Fixed Typos

common/CommonConfig.h

@@ -47,16 +47,12 @@
 #define DATA_RAM __attribute__((section(".data"))) __attribute__((aligned(32))) static
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-// MiddleWare name : AL94.I-CUBE-USBD-COMPOSITE.1.0.3
+// USB MiddleWare
 //
 #define VCP_Transmit(buffer, length) CDC_Transmit(0, buffer, length)
-//#define _USBD_USE_HS false
-//extern PCD_HandleTypeDef hpcd_USB_OTG_FS; // USB FS (48 MB/s)
-
-#define _USBD_USE_CDC_ACM true // /dev/ttyACM* device type
+#define _USBD_USE_CDC_ACM true
 #define _USBD_CDC_ACM_COUNT 1
 //
-// End MiddleWare name : AL94.I-CUBE-USBD-COMPOSITE.1.0.3
 /////////////////////////////////////////////////////////////////////////////////////////////
 
 #define EPOCH_HZ (400)

common/Varmint.cpp

@@ -118,7 +118,15 @@ void Varmint::serial_flush(void)
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
 // Report any initialization errors
-void Varmint::sensors_init() { sensor_errors_ = 0; }
+void Varmint::sensors_init()
+{
+  sensor_errors_ = 0;
+
+  for(uint32_t i=0;i<varmint.status_len();i++ )
+  {
+    if(varmint.status(i)->status() != DRIVER_OK)sensor_errors_++;
+  }
+}
 
 uint16_t Varmint::num_sensor_errors() { return sensor_errors_; }
 

common/Varmint.h

@@ -72,12 +72,17 @@ class Varmint : public rosflight_firmware::Board
 private:
   uint32_t serial_device_;
   uint32_t sensor_errors_ = 0;
+  uint32_t status_len_ = 0;
+  Status *status_list_[STATUS_LIST_MAX_LEN];
 
 public:
   Varmint(){};
 
   INTERFACE_LIST
 
+  Status* status(uint32_t n) { return status_list_[n];}
+  uint32_t status_len(void) { return status_len_;}
+
   ////////////////////////////////////////////////////////////////////////////////
   // Required ROSflight Board HAL functions:
 

common/drivers/Adc.cpp

@@ -63,7 +63,7 @@ uint32_t Adc::init(uint16_t sample_rate_hz, ADC_HandleTypeDef * hadc_ext,
                    ADC_TypeDef * adc_instance_int // This ADC has the calibration values
 )
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Adc");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Adc");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   hadcExt_ = hadc_ext;

common/drivers/Adis165xx.cpp

@@ -74,7 +74,7 @@ uint32_t Adis165xx::init(
   uint16_t reset_pin,        // Reset GPIO Pin
   TIM_HandleTypeDef * htim, TIM_TypeDef * htim_instance, uint32_t htim_channel, uint32_t htim_period_us)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Adis165xx");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Adis165xx");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = drdy_port;

common/drivers/Bmi088.cpp

@@ -75,7 +75,7 @@ uint32_t Bmi088::init(
   uint8_t range_g  // 0,1,2,3,4 --> 2000,1000,500,250,125 deg/s
 )
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Bmi088");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Bmi088");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = drdy_port;

common/drivers/ByteFifo.h

@@ -45,12 +45,11 @@
 class ByteFifo : public Status
 {
 public:
-  ByteFifo() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
   bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
 
   void init(uint16_t buffer_size, uint8_t * buffer)
   {
-    snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "ByteFifo");
+    snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "ByteFifo");
     if (buffer == NULL) {
       bufferSize_ = 0;
       buffer_ = buffer;
@@ -107,7 +106,6 @@ class ByteFifo : public Status
   volatile uint8_t *head_, *tail_;
   volatile uint8_t *buffer_, *bufferEnd_;
   uint32_t bufferSize_ = 0;
-  uint32_t initializationStatus_ = DRIVER_NOT_INITIALIZED;
 };
 
 #endif /* BYTEFIFO_H_ */

common/drivers/DlhrL20G.cpp

@@ -54,7 +54,7 @@ uint32_t DlhrL20G::init(
   I2C_HandleTypeDef * hi2c, uint16_t i2c_address     // I2C initializers
 )
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "DlhrL20G");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "DlhrL20G");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = drdy_port;

common/drivers/Dps310.cpp

@@ -106,7 +106,7 @@ uint32_t Dps310::init(
   // Mode
   bool three_wire)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Dps310");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Dps310");
   initializationStatus_ = DRIVER_OK;
 
   sampleRateHz_ = sample_rate_hz;

common/drivers/Eng094x.cpp

@@ -58,7 +58,7 @@ uint32_t Eng094x::init(
   uint16_t cs_pin,                                  // Chip Select GPIO Pin
   eng094x_press type)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Eng094x");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Eng094x");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = drdy_port;

common/drivers/Iis2mdc.cpp

@@ -74,7 +74,7 @@ uint32_t Iis2mdc::init(
   uint16_t cs_pin                                   // Chip Select GPIO Pin
 )
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Iis2mdc");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Iis2mdc");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = drdy_port;

