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LibrePilot/flight/Modules/Telemetry/telemetry.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup TelemetryModule Telemetry Module
* @brief Main telemetry module
* Starts three tasks (RX, TX, and priority TX) that watch event queues
* and handle all the telemetry of the UAVobjects
* @{
*
* @file telemetry.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Telemetry module, handles telemetry and UAVObject updates
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
#define STACK_SIZE_BYTES PIOS_TELEM_STACK_SIZE
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000
// Private types
// Private variables
static uint32_t telemetryPort;
static xQueueHandle queue;
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static xQueueHandle priorityQueue;
static xTaskHandle telemetryTxPriTaskHandle;
static void telemetryTxPriTask(void *parameters);
#else
#define priorityQueue queue
#endif
static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
static TelemetrySettingsData settings;
static uint32_t timeOfLastObjectUpdate;
// Private functions
static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj);
static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent * ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryStart(void)
{
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
// Initialize vars
timeOfLastObjectUpdate = 0;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
// Process all registered objects and connect queue for updates
UAVObjIterate(&registerObject);
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
return 0;
}
MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.
* \param[in] obj Object to connect
*/
static void registerObject(UAVObjHandle obj)
{
// Setup object for periodic updates
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj)
{
UAVObjMetadata metadata;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
// Setup object depending on update mode
if (metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_NEVER) {
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
UAVObjDisconnectQueue(obj, priorityQueue);
}
}
/**
* Processes queue events
*/
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
if (ev->obj == 0) {
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else if (ev->obj == TelemetrySettingsHandle()) {
updateSettings();
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle()) {
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
} else if (ev->event == EV_UPDATE_REQ) {
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
}
}
}
}
/**
* Telemetry transmit task, regular priority
*/
static void telemetryTxTask(void *parameters)
{
UAVObjEvent ev;
// Loop forever
while (1) {
// Wait for queue message
if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
}
}
/**
* Telemetry transmit task, high priority
*/
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static void telemetryTxPriTask(void *parameters)
{
UAVObjEvent ev;
// Loop forever
while (1) {
// Wait for queue message
if (xQueueReceive(priorityQueue, &ev, portMAX_DELAY) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
}
}
#endif
/**
* Telemetry transmit task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(void *parameters)
{
uint32_t inputPort;
// Task loop
while (1) {
#if defined(PIOS_INCLUDE_USB_HID)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_HID_CheckAvailable(0)) {
inputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
inputPort = telemetryPort;
}
if (inputPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(serial_data[i]);
}
}
} else {
vTaskDelay(5);
}
}
}
/**
* Transmit data buffer to the modem or USB port.
* \param[in] data Data buffer to send
* \param[in] length Length of buffer
* \return 0 Success
*/
static int32_t transmitData(uint8_t * data, int32_t length)
{
uint32_t outputPort;
// Determine input port (USB takes priority over telemetry port)
#if defined(PIOS_INCLUDE_USB_HID)
if (PIOS_USB_HID_CheckAvailable(0)) {
outputPort = PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB_HID */
{
outputPort = telemetryPort;
}
if (outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, data, length);
} else {
return -1;
}
}
/**
* Setup object for periodic updates.
* \param[in] obj The object to update
* \return 0 Success
* \return -1 Failure
*/
static int32_t addObject(UAVObjHandle obj)
{
UAVObjEvent ev;
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
return EventPeriodicQueueCreate(&ev, queue, 0);
}
/**
* Set update period of object (it must be already setup for periodic updates)
* \param[in] obj The object to update
* \param[in] updatePeriodMs The update period in ms, if zero then periodic updates are disabled
* \return 0 Success
* \return -1 Failure
*/
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
{
UAVObjEvent ev;
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
}
/**
* Called each time the GCS telemetry stats object is updated.
* Trigger a flight telemetry stats update if a connection is not
* yet established.
*/
static void gcsTelemetryStatsUpdated()
{
FlightTelemetryStatsData flightStats;
GCSTelemetryStatsData gcsStats;
FlightTelemetryStatsGet(&flightStats);
GCSTelemetryStatsGet(&gcsStats);
if (flightStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED) {
updateTelemetryStats();
}
}
/**
* Update telemetry statistics and handle connection handshake
*/
static void updateTelemetryStats()
{
UAVTalkStats utalkStats;
FlightTelemetryStatsData flightStats;
GCSTelemetryStatsData gcsStats;
uint8_t forceUpdate;
uint8_t connectionTimeout;
uint32_t timeNow;
// Get stats
UAVTalkGetStats(&utalkStats);
UAVTalkResetStats();
// Get object data
FlightTelemetryStatsGet(&flightStats);
GCSTelemetryStatsGet(&gcsStats);
// Update stats object
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
flightStats.RxDataRate = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS / 1000.0);
flightStats.TxDataRate = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS / 1000.0);
flightStats.RxFailures += utalkStats.rxErrors;
flightStats.TxFailures += txErrors;
flightStats.TxRetries += txRetries;
txErrors = 0;
txRetries = 0;
} else {
flightStats.RxDataRate = 0;
flightStats.TxDataRate = 0;
flightStats.RxFailures = 0;
flightStats.TxFailures = 0;
flightStats.TxRetries = 0;
txErrors = 0;
txRetries = 0;
}
// Check for connection timeout
timeNow = xTaskGetTickCount() * portTICK_RATE_MS;
if (utalkStats.rxObjects > 0) {
timeOfLastObjectUpdate = timeNow;
}
if ((timeNow - timeOfLastObjectUpdate) > CONNECTION_TIMEOUT_MS) {
connectionTimeout = 1;
} else {
connectionTimeout = 0;
}
// Update connection state
forceUpdate = 1;
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED) {
// Wait for connection request
if (gcsStats.Status == GCSTELEMETRYSTATS_STATUS_HANDSHAKEREQ) {
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK;
}
} else if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK) {
// Wait for connection
if (gcsStats.Status == GCSTELEMETRYSTATS_STATUS_CONNECTED) {
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_CONNECTED;
} else if (gcsStats.Status == GCSTELEMETRYSTATS_STATUS_DISCONNECTED) {
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
}
} else if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
if (gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED || connectionTimeout) {
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
} else {
forceUpdate = 0;
}
} else {
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
}
// Update the telemetry alarm
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
} else {
AlarmsSet(SYSTEMALARMS_ALARM_TELEMETRY, SYSTEMALARMS_ALARM_ERROR);
}
// Update object
FlightTelemetryStatsSet(&flightStats);
// Force telemetry update if not connected
if (forceUpdate) {
FlightTelemetryStatsUpdated();
}
}
/**
* Update the telemetry settings, called on startup and
* each time the settings object is updated
*/
static void updateSettings()
{
// Set port
telemetryPort = PIOS_COM_TELEM_RF;
// Retrieve settings
TelemetrySettingsGet(&settings);
if (telemetryPort) {
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
}
}
/**
* @}
* @}
*/