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Code Issues Releases Activity

Added optional output of GCSReceiver from the OPLink to the FC. This will happen automatically if a PPM packet is receive, and PPM output is disabled.

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This commit is contained in:
Brian Webb 2013-02-18 02:55:58 +00:00
parent cf7c929030
commit 1af58e510e
4 changed files with 31 additions and 42 deletions
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4
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -203,7 +203,6 @@ static int32_t RadioComBridgeInitialize(void)
return -1;
// Initialize the UAVObjects that we use
GCSReceiverInitialize();
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
@ -217,6 +216,9 @@ static int32_t RadioComBridgeInitialize(void)
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
#endif
// Initialize the statistics.
data->comTxErrors = 0;

36
flight/PiOS/Common/pios_rfm22b.c
View File

@ -53,6 +53,9 @@
#include <pios_spi_priv.h>
#include <packet_handler.h>
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
#include <gcsreceiver.h>
#endif
#include <pios_rfm22b_priv.h>
#include <pios_ppm_out_priv.h>
#include <ecc.h>
@ -611,6 +614,11 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
// Initialize the GCSReceive object
GCSReceiverInitialize();
#endif
// Initialize the external interrupt.
PIOS_EXTI_Init(cfg->exti_cfg);
@ -1776,16 +1784,26 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
break;
case PACKET_TYPE_PPM:
{
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
bool ppm_output = false;
#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
if (PIOS_PPM_OUTPUT)
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
#endif /* PIOS_INCLUDE_PPM_OUT && PIOS_PPM_OUTPUT */
}
rfm22b_dev->ppm_fresh = true;
break;
if (PIOS_PPM_OUTPUT) {
ppm_output = true;
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
}
}
#endif
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
if (!ppm_output) {
GCSReceiverData gcsRcvr;
for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
gcsRcvr.Channel[i] = ppmp->channels[i];
}
GCSReceiverSet(&gcsRcvr);
}
#endif
break;
}
default:
break;

5
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -793,11 +793,6 @@ struct pios_rfm22b_dev {
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
uint8_t max_ack_delay;
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
};

28
flight/PipXtreme/System/inc/pios_config.h
View File

@ -40,6 +40,7 @@
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_RFM22B_GCSRECEIVER
#define PIOS_INCLUDE_RCVR
#define PIOS_INCLUDE_TIM
@ -70,33 +71,6 @@
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 40
#define IRQSTACK_LIMIT_WARNING 100
#define IRQSTACK_LIMIT_CRITICAL 60
#define CPULOAD_LIMIT_WARNING 85
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 460
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
//#define PIOS_QUATERNION_STABILIZATION
// This can't be too high to stop eventdispatcher thread overflowing
#define PIOS_EVENTDISAPTCHER_QUEUE 10
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL