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OP-932: Adds an oplink receiver device, which is based on the gcs receiver device, but uses the OPLinkReceiver UAVObject. The OPLinkReceiver packets are generated on the OPLink modem.

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This commit is contained in:
Brian Webb 2013-06-06 17:43:47 -07:00
parent 7c10623615
commit 08efc8d152
10 changed files with 258 additions and 2 deletions
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194
flight/pios/common/pios_oplinkrcvr.c Normal file
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@ -0,0 +1,194 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPLinkRCVR OPLink Receiver Input Functions
* @brief Code to read the channels within the OPLinkReceiver UAVObject
* @{
*
* @file pios_opinkrcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief GCS Input functions (STM32 dependent)
* @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 <pios.h>
#ifdef PIOS_INCLUDE_OPLINKRCVR
#include <uavobjectmanager.h>
#include <oplinkreceiver.h>
#include <pios_oplinkrcvr_priv.h>
static OPLinkReceiverData oplinkreceiverdata;
/* Provide a RCVR driver */
static int32_t PIOS_OPLinkRCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_oplinkrcvr_Supervisor(uint32_t ppm_id);
const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver = {
.read = PIOS_OPLinkRCVR_Get,
};
/* Local Variables */
enum pios_oplinkrcvr_dev_magic {
PIOS_OPLINKRCVR_DEV_MAGIC = 0x07ab9e2544cf5029,
};
struct pios_oplinkrcvr_dev {
enum pios_oplinkrcvr_dev_magic magic;
uint8_t supv_timer;
bool Fresh;
};
static struct pios_oplinkrcvr_dev *global_oplinkrcvr_dev;
static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
{
return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)pvPortMalloc(sizeof(*oplinkrcvr_dev));
if (!oplinkrcvr_dev) {
return NULL;
}
oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
oplinkrcvr_dev->Fresh = false;
oplinkrcvr_dev->supv_timer = 0;
/* The update callback cannot receive the device pointer, so set it in a global */
global_oplinkrcvr_dev = oplinkrcvr_dev;
return oplinkrcvr_dev;
}
#else
static struct pios_oplinkrcvr_dev pios_oplinkrcvr_devs[PIOS_OPLINKRCVR_MAX_DEVS];
static uint8_t pios_oplinkrcvr_num_devs;
static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
if (pios_oplinkrcvr_num_devs >= PIOS_OPLINKRCVR_MAX_DEVS) {
return NULL;
}
oplinkrcvr_dev = &pios_oplinkrcvr_devs[pios_oplinkrcvr_num_devs++];
oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
oplinkrcvr_dev->Fresh = false;
oplinkrcvr_dev->supv_timer = 0;
global_oplinkrcvr_dev = oplinkrcvr_dev;
return oplinkrcvr_dev;
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
static void oplinkreceiver_updated(UAVObjEvent *ev)
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
if (ev->obj == OPLinkReceiverHandle()) {
OPLinkReceiverGet(&oplinkreceiverdata);
oplinkrcvr_dev->Fresh = true;
}
}
extern int32_t PIOS_OPLinkRCVR_Init(__attribute__((unused)) uint32_t *oplinkrcvr_id)
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
/* Allocate the device structure */
oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)PIOS_oplinkrcvr_alloc();
if (!oplinkrcvr_dev) {
return -1;
}
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
/* Flush channels */
oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
}
/* Register uavobj callback */
OPLinkReceiverConnectCallback(oplinkreceiver_updated);
/* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_OPLinkRCVR_Get(__attribute__((unused)) uint32_t rcvr_id, uint8_t channel)
{
if (channel >= OPLINKRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return PIOS_RCVR_INVALID;
}
return oplinkreceiverdata.Channel[channel];
}
static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
{
/* Recover our device context */
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
/* Invalid device specified */
return;
}
/*
* RTC runs at 625Hz.
*/
if (++(oplinkrcvr_dev->supv_timer) < (PIOS_OPLINK_RCVR_TIMEOUT_MS * 1000 / 625)) {
return;
}
oplinkrcvr_dev->supv_timer = 0;
if (!oplinkrcvr_dev->Fresh) {
for (int32_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; i++) {
oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
}
}
oplinkrcvr_dev->Fresh = false;
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
/**
* @}
* @}
*/

45
flight/pios/inc/pios_oplinkrcvr_priv.h Normal file
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@ -0,0 +1,45 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_OPLinkRCVR OPLink Receiver Functions
* @brief PIOS interface to read from OPLink receiver port
* @{
*
* @file pios_oplinkrcvr_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief OPLINK receiver private functions
* @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
*/
#ifndef PIOS_OPLINKRCVR_PRIV_H
#define PIOS_OPLINKRCVR_PRIV_H
#include <pios.h>
extern const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver;
extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id);
#endif /* PIOS_OPLINKRCVR_PRIV_H */
/**
* @}
* @}
*/

1
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
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@ -93,6 +93,7 @@
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_GCSRCVR
/* #define PIOS_INCLUDE_OPLINKRCVR */
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

3
flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
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@ -92,7 +92,8 @@
/* #define PIOS_INCLUDE_PPM_FLEXI */
/* #define PIOS_INCLUDE_DSM */
/* #define PIOS_INCLUDE_SBUS */
#define PIOS_INCLUDE_GCSRCVR
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

1
flight/targets/boards/osd/firmware/inc/pios_config.h
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@ -93,6 +93,7 @@
/* #define PIOS_INCLUDE_DSM */
/* #define PIOS_INCLUDE_SBUS */
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
/* PIOS abstract receiver interface */
/* #define PIOS_INCLUDE_RCVR */

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
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@ -93,6 +93,7 @@
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

1
flight/targets/boards/revoproto/firmware/inc/pios_config.h
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@ -93,6 +93,7 @@
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_GCSRCVR
/* #define PIOS_INCLUDE_OPLINKRCVR */
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

3
flight/targets/boards/simposix/firmware/inc/pios_config.h
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@ -84,7 +84,8 @@
// #define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_PPM
#define PIOS_INCLUDE_PWM
// #define PIOS_INCLUDE_GCSRCVR
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_BL_HELPER

1
make/apps-defs.mk
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@ -70,6 +70,7 @@ SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_mpxv.c
SRC += $(PIOSCOMMON)/pios_ms5611.c
SRC += $(PIOSCOMMON)/pios_oplinkrcvr.c
SRC += $(PIOSCOMMON)/pios_video.c
SRC += $(PIOSCOMMON)/pios_wavplay.c

10
shared/uavobjectdefinition/oplinkreceiver.xml Normal file
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@ -0,0 +1,10 @@
<xml>
<object name="OPLinkReceiver" singleinstance="true" settings="false">
<description>A receiver channel group carried over the OPLink radio.</description>
<field name="Channel" units="us" type="int16" elements="8"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>