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Code Issues Releases Activity

Added initialization of the ECC, which was removed with the removal of the packet handler. Removed a couple of test functions from RadioComBridge module. Turned on watchdog timers in RadioComBridge (and RFM22B driver).

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This commit is contained in:
Brian Webb 2012-12-17 19:33:42 -07:00
parent 9765244753
commit 9225debdc1
4 changed files with 26 additions and 50 deletions
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61
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -90,8 +90,6 @@ typedef struct {
static void telemetryTxTask(void *parameters);
static void radioRxTask(void *parameters);
static void radioTxTask(void *parameters);
static void testRxTask(void *parameters);
static void testTxTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
@ -123,11 +121,13 @@ static int32_t RadioComBridgeStart(void)
xTaskCreate(telemetryTxTask, (signed char *)"telemTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
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));
if (0)
{
xTaskCreate(testRxTask, (signed char *)"testRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
xTaskCreate(testTxTask, (signed char *)"testTxTask", 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_RADIORX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
#endif
return 0;
}
@ -163,7 +163,6 @@ static int32_t RadioComBridgeInitialize(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);
//UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
// Initialize the statistics.
data->comTxErrors = 0;
@ -183,8 +182,11 @@ static void telemetryTxTask(void *parameters)
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
#endif
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, portMAX_DELAY) == pdTRUE) {
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{
// Send update (with retries)
@ -232,6 +234,9 @@ static void radioRxTask(void *parameters)
{
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
#endif
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)
@ -249,6 +254,9 @@ 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
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
@ -265,39 +273,6 @@ static void radioTxTask(void *parameters)
}
}
static void testTxTask(void *parameters)
{
uint8_t buf[100];
for (uint8_t i = 0; i < 100; ++i)
buf[i] = i;
// Task loop
uint16_t packets_sent = 0;
while (1) {
PIOS_COM_SendBuffer(PIOS_COM_RADIO, buf, 100);
packets_sent++;
OPLinkStatusTXRateSet(&packets_sent);
vTaskDelay(1000);
}
}
/**
* Radio rx task. Receive data from a com port and pass it on to the radio.
*/
static void testRxTask(void *parameters)
{
// Task loop
uint16_t packets_recv = 0;
while (1) {
uint8_t buf[100];
int16_t bytes_received = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, buf, 100, MAX_PORT_DELAY);
if (bytes_received > 0) {
packets_recv++;
OPLinkStatusRXRateSet(&packets_recv);
}
}
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
@ -314,7 +289,7 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
outputPort = PIOS_COM_TELEM_USB;
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBuffer(outputPort, buf, length);
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
else
return -1;
}

10
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -71,12 +71,10 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
#define PIOS_WATCHDOG_TIMEOUT 500
#define PIOS_WDG_REGISTER BKP_DR4
#define PIOS_WDG_COMGCS 0x0001
#define PIOS_WDG_COMUAVTALK 0x0002
#define PIOS_WDG_RADIORECEIVE 0x0004
#define PIOS_WDG_SENDDATA 0x0008
#define PIOS_WDG_TRANSCOMM 0x0008
#define PIOS_WDG_PPMINPUT 0x0010
#define PIOS_WDG_TELEMETRY 0x0001
#define PIOS_WDG_RADIORX 0x0002
#define PIOS_WDG_RADIOTX 0x0004
#define PIOS_WDG_RFM22B 0x0008
//------------------------
// TELEMETRY

3
flight/PiOS/Common/pios_rfm22b.c
View File

@ -614,6 +614,9 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
PIOS_WDG_RegisterFlag(PIOS_WDG_RFM22B);
#endif /* PIOS_WDG_RFM22B */
// Initialize the ECC library.
initialize_ecc();
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;

2
flight/PipXtreme/System/inc/pios_config.h
View File

@ -59,7 +59,7 @@
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_RTC
//#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_WDG
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_FLASH_EEPROM
#define PIOS_INCLUDE_RFM22B