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Code Issues Releases Activity

Merge remote-tracking branch 'origin/Brian-PipXtreme-V2' into revo

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This commit is contained in:
James Cotton 2012-07-15 12:32:35 -05:00
commit 6b101d71af
8 changed files with 504 additions and 170 deletions
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2
flight/Libraries/inc/packet_handler.h
View File

@ -106,7 +106,7 @@ void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f);
void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
PHPacketHandle PHGetRXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p);
PHPacketHandle PHGetTXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);

35
flight/Libraries/packet_handler.c
View File

@ -169,16 +169,15 @@ PHPacketHandle PHGetTXPacket(PHInstHandle h)
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
PHPacketHandle p = data->tx_packets + data->tx_win_end;
// Is the window full?
uint8_t next_end = (data->tx_win_end + 1) % data->cfg.winSize;
if(next_end == data->tx_win_start)
{
xSemaphoreGiveRecursive(data->lock);
return NULL;
}
data->tx_win_end = next_end;
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
if (data->tx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->tx_packets + i;
break;
}
// Release lock
xSemaphoreGiveRecursive(data->lock);
@ -224,17 +223,15 @@ PHPacketHandle PHGetRXPacket(PHInstHandle h)
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
PHPacketHandle p = data->rx_packets + data->rx_win_end;
// Is the window full?
uint8_t next_end = (data->rx_win_end + 1) % data->cfg.winSize;
if(next_end == data->rx_win_start)
{
// Release lock
xSemaphoreGiveRecursive(data->lock);
return NULL;
}
data->rx_win_end = next_end;
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
if (data->rx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->rx_packets + i;
break;
}
// Release lock
xSemaphoreGiveRecursive(data->lock);

330
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -61,8 +61,9 @@
#define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200
#define EV_PACKET_RECEIVED 0x20
#define EV_TRANSMIT_PACKET 0x30
#define EV_SEND_ACK 0x40
#define EV_SEND_NACK 0x80
#define EV_SEND_NACK 0x50
// ****************
// Private types
@ -79,22 +80,36 @@ typedef struct {
} PairStats;
typedef struct {
uint32_t comPort;
UAVTalkConnection UAVTalkCon;
xQueueHandle sendQueue;
xQueueHandle recvQueue;
xQueueHandle gcsQueue;
uint16_t wdg;
bool checkHID;
} UAVTalkComTaskParams;
typedef struct {
// The task handles.
xTaskHandle comUAVTalkTaskHandle;
xTaskHandle GCSUAVTalkRecvTaskHandle;
xTaskHandle UAVTalkRecvTaskHandle;
xTaskHandle radioReceiveTaskHandle;
xTaskHandle sendPacketTaskHandle;
xTaskHandle sendDataTaskHandle;
xTaskHandle UAVTalkSendTaskHandle;
xTaskHandle radioStatusTaskHandle;
xTaskHandle transparentCommTaskHandle;
xTaskHandle ppmInputTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection inUAVTalkCon;
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection UAVTalkCon;
UAVTalkConnection GCSUAVTalkCon;
// Queue handles.
xQueueHandle sendPacketQueue;
xQueueHandle objEventQueue;
xQueueHandle radioPacketQueue;
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
xQueueHandle ppmOutQueue;
// Error statistics.
uint32_t comTxErrors;
@ -122,6 +137,10 @@ typedef struct {
// The RSSI of the last packet received.
int8_t RSSI;
// Thread parameters.
UAVTalkComTaskParams uavtalk_params;
UAVTalkComTaskParams gcs_uavtalk_params;
} RadioComBridgeData;
typedef struct {
@ -135,21 +154,24 @@ typedef struct {
// ****************
// Private functions
static void comUAVTalkTask(void *parameters);
static void UAVTalkRecvTask(void *parameters);
static void radioReceiveTask(void *parameters);
static void sendPacketTask(void *parameters);
static void sendDataTask(void *parameters);
static void UAVTalkSendTask(void *parameters);
static void transparentCommTask(void * parameters);
static void radioStatusTask(void *parameters);
static void ppmInputTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static int32_t UAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t GCSUAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t transmitPacket(PHPacketHandle packet);
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid);
static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
static void PPMHandler(uint16_t *channels);
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
static void updateSettings();
// ****************
@ -165,23 +187,34 @@ static RadioComBridgeData *data;
static int32_t RadioComBridgeStart(void)
{
if(data) {
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(UAVTalkRecvTask, (signed char *)"GCSUAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY + 2, &(data->GCSUAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"GCSUAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
// If a UAVTalk (non-GCS) com port is set it implies that the com port is connected on the flight side.
// In this case we want to start another com thread on the HID port to talk to the GCS when connected.
if (PIOS_COM_UAVTALK)
{
xTaskCreate(UAVTalkRecvTask, (signed char *)"UAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY + 2, &(data->UAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"UAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
}
// Start the tasks
xTaskCreate(comUAVTalkTask, (signed char *)"ComUAVTalk", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->comUAVTalkTaskHandle));
if(PIOS_COM_TRANS_COM)
xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle));
xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->radioReceiveTaskHandle));
xTaskCreate(sendPacketTask, (signed char *)"SendPacketTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->sendPacketTaskHandle));
xTaskCreate(sendDataTask, (signed char *)"SendDataTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->sendDataTaskHandle));
xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
if(PIOS_PPM_RECEIVER)
xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
PIOS_WDG_RegisterFlag(PIOS_WDG_COMGCS);
if(PIOS_COM_UAVTALK)
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
if(PIOS_COM_TRANS_COM)
PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDDATA);
if(PIOS_PPM_RECEIVER)
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif
@ -211,12 +244,21 @@ static int32_t RadioComBridgeInitialize(void)
updateSettings();
// Initialise UAVTalk
data->inUAVTalkCon = UAVTalkInitialize(0);
data->outUAVTalkCon = UAVTalkInitialize(&transmitData);
data->GCSUAVTalkCon = UAVTalkInitialize(&GCSUAVTalkSendHandler);
if (PIOS_COM_UAVTALK)
data->UAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
// Initialize the queues.
data->sendPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
data->objEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
data->ppmOutQueue = 0;
data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
data->gcsEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
if (PIOS_COM_UAVTALK)
data->uavtalkEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
else
{
data->uavtalkEventQueue = 0;
data->ppmOutQueue = data->radioPacketQueue;
}
// Initialize the statistics.
data->radioTxErrors = 0;
@ -232,8 +274,8 @@ static int32_t RadioComBridgeInitialize(void)
// Register the callbacks with the packet handler
PHRegisterOutputStream(pios_packet_handler, transmitPacket);
PHRegisterDataHandler(pios_packet_handler, receiveData);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
// Initialize the packet send timeout
data->send_timeout = 25; // ms
@ -255,9 +297,28 @@ static int32_t RadioComBridgeInitialize(void)
PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue ? data->uavtalkEventQueue : data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Initialize the UAVTalk comm parameters.
