User hooks

[GoogleCodeExporter]

As the firmware frequently changes and i have some private enhancements to the 
code. I would like to see some userhooks to a module that will not be 
overwritten by the standard, changing, firmware. For example if i brew my own 
led sequencer and add it to leds, the next svn update would overwrite my 
private code. If there was a hook to som 1,5,10 HZ routines externally i coul 
add my own code without the possibility of overwriting at a SVN update.

I am looking for something like this:

#if exist "userhooks.pde"
#include "userhooks.pde"
#endif

Somewhere in the 1 hz loop
#if exist "userhooks.pde"
userhook_1hz;
#endif

Greetings, Pieter

Original issue reported on code.google.com by pvwor...@gmail.com on 27 Jul 2011 at 11:49

[GoogleCodeExporter]

I'll second this one and add a request for a user hook in the initialization 
code also
Andrew

Original comment by agmatth...@gmail.com on 28 Aug 2011 at 1:37

[GoogleCodeExporter]

Third!

Original comment by loonmoun...@gmail.com on 29 Sep 2011 at 11:34

[GoogleCodeExporter]

Fourth! ;)

Original comment by voipmi...@gmail.com on 29 Sep 2011 at 11:12

[GoogleCodeExporter]

If anyone would be able to make an implementation I'd be glad to include it. 

#if exist "userhooks.pde"
userhook_1hz;
#endif

that actually is not valid code. I don't know a way to handle it exactly, so 
please send me a proof of concept!
Jason

Original comment by jasonshort on 29 Sep 2011 at 11:16

[GoogleCodeExporter]

One way to do that is :

In the 1Hz loop add

#ifdef USERHOOK_1HZ
  userhook_1hz();
#endif

Then the user who wants to use this feature, will drop his PDE file in the 
arducopter directory (the file name is not important) and add
#define USERHOOK_1HZ in APM_config.h

Original comment by list...@free.fr on 30 Sep 2011 at 5:54

[GoogleCodeExporter]

Alternatively you could do something like this:

in APM_Config.h
#define USERHOOK_INIT userhook_init();  // the choice of function name is up to 
the user and does not have to match these
#define USERHOOK_1HZ userhook_1hz();
#define USERHOOK_FASTLOOP userhook_fastloop(); 
#define USERHOOK_MEDIUMLOOP userhook_mediumloop(); 
#define USERHOOK_SLOWLOOP userhook_slowloop(); 

//repeat for each other loop
#define USERHOOK_xHz userhook_xHz();     // where xHz matches any other timing 
loops 

In init_ardupilot() in system.pde
#ifdef USERHOOK_INIT
   USERHOOK_INIT
#endif

In each of the loops in Arducopter.pde insert appropriate code eg:
#ifdef USERHOOK_1HZ
   USERHOOK_1HZ
#endif

#ifdef USERHOOK_FASTLOOP
   USERHOOK_FASTLOOP
#endif

//etc - repeat as necessary 

Then in a pde file in the same directory (eg I have used userhooks.pde)
void userhook_init()
{
// my init stuff
}

void userhook_1hz()
{
// my 1 hz stuff
}

//etc - repeat as required

This way allows the user to have their own file name and function names and 
only requires editing of APM_Config.h before compiling
This compiles OK in Arduino 0022 but is not yet uploaded to a uC for testing

Original comment by agmatth...@gmail.com on 30 Sep 2011 at 11:27

[GoogleCodeExporter]

and further to the last comments it would be good to have the following in the 
global variables section of arducopter.pde
#ifdef USERVARIABLES
    #include USERVARIABLES
#endif

then in APM_Config.h
#define USERVARIABLES "UserVariables.h"

and you create your own UserVariables.h file with any user specific variables

Original comment by agmatth...@gmail.com on 1 Oct 2011 at 2:47

[GoogleCodeExporter]

I have a led sequencer for 8 led(strip)s implemented in my code.  It's fully 
encapsulated in #ifdef statements so it's only compiled if you set #define 
SHOW_LEDS 1
I have flown this code with 2.0.44 and 2.0.46 without issues in stabilise, 
althold, simple, loiter, RTL and auto.
Multiple sequences are programmable and you can control them with channel 7.  I 
assigned channel 7 to a dial, so I can choose different patterns with the lower 
portion of channel 7 (<600).  When channel 7 is set high (>800) it can still be 
used for the other possible options (set hover throttle, simple, etc).  
Furthermore you could also program a special sequence when chan7 > 800, so you 
know when you have the chan7 effect (simple, set hover throttle, in flight 
levelling) engaged.

It compiles under 127K for a hexa plus frame, so still usable on atmega 1280 
boards (if you turn motorleds off and set ch7 to CH7_ADC_FILTER filtering)

I used bitmath and bitwise setting of PORTK (AN8-AN15) to gain speed as for 
fast sequences it hooks into the 50hz loop.  This might reduce readability of 
the code, but I've added plenty of comment.

I've attached the modified files from version 2.0.47 (unflown on 47, but no 
problems on 44 and 46)

Original comment by u4e...@hotmail.com on 7 Oct 2011 at 8:39

Attachments:

• ArduCopter_47_showleds.zip

[GoogleCodeExporter]

All,
I have updated a clean copy of version 2.0.48 with a my 'userhooks' code. 
Please see attached.
@jasonshort please consider including this in your master branch of the 
Arducopter code for others to use.

To use userhooks
Modify the "APM_Config.h" file to uncomment the hooks you wish to use
Then in "usercode.pde" you add or edit the hook functions you need to do your 
thing.
You can also edit "userVariables.h" to include your own global variables to the 
arducopter code
I've included hooks for initialisation, global variables, and the main loops. 
Others may want hooks in additional places, eg in logs, leds, etc

regards
Andrew

Original comment by agmatth...@gmail.com on 15 Oct 2011 at 2:29

Attachments:

• UserHooks.zip

[GoogleCodeExporter]

Andrew, 
I integrated the code into 49. It's on git now.
Jason

Original comment by jasonshort on 15 Oct 2011 at 10:28

[GoogleCodeExporter]

Jason,
I missed one file that needs a patch
We need to include a hook in the init function in system.pde to allow 
initialising libraries or other such code.
Can you add this change in next release. Attached file is 2.0.49 "system.pde" 
with modification
-Andrew

Original comment by agmatth...@gmail.com on 18 Oct 2011 at 6:31

Attachments:

• system.pde.zip

[GoogleCodeExporter]

On GIT now,
Jason

Original comment by jasonshort on 18 Oct 2011 at 6:52

[GoogleCodeExporter]

Original comment by jasonshort on 29 Oct 2011 at 9:08

• Changed state: Fixed