LP-346 RFM22 tuning: Allow XtalCap value changes without reboot.

flight/modules/OPLink/oplinkmod.c

@@ -67,9 +67,11 @@ static xTaskHandle systemTaskHandle;
 static bool stackOverflow;
 static bool mallocFailed;
 volatile int initTaskDone = 0;
+static OPLinkSettingsData previousOPLinkSettings;
 
 // Private functions
 static void systemTask(void *parameters);
+static void checkOPLinkSettingsUpdatedCb(UAVObjEvent *ev);
 
 /**
  * Create the module task.
@@ -133,6 +135,8 @@ static void systemTask(__attribute__((unused)) void *parameters)
         PIOS_SYS_Reset();
     }
 
+    OPLinkSettingsConnectCallback(checkOPLinkSettingsUpdatedCb);
+
     // Initialize vars
     lastSysTime = xTaskGetTickCount();
 
@@ -242,6 +246,22 @@ void vApplicationMallocFailedHook(void)
 #endif
 }
 
+/**
+ * Called whenever OPLink settings changed
+ */
+static void checkOPLinkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    OPLinkSettingsData currentOPLinkSettings;
+
+    OPLinkSettingsGet(&currentOPLinkSettings);
+    // Check if RFXtalCap value changed
+    if (currentOPLinkSettings.RFXtalCap != previousOPLinkSettings.RFXtalCap) {
+        PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, currentOPLinkSettings.RFXtalCap);
+        PIOS_RFM22B_Reinit(pios_rfm22b_id);
+        previousOPLinkSettings = currentOPLinkSettings;
+    }
+}
+
 /**
  * @}
  * @}

flight/modules/System/systemmod.c

@@ -129,6 +129,11 @@ static void updateWDGstats();
 static uint8_t i2c_error_activity[PIOS_I2C_ERROR_COUNT_NUMELEM];
 #endif
 
+#ifdef PIOS_INCLUDE_RFM22B
+static OPLinkSettingsData previousOPLinkSettings;
+static void checkOPLinkSettingsUpdatedCb(UAVObjEvent *ev);
+#endif
+
 extern uintptr_t pios_uavo_settings_fs_id;
 extern uintptr_t pios_user_fs_id;
 
@@ -231,6 +236,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
     HwSettingsConnectCallback(checkSettingsUpdatedCb);
     SystemSettingsConnectCallback(checkSettingsUpdatedCb);
 
+#ifdef PIOS_INCLUDE_RFM22B
+    OPLinkSettingsConnectCallback(checkOPLinkSettingsUpdatedCb);
+#endif
+
 #ifdef DIAG_TASKS
     TaskInfoData taskInfoData;
     CallbackInfoData callbackInfoData;
@@ -454,6 +463,24 @@ static void checkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
     }
 }
 
+#ifdef PIOS_INCLUDE_RFM22B
+/**
+ * Called whenever OPLink settings changed
+ */
+static void checkOPLinkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    OPLinkSettingsData currentOPLinkSettings;
+
+    OPLinkSettingsGet(&currentOPLinkSettings);
+    // Check if RFXtalCap value changed
+    if (currentOPLinkSettings.RFXtalCap != previousOPLinkSettings.RFXtalCap) {
+        PIOS_RFM22B_SetXtalCap(pios_rfm22b_id, currentOPLinkSettings.RFXtalCap);
+        PIOS_RFM22B_Reinit(pios_rfm22b_id);
+        previousOPLinkSettings = currentOPLinkSettings;
+    }
+}
+#endif /* ifdef PIOS_INCLUDE_RFM22B */
+
 #ifdef DIAG_TASKS
 static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context)
 {

flight/pios/common/pios_rfm22b.c

@@ -652,6 +652,21 @@ void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datar
     }
 }
 
+/**
+ * Set a XtalCap
+ *
+ * @param[in] rfm22b_id The RFM22B device index.
+ * @param[in] XtalCap Value.
+ */
+void PIOS_RFM22B_SetXtalCap(uint32_t rfm22b_id, uint8_t xtal_cap)
+{
+    struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+
+    if (PIOS_RFM22B_Validate(rfm22b_dev)) {
+        rfm22b_dev->cfg.RFXtalCap = xtal_cap;
+    }
+}
+
 /**
  * Set a modem to be a coordinator or not.
  *

flight/pios/inc/pios_rfm22b.h

@@ -105,6 +105,7 @@ extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, uint32_t spi_id, uint32_t s
 extern void PIOS_RFM22B_Reinit(uint32_t rfb22b_id);
 extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr);
 extern void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datarate, uint8_t min_chan, uint8_t max_chan, bool coordinator, bool ppm_mode, bool ppm_only);
+extern void PIOS_RFM22B_SetXtalCap(uint32_t rfm22b_id, uint8_t xtal_cap);
 extern void PIOS_RFM22B_SetCoordinatorID(uint32_t rfm22b_id, uint32_t coord_id);
 extern void PIOS_RFM22B_SetDeviceID(uint32_t rfm22b_id, uint32_t device_id);
 extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);

ground/gcs/src/plugins/config/oplink.ui

@@ -1923,7 +1923,8 @@ Leave blank to use autogenerated Device ID.</string>
               <item row="1" column="1">
                <widget class="QSlider" name="RFXtalCapSlider">
                 <property name="toolTip">
-                 <string>The xtal capacitor value for fine tune frequency and get a AFC value close to zero. Default value is 127.</string>
+                 <string>Adjust the xtal capacitor value to fine tune frequency and
+get an AFC value close to zero. Default value is 127.</string>
                 </property>
                 <property name="maximum">
                  <number>171</number>
@@ -1942,7 +1943,8 @@ Leave blank to use autogenerated Device ID.</string>
               <item row="1" column="2">
                <widget class="QSpinBox" name="RFXtalCapValue">
                 <property name="toolTip">
-                 <string>The xtal capacitor value for fine tune frequency and get a AFC value close to zero. Default value is 127.</string>
+                 <string>Adjust the xtal capacitor value to fine tune frequency and
+get an AFC value close to zero. Default value is 127.</string>
                 </property>
                 <property name="maximum">
                  <number>171</number>
@@ -1959,7 +1961,8 @@ Leave blank to use autogenerated Device ID.</string>
               <item row="0" column="1" colspan="2">
                <widget class="QProgressBar" name="AFCCorrectionBar">
                 <property name="toolTip">
-                 <string>The Automatic Frequency Correction: How much the modem will correct a frequency misalignement between the two modems.</string>
+                 <string>The Automatic Frequency Correction: How much the modem will correct
+a frequency misalignement between the two modems.</string>
                 </property>
                 <property name="minimum">
                  <number>-50</number>