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Code Issues Releases Activity

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

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This commit is contained in:
James Cotton 2012-07-16 11:42:29 -05:00
commit 719772c98a
11 changed files with 872 additions and 371 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); void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
uint32_t PHConnect(PHInstHandle h, uint32_t dest_id); uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
PHPacketHandle PHGetRXPacket(PHInstHandle h); PHPacketHandle PHGetRXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p); void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p);
PHPacketHandle PHGetTXPacket(PHInstHandle h); PHPacketHandle PHGetTXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p); void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p); uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);

27
flight/Libraries/packet_handler.c
View File

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

321
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -61,8 +61,9 @@
#define PACKET_QUEUE_SIZE 10 #define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200 #define MAX_PORT_DELAY 200
#define EV_PACKET_RECEIVED 0x20 #define EV_PACKET_RECEIVED 0x20
#define EV_TRANSMIT_PACKET 0x30
#define EV_SEND_ACK 0x40 #define EV_SEND_ACK 0x40
#define EV_SEND_NACK 0x80 #define EV_SEND_NACK 0x50
// **************** // ****************
// Private types // Private types
@ -79,22 +80,36 @@ typedef struct {
} PairStats; } PairStats;
typedef struct { typedef struct {
uint32_t comPort;
UAVTalkConnection UAVTalkCon;
xQueueHandle sendQueue;
xQueueHandle recvQueue;
xQueueHandle gcsQueue;
uint16_t wdg;
bool checkHID;
} UAVTalkComTaskParams;
typedef struct {
// The task handles. // The task handles.
xTaskHandle comUAVTalkTaskHandle; xTaskHandle GCSUAVTalkRecvTaskHandle;
xTaskHandle UAVTalkRecvTaskHandle;
xTaskHandle radioReceiveTaskHandle; xTaskHandle radioReceiveTaskHandle;
xTaskHandle sendPacketTaskHandle; xTaskHandle sendPacketTaskHandle;
xTaskHandle sendDataTaskHandle; xTaskHandle UAVTalkSendTaskHandle;
xTaskHandle radioStatusTaskHandle; xTaskHandle radioStatusTaskHandle;
xTaskHandle transparentCommTaskHandle; xTaskHandle transparentCommTaskHandle;
xTaskHandle ppmInputTaskHandle; xTaskHandle ppmInputTaskHandle;
// The UAVTalk connection on the com side. // The UAVTalk connection on the com side.
UAVTalkConnection inUAVTalkCon; UAVTalkConnection UAVTalkCon;
UAVTalkConnection outUAVTalkCon; UAVTalkConnection GCSUAVTalkCon;
// Queue handles. // Queue handles.
xQueueHandle sendPacketQueue; xQueueHandle radioPacketQueue;
xQueueHandle objEventQueue; xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
xQueueHandle ppmOutQueue;
// Error statistics. // Error statistics.
uint32_t comTxErrors; uint32_t comTxErrors;
@ -122,6 +137,10 @@ typedef struct {
// The RSSI of the last packet received. // The RSSI of the last packet received.
int8_t RSSI; int8_t RSSI;
// Thread parameters.
UAVTalkComTaskParams uavtalk_params;
UAVTalkComTaskParams gcs_uavtalk_params;
} RadioComBridgeData; } RadioComBridgeData;
typedef struct { typedef struct {
@ -135,21 +154,24 @@ typedef struct {
// **************** // ****************
// Private functions // Private functions
static void comUAVTalkTask(void *parameters); static void UAVTalkRecvTask(void *parameters);
static void radioReceiveTask(void *parameters); static void radioReceiveTask(void *parameters);
static void sendPacketTask(void *parameters); static void sendPacketTask(void *parameters);
static void sendDataTask(void *parameters); static void UAVTalkSendTask(void *parameters);
static void transparentCommTask(void * parameters); static void transparentCommTask(void * parameters);
static void radioStatusTask(void *parameters); static void radioStatusTask(void *parameters);
static void ppmInputTask(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 int32_t transmitPacket(PHPacketHandle packet);
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc); 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 StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
static void PPMHandler(uint16_t *channels); static void PPMHandler(uint16_t *channels);
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length); static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms); static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port); static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
static void updateSettings(); static void updateSettings();
// **************** // ****************
@ -165,23 +187,34 @@ static RadioComBridgeData *data;
static int32_t RadioComBridgeStart(void) static int32_t RadioComBridgeStart(void)
{ {
if(data) { 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 // Start the tasks
xTaskCreate(comUAVTalkTask, (signed char *)"ComUAVTalk", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->comUAVTalkTaskHandle));
if(PIOS_COM_TRANS_COM) if(PIOS_COM_TRANS_COM)
xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle)); 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(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(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)); xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
if(PIOS_PPM_RECEIVER) if(PIOS_PPM_RECEIVER)
xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle)); xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_COMGCS);
if(PIOS_COM_UAVTALK)
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK); PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
if(PIOS_COM_TRANS_COM) if(PIOS_COM_TRANS_COM)
PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM); PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE); PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET); //PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDDATA);
if(PIOS_PPM_RECEIVER) if(PIOS_PPM_RECEIVER)
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT); PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif #endif
@ -211,12 +244,21 @@ static int32_t RadioComBridgeInitialize(void)
updateSettings(); updateSettings();
// Initialise UAVTalk // Initialise UAVTalk
data->inUAVTalkCon = UAVTalkInitialize(0); data->GCSUAVTalkCon = UAVTalkInitialize(&GCSUAVTalkSendHandler);
data->outUAVTalkCon = UAVTalkInitialize(&transmitData); if (PIOS_COM_UAVTALK)
data->UAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
// Initialize the queues. // Initialize the queues.
data->sendPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle)); data->ppmOutQueue = 0;
data->objEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent)); 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. // Initialize the statistics.
data->radioTxErrors = 0; data->radioTxErrors = 0;
@ -232,8 +274,8 @@ static int32_t RadioComBridgeInitialize(void)
// Register the callbacks with the packet handler // Register the callbacks with the packet handler
PHRegisterOutputStream(pios_packet_handler, transmitPacket); PHRegisterOutputStream(pios_packet_handler, transmitPacket);
PHRegisterDataHandler(pios_packet_handler, receiveData); PHRegisterDataHandler(pios_packet_handler, receiveData);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
PHRegisterPPMHandler(pios_packet_handler, PPMHandler); PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
// Initialize the packet send timeout // Initialize the packet send timeout
data->send_timeout = 25; // ms data->send_timeout = 25; // ms
@ -255,9 +297,28 @@ static int32_t RadioComBridgeInitialize(void)
PipXSettingsPairIDGet(&(data->pairStats[0].pairID)); PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
// Configure our UAVObjects for updates. // Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ); UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->objEventQueue, 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->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL); 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; return 0;
} }
@ -266,30 +327,32 @@ MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/** /**
* Reads UAVTalk messages froma com port and creates packets out of them. * 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; PHPacketHandle p = NULL;
// Create the buffered reader. // Create the buffered reader.
BufferedReadHandle f = BufferedReadInit(PIOS_COM_UAVTALK, TEMP_BUFFER_SIZE); BufferedReadHandle f = BufferedReadInit(params->comPort, TEMP_BUFFER_SIZE);
while (1) { while (1) {
#ifdef PIOS_INCLUDE_WDG #ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer. // Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_COMUAVTALK); if (params->wdg)
PIOS_WDG_UpdateFlag(params->wdg);
#endif /* PIOS_INCLUDE_WDG */ #endif /* PIOS_INCLUDE_WDG */
// Receive from USB HID if available, otherwise UAVTalk com if it's available. // Receive from USB HID if available, otherwise UAVTalk com if it's available.
#if defined(PIOS_INCLUDE_USB) #if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port) // 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); BufferedReadSetCom(f, PIOS_COM_USB_HID);
else else
#endif /* PIOS_INCLUDE_USB */ #endif /* PIOS_INCLUDE_USB */
{ {
if (PIOS_COM_UAVTALK) if (params->comPort)
BufferedReadSetCom(f, PIOS_COM_UAVTALK); BufferedReadSetCom(f, params->comPort);
else else
{ {
vTaskDelay(5); vTaskDelay(5);
@ -307,7 +370,7 @@ static void comUAVTalkTask(void *parameters)
{ {
// Wait until we receive a sync. // 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) if (state != UAVTALK_STATE_TYPE)
continue; continue;
@ -324,7 +387,6 @@ static void comUAVTalkTask(void *parameters)
// Initialize the packet. // Initialize the packet.
p->header.destination_id = data->destination_id; p->header.destination_id = data->destination_id;
p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_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->header.type = PACKET_TYPE_DATA;
p->data[0] = rx_byte; p->data[0] = rx_byte;
p->header.data_size = 1; p->header.data_size = 1;
@ -335,12 +397,19 @@ static void comUAVTalkTask(void *parameters)
p->data[p->header.data_size++] = rx_byte; p->data[p->header.data_size++] = rx_byte;
// Keep reading until we receive a completed packet. // Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte); UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(data->inUAVTalkCon); UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(params->UAVTalkCon);
UAVTalkInputProcessor *iproc = &(connection->iproc); UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE) 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? // Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them. // We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
@ -359,11 +428,7 @@ static void comUAVTalkTask(void *parameters)
if (obj_per.ObjectID == PIPXSETTINGS_OBJID) if (obj_per.ObjectID == PIPXSETTINGS_OBJID)
{ {
// Queue up the ACK. // Queue up the ACK.
UAVObjEvent ev; queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
ev.obj = iproc->obj;
ev.instId = iproc->instId;
ev.event = EV_SEND_ACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
// Is this a save, load, or delete? // Is this a save, load, or delete?
bool success = true; bool success = true;
@ -390,6 +455,19 @@ static void comUAVTalkTask(void *parameters)
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData)); int32_t ret = PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData));
if (ret != 0) if (ret != 0)
success = false; 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 #endif
break; break;
} }
@ -408,14 +486,11 @@ static void comUAVTalkTask(void *parameters)
else else
{ {
// Otherwise, queue the packet for transmission. // Otherwise, queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
} }
} }
else else
{ {
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = 0;
switch (iproc->type) switch (iproc->type)
{ {
case UAVTALK_TYPE_OBJ: case UAVTALK_TYPE_OBJ:
@ -424,16 +499,12 @@ static void comUAVTalkTask(void *parameters)
break; break;
case UAVTALK_TYPE_OBJ_REQ: case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request. // Queue up an object send request.
ev.event = EV_UPDATE_REQ; queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
break; break;
case UAVTALK_TYPE_OBJ_ACK: case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0) if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
{
// Queue up an ACK // Queue up an ACK
ev.event = EV_SEND_ACK; queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
}
break; break;
} }
@ -444,22 +515,24 @@ static void comUAVTalkTask(void *parameters)
else else
{ {
// Queue the packet for transmission. // Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
} }
p = NULL; p = NULL;
} else if(state == UAVTALK_STATE_ERROR) { } 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++; data->UAVTalkErrors++;
// Send a NACK if required. // Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
{ {
// Queue up a NACK // Queue up a NACK
UAVObjEvent ev; queueEvent(params->recvQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
ev.obj = iproc->obj;
ev.event = EV_SEND_NACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
// Release the packet and start over again. // Release the packet and start over again.
PHReleaseTXPacket(pios_packet_handler, p); PHReleaseTXPacket(pios_packet_handler, p);
@ -467,7 +540,7 @@ static void comUAVTalkTask(void *parameters)
else else
{ {
// Transmit the packet anyway... // Transmit the packet anyway...
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
} }
p = NULL; p = NULL;
} }
@ -512,7 +585,7 @@ static void radioReceiveTask(void *parameters)
UAVObjEvent ev; UAVObjEvent ev;
ev.obj = (UAVObjHandle)p; ev.obj = (UAVObjHandle)p;
ev.event = EV_PACKET_RECEIVED; ev.event = EV_PACKET_RECEIVED;
xQueueSend(data->objEventQueue, &ev, portMAX_DELAY); xQueueSend(data->gcsEventQueue, &ev, portMAX_DELAY);
} else } else
{ {
data->packetErrors++; data->packetErrors++;
@ -527,7 +600,7 @@ static void radioReceiveTask(void *parameters)
*/ */
static void sendPacketTask(void *parameters) static void sendPacketTask(void *parameters)
{ {
PHPacketHandle p; UAVObjEvent ev;
// Loop forever // Loop forever
while (1) { while (1) {
@ -536,19 +609,21 @@ static void sendPacketTask(void *parameters)
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET); //PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET);
#endif /* PIOS_INCLUDE_WDG */ #endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue. // 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. // Send the packet.
if(!PHTransmitPacket(pios_packet_handler, p)) 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; UAVObjEvent ev;
// Loop forever // Loop forever
@ -560,14 +635,15 @@ static void sendDataTask(void *parameters)
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDDATA); //PIOS_WDG_UpdateFlag(PIOS_WDG_SENDDATA);
#endif /* PIOS_INCLUDE_WDG */ #endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue. // 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)) if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{ {
// Send update (with retries) // Send update (with retries)
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) { while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS); success = UAVTalkSendObject(params->UAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries; ++retries;
} }
data->comTxRetries += retries; data->comTxRetries += retries;
@ -578,7 +654,8 @@ static void sendDataTask(void *parameters)
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) { while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId); success = UAVTalkSendAck(params->UAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries; ++retries;
} }
data->comTxRetries += retries; data->comTxRetries += retries;
@ -589,7 +666,8 @@ static void sendDataTask(void *parameters)
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) { while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)); success = UAVTalkSendNack(params->UAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries; ++retries;
} }
data->comTxRetries += retries; data->comTxRetries += retries;
@ -599,6 +677,13 @@ static void sendDataTask(void *parameters)
// Receive the packet. // Receive the packet.
PHReceivePacket(pios_packet_handler, (PHPacketHandle)ev.obj, false); 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);
}
} }
} }
} }
@ -675,7 +760,7 @@ static void transparentCommTask(void * parameters)
if (send_packet) if (send_packet)
{ {
// Queue the packet for transmission. // Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY); queueEvent(data->radioPacketQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
