rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

UAVTalk bug fixes and API updates on object manager

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@282 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-03-11 02:31:32 +00:00 committed by vassilis
parent 37a66b2340
commit 18515b1897
4 changed files with 122 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flight/OpenPilot/Modules/Telemetry/telemetry.c
View File

@ -40,7 +40,7 @@ static xQueueHandle queue;
static xTaskHandle telemetryTaskHandle;
// Private functions
static void telemetryTask(void);
static void telemetryTask(void* parameters);
static void periodicEventHandler(UAVObjEvent* ev);
static int32_t transmitData(uint8_t* data, int32_t length);
static void registerObject(UAVObjHandle obj);
@ -138,7 +138,7 @@ void updateObject(UAVObjHandle obj)
/**
* Telemetry task. Processes queue events and periodic updates. It does not return.
*/
static void telemetryTask(void)
static void telemetryTask(void* parameters)
{
UAVObjEvent ev;
UAVObjMetadata metadata;

5
flight/OpenPilot/UAVObjects/uavobjectmanager.c
View File

@ -422,9 +422,7 @@ int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
objEntry = (ObjectList*)obj;
if (!objEntry->isSingleInstance)
{
dataOut[0] = (uint8_t)(instId && 0xFF);
dataOut[1] = (uint8_t)((instId >> 8) && 0xFF);
if (getInstanceData(objEntry, instId, &dataOut[2]) < 0)
if (getInstanceData(objEntry, instId, dataOut) < 0)
{
// Error, unlock and return
xSemaphoreGiveRecursive(mutex);
@ -836,6 +834,7 @@ int32_t createInstance(ObjectList* obj, uint16_t instId)
elemEntry->instId = instId;
LL_APPEND(obj->data.instances, elemEntry);
++obj->numInstances;
UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
return instId;
}
else

4
flight/OpenPilot/UAVObjects/uavobjecttemplate.c
View File

@ -55,8 +55,8 @@ int32_t $(NAME)Initialize()
metadata.ackRequired = $(ACK);
metadata.gcsTelemetryUpdateMode = $(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.telemetryUpdateMode = $(TELEM_UPDATEMODE);
metadata.telemetryUpdatePeriod = $(TELEM_UPDATEPERIOD);
metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = $(LOGGING_UPDATEMODE);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(handle, &metadata);

