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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into os/OP-775_arm-dsplib

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This commit is contained in:
Oleg Semyonov 2013-02-06 12:55:14 +02:00
commit 97436166e3
164 changed files with 5598 additions and 5397 deletions
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86
CREDITS.txt
View File

@ -6,47 +6,41 @@ It is sorted alphabetically by name and formatted so that it allows for easy gre
The fields are:
Name (N)
Email (E),
Description of work (D)
Current maintainer function (M)
----------
N: Connor Abbott
E: connor (at) abbott (dot) cx
D: Win32 OpenPilot port
N: David Ankers
E: david (at) openpilot (dot) org
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
M: Admin
N: Sergiy Anikeyev
D: Improvments to Camera Gimbal control
N: Pedro Assuncao
E: pedro (dot) agda (plus) openpilot (at) gmail (dot) com
D: Initial GCS Settings Gadget work
N: Fredrik Arvidsson
E: fredrik (at) arvidssons (dot) org
W: GCS Setup Wizard
D: GCS Setup Wizard
M: GCS Setup Wizard
N: Werner Backes
E: werner (at) bit-1 (dot) de
D: Port of CopterControl to PS3 Move Controller (MoveCopter)
N: Jose Barros
E: josembarros (at) hotmail (dot) com
D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin
D: OP Bootloader, AHRS Bootloader, OPUploadTool and much else
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
E: chebuzz (plus) openpilot (at) gmail (dot) com
D: 3D ModelView GCS Plugin, sponsor of HITL merge work and XPlane addition
N: James Cotton
E: peabody124 (plus) openpilot (at) gmail (dot) com
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Firmware implementation of Professor Schinstock's INS/GPS
@ -54,187 +48,159 @@ D: Android GCS and much else
M: Architecture co-lead, Android GCS Lead
N: Steve Doll
E: speakfree07 (at) hotmail (dot) com
D: Much Artwork, Logo rework, Welcome page design
N: Piotr Esden-Tempski
E: esden (at) esden (dot) net
D: Floss-JTAG Rev A, 4-layer initial design
N: Richard Flay
D: Multiple fixes / Review guru
N: Darren Furniss
E: furnibird (plus) openpilot (at) gmail (dot) com
W: GCS Artwork and Android GCS Artwork
D: GCS Artwork and Android GCS Artwork
N: Frederic Goddeeris
E: fredericgoddeeris (at) hotmail (dot) com
D: I2C work and FreeRTOS work, MK integration
D: EagleTree OSD implementation
N: Daniel Godin
E: dgodin (at) dnsct (dot) com
W: Sponsor: Notify Plugin for the GCS
D: Sponsor: Notify Plugin for the GCS
N: Bani Greyling
E: bani (dot) greyling (plus) openpilot (at) gmail (dot) com
D: GCS Scope plugin
N: Nuno Guedes
E: muralha (plus) openpilot (at) gmail (dot) com
D: 3D artwork, moving surfaces and work on ModelView
D: PFD Artwork
N: Erik Gustavsson
D: Attitude LPF improvments to Self Level
N: Peter Gunnarsson
E: peter (at) pyne (dot) se
D: GCS Core Developer
D: Multiple GCS plugins, Gadget foundations, UAVObject viewer
N: Dean Hall
E: dwhall256 (plus) openpilot (at) gmail (dot) com
D: Creator of http://pythononachip.org
N: Joe Hlebasko
E: joe (dot) hlebasko(plus) openpilot (at) gmail (dot) com
D: Early versions of Main Board & Production OP GPS
M: Hardware Architecture Team
N: Andy Honecker
E: andywh (at) yahoo (dot) com
D: Hardware design review and optimisation
N: Mark James
E: mjames (plus) openpilot (at) gmail (dot) com
D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
N: Sami Korhonen
E: samik (dot) korhonen (plus) openpilot (at) gmail (dot) com
D: GPS Module, Spektrum RC Module, OSD work
M: OpenPilot OSD
N: Thorsten Klose
E: thorsten (dot) klose (at) dmx (dot) de
D: Embedded STM32 infrastructure
N: Hallvard Kristiansen
E: hal (at) fleshmx (dot) com
D: GCS Artwork, Quad layout diagrams
N: Mike Labranche
E: mdlabranche (plus) openpilot (at) gmail (dot) com
D: Tab bar Telem Monitor
N: Edouard Lafargue
E: edouard (at) lafargue (dot) name
D: GCS Dial Plugins, GCS PFD Plugin, GCS GPS plugin, GCS Config plugin
D: Artwork including standard display dials
N: Matt Lipski
E: mattlipski (plus) openpilot (at) gmail (dot) com
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
N: Les Newell
E: les (dot) newell (at) fastmail (dot) co (dot) uk
D: Advanced mixer matrix, SPI protocol based on UAVObjects, feedforward
N: Ken Northup
E: helos360 (at) bellsouth (dot) net
D: 3D Modelling, Easystar adaption from FMS
N: Guy McCaldin
E: guymcc (at) gmail (dot) com
D: Artwork and design including work on the Deluxe Dial Set
N: Alessio Morale
D: Firmware/Architecture Lead
N: Cathy Moss
E: cmoss296 (at) blueyonder (dot) co (dot) uk
D: Hardware design Lead: Gen 2 Mainboard, PipXtreme, Current Sensor
D: PipXtreme designer, creator OP Map Plugin
N: Angus Peart
E: gussy (at) openpilot (dot) org
D: Co-founder, Principal hardware architect.
D: Hardware design of early OpenPilot, AHRS, GPS and other hardware
N: Dmytro Poplavskiy
E: dmytro (dot) poplavskiy (plus) openpilot (at) gmail (dot) com
W: QML PFD, QML Welcome page
D: QML PFD, QML Welcome page
M: Qml plugins
N: Eric Price
E: corvus (dot) corax (at) cybertrench (dot) com
D: IL2 HITL GCS Plugin, Posix OpenPilot, Advanced stabilisation module
M: SITL Posix, SLAM work
N: Richard Querin
E: rfquerin (plus) openpilot (at) gmail (dot) com
D: Graphic Design, OpenPilot Logo
N: Laurent Ribon
E: ribon (dot) l (at) club-internet (dot) fr
D: The GLC_lib as used in the ModelView Plugin
D: See: http://www.glc-lib.net/
N: Julien Rouviere
E: julien (dot) rouviere (plus) openpilot (at) gmail (dot) com
D: GCS Framework and Plugins for the GCS
N: Zik Saleeba
E: zik (at) zikzak (dot) net
D: Initial schematic based on Zik's Flying Fox schematic
N: Professor Dale Schinstock
E: dales (at) ksu (dot) edu
D: Lead AHRS Developer
D: Lead INS Developer
D: Creator of the OpenPilot INS / EKF
N: Professor Kenn Sebesta
E: kenn (at) openpilot (dot) org
D: Lead Fixed Wing Developer
M: Fixed Wing support
D: Lead Fixed Wing Developer CC3D / Controls
D: GCS improvments including HiTL Merge
M: Fixed Wing support CC3D
N: Oleg Semyonov
E: os-openpilot-org (at) os-propo (dot) info
D: Core tester & Project organisation
D: Core Developer & Project organisation
D: TxPID module
M: CameraStab module
M: Common part of multi-platform packaging system
M: Windows NSIS Installer
M: Russian Documentation Lead
N: Stacey Sheldon
E: stac (at) solidgoldbomb (dot) org
D: Core Embedded Developer
D: SPI protocol for AHRS, I2C rewrite and much core work
N: Troy Schultz
E: troy (dot) schultz (at) rogers (dot) com
D: INS design review and optimisation
N: Dr. Erhard Siegl
E: Erhard (dot) Siegl (at) zogazoga (dot) at
D: Configuration engine for the GCS
N: Pete Stapley
E: pete (at) stapleylabs (dot) com
D: PPM inputs
N: Rowan Taubitz
E: rowan (at) zantek (dot) com (dot) au
D: Hardware debugging and testing, creation of 2-layer Floss-JTAG Rev B
D: Creation of Next-Gen FOSS-JTAG board
N: Andrew Thoms
E: electronics (at) andrewspizza (dot) net
D: IP Telemtry plugin for the GCS
D: Helicopter support code and mixing for CCPM
N: Vassilis Varveropoulos
E: vassilis (at) openpilot (dot) org
D: Co-founder, Principal embedded software architect.
D: Module architecture and UAVTalk/UAVObjects implementation.
N: Alex Vrubel
E: alex (dot) vrubel (plus) openpilot (at) gmail (dot) com
D: Russian translation of the GCS
N: Brian Webb
E: webbbn (plus) openpilot (at) gmail (dot) com
W: Modem lead developer
D: Modem lead developer
M: OP Modems
N: Dmitriy Zaitsev
D: AeroSim-RC HiTL plugin

31
HISTORY.txt
View File

@ -1,5 +1,34 @@
Short summary of changes. For a complete list see the git log.
2012-11-17
Advanced camera stabilization features.
They include optional manual control input filtering (moved from camera
stabilization to manual control input and now available also for main controls),
optional airframe attitude filtering used by camera stabilization, and optional
camera actuator feed forward to improve gimbal response.
--- RELEASE-12.10.2 --- Mayan Apocalypse Release ---
List of issues resolved in this maintenance release:
http://progress.openpilot.org/issues/?filter=10361
OP-459, OP-545, OP-674, OP-679, OP-685, OP-686, OP-687, OP-690, OP-691,
OP-702, OP-703, OP-714, OP-715, OP-716, OP-721, OP-728, OP-746, OP-748,
OP-749, OP-750, OP-758, OP-759, OP-760
2012-11-12
Implemented smoothing filter for accelerometer data.
Added support for Mode 3 and Mode 4 to the TX Configuration Wizard.
--- RELEASE-12.10.1 ---
2012-10-26
Temporary disabled AutoTune GCS GUI. It was listed as an experimental
feature in the previous release, there were however a few cases where
it did not behave as expected.
--- RELEASE-12.10 ---
2012-10-06
Receiver port can now be configured as PPM *and* PWM inputs.
Pin 1 is PPM, other pins are PWM inputs.
@ -14,7 +43,7 @@ Several UI changes.
MixerCurveWidget refactoring, now as a simple and advanced view.
2012-07-27
Added “advanced mode” option to general settings. Right now it only shows the hidden apply buttons.
Added "advanced mode" option to general settings. Right now it only shows the hidden apply buttons.
To enable go to tools->options->General and click one of the checkboxes to give focus to the form,
then press F7

32
KNOWN_ISSUES.txt
View File

@ -1,10 +1,22 @@
+ Halt/Reset buttons don't work if board is armed. But no way to use them if "Always armed". Use rescue as workaround.
+ Missing Translations, use English.
+ Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
+ [Windows 8] USB Driver is broken.
+ Firmware Update Instructions on Firmware Tab not entirely accurate for all upgrade paths.
+ Radio Wizard Throttle display does not show full range properly.
+ Tricopter's using Vehicle Wizard need to check servo does not need reversed manually.
+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
Here is a list of some known unresolved issues. If an issue has JIRA ID [OP-XXX], you may track it using the
following URL: http://bugs.openpilot.org/browse/OP-XXX
+ Missing Translations, use English.
+ Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
+ Radio Wizard Throttle display does not show full range properly.
+ [Windows 8] USB Driver is broken.
+ Firmware Update Instructions on Firmware Tab not entirely accurate for all upgrade paths.
+ Tricopter's using Vehicle Wizard need to check servo does not need reversed manually.
+ XAircraft ESCs uses non-standard PPM range which may cause issues with Vehicle Wizard.
+ Spectrum Satellite Receivers setup in Radio Wizard may have wrong protocol set.
+ Old Intel 965 have an OpenGL bug that turns the QML PFD black and while.
+ [OP-732] Import UAV Settings for inactive modules crashes the running firmware (board restarts).
Workaround: update firmware, power cycle, enable modules, power cycle, import configuration.
+ [OP-747] Board infinitely reboots itself after firmware upgrade (settings erase firmware is a workaround).
+ [OP-723] GCS uses the system language ot the 1st run. After restart it uses English (can be changed later).
+ [OP-725] GCS camera stab config error message disappears too fast (but config error is cleared as it should)
+ [OP-767] GCS does not send AttitudeActual packets over serial port when GPS is connected and system is armed
+ [OP-768] GCS does not show UAV position on the map (master or next CC branches, but works in Revo branches)
+ [OP-682] GCS crashes on firmware page. Noted on Windows and OSX platforms, difficult to reproduce.
Workaround: use Vehicle setup wizard to update the firmware.
+ [OP-769] Can't enter "12,45" on German system. Workaround: change GCS language (in fact, locale) to German.

4
MILESTONES.txt
View File

@ -240,8 +240,8 @@ C:
D:
V:
M: First Auto landing on a fixed Wing using Revo
C:
M: First Auto spot landing on a fixed Wing using Revo
C:
D:
V:

20
Makefile
View File

@ -445,7 +445,7 @@ dfuutil_clean:
# see http://developer.android.com/sdk/ for latest versions
ANDROID_SDK_DIR := $(TOOLS_DIR)/android-sdk-linux
.PHONY: android_sdk_install
android_sdk_install: ANDROID_SDK_URL := http://dl.google.com/android/android-sdk_r20.0.3-linux.tgz
android_sdk_install: ANDROID_SDK_URL := http://dl.google.com/android/android-sdk_r21.0.1-linux.tgz
android_sdk_install: ANDROID_SDK_FILE := $(notdir $(ANDROID_SDK_URL))
# order-only prereq on directory existance:
android_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
@ -466,7 +466,7 @@ android_sdk_clean:
.PHONY: android_sdk_update
android_sdk_update:
$(V0) @echo " UPDATE $(ANDROID_SDK_DIR)"
$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-16,addon-google_apis-google-16
$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-14,addon-google_apis-google-14
##############################
#
@ -579,6 +579,7 @@ uavobjects_clean:
#
################################
ANDROIDGCS_BUILD_CONF ?= debug
# Build the output directory for the Android GCS build
ANDROIDGCS_OUT_DIR := $(BUILD_DIR)/androidgcs
@ -601,12 +602,12 @@ endif
androidgcs: uavo-collections_java
$(V0) @echo " ANDROID $(call toprel, $(ANDROIDGCS_OUT_DIR))"
$(V1) mkdir -p $(ANDROIDGCS_OUT_DIR)
$(V1) $(ANDROID) $(ANDROID_SILENT) update project --target 'Google Inc.:Google APIs:16' --name androidgcs --path ./androidgcs
$(V1) $(ANDROID) $(ANDROID_SILENT) update project --target 'Google Inc.:Google APIs:14' --name androidgcs --path ./androidgcs
$(V1) ant -f ./androidgcs/build.xml \
$(ANT_QUIET) \
-Dout.dir="../$(call toprel, $(ANDROIDGCS_OUT_DIR)/bin)" \
-Dgen.absolute.dir="$(ANDROIDGCS_OUT_DIR)/gen" \
debug
$(ANDROIDGCS_BUILD_CONF)
.PHONY: androidgcs_clean
androidgcs_clean:
@ -618,7 +619,7 @@ androidgcs_clean:
#
# Find the git hashes of each commit that changes uavobjects with:
# git log --format=%h -- shared/uavobjectdefinition/ | head -n 2
UAVO_GIT_VERSIONS := 684620d 43f85d9
UAVO_GIT_VERSIONS := 5e14f53
# All versions includes a pseudo collection called "working" which represents
# the UAVOs in the source tree
@ -980,3 +981,12 @@ package:
.PHONY: package_resources
package_resources:
$(V1) cd package && $(MAKE) --no-print-directory opfw_resource
.PHONY: build-info
build-info:
$(V1) mkdir -p $(BUILD_DIR)
$(V1) python $(ROOT_DIR)/make/scripts/version-info.py \
--path=$(ROOT_DIR) \
--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition \
--template="make/templates/$@.txt" \
--outfile="$(BUILD_DIR)/$@.txt"

25
flight/Modules/Radio/inc/radio.h → OPLicenseTemplate.txt
View File

@ -1,16 +1,13 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Radio Input / Output Module
* @brief Read and Write packets from/to a radio device.
* @{
*
* @file radio.h
* @file %FILENAME%
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Include file of the radio module.
* @see The GNU Public License (GPL) Version 3
*
* @addtogroup [Group]
* @{
* @addtogroup %CLASS%
* @{
* @brief [Brief]
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -27,13 +24,3 @@
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef RADIOMODULE_H
#define RADIOMODULE_H
#endif // RADIOMODULE_H
/**
* @}
* @}
*/

17
flight/CopterControl/Makefile
View File

@ -77,6 +77,11 @@ USE_ALTITUDE ?= NO
USE_AUTOTUNE ?= YES
TEST_FAULTS ?= NO
# Camera gimbal options
USE_INPUT_LPF ?= YES
USE_GIMBAL_LPF ?= YES
USE_GIMBAL_FF ?= YES
# List of optional modules to include
OPTMODULES =
ifeq ($(USE_CAMERASTAB), YES)
@ -465,6 +470,18 @@ ifeq ($(USE_I2C), YES)
CDEFS += -DUSE_I2C
endif
ifeq ($(USE_INPUT_LPF), YES)
CDEFS += -DUSE_INPUT_LPF
endif
ifeq ($(USE_GIMBAL_LPF), YES)
CDEFS += -DUSE_GIMBAL_LPF
endif
ifeq ($(USE_GIMBAL_FF), YES)
CDEFS += -DUSE_GIMBAL_FF
endif
# Declare all non-optional modules as built-in to force inclusion
CDEFS += ${foreach MOD, ${MODULES}, -DMODULE_$(MOD)_BUILTIN }