// Reset the timeout // Reset the timeout
timeout = MAX_PORT_DELAY; timeout = MAX_PORT_DELAY;
@ -767,7 +852,7 @@ static void radioStatusTask(void *parameters)
status_packet.dropped = data->droppedPackets; status_packet.dropped = data->droppedPackets;
status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id); status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
PHPacketHandle sph = (PHPacketHandle)&status_packet; PHPacketHandle sph = (PHPacketHandle)&status_packet;
xQueueSend(data->sendPacketQueue, &sph, MAX_PORT_DELAY); queueEvent(data->radioPacketQueue, (void*)sph, 0, EV_TRANSMIT_PACKET);
cntr = 0; cntr = 0;
} }
} }
@ -792,22 +877,52 @@ static void ppmInputTask(void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT); PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
#endif /* PIOS_INCLUDE_WDG */ #endif /* PIOS_INCLUDE_WDG */
// Send the PPM packet // Read the receiver.
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i) for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i); ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
// Send the packet. // Send the PPM packet
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id; ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id); ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
ppm_packet.header.type = PACKET_TYPE_PPM; ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet); ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
xQueueSend(data->sendPacketQueue, &pph, MAX_PORT_DELAY); queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
}
else
PPMHandler(ppm_packet.channels);
// Delay until the next update period. // Delay until the next update period.
vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS); 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. * Transmit data buffer to the com port.
* \param[in] buf Data buffer to send * \param[in] buf Data buffer to send
@ -815,18 +930,21 @@ static void ppmInputTask(void *parameters)
* \return -1 on failure * \return -1 on failure
* \return number of bytes transmitted on success * \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; return UAVTalkSend(&(data->uavtalk_params), buf, length);
#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; * Transmit data buffer to the com port.
#endif /* PIOS_INCLUDE_USB */ * \param[in] buf Data buffer to send
if(outputPort) * \param[in] length Length of buffer
return PIOS_COM_SendBuffer(outputPort, buf, length); * \return -1 on failure
else * \return number of bytes transmitted on success
return -1; */
static int32_t GCSUAVTalkSendHandler(uint8_t *buf, int32_t length)
{
return UAVTalkSend(&(data->gcs_uavtalk_params), buf, length);
} }
/** /**
@ -847,22 +965,15 @@ static int32_t transmitPacket(PHPacketHandle p)
* \param[in] buf The received data buffer * \param[in] buf The received data buffer
* \param[in] length Length of 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) #if defined(PIOS_INCLUDE_USB)
// See if USB is connected if requested.
if(checkHid)
// Determine output port (USB takes priority over telemetry port) // Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID) if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID; outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */ #endif /* PIOS_INCLUDE_USB */
}
if (!outputPort) if (!outputPort)
return; return;
@ -872,6 +983,22 @@ static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
data->comTxErrors++; 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 * Receive a status packet
* \param[in] status The status structure * \param[in] status The status structure
@ -987,6 +1114,21 @@ static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port)
h->com_port = 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. * Update the telemetry settings, called on startup.
* FIXME: This should be in the TelemetrySettings object. But objects * FIXME: This should be in the TelemetrySettings object. But objects
@ -1003,7 +1145,6 @@ static void updateSettings()
// Initialize the destination ID // Initialize the destination ID
data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff; data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
if (PIOS_COM_TELEMETRY) { if (PIOS_COM_TELEMETRY) {
switch (pipxSettings.TelemetrySpeed) { 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_SENDDATA 0x0008
#define PIOS_WDG_TRANSCOMM 0x0010 #define PIOS_WDG_TRANSCOMM 0x0010
#define PIOS_WDG_PPMINPUT 0x0020 #define PIOS_WDG_PPMINPUT 0x0020
#define PIOS_WDG_COMGCS 0x0040
//------------------------ //------------------------
// TELEMETRY // TELEMETRY
@ -157,6 +158,7 @@ extern uint32_t pios_com_telemetry_id;
extern uint32_t pios_com_flexi_id; extern uint32_t pios_com_flexi_id;
extern uint32_t pios_com_vcp_id; extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_uavtalk_com_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_trans_com_id;
extern uint32_t pios_com_debug_id; extern uint32_t pios_com_debug_id;
extern uint32_t pios_com_rfm22b_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_FLEXI (pios_com_flexi_id)
#define PIOS_COM_VCP (pios_com_vcp_id) #define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_UAVTALK (pios_com_uavtalk_com_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_TRANS_COM (pios_com_trans_com_id)
#define PIOS_COM_DEBUG (pios_com_debug_id) #define PIOS_COM_DEBUG (pios_com_debug_id)
#define PIOS_COM_RADIO (pios_com_rfm22b_id) #define PIOS_COM_RADIO (pios_com_rfm22b_id)

2
flight/PipXtreme/Makefile
View File

@ -53,7 +53,7 @@ USE_GPS ?= NO
USE_I2C ?= YES USE_I2C ?= YES
# Set to YES when using Code Sourcery toolchain # Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES CODE_SOURCERY ?= NO
# Remove command is different for Code Sourcery on Windows # Remove command is different for Code Sourcery on Windows
ifeq ($(CODE_SOURCERY), YES) ifeq ($(CODE_SOURCERY), YES)

34
flight/PipXtreme/System/pios_board.c
View File

@ -33,26 +33,27 @@
#include <pipxsettings.h> #include <pipxsettings.h>
#include <board_hw_defs.c> #include <board_hw_defs.c>
#define PIOS_COM_SERIAL_RX_BUF_LEN 256 #define PIOS_COM_SERIAL_RX_BUF_LEN 128
#define PIOS_COM_SERIAL_TX_BUF_LEN 256 #define PIOS_COM_SERIAL_TX_BUF_LEN 128
#define PIOS_COM_FLEXI_RX_BUF_LEN 256 #define PIOS_COM_FLEXI_RX_BUF_LEN 128
#define PIOS_COM_FLEXI_TX_BUF_LEN 256 #define PIOS_COM_FLEXI_TX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 128
#define PIOS_COM_VCP_USB_RX_BUF_LEN 256 #define PIOS_COM_VCP_USB_RX_BUF_LEN 128
#define PIOS_COM_VCP_USB_TX_BUF_LEN 256 #define PIOS_COM_VCP_USB_TX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256 #define PIOS_COM_RFM22B_RF_RX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256 #define PIOS_COM_RFM22B_RF_TX_BUF_LEN 128
uint32_t pios_com_telem_usb_id = 0; uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telemetry_id; uint32_t pios_com_telemetry_id;
uint32_t pios_com_flexi_id; uint32_t pios_com_flexi_id;
uint32_t pios_com_vcp_id; uint32_t pios_com_vcp_id;
uint32_t pios_com_uavtalk_com_id = 0; 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_trans_com_id = 0;
uint32_t pios_com_debug_id = 0; uint32_t pios_com_debug_id = 0;
uint32_t pios_com_rfm22b_id = 0; uint32_t pios_com_rfm22b_id = 0;
@ -129,20 +130,17 @@ void PIOS_Board_Init(void) {
/* Flags to determine if various USB interfaces are advertised */ /* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false; bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC) #if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) { if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0); PIOS_Assert(0);
} }
usb_hid_present = true;
usb_cdc_present = true; usb_cdc_present = true;
#else #else
if (PIOS_USB_DESC_HID_ONLY_Init()) { if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0); PIOS_Assert(0);
} }
usb_hid_present = true;
#endif #endif
uint32_t pios_usb_id; uint32_t pios_usb_id;
@ -172,7 +170,7 @@ void PIOS_Board_Init(void) {
tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) { tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
PIOS_Assert(0); PIOS_Assert(0);
} }
switch (pipxSettings.TelemetryConfig) switch (pipxSettings.VCPConfig)
{ {
case PIPXSETTINGS_VCPCONFIG_SERIAL: case PIPXSETTINGS_VCPCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_vcp_id; pios_com_trans_com_id = pios_com_vcp_id;
@ -218,6 +216,7 @@ void PIOS_Board_Init(void) {
{ {
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL: case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK: case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG: case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
{ {
uint32_t pios_usart1_id; uint32_t pios_usart1_id;
@ -241,6 +240,9 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK: case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_telemetry_id; pios_com_uavtalk_com_id = pios_com_telemetry_id;
break; break;
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
pios_com_gcs_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG: case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
pios_com_debug_id = pios_com_telemetry_id; pios_com_debug_id = pios_com_telemetry_id;
break; break;
@ -256,6 +258,7 @@ void PIOS_Board_Init(void) {
{ {
case PIPXSETTINGS_FLEXICONFIG_SERIAL: case PIPXSETTINGS_FLEXICONFIG_SERIAL:
case PIPXSETTINGS_FLEXICONFIG_UAVTALK: case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
case PIPXSETTINGS_FLEXICONFIG_GCS:
case PIPXSETTINGS_FLEXICONFIG_DEBUG: case PIPXSETTINGS_FLEXICONFIG_DEBUG:
{ {
uint32_t pios_usart3_id; uint32_t pios_usart3_id;
@ -279,6 +282,9 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_FLEXICONFIG_UAVTALK: case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_flexi_id; pios_com_uavtalk_com_id = pios_com_flexi_id;
break; break;
case PIPXSETTINGS_FLEXICONFIG_GCS:
pios_com_gcs_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_DEBUG: case PIPXSETTINGS_FLEXICONFIG_DEBUG:
pios_com_debug_id = pios_com_flexi_id; pios_com_debug_id = pios_com_flexi_id;
break; break;

