rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-26 15:54:15 +01:00
Code Issues Releases Activity

LP-190: Moved openlrsstatus UAVO to OPLinkStatus

Browse Source
This commit is contained in:
Brian Webb 2016-06-26 09:44:28 -07:00
parent dc17bd9ad8
commit 021eb21008
10 changed files with 29 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
flight/pios/common/pios_openlrs.c
View File

@ -43,7 +43,7 @@
#include "openlrs.h"
#include "flightstatus.h"
#include "flightbatterystate.h"
#include "openlrsstatus.h"
#include "oplinkstatus.h"
#include "pios_rfm22b_regs.h"
@ -56,7 +56,8 @@ static void rfmSetCarrierFrequency(struct pios_openlrs_dev *openlrs_dev, uint32_
static uint8_t rfmGetRSSI(struct pios_openlrs_dev *openlrs_dev);
static void to_rx_mode(struct pios_openlrs_dev *openlrs_dev);
static void tx_packet(struct pios_openlrs_dev *openlrs_dev, uint8_t *pkt, uint8_t size);
static OpenLRSStatusData openlrs_status;
static OPLinkStatusData oplink_status;
static struct pios_openlrs_dev *pios_openlrs_alloc();
static bool pios_openlrs_validate(struct pios_openlrs_dev *openlrs_dev);
@ -858,8 +859,8 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
openlrs_dev->lastPacketTimeUs = timeUs;
openlrs_dev->numberOfLostPackets = 0;
openlrs_status.LinkQuality <<= 1;
openlrs_status.LinkQuality |= 1;
oplink_status.LinkQuality <<= 1;
oplink_status.LinkQuality |= 1;
if ((openlrs_dev->rx_buf[0] & 0x3e) == 0x00) {
// This flag indicates receiving PPM data
@ -890,7 +891,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
// Flag to indicate ever got a link
openlrs_dev->link_acquired |= true;
openlrs_status.FailsafeActive = OPENLRSSTATUS_FAILSAFEACTIVE_INACTIVE;
oplink_status.LinkState = OPLINKSTATUS_LINKSTATE_CONNECTED;
openlrs_dev->beacon_armed = false; // when receiving packets make sure beacon cannot emit
// When telemetry is enabled we ack packets and send info about FC back
@ -914,7 +915,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
tx_buf[0] |= (0x37 + bytes);
} else {
// tx_buf[0] lowest 6 bits left at 0
tx_buf[1] = openlrs_status.LastRSSI;
tx_buf[1] = oplink_status.RSSI;
if (FlightBatteryStateHandle()) {
FlightBatteryStateData bat;
FlightBatteryStateGet(&bat);
@ -928,7 +929,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
}
tx_buf[4] = (openlrs_dev->lastAFCCvalue >> 8);
tx_buf[5] = openlrs_dev->lastAFCCvalue & 0xff;
tx_buf[6] = countSetBits(openlrs_status.LinkQuality & 0x7fff);
tx_buf[6] = countSetBits(oplink_status.LinkQuality & 0x7fff);
}
}
@ -949,7 +950,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
if ((openlrs_dev->numberOfLostPackets < openlrs_dev->hopcount) && (PIOS_DELAY_GetuSSince(openlrs_dev->lastPacketTimeUs) > (getInterval(&openlrs_dev->bind_data) + packet_timeout_us))) {
DEBUG_PRINTF(2, "OLRS WARN: Lost packet: %d\r\n", openlrs_dev->numberOfLostPackets);
// we lost packet, hop to next channel
openlrs_status.LinkQuality <<= 1;
oplink_status.LinkQuality <<= 1;
openlrs_dev->willhop = 1;
if (openlrs_dev->numberOfLostPackets == 0) {
openlrs_dev->linkLossTimeMs = timeMs;
@ -961,7 +962,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
} else if ((openlrs_dev->numberOfLostPackets >= openlrs_dev->hopcount) && (PIOS_DELAY_GetuSSince(openlrs_dev->lastPacketTimeUs) > (getInterval(&openlrs_dev->bind_data) * openlrs_dev->hopcount))) {
DEBUG_PRINTF(2, "ORLS WARN: Trying to resync\r\n");
// hop slowly to allow resync with TX
openlrs_status.LinkQuality = 0;
oplink_status.LinkQuality = 0;
openlrs_dev->willhop = 1;
openlrs_dev->lastPacketTimeUs = timeUs;
}
@ -972,10 +973,10 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
#endif /* PIOS_LED_LINK */
if (openlrs_dev->failsafeDelay &&
(openlrs_status.FailsafeActive == OPENLRSSTATUS_FAILSAFEACTIVE_INACTIVE) &&
(oplink_status.LinkState == OPLINKSTATUS_LINKSTATE_CONNECTED) &&
((timeMs - openlrs_dev->linkLossTimeMs) > ((uint32_t)openlrs_dev->failsafeDelay))) {
DEBUG_PRINTF(2, "Failsafe activated: %d %d\r\n", timeMs, openlrs_dev->linkLossTimeMs);
openlrs_status.FailsafeActive = OPENLRSSTATUS_FAILSAFEACTIVE_ACTIVE;
oplink_status.LinkState = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
// failsafeApply();
openlrs_dev->nextBeaconTimeMs = (timeMs + 1000UL * openlrs_dev->beacon_period) | 1; // beacon activating...
}
@ -1030,18 +1031,18 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
}
// Update UAVO
OpenLRSStatusSet(&openlrs_status);
OPLinkStatusSet(&oplink_status);
}
uint8_t PIOS_OpenLRS_RSSI_Get(void)
{
if (openlrs_status.FailsafeActive == OPENLRSSTATUS_FAILSAFEACTIVE_ACTIVE) {
if (oplink_status.LinkState != OPLINKSTATUS_LINKSTATE_CONNECTED) {
return 0;
} else {
OpenLRSData openlrs_data;
OpenLRSGet(&openlrs_data);
uint16_t LQ = openlrs_status.LinkQuality & 0x7fff;
uint16_t LQ = oplink_status.LinkQuality & 0x7fff;
// count number of 1s in LinkQuality
LQ = LQ - ((LQ >> 1) & 0x5555);
LQ = (LQ & 0x3333) + ((LQ >> 2) & 0x3333);
@ -1052,12 +1053,12 @@ uint8_t PIOS_OpenLRS_RSSI_Get(void)
switch (openlrs_data.RSSI_Type) {
case OPENLRS_RSSI_TYPE_COMBINED:
if ((uint8_t)LQ == 15) {
return (uint8_t)((openlrs_status.LastRSSI >> 1) + 128);
return (uint8_t)((oplink_status.RSSI >> 1) + 128);
} else {
return LQ * 9;
}
case OPENLRS_RSSI_TYPE_RSSI:
return openlrs_status.LastRSSI;
return oplink_status.RSSI;
case OPENLRS_RSSI_TYPE_LINKQUALITY:
return (uint8_t)(LQ << 4);
@ -1143,7 +1144,7 @@ int32_t PIOS_OpenLRS_Init(uint32_t *openlrs_id, uint32_t spi_id,
openlrs_dev->openlrs_rcvr_id = 0;
OpenLRSInitialize();
OpenLRSStatusInitialize();
OPLinkStatusInitialize();
DEBUG_PRINTF(2, "OpenLRS UAVOs Initialized\r\n");
OpenLRSData binding;
OpenLRSGet(&binding);
@ -1257,9 +1258,9 @@ static void pios_openlrs_task(void *parameters)
// We timed out to sample RSSI
if (openlrs_dev->numberOfLostPackets < 2) {
openlrs_dev->lastRSSITimeUs = openlrs_dev->lastPacketTimeUs;
openlrs_status.LastRSSI = rfmGetRSSI(openlrs_dev); // Read the RSSI value
oplink_status.RSSI = rfmGetRSSI(openlrs_dev); // Read the RSSI value
// DEBUG_PRINTF(3, "Sampled RSSI: %d %d\r\n", openlrs_status.LastRSSI, delay);
// DEBUG_PRINTF(3, "Sampled RSSI: %d %d\r\n", oplink_status.RSSI, delay);
}
} else {
// We timed out because packet was missed

2
flight/pios/common/pios_oplinkrcvr.c
View File

@ -191,7 +191,7 @@ static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
static uint8_t PIOS_OPLinkRCVR_Quality_Get(__attribute__((unused)) uint32_t oplinkrcvr_id)
{
uint8_t oplink_quality;
uint16_t oplink_quality;
OPLinkStatusLinkQualityGet(&oplink_quality);

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -129,7 +129,6 @@ UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRCFILENAMES += systemidentsettings
UAVOBJSRCFILENAMES += systemidentstate
UAVOBJSRCFILENAMES += openlrs
UAVOBJSRCFILENAMES += openlrsstatus
UAVOBJSRCFILENAMES += rfm22breceiver
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )

5
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -812,8 +812,9 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
PIOS_COM_ChangeBaud(pios_com_debug_id, 28800);
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSETTINGS_RM_MAINPORT_COMBRIDGE:

6
flight/targets/boards/sparky2/board_hw_defs.c
View File

@ -431,7 +431,7 @@ static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
},
};
const struct pios_rfm22b_cfg pios_rfm22b_rm2_cfg = {
const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.spi_cfg = &pios_spi_telem_flash_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.RFXtalCap = 0x7f,
@ -441,7 +441,7 @@ const struct pios_rfm22b_cfg pios_rfm22b_rm2_cfg = {
const struct pios_rfm22b_cfg *PIOS_BOARD_HW_DEFS_GetRfm22Cfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_rfm22b_rm2_cfg;
return &pios_rfm22b_cfg;
}
#endif /* PIOS_INCLUDE_RFM22B */
@ -483,7 +483,7 @@ static const struct pios_exti_cfg pios_exti_openlrs_cfg __exti_config = {
const struct pios_openlrs_cfg pios_openlrs_cfg = {
.spi_cfg = &pios_spi_telem_flash_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.exti_cfg = &pios_exti_openlrs_cfg,
.gpio_direction = GPIO0_TX_GPIO1_RX,
};

1
flight/targets/boards/sparky2/firmware/UAVObjects.inc
View File

@ -129,7 +129,6 @@ UAVOBJSRCFILENAMES += perfcounter
UAVOBJSRCFILENAMES += systemidentsettings
UAVOBJSRCFILENAMES += systemidentstate
UAVOBJSRCFILENAMES += openlrs
UAVOBJSRCFILENAMES += openlrsstatus
UAVOBJSRCFILENAMES += rfm22breceiver
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )

2
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -797,7 +797,7 @@ void PIOS_Board_Init(void)
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
if (openlrs) {
#if defined(PIOS_INCLUDE_OPENLRS_RCVR)
const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);
const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg();
uint32_t openlrs_id;
PIOS_OpenLRS_Init(&openlrs_id, PIOS_RFM22_SPI_PORT, 0, openlrs_cfg);

1
ground/gcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -104,7 +104,6 @@ UAVOBJS = \
$${UAVOBJ_XML_DIR}/nedaccel.xml \
$${UAVOBJ_XML_DIR}/objectpersistence.xml \
$${UAVOBJ_XML_DIR}/openlrs.xml \
$${UAVOBJ_XML_DIR}/openlrsstatus.xml \
$${UAVOBJ_XML_DIR}/oplinkreceiver.xml \
$${UAVOBJ_XML_DIR}/oplinksettings.xml \
$${UAVOBJ_XML_DIR}/oplinkstatus.xml \

13
shared/uavobjectdefinition/openlrsstatus.xml
View File

@ -1,13 +0,0 @@
<xml>
<object name="OpenLRSStatus" singleinstance="true" settings="false" category="System">
<description>OpenLRS link status.</description>
<field name="LastRSSI" units="" type="uint8" elements="1"/>
<field name="LinkQuality" units="" type="uint16" elements="1"/>
<field name="FailsafeActive" units="function" type="enum" elements="1" options="Inactive,Active" defaultvalue="Inactive"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="throttled" period="500"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/oplinkstatus.xml
View File

@ -18,7 +18,7 @@
<field name="Resets" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="Timeouts" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>
<field name="LinkQuality" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="LinkQuality" units="" type="uint16" elements="1" defaultvalue="0"/>
<field name="TXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
<field name="RXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
<field name="TXSeq" units="" type="uint16" elements="1" defaultvalue="0"/>