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Code Issues Releases Activity

OP-932: Fixes configuration of the remote serial connection when using VCP/raw comms.

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This commit is contained in:
Brian Webb 2013-05-02 04:42:16 +01:00
parent 80cef9dbcc
commit 66b048e280
1 changed files with 37 additions and 38 deletions
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75
flight/modules/RadioComBridge/RadioComBridge.c
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@ -72,8 +72,8 @@ typedef struct {
// The task handles. // The task handles.
xTaskHandle telemetryTxTaskHandle; xTaskHandle telemetryTxTaskHandle;
xTaskHandle telemetryRxTaskHandle; xTaskHandle telemetryRxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle; xTaskHandle radioTxTaskHandle;
xTaskHandle radioRxTaskHandle;
// The UAVTalk connection on the com side. // The UAVTalk connection on the com side.
UAVTalkConnection outUAVTalkCon; UAVTalkConnection outUAVTalkCon;
@ -105,8 +105,8 @@ typedef struct {
static void telemetryTxTask(void *parameters); static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters); static void telemetryRxTask(void *parameters);
static void radioRxTask(void *parameters);
static void radioTxTask(void *parameters); static void radioTxTask(void *parameters);
static void radioRxTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length); static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
static int32_t RadioSendHandler(uint8_t *buf, int32_t length); static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte); static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
@ -190,22 +190,16 @@ static int32_t RadioComBridgeStart(void)
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS. // Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(telemetryTxTask, (signed char *)"telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle)); xTaskCreate(telemetryTxTask, (signed char *)"telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
xTaskCreate(telemetryRxTask, (signed char *)"telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryRxTaskHandle)); xTaskCreate(telemetryRxTask, (signed char *)"telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryRxTaskHandle));
xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle)); xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
// Register the watchdog timers. // Register the watchdog timers.
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX); PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX);
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX); PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX); PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
#endif #endif
// If we're doing raw comms, we need to have another thread that relays data from the com port to the radio.
if (!data->parseUAVTalk) {
xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
#endif
}
return 0; return 0;
} }
@ -308,6 +302,34 @@ static void telemetryTxTask(void *parameters)
} }
} }
/**
* Radio tx task. Receive data packets from the com port and send to the radio.
*
* @param[in] parameters The task parameters
*/
static void radioTxTask(void *parameters)
{
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
#endif
// Wait until the com port is available.
if (data->parseUAVTalk || !PIOS_COM_TELEMETRY) {
vTaskDelay(5);
continue;
}
// Read from the com port.
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEMETRY, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
PIOS_COM_SendBufferNonBlocking(PIOS_COM_RADIO, serial_data, bytes_to_process);
}
}
}
/** /**
* Radio rx task. Receive data packets from the radio and pass them on. * Radio rx task. Receive data packets from the radio and pass them on.
* *
@ -337,34 +359,6 @@ static void radioRxTask(void *parameters)
} }
} }
/**
* Radio tx task. Receive data packets from the com port and send to the radio.
*
* @param[in] parameters The task parameters
*/
static void radioTxTask(void *parameters)
{
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
#endif
// Wait until the com port is available.
if (!PIOS_COM_TELEMETRY) {
vTaskDelay(5);
continue;
}
// Read from the com port.
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEMETRY, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
PIOS_COM_SendBufferNonBlocking(PIOS_COM_RADIO, serial_data, bytes_to_process);
}
}
}
/** /**
* Receive telemetry from the USB/COM port. * Receive telemetry from the USB/COM port.
* *
@ -624,6 +618,11 @@ static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port,
// Set the frequency range. // Set the frequency range.
PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, min_frequency, max_frequency, channel_spacing); PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, min_frequency, max_frequency, channel_spacing);
// We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
(oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
(oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
// Update the OPLinkSettings object. // Update the OPLinkSettings object.
OPLinkSettingsSet(&oplinkSettings); OPLinkSettingsSet(&oplinkSettings);
} }