common/drivers/Ist8308.cpp

@@ -102,7 +102,7 @@ uint32_t Ist8308::init(
   // I2C initializers
   I2C_HandleTypeDef * hi2c, uint16_t i2c_address)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Ist8308");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Ist8308");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
 

common/drivers/Mcp4017.h

@@ -54,14 +54,12 @@ class Mcp4017 : public Status
      *
      */
 public:
-  Mcp4017() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
-
   uint32_t init(I2C_HandleTypeDef * hi2c, // The SPI handle
                 uint16_t i2c_address,     // Chip select Port
                 double v                  // voltage
   )
   {
-    snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Mcp4017");
+    snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Mcp4017");
     initializationStatus_ = DRIVER_OK;
 
     hi2c_ = hi2c;
@@ -98,7 +96,6 @@ class Mcp4017 : public Status
   uint8_t pot_;
   I2C_HandleTypeDef * hi2c_; // The SPI handle
   uint16_t address_;         // Chip select Port
-  uint32_t initializationStatus_ = 0;
 };
 
 #endif /* DRIVERS_MCP4017_H_ */

common/drivers/Ms4525.cpp

@@ -54,7 +54,7 @@ uint32_t Ms4525::init(
   uint16_t i2c_address      // Chip select Port
 )
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Ms4525");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Ms4525");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
 

common/drivers/PacketFifo.h

@@ -54,12 +54,9 @@ typedef struct
 class PacketFifo : public Status
 {
 public:
-  PacketFifo() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
-  bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
-
   void init(uint16_t max_packets, uint16_t max_data_size, uint8_t * buffer_head)
   {
-    snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "PacketFifo");
+    snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "PacketFifo");
     initializationStatus_ = DRIVER_OK;
     if (buffer_head == NULL) // Maybe check for a valid range?
     {
@@ -150,7 +147,6 @@ class PacketFifo : public Status
 
   volatile uint32_t bufferSize_;
   Packet packet_[PACKET_FIFO_MAX_BUFFERS];
-  uint32_t initializationStatus_ = DRIVER_NOT_INITIALIZED;
 };
 
 #endif /* PACKETFIFO_H_ */

common/drivers/Pwm.cpp

@@ -63,7 +63,7 @@ void Pwm::updateConfig(const float * rate, uint32_t channels)
 
 uint32_t Pwm::init(void)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Pwm");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Pwm");
   initializationStatus_ = DRIVER_OK;
 
   block_ = pwm_init;

common/drivers/Pwm.h

@@ -75,9 +75,6 @@ typedef struct __attribute__((__packed__))
 class Pwm : public Status
 {
 public:
-  Pwm() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
-  bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
-
   uint32_t init(void);
   void updateConfig(const float * rate, uint32_t channels);
 
@@ -212,7 +209,6 @@ class Pwm : public Status
   uint32_t chan_[PWM_CHANNELS];
   uint32_t (*dmaBuf_)[PWM_DMA_BUFFER_LEN];
   uint32_t blockIndex_[PWM_CHANNELS];
-  uint32_t initializationStatus_ = 0;
 };
 
 #endif /* PWM_H_ */

common/drivers/Sbus.cpp

@@ -83,7 +83,7 @@ uint32_t Sbus::init(
   // UART initializers
   UART_HandleTypeDef * huart, USART_TypeDef * huart_instance, DMA_HandleTypeDef * hdma_uart_rx, uint32_t baud)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Sbus");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Sbus");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = 0;      // do not use

common/drivers/Sd.cpp

@@ -52,7 +52,7 @@ DMA_RAM uint8_t sd_tx_buf[SD_BUFF_SIZE];
 
 uint32_t Sd::init(SD_HandleTypeDef * hsd, SD_TypeDef * hsd_instance)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Sd");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Sd");
   initializationStatus_ = DRIVER_OK;
   hsd_ = hsd;
   hsd_->Instance = hsd_instance;

common/drivers/Sd.h

@@ -51,15 +51,13 @@ class Sd : public Status
      *
      */
 public:
-  Sd() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
-  bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
   uint32_t init(SD_HandleTypeDef * hsd, SD_TypeDef * hsd_instance);
   bool read(uint8_t * dest, size_t len);
   bool write(uint8_t * src, size_t len);
 
 private:
   SD_HandleTypeDef * hsd_;
-  uint32_t initializationStatus_ = 0;
+
 };
 
 #endif /* SD_H_ */

common/drivers/Spi.h

@@ -66,16 +66,14 @@ class Spi : public Status
   SPI_HandleTypeDef * hspi_;
   uint8_t * txBuffer_;
   uint8_t * rxBuffer_;
-  uint32_t initializationStatus_ = DRIVER_NOT_INITIALIZED;
-
 public:
   // uint16_t size_;
   GPIO_TypeDef * port_;
   uint16_t pin_;
   uint32_t init(SPI_HandleTypeDef * hspi, uint8_t * tx_buffer, uint8_t * rx_buffer, GPIO_TypeDef * cs_port,
                 uint16_t cs_pin)
   {
-    snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Spi");
+    snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Spi");
     initializationStatus_ = DRIVER_OK;
     hspi_ = hspi;
     txBuffer_ = tx_buffer;

common/drivers/Status.h

@@ -38,12 +38,16 @@
 #ifndef STATUS_H_
 #define STATUS_H_
 
-#define STATUS_NAME_MAX_LEN 32
+#define STATUS_LIST_MAX_LEN 16
+#define STATUS_NAME_MAX_LEN 16
 
 class Status
 {
 public:
+  Status() { initializationStatus_ = DRIVER_NOT_INITIALIZED;}
   bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
+  uint32_t status() { return initializationStatus_;}
+  char *name() { return name_;}
 
 protected:
   uint32_t initializationStatus_ = DRIVER_NOT_INITIALIZED;

common/drivers/Telem.cpp

@@ -74,7 +74,7 @@ uint32_t Telem::init(
   //,void (*RxISR) (struct __UART_HandleTypeDef *huart)
 )
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Telem");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Telem");
   initializationStatus_ = DRIVER_OK;
   // Common initializations
   sampleRateHz_ = sample_rate_hz;

common/drivers/Telem.h

@@ -66,8 +66,6 @@ class Telem : public Status
      */
 
 public:
-  Telem() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
-  bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
   uint32_t init(
     // Driver initializers
     uint16_t sample_rate_hz,

common/drivers/Time64.h

@@ -46,13 +46,10 @@
 class Time64 : public Status
 {
 public:
-  Time64() { initializationStatus_ = DRIVER_NOT_INITIALIZED; }
-  bool initGood(void) { return initializationStatus_ == DRIVER_OK; }
-
   uint32_t init(TIM_HandleTypeDef * htim_low, TIM_TypeDef * instance_low, TIM_HandleTypeDef * htim_high,
                 TIM_TypeDef * instance_high)
   {
-    snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Time64");
+    snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Time64");
     initializationStatus_ = DRIVER_OK;
 
     htimLow_ = htim_low;
@@ -75,21 +72,21 @@ class Time64 : public Status
       htimLow_->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
       if (HAL_TIM_Base_Init(htimLow_) != HAL_OK) {
         initializationStatus_ |= DRIVER_HAL_ERROR;
-        return DRIVER_HAL_ERROR;
+        return initializationStatus_;
       }
 
       sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
       if (HAL_TIM_ConfigClockSource(htimLow_, &sClockSourceConfig) != HAL_OK) {
         initializationStatus_ |= DRIVER_HAL_ERROR;
-        return DRIVER_HAL_ERROR;
+        return initializationStatus_;
       }
       sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
       if (htimLow_->Instance == TIM8) sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
 
       sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
       if (HAL_TIMEx_MasterConfigSynchronization(htimLow_, &sMasterConfig) != HAL_OK) {
         initializationStatus_ |= DRIVER_HAL_ERROR;
-        return DRIVER_HAL_ERROR;
+        return initializationStatus_;
       }
     }
     // high timer (slave)
@@ -108,7 +105,7 @@ class Time64 : public Status
       htimHigh_->Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
       if (HAL_TIM_Base_Init(htimHigh_) != HAL_OK) {
         initializationStatus_ |= DRIVER_HAL_ERROR;
-        return DRIVER_HAL_ERROR;
+        return initializationStatus_;
       }
 
       sSlaveConfig.SlaveMode = TIM_SLAVEMODE_EXTERNAL1;
@@ -140,7 +137,7 @@ class Time64 : public Status
       sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
       if (HAL_TIMEx_MasterConfigSynchronization(htimHigh_, &sMasterConfig) != HAL_OK) {
         initializationStatus_ |= DRIVER_HAL_ERROR;
-        return DRIVER_HAL_ERROR;
+        return initializationStatus_;
       }
     }
 
@@ -185,7 +182,6 @@ class Time64 : public Status
   TIM_HandleTypeDef * htimLow_;
   TIM_HandleTypeDef * htimHigh_;
   uint32_t shift_;
-  uint32_t initializationStatus_ = DRIVER_NOT_INITIALIZED;
 };
 
 #endif /* TIME64_H_ */

common/drivers/Ubx.cpp

@@ -58,7 +58,7 @@ uint32_t Ubx::init(
   UART_HandleTypeDef * huart, USART_TypeDef * huart_instance, DMA_HandleTypeDef * hdma_uart_rx, uint32_t baud,
   UbxProtocol ubx_protocol)
 {
-  snprintf(name_, STATUS_NAME_MAX_LEN, "-%s", "Ubx");
+  snprintf(name_, STATUS_NAME_MAX_LEN, "%s", "Ubx");
   initializationStatus_ = DRIVER_OK;
   sampleRateHz_ = sample_rate_hz;
   drdyPort_ = drdy_port;