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Code Issues Releases Activity

OP-932: Fixes vitual com port and (not tested) raw comms over a UART on the OPLink.

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This commit is contained in:
Brian Webb 2013-05-02 04:23:26 +01:00
parent 3aa828788d
commit 80cef9dbcc
4 changed files with 66 additions and 29 deletions
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75
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -71,6 +71,7 @@ typedef struct {
// The task handles.
xTaskHandle telemetryTxTaskHandle;
xTaskHandle telemetryRxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle;
@ -103,6 +104,7 @@ typedef struct {
// Private functions
static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
static void radioRxTask(void *parameters);
static void radioTxTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
@ -172,26 +174,38 @@ static int32_t RadioComBridgeStart(void)
// Set the frequency range.
PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, oplinkSettings.MinFrequency, oplinkSettings.MaxFrequency, oplinkSettings.ChannelSpacing);
// Reinitilize the modem.
PIOS_RFM22B_Reinit(pios_rfm22b_id);
// We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
data->parseUAVTalk = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
(oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
(oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
}
// Set the initial frequency.
PIOS_RFM22B_SetInitialFrequency(pios_rfm22b_id, oplinkSettings.InitFrequency);
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(telemetryTxTask, (signed char *)"telemTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
xTaskCreate(telemetryTxTask, (signed char *)"telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
xTaskCreate(telemetryRxTask, (signed char *)"telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryRxTaskHandle));
xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
// Register the watchdog timers.
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRY);
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX);
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
#endif
// If we're doing raw comms, we need to have another thread that relays data from the com port to the radio.
if (!data->parseUAVTalk) {
xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
#endif
}
return 0;
}
@ -234,7 +248,7 @@ static int32_t RadioComBridgeInitialize(void)
data->comTxErrors = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->parseUAVTalk = false;
data->parseUAVTalk = true;
data->configured = false;
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
@ -255,7 +269,7 @@ static void telemetryTxTask(void *parameters)
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRYTX);
#endif
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
@ -309,17 +323,22 @@ static void radioRxTask(void *parameters)
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
// Either pass the data through the UAVTalk parser, or just send it to the radio (if we're doing raw comms).
if (data->parseUAVTalk) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
}
}
} else if (PIOS_COM_TELEMETRY) {
PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEMETRY, serial_data, bytes_to_process);
}
}
}
}
/**
* Radio rx task. Receive data from a com port and pass it on to the radio.
* Radio tx task. Receive data packets from the com port and send to the radio.
*
* @param[in] parameters The task parameters
*/
@ -327,10 +346,38 @@ static void radioTxTask(void *parameters)
{
// Task loop
while (1) {
uint32_t inputPort = PIOS_COM_TELEMETRY;
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
#endif
// Wait until the com port is available.
if (!PIOS_COM_TELEMETRY) {
vTaskDelay(5);
continue;
}
// Read from the com port.
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_TELEMETRY, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
PIOS_COM_SendBufferNonBlocking(PIOS_COM_RADIO, serial_data, bytes_to_process);
}
}
}
/**
* Receive telemetry from the USB/COM port.
*
* @param[in] parameters The task parameters
*/
static void telemetryRxTask(void *parameters)
{
// Task loop
while (1) {
uint32_t inputPort = data->parseUAVTalk ? PIOS_COM_TELEMETRY : 0;
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRYRX);
#endif
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
@ -360,7 +407,7 @@ static void radioTxTask(void *parameters)
*/
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
{
uint32_t outputPort = PIOS_COM_TELEMETRY;
uint32_t outputPort = data->parseUAVTalk ? PIOS_COM_TELEMETRY : 0;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
@ -604,7 +651,6 @@ static void updateSettings()
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
data->parseUAVTalk = true;
case OPLINKSETTINGS_MAINPORT_SERIAL:
/* Configure the main port for uart serial */
PIOS_InitUartMainPort();
@ -620,7 +666,6 @@ static void updateSettings()
// Configure the flexi port
switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
data->parseUAVTalk = true;
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
/* Configure the flexi port as uart serial */
PIOS_InitUartFlexiPort();

1
flight/pios/common/pios_rfm22b.c
View File

@ -2294,7 +2294,6 @@ static enum pios_radio_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev
portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
portTickType remote_rx_time = aph->packet_recv_time;
// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
// This is not working yet
rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
}

12
flight/targets/boards/oplinkmini/board-info.mk
View File

@ -9,16 +9,8 @@ BOARD := STM32103CB_OPLINKMINI
MODEL := MD
MODEL_SUFFIX := _PX
OPENOCD_CONFIG := stm32f1x.cfg
OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
OPENOCD_CONFIG := stm32f1x.cfg
OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
OPENOCD_CONFIG := stm32f1x.cfg
OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
OPENOCD_CONFIG := stm32f1x.cfg
OPENOCD_JTAG_CONFIG := stlink-v2.cfg
OPENOCD_CONFIG := stm32f1x.stlink.cfg
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash

7
flight/targets/boards/oplinkmini/pios_board.h
View File

@ -71,10 +71,11 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
#define PIOS_WATCHDOG_TIMEOUT 500
#define PIOS_WDG_REGISTER BKP_DR4
#define PIOS_WDG_TELEMETRY 0x0001
#define PIOS_WDG_RADIORX 0x0002
#define PIOS_WDG_TELEMETRYTX 0x0001
#define PIOS_WDG_TELEMETRYRX 0x0002
#define PIOS_WDG_RADIOTX 0x0004
#define PIOS_WDG_RFM22B 0x0008
#define PIOS_WDG_RADIORX 0x0008
#define PIOS_WDG_RFM22B 0x0016
//------------------------
// TELEMETRY