21
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -71,6 +71,8 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("PipXStatus", "MinFrequency", m_pipx->MinFrequency); addUAVObjectToWidgetRelation("PipXStatus", "MinFrequency", m_pipx->MinFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "MaxFrequency", m_pipx->MaxFrequency); addUAVObjectToWidgetRelation("PipXStatus", "MaxFrequency", m_pipx->MaxFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "FrequencyStepSize", m_pipx->FrequencyStepSize); addUAVObjectToWidgetRelation("PipXStatus", "FrequencyStepSize", m_pipx->FrequencyStepSize);
addUAVObjectToWidgetRelation("PipXStatus", "FrequencyBand", m_pipx->FreqBand);
addUAVObjectToWidgetRelation("PipXStatus", "RSSI", m_pipx->RSSI);
addUAVObjectToWidgetRelation("PipXStatus", "AFC", m_pipx->RxAFC); addUAVObjectToWidgetRelation("PipXStatus", "AFC", m_pipx->RxAFC);
addUAVObjectToWidgetRelation("PipXStatus", "Retries", m_pipx->Retries); addUAVObjectToWidgetRelation("PipXStatus", "Retries", m_pipx->Retries);
addUAVObjectToWidgetRelation("PipXStatus", "Errors", m_pipx->Errors); addUAVObjectToWidgetRelation("PipXStatus", "Errors", m_pipx->Errors);
@ -81,6 +83,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate); addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate);
// Connect to the pair ID radio buttons. // Connect to the pair ID radio buttons.
connect(m_pipx->PairSelectB, SIGNAL(toggled(bool)), this, SLOT(pairBToggled(bool)));
connect(m_pipx->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool))); connect(m_pipx->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool)));
connect(m_pipx->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool))); connect(m_pipx->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool)));
connect(m_pipx->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool))); connect(m_pipx->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
@ -89,6 +92,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
//Add scroll bar when necessary //Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea; QScrollArea *scroll = new QScrollArea;
scroll->setWidget(m_pipx->frame_3); scroll->setWidget(m_pipx->frame_3);
scroll->setWidgetResizable(true);
m_pipx->verticalLayout_3->addWidget(scroll); m_pipx->verticalLayout_3->addWidget(scroll);
// Request and update of the setting object. // Request and update of the setting object.
@ -148,7 +152,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager()); PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
quint32 pairID = 0; quint32 pairID = 0;
if (pipxSettings) if (pipxSettings)
pipxSettings->getPairID(); pairID = pipxSettings->getPairID();
// Update the detected devices. // Update the detected devices.
UAVObjectField* pairIdField = object->getField("PairIDs"); UAVObjectField* pairIdField = object->getField("PairIDs");
@ -245,6 +249,9 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
qDebug() << "PipXtremeGadgetWidget: Count not read DeviceID field."; qDebug() << "PipXtremeGadgetWidget: Count not read DeviceID field.";
} }
// Update the PairID field
m_pipx->PairID->setText(QString::number(pairID, 16).toUpper());
// Update the link state // Update the link state
UAVObjectField* linkField = object->getField("LinkState"); UAVObjectField* linkField = object->getField("LinkState");
if (linkField) { if (linkField) {
@ -283,6 +290,12 @@ void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager()); PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
if (pipxStatus && pipxSettings) if (pipxStatus && pipxSettings)
{
if (idx == 4)
{
pipxSettings->setPairID(0);
}
else
{ {
quint32 pairID = pipxStatus->getPairIDs(idx); quint32 pairID = pipxStatus->getPairIDs(idx);
if (pairID) if (pairID)
@ -290,6 +303,7 @@ void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
} }
} }
} }
}
void ConfigPipXtremeWidget::pair1Toggled(bool checked) void ConfigPipXtremeWidget::pair1Toggled(bool checked)
{ {
@ -311,6 +325,11 @@ void ConfigPipXtremeWidget::pair4Toggled(bool checked)
pairIDToggled(checked, 3); pairIDToggled(checked, 3);
} }
void ConfigPipXtremeWidget::pairBToggled(bool checked)
{
pairIDToggled(checked, 4);
}
/** /**
@} @}
@} @}

