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LP-5 - Use a single Task for telemetry when no radio is available
This commit is contained in:
Alessio Morale
parent
5e9a034e6e
commit
711ef272c1
@ -95,6 +95,9 @@
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#define STATS_UPDATE_PERIOD_MS 4000
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#define CONNECTION_TIMEOUT_MS 8000
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#ifdef PIOS_INCLUDE_RFM22B
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#define HAS_RADIO
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#endif
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// Private types
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typedef struct {
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// Determine port on which to communicate telemetry information
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@ -111,12 +114,14 @@ typedef struct {
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// Telemetry stream
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UAVTalkConnection uavTalkCon;
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} channelContext;
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#ifdef HAS_RADIO
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// Main telemetry channel
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static channelContext localChannel;
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static int32_t transmitLocalData(uint8_t *data, int32_t length);
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static void registerLocalObject(UAVObjHandle obj);
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static uint32_t localPort();
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static void updateSettings(channelContext *channel);
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#endif
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// OPLink telemetry channel
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static channelContext radioChannel;
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@ -150,7 +155,6 @@ static int32_t setLoggingPeriod(
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int32_t updatePeriodMs);
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static void updateTelemetryStats();
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static void gcsTelemetryStatsUpdated();
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static void updateSettings(channelContext *channel);
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/**
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* Initialise the telemetry module
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@ -159,6 +163,7 @@ static void updateSettings(channelContext *channel);
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*/
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int32_t TelemetryStart(void)
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{
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#ifdef HAS_RADIO
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// Only start the local telemetry tasks if needed
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if (localPort()) {
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UAVObjIterate(®isterLocalObject);
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@ -187,8 +192,8 @@ int32_t TelemetryStart(void)
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX,
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localChannel.rxTaskHandle);
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}
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// Start the telemetry tasks associated with Radio/USB
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#endif /* ifdef HAS_RADIO */
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// Start the telemetry tasks associated with Radio/USB
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UAVObjIterate(®isterRadioObject);
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// Listen to objects of interest
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@ -229,9 +234,6 @@ void TelemetryInitializeChannel(channelContext *channel)
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sizeof(UAVObjEvent));
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#endif /* PIOS_TELEM_PRIORITY_QUEUE */
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// Initialise UAVTalk
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channel->uavTalkCon = UAVTalkInitialize(&transmitLocalData);
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// Create periodic event that will be used to update the telemetry stats
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UAVObjEvent ev;
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memset(&ev, 0, sizeof(UAVObjEvent));
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@ -267,7 +269,7 @@ int32_t TelemetryInitialize(void)
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radio_port = PIOS_COM_RF;
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}
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#else /* PIOS_INCLUDE_RFM22B */
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radio_port = 0;
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radio_port = PIOS_COM_TELEM_RF;
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#endif /* PIOS_INCLUDE_RFM22B */
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FlightTelemetryStatsInitialize();
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@ -279,10 +281,9 @@ int32_t TelemetryInitialize(void)
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// Reset link stats
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txErrors = 0;
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txRetries = 0;
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#ifdef HAS_RADIO
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// Set channel port handlers
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localChannel.getPort = localPort;
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radioChannel.getPort = radioPort;
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// Set the local telemetry baud rate
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updateSettings(&localChannel);
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@ -295,6 +296,9 @@ int32_t TelemetryInitialize(void)
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localChannel.uavTalkCon = UAVTalkInitialize(&transmitLocalData);
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}
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#endif
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// Set channel port handlers
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radioChannel.getPort = radioPort;
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// Initialise channel
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TelemetryInitializeChannel(&radioChannel);
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// Initialise UAVTalk
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@ -304,7 +308,7 @@ int32_t TelemetryInitialize(void)
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}
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MODULE_INITCALL(TelemetryInitialize, TelemetryStart);
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#ifdef HAS_RADIO
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/**
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* Register a new object, adds object to local list and connects the queue depending on the object's
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* telemetry settings.
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@ -327,7 +331,7 @@ static void registerLocalObject(UAVObjHandle obj)
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EV_NONE);
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}
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}
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#endif
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static void registerRadioObject(UAVObjHandle obj)
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{
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if (UAVObjIsMetaobject(obj)) {
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@ -635,7 +639,7 @@ static void telemetryRxTask(void *parameters)
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}
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}
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#ifdef HAS_RADIO
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/**
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* Determine the port to be used for communication on the telemetry channel
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* \return com port number
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@ -644,7 +648,7 @@ static uint32_t localPort()
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{
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return PIOS_COM_TELEM_RF;
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}
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#endif
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/**
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* Determine the port to be used for communication on the radio channel
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@ -664,7 +668,7 @@ static uint32_t radioPort()
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return port;
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}
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#ifdef HAS_RADIO
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/**
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* Transmit data buffer to the modem or USB port.
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* \param[in] data Data buffer to send
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@ -682,7 +686,7 @@ static int32_t transmitLocalData(uint8_t *data, int32_t length)
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return -1;
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}
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#endif
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/**
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* Transmit data buffer to the radioport.
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@ -804,9 +808,10 @@ static void updateTelemetryStats()
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uint32_t timeNow;
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// Get stats
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UAVTalkGetStats(localChannel.uavTalkCon, &utalkStats, true);
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UAVTalkAddStats(radioChannel.uavTalkCon, &utalkStats, true);
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UAVTalkGetStats(radioChannel.uavTalkCon, &utalkStats, true);
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#ifdef HAS_RADIO
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UAVTalkAddStats(localChannel.uavTalkCon, &utalkStats, true);
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#endif
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// Get object data
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FlightTelemetryStatsGet(&flightStats);
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GCSTelemetryStatsGet(&gcsStats);
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@ -888,6 +893,7 @@ static void updateTelemetryStats()
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}
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}
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#ifdef HAS_RADIO
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/**
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* Update the telemetry settings, called on startup.
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* FIXME: This should be in the TelemetrySettings object. But objects
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@ -931,7 +937,7 @@ static void updateSettings(channelContext *channel)
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}
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}
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#endif /* ifdef HAS_RADIO */
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/**
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* @}
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* @}
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