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Code Issues Releases Activity

OP-932 Replaces the RFM22B PPM/receiver code with an OPLinkReceiver UAVObject. This object is generated on a coordinator OPLink, and is used by both the OPLink to generate PPM output, and the OPLinkReceiver on the Revo.

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This commit is contained in:
Brian Webb 2013-06-16 08:48:18 -07:00
parent 8c370df319
commit 774a74884a
19 changed files with 139 additions and 233 deletions
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97
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -35,7 +35,9 @@
#include <oplinkstatus.h>
#include <objectpersistence.h>
#include <oplinksettings.h>
#include <oplinkreceiver.h>
#include <uavtalk_priv.h>
#include <pios_ppm_out.h>
#include <pios_rfm22b.h>
#include <ecc.h>
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
@ -65,6 +67,7 @@ typedef struct {
xTaskHandle telemetryRxTaskHandle;
xTaskHandle radioTxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle PPMInputTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection telemUAVTalkCon;
@ -94,11 +97,13 @@ static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
static void radioTxTask(void *parameters);
static void radioRxTask(void *parameters);
static void PPMInputTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte);
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte);
static void objectPersistenceUpdatedCb(UAVObjEvent *objEv);
static void oplinkReceiverUpdatedCb(UAVObjEvent *objEv);
// ****************
// Private variables
@ -116,6 +121,7 @@ static int32_t RadioComBridgeStart(void)
// Get the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
// We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
@ -156,12 +162,29 @@ static int32_t RadioComBridgeStart(void)
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
if (is_coordinator) {
UAVObjConnectQueue(UAVObjGetByID(OPLINKRECEIVER_OBJID), data->radioEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
} else {
UAVObjConnectQueue(UAVObjGetByID(OPLINKRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
}
// Configure the UAVObject callbacks
ObjectPersistenceConnectCallback(&objectPersistenceUpdatedCb);
if (!is_coordinator) {
OPLinkReceiverConnectCallback(&oplinkReceiverUpdatedCb);
}
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(telemetryTxTask, (signed char *)"telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
xTaskCreate(telemetryRxTask, (signed char *)"telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryRxTaskHandle));
xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
if (PIOS_PPM_RECEIVER != 0) {
xTaskCreate(PPMInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->PPMInputTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif
}
// Register the watchdog timers.
#ifdef PIOS_INCLUDE_WDG
@ -192,9 +215,7 @@ static int32_t RadioComBridgeInitialize(void)
// Initialize the UAVObjects that we use
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
// Configure the UAVObject callbacks
ObjectPersistenceConnectCallback(&objectPersistenceUpdatedCb);
OPLinkReceiverInitialize();
// Initialise UAVTalk
data->telemUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
@ -204,13 +225,6 @@ static int32_t RadioComBridgeInitialize(void)
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
data->radioEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
#endif
// Initialize the statistics.
data->comTxErrors = 0;
data->comTxRetries = 0;
@ -389,6 +403,42 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
}
}
/**
* @brief Reads the PPM input device and sends out OPLinkReceiver objects.
*
* @param[in] parameters The task parameters (unused)
*/
static void PPMInputTask(__attribute__((unused)) void *parameters)
{
xSemaphoreHandle sem = PIOS_RCVR_GetSemaphore(PIOS_PPM_RECEIVER, 1);
OPLinkReceiverData opl_rcvr;
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
#endif
// Wait for the receiver semaphore.
bool valid_input_detected = false;
if (xSemaphoreTake(sem, MAX_PORT_DELAY) == pdTRUE) {
// Read the receiver inputs.
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
opl_rcvr.Channel[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
if ((opl_rcvr.Channel[i] != PIOS_RCVR_INVALID) && (opl_rcvr.Channel[i] != PIOS_RCVR_TIMEOUT)) {
valid_input_detected = true;
}
}
}
// Set the receiver UAVO if we detected valid input.
if (valid_input_detected) {
OPLinkReceiverSet(&opl_rcvr);
}
}
}
/**
* @brief Transmit data buffer to the com port.
*
@ -471,8 +521,15 @@ static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConn
} else if (state == UAVTALK_STATE_COMPLETE) {
// We only want to unpack certain objects from the remote modem.
uint32_t objId = UAVTalkGetPacketObjId(inConnectionHandle);
if (objId != OPLINKSTATUS_OBJID) {
switch (objId) {
case OPLINKSTATUS_OBJID:
break;
case OPLINKRECEIVER_OBJID:
UAVTalkReceiveObject(inConnectionHandle);
break;
default:
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
}
}
}
@ -491,7 +548,7 @@ static void objectPersistenceUpdatedCb(__attribute__((unused)) UAVObjEvent *objE
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
// Is this a save, load, or delete?
bool success = true;
bool success = false;
switch (obj_per.Operation) {
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
@ -542,3 +599,19 @@ static void objectPersistenceUpdatedCb(__attribute__((unused)) UAVObjEvent *objE
}
}
}
/**
* @brief Callback that is called when the OPLinkReceiver UAVObject is changed.
* @param[in] objEv The event that precipitated the callback.
*/
static void oplinkReceiverUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
{
// Get the OPLinkReceiver object.
OPLinkReceiverData opl_rcvr;
OPLinkReceiverGet(&opl_rcvr);
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, opl_rcvr.Channel[i]);
}
}

16
flight/pios/common/pios_rfm22b.c
View File

@ -482,22 +482,6 @@ static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) || (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTING);
}
/**
* Returns true if the modem is configured as a coordinator.
*
* @param[in] rfm22b_id The RFM22B device index.
* @return True if the modem is configured as a coordinator.
*/
bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (PIOS_RFM22B_Validate(rfm22b_dev)) {
return rfm22_isCoordinator(rfm22b_dev);
}
return false;
}
/**
* Returns true if the modem is not actively sending or receiving a packet.
*

130
flight/pios/common/pios_rfm22b_rcvr.c
View File

@ -1,130 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B_RCVR RFM22B Receiver Input Functions
* @brief Code to output the PPM signal from the RFM22B
* @{
*
* @file pios_rfm22b_rcvr.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a receiver interface to the RFM22B device
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_RFM22B_RCVR
#include "pios_rfm22b_priv.h"
#include <gcsreceiver.h>
/* Provide a RCVR driver */
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel);
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id);
const struct pios_rcvr_driver pios_rfm22b_rcvr_driver = {
.read = PIOS_RFM22B_RCVR_Get,
};
/**
* Initialize the receiver.
*
* @param[in] rfm22b_dev The receiver ID.
* @return < 0 on failure.
*/
int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return -1;
}
// Initialize
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
}
rfm22b_dev->ppm_supv_timer = 0;
// Register the failsafe timer callback.
if (!PIOS_RTC_RegisterTickCallback(PIOS_RFM22B_RCVR_Supervisor, rcvr_id)) {
PIOS_DEBUG_Assert(0);
}
return 0;
}
/**
* Get a channel from the receiver.
*
* @param[in] rcvr_id The receiver ID.
* @return The channel value, or -1 on failure.
*/
static int32_t PIOS_RFM22B_RCVR_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return -1;
}
if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
/* channel is out of range */
return -1;
}
return rfm22b_dev->ppm_channel[channel];
}
/**
* The supervisor function that ensures that the data is current.
*
* @param[in] rcvr_id The receiver ID.
*/
static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rcvr_id;
if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
return;
}
// RTC runs at 625Hz.
if (++(rfm22b_dev->ppm_supv_timer) < (PIOS_RFM22B_RCVR_TIMEOUT_MS * 625 / 1000)) {
return;
}
rfm22b_dev->ppm_supv_timer = 0;
// Have we received fresh values since the last update?
if (!rfm22b_dev->ppm_fresh) {
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
rfm22b_dev->ppm_channel[i] = PIOS_RCVR_TIMEOUT;
}
}
rfm22b_dev->ppm_fresh = false;
}
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
/**
* @}
* @}
*/

1
flight/pios/inc/pios_rfm22b.h
View File

@ -112,7 +112,6 @@ extern void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, uint8_t num_chan, u
extern void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator);
extern void PIOS_RFM22B_SetCoordinatorID(uint32_t rfm22b_id, uint32_t coord_id);
extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
extern bool PIOS_RFM22B_IsCoordinator(uint32_t rfb22b_id);
extern void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats);
extern uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs);
extern bool PIOS_RFM22B_InRxWait(uint32_t rfb22b_id);

8
flight/pios/inc/pios_rfm22b_priv.h
View File

@ -36,7 +36,6 @@
#include <uavobjectmanager.h>
#include <oplinkstatus.h>
#include "pios_rfm22b.h"
#include "pios_rfm22b_rcvr.h"
// ************************************
@ -770,13 +769,6 @@ struct pios_rfm22b_dev {
portTickType tx_complete_ticks;
portTickType time_delta;
bool on_sync_channel;
#ifdef PIOS_INCLUDE_RFM22B_RCVR
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint32_t ppm_supv_timer;
bool ppm_fresh;
#endif
};

40
flight/pios/inc/pios_rfm22b_rcvr.h
View File

@ -1,40 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS RFM22B Receiver Input Functions
* @{
*
* @file pios_rfm22b_rcvr.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RFM22B Receiver Input functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_RFM22B_RCVR_H
#define PIOS_RFM22B_RCVR_MAX_CHANNELS 12
extern const struct pios_rcvr_driver pios_rfm22b_rcvr_driver;
extern int32_t PIOS_RFM22B_RCVR_Init(uint32_t rcvr_id);
#define PIOS_RFM22B_RCVR_H
#endif /* PIOS_RFM22B_RCVR_H */

4
flight/pios/pios.h
View File

@ -241,10 +241,6 @@
#include <pios_sbus.h>
#endif
#ifdef PIOS_INCLUDE_GCSRCVR
/* only priv header */
#endif
/* PIOS abstract receiver interface */
#ifdef PIOS_INCLUDE_RCVR
#include <pios_rcvr.h>

1
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -116,7 +116,6 @@
/* PIOS radio modules */
/* #define PIOS_INCLUDE_RFM22B */
/* #define PIOS_INCLUDE_RFM22B_COM */
/* #define PIOS_INCLUDE_RFM22B_RCVR */
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */

2
flight/targets/boards/oplinkmini/firmware/Makefile
View File

@ -49,10 +49,10 @@ ifndef TESTAPP
SRC += $(OPUAVOBJ)/callbackscheduler.c
## UAVObjects
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/oplinkstatus.c
SRC += $(OPUAVSYNTHDIR)/oplinksettings.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
SRC += $(OPUAVSYNTHDIR)/oplinkreceiver.c
else
## Test Code
SRC += $(OPTESTS)/test_common.c

3
flight/targets/boards/oplinkmini/firmware/inc/pios_config.h
View File

@ -116,9 +116,8 @@
/* PIOS radio modules */
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
/* #define PIOS_INCLUDE_RFM22B_RCVR */
#define PIOS_INCLUDE_PPM_OUT
#define PIOS_RFM22B_DEBUG_ON_TELEM
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
/* PIOS misc peripherals */
/* #define PIOS_INCLUDE_VIDEO */

35
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -221,6 +221,7 @@ void PIOS_Board_Init(void)
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
{
// Configure the RFM22B device
const struct pios_board_info *bdinfo = &pios_board_info_blob;
@ -265,10 +266,41 @@ void PIOS_Board_Init(void)
}
PIOS_COM_ChangeBaud(pios_com_rfm22b_id, comBaud);
/* Set the modem Tx poer level */
switch (oplinkSettings.MaxRFPower) {
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case OPLINKSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case OPLINKSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
// Set the radio configuration parameters.
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, oplinkSettings.NumChannels, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet,
oplinkSettings.PacketTime, (oplinkSettings.OneWayLink == OPLINKSETTINGS_ONEWAYLINK_TRUE));
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE));
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, is_coordinator);
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
// Reinitilize the modem to affect te changes.
@ -281,7 +313,6 @@ void PIOS_Board_Init(void)
pios_uart_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
// Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
case OPLINKSETTINGS_MAINPORT_SERIAL:

3
flight/targets/boards/oplinkmini/pios_board.h
View File

@ -75,7 +75,8 @@
#define PIOS_WDG_TELEMETRYRX 0x0002
#define PIOS_WDG_RADIOTX 0x0004
#define PIOS_WDG_RADIORX 0x0008
#define PIOS_WDG_RFM22B 0x0016
#define PIOS_WDG_RFM22B 0x000f
#define PIOS_WDG_PPMINPUT 0x0010
// ------------------------
// TELEMETRY

1
flight/targets/boards/osd/firmware/inc/pios_config.h
View File

@ -117,7 +117,6 @@
/* PIOS radio modules */
/* #define PIOS_INCLUDE_RFM22B */
/* #define PIOS_INCLUDE_RFM22B_COM */
/* #define PIOS_INCLUDE_RFM22B_RCVR */
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -59,6 +59,7 @@ UAVOBJSRCFILENAMES += mixersettings
UAVOBJSRCFILENAMES += mixerstatus
UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += oplinkreceiver
UAVOBJSRCFILENAMES += overosyncstats
UAVOBJSRCFILENAMES += overosyncsettings
UAVOBJSRCFILENAMES += pathaction

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -116,7 +116,6 @@
/* PIOS radio modules */
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_RFM22B_RCVR
/* #define PIOS_INCLUDE_PPM_OUT */
#define PIOS_RFM22B_DEBUG_ON_TELEM

25
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -32,6 +32,8 @@
#include <manualcontrolsettings.h>
#include <oplinksettings.h>
#include <oplinkstatus.h>
#include <oplinkreceiver.h>
#include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h>
/*
@ -787,16 +789,6 @@ void PIOS_Board_Init(void)
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
#ifdef PIOS_INCLUDE_RFM22B_RCVR
if (PIOS_RFM22B_RCVR_Init(pios_rfm22b_id) != 0) {
PIOS_Assert(0);
}
uint32_t pios_rfm22b_rcvr_id;
if (PIOS_RCVR_Init(&pios_rfm22b_rcvr_id, &pios_rfm22b_rcvr_driver, pios_rfm22b_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_rfm22b_rcvr_id;
#endif
break;
}
}
@ -858,6 +850,19 @@ void PIOS_Board_Init(void)
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_OPLINKRCVR)
{
OPLinkReceiverInitialize();
uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */
#ifndef PIOS_ENABLE_DEBUG_PINS
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);

1
flight/targets/boards/revoproto/firmware/inc/pios_config.h
View File

@ -116,7 +116,6 @@
/* PIOS radio modules */
/* #define PIOS_INCLUDE_RFM22B */
/* #define PIOS_INCLUDE_RFM22B_COM */
/* #define PIOS_INCLUDE_RFM22B_RCVR */
/* #define PIOS_INCLUDE_PPM_OUT */
/* #define PIOS_RFM22B_DEBUG_ON_TELEM */

1
make/apps-defs.mk
View File

@ -84,7 +84,6 @@ SRC += $(PIOSCOMMON)/pios_flash_jedec.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
SRC += $(PIOSCOMMON)/pios_rfm22b_rcvr.c
SRC += $(PIOSCOMMON)/pios_sbus.c
SRC += $(PIOSCOMMON)/pios_sdcard.c

2
shared/uavobjectdefinition/oplinksettings.xml
View File

@ -13,7 +13,7 @@
<field name="MaxChannel" units="" type="uint8" elements="1" defaultvalue="250"/>
<field name="NumChannels" units="" type="uint8" elements="1" defaultvalue="10"/>
<field name="ChannelSet" units="" type="uint8" elements="1" defaultvalue="39"/>
<field name="PacketTime" units="ms" type="uint8" elements="1" defaultvalue="39"/>
<field name="PacketTime" units="ms" type="uint8" elements="1" defaultvalue="15"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>