Added module to send updates out the SPI port

flight/Modules/OveroSync/inc/overosync.h

@@ -0,0 +1,46 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
+ *
+ * @file       telemetry.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the telemetry module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @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 TELEMETRY_H
+#define TELEMETRY_H
+
+int32_t TelemetryInitialize(void);
+
+#endif // TELEMETRY_H
+
+/**
+  * @}
+  * @}
+  */

flight/Modules/OveroSync/overosync.c

@@ -0,0 +1,175 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
+ *
+ * @file       telemetry.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Telemetry module, handles telemetry and UAVObject updates
+ * @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 "openpilot.h"
+#include "overosync.h"
+
+// Private constants
+#define OVEROSYNC_PACKET_SIZE 256
+#define MAX_QUEUE_SIZE   3
+#define STACK_SIZE_BYTES 512
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
+
+// Private types
+
+// Private variables
+static xQueueHandle queue;
+static xSemaphoreHandle lock;
+static UAVTalkConnection uavTalkCon;
+static xTaskHandle overoSyncTaskHandle;
+
+// Private functions
+static void overoSyncTask(void *parameters);
+static int32_t transmitData(uint8_t * data, int32_t length);
+static void transmitDataDone(bool crc_ok, uint8_t crc_val);
+static void registerObject(UAVObjHandle obj);
+
+// External variables
+extern int32_t pios_spi_overo_id;
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OveroSyncInitialize(void)
+{
+	// Create object queues
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Create the semaphore for sending data
+	lock = xSemaphoreCreateMutex();
+
+	// Initialise UAVTalk
+	uavTalkCon = UAVTalkInitialize(&transmitData);
+
+	return 0;
+}
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OveroSyncStart(void)
+{
+	// Process all registered objects and connect queue for updates
+	UAVObjIterate(&registerObject);
+	
+	// Start telemetry tasks
+	if(pios_spi_overo_id != 0)
+		xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
+	
+	// TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
+	
+	return 0;
+}
+
+MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart)
+
+/**
+ * Register a new object, adds object to local list and connects the queue depending on the object's
+ * telemetry settings.
+ * \param[in] obj Object to connect
+ */
+static void registerObject(UAVObjHandle obj)
+{
+	int32_t eventMask;
+	eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
+	if (UAVObjIsMetaobject(obj)) {
+		eventMask |= EV_UNPACKED;	// we also need to act on remote updates (unpack events)
+	}
+	UAVObjConnectQueue(obj, queue, eventMask);
+}
+
+
+int32_t overosync_transfers = 0;
+/**
+ * Telemetry transmit task, regular priority
+ */
+static void overoSyncTask(void *parameters)
+{
+	UAVObjEvent ev;
+
+	// Loop forever
+	while (1) {
+		// Wait for queue message
+		if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
+			// Lock
+			xSemaphoreTake(lock, portMAX_DELAY);
+
+			// Process event
+			UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
+			overosync_transfers++;
+		}
+	}
+}
+
+uint8_t tx_buffer[OVEROSYNC_PACKET_SIZE];
+uint8_t rx_buffer[OVEROSYNC_PACKET_SIZE];
+
+int32_t transactionsDone = 0;
+static void transmitDataDone(bool crc_ok, uint8_t crc_val)
+{
+	transactionsDone ++;
+	xSemaphoreGive(lock);
+}
+
+int32_t transactionsStarted = 0;
+/**
+ * Transmit data buffer to the modem or USB port.
+ * \param[in] data Data buffer to send
+ * \param[in] length Length of buffer
+ * \return -1 on failure
+ * \return number of bytes transmitted on success
+ */
+static int32_t transmitData(uint8_t * data, int32_t length)
+{
+	memcpy(tx_buffer,data,length);
+	memset(tx_buffer + length, 0, sizeof(tx_buffer) - length);
+	
+	int32_t retval = 0;
+	
+	transactionsStarted++;
+	retval = PIOS_SPI_TransferBlock(pios_spi_overo_id, (uint8_t *) tx_buffer, (uint8_t *) rx_buffer, OVEROSYNC_PACKET_SIZE, &transmitDataDone);
+	
+//	for (uint32_t i = 0; rx_buffer[0] != 0 && i < OVEROSYNC_PACKET_SIZE; i++)
+//		UAVTalkProcessInputStream(uavTalkCon, rx_buffer[i]);
+
+	return retval;
+}
+
+
+/**
+  * @}
+  * @}
+  */

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -52,6 +52,7 @@
 		65140DFA1496927D00E01D11 /* sensors.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = sensors.h; sourceTree = "<group>"; };
 		65140DFB1496927D00E01D11 /* sensors.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = sensors.c; sourceTree = "<group>"; };
 		65173C9F12EBFD1700D6A7CB /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../../Makefile; sourceTree = SOURCE_ROOT; };
+		6517932B14DA76E200FCDAC0 /* OveroSync */ = {isa = PBXFileReference; lastKnownFileType = folder; path = OveroSync; sourceTree = "<group>"; };
 		651913371256C5240039C0A3 /* ahrs_comm_objects.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_comm_objects.c; sourceTree = "<group>"; };
 		651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; };
 		6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; };
@@ -3401,6 +3402,7 @@
 				650D8E5112DFE16400D05CC9 /* ManualControl */,
 				650D8E5512DFE16400D05CC9 /* MK */,
 				650D8E5A12DFE16400D05CC9 /* Osd */,
+				6517932B14DA76E200FCDAC0 /* OveroSync */,
 				65140DF81496927D00E01D11 /* Sensors */,
 				650D8E5D12DFE16400D05CC9 /* Stabilization */,
 				650D8E6112DFE16400D05CC9 /* System */,

flight/Revolution/Makefile

@@ -49,7 +49,9 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS Telemetry FirmwareIAP
+MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP
+MODULES += Telemetry
+MODULES += OveroSync
 PYMODULES = 
 #FlightPlan
 

flight/board_hw_defs/revolution/board_hw_defs.c

@@ -466,7 +466,7 @@ static const struct pios_spi_cfg pios_spi_overo_cfg = {
 	.dma = {
 		.irq = {
 			// Note this is the stream ID that triggers interrupts (in this case RX)
-			.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3),
+			.flags = (DMA_IT_TCIF3 | DMA_IT_TEIF3 | DMA_IT_HTIF3 | DMA_IT_DMEIF3 | DMA_IT_FEIF3),
 			.init = {
 				.NVIC_IRQChannel = DMA1_Stream0_IRQn,
 				.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,