1
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
View File

@ -63,6 +63,7 @@ private slots:
void pair2Toggled(bool checked); void pair2Toggled(bool checked);
void pair3Toggled(bool checked); void pair3Toggled(bool checked);
void pair4Toggled(bool checked); void pair4Toggled(bool checked);
void pairBToggled(bool checked);
}; };
#endif // CONFIGTXPIDWIDGET_H #endif // CONFIGTXPIDWIDGET_H

792
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>840</width> <width>834</width>
<height>834</height> <height>772</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -81,7 +81,7 @@
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>40</width> <width>40</width>
<height>20</height> <height>5</height>
</size> </size>
</property> </property>
</spacer> </spacer>
@ -135,16 +135,56 @@
</property> </property>
<layout class="QGridLayout" name="gridLayout_3"> <layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0"> <item row="0" column="0">
<widget class="QRadioButton" name="PairSelectB">
<property name="text">
<string/>
</property>
</widget>
</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>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="PaidIDBLabel">
<property name="text">
<string>Broadcast Address</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QRadioButton" name="PairSelect1"> <widget class="QRadioButton" name="PairSelect1">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="1" colspan="2"> <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>
<item row="0" column="3"> <item row="1" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar1"> <widget class="QProgressBar" name="PairSignalStrengthBar1">
<property name="minimum"> <property name="minimum">
<number>-127</number> <number>-127</number>
@ -163,17 +203,31 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QRadioButton" name="PairSelect2"> <widget class="QRadioButton" name="PairSelect2">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1" colspan="2"> <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>
<item row="1" column="3"> <item row="2" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar2"> <widget class="QProgressBar" name="PairSignalStrengthBar2">
<property name="minimum"> <property name="minimum">
<number>-127</number> <number>-127</number>
@ -192,17 +246,31 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="2" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QRadioButton" name="PairSelect3"> <widget class="QRadioButton" name="PairSelect3">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1" colspan="2"> <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>
<item row="2" column="3"> <item row="3" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar3"> <widget class="QProgressBar" name="PairSignalStrengthBar3">
<property name="minimum"> <property name="minimum">
<number>-127</number> <number>-127</number>
@ -221,17 +289,31 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="3" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QRadioButton" name="PairSelect4"> <widget class="QRadioButton" name="PairSelect4">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1" colspan="2"> <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>
<item row="3" column="3"> <item row="4" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar4"> <widget class="QProgressBar" name="PairSignalStrengthBar4">
<property name="minimum"> <property name="minimum">
<number>-127</number> <number>-127</number>
@ -250,28 +332,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="4"> <item row="4" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel4"> <widget class="QLabel" name="PairSignalStrengthLabel4">
<property name="text"> <property name="text">
<string>-100dB</string> <string>-100dB</string>
@ -285,7 +346,7 @@
<widget class="QGroupBox" name="groupBox_3"> <widget class="QGroupBox" name="groupBox_3">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>400</width> <width>430</width>
<height>0</height> <height>0</height>
</size> </size>
</property> </property>
@ -302,15 +363,27 @@
<item row="0" column="0"> <item row="0" column="0">
<widget class="QLabel" name="label_9"> <widget class="QLabel" name="label_9">
<property name="text"> <property name="text">
<string>Firmware Version</string> <string>Firmware Ver.</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="1" colspan="3">
<widget class="QLineEdit" name="FirmwareVersion"> <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"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -321,7 +394,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -345,7 +418,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="2" column="1" colspan="3">
<widget class="QLineEdit" name="SerialNumber"> <widget class="QLineEdit" name="SerialNumber">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -353,6 +426,12 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>16777215</width>
@ -376,7 +455,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -393,6 +472,108 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0">
<widget class="QLabel" name="DeviceIDLabel">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<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">
<widget class="QLabel" name="PairIDLabel">
<property name="text">
<string>Pair ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<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"> <item row="4" column="0">
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="label_3">
<property name="text"> <property name="text">
@ -411,9 +592,15 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>101</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -430,7 +617,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -444,7 +631,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item row="4" column="2">
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="text"> <property name="text">
<string>Max Frequency</string> <string>Max Frequency</string>
@ -454,7 +641,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="4" column="3">
<widget class="QLineEdit" name="MaxFrequency"> <widget class="QLineEdit" name="MaxFrequency">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -464,7 +651,7 @@
</property> </property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>101</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -481,7 +668,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -495,7 +682,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="5" column="0">
<widget class="QLabel" name="label_12"> <widget class="QLabel" name="label_12">
<property name="text"> <property name="text">
<string>Freq. Step Size</string> <string>Freq. Step Size</string>
@ -505,7 +692,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="5" column="1">
<widget class="QLineEdit" name="FrequencyStepSize"> <widget class="QLineEdit" name="FrequencyStepSize">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -513,9 +700,15 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>101</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -532,7 +725,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -546,7 +739,232 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="2">
<widget class="QLabel" name="FreqBandLabel">
<property name="text">
<string>Freq. Band</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLineEdit" name="FreqBand">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The current frequency band</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="RSSILabel">
<property name="text">
<string>RSSI</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="RxAFCLabel">
<property name="text">
<string>Rx AFC</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0"> <item row="7" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_11"> <widget class="QLabel" name="label_11">
<property name="text"> <property name="text">
<string>Link State</string> <string>Link State</string>
@ -556,17 +974,23 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="8" column="1">
<widget class="QLineEdit" name="LinkState"> <widget class="QLineEdit" name="LinkState">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch> <horstretch>0</horstretch>
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize"> <property name="maximumSize">
<size> <size>
<width>16777215</width> <width>101</width>
<height>16777215</height> <height>16777215</height>
</size> </size>
</property> </property>
@ -583,7 +1007,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 3px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -595,20 +1019,29 @@
<property name="readOnly"> <property name="readOnly">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="placeholderText">
<string>Disconnected</string>
</property>
</widget> </widget>
</item> </item>
<item row="8" column="0"> <item row="8" column="2">
<widget class="QLabel" name="label_17"> <widget class="QLabel" name="label_19">
<property name="text"> <property name="text">
<string>Rx AFC</string> <string>Errors</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1"> <item row="8" column="3">
<widget class="QLineEdit" name="RxAFC"> <widget class="QLineEdit" name="Errors">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -619,12 +1052,15 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
}</string> }</string>
</property> </property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly"> <property name="readOnly">
<bool>true</bool> <bool>true</bool>
</property> </property>
@ -642,6 +1078,18 @@
</item> </item>
<item row="9" column="1"> <item row="9" column="1">
<widget class="QLineEdit" name="Retries"> <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"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -652,7 +1100,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -666,8 +1114,24 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="1"> <item row="9" column="2">
<widget class="QLineEdit" name="Errors"> <widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</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"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -678,7 +1142,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -693,52 +1157,6 @@
</widget> </widget>
</item> </item>
<item row="10" column="0"> <item row="10" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="ResetsLabel"> <widget class="QLabel" name="ResetsLabel">
<property name="text"> <property name="text">
<string>Resets</string> <string>Resets</string>
@ -748,8 +1166,20 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="1"> <item row="10" column="1">
<widget class="QLineEdit" name="Resets"> <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"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -760,7 +1190,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -774,7 +1204,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="13" column="0"> <item row="10" column="2">
<widget class="QLabel" name="DroppedLabel"> <widget class="QLabel" name="DroppedLabel">
<property name="text"> <property name="text">
<string>Dropped</string> <string>Dropped</string>
@ -784,8 +1214,14 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="13" column="1"> <item row="10" column="3">
<widget class="QLineEdit" name="Dropped"> <widget class="QLineEdit" name="Dropped">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -796,7 +1232,7 @@
<string notr="true">QLineEdit { <string notr="true">QLineEdit {
border: none; border: none;
border-radius: 1px; border-radius: 1px;
padding: 0 8px; padding: 0 4px;
background: rgba(0, 0, 0, 16); background: rgba(0, 0, 0, 16);
/* background: transparent; */ /* background: transparent; */
/* selection-background-color: darkgray;*/ /* selection-background-color: darkgray;*/
@ -810,114 +1246,6 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="14" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLineEdit" name="RXRate">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="DeviceID">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
@ -926,6 +1254,12 @@
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QGroupBox" name="groupBox"> <widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>

2
shared/uavobjectdefinition/gcsreceiver.xml
View File

@ -2,7 +2,7 @@
<object name="GCSReceiver" singleinstance="true" settings="false"> <object name="GCSReceiver" singleinstance="true" settings="false">
<description>A receiver channel group carried over the telemetry link.</description> <description>A receiver channel group carried over the telemetry link.</description>
<field name="Channel" units="us" type="uint16" elements="8"/> <field name="Channel" units="us" type="uint16" elements="8"/>
<access gcs="readwrite" flight="readonly"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/> <telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/> <telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/> <logging updatemode="manual" period="0"/>

4
shared/uavobjectdefinition/pipxsettings.xml
View File

@ -2,9 +2,9 @@
<object name="PipXSettings" singleinstance="true" settings="true"> <object name="PipXSettings" singleinstance="true" settings="true">
<description>PipXtreme configurations options.</description> <description>PipXtreme configurations options.</description>
<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/> <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="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="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="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"/> <field name="VCPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>