72
flight/Libraries/inc/packet_handler.h
View File

@ -32,6 +32,8 @@
#include <uavobjectmanager.h>
#include <gcsreceiver.h>
#include <oplinksettings.h>
#include <pios_rfm22b_rcvr.h>
// Public defines / macros
#define PHPacketSize(p) ((uint8_t*)(p->data) + p->header.data_size - (uint8_t*)p)
@ -40,19 +42,14 @@
// Public types
typedef enum {
PACKET_TYPE_NONE = 0,
PACKET_TYPE_CONNECT, // for requesting a connection
PACKET_TYPE_DISCONNECT, // to tell the other modem they cannot connect to us
PACKET_TYPE_READY, // tells the other modem we are ready to accept more data
PACKET_TYPE_NOTREADY, // tells the other modem we're not ready to accept more data - we can also send user data in this packet type
PACKET_TYPE_STATUS, // broadcasts status of this modem
PACKET_TYPE_DATARATE, // for changing the RF data rate
PACKET_TYPE_PING, // used to check link is still up
PACKET_TYPE_ADJUST_TX_PWR, // used to ask the other modem to adjust it's tx power
PACKET_TYPE_CON_REQUEST, // request a connection to another modem
PACKET_TYPE_DATA, // data packet (packet contains user data)
PACKET_TYPE_ACKED_DATA, // data packet that requies an ACK
PACKET_TYPE_DUPLICATE_DATA, // a duplicate data packet
PACKET_TYPE_PPM, // PPM relay values
PACKET_TYPE_ACK,
PACKET_TYPE_NACK
PACKET_TYPE_ACK, // Acknowlege the receipt of a packet
PACKET_TYPE_ACK_RTS, // Acknowlege the receipt of a packet and indicate that the receiving side has data to send (ready to send)
PACKET_TYPE_NACK, // Acknowlege the receipt of an uncorrectable packet
} PHPacketType;
typedef struct {
@ -64,58 +61,45 @@ typedef struct {
} PHPacketHeader;
#define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
#define PH_PACKET_SIZE(p) (p->data + p->header.data_size - (uint8_t*)p + RS_ECC_NPARITY)
#define PH_PACKET_SIZE(p) ((p)->data + (p)->header.data_size - (uint8_t*)(p) + RS_ECC_NPARITY)
typedef struct {
PHPacketHeader header;
uint8_t data[PH_MAX_DATA + RS_ECC_NPARITY];
} PHPacket, *PHPacketHandle;
#define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint8_t ecc[RS_ECC_NPARITY];
} PHAckNackPacket, *PHAckNackPacketHandle;
#define PH_PPM_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint16_t channels[GCSRECEIVER_CHANNEL_NUMELEM];
uint16_t channels[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ecc[RS_ECC_NPARITY];
} PHPpmPacket, *PHPpmPacketHandle;
#define PH_STATUS_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
PHPacketHeader header;
uint16_t retries;
uint16_t errors;
uint16_t uavtalk_errors;
uint16_t dropped;
uint16_t resets;
uint8_t link_quality;
int8_t received_rssi;
uint8_t ecc[RS_ECC_NPARITY];
} PHStatusPacket, *PHStatusPacketHandle;
#define PH_CONNECTION_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
typedef struct {
uint32_t default_destination_id;
uint32_t source_id;
uint16_t max_connections;
uint8_t win_size;
} PacketHandlerConfig;
typedef int32_t (*PHOutputStream)(PHPacketHandle packet);
typedef void (*PHDataHandler)(uint8_t *data, uint8_t len, int8_t rssi, int8_t afc);
typedef void (*PHStatusHandler)(PHStatusPacketHandle s, int8_t rssi, int8_t afc);
typedef void (*PHPPMHandler)(uint16_t *channels);
typedef uint32_t PHInstHandle;
// Public functions
PHInstHandle PHInitialize(PacketHandlerConfig *cfg);
void PHRegisterOutputStream(PHInstHandle h, PHOutputStream f);
void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f);
void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f);
void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
PHPacketHandle PHGetRXPacket(PHInstHandle h);
void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p);
PHPacketHandle PHGetTXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitData(PHInstHandle h, uint8_t *buf, uint16_t len);
uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p);
PHPacketHeader header;
uint8_t datarate;
uint32_t frequency_hz;
uint32_t min_frequency;
uint32_t max_frequency;
uint8_t max_tx_power;
OPLinkSettingsOutputConnectionOptions port;
OPLinkSettingsComSpeedOptions com_speed;
uint8_t ecc[RS_ECC_NPARITY];
} PHConnectionPacket, *PHConnectionPacketHandle;
#endif // __PACKET_HANDLER_H__

385
flight/Libraries/packet_handler.c
View File

@ -1,385 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
*
* @file packet_handler.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief A packet handler for handeling radio packet transmission.
* @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 "packet_handler.h"
#include "aes.h"
#include "ecc.h"
extern char *debug_msg;
// Private types and constants
typedef struct {
PacketHandlerConfig cfg;
PHPacket *tx_packets;
uint8_t tx_win_start;
uint8_t tx_win_end;
PHPacket *rx_packets;
uint8_t rx_win_start;
uint8_t rx_win_end;
xSemaphoreHandle lock;
PHOutputStream output_stream;
PHDataHandler data_handler;
PHStatusHandler status_handler;
PHPPMHandler ppm_handler;
} PHPacketData, *PHPacketDataHandle;
// Private functions
static uint8_t PHLTransmitPacket(PHPacketDataHandle data, PHPacketHandle p);
/**
* Initialize the Packet Handler library
* \param[in] txWinSize The transmission window size (number of tx packet buffers).
* \param[in] streme A callback function for transmitting the packet.
* \param[in] id The source ID of transmitter.
* \return PHInstHandle The Pachet Handler instance data.
* \return 0 Failure
*/
PHInstHandle PHInitialize(PacketHandlerConfig *cfg)
{
// Allocate the primary structure
PHPacketDataHandle data = pvPortMalloc(sizeof(PHPacketData));
if (!data)
return 0;
data->cfg = *cfg;
// Allocate the packet windows
data->tx_packets = pvPortMalloc(sizeof(PHPacket) * data->cfg.win_size);
data->rx_packets = pvPortMalloc(sizeof(PHPacket) * data->cfg.win_size);
// Initialize the windows
data->tx_win_start = data->tx_win_end = 0;
data->rx_win_start = data->rx_win_end = 0;
for (uint8_t i = 0; i < data->cfg.win_size; ++i)
{
data->tx_packets[i].header.type = PACKET_TYPE_NONE;
data->rx_packets[i].header.type = PACKET_TYPE_NONE;
}
// Create the lock
data->lock = xSemaphoreCreateRecursiveMutex();
// Initialize the ECC library.
initialize_ecc();
// Initialize the handlers
data->output_stream = 0;
data->data_handler = 0;
data->status_handler = 0;
data->ppm_handler = 0;
// Return the structure.
return (PHInstHandle)data;
}
/**
* Register an output stream handler
* \param[in] h The packet handler instance data pointer.
* \param[in] f The output stream handler function
*/
void PHRegisterOutputStream(PHInstHandle h, PHOutputStream f)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
data->output_stream = f;
}
/**
* Register a data handler
* \param[in] h The packet handler instance data pointer.
* \param[in] f The data handler function
*/
void PHRegisterDataHandler(PHInstHandle h, PHDataHandler f)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
data->data_handler = f;
}
/**
* Register a PPM packet handler
* \param[in] h The packet handler instance data pointer.
* \param[in] f The PPM handler function
*/
void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
data->status_handler = f;
}
/**
* Register a PPM packet handler
* \param[in] h The packet handler instance data pointer.
* \param[in] f The PPM handler function
*/
void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
data->ppm_handler = f;
}
/**
* Get a packet out of the transmit buffer.
* \param[in] h The packet handler instance data pointer.
* \param[in] dest_id The destination ID of this connection
* \return PHPacketHandle A pointer to the packet buffer.
* \return 0 No packets buffers avaiable in the transmit window.
*/
uint32_t PHConnect(PHInstHandle h, uint32_t dest_id)
{
return 1;
}
/**
* Get a packet out of the transmit buffer.
* \param[in] h The packet handler instance data pointer.
* \return PHPacketHandle A pointer to the packet buffer.
* \return 0 No packets buffers avaiable in the transmit window.
*/
PHPacketHandle PHGetTXPacket(PHInstHandle h)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.win_size; ++i)
if (data->tx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->tx_packets + i;
break;
}
// Release lock
xSemaphoreGiveRecursive(data->lock);
// Return a pointer to the packet at the end of the TX window.
return p;
}
/**
* Release a packet from the transmit packet buffer window.
* \param[in] h The packet handler instance data pointer.
* \param[in] p A pointer to the packet buffer.
* \return Nothing
*/
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
// Change the packet type so we know this packet is unused.
p->header.type = PACKET_TYPE_NONE;
// If this packet is at the start of the window, increment the start index.
while ((data->tx_win_start != data->tx_win_end) &&
(data->tx_packets[data->tx_win_start].header.type == PACKET_TYPE_NONE))
data->tx_win_start = (data->tx_win_start + 1) % data->cfg.win_size;
// Release lock
xSemaphoreGiveRecursive(data->lock);
}
/**
* Get a packet out of the receive buffer.
* \param[in] h The packet handler instance data pointer.
* \return PHPacketHandle A pointer to the packet buffer.
* \return 0 No packets buffers avaiable in the transmit window.
*/
PHPacketHandle PHGetRXPacket(PHInstHandle h)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.win_size; ++i)
if (data->rx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->rx_packets + i;
break;
}
// Release lock
xSemaphoreGiveRecursive(data->lock);
// Return a pointer to the packet at the end of the TX window.
return p;
}
/**
* Release a packet from the receive packet buffer window.
* \param[in] h The packet handler instance data pointer.
* \param[in] p A pointer to the packet buffer.
* \return Nothing
*/
void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
// Change the packet type so we know this packet is unused.
p->header.type = PACKET_TYPE_NONE;
// If this packet is at the start of the window, increment the start index.
while ((data->rx_win_start != data->rx_win_end) &&
(data->rx_packets[data->rx_win_start].header.type == PACKET_TYPE_NONE))
data->rx_win_start = (data->rx_win_start + 1) % data->cfg.win_size;
// Release lock
xSemaphoreGiveRecursive(data->lock);
}
/**
* Transmit a packet from the transmit packet buffer window.
* \param[in] h The packet handler instance data pointer.
* \param[in] p A pointer to the packet buffer.
* \return 1 Success
* \return 0 Failure
*/
uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Try to transmit the packet.
if (!PHLTransmitPacket(data, p))
return 0;
return 1;
}
/**
* Transmit a packet of data.
* \param[in] h The packet handler instance data pointer.
* \param[in] p A pointer to the data buffer.
* \param[in] len The length of the data buffer.
* \return 1 Success
* \return 0 Failure
*/
uint8_t PHTransmitData(PHInstHandle h, uint8_t *buf, uint16_t len)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
// Get a packet from the packet handler.
PHPacketHandle p = PHGetTXPacket(pios_packet_handler);
if (!p)
return 0;
// Initialize the packet.
p->header.destination_id = data->cfg.default_destination_id;
p->header.source_id = data->cfg.source_id;
p->header.type = PACKET_TYPE_DATA;
p->header.data_size = len;
// Copy the data into the packet.
memcpy(p->data, buf, len);
// Send the packet.
return PHLTransmitPacket(data, p);
}
/**
* Process a packet that has been received.
* \param[in] h The packet handler instance data pointer.
* \param[in] p A pointer to the packet buffer.
* \param[in] received_len The length of data received.
* \return 0 Failure
* \return 1 Success
*/
uint8_t PHReceivePacket(PHInstHandle h, PHPacketHandle p)
{
PHPacketDataHandle data = (PHPacketDataHandle)h;
uint16_t len = PHPacketSizeECC(p);
// Extract the RSSI and AFC.
int8_t rssi = *(((int8_t*)p) + len);
int8_t afc = *(((int8_t*)p) + len + 1);
switch (p->header.type) {
case PACKET_TYPE_STATUS:
// Pass on the channels to the status handler.
if(data->status_handler)
data->status_handler((PHStatusPacketHandle)p, rssi, afc);
break;
case PACKET_TYPE_PPM:
// Pass on the channels to the PPM handler.
if(data->ppm_handler)
data->ppm_handler(((PHPpmPacketHandle)p)->channels);
break;
case PACKET_TYPE_DATA:
// Pass on the data to the data handler.
if(data->data_handler)
data->data_handler(p->data, p->header.data_size, rssi, afc);
break;
default:
break;
}
// Release the packet.
PHReleaseRXPacket(h, p);
return 1;
}
/**
* Transmit a packet from the transmit packet buffer window.
* \param[in] data The packet handler instance data pointer.
* \param[in] p A pointer to the packet buffer.
* \return 1 Success
* \return 0 Failure
*/
static uint8_t PHLTransmitPacket(PHPacketDataHandle data, PHPacketHandle p)
{
if(!data->output_stream)
return 0;
// Transmit the packet using the output stream.
if(data->output_stream(p) == -1)
return 0;
return 1;
}

35
flight/Modules/Actuator/actuator.c
View File

@ -57,6 +57,8 @@
#define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM
#define CAMERA_BOOT_DELAY_MS 7000
// Private types
@ -205,7 +207,7 @@ static void actuatorTask(void* parameters)
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
@ -277,10 +279,15 @@ static void actuatorTask(void* parameters)
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
// During boot all camera actuators should be completely disabled (PWM pulse = 0).
// command.Channel[i] is reused below as a channel PWM activity flag:
// 0 - PWM disabled, >0 - PWM set to real mixer value using scaleChannel() later.
// Setting it to 1 by default means "Rescale this channel and enable PWM on its output".
command.Channel[ct] = 1;
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
// Set to minimum if disabled. This is not the same as saying PWM pulse = 0 us
status[ct] = -1;
command.Channel[ct] = 0;
continue;
}
@ -289,8 +296,6 @@ static void actuatorTask(void* parameters)
else
status[ct] = -1;
// Motors have additional protection for when to be on
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
@ -322,6 +327,7 @@ static void actuatorTask(void* parameters)
else
status[ct] = -1;
}
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
{
@ -343,19 +349,26 @@ static void actuatorTask(void* parameters)
}
else
status[ct] = -1;
// Disable camera actuators for CAMERA_BOOT_DELAY_MS after boot
if (thisSysTime < (CAMERA_BOOT_DELAY_MS / portTICK_RATE_MS))
command.Channel[ct] = 0;
}
}
for(int i = 0; i < MAX_MIX_ACTUATORS; i++)
command.Channel[i] = scaleChannel(status[i],
// Set real actuator output values scaling them from mixers. All channels
// will be set except explicitly disabled (which will have PWM pulse = 0).
for (int i = 0; i < MAX_MIX_ACTUATORS; i++)
if (command.Channel[i])
command.Channel[i] = scaleChannel(status[i],
actuatorSettings.ChannelMax[i],
actuatorSettings.ChannelMin[i],
actuatorSettings.ChannelNeutral[i]);
// Store update time
command.UpdateTime = 1000.0f*dT;
if(1000.0f*dT > command.MaxUpdateTime)
command.MaxUpdateTime = 1000.0f*dT;
command.UpdateTime = dT * 1000.0f;
if (command.UpdateTime > command.MaxUpdateTime)
command.MaxUpdateTime = command.UpdateTime;
// Update output object
ActuatorCommandSet(&command);

63
flight/Modules/Attitude/attitude.c
View File

@ -86,6 +86,10 @@ static void settingsUpdatedCb(UAVObjEvent * objEv);
static float accelKi = 0;
static float accelKp = 0;
static float accel_alpha = 0;
static bool accel_filter_enabled = false;
static float accels_filtered[3];
static float grot_filtered[3];
static float yawBiasRate = 0;
static float gyroGain = 0.42;
static int16_t accelbias[3];
@ -215,18 +219,22 @@ static void AttitudeTask(void *parameters)
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
accel_filter_enabled = false;
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
accel_filter_enabled = false;
init = 0;
} else if (init == 0) {
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
if (accel_alpha > 0.0f)
accel_filter_enabled = true;
init = 1;
}
@ -407,7 +415,6 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
accelsData->x = accels[0] - accelbias[0] * ACCEL_SCALE; // Applying arbitrary scale here to match CC v1
accelsData->y = accels[1] - accelbias[1] * ACCEL_SCALE;
accelsData->z = accels[2] - accelbias[2] * ACCEL_SCALE;
AccelsSet(&accelsData);
gyrosData->x = gyros[0];
gyrosData->y = gyros[1];
@ -430,6 +437,19 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
return 0;
}
static inline void apply_accel_filter(const float *raw, float *filtered)
{
if (accel_filter_enabled) {
filtered[0] = filtered[0] * accel_alpha + raw[0] * (1 - accel_alpha);
filtered[1] = filtered[1] * accel_alpha + raw[1] * (1 - accel_alpha);
filtered[2] = filtered[2] * accel_alpha + raw[2] * (1 - accel_alpha);
} else {
filtered[0] = raw[0];
filtered[1] = raw[1];
filtered[2] = raw[2];
}
}
static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
{
float dT;
@ -445,21 +465,38 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
float grot[3];
float accel_err[3];
// Apply smoothing to accel values, to reduce vibration noise before main calculations.
apply_accel_filter(accels, accels_filtered);
// Rotate gravity to body frame and cross with accels
// Rotate gravity unit vector to body frame, filter and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
apply_accel_filter(grot, grot_filtered);
CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
// Account for accel magnitude
float accel_mag = sqrtf(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
if(accel_mag < 1.0e-3f)
float accel_mag = sqrtf(accels_filtered[0]*accels_filtered[0] + accels_filtered[1]*accels_filtered[1] + accels_filtered[2]*accels_filtered[2]);
if (accel_mag < 1.0e-3f)
return;
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Account for filtered gravity vector magnitude
float grot_mag;
if (accel_filter_enabled)
grot_mag = sqrtf(grot_filtered[0]*grot_filtered[0] + grot_filtered[1]*grot_filtered[1] + grot_filtered[2]*grot_filtered[2]);
else
grot_mag = 1.0f;
if (grot_mag < 1.0e-3f)
return;
accel_err[0] /= (accel_mag*grot_mag);
accel_err[1] /= (accel_mag*grot_mag);
accel_err[2] /= (accel_mag*grot_mag);
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
@ -531,6 +568,16 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
accelKi = attitudeSettings.AccelKi;
yawBiasRate = attitudeSettings.YawBiasRate;
gyroGain = attitudeSettings.GyroGain;
// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
const float fakeDt = 0.0025;
if (attitudeSettings.AccelTau < 0.0001) {
accel_alpha = 0; // not trusting this to resolve to 0
accel_filter_enabled = false;
} else {
accel_alpha = expf(-fakeDt / attitudeSettings.AccelTau);
accel_filter_enabled = true;
}
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;

158
flight/Modules/CameraStab/camerastab.c
View File

@ -64,13 +64,28 @@
static struct CameraStab_data {
portTickType lastSysTime;
float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
float inputs_filtered[CAMERASTABSETTINGS_INPUT_NUMELEM];
#ifdef USE_GIMBAL_LPF
float attitudeFiltered[CAMERASTABSETTINGS_INPUT_NUMELEM];
#endif
#ifdef USE_GIMBAL_FF
float ffLastAttitude[CAMERASTABSETTINGS_INPUT_NUMELEM];
float ffLastAttitudeFiltered[CAMERASTABSETTINGS_INPUT_NUMELEM];
float ffFilterAccumulator[CAMERASTABSETTINGS_INPUT_NUMELEM];
#endif
} *csd;
// Private functions
static void attitudeUpdated(UAVObjEvent* ev);
static float bound(float val, float limit);
#ifdef USE_GIMBAL_FF
static void applyFeedForward(uint8_t index, float dT, float *attitude, CameraStabSettingsData *cameraStab);
#endif
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
@ -100,7 +115,7 @@ int32_t CameraStabInitialize(void)
if (!csd)
return -1;
// make sure that all inputs[] and inputs_filtered[] are zeroed
// initialize camera state variables
memset(csd, 0, sizeof(struct CameraStab_data));
csd->lastSysTime = xTaskGetTickCount();
@ -139,15 +154,17 @@ static void attitudeUpdated(UAVObjEvent* ev)
CameraStabSettingsData cameraStab;
CameraStabSettingsGet(&cameraStab);
// Check how long since last update, time delta between calls in ms
// check how long since last update, time delta between calls in ms
portTickType thisSysTime = xTaskGetTickCount();
float dT = (thisSysTime > csd->lastSysTime) ?
(thisSysTime - csd->lastSysTime) / portTICK_RATE_MS :
(float)SAMPLE_PERIOD_MS / 1000.0f;
float dT_millis = (thisSysTime > csd->lastSysTime) ?
(float)((thisSysTime - csd->lastSysTime) * portTICK_RATE_MS) :
(float)SAMPLE_PERIOD_MS;
csd->lastSysTime = thisSysTime;
// Read any input channels and apply LPF
// process axes
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
// read and process control input
if (cameraStab.Input[i] != CAMERASTABSETTINGS_INPUT_NONE) {
if (AccessoryDesiredInstGet(cameraStab.Input[i] - CAMERASTABSETTINGS_INPUT_ACCESSORY0, &accessory) == 0) {
float input_rate;
@ -158,38 +175,59 @@ static void attitudeUpdated(UAVObjEvent* ev)
case CAMERASTABSETTINGS_STABILIZATIONMODE_AXISLOCK:
input_rate = accessory.AccessoryVal * cameraStab.InputRate[i];
if (fabs(input_rate) > cameraStab.MaxAxisLockRate)
csd->inputs[i] = bound(csd->inputs[i] + input_rate * dT / 1000.0f, cameraStab.InputRange[i]);
csd->inputs[i] = bound(csd->inputs[i] + input_rate * 0.001f * dT_millis, cameraStab.InputRange[i]);
break;
default:
PIOS_Assert(0);
}
// bypass LPF calculation if ResponseTime is zero
float rt = (float)cameraStab.ResponseTime[i];
if (rt)
csd->inputs_filtered[i] = (rt / (rt + dT)) * csd->inputs_filtered[i]
+ (dT / (rt + dT)) * csd->inputs[i];
else
csd->inputs_filtered[i] = csd->inputs[i];
}
}
// calculate servo output
float attitude;
switch (i) {
case CAMERASTABSETTINGS_INPUT_ROLL:
AttitudeActualRollGet(&attitude);
break;
case CAMERASTABSETTINGS_INPUT_PITCH:
AttitudeActualPitchGet(&attitude);
break;
case CAMERASTABSETTINGS_INPUT_YAW:
AttitudeActualYawGet(&attitude);
break;
default:
PIOS_Assert(0);
}
#ifdef USE_GIMBAL_LPF
if (cameraStab.ResponseTime) {
float rt = (float)cameraStab.ResponseTime[i];
attitude = csd->attitudeFiltered[i] = ((rt * csd->attitudeFiltered[i]) + (dT_millis * attitude)) / (rt + dT_millis);
}
#endif
#ifdef USE_GIMBAL_FF
if (cameraStab.FeedForward[i])
applyFeedForward(i, dT_millis, &attitude, &cameraStab);
#endif
// set output channels
float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
switch (i) {
case CAMERASTABSETTINGS_INPUT_ROLL:
CameraDesiredRollSet(&output);
break;
case CAMERASTABSETTINGS_INPUT_PITCH:
CameraDesiredPitchSet(&output);
break;
case CAMERASTABSETTINGS_INPUT_YAW:
CameraDesiredYawSet(&output);
break;
default:
PIOS_Assert(0);
}
}
// Set output channels
float attitude;
float output;
AttitudeActualRollGet(&attitude);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f);
CameraDesiredYawSet(&output);
}
float bound(float val, float limit)
@ -198,6 +236,62 @@ float bound(float val, float limit)
(val < -limit) ? -limit :
val;
}
#ifdef USE_GIMBAL_FF
void applyFeedForward(uint8_t index, float dT_millis, float *attitude, CameraStabSettingsData *cameraStab)
{
// compensate high feed forward values depending on gimbal type
float gimbalTypeCorrection = 1.0f;
switch (cameraStab->GimbalType) {
case CAMERASTABSETTINGS_GIMBALTYPE_GENERIC:
// no correction
break;
case CAMERASTABSETTINGS_GIMBALTYPE_YAWROLLPITCH:
if (index == CAMERASTABSETTINGS_INPUT_ROLL) {
float pitch;
AttitudeActualPitchGet(&pitch);
gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH] - fabs(pitch))
/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
}
break;
case CAMERASTABSETTINGS_GIMBALTYPE_YAWPITCHROLL:
if (index == CAMERASTABSETTINGS_INPUT_PITCH) {
float roll;
AttitudeActualRollGet(&roll);
gimbalTypeCorrection = (cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL] - fabs(roll))
/ cameraStab->OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
}
break;
default:
PIOS_Assert(0);
}
// apply feed forward
float accumulator = csd->ffFilterAccumulator[index];
accumulator += (*attitude - csd->ffLastAttitude[index]) * (float)cameraStab->FeedForward[index] * gimbalTypeCorrection;
csd->ffLastAttitude[index] = *attitude;
*attitude += accumulator;
float filter = (float)((accumulator > 0.0f) ? cameraStab->AccelTime[index] : cameraStab->DecelTime[index]) / dT_millis;
if (filter < 1.0f)
filter = 1.0f;
accumulator -= accumulator / filter;
csd->ffFilterAccumulator[index] = accumulator;
*attitude += accumulator;
// apply acceleration limit
float delta = *attitude - csd->ffLastAttitudeFiltered[index];
float maxDelta = (float)cameraStab->MaxAccel * 0.001f * dT_millis;
if (fabs(delta) > maxDelta) {
// we are accelerating too hard
*attitude = csd->ffLastAttitudeFiltered[index] + ((delta > 0.0f) ? maxDelta : -maxDelta);
}
csd->ffLastAttitudeFiltered[index] = *attitude;
}
#endif // USE_GIMBAL_FF
/**
* @}
*/

46
flight/Modules/ManualControl/manualcontrol.c
View File

@ -83,6 +83,11 @@ static xTaskHandle taskHandle;
static ArmState_t armState;
static portTickType lastSysTime;
#ifdef USE_INPUT_LPF
static portTickType lastSysTimeLPF;
static float inputFiltered[MANUALCONTROLSETTINGS_RESPONSETIME_NUMELEM];
#endif
// Private functions
static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
@ -99,6 +104,10 @@ static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
static void applyDeadband(float *value, float deadband);
#ifdef USE_INPUT_LPF
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsData *settings, float dT);
#endif
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
struct rcvr_activity_fsm {
@ -337,7 +346,18 @@ static void manualControlTask(void *parameters)
applyDeadband(&cmd.Pitch, settings.Deadband);
applyDeadband(&cmd.Yaw, settings.Deadband);
}
#ifdef USE_INPUT_LPF
// Apply Low Pass Filter to input channels, time delta between calls in ms
portTickType thisSysTime = xTaskGetTickCount();
float dT = (thisSysTime > lastSysTimeLPF) ?
(float)((thisSysTime - lastSysTimeLPF) * portTICK_RATE_MS) :
(float)UPDATE_PERIOD_MS;
lastSysTimeLPF = thisSysTime;
applyLPF(&cmd.Roll, MANUALCONTROLSETTINGS_RESPONSETIME_ROLL, &settings, dT);
applyLPF(&cmd.Pitch, MANUALCONTROLSETTINGS_RESPONSETIME_PITCH, &settings, dT);
applyLPF(&cmd.Yaw, MANUALCONTROLSETTINGS_RESPONSETIME_YAW, &settings, dT);
#endif // USE_INPUT_LPF
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t) PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t) PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t) PIOS_RCVR_TIMEOUT)
@ -348,6 +368,9 @@ static void manualControlTask(void *parameters)
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT);
#endif
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
@ -355,6 +378,9 @@ static void manualControlTask(void *parameters)
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT);
#endif
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
@ -362,6 +388,9 @@ static void manualControlTask(void *parameters)
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] !=
MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings, dT);
#endif
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
@ -498,6 +527,9 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK:
group = RECEIVERACTIVITY_ACTIVEGROUP_OPLINK;
break;
default:
PIOS_Assert(0);
break;
@ -1030,6 +1062,20 @@ static void applyDeadband(float *value, float deadband)
*value += deadband;
}
#ifdef USE_INPUT_LPF
/**
* @brief Apply Low Pass Filter to Throttle/Roll/Pitch/Yaw or Accessory channel
*/
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsData *settings, float dT)
{
if (settings->ResponseTime[channel]) {
float rt = (float)settings->ResponseTime[channel];
inputFiltered[channel] = ((rt * inputFiltered[channel]) + (dT * (*value))) / (rt + dT);
*value = inputFiltered[channel];
}
}
#endif // USE_INPUT_LPF
/**
* @}
* @}

75
flight/Modules/PipXtreme/pipxtrememod.c
View File

@ -39,8 +39,10 @@
*/
#include <openpilot.h>
#include <pipxstatus.h>
#include <oplinkstatus.h>
#include <pios_rfm22b.h>
#include <pios_board_info.h>
#include <oplinksettings.h>
#include "systemmod.h"
// Private constants
@ -94,20 +96,20 @@ int32_t PipXtremeModInitialize(void)
// Must registers objects here for system thread because ObjectManager started in OpenPilotInit
// Initialize out status object.
PipXStatusInitialize();
PipXStatusData pipxStatus;
PipXStatusGet(&pipxStatus);
OPLinkStatusInitialize();
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
// Get our hardware information.
const struct pios_board_info * bdinfo = &pios_board_info_blob;
pipxStatus.BoardType= bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(pipxStatus.Description, PIPXSTATUS_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(pipxStatus.CPUSerial);
pipxStatus.BoardRevision= bdinfo->board_rev;
oplinkStatus.BoardType= bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
oplinkStatus.BoardRevision= bdinfo->board_rev;
// Update the object
PipXStatusSet(&pipxStatus);
OPLinkStatusSet(&oplinkStatus);
// Call the module start function.
PipXtremeModStart();
@ -123,6 +125,9 @@ MODULE_INITCALL(PipXtremeModInitialize, 0)
static void systemTask(void *parameters)
{
portTickType lastSysTime;
uint16_t prev_tx_count = 0;
uint16_t prev_rx_count = 0;
bool first_time = true;
/* create all modules thread */
MODULE_TASKCREATE_ALL;
@ -148,6 +153,58 @@ static void systemTask(void *parameters)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
// Update the PipXstatus UAVO
OPLinkStatusData oplinkStatus;
uint32_t pairID;
OPLinkStatusGet(&oplinkStatus);
OPLinkSettingsPairIDGet(&pairID);
// Get the other device stats.
PIOS_RFM2B_GetPairStats(pios_rfm22b_id, oplinkStatus.PairIDs, oplinkStatus.PairSignalStrengths, OPLINKSTATUS_PAIRIDS_NUMELEM);
// Get the stats from the radio device
struct rfm22b_stats radio_stats;
PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
// Update the status
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
oplinkStatus.RxGood = radio_stats.rx_good;
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.RxFailure = radio_stats.rx_failure;
oplinkStatus.TxDropped = radio_stats.tx_dropped;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.TxFailure = radio_stats.tx_failure;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;
oplinkStatus.AFCCorrection = radio_stats.afc_correction;
oplinkStatus.LinkQuality = radio_stats.link_quality;
if (first_time)
first_time = false;
else
{
uint16_t tx_count = radio_stats.tx_byte_count;
uint16_t rx_count = radio_stats.rx_byte_count;
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
prev_tx_count = tx_count;
prev_rx_count = rx_count;
}
oplinkStatus.TXSeq = radio_stats.tx_seq;
oplinkStatus.RXSeq = radio_stats.rx_seq;
oplinkStatus.LinkState = radio_stats.link_state;
if (radio_stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
LINK_LED_ON;
else
LINK_LED_OFF;
// Update the object
OPLinkStatusSet(&oplinkStatus);
// Wait until next period
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}