data->gcs_uavtalk_params.UAVTalkCon = data->GCSUAVTalkCon;
data->gcs_uavtalk_params.sendQueue = data->radioPacketQueue;
data->gcs_uavtalk_params.recvQueue = data->gcsEventQueue;
data->gcs_uavtalk_params.wdg = PIOS_WDG_COMGCS;
data->gcs_uavtalk_params.checkHID = true;
data->gcs_uavtalk_params.comPort = PIOS_COM_GCS;
if (PIOS_COM_UAVTALK)
{
data->gcs_uavtalk_params.sendQueue = data->uavtalkEventQueue;
data->uavtalk_params.UAVTalkCon = data->UAVTalkCon;
data->uavtalk_params.sendQueue = data->radioPacketQueue;
data->uavtalk_params.recvQueue = data->uavtalkEventQueue;
data->uavtalk_params.gcsQueue = data->gcsEventQueue;
data->uavtalk_params.wdg = PIOS_WDG_COMUAVTALK;
data->uavtalk_params.checkHID = false;
data->uavtalk_params.comPort = PIOS_COM_UAVTALK;
}
return 0;
}
@ -266,30 +327,32 @@ MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/**
* Reads UAVTalk messages froma com port and creates packets out of them.
*/
static void comUAVTalkTask(void *parameters)
static void UAVTalkRecvTask(void *parameters)
{
UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
PHPacketHandle p = NULL;
// Create the buffered reader.
BufferedReadHandle f = BufferedReadInit(PIOS_COM_UAVTALK, TEMP_BUFFER_SIZE);
BufferedReadHandle f = BufferedReadInit(params->comPort, TEMP_BUFFER_SIZE);
while (1) {
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_COMUAVTALK);
if (params->wdg)
PIOS_WDG_UpdateFlag(params->wdg);
#endif /* PIOS_INCLUDE_WDG */
// Receive from USB HID if available, otherwise UAVTalk com if it's available.
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0))
if (params->checkHID && PIOS_USB_CheckAvailable(0))
BufferedReadSetCom(f, PIOS_COM_USB_HID);
else
#endif /* PIOS_INCLUDE_USB */
{
if (PIOS_COM_UAVTALK)
BufferedReadSetCom(f, PIOS_COM_UAVTALK);
if (params->comPort)
BufferedReadSetCom(f, params->comPort);
else
{
vTaskDelay(5);
@ -307,7 +370,7 @@ static void comUAVTalkTask(void *parameters)
{
// Wait until we receive a sync.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
if (state != UAVTALK_STATE_TYPE)
continue;
@ -324,7 +387,6 @@ static void comUAVTalkTask(void *parameters)
// Initialize the packet.
p->header.destination_id = data->destination_id;
p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
//p->header.type = PACKET_TYPE_ACKED_DATA;
p->header.type = PACKET_TYPE_DATA;
p->data[0] = rx_byte;
p->header.data_size = 1;
@ -335,12 +397,19 @@ static void comUAVTalkTask(void *parameters)
p->data[p->header.data_size++] = rx_byte;
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(data->inUAVTalkCon);
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(params->UAVTalkCon);
UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE)
{
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
@ -359,11 +428,7 @@ static void comUAVTalkTask(void *parameters)
if (obj_per.ObjectID == PIPXSETTINGS_OBJID)
{
// Queue up the ACK.
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = iproc->instId;
ev.event = EV_SEND_ACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete?
bool success = true;
@ -390,6 +455,19 @@ static void comUAVTalkTask(void *parameters)
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Erase the settings.
PipXSettingsData pipxSettings;
uint8_t *ptr = (uint8_t*)&pipxSettings;
memset(ptr, 0, sizeof(PipXSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(PipXSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
@ -408,14 +486,11 @@ static void comUAVTalkTask(void *parameters)
else
{
// Otherwise, queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
}
else
{
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = 0;
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
@ -424,16 +499,12 @@ static void comUAVTalkTask(void *parameters)
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
ev.event = EV_UPDATE_REQ;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
{
// Queue up an ACK
ev.event = EV_SEND_ACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
}
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
@ -444,22 +515,24 @@ static void comUAVTalkTask(void *parameters)
else
{
// Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
p = NULL;
} else if(state == UAVTALK_STATE_ERROR) {
DEBUG_PRINTF(1, "UAVTalk FAILED!\n\r");
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
data->UAVTalkErrors++;
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
{
// Queue up a NACK
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.event = EV_SEND_NACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
queueEvent(params->recvQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
// Release the packet and start over again.
PHReleaseTXPacket(pios_packet_handler, p);
@ -467,7 +540,7 @@ static void comUAVTalkTask(void *parameters)
else
{
// Transmit the packet anyway...
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
p = NULL;
}
@ -512,7 +585,7 @@ static void radioReceiveTask(void *parameters)
UAVObjEvent ev;
ev.obj = (UAVObjHandle)p;
ev.event = EV_PACKET_RECEIVED;
xQueueSend(data->objEventQueue, &ev, portMAX_DELAY);
xQueueSend(data->gcsEventQueue, &ev, portMAX_DELAY);
} else
{
data->packetErrors++;
@ -527,7 +600,7 @@ static void radioReceiveTask(void *parameters)
*/
static void sendPacketTask(void *parameters)
{
PHPacketHandle p;
UAVObjEvent ev;
// Loop forever
while (1) {
@ -536,19 +609,21 @@ static void sendPacketTask(void *parameters)
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(data->sendPacketQueue, &p, MAX_PORT_DELAY) == pdTRUE) {
if (xQueueReceive(data->radioPacketQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
PHPacketHandle p = (PHPacketHandle)ev.obj;
// Send the packet.
if(!PHTransmitPacket(pios_packet_handler, p))
PHReleaseTXPacket(pios_packet_handler, p);
