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Code Issues Releases Activity

OP-4: Added receiving functionality to the telemetry module.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@258 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-03-06 06:18:04 +00:00 committed by gussy
parent 0e8b618953
commit 55d1cb8dac
1 changed files with 27 additions and 22 deletions
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49
flight/OpenPilot/Modules/Telemetry/telemetry.c
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@ -23,15 +23,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#include "telemetry.h"
#include "uavtalk.h"
#include "uavobjectmanager.h"
#include "eventdispatcher.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "openpilot.h"
// Private constants
#define MAX_QUEUE_SIZE 20
@ -43,12 +35,12 @@
// Private types
// Private variables
xQueueHandle queue;
xTaskHandle telemetryTaskHandle;
static COMPortTypeDef TelemetryPort;
static xQueueHandle queue;
static xTaskHandle telemetryTaskHandle;
// Private functions
static void telemetryTask();
static void receiveTask();
static void telemetryTask(void);
static void periodicEventHandler(UAVObjEvent* ev);
static int32_t transmitData(uint8_t* data, int32_t length);
static void registerObject(UAVObjHandle obj);
@ -57,20 +49,21 @@ static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
/**
* Initialize the telemetry module
* \return -1 if initialization failed
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryInitialize()
int32_t TelemetryInitialize(void)
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// TODO: Get telemetry settings object
TelemetryPort = COM_USART1;
// TODO: Initialize communication ports
// TODO: Re-Initialise communication ports
// Initialize UAVTalk
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
// Process all registered objects and connect queue for updates
@ -147,7 +140,7 @@ void updateObject(UAVObjHandle obj)
/**
* Telemetry task. Processes queue events and periodic updates. It does not return.
*/
static void telemetryTask()
static void telemetryTask(void)
{
UAVObjEvent ev;
UAVObjMetadata metadata;
@ -172,7 +165,7 @@ static void telemetryTask()
// Request object update from GCS (with retries)
retries = 0;
while(retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest( ev.obj, ev.instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
success = UAVTalkSendObjectRequest(ev.obj, ev.instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
}
@ -182,8 +175,20 @@ static void telemetryTask()
}
}
// TODO: Check for received data (from the modem or USB) and pass them to UAVTalk for decoding
// UAVTalkProcessInputStream(data);
/* This blocks the task until there is something on the buffer */
/* TODO: This needs to check the USB semaphore as well, somehow */
/* This isn't really going to work
xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(TelemetryPort));
*/
if(PIOS_COM_ReceiveBufferUsed(TelemetryPort) > 0)
{
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(TelemetryPort));
} else if(PIOS_COM_ReceiveBufferUsed(COM_USB_HID) > 0)
{
UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(TelemetryPort));
}
}
}