476
flight/Modules/Radio/radio.c
View File

@ -1,476 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Radio Input / Output Module
* @brief Read and Write packets from/to a radio device.
* @{
*
* @file radio.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bridges selected Com Port to the COM VCP emulated serial port
* @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>
#include <pios_board_info.h>
#include <openpilot.h>
#include <gcsreceiver.h>
#include <hwsettings.h>
#include <pipxsettings.h>
#include <pipxstatus.h>
#include <packet_handler.h>
#include <pios_com_priv.h>
#include <pios_rfm22b_priv.h>
#include <radio.h>
// ****************
// Private constants
#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define PACKET_QUEUE_SIZE PIOS_PH_WIN_SIZE
#define MAX_PORT_DELAY 200
#define STATS_UPDATE_PERIOD_MS 500
#define RADIOSTATS_UPDATE_PERIOD_MS 250
#define MAX_LOST_CONTACT_TIME 4
#define PACKET_MAX_DELAY 50
#ifndef LINK_LED_ON
#define LINK_LED_ON
#define LINK_LED_OFF
#endif
// ****************
// Private types
typedef struct {
uint32_t pairID;
uint16_t retries;
uint16_t errors;
uint16_t uavtalk_errors;
uint16_t resets;
uint16_t dropped;
int8_t rssi;
uint8_t lastContact;
} PairStats;
typedef struct {
// The task handles.
xTaskHandle radioReceiveTaskHandle;
xTaskHandle radioStatusTaskHandle;
// Queue handles.
xQueueHandle radioPacketQueue;
// Error statistics.
uint32_t radioTxErrors;
uint32_t radioRxErrors;
uint16_t txBytes;
uint16_t rxBytes;
// External error statistics
uint32_t droppedPackets;
uint32_t comTxRetries;
uint32_t UAVTalkErrors;
// The destination ID
uint32_t destination_id;
// Track other radios that are in range.
PairStats pairStats[PIPXSTATUS_PAIRIDS_NUMELEM];
// The RSSI of the last packet received.
int8_t RSSI;
} RadioData;
// ****************
// Private functions
static void radioReceiveTask(void *parameters);
static void radioStatusTask(void *parameters);
static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
static int32_t transmitPacket(PHPacketHandle packet);
static void PPMHandler(uint16_t *channels);
// ****************
// Private variables
static RadioData *data = 0;
// ****************
// Global variables
uint32_t pios_rfm22b_id = 0;
uint32_t pios_com_rfm22b_id = 0;
uint32_t pios_packet_handler = 0;
const struct pios_rfm22b_cfg *pios_rfm22b_cfg;
// ***************
// External functions
extern const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision);
/**
* Start the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t RadioStart(void)
{
if (!data)
return -1;
// Start the tasks.
xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioReceiveTaskHandle));
xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES * 2, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
// Install the monitors
TaskMonitorAdd(TASKINFO_RUNNING_MODEMRX, data->radioReceiveTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MODEMSTAT, data->radioStatusTaskHandle);
// Register the watchdog timers.
#ifdef PIOS_WDG_RADIORECEIVE
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
#endif /* PIOS_WDG_RADIORECEIVE */
return 0;
}
/**
* Initialise the module
* \return -1 if initialisation failed
* \return 0 on success
*/
static int32_t RadioInitialize(void)
{
// See if this module is enabled.
#ifndef RADIO_BUILTIN
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_RADIO] != HWSETTINGS_OPTIONALMODULES_ENABLED) {
pios_packet_handler = 0;
return -1;
}
#endif
// Initalize out UAVOs
PipXSettingsInitialize();
PipXStatusInitialize();
PipXSettingsData pipxSettings;
PipXSettingsGet(&pipxSettings);
/* Retrieve hardware settings. */
const struct pios_board_info * bdinfo = &pios_board_info_blob;
pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
/* Initalize the RFM22B radio COM device. */
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg))
return -1;
// Set the maximum radio RF power.
switch (pipxSettings.MaxRFPower)
{
case PIPXSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case PIPXSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case PIPXSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case PIPXSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case PIPXSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case PIPXSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case PIPXSETTINGS_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case PIPXSETTINGS_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
}
switch (pipxSettings.RFSpeed) {
case PIPXSETTINGS_RFSPEED_2400:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_2000, true);
break;
case PIPXSETTINGS_RFSPEED_4800:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_4000, true);
break;
case PIPXSETTINGS_RFSPEED_9600:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_9600, true);
break;
case PIPXSETTINGS_RFSPEED_19200:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_19200, true);
break;
case PIPXSETTINGS_RFSPEED_38400:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_32000, true);
break;
case PIPXSETTINGS_RFSPEED_57600:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_64000, true);
break;
case PIPXSETTINGS_RFSPEED_115200:
RFM22_SetDatarate(pios_rfm22b_id, RFM22_datarate_128000, true);
break;
}
// Set the radio destination ID.
PIOS_RFM22B_SetDestinationId(pios_rfm22b_id, pipxSettings.PairID);
// Initialize the packet handler
PacketHandlerConfig pios_ph_cfg = {
.default_destination_id = 0xffffffff, // Broadcast
.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id),
.win_size = PIOS_PH_WIN_SIZE,
.max_connections = PIOS_PH_MAX_CONNECTIONS,
};
pios_packet_handler = PHInitialize(&pios_ph_cfg);
// allocate and initialize the static data storage only if module is enabled
data = (RadioData *)pvPortMalloc(sizeof(RadioData));
if (!data)
return -1;
// Initialize the statistics.
data->radioTxErrors = 0;
data->radioRxErrors = 0;
data->droppedPackets = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->RSSI = -127;
// Initialize the detected device statistics.
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
{
data->pairStats[i].pairID = 0;
data->pairStats[i].rssi = -127;
data->pairStats[i].retries = 0;
data->pairStats[i].errors = 0;
data->pairStats[i].uavtalk_errors = 0;
data->pairStats[i].resets = 0;
data->pairStats[i].dropped = 0;
data->pairStats[i].lastContact = 0;
}
// The first slot is reserved for our current pairID
PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
data->destination_id = data->pairStats[0].pairID ? data->pairStats[0].pairID : 0xffffffff;
// Register the callbacks with the packet handler
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
PHRegisterOutputStream(pios_packet_handler, transmitPacket);
PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
return 0;
}
MODULE_INITCALL(RadioInitialize, RadioStart)
/**
* The task that receives packets from the radio.
*/
static void radioReceiveTask(void *parameters)
{
PHPacketHandle p = NULL;
/* Handle radio -> usart/usb direction */
while (1) {
uint32_t rx_bytes;
#ifdef PIOS_WDG_RADIORECEIVE
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORECEIVE);
#endif /* PIOS_INCLUDE_WDG */
// Receive data from the radio port
p = NULL;
rx_bytes = PIOS_RFM22B_Receive_Packet(pios_rfm22b_id, &p, MAX_PORT_DELAY);
if(rx_bytes == 0)
continue;
data->rxBytes += rx_bytes;
PHReceivePacket(pios_packet_handler, p);
p = NULL;
}
}
/**
* Transmit a packet to the radio port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitPacket(PHPacketHandle p)
{
uint16_t len = PH_PACKET_SIZE(p);
data->txBytes += len;
if (!PIOS_RFM22B_Send_Packet(pios_rfm22b_id, p, PACKET_MAX_DELAY))
return -1;
return len;
}
/**
* Receive a status packet
* \param[in] status The status structure
*/
static void StatusHandler(PHStatusPacketHandle status, int8_t rssi, int8_t afc)
{
uint32_t id = status->header.source_id;
bool found = false;
// Have we seen this device recently?
uint8_t id_idx = 0;
for ( ; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(data->pairStats[id_idx].pairID == id)
{
found = true;
break;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
data->pairStats[id_idx].rssi = rssi;
data->pairStats[id_idx].retries = status->retries;
data->pairStats[id_idx].errors = status->errors;
data->pairStats[id_idx].uavtalk_errors = status->uavtalk_errors;
data->pairStats[id_idx].resets = status->resets;
data->pairStats[id_idx].dropped = status->dropped;
data->pairStats[id_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
if (!found)
{
uint32_t pairID;
PipXSettingsPairIDGet(&pairID);
uint8_t min_idx = 0;
if(id != pairID)
{
int8_t min_rssi = data->pairStats[0].rssi;
for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(data->pairStats[id_idx].rssi < min_rssi)
{
min_rssi = data->pairStats[id_idx].rssi;
min_idx = id_idx;
}
}
}
data->pairStats[min_idx].pairID = id;
data->pairStats[min_idx].rssi = rssi;
data->pairStats[min_idx].retries = status->retries;
data->pairStats[min_idx].errors = status->errors;
data->pairStats[min_idx].uavtalk_errors = status->uavtalk_errors;
data->pairStats[min_idx].resets = status->resets;
data->pairStats[min_idx].dropped = status->dropped;
data->pairStats[min_idx].lastContact = 0;
}
}
/**
* The stats update task.
*/
static void radioStatusTask(void *parameters)
{
while (1) {
PipXStatusData pipxStatus;
uint32_t pairID;
// Get object data
PipXStatusGet(&pipxStatus);
PipXSettingsPairIDGet(&pairID);
// Update the status
pipxStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
pipxStatus.Retries = data->comTxRetries;
pipxStatus.LinkQuality = PIOS_RFM22B_LinkQuality(pios_rfm22b_id);
pipxStatus.UAVTalkErrors = data->UAVTalkErrors;
pipxStatus.Dropped = data->droppedPackets;
pipxStatus.Resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
pipxStatus.TXRate = (uint16_t)((float)(data->txBytes * 1000) / STATS_UPDATE_PERIOD_MS);
data->txBytes = 0;
pipxStatus.RXRate = (uint16_t)((float)(data->rxBytes * 1000) / STATS_UPDATE_PERIOD_MS);
data->rxBytes = 0;
pipxStatus.LinkState = PIPXSTATUS_LINKSTATE_DISCONNECTED;
pipxStatus.RSSI = PIOS_RFM22B_LinkQuality(pios_rfm22b_id);
LINK_LED_OFF;
// Update the potential pairing contacts
for (uint8_t i = 0; i < PIPXSTATUS_PAIRIDS_NUMELEM; ++i)
{
pipxStatus.PairIDs[i] = data->pairStats[i].pairID;
pipxStatus.PairSignalStrengths[i] = data->pairStats[i].rssi;
data->pairStats[i].lastContact++;
// Remove this device if it's stale.
if(data->pairStats[i].lastContact > MAX_LOST_CONTACT_TIME)
{
data->pairStats[i].pairID = 0;
data->pairStats[i].rssi = -127;
data->pairStats[i].retries = 0;
data->pairStats[i].errors = 0;
data->pairStats[i].uavtalk_errors = 0;
data->pairStats[i].resets = 0;
data->pairStats[i].dropped = 0;
data->pairStats[i].lastContact = 0;
}
// Add the paired devices statistics to ours.
if(pairID && (data->pairStats[i].pairID == pairID) && (data->pairStats[i].rssi > -127))
{
pipxStatus.Retries += data->pairStats[i].retries;
pipxStatus.UAVTalkErrors += data->pairStats[i].uavtalk_errors;
pipxStatus.Dropped += data->pairStats[i].dropped;
pipxStatus.Resets += data->pairStats[i].resets;
pipxStatus.Dropped += data->pairStats[i].dropped;
pipxStatus.LinkState = PIPXSTATUS_LINKSTATE_CONNECTED;
LINK_LED_ON;
}
}
// Update the object
PipXStatusSet(&pipxStatus);
vTaskDelay(STATS_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* Receive a ppm packet
* \param[in] channels The ppm channels
*/
static void PPMHandler(uint16_t *channels)
{
GCSReceiverData rcvr;
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = channels[i];
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
}