PHReleaseRXPacket(pios_packet_handler, p);
}
}
}
/**
* Send packets to the radio.
* Send packets to the com port.
*/
static void sendDataTask(void *parameters)
static void UAVTalkSendTask(void *parameters)
{
UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
UAVObjEvent ev;
// Loop forever
@ -560,14 +635,14 @@ static void sendDataTask(void *parameters)
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDDATA);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(data->objEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if (xQueueReceive(params->recvQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
success = UAVTalkSendObject(params->UAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
@ -579,7 +654,7 @@ static void sendDataTask(void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
success = UAVTalkSendAck(params->UAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
@ -591,7 +666,7 @@ static void sendDataTask(void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
success = UAVTalkSendNack(params->UAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
@ -602,6 +677,13 @@ static void sendDataTask(void *parameters)
// Receive the packet.
PHReceivePacket(pios_packet_handler, (PHPacketHandle)ev.obj, false);
}
else if(ev.event == EV_TRANSMIT_PACKET)
{
// Transmit the packet.
PHPacketHandle p = (PHPacketHandle)ev.obj;
transmitData(params->comPort, p->data, p->header.data_size, params->checkHID);
PHReleaseTXPacket(pios_packet_handler, p);
}
}
}
}
@ -646,7 +728,7 @@ static void transparentCommTask(void * parameters)
}
// Receive data from the com port
uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
PH_MAX_DATA - p->header.data_size, timeout);
// Do we have an data to send?
@ -678,7 +760,7 @@ static void transparentCommTask(void * parameters)
if (send_packet)
{
// Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(data->radioPacketQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
// Reset the timeout
timeout = MAX_PORT_DELAY;
@ -770,7 +852,7 @@ static void radioStatusTask(void *parameters)
status_packet.dropped = data->droppedPackets;
status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
PHPacketHandle sph = (PHPacketHandle)&status_packet;
xQueueSend(data->sendPacketQueue, &sph, MAX_PORT_DELAY);
queueEvent(data->radioPacketQueue, (void*)sph, 0, EV_TRANSMIT_PACKET);
cntr = 0;
}
}
@ -795,22 +877,52 @@ static void ppmInputTask(void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
#endif /* PIOS_INCLUDE_WDG */
// Send the PPM packet
// Read the receiver.
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
// Send the packet.
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
xQueueSend(data->sendPacketQueue, &pph, MAX_PORT_DELAY);
// Send the PPM packet
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
}
else
PPMHandler(ppm_packet.channels);
// Delay until the next update period.
vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* Transmit data buffer to the com port.
* \param[in] params The comm parameters.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t UAVTalkSend(UAVTalkComTaskParams *params, uint8_t *buf, int32_t length)
{
uint32_t outputPort = params->comPort;
#if defined(PIOS_INCLUDE_USB)
if (params->checkHID)
{
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBuffer(outputPort, buf, length);
else
return -1;
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
@ -818,18 +930,21 @@ static void ppmInputTask(void *parameters)
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitData(uint8_t *buf, int32_t length)
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
{
uint32_t outputPort = PIOS_COM_UAVTALK;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBuffer(outputPort, buf, length);
else
return -1;
return UAVTalkSend(&(data->uavtalk_params), buf, length);
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t GCSUAVTalkSendHandler(uint8_t *buf, int32_t length)
{
return UAVTalkSend(&(data->gcs_uavtalk_params), buf, length);
}
/**
@ -850,22 +965,15 @@ static int32_t transmitPacket(PHPacketHandle p)
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid)
{
data->RSSI = rssi;
// Packet data should go to transparent com if it's configured,
// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
uint32_t outputPort = PIOS_COM_TRANS_COM;
if (!outputPort)
{
outputPort = PIOS_COM_UAVTALK;
#if defined(PIOS_INCLUDE_USB)
// See if USB is connected if requested.
if(checkHid)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
}
if (!outputPort)
return;
@ -875,6 +983,22 @@ static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
data->comTxErrors++;
}
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
{
data->RSSI = rssi;
// Packet data should go to transparent com if it's configured,
// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
uint32_t outputPort = PIOS_COM_TRANS_COM ? PIOS_COM_TRANS_COM : PIOS_COM_UAVTALK;
bool checkHid = (PIOS_COM_TRANS_COM == 0);
transmitData(outputPort, buf, len, checkHid);
}
/**
* Receive a status packet
* \param[in] status The status structure
@ -990,6 +1114,21 @@ static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port)
h->com_port = com_port;
}
/**
* Queue and event into an event queue.
* \param[in] queue The event queue
* \param[in] obj The data pointer
* \param[in] type The event type
*/
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
{
UAVObjEvent ev;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
}
/**
* Update the telemetry settings, called on startup.
* FIXME: This should be in the TelemetrySettings object. But objects
@ -1006,7 +1145,6 @@ static void updateSettings()
// Initialize the destination ID
data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
if (PIOS_COM_TELEMETRY) {
switch (pipxSettings.TelemetrySpeed) {