130
flight/OpenPilot/UAVTalk/uavtalk.c
View File

@ -35,12 +35,10 @@
#define TYPE_OBJ_ACK (TYPE_VER | 0x02)
#define TYPE_ACK (TYPE_VER | 0x03)
#define HEADER_LENGTH 6 // type (1), object ID (4), length (1)
#define HEADER_LENGTH 7 // type (1), object ID (4), instance ID (2, not used in single objects)
#define CHECKSUM_LENGTH 2
#define MAX_PAYLOAD_LENGTH 256
#define MAX_PACKET_LENGTH (HEADER_LENGTH+MAX_PAYLOAD_LENGTH+CHECKSUM_LENGTH)
#define MAX_UPDATE_PERIOD_MS 1000
#define MIN_UPDATE_PERIOD_MS 1
// Private types
typedef enum {STATE_SYNC, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxState;
@ -60,6 +58,7 @@ int32_t objectTransaction(uint32_t objectId, uint16_t instId, uint8_t type, int3
int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length);
void updateAck(UAVObjHandle obj, uint16_t instId);
/**
* Initialize the UAVTalk library
@ -92,7 +91,7 @@ int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t time
/**
* Send the specified object through the telemetry link.
* \param[in] obj Object to send
* \param[in] instId The instance ID of UAVOBJ_ALL_INSTANCES for all instances.
* \param[in] instId The instance ID
* \param[in] acked Selects if an ack is required (1:ack required, 0: ack not required)
* \param[in] timeoutMs Time to wait for the ack, when zero it will return immediately
* \return 0 Success
@ -100,9 +99,18 @@ int32_t UAVTalkSendObjectRequest(UAVObjHandle obj, uint16_t instId, int32_t time
*/
int32_t UAVTalkSendObject(UAVObjHandle obj, uint16_t instId, uint8_t acked, int32_t timeoutMs)
{
if (acked == 1) {
// Make sure a valid instance id is requested
if (instId == UAVOBJ_ALL_INSTANCES)
{
return -1;
}
// Send object
if (acked == 1)
{
return objectTransaction(obj, instId, TYPE_OBJ_ACK, timeoutMs);
} else {
}
else
{
return objectTransaction(obj, instId, TYPE_OBJ, timeoutMs);
}
}
@ -302,37 +310,79 @@ int32_t UAVTalkProcessInputStream(uint8_t rxbyte)
*/
int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length)
{
// Unpack object if the message is of type OBJ or OBJ_ACK
if (type == TYPE_OBJ || type == TYPE_OBJ_ACK)
int32_t ret = 0;
// Process message type
switch (type) {
case TYPE_OBJ:
// All instances, not allowed for OBJ messages
if (instId != UAVOBJ_ALL_INSTANCES)
{
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(obj, instId, data);
// Check if an ack is pending
updateAck(obj, instId);
}
// Send requested object if message is of type OBJ_REQ
if (type == TYPE_OBJ_REQ)
else
{
sendObject(obj, instId, TYPE_OBJ);
ret = -1;
}
// Send ACK if message is of type OBJ_ACK
if (type == TYPE_OBJ_ACK)
break;
case TYPE_OBJ_ACK:
// All instances, not allowed for OBJ_ACK messages
if (instId != UAVOBJ_ALL_INSTANCES)
{
// Unpack object, if the instance does not exist it will be created!
if ( UAVObjUnpack(obj, instId, data) == 0 )
{
// Transmit ACK
sendObject(obj, instId, TYPE_ACK);
}
// If a response was pending on the object, unblock any waiting tasks
if (type == TYPE_ACK || type == TYPE_OBJ)
else
{
if (respObj == obj && (respInstId = instId || respInstId == UAVOBJ_ALL_INSTANCES))
ret = -1;
}
}
else
{
ret = -1;
}
break;
case TYPE_OBJ_REQ:
// Send requested object if message is of type OBJ_REQ
sendObject(obj, instId, TYPE_OBJ);
break;
case TYPE_ACK:
// All instances, not allowed for ACK messages
if (instId != UAVOBJ_ALL_INSTANCES)
{
// Check if an ack is pending
updateAck(obj, instId);
}
else
{
ret = -1;
}
break;
default:
ret = -1;
}
// Done
return ret;
}
/**
* Check if an ack is pending on an object and give response semaphore
*/
void updateAck(UAVObjHandle obj, uint16_t instId)
{
if (respObj == obj && (respInstId == instId || respInstId == UAVOBJ_ALL_INSTANCES))
{
xSemaphoreGive(respSema);
respObj = 0;
}
}
// Done
return 0;
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object handle to send
@ -346,10 +396,16 @@ int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
uint32_t numInst;
uint32_t n;
// Check if this operation is for a single instance or all
if (instId == UAVOBJ_ALL_INSTANCES && !UAVObjIsSingleInstance(obj))
// If all instances are requested on a single instance object it is an error
if ( instId == UAVOBJ_ALL_INSTANCES && UAVObjIsSingleInstance(obj) )
{
return -1;
}
// Process message type
if ( type == TYPE_OBJ || type == TYPE_OBJ_ACK )
{
if (instId == UAVOBJ_ALL_INSTANCES)
{
// Get number of instances
numInst = UAVObjGetNumInstances(obj);
@ -361,17 +417,31 @@ int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
return 0;
}
else
{
return sendSingleObject(obj, instId, type);
}
}
else if (type == TYPE_OBJ_REQ)
{
return sendSingleObject(obj, instId, TYPE_OBJ_REQ);
}
else if (type == TYPE_ACK)
{
if ( instId != UAVOBJ_ALL_INSTANCES )
{
return sendSingleObject(obj, instId, TYPE_ACK);
}
else
{
return -1;
}
}
else
{
return sendSingleObject(obj, instId, type);
return -1;
}
}
/**
* Send an object through the telemetry link.
* \param[in] obj Object handle to send
@ -387,12 +457,6 @@ int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type)
uint16_t cs = 0;
uint32_t objId;
// Check for valid packet type
if (type != TYPE_OBJ && type != TYPE_OBJ_ACK && type != TYPE_OBJ_REQ && type != TYPE_ACK)
{
return -1;
}
// Setup type and object id fields
objId = UAVObjGetID(obj);
txBuffer[0] = type;