1001
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -34,9 +34,9 @@
#include <radiocombridge.h>
#include <packet_handler.h>
#include <gcsreceiver.h>
#include <pipxstatus.h>
#include <oplinkstatus.h>
#include <objectpersistence.h>
#include <pipxsettings.h>
#include <oplinksettings.h>
#include <uavtalk_priv.h>
#include <pios_rfm22b.h>
#include <ecc.h>
@ -49,46 +49,28 @@
// ****************
// Private constants
#define TEMP_BUFFER_SIZE 25
#define STACK_SIZE_BYTES 150
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define BRIDGE_BUF_LEN 512
#define MAX_RETRIES 2
#define RETRY_TIMEOUT_MS 20
#define STATS_UPDATE_PERIOD_MS 1000
#define RADIOSTATS_UPDATE_PERIOD_MS 500
#define MAX_LOST_CONTACT_TIME 4
#define PACKET_QUEUE_SIZE 10
#define EVENT_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200
#define EV_PACKET_RECEIVED 0x20
#define EV_TRANSMIT_PACKET 0x30
#define EV_SEND_ACK 0x40
#define EV_SEND_NACK 0x50
#define EV_SEND_ACK 0x20
#define EV_SEND_NACK 0x30
// ****************
// Private types
typedef struct {
uint32_t comPort;
UAVTalkConnection UAVTalkCon;
xQueueHandle sendQueue;
xQueueHandle recvQueue;
uint16_t wdg;
bool isGCS;
} UAVTalkComTaskParams;
typedef struct {
// The task handles.
xTaskHandle GCSUAVTalkRecvTaskHandle;
xTaskHandle UAVTalkRecvTaskHandle;
xTaskHandle UAVTalkSendTaskHandle;
xTaskHandle transparentCommTaskHandle;
xTaskHandle ppmInputTaskHandle;
xTaskHandle telemetryTxTaskHandle;
xTaskHandle radioRxTaskHandle;
xTaskHandle radioTxTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection UAVTalkCon;
UAVTalkConnection GCSUAVTalkCon;
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection inUAVTalkCon;
// Queue handles.
xQueueHandle gcsEventQueue;
@ -100,45 +82,19 @@ typedef struct {
uint32_t UAVTalkErrors;
uint32_t droppedPackets;
// The destination ID
uint32_t destination_id;
// The packet timeout.
portTickType send_timeout;
uint16_t min_packet_size;
// The RSSI of the last packet received.
int8_t RSSI;
// Thread parameters.
UAVTalkComTaskParams uavtalk_params;
UAVTalkComTaskParams gcs_uavtalk_params;
} RadioComBridgeData;
typedef struct {
uint32_t com_port;
uint8_t *buffer;
uint16_t length;
uint16_t index;
uint16_t data_length;
} ReadBuffer, *BufferedReadHandle;
// ****************
// Private functions
static void UAVTalkRecvTask(void *parameters);
static void UAVTalkSendTask(void *parameters);
static void transparentCommTask(void * parameters);
static void ppmInputTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t GCSUAVTalkSendHandler(uint8_t * data, int32_t length);
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid);
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
static void telemetryTxTask(void *parameters);
static void radioRxTask(void *parameters);
static void radioTxTask(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);
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
static void configureComCallback(OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed);
static void updateSettings();
// ****************
@ -155,37 +111,24 @@ static int32_t RadioComBridgeStart(void)
{
if(data) {
// Register the callbacks with the packet handler
// This has to happen after the Radio module is initialized.
PHRegisterDataHandler(pios_packet_handler, receiveData);
// Configure the com port configuration callback
PIOS_RFM22B_SetComConfigCallback(pios_rfm22b_id, &configureComCallback);
// Set the baudrates, etc.
updateSettings();
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(UAVTalkRecvTask, (signed char *)"GCSUAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY + 2, &(data->GCSUAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"GCSUAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
// If a UAVTalk (non-GCS) com port is set it implies that the com port is connected on the flight side.
// In this case we want to start another com thread on the HID port to talk to the GCS when connected.
if (PIOS_COM_UAVTALK)
{
xTaskCreate(UAVTalkRecvTask, (signed char *)"UAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY + 2, &(data->UAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"UAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
}
// Start the tasks
if(PIOS_COM_TRANS_COM)
xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle));
if(PIOS_PPM_RECEIVER)
xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
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));
// Register the watchdog timers.
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_COMGCS);
if(PIOS_COM_UAVTALK)
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
if(PIOS_COM_TRANS_COM)
PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
if(PIOS_PPM_RECEIVER)
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRY);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
#endif
return 0;
}
@ -207,315 +150,50 @@ static int32_t RadioComBridgeInitialize(void)
// Initialize the UAVObjects that we use
GCSReceiverInitialize();
PipXStatusInitialize();
OPLinkStatusInitialize();
ObjectPersistenceInitialize();
updateSettings();
// Initialise UAVTalk
data->GCSUAVTalkCon = UAVTalkInitialize(&GCSUAVTalkSendHandler);
if (PIOS_COM_UAVTALK)
data->UAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
else
data->UAVTalkCon = 0;
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
// Initialize the queues.
data->gcsEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
if (PIOS_COM_UAVTALK)
data->uavtalkEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
else
{
data->uavtalkEventQueue = 0;
}
data->uavtalkEventQueue = 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);
// Initialize the statistics.
data->comTxErrors = 0;
data->comTxRetries = 0;
data->UAVTalkErrors = 0;
data->RSSI = -127;
// Initialize the packet send timeout
data->send_timeout = 25; // ms
data->min_packet_size = 50;
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue ? data->uavtalkEventQueue : data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Initialize the UAVTalk comm parameters.
data->gcs_uavtalk_params.isGCS = true;
data->gcs_uavtalk_params.UAVTalkCon = data->GCSUAVTalkCon;
data->gcs_uavtalk_params.sendQueue = data->uavtalkEventQueue;
data->gcs_uavtalk_params.recvQueue = data->gcsEventQueue;
data->gcs_uavtalk_params.wdg = PIOS_WDG_COMGCS;
data->gcs_uavtalk_params.comPort = PIOS_COM_GCS;
if (PIOS_COM_UAVTALK)
{
data->uavtalk_params.isGCS = false;
data->uavtalk_params.UAVTalkCon = data->UAVTalkCon;
data->uavtalk_params.sendQueue = data->gcsEventQueue;
data->uavtalk_params.recvQueue = data->uavtalkEventQueue;
data->uavtalk_params.wdg = PIOS_WDG_COMUAVTALK;
data->uavtalk_params.comPort = PIOS_COM_UAVTALK;
}
return 0;
}
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/**
* Reads UAVTalk messages froma com port and creates packets out of them.
* Telemetry transmit task, regular priority
*/
static void UAVTalkRecvTask(void *parameters)
static void telemetryTxTask(void *parameters)
{
UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
PHPacketHandle p = NULL;
// Create the buffered reader.
BufferedReadHandle f = BufferedReadInit(params->comPort, TEMP_BUFFER_SIZE);
while (1) {
bool HID_available = false;
xQueueHandle sendQueue = 0;
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
if (params->wdg)
PIOS_WDG_UpdateFlag(params->wdg);
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_USB)
// Is USB plugged in?
if (PIOS_USB_CheckAvailable(0))
HID_available = true;
#endif /* PIOS_INCLUDE_USB */
// Receive from USB HID if available, otherwise UAVTalk com if it's available.
if (params->isGCS && HID_available)
BufferedReadSetCom(f, PIOS_COM_USB_HID);
else
{
if (params->comPort)
BufferedReadSetCom(f, params->comPort);
else
{
vTaskDelay(5);
continue;
}
}
// Send packets to the UAVTalk port if this is a GCS connction and UAVTalk port is configured
// or to the GCS port if this is a UAVTalk connection and USB is plugged in.
if ((params->isGCS && data->UAVTalkCon) || (!params->isGCS && HID_available))
sendQueue = params->sendQueue;
// Read the next byte
uint8_t rx_byte;
if (!BufferedRead(f, &rx_byte, MAX_PORT_DELAY))
continue;
// Get a TX packet from the packet handler if required.
if (p == NULL)
{
// Wait until we receive a sync.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
if (state != UAVTALK_STATE_TYPE)
continue;
// Get a packet when we see the sync
p = PHGetTXPacket(pios_packet_handler);
// No packets available?
if (p == NULL)
{
data->droppedPackets++;
continue;
}
// Initialize the packet.
p->header.destination_id = data->destination_id;
p->header.type = PACKET_TYPE_DATA;
p->data[0] = rx_byte;
p->header.data_size = 1;
continue;
}
// Insert this byte.
p->data[p->header.data_size++] = rx_byte;
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(params->UAVTalkCon);
UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE)
{
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
{
// We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID)
{
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Is this concerning or setting object?
if (obj_per.ObjectID == PIPXSETTINGS_OBJID)
{
// Queue up the ACK.
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation)
{
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Load the settings.
PipXSettingsData pipxSettings;
if (PIOS_EEPROM_Load((uint8_t*)&pipxSettings, sizeof(PipXSettingsData)) == 0)
PipXSettingsSet(&pipxSettings);
else
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Save the settings.
PipXSettingsData pipxSettings;
PipXSettingsGet(&pipxSettings);
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Erase the settings.
PipXSettingsData pipxSettings;
uint8_t *ptr = (uint8_t*)&pipxSettings;
memset(ptr, 0, sizeof(PipXSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(PipXSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
default:
break;
}
if (success == true)
{
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
// Release the packet, since we don't need it.
PHReleaseTXPacket(pios_packet_handler, p);
}
else
{
// Otherwise, queue the packet for transmission.
if (sendQueue)
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
else
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
}
}
else
{
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
// Queue up an ACK
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
// Release the packet, since we don't need it.
PHReleaseTXPacket(pios_packet_handler, p);
}
}
else
{
// Queue the packet for transmission.
if (sendQueue)
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
else
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
}
p = NULL;
} else if(state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
{
// Queue up a NACK
queueEvent(params->recvQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
// Release the packet and start over again.
PHReleaseTXPacket(pios_packet_handler, p);
}
else
{
// Transmit the packet anyway...
if (sendQueue)
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
else
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
}
p = NULL;
}
}
}
/**
* Send packets to the com port.
*/
static void UAVTalkSendTask(void *parameters)
{
UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
UAVObjEvent ev;
// Loop forever
while (1) {
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
// NOTE: this is temporarily turned off becase PIOS_Com_SendBuffer appears to block for an uncontrollable time,
// and SendBufferNonBlocking doesn't seem to be working in this case.
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDDATA);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(params->recvQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
#endif
// Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(params->UAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
@ -527,7 +205,7 @@ static void UAVTalkSendTask(void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(params->UAVTalkCon, ev.obj, ev.instId) == 0;
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
@ -539,182 +217,76 @@ static void UAVTalkSendTask(void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(params->UAVTalkCon, UAVObjGetID(ev.obj)) == 0;
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
else if(ev.event == EV_PACKET_RECEIVED)
{
// Receive the packet.
PHReceivePacket(pios_packet_handler, (PHPacketHandle)ev.obj);
}
else if(ev.event == EV_TRANSMIT_PACKET)
{
// Transmit the packet.
PHPacketHandle p = (PHPacketHandle)ev.obj;
UAVTalkSendBuf(params->UAVTalkCon, p->data, p->header.data_size);
PHReleaseTXPacket(pios_packet_handler, p);
}
}
}
}
/**
* The com to radio bridge task.
* Radio rx task. Receive data packets from the radio and pass them on.
*/
static void transparentCommTask(void * parameters)
static void radioRxTask(void *parameters)
{
portTickType packet_start_time = 0;
uint32_t timeout = MAX_PORT_DELAY;
PHPacketHandle p = NULL;
/* Handle usart/usb -> radio direction */
// Task loop
while (1) {
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_TRANSCOMM);
#endif /* PIOS_INCLUDE_WDG */
// Get a TX packet from the packet handler if required.
if (p == NULL)
{
p = PHGetTXPacket(pios_packet_handler);
// No packets available?
if (p == NULL)
{
data->droppedPackets++;
// Wait a bit for a packet to come available.
vTaskDelay(5);
continue;
}
// Initialize the packet.
p->header.destination_id = data->destination_id;
//p->header.type = PACKET_TYPE_ACKED_DATA;
p->header.type = PACKET_TYPE_DATA;
p->header.data_size = 0;
}
// Receive data from the com port
uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
PH_MAX_DATA - p->header.data_size, timeout);
// Do we have an data to send?
p->header.data_size += cur_rx_bytes;
if (p->header.data_size > 0) {
// Check how long since last update
portTickType cur_sys_time = xTaskGetTickCount();
// Is this the start of a packet?
if(packet_start_time == 0)
packet_start_time = cur_sys_time;
// Just send the packet on wraparound
bool send_packet = (cur_sys_time < packet_start_time);
if (!send_packet)
{
portTickType dT = (cur_sys_time - packet_start_time) / portTICK_RATE_MS;
if (dT > data->send_timeout)
send_packet = true;
else
timeout = data->send_timeout - dT;
}
// Also send the packet if the size is over the minimum.
send_packet |= (p->header.data_size > data->min_packet_size);
// Should we send this packet?
if (send_packet)
{
// Queue the packet for transmission.
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
// Reset the timeout
timeout = MAX_PORT_DELAY;
p = NULL;
packet_start_time = 0;
}
}
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)
for (uint8_t i = 0; i < bytes_to_process; i++)
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR)
data->UAVTalkErrors++;
}
}
/**
* The PPM input task.
* Radio rx task. Receive data from a com port and pass it on to the radio.
*/
static void ppmInputTask(void *parameters)
static void radioTxTask(void *parameters)
{
PHPpmPacket ppm_packet;
PHPacketHandle pph = (PHPacketHandle)&ppm_packet;
// Task loop
while (1) {
uint32_t inputPort = PIOS_COM_TELEMETRY;
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
#endif /* PIOS_INCLUDE_WDG */
// Read the receiver.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
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)
inputPort = PIOS_COM_TELEM_USB;
#endif /* PIOS_INCLUDE_USB */
if(inputPort)
{
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0)
for (uint8_t i = 0; i < bytes_to_process; i++)
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
}
// Send the PPM packet if it's valid
if (valid_input_detected)
{
// Set the GCSReceiver UAVO if we're connected to the FC.
if (data->UAVTalkCon)
{
GCSReceiverData rcvr;
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = ppm_packet.channels[i];
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
}
else
{
// Otherwise, send a PPM packet over the radio link.
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
PHTransmitPacket(PIOS_PACKET_HANDLER, pph);
}
}
// Delay until the next update period.
vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* Transmit data buffer to the com port.
* \param[in] params The comm parameters.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t UAVTalkSend(UAVTalkComTaskParams *params, uint8_t *buf, int32_t length)
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
{
uint32_t outputPort = params->comPort;
uint32_t outputPort = PIOS_COM_TELEMETRY;
#if defined(PIOS_INCLUDE_USB)
if (params->isGCS)
{
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
}
// Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB && PIOS_COM_Available(PIOS_COM_TELEM_USB))
outputPort = PIOS_COM_TELEM_USB;
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
@ -729,103 +301,126 @@ static int32_t UAVTalkSend(UAVTalkComTaskParams *params, uint8_t *buf, int32_t l
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
{
return UAVTalkSend(&(data->uavtalk_params), buf, length);
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t GCSUAVTalkSendHandler(uint8_t *buf, int32_t length)
{
return UAVTalkSend(&(data->gcs_uavtalk_params), buf, length);
}
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid)
{
#if defined(PIOS_INCLUDE_USB)
// See if USB is connected if requested.
if(checkHid)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
if (!outputPort)
return;
// Send the received data to the com port
if (PIOS_COM_SendBuffer(outputPort, buf, len) != len)
// Error on transmit
data->comTxErrors++;
}
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
{
data->RSSI = rssi;
// Packet data should go to transparent com if it's configured,
// or just send it through the UAVTalk link.
if (PIOS_COM_TRANS_COM)
transmitData(PIOS_COM_TRANS_COM, buf, len, false);
else if (data->UAVTalkCon)
UAVTalkSendBuf(data->UAVTalkCon, buf, len);
uint32_t outputPort = PIOS_COM_RADIO;
// Don't send any data unless the radio port is available.
if(outputPort && PIOS_COM_Available(outputPort))
return PIOS_COM_SendBuffer(outputPort, buf, length);
else
UAVTalkSendBuf(data->GCSUAVTalkCon, buf, len);
// For some reason, if this function returns failure, it prevents saving settings.
return length;
}
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length)
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
BufferedReadHandle h = (BufferedReadHandle)pvPortMalloc(sizeof(ReadBuffer));
if (!h)
return NULL;
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc);
h->com_port = com_port;
h->buffer = (uint8_t*)pvPortMalloc(buffer_length);
h->length = buffer_length;
h->index = 0;
h->data_length = 0;
if (state == UAVTALK_STATE_COMPLETE)
{
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
{
// We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID)
{
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
if (h->buffer == NULL)
return NULL;
// Get the ObjectPersistence object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
return h;
}
// Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID)
{
// Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms)
{
// Read some data if required.
if(h->index == h->data_length)
{
uint32_t rx_bytes = PIOS_COM_ReceiveBuffer(h->com_port, h->buffer, h->length, timeout_ms);
if (rx_bytes == 0)
return false;
h->index = 0;
h->data_length = rx_bytes;
}
// Is this a save, load, or delete?
bool success = true;
switch (obj_per.Operation)
{
case OBJECTPERSISTENCE_OPERATION_LOAD:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Load the settings.
OPLinkSettingsData oplinkSettings;
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
OPLinkSettingsSet(&oplinkSettings);
else
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_SAVE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Save the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Erase the settings.
OPLinkSettingsData oplinkSettings;
uint8_t *ptr = (uint8_t*)&oplinkSettings;
memset(ptr, 0, sizeof(OPLinkSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
default:
break;
}
if (success == true)
{
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per);
}
}
}
else
{
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
// Queue up an ACK
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
}
}
// Return the next byte.
*value = h->buffer[h->index++];
return true;
}
} else if(state == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++;
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port)
{
h->com_port = com_port;
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
// Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
}
}
/**
@ -844,95 +439,165 @@ static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEve
}
/**
* Update the telemetry settings, called on startup.
* FIXME: This should be in the TelemetrySettings object. But objects
* have too much overhead yet. Also the telemetry has no any specific
* settings, etc. Thus the HwSettings object which contains the
* telemetry port speed is used for now.
* Configure the output port based on a configuration event from the remote coordinator.
* \param[in] com_port The com port to configure
* \param[in] com_speed The com port speed
*/
static void configureComCallback(OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed)
{
// Get the settings.
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
// Set the output telemetry port and speed.
switch (com_port)
{
case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEHID:
oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_HID;
break;
case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEVCP:
oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_VCP;
break;
case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTETELEMETRY:
oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_TELEMETRY;
break;
case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEFLEXI:
oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_FLEXI;
break;
case OPLINKSETTINGS_OUTPUTCONNECTION_TELEMETRY:
oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_HID;
break;
case OPLINKSETTINGS_OUTPUTCONNECTION_FLEXI:
oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_HID;
break;
}
oplinkSettings.ComSpeed = com_speed;
// A non-coordinator modem should not set a remote telemetry connection.
oplinkSettings.OutputConnection = OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEHID;
// Update the OPLinkSettings object.
OPLinkSettingsSet(&oplinkSettings);
// Perform the update.
updateSettings();
}
/**
* Update the oplink settings, called on startup.
*/
static void updateSettings()
{
// Get the settings.
PipXSettingsData pipxSettings;
PipXSettingsGet(&pipxSettings);
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
// Initialize the destination ID
data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
if (PIOS_COM_TELEMETRY) {
switch (pipxSettings.TelemetrySpeed) {
case PIPXSETTINGS_TELEMETRYSPEED_2400:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 2400);
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
if (is_coordinator)
{
// Set the remote com configuration parameters
PIOS_RFM22B_SetRemoteComConfig(pios_rfm22b_id, oplinkSettings.OutputConnection, oplinkSettings.ComSpeed);
// Configure the RFM22B device as coordinator or not
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, true);
// Set the frequencies.
PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, oplinkSettings.MinFrequency, oplinkSettings.MaxFrequency);
// Set the maximum radio RF power.
switch (oplinkSettings.MaxRFPower)
{
case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case PIPXSETTINGS_TELEMETRYSPEED_4800:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 4800);
case OPLINKSETTINGS_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case PIPXSETTINGS_TELEMETRYSPEED_9600:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 9600);
case OPLINKSETTINGS_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case PIPXSETTINGS_TELEMETRYSPEED_19200:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 19200);
case OPLINKSETTINGS_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case PIPXSETTINGS_TELEMETRYSPEED_38400:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 38400);
case OPLINKSETTINGS_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case PIPXSETTINGS_TELEMETRYSPEED_57600:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 57600);
case OPLINKSETTINGS_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case PIPXSETTINGS_TELEMETRYSPEED_115200:
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 115200);
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;
}
// Set the radio destination ID.
PIOS_RFM22B_SetDestinationId(pios_rfm22b_id, oplinkSettings.PairID);
}
if (PIOS_COM_FLEXI) {
switch (pipxSettings.FlexiSpeed) {
case PIPXSETTINGS_TELEMETRYSPEED_2400:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 2400);
break;
case PIPXSETTINGS_TELEMETRYSPEED_4800:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 4800);
break;
case PIPXSETTINGS_TELEMETRYSPEED_9600:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 9600);
break;
case PIPXSETTINGS_TELEMETRYSPEED_19200:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 19200);
break;
case PIPXSETTINGS_TELEMETRYSPEED_38400:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 38400);
break;
case PIPXSETTINGS_TELEMETRYSPEED_57600:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 57600);
break;
case PIPXSETTINGS_TELEMETRYSPEED_115200:
PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 115200);
break;
}
// Determine what com ports we're using.
switch (oplinkSettings.InputConnection)
{
case OPLINKSETTINGS_INPUTCONNECTION_VCP:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_VCP;
break;
case OPLINKSETTINGS_INPUTCONNECTION_TELEMETRY:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_TELEM;
break;
case OPLINKSETTINGS_INPUTCONNECTION_FLEXI:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
break;
default:
PIOS_COM_TELEMETRY = 0;
break;
}
if (PIOS_COM_VCP) {
switch (pipxSettings.VCPSpeed) {
case PIPXSETTINGS_TELEMETRYSPEED_2400:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 2400);
break;
case PIPXSETTINGS_TELEMETRYSPEED_4800:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 4800);
break;
case PIPXSETTINGS_TELEMETRYSPEED_9600:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 9600);
break;
case PIPXSETTINGS_TELEMETRYSPEED_19200:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 19200);
break;
case PIPXSETTINGS_TELEMETRYSPEED_38400:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 38400);
break;
case PIPXSETTINGS_TELEMETRYSPEED_57600:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 57600);
break;
case PIPXSETTINGS_TELEMETRYSPEED_115200:
PIOS_COM_ChangeBaud(PIOS_COM_VCP, 115200);
break;
}
switch (oplinkSettings.OutputConnection)
{
case OPLINKSETTINGS_OUTPUTCONNECTION_FLEXI:
PIOS_COM_RADIO = PIOS_COM_TELEM_UART_FLEXI;
break;
case OPLINKSETTINGS_OUTPUTCONNECTION_TELEMETRY:
PIOS_COM_RADIO = PIOS_COM_TELEM_UART_TELEM;
break;
default:
PIOS_COM_RADIO = PIOS_COM_RFM22B;
break;
}
// Configure the com port speeds.
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_2400:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 2400);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 2400);
break;
case OPLINKSETTINGS_COMSPEED_4800:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 4800);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 4800);
break;
case OPLINKSETTINGS_COMSPEED_9600:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 9600);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 9600);
break;
case OPLINKSETTINGS_COMSPEED_19200:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 19200);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 19200);
break;
case OPLINKSETTINGS_COMSPEED_38400:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 38400);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 38400);
break;
case OPLINKSETTINGS_COMSPEED_57600:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 57600);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 57600);
break;
case OPLINKSETTINGS_COMSPEED_115200:
if (is_coordinator && PIOS_COM_RADIO) PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 115200);
if (PIOS_COM_TELEMETRY) PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 115200);
break;
}
}

20
flight/Modules/Stabilization/stabilization.c
View File

@ -79,6 +79,7 @@ uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral;
bool lowThrottleZeroAxis[MAX_AXES];
float vbar_decay = 0.991f;
struct pid pids[PID_MAX];
@ -357,6 +358,18 @@ static void stabilizationTask(void* parameters)
actuatorDesired.UpdateTime = dT * 1000;
actuatorDesired.Throttle = stabDesired.Throttle;
// Suppress desired output while disarmed or throttle low, for configured axis
if (flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED || stabDesired.Throttle < 0) {
if (lowThrottleZeroAxis[ROLL])
actuatorDesired.Roll = 0.0f;
if (lowThrottleZeroAxis[PITCH])
actuatorDesired.Pitch = 0.0f;
if (lowThrottleZeroAxis[YAW])
actuatorDesired.Yaw = 0.0f;
}
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) != FLIGHTMODE_MANUAL) {
ActuatorDesiredSet(&actuatorDesired);
} else {
@ -460,7 +473,12 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
// Whether to zero the PID integrals while throttle is low
lowThrottleZeroIntegral = settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE;
// Whether to suppress (zero) the StabilizationDesired output for each axis while disarmed or throttle is low
lowThrottleZeroAxis[ROLL] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_ROLL] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[PITCH] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_PITCH] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
lowThrottleZeroAxis[YAW] = settings.LowThrottleZeroAxis[STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_YAW] == STABILIZATIONSETTINGS_LOWTHROTTLEZEROAXIS_TRUE;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant
// based on a time (in ms) rather than a fixed multiplier. The error between

139
flight/Modules/Telemetry/telemetry.c
View File

@ -35,10 +35,6 @@
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "hwsettings.h"
#if defined(PIOS_PACKET_HANDLER)
#include "pipxstatus.h"
#include "packet_handler.h"
#endif
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
@ -78,16 +74,12 @@ static void telemetryRxTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj, int32_t eventType);
static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent * ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
static uint32_t getComPort();
#ifdef PIOS_PACKET_HANDLER
static void receivePacketData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
#endif
/**
* Initialise the telemetry module
@ -101,13 +93,6 @@ int32_t TelemetryStart(void)
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
// Register to receive data from the radio packet handler.
// This must be after the radio module is initialized.
#ifdef PIOS_PACKET_HANDLER
if (PIOS_PACKET_HANDLER)
PHRegisterDataHandler(PIOS_PACKET_HANDLER, receivePacketData);
#endif
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
@ -169,11 +154,31 @@ MODULE_INITCALL(TelemetryInitialize, TelemetryStart)
*/
static void registerObject(UAVObjHandle obj)
{
// Setup object for periodic updates
addObject(obj);
if (UAVObjIsMetaobject(obj)) {
/* Only connect change notifications for meta objects. No periodic updates */
UAVObjConnectQueue(obj, priorityQueue, EV_MASK_ALL_UPDATES);
return;
} else {
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
/* Only create a periodic event for objects that are periodic */
if ((updateMode == UPDATEMODE_PERIODIC) ||
(updateMode == UPDATEMODE_THROTTLED)) {
// Setup object for periodic updates
UAVObjEvent ev = {
.obj = obj,
.instId = UAVOBJ_ALL_INSTANCES,
.event = EV_UPDATED_PERIODIC,
};
EventPeriodicQueueCreate(&ev, queue, 0);
}
// Setup object for telemetry updates
updateObject(obj, EV_NONE);
}
}
/**
@ -186,30 +191,35 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
UAVObjUpdateMode updateMode;
int32_t eventMask;
if (UAVObjIsMetaobject(obj)) {
/* This function updates the periodic updates for the object.
* Meta Objects cannot have periodic updates.
*/
PIOS_Assert(false);
return;
}
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (updateMode == UPDATEMODE_PERIODIC) {
switch (updateMode) {
case UPDATEMODE_PERIODIC:
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_ONCHANGE) {
break;
case UPDATEMODE_ONCHANGE:
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
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, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_THROTTLED) {
break;
case UPDATEMODE_THROTTLED:
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
@ -220,19 +230,15 @@ static void updateObject(UAVObjHandle obj, int32_t eventType)
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_MANUAL) {
break;
case UPDATEMODE_MANUAL:
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
break;
}
}
@ -261,11 +267,6 @@ static void processObjEvent(UAVObjEvent * ev)
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
#ifdef PIOS_PACKET_HANDLER
// Don't send PipXStatus objects over the radio link.
if (PIOS_PACKET_HANDLER && (ev->obj == PipXStatusHandle()) && (getComPort() == 0))
return;
#endif
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
@ -291,11 +292,11 @@ static void processObjEvent(UAVObjEvent * ev)
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
} else {
if (updateMode == UPDATEMODE_THROTTLED) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
}
}
}
}
@ -374,34 +375,12 @@ static int32_t transmitData(uint8_t * data, int32_t length)
{
uint32_t outputPort = getComPort();
if (outputPort) {
if (outputPort)
return PIOS_COM_SendBuffer(outputPort, data, length);
}
#ifdef PIOS_PACKET_HANDLER
if (PIOS_PACKET_HANDLER)
if (PHTransmitData(PIOS_PACKET_HANDLER, data, length))
return length;
#endif
return -1;
}
/**
* Setup object for periodic updates.
* \param[in] obj The object to update
* \return 0 Success
* \return -1 Failure
*/
static int32_t addObject(UAVObjHandle obj)
{
UAVObjEvent ev;
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueCreate(&ev, queue, 0);
}
/**
* Set update period of object (it must be already setup for periodic updates)
* \param[in] obj The object to update
@ -569,30 +548,20 @@ static void updateSettings()
}
/**
* Determine input/output com port (USB takes priority over telemetry port)
* Determine input/output com port as highest priority available
*/
static uint32_t getComPort() {
#if defined(PIOS_INCLUDE_USB)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
if ( PIOS_COM_Available(PIOS_COM_TELEM_USB) )
return PIOS_COM_TELEM_USB;
else
#endif /* PIOS_INCLUDE_USB */
return telemetryPort;
if ( PIOS_COM_Available(telemetryPort) )
return telemetryPort;
else
return 0;
}
#ifdef PIOS_PACKET_HANDLER
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receivePacketData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
{
for (uint8_t i = 0; i < len; ++i)
UAVTalkProcessInputStream(uavTalkCon, buf[i]);
}
#endif
/**
* @}
* @}

3
flight/PiOS.osx/inc/pios_com.h
View File

@ -41,6 +41,7 @@ struct pios_com_driver {
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
bool (*available)(uint32_t id);
};
/* Public Functions */
@ -55,7 +56,7 @@ extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
extern bool PIOS_COM_Available(uint32_t com_id);
#endif /* PIOS_COM_H */

21
flight/PiOS.osx/osx/pios_com.c
View File

@ -497,21 +497,24 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len
}
/**
* Get the number of bytes waiting in the buffer
* \param[in] port COM port
* \return Number of bytes used in buffer
*/
int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
* Query if a com port is available for use. That can be
* used to check a link is established even if the device
* is valid.
*/
bool PIOS_COM_Available(uint32_t com_id)
{
struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_Assert(0);
return false;
}
PIOS_Assert(com_dev->has_rx);
return (fifoBuf_getUsed(&com_dev->rx));
// If a driver does not provide a query method assume always
// available if valid
if (com_dev->driver->available == NULL)
return true;
return (com_dev->driver->available)(com_dev->lower_id);
}
#endif

3
flight/PiOS.posix/inc/pios_com.h
View File

@ -41,6 +41,7 @@ struct pios_com_driver {
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
bool (*available)(uint32_t id);
};
/* Public Functions */
@ -55,7 +56,7 @@ extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
extern int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id);
extern bool PIOS_COM_Available(uint32_t com_id);
#endif /* PIOS_COM_H */

21
flight/PiOS.posix/posix/pios_com.c
View File

@ -497,21 +497,24 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len
}
/**
* Get the number of bytes waiting in the buffer
* \param[in] port COM port
* \return Number of bytes used in buffer
*/
int32_t PIOS_COM_ReceiveBufferUsed(uint32_t com_id)
* Query if a com port is available for use. That can be
* used to check a link is established even if the device
* is valid.
*/
bool PIOS_COM_Available(uint32_t com_id)
{
struct pios_com_dev * com_dev = PIOS_COM_find_dev(com_id);
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_Assert(0);
return false;
}
PIOS_Assert(com_dev->has_rx);
return (fifoBuf_getUsed(&com_dev->rx));
// If a driver does not provide a query method assume always
// available if valid
if (com_dev->driver->available == NULL)
return true;
return (com_dev->driver->available)(com_dev->lower_id);
}
#endif

69
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
@ -90,6 +88,12 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_LED_LINK 1
#define PIOS_LED_RX 2
#define PIOS_LED_TX 3
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define PIOS_LED_D1 4
#define PIOS_LED_D2 5
#define PIOS_LED_D3 6
#define PIOS_LED_D4 7
#endif
#define PIOS_LED_HEARTBEAT PIOS_LED_USB
#define PIOS_LED_ALARM PIOS_LED_TX
@ -110,6 +114,24 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX)
#define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX)
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define D1_LED_ON PIOS_LED_On(PIOS_LED_D1)
#define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1)
#define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1)
#define D2_LED_ON PIOS_LED_On(PIOS_LED_D2)
#define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2)
#define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2)
#define D3_LED_ON PIOS_LED_On(PIOS_LED_D3)
#define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3)
#define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3)
#define D4_LED_ON PIOS_LED_On(PIOS_LED_D4)
#define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4)
#define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4)
#endif
//-------------------------
// System Settings
//-------------------------
@ -151,29 +173,24 @@ extern uint32_t pios_i2c_flexi_adapter_id;
#define PIOS_COM_MAX_DEVS 5
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_telem_vcp_id;
extern uint32_t pios_com_telem_uart_telem_id;
extern uint32_t pios_com_telem_uart_flexi_id;
extern uint32_t pios_com_telemetry_id;
extern uint32_t pios_com_flexi_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_uavtalk_com_id;
extern uint32_t pios_com_gcs_com_id;
extern uint32_t pios_com_trans_com_id;
extern uint32_t pios_com_debug_id;
extern uint32_t pios_com_rfm22b_id;
extern uint32_t pios_com_radio_id;
extern uint32_t pios_ppm_rcvr_id;
#define PIOS_COM_USB_HID (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_VCP (pios_com_telem_vcp_id)
#define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_id)
#define PIOS_COM_TELEM_UART_TELEM (pios_com_telem_uart_telem_id)
#define PIOS_COM_TELEMETRY (pios_com_telemetry_id)
#define PIOS_COM_FLEXI (pios_com_flexi_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_UAVTALK (pios_com_uavtalk_com_id)
#define PIOS_COM_GCS (pios_com_gcs_com_id)
#define PIOS_COM_TRANS_COM (pios_com_trans_com_id)
#define PIOS_COM_DEBUG (pios_com_debug_id)
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
#define PIOS_COM_TELEM_USB PIOS_COM_USB_HID
#define PIOS_COM_RFM22B (pios_com_rfm22b_id)
#define PIOS_COM_RADIO (pios_com_radio_id)
#define PIOS_PPM_RECEIVER (pios_ppm_rcvr_id)
#define DEBUG_LEVEL 2
#if DEBUG_LEVEL > 0
#if DEBUG_LEVEL > 1000
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && PIOS_COM_DEBUG > 0) { PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); }}
#else
#define DEBUG_PRINTF(...)
@ -230,8 +247,7 @@ extern uint32_t pios_ppm_rcvr_id;
// Receiver PPM input
//-------------------------
#define PIOS_PPM_MAX_DEVS 1
#define PIOS_PPM_NUM_INPUTS 12
#define PIOS_PPM_PACKET_UPDATE_PERIOD_MS 25
#define PIOS_PPM_NUM_INPUTS 8
//-------------------------
// Servo outputs
@ -268,13 +284,8 @@ extern uint32_t pios_ppm_rcvr_id;
//-------------------------
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
extern uint32_t pios_spi_rfm22b_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
#define RFM22_EXT_INT_USE
extern uint32_t pios_rfm22b_id;
#endif /* PIOS_INCLUDE_RFM22B */

8
flight/PiOS/Boards/STM32F4xx_RevoMini.h
View File

@ -33,7 +33,7 @@
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define DEBUG_LEVEL 0
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_aux_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_aux_id, __VA_ARGS__); }}
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && pios_com_debug_id > 0) { PIOS_COM_SendFormattedStringNonBlocking(pios_com_debug_id, __VA_ARGS__); }}
#else
#define DEBUG_PRINTF(level, ...)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
@ -143,10 +143,7 @@ extern uint32_t pios_com_debug_id;
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#if defined(PIOS_INCLUDE_RFM22B)
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
extern uint32_t pios_com_rfm22b_id;
#define PIOS_COM_RADIO (pios_com_rfm22b_id)
extern uint32_t pios_rfm22b_id;
extern uint32_t pios_spi_telem_flash_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
#endif /* PIOS_INCLUDE_RFM22B */
@ -217,6 +214,7 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 100
//-------------------------
// Receiver PPM input

21
flight/PiOS/Common/pios_com.c
View File

@ -503,6 +503,27 @@ uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len
return (bytes_from_fifo);
}
/**
* Query if a com port is available for use. That can be
* used to check a link is established even if the device
* is valid.
*/
bool PIOS_COM_Available(uint32_t com_id)
{
struct pios_com_dev * com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
return false;
}
// If a driver does not provide a query method assume always
// available if valid
if (com_dev->driver->available == NULL)
return true;
return (com_dev->driver->available)(com_dev->lower_id);
}
#endif
/**

2
flight/PiOS/Common/pios_flash_jedec.c
View File

@ -196,7 +196,6 @@ int32_t PIOS_Flash_Jedec_Init(uint32_t spi_id, uint32_t slave_num, const struct
*/
int32_t PIOS_Flash_Jedec_StartTransaction()
{
return 0;
#if defined(FLASH_FREERTOS)
if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
return -1;
@ -213,7 +212,6 @@ int32_t PIOS_Flash_Jedec_StartTransaction()
*/
int32_t PIOS_Flash_Jedec_EndTransaction()
{
return 0;
#if defined(FLASH_FREERTOS)
if(PIOS_Flash_Jedec_Validate(flash_dev) != 0)
return -1;

2
flight/PiOS/Common/pios_mpu6000.c
View File

@ -272,7 +272,7 @@ static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
/**
* @brief Read current X, Z, Y values (in that order)
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
* \returns The number of samples remaining in the fifo
* \returns 0 if succesful
*/
int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * data)
{

2150
flight/PiOS/Common/pios_rfm22b.c
View File

@ -59,17 +59,33 @@
/* Local Defines */
#define STACK_SIZE_BYTES 200
#define TASK_PRIORITY (tskIDLE_PRIORITY + 2)
#define ISR_TIMEOUT 5 // ms
#define ISR_TIMEOUT 2 // ms
#define EVENT_QUEUE_SIZE 5
#define PACKET_QUEUE_SIZE 3
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_64000
#define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
#define RFM22B_DEFAULT_FREQUENCY 434000000
#define RFM22B_DEFAULT_MIN_FREQUENCY (RFM22B_DEFAULT_FREQUENCY - 2000000)
#define RFM22B_DEFAULT_MAX_FREQUENCY (RFM22B_DEFAULT_FREQUENCY + 2000000)
#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_7
#define RFM22B_LINK_QUALITY_THRESHOLD 20
// The maximum amount of time since the last message received to consider the connection broken.
#define DISCONNECT_TIMEOUT_MS 1000 // ms
// The maximum amount of time without activity before initiating a reset.
#define PIOS_RFM22B_SUPERVISOR_TIMEOUT 100 // ms
// The time between updates over the radio link.
// The time between connection attempts when not connected
#define CONNECT_ATTEMPT_PERIOD_MS 250 // ms
// The time between updates for sending stats the radio link.
#define RADIOSTATS_UPDATE_PERIOD_MS 250
// The number of stats updates that a modem can miss before it's considered disconnected
#define MAX_RADIOSTATS_MISS_COUNT 3
// The time between PPM updates
#define PPM_UPDATE_PERIOD_MS 40
// this is too adjust the RF module so that it is on frequency
#define OSC_LOAD_CAP 0x7F // cap = 12.5pf .. default
#define OSC_LOAD_CAP_1 0x7D // board 1
@ -119,156 +135,6 @@
// AFC enabled
/* Local type definitions */
enum pios_rfm22b_dev_magic {
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
};
enum pios_rfm22b_state {
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_NUM_STATES // Must be last
};
enum pios_rfm22b_event {
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_SEND_PACKET,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_TX_STARTED,
RFM22B_EVENT_TX_COMPLETE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,
RFM22B_EVENT_NUM_EVENTS // Must be last
};
struct pios_rfm22b_dev {
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
uint32_t spi_id;
uint32_t slave_num;
// The device ID
uint32_t deviceID;
// The destination ID
uint32_t destination_id;
// The task handle
xTaskHandle taskHandle;
// ISR pending
xSemaphoreHandle isrPending;
// Receive packet complete
xSemaphoreHandle rxsem;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
// the transmit power to use for data transmissions
uint8_t tx_power;
// The RF datarate lookup index.
uint8_t datarate;
// The state machine state and the current event
enum pios_rfm22b_state state;
// The event queue handle
xQueueHandle eventQueue;
// device status register
uint8_t device_status;
// interrupt status register 1
uint8_t int_status1;
// interrupt status register 2
uint8_t int_status2;
// ezmac status register
uint8_t ezmac_status;
// The packet transmission counts
uint32_t tx_packet_count;
uint32_t rx_packet_count;
// The dropped packet counters
uint8_t slow_block;
uint8_t fast_block;
uint8_t slow_good_packets;
uint8_t fast_good_packets;
uint8_t slow_corrected_packets;
uint8_t fast_corrected_packets;
uint8_t slow_error_packets;
uint8_t fast_error_packets;
uint8_t slow_link_quality;
uint8_t fast_link_quality;
// Stats
uint16_t resets;
uint16_t timeouts;
uint16_t errors;
// the current RSSI (register value)
uint8_t rssi;
// RSSI in dBm
int8_t rssi_dBm;
// The packet queue handle
xQueueHandle packetQueue;
// The current tx packet
PHPacketHandle tx_packet;
// the tx data read index
uint16_t tx_data_rd;
// the tx data write index
uint16_t tx_data_wr;
// The current rx packet
PHPacketHandle rx_packet;
// The previous rx packet
PHPacketHandle rx_packet_prev;
// The next rx packet
PHPacketHandle rx_packet_next;
// the receive buffer write index
uint16_t rx_buffer_wr;
// the receive buffer write index
uint16_t rx_packet_len;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
// the frequency hop step size
uint8_t frequency_hop_step_size_reg;
// afc correction reading (in Hz)
int32_t afc_correction_Hz;
int8_t rx_packet_start_afc_Hz;
// The status packet
PHStatusPacket status_packet;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
portTickType packet_start_ticks;
};
struct pios_rfm22b_transition {
enum pios_rfm22b_event (*entry_fn) (struct pios_rfm22b_dev *rfm22b_dev);
@ -302,48 +168,53 @@ static const uint8_t OUT_FF[64] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
/* Local function forwared declarations */
static void PIOS_RFM22B_Task(void *parameters);
static void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening);
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event);
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev);
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status);
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len);
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz);
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_clearLEDs();
// SPI read/write functions
static void rfm22_assertCs();
static void rfm22_deassertCs();
static void rfm22_claimBus();
static void rfm22_releaseBus();
static void rfm22_write(uint8_t addr, uint8_t data);
static uint8_t rfm22_read(uint8_t addr);
static uint8_t rfm22_read_noclaim(uint8_t addr);
/* Provide a COM driver */
static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud);
static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail);
static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail);
/* Local variables */
const struct pios_com_driver pios_rfm22b_com_driver = {
.set_baud = PIOS_RFM22B_ChangeBaud,
.tx_start = PIOS_RFM22B_TxStart,
.rx_start = PIOS_RFM22B_RxStart,
.bind_tx_cb = PIOS_RFM22B_RegisterTxCallback,
.bind_rx_cb = PIOS_RFM22B_RegisterRxCallback,
};
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev);
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data);
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr);
/* Te state transition table */
const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_STATES] = {
// Initialization thread
[RFM22B_STATE_UNINITIALIZED] = {
.entry_fn = 0,
.next_state = {
@ -354,31 +225,68 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_STATE_INITIALIZING] = {
.entry_fn = rfm22_init,
.next_state = {
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_INITIATING_CONNECTION,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_INITIATING_CONNECTION] = {
.entry_fn = rfm22_initConnection,
.next_state = {
[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
[RFM22B_EVENT_WAIT_FOR_CONNECTION] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_REQUESTING_CONNECTION] = {
.entry_fn = rfm22_requestConnection,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_ACCEPTING_CONNECTION] = {
.entry_fn = rfm22_acceptConnection,
.next_state = {
[RFM22B_EVENT_CONNECTION_ACCEPTED] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_MODE] = {
.entry_fn = rfm22_setRxMode,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_WAIT_PREAMBLE] = {
.entry_fn = rfm22_detectPreamble,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_PREAMBLE_DETECTED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SEND_PACKET] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_ACK_TIMEOUT] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_PREAMBLE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
@ -387,9 +295,10 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_WAIT_SYNC,
[RFM22B_EVENT_SYNC_DETECTED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
@ -397,9 +306,57 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_rxData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
[RFM22B_EVENT_PACKET_ACKED] = RFM22B_STATE_RECEIVING_ACK,
[RFM22B_EVENT_PACKET_NACKED] = RFM22B_STATE_RECEIVING_NACK,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_RX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RX_FAILURE] = {
.entry_fn = rfm22_rxFailure,
.next_state = {
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_ACK] = {
.entry_fn = rfm22_receiveAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_NACK] = {
.entry_fn = rfm22_receiveNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_RECEIVING_STATUS] = {
.entry_fn = rfm22_receiveStatus,
.next_state = {
[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
@ -410,6 +367,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
@ -417,9 +375,41 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.entry_fn = rfm22_txData,
.next_state = {
[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
[RFM22B_EVENT_TX_COMPLETE] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_TX_FAILURE] = {
.entry_fn = rfm22_txFailure,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_ACK] = {
.entry_fn = rfm22_sendAck,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_SENDING_NACK] = {
.entry_fn = rfm22_sendNack,
.next_state = {
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
@ -429,6 +419,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
@ -437,14 +428,13 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
.next_state = {
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
[RFM22B_STATE_FATAL_ERROR] = {
.entry_fn = rfm22_fatal_error,
.next_state = {
[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
},
},
};
@ -509,7 +499,15 @@ static const uint8_t ss_reg_70[] = { 0x24, 0x2D}; // rfm22_modulation_mode_cont
static const uint8_t ss_reg_71[] = { 0x2B, 0x23}; // rfm22_modulation_mode_control2
static bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
{
if(end_time >= start_time)
return (end_time - start_time) * portTICK_RATE_MS;
// Rollover
return ((portMAX_DELAY - start_time) + end_time) * portTICK_RATE_MS;
}
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev)
{
return (rfm22b_dev != NULL && rfm22b_dev->magic == PIOS_RFM22B_DEV_MAGIC);
}
@ -557,72 +555,45 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *) PIOS_RFM22B_alloc();
if (!rfm22b_dev)
return(-1);
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Store the SPI handle
rfm22b_dev->slave_num = slave_num;
rfm22b_dev->spi_id = spi_id;
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Initialize our configuration parameters
rfm22b_dev->coordinator = false;
rfm22b_dev->send_ppm = false;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
// Initialize the com callbacks.
rfm22b_dev->com_config_cb = NULL;
rfm22b_dev->rx_in_cb = NULL;
rfm22b_dev->tx_out_cb = NULL;
// Initialize the stats.
rfm22b_dev->stats.packets_per_sec = 0;
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.rx_missed = 0;
rfm22b_dev->stats.tx_dropped = 0;
rfm22b_dev->stats.tx_resent = 0;
rfm22b_dev->stats.resets = 0;
rfm22b_dev->stats.timeouts = 0;
rfm22b_dev->stats.link_quality = 0;
rfm22b_dev->stats.rssi = 0;
// Create the event queue
rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
// Initlize the link stats.
rfm22b_dev->slow_block = 0;
rfm22b_dev->fast_block = 0;
rfm22b_dev->slow_good_packets = 0;
rfm22b_dev->fast_good_packets = 0;
rfm22b_dev->slow_corrected_packets = 0;
rfm22b_dev->fast_corrected_packets = 0;
rfm22b_dev->slow_error_packets = 0;
rfm22b_dev->fast_error_packets = 0;
rfm22b_dev->slow_link_quality = 255;
rfm22b_dev->fast_link_quality = 255;
// Initialize the stats.
rfm22b_dev->resets = 0;
rfm22b_dev->timeouts = 0;
rfm22b_dev->errors = 0;
rfm22b_dev->tx_packet_count = 0;
rfm22b_dev->rx_packet_count = 0;
rfm22b_dev->rssi = 0;
rfm22b_dev->rssi_dBm = -127;
// Bind the configuration to the device instance
rfm22b_dev->cfg = *cfg;
rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
// Initialize the packets.
rfm22b_dev->rx_packet = NULL;
rfm22b_dev->rx_packet_next = NULL;
rfm22b_dev->rx_packet_prev = NULL;
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
*rfm22b_id = (uint32_t)rfm22b_dev;
g_rfm22b_dev = rfm22b_dev;
// Calculate the (approximate) maximum amount of time that it should take to transmit / receive a packet.
rfm22b_dev->packet_start_ticks = 0;
// Create a semaphore to know if an ISR needs responding to
vSemaphoreCreateBinary( rfm22b_dev->isrPending );
// Create a semaphore to know when an rx packet is available
vSemaphoreCreateBinary( rfm22b_dev->rxsem );
// Create the packet queue.
rfm22b_dev->packetQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
// Initialize the max tx power level.
PIOS_RFM22B_SetTxPower(*rfm22b_id, cfg->maxTxPower);
// Create our (hopefully) unique 32 bit id from the processor serial number.
uint8_t crcs[] = { 0, 0, 0, 0 };
{
@ -643,12 +614,18 @@ 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 */
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(PIOS_RFM22B_Task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
// Initialize the ECC library.
initialize_ecc();
// Set the state to initializing.
rfm22b_dev->state = RFM22B_STATE_UNINITIALIZED;
// Initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
// Start the driver task. This task controls the radio state machine and removed all of the IO from the IRQ handler.
xTaskCreate(PIOS_RFM22B_Task, (signed char *)"PIOS_RFM22B_Task", STACK_SIZE_BYTES, (void*)rfm22b_dev, TASK_PRIORITY, &(rfm22b_dev->taskHandle));
return(0);
}
@ -671,7 +648,7 @@ bool PIOS_RFM22_EXT_Int(void)
* \param[in] event The event to inject
* \param[in] inISR Is this being called from an interrrup service routine?
*/
static void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR)
{
// Store the event.
@ -697,184 +674,172 @@ static void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pio
}
/**
* Returns the unique device ID for th RFM22B device.
* Returns the unique device ID for the RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \return The unique device ID
*/
uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(PIOS_RFM22B_validate(rfm22b_dev))
if (PIOS_RFM22B_validate(rfm22b_dev))
return rfm22b_dev->deviceID;
else
return 0;
}
/**
* Sets the radio device transmit power.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] tx_pwr The transmit power.
*/
void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->tx_power = tx_pwr;
}
void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id)
/**
* Sets the radio frequency range and value.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] min_frequency The minimum frequency.
* \param[in] max_frequency The maximum frequency.
*/
void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_frequency, uint32_t max_frequency)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->destination_id = (dest_id == 0) ? 0xffffffff : dest_id;
}
uint16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
return rfm22b_dev->resets;
}
uint16_t PIOS_RFM22B_Timeouts(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
return rfm22b_dev->timeouts;
}
uint8_t PIOS_RFM22B_LinkQuality(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
return rfm22b_dev->slow_link_quality;
}
int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
return rfm22b_dev->rssi_dBm;
}
static void PIOS_RFM22B_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
bool valid = PIOS_RFM22B_validate(rfm22b_dev);
PIOS_Assert(valid);
rfm22b_dev->min_frequency = min_frequency;
rfm22b_dev->max_frequency = max_frequency;
rfm22_setNominalCarrierFrequency(rfm22b_dev, (max_frequency - min_frequency) / 2);
}
/**
* Insert a packet on the packet queue for sending.
* Note: If this finction succedds, the packet will be released by the driver, so no release is necessary.
* If this function doesn't success, the caller is still responsible for the packet.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] p The packet handle.
* \param[in] max_delay The maximum time to delay waiting to queue the packet.
* \return true on success, false on failue to queue the packet.
* Sets the radio destination ID.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] dest_id The destination ID.
*/
bool PIOS_RFM22B_Send_Packet(uint32_t rfm22b_id, PHPacketHandle p, uint32_t max_delay)
void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->destination_id = (dest_id == 0) ? 0xffffffff : dest_id;
// The first slot is reserved for our current pairID
rfm22b_dev->pair_stats[0].pairID = dest_id;
rfm22b_dev->pair_stats[0].rssi = -127;
rfm22b_dev->pair_stats[0].afc_correction = 0;
rfm22b_dev->pair_stats[0].lastContact = 0;
}
/**
* Configures the radio as a coordinator or not.
* \param[in] rfm22b_id The RFM22B device index.
* \param[in] coordinator Sets as coordinator if true.
*/
void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->coordinator = coordinator;
// Re-initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
}
/**
* Set the remote com port configuration parameters.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] com_port The remote com port
* \param[in] com_speed The remote com port speed
*/
void PIOS_RFM22B_SetRemoteComConfig(uint32_t rfm22b_id, OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->con_packet.port = com_port;
rfm22b_dev->con_packet.com_speed = com_speed;
}
/**
* Set the com port configuration callback (to receive com configuration over the air)
* \param[in] rfm22b_id The rfm22b device.
* \param[in] cb A pointer to the callback function
*/
void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->com_config_cb = cb;
}
/**
* Returns the device statistics RFM22B device.
* \param[in] rfm22b_id The RFM22B device index.
* \param[out] stats The stats are returned in this structure
*/
void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
// Calculate the current link quality
rfm22_calculateLinkQuality(rfm22b_dev);
// We are connected if our destination ID is in the pair stats.
if (rfm22b_dev->destination_id != 0xffffffff)
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
if ((rfm22b_dev->pair_stats[i].pairID == rfm22b_dev->destination_id) &&
(rfm22b_dev->pair_stats[i].rssi > -127))
{
rfm22b_dev->stats.rssi = rfm22b_dev->pair_stats[i].rssi;
rfm22b_dev->stats.afc_correction = rfm22b_dev->pair_stats[i].afc_correction;
break;
}
}
*stats = rfm22b_dev->stats;
}
/**
* Get the stats of the oter radio devices that are in range.
* \param[out] device_ids A pointer to the array to store the device IDs.
* \param[out] RSSIs A pointer to the array to store the RSSI values in.
* \param[in] mx_pairs The length of the pdevice_ids and RSSIs arrays.
* \return The number of pair stats returned.
*/
uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
uint8_t mp = (max_pairs >= OPLINKSTATUS_PAIRIDS_NUMELEM) ? max_pairs : OPLINKSTATUS_PAIRIDS_NUMELEM;
for (uint8_t i = 0; i < mp; ++i)
{
device_ids[i] = rfm22b_dev->pair_stats[i].pairID;
RSSIs[i] = rfm22b_dev->pair_stats[i].rssi;
}
return mp;
}
/**
* Check the radio device for a valid connection
* \param[in] rfm22b_id The rfm22b device.
* Returns true if there is a valid connection to paired radio, false otherwise.
*/
bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return false;
// Store the packet handle in the packet queue
if (xQueueSend(rfm22b_dev->packetQueue, &p, max_delay) != pdTRUE)
return false;
// Inject a send packet event
PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_SEND_PACKET, false);
// Success
return true;
}
/**
* Receive a packet from the radio.
* \param[in] rfm22b_id The rfm22b device.
* \param[in] pret A pointer to the packet handle.
* \param[in] max_delay The maximum time to delay waiting for a packet.
* \return The number of bytes received.
*/
uint32_t PIOS_RFM22B_Receive_Packet(uint32_t rfm22b_id, PHPacketHandle *pret, uint32_t max_delay)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return 0;
// Allocate the next Rx packet
if (rfm22b_dev->rx_packet_next == NULL)
rfm22b_dev->rx_packet_next = PHGetRXPacket(pios_packet_handler);
// Block on the semephore until the a packet has been received.
if (xSemaphoreTake(rfm22b_dev->rxsem, max_delay / portTICK_RATE_MS) != pdTRUE)
return 0;
// Return the Rx packet if it's available.
uint32_t rx_len = 0;
if (rfm22b_dev->rx_packet_prev)
{
PHPacketHandle p = rfm22b_dev->rx_packet_prev;
uint16_t len = PHPacketSizeECC(p);
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, len);
// Check if there were any errors
bool rx_error = check_syndrome() != 0;
if(rx_error)
{
// We have an error. Try to correct it.
if (correct_errors_erasures((unsigned char*)p, len, 0, 0) == 0)
{
// We couldn't correct the error, so drop the packet.
rfm22b_dev->fast_error_packets++;
PHReleaseRXPacket(pios_packet_handler, p);
}
else
{
// We corrected the error.
rfm22b_dev->fast_corrected_packets++;
rx_error = false;
}
}
// Return the packet if there were not uncorrectable errors.
if (!rx_error)
{
rfm22b_dev->fast_good_packets++;
*pret = p;
rx_len = rfm22b_dev->rx_packet_len;
// Update the link statistics if necessary.
uint8_t fast_block = (p->header.seq_num >> 2) & 0xff;
uint8_t slow_block = (p->header.seq_num >> 4) & 0xff;
if (rfm22b_dev->fast_block != fast_block)
{
rfm22b_dev->fast_link_quality = (uint8_t)(((4 + (uint16_t)rfm22b_dev->fast_good_packets - rfm22b_dev->fast_error_packets) << 5) - 1);
rfm22b_dev->slow_good_packets += rfm22b_dev->fast_good_packets;
rfm22b_dev->slow_corrected_packets += rfm22b_dev->fast_corrected_packets;
rfm22b_dev->slow_error_packets += rfm22b_dev->fast_error_packets;
rfm22b_dev->fast_good_packets = rfm22b_dev->fast_corrected_packets = rfm22b_dev->fast_error_packets = 0;
rfm22b_dev->fast_block = fast_block;
}
if (rfm22b_dev->slow_block != slow_block)
{
rfm22b_dev->slow_link_quality = (uint8_t)(((16 + (uint16_t)rfm22b_dev->slow_good_packets - rfm22b_dev->slow_error_packets) << 3) - 1);
rfm22b_dev->slow_good_packets = rfm22b_dev->slow_corrected_packets = rfm22b_dev->slow_error_packets = 0;
rfm22b_dev->slow_block = slow_block;
}
}
rfm22b_dev->rx_packet_prev = NULL;
}
return rx_len;
return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD);
}
/**
@ -887,6 +852,7 @@ static void PIOS_RFM22B_Task(void *parameters)
return;
portTickType lastEventTicks = xTaskGetTickCount();
portTickType lastStatusTicks = lastEventTicks;
portTickType lastPPMTicks = lastEventTicks;
while(1)
{
@ -896,7 +862,7 @@ static void PIOS_RFM22B_Task(void *parameters)
#endif /* PIOS_WDG_RFM22B */
// Wait for a signal indicating an external interrupt or a pending send/receive request.
if ( xSemaphoreTake(g_rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE ) {
if (xSemaphoreTake(rfm22b_dev->isrPending, ISR_TIMEOUT / portTICK_RATE_MS) == pdTRUE) {
lastEventTicks = xTaskGetTickCount();
// Process events through the state machine.
@ -906,154 +872,197 @@ static void PIOS_RFM22B_Task(void *parameters)
if ((event == RFM22B_EVENT_INT_RECEIVED) &&
((rfm22b_dev->state == RFM22B_STATE_UNINITIALIZED) || (rfm22b_dev->state == RFM22B_STATE_INITIALIZING)))
continue;
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
rfm22_process_event(rfm22b_dev, event);
}
}
else
{
// Has it been too long since the last event?
portTickType curTicks = xTaskGetTickCount();
if (curTicks < lastEventTicks)
lastEventTicks = curTicks;
portTickType ticksSinceEvent = curTicks - lastEventTicks;
if ((ticksSinceEvent / portTICK_RATE_MS) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
if (timeDifferenceMs(lastEventTicks, curTicks) > PIOS_RFM22B_SUPERVISOR_TIMEOUT)
{
// Transsition through an error event.
enum pios_rfm22b_event event = RFM22B_EVENT_ERROR;
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
// Clear the event queue.
enum pios_rfm22b_event event;
while (xQueueReceive(rfm22b_dev->eventQueue, &event, 0) == pdTRUE)
;
lastEventTicks = xTaskGetTickCount();
}
}
// Have we locked up sending / receiving a packet?
if (rfm22b_dev->packet_start_ticks > 0)
portTickType curTicks = xTaskGetTickCount();
// Have we been sending this packet too long?
if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3)))
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
// Have it been too long since we received a packet
else if ((rfm22b_dev->rx_complete_ticks > 0) && (timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks) > DISCONNECT_TIMEOUT_MS))
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
else
{
portTickType cur_ticks = xTaskGetTickCount();
// Did the clock wrap around?
if (cur_ticks < rfm22b_dev->packet_start_ticks)
rfm22b_dev->packet_start_ticks = (cur_ticks > 0) ? cur_ticks : 1;
// Have we been sending this packet too long?
if (((cur_ticks - rfm22b_dev->packet_start_ticks) / portTICK_RATE_MS) > (rfm22b_dev->max_packet_time * 3))
// Are we waiting for an ACK?
if (rfm22b_dev->prev_tx_packet)
{
enum pios_rfm22b_event event = RFM22B_EVENT_TIMEOUT;
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
// Should we resend the packet?
if (timeDifferenceMs(rfm22b_dev->tx_complete_ticks, curTicks) > rfm22b_dev->max_ack_delay)
{
rfm22b_dev->tx_complete_ticks = curTicks;
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ACK_TIMEOUT);
}
}
else
{
// Queue up a PPM packet if it's time.
if (timeDifferenceMs(lastPPMTicks, curTicks) > PPM_UPDATE_PERIOD_MS)
{
rfm22_sendPPM(rfm22b_dev);
lastPPMTicks = curTicks;
}
// Queue up a status packet if it's time.
if (timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS)
{
rfm22_sendStatus(rfm22b_dev);
lastStatusTicks = curTicks;
}
}
}
// Queue up a status packet if it's time.
portTickType curTicks = xTaskGetTickCount();
// Rollover
if (curTicks < lastStatusTicks)
lastStatusTicks = curTicks;
if (((curTicks - lastStatusTicks) / portTICK_RATE_MS) > RADIOSTATS_UPDATE_PERIOD_MS)
if (rfm22_sendStatus(rfm22b_dev))
lastStatusTicks = curTicks;
// Send a packet if it's our time slice
rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
if (rfm22b_dev->time_to_send)
D4_LED_ON;
else
D4_LED_OFF;
#endif
if (rfm22b_dev->time_to_send)
rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
}
}
static void PIOS_RFM22B_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
// ************************************
// radio datarate about 19200 Baud
// radio frequency deviation 45kHz
// radio receiver bandwidth 67kHz.
//
// Carson's rule:
// The signal bandwidth is about 2(Delta-f + fm) ..
//
// Delta-f = frequency deviation
// fm = maximum frequency of the signal
//
// This gives 2(45 + 9.6) = 109.2kHz.
static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_datarate datarate, bool data_whitening)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
bool valid = PIOS_RFM22B_validate(rfm22b_dev);
PIOS_Assert(valid);
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
{
// Generate a pseudo-random number from 0-8 to add to the delay
uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 4 + random;
}
else
rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
#ifdef NEVER
// Get some data to send
bool need_yield = false;
if(tx_pre_buffer_size == 0)
tx_pre_buffer_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, tx_pre_buffer,
TX_BUFFER_SIZE, NULL, &need_yield);
// rfm22_if_filter_bandwidth
rfm22_write(rfm22b_dev, 0x1C, reg_1C[datarate]);
// Inject a send packet event
PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_TX_START, false);
#endif
// rfm22_afc_loop_gearshift_override
rfm22_write(rfm22b_dev, 0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(rfm22b_dev, 0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(rfm22b_dev, 0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(rfm22b_dev, 0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(rfm22b_dev, 0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(rfm22b_dev, 0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(rfm22b_dev, 0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
// rfm22_afc_limiter
rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
// rfm22_tx_data_rate1
rfm22_write(rfm22b_dev, 0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(rfm22b_dev, 0x6F, reg_6F[datarate]);
if (!data_whitening)
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
else
// rfm22_modulation_mode_control1
rfm22_write(rfm22b_dev, 0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
// rfm22_modulation_mode_control2
rfm22_write(rfm22b_dev, 0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
}
/**
* Changes the baud rate of the RFM22B peripheral without re-initialising.
* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
static void PIOS_RFM22B_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
void PIOS_RFM22B_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
rfm22b_dev->datarate = datarate;
bool valid = PIOS_RFM22B_validate(rfm22b_dev);
PIOS_Assert(valid);
}
static void PIOS_RFM22B_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
bool valid = PIOS_RFM22B_validate(rfm22b_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->rx_in_context = context;
rfm22b_dev->rx_in_cb = rx_in_cb;
}
static void PIOS_RFM22B_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
bool valid = PIOS_RFM22B_validate(rfm22b_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->tx_out_context = context;
rfm22b_dev->tx_out_cb = tx_out_cb;
// Re-initialize the radio device.
PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
}
// ************************************
// SPI read/write
//! Assert the CS line
static void rfm22_assertCs()
static void rfm22_assertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
PIOS_DELAY_WaituS(1);
if(PIOS_RFM22B_validate(g_rfm22b_dev) && g_rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(g_rfm22b_dev->spi_id, g_rfm22b_dev->slave_num, 0);
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 0);
}
//! Deassert the CS line
static void rfm22_deassertCs()
static void rfm22_deassertCs(struct pios_rfm22b_dev *rfm22b_dev)
{
if(PIOS_RFM22B_validate(g_rfm22b_dev) && g_rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(g_rfm22b_dev->spi_id, g_rfm22b_dev->slave_num, 1);
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_RC_PinSet(rfm22b_dev->spi_id, rfm22b_dev->slave_num, 1);
}
//! Claim the SPI bus semaphore
static void rfm22_claimBus()
static void rfm22_claimBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(PIOS_RFM22B_validate(g_rfm22b_dev) && g_rfm22b_dev->spi_id != 0)
PIOS_SPI_ClaimBus(g_rfm22b_dev->spi_id);
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ClaimBus(rfm22b_dev->spi_id);
}
//! Release the SPI bus semaphore
static void rfm22_releaseBus()
static void rfm22_releaseBus(struct pios_rfm22b_dev *rfm22b_dev)
{
if(PIOS_RFM22B_validate(g_rfm22b_dev) && g_rfm22b_dev->spi_id != 0)
PIOS_SPI_ReleaseBus(g_rfm22b_dev->spi_id);
if(rfm22b_dev->spi_id != 0)
PIOS_SPI_ReleaseBus(rfm22b_dev->spi_id);
}
/**
@ -1061,16 +1070,14 @@ static void rfm22_releaseBus()
* @param[in] addr The address to write to
* @param[in] data The datat to write to that address
*/
static void rfm22_write(uint8_t addr, uint8_t data)
static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
if(PIOS_RFM22B_validate(g_rfm22b_dev)) {
rfm22_claimBus();
rfm22_assertCs();
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs();
rfm22_releaseBus();
}
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
uint8_t buf[2] = {addr | 0x80, data};
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
/**
@ -1078,14 +1085,12 @@ static void rfm22_write(uint8_t addr, uint8_t data)
* toggle the NSS line
* @param[in] addr The address of the RFM22b register to write
* @param[in] data The data to write to that register
static void rfm22_write_noclaim(uint8_t addr, uint8_t data)
static void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
{
uint8_t buf[2] = {addr | 0x80, data};
if(PIOS_RFM22B_validate(g_rfm22b_dev)) {
rfm22_assertCs();
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs();
}
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
rfm22_deassertCs(rfm22b_dev);
}
*/
@ -1095,17 +1100,15 @@ static void rfm22_write_noclaim(uint8_t addr, uint8_t data)
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read(uint8_t addr)
static uint8_t rfm22_read(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t in[2];
uint8_t out[2] = {addr & 0x7f, 0xFF};
if(PIOS_RFM22B_validate(g_rfm22b_dev)) {
rfm22_claimBus();
rfm22_assertCs();
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs();
rfm22_releaseBus();
}
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
return in[1];
}
@ -1114,15 +1117,13 @@ static uint8_t rfm22_read(uint8_t addr)
* @param[in] addr The address to read from
* @return Returns the result of the register read
*/
static uint8_t rfm22_read_noclaim(uint8_t addr)
static uint8_t rfm22_read_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr)
{
uint8_t out[2] = {addr & 0x7F, 0xFF};
uint8_t in[2];
if (PIOS_RFM22B_validate(g_rfm22b_dev)) {
rfm22_assertCs();
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs();
}
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, out, in, sizeof(out), NULL);
rfm22_deassertCs(rfm22b_dev);
return in[1];
}
@ -1159,16 +1160,21 @@ static enum pios_rfm22b_event rfm22_process_state_transition(struct pios_rfm22b_
return RFM22B_EVENT_NUM_EVENTS;
}
static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event)
{
// Process all state transitions.
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
}
// ************************************
static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz)
{
uint32_t min_frequency_hz = rfm22b_dev->cfg.minFrequencyHz;
uint32_t max_frequency_hz = rfm22b_dev->cfg.maxFrequencyHz;
if (frequency_hz < min_frequency_hz)
frequency_hz = min_frequency_hz;
else if (frequency_hz > max_frequency_hz)
frequency_hz = max_frequency_hz;
if (frequency_hz < rfm22b_dev->min_frequency)
frequency_hz = rfm22b_dev->min_frequency;
else if (frequency_hz > rfm22b_dev->max_frequency)
frequency_hz = rfm22b_dev->max_frequency;
// holds the hbsel (1 or 2)
uint8_t hbsel;
@ -1192,126 +1198,89 @@ static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev,
rfm22b_dev->frequency_step_size = 156.25f * hbsel;
// frequency hopping channel (0-255)
rfm22_write(RFM22_frequency_hopping_channel_select, rfm22b_dev->frequency_hop_channel);
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, rfm22b_dev->frequency_hop_channel);
// no frequency offset
rfm22_write(RFM22_frequency_offset1, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
// no frequency offset
rfm22_write(RFM22_frequency_offset2, 0);
rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
// set the carrier frequency
rfm22_write(RFM22_frequency_band_select, fb);
rfm22_write(RFM22_nominal_carrier_frequency1, fc >> 8);
rfm22_write(RFM22_nominal_carrier_frequency0, fc & 0xff);
rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fc >> 8);
rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fc & 0xff);
}
void rfm22_setFreqHopChannel(uint8_t channel)
/*
static void rfm22_setFreqHopChannel(uint8_t channel)
{ // set the frequency hopping channel
g_rfm22b_dev->frequency_hop_channel = channel;
rfm22_write(RFM22_frequency_hopping_channel_select, channel);
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
}
uint32_t rfm22_freqHopSize(void)
static uint32_t rfm22_freqHopSize(void)
{ // return the frequency hopping step size
return ((uint32_t)g_rfm22b_dev->frequency_hop_step_size_reg * 10000);
}
// ************************************
// radio datarate about 19200 Baud
// radio frequency deviation 45kHz
// radio receiver bandwidth 67kHz.
//
// Carson's rule:
// The signal bandwidth is about 2(Delta-f + fm) ..
//
// Delta-f = frequency deviation
// fm = maximum frequency of the signal
//
// This gives 2(45 + 9.6) = 109.2kHz.
void RFM22_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening)
{
struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if(!PIOS_RFM22B_validate(rfm22b_dev))
return;
uint32_t datarate_bps = data_rate[datarate];
rfm22b_dev->datarate = datarate;
rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
// rfm22_if_filter_bandwidth
rfm22_write(0x1C, reg_1C[datarate]);
// rfm22_afc_loop_gearshift_override
rfm22_write(0x1D, reg_1D[datarate]);
// RFM22_afc_timing_control
rfm22_write(0x1E, reg_1E[datarate]);
// RFM22_clk_recovery_gearshift_override
rfm22_write(0x1F, reg_1F[datarate]);
// rfm22_clk_recovery_oversampling_ratio
rfm22_write(0x20, reg_20[datarate]);
// rfm22_clk_recovery_offset2
rfm22_write(0x21, reg_21[datarate]);
// rfm22_clk_recovery_offset1
rfm22_write(0x22, reg_22[datarate]);
// rfm22_clk_recovery_offset0
rfm22_write(0x23, reg_23[datarate]);
// rfm22_clk_recovery_timing_loop_gain1
rfm22_write(0x24, reg_24[datarate]);
// rfm22_clk_recovery_timing_loop_gain0
rfm22_write(0x25, reg_25[datarate]);
// rfm22_afc_limiter
rfm22_write(0x2A, reg_2A[datarate]);
/* This breaks all bit rates < 100000!
if (datarate_bps < 100000)
// rfm22_chargepump_current_trimming_override
rfm22_write(0x58, 0x80);
else
// rfm22_chargepump_current_trimming_override
rfm22_write(0x58, 0xC0);
*/
// rfm22_tx_data_rate1
rfm22_write(0x6E, reg_6E[datarate]);
// rfm22_tx_data_rate0
rfm22_write(0x6F, reg_6F[datarate]);
static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
{
// Add the RX packet statistics
rfm22b_dev->stats.rx_good = 0;
rfm22b_dev->stats.rx_corrected = 0;
rfm22b_dev->stats.rx_error = 0;
rfm22b_dev->stats.tx_resent = 0;
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
{
uint32_t val = rfm22b_dev->rx_packet_stats[i];
for (uint8_t j = 0; j < 16; ++j)
{
switch ((val >> (j * 2)) & 0x3)
{
case RFM22B_GOOD_RX_PACKET:
rfm22b_dev->stats.rx_good++;
break;
case RFM22B_CORRECTED_RX_PACKET:
rfm22b_dev->stats.rx_corrected++;
break;
case RFM22B_ERROR_RX_PACKET:
rfm22b_dev->stats.rx_error++;
break;
case RFM22B_RESENT_TX_PACKET:
rfm22b_dev->stats.tx_resent++;
break;
}
}
}
// Enable data whitening
// uint8_t txdtrtscale_bit = rfm22_read(RFM22_modulation_mode_control1) & RFM22_mmc1_txdtrtscale;
// rfm22_write(RFM22_modulation_mode_control1, txdtrtscale_bit | RFM22_mmc1_enwhite);
if (!data_whitening)
// rfm22_modulation_mode_control1
rfm22_write(0x70, reg_70[datarate] & ~RFM22_mmc1_enwhite);
else
// rfm22_modulation_mode_control1
rfm22_write(0x70, reg_70[datarate] | RFM22_mmc1_enwhite);
// rfm22_modulation_mode_control2
rfm22_write(0x71, reg_71[datarate]);
// rfm22_frequency_deviation
rfm22_write(0x72, reg_72[datarate]);
rfm22_write(RFM22_ook_counter_value1, 0x00);
rfm22_write(RFM22_ook_counter_value2, 0x00);
// Calculate the link quality metric, which is related to the number of good packets in relation to the number of bad packets.
// Note: This assumes that the number of packets sampled for the stats is 64.
// Using this equation, error and resent packets are counted as -2, and corrected packets are counted as -1.
// The range is 0 (all error or resent packets) to 128 (all good packets).
rfm22b_dev->stats.link_quality = 64 + rfm22b_dev->stats.rx_good - rfm22b_dev->stats.rx_error - rfm22b_dev->stats.tx_resent;
}
// ************************************
static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev)
{
// Are we already in Rx mode?
if (rfm22b_dev->in_rx_mode)
return RFM22B_EVENT_NUM_EVENTS;
rfm22b_dev->packet_start_ticks = 0;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_ON;
D3_LED_TOGGLE;
#endif
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
rfm22_write(RFM22_interrupt_enable2, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// Switch to TUNE mode
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
RX_LED_OFF;
TX_LED_OFF;
@ -1323,17 +1292,20 @@ static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
// clear FIFOs
rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(RFM22_op_and_func_ctrl2, 0x00);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// enable RX interrupts
rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_encrcerror | RFM22_ie1_enpkvalid |
RFM22_ie1_enrxffafull | RFM22_ie1_enfferr);
rfm22_write(RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, RFM22_ie2_enpreainval | RFM22_ie2_enpreaval |
RFM22_ie2_enswdet);
// enable the receiver
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_rxon);
// Indicate that we're in RX mode.
rfm22b_dev->in_rx_mode = true;
// No event generated
return RFM22B_EVENT_NUM_EVENTS;
@ -1341,20 +1313,99 @@ static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev
// ************************************
static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
{
// Is there a status of PPM packet ready to send?
if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
return true;
// Is there some data ready to sent?
PHPacketHandle dp = &rfm22b_dev->data_packet;
if (dp->header.data_size > 0)
return true;
bool need_yield = false;
if (rfm22b_dev->tx_out_cb)
dp->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, dp->data, PH_MAX_DATA, NULL, &need_yield);
if (dp->header.data_size > 0)
return true;
return false;
}
static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
{
// See if there's a packet on the packet queue.
PHPacketHandle p;
if (xQueueReceive(rfm22b_dev->packetQueue, &p, 0) != pdTRUE)
{
// Clear the TX buffer.
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
PHPacketHandle p = NULL;
// Don't send if it's not our turn.
if (!rfm22b_dev->time_to_send)
return RFM22B_EVENT_RX_MODE;
// See if there's a packet ready to send.
if (rfm22b_dev->tx_packet)
p = rfm22b_dev->tx_packet;
// Are we waiting for an ACK?
else
{
// Don't send a packet if we're waiting for an ACK
if (rfm22b_dev->prev_tx_packet)
return RFM22B_EVENT_RX_MODE;
if (!p && rfm22b_dev->send_connection_request)
{
p = (PHPacketHandle)&(rfm22b_dev->con_packet);
rfm22b_dev->send_connection_request = false;
}
#ifdef PIOS_PPM_RECEIVER
if (!p && rfm22b_dev->send_ppm)
{
p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
rfm22b_dev->send_ppm = false;
}
#endif
if (!p && rfm22b_dev->send_status)
{
p = (PHPacketHandle)&(rfm22b_dev->status_packet);
rfm22b_dev->send_status = false;
}
if (!p)
{
// Try to get some data to send
bool need_yield = false;
p = &rfm22b_dev->data_packet;
p->header.type = PACKET_TYPE_DATA;
p->header.destination_id = rfm22b_dev->destination_id;
if (rfm22b_dev->tx_out_cb && (p->header.data_size == 0))
p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
// Don't send any data until we're connected.
if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
p->header.data_size = 0;
if (p->header.data_size == 0)
p = NULL;
}
if (p)
p->header.seq_num = rfm22b_dev->stats.tx_seq++;
}
if (!p)
return RFM22B_EVENT_RX_MODE;
// We're transitioning out of Rx mode.
rfm22b_dev->in_rx_mode = false;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_ON;
D2_LED_OFF;
D3