data = 
 {
     .status = SNODE_CAL_WRITE_SUCCESS,
 };
 
-SNODE_READ_CAL_DATA snode_read_cal_data = 
+static SNODE_READ_CAL_DATA snode_read_cal_data = 
 {
     .status = SNODE_CAL_READ_SUCCESS,
 };
 
+// Intrusive Control Mode (ICM) status. Value is initialized to 'false' to 
+// perform normal operation on reset.
+//
+static bool snode_icm = false;
+
 // *****************************************************************************
 // ************************** Function Prototypes ******************************
 // *****************************************************************************
@@ -130,14 +135,26 @@ void SNodeTask( void )
 {
     // Host <-> FMU <-> Servo-Node communication tasks.
     SNodeCtrlDataTask();
-    SNodeCtrlCmdTask();
+
+    // Servo-Node is not being intrusively controlled ?
+    if( snode_icm == false )
+    {
+        // Perform normal operation of constructing and sending the 
+        // controller commands.
+        SNodeCtrlCmdTask();
+    }
 
     // Web <-> FMU <-> Servo-Node communication tasks.
     SNodeIDWriteTask();
     SNodeCalWriteTask();
     SNodeCalReadTask();
 }
 
+void SNodeICMSet( bool icm )
+{
+    snode_icm = icm;
+}
+
 void SNodeCalWriteSet( uint8_t node_id, SNODE_CFG_VAL* cfg_val_p )
 {
     snode_write_cal_data.status  = SNODE_CAL_WRITE_IN_PROG;

diff --git a/src/status.c b/src/status.c
@@ -48,7 +48,7 @@ typedef struct
 static const uint8_t  status_node_type  = 0;
 
 static const uint8_t  status_fw_rev_ver = 0;    ///< Firmware revision version number.
-static const uint8_t  status_fw_min_ver = 0;    ///< Firmware minor version number.
+static const uint8_t  status_fw_min_ver = 1;    ///< Firmware minor version number.
 static const uint8_t  status_fw_maj_ver = 1;    ///< Firmware major version number.
 
 static const uint8_t  status_hw_rev_ver = 0;    ///< Hardware revision version number.

diff --git a/src/tcpip/custom_http_app.c b/src/tcpip/custom_http_app.c
@@ -428,6 +428,25 @@ HTTP_IO_RESULT HTTPExecuteGet(void)
 
             SNodeCalReadSet( id );
         }
+        else if (strcmp((const char*)ptr, "sendModeValue") == 0)
+        {
+            uint8_t *cmdPtr;
+            uint8_t mode;
+
+            cmdPtr = HTTPGetROMArg(curHTTP.data, (ROM uint8_t *)"mode");
+            mode = atoi((char*)cmdPtr);
+
+            // Test mode ?
+            if(mode == 1)
+            {
+                SNodeICMSet( true );
+            }
+            // Normal mode.
+            else
+            {
+                SNodeICMSet( false );
+            }
+        }
         else if (strcmp((const char*)ptr, "sendTestValue") == 0)
         {
             uint8_t *cmdPtr;