3
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -77,6 +77,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_WDG_SENDDATA 0x0008
#define PIOS_WDG_TRANSCOMM 0x0010
#define PIOS_WDG_PPMINPUT 0x0020
#define PIOS_WDG_COMGCS 0x0040
//------------------------
// TELEMETRY
@ -157,6 +158,7 @@ extern uint32_t pios_com_telemetry_id;
extern uint32_t pios_com_flexi_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_uavtalk_com_id;
extern uint32_t pios_com_gcs_com_id;
extern uint32_t pios_com_trans_com_id;
extern uint32_t pios_com_debug_id;
extern uint32_t pios_com_rfm22b_id;
@ -166,6 +168,7 @@ extern uint32_t pios_ppm_rcvr_id;
#define PIOS_COM_FLEXI (pios_com_flexi_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_UAVTALK (pios_com_uavtalk_com_id)
#define PIOS_COM_GCS (pios_com_gcs_com_id)
#define PIOS_COM_TRANS_COM (pios_com_trans_com_id)
#define PIOS_COM_DEBUG (pios_com_debug_id)
#define PIOS_COM_RADIO (pios_com_rfm22b_id)

36
flight/PipXtreme/System/pios_board.c
View File

@ -33,26 +33,27 @@
#include <pipxsettings.h>
#include <board_hw_defs.c>
#define PIOS_COM_SERIAL_RX_BUF_LEN 256
#define PIOS_COM_SERIAL_TX_BUF_LEN 256
#define PIOS_COM_SERIAL_RX_BUF_LEN 128
#define PIOS_COM_SERIAL_TX_BUF_LEN 128
#define PIOS_COM_FLEXI_RX_BUF_LEN 256
#define PIOS_COM_FLEXI_TX_BUF_LEN 256
#define PIOS_COM_FLEXI_RX_BUF_LEN 128
#define PIOS_COM_FLEXI_TX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 128
#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
#define PIOS_COM_VCP_USB_RX_BUF_LEN 128
#define PIOS_COM_VCP_USB_TX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 128
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telemetry_id;
uint32_t pios_com_flexi_id;
uint32_t pios_com_vcp_id;
uint32_t pios_com_uavtalk_com_id = 0;
uint32_t pios_com_gcs_com_id = 0;
uint32_t pios_com_trans_com_id = 0;
uint32_t pios_com_debug_id = 0;
uint32_t pios_com_rfm22b_id = 0;
@ -96,7 +97,7 @@ void PIOS_Board_Init(void) {
PipXSettingsData pipxSettings;
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
PIOS_EEPROM_Init(&pios_eeprom_cfg);
PIOS_EEPROM_Init(&pios_eeprom_cfg);
/* Read the settings from flash. */
/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
@ -129,20 +130,17 @@ void PIOS_Board_Init(void) {
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uint32_t pios_usb_id;
@ -172,7 +170,7 @@ void PIOS_Board_Init(void) {
tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.TelemetryConfig)
switch (pipxSettings.VCPConfig)
{
case PIPXSETTINGS_VCPCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_vcp_id;
@ -222,6 +220,7 @@ void PIOS_Board_Init(void) {
{
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
{
uint32_t pios_usart1_id;
@ -245,6 +244,9 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
pios_com_gcs_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
pios_com_debug_id = pios_com_telemetry_id;
break;
@ -260,6 +262,7 @@ void PIOS_Board_Init(void) {
{
case PIPXSETTINGS_FLEXICONFIG_SERIAL:
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
case PIPXSETTINGS_FLEXICONFIG_GCS:
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
{
uint32_t pios_usart3_id;
@ -283,6 +286,9 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_GCS:
pios_com_gcs_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
pios_com_debug_id = pios_com_flexi_id;
break;

258
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>840</width>
<height>834</height>
<width>834</width>
<height>772</height>
</rect>
</property>
<property name="windowTitle">
@ -143,12 +143,18 @@
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="PairIDB">
<property name="enabled">
<bool>false</bool>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Broadcast</string>
</property>
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="2">
@ -166,7 +172,17 @@
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="PairID1"/>
<widget class="QLineEdit" name="PairID1">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar1">
@ -202,7 +218,14 @@
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="PairID2"/>
<widget class="QLineEdit" name="PairID2">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar2">
@ -238,7 +261,14 @@
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="PairID3"/>
<widget class="QLineEdit" name="PairID3">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar3">
@ -274,7 +304,14 @@
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="PairID4"/>
<widget class="QLineEdit" name="PairID4">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar4">
@ -309,7 +346,7 @@
<widget class="QGroupBox" name="groupBox_3">
<property name="minimumSize">
<size>
<width>400</width>
<width>430</width>
<height>0</height>
</size>
</property>
@ -335,6 +372,18 @@
</item>
<item row="0" column="1" colspan="3">
<widget class="QLineEdit" name="FirmwareVersion">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -345,7 +394,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -377,6 +426,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
@ -400,7 +455,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -429,6 +484,18 @@
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="DeviceID">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -439,7 +506,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -448,9 +515,15 @@
<property name="frame">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="3" column="2">
@ -465,6 +538,12 @@
</item>
<item row="3" column="3">
<widget class="QLineEdit" name="PairID">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -475,7 +554,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -484,9 +563,15 @@
<property name="frame">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>90ABCDEF</string>
</property>
</widget>
</item>
<item row="4" column="0">
@ -507,9 +592,15 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -526,7 +617,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -560,7 +651,7 @@
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -577,7 +668,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -609,9 +700,15 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -628,7 +725,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -662,7 +759,7 @@
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -679,7 +776,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -705,6 +802,18 @@
</item>
<item row="6" column="1">
<widget class="QLineEdit" name="RSSI">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -715,7 +824,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -738,6 +847,12 @@
</item>
<item row="6" column="3">
<widget class="QLineEdit" name="RxAFC">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -748,7 +863,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -771,6 +886,18 @@
</item>
<item row="7" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -781,7 +908,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -807,6 +934,12 @@
</item>
<item row="7" column="3">
<widget class="QLineEdit" name="RXRate">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -817,7 +950,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -844,14 +977,20 @@
<item row="8" column="1">
<widget class="QLineEdit" name="LinkState">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -868,7 +1007,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 3px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -880,6 +1019,9 @@
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>Disconnected</string>
</property>
</widget>
</item>
<item row="8" column="2">
@ -894,6 +1036,12 @@
</item>
<item row="8" column="3">
<widget class="QLineEdit" name="Errors">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -904,7 +1052,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -930,6 +1078,18 @@
</item>
<item row="9" column="1">
<widget class="QLineEdit" name="Retries">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -940,7 +1100,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -966,6 +1126,12 @@
</item>
<item row="9" column="3">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -976,7 +1142,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -1002,6 +1168,18 @@
</item>
<item row="10" column="1">
<widget class="QLineEdit" name="Resets">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -1012,7 +1190,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -1038,6 +1216,12 @@
</item>
<item row="10" column="3">
<widget class="QLineEdit" name="Dropped">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -1048,7 +1232,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -1070,6 +1254,12 @@
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>

6
package/winx86/translations/strings_de.nsh
View File

@ -31,9 +31,9 @@
LangString DESC_InSecSounds ${LANG_GERMAN} "GCS Sounddateien (benötigt für akustische Ereignisbenachrichtigungen)."
LangString DESC_InSecLocalization ${LANG_GERMAN} "GCS Lokalisierung (für unterstützte Sprachen)."
LangString DESC_InSecFirmware ${LANG_GERMAN} "OpenPilot firmware binaries."
LangString DESC_InSecUtilities ${LANG_GERMAN} "OpenPilot utilities (Matlab log parser)."
LangString DESC_InSecDrivers ${LANG_GERMAN} "OpenPilot hardware driver files (optional OpenPilot CDC driver)."
LangString DESC_InSecInstallDrivers ${LANG_GERMAN} "Install OpenPilot CDC driver (optional)."
LangString DESC_InSecUtilities ${LANG_GERMAN} "OpenPilot Dienstprogramme (Matlab Log Parser)."
LangString DESC_InSecDrivers ${LANG_GERMAN} "OpenPilot Hardware Treiberdateien (optionaler OpenPilot CDC Treiber)."
LangString DESC_InSecInstallDrivers ${LANG_GERMAN} "Installiere OpenPilot CDC Treiber (optional)."
LangString DESC_InSecShortcuts ${LANG_GERMAN} "Installiere Verknüpfungen unter Startmenü->Anwendungen."
;--------------------------------

4
shared/uavobjectdefinition/pipxsettings.xml
View File

@ -2,9 +2,9 @@
<object name="PipXSettings" singleinstance="true" settings="true">
<description>PipXtreme configurations options.</description>
<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/>
<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,Debug" defaultvalue="UAVTalk"/>
<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,GCS,Debug" defaultvalue="UAVTalk"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,GCS,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
<field name="FlexiSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="VCPConfig" units="function" type="enum" elements="1" options="Disabled,Serial,Debug" defaultvalue="Disabled"/>
<field name="VCPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>