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Code Issues Releases Activity

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

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This commit is contained in:
James Cotton 2012-06-03 19:13:01 -05:00
commit 9707c6152a
5 changed files with 18 additions and 14 deletions
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7
flight/Bootloaders/PipXtreme/main.c
View File

@ -71,13 +71,12 @@ void jump_to_app();
int main() { int main() {
PIOS_SYS_Init(); PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0) PIOS_Board_Init();
USB_connected = TRUE;
PIOS_IAP_Init(); PIOS_IAP_Init();
USB_connected = PIOS_USB_CableConnected(0);
if (PIOS_IAP_CheckRequest() == TRUE) { if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000); PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE; User_DFU_request = TRUE;
PIOS_IAP_ClearRequest(); PIOS_IAP_ClearRequest();

19
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -55,8 +55,8 @@
#define BRIDGE_BUF_LEN 512 #define BRIDGE_BUF_LEN 512
#define MAX_RETRIES 2 #define MAX_RETRIES 2
#define RETRY_TIMEOUT_MS 20 #define RETRY_TIMEOUT_MS 20
#define STATS_UPDATE_PERIOD_MS 2000 #define STATS_UPDATE_PERIOD_MS 500
#define RADIOSTATS_UPDATE_PERIOD_MS 1000 #define RADIOSTATS_UPDATE_PERIOD_MS 250
#define MAX_LOST_CONTACT_TIME 4 #define MAX_LOST_CONTACT_TIME 4
#define PACKET_QUEUE_SIZE 10 #define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200 #define MAX_PORT_DELAY 200
@ -117,6 +117,9 @@ typedef struct {
// Track other radios that are in range. // Track other radios that are in range.
PairStats pairStats[PIPXSTATUS_PAIRIDS_NUMELEM]; PairStats pairStats[PIPXSTATUS_PAIRIDS_NUMELEM];
// The RSSI of the last packet received.
int8_t RSSI;
} RadioComBridgeData; } RadioComBridgeData;
typedef struct { typedef struct {
@ -175,7 +178,7 @@ static int32_t RadioComBridgeStart(void)
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); //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);
@ -294,7 +297,6 @@ static void comUAVTalkTask(void *parameters)
uint8_t rx_byte; uint8_t rx_byte;
if(!BufferedRead(f, &rx_byte, MAX_PORT_DELAY)) if(!BufferedRead(f, &rx_byte, MAX_PORT_DELAY))
continue; continue;
data->txBytes++;
// Get a TX packet from the packet handler if required. // Get a TX packet from the packet handler if required.
if (p == NULL) if (p == NULL)
@ -503,6 +505,7 @@ static void radioReceiveTask(void *parameters)
// Verify that the packet is valid and pass it on. // Verify that the packet is valid and pass it on.
if(PHVerifyPacket(pios_packet_handler, p, rx_bytes) > 0) { if(PHVerifyPacket(pios_packet_handler, p, rx_bytes) > 0) {
data->RSSI = p->header.rssi;
UAVObjEvent ev; UAVObjEvent ev;
ev.obj = (UAVObjHandle)p; ev.obj = (UAVObjHandle)p;
ev.event = EV_PACKET_RECEIVED; ev.event = EV_PACKET_RECEIVED;
@ -510,7 +513,7 @@ static void radioReceiveTask(void *parameters)
} else } else
{ {
data->packetErrors++; data->packetErrors++;
PHReceivePacket(pios_packet_handler, p, false); PHReceivePacket(pios_packet_handler, p, true);
} }
p = NULL; p = NULL;
} }
@ -527,7 +530,7 @@ static void sendPacketTask(void *parameters)
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_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->sendPacketQueue, &p, MAX_PORT_DELAY) == pdTRUE) {
@ -696,7 +699,6 @@ static void radioStatusTask(void *parameters)
// Update the status // Update the status
pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id); pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
pipxStatus.RSSI = PIOS_RFM22B_RSSI(pios_rfm22b_id);
pipxStatus.Retries = data->comTxRetries; pipxStatus.Retries = data->comTxRetries;
pipxStatus.Errors = data->packetErrors; pipxStatus.Errors = data->packetErrors;
pipxStatus.UAVTalkErrors = data->UAVTalkErrors; pipxStatus.UAVTalkErrors = data->UAVTalkErrors;
@ -737,7 +739,7 @@ static void radioStatusTask(void *parameters)
status_packet.header.type = PACKET_TYPE_STATUS; status_packet.header.type = PACKET_TYPE_STATUS;
status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet); status_packet.header.data_size = PH_STATUS_DATA_SIZE(&status_packet);
status_packet.header.source_id = pipxStatus.DeviceID; status_packet.header.source_id = pipxStatus.DeviceID;
status_packet.header.rssi = pipxStatus.RSSI; status_packet.header.rssi = data->RSSI;
status_packet.retries = data->comTxRetries; status_packet.retries = data->comTxRetries;
status_packet.errors = data->packetErrors; status_packet.errors = data->packetErrors;
status_packet.uavtalk_errors = data->UAVTalkErrors; status_packet.uavtalk_errors = data->UAVTalkErrors;
@ -814,6 +816,7 @@ static int32_t transmitData(uint8_t *buf, int32_t length)
*/ */
static int32_t transmitPacket(PHPacketHandle p) static int32_t transmitPacket(PHPacketHandle p)
{ {
data->txBytes += PH_PACKET_SIZE(p);
return PIOS_COM_SendBuffer(PIOS_COM_RADIO, (uint8_t*)p, PH_PACKET_SIZE(p)); return PIOS_COM_SendBuffer(PIOS_COM_RADIO, (uint8_t*)p, PH_PACKET_SIZE(p));
} }

1
flight/PiOS/STM32F10x/pios_wdg.c
View File

@ -73,6 +73,7 @@ uint16_t PIOS_WDG_Init()
// watchdog flags now stored in backup registers // watchdog flags now stored in backup registers
PWR_BackupAccessCmd(ENABLE); PWR_BackupAccessCmd(ENABLE);
BKP_WriteBackupRegister(PIOS_WDG_REGISTER, 0x0);
wdg_configuration.bootup_flags = BKP_ReadBackupRegister(PIOS_WDG_REGISTER); wdg_configuration.bootup_flags = BKP_ReadBackupRegister(PIOS_WDG_REGISTER);
#endif #endif
return delay; return delay;

1
flight/PipXtreme/System/pios_board.c
View File

@ -300,6 +300,7 @@ void PIOS_Board_Init(void) {
} }
} }
#endif /* PIOS_INCLUDE_PPM */ #endif /* PIOS_INCLUDE_PPM */
break;
case PIPXSETTINGS_FLEXICONFIG_PPM_OUT: case PIPXSETTINGS_FLEXICONFIG_PPM_OUT:
case PIPXSETTINGS_FLEXICONFIG_RSSI: case PIPXSETTINGS_FLEXICONFIG_RSSI:
case PIPXSETTINGS_FLEXICONFIG_DISABLED: case PIPXSETTINGS_FLEXICONFIG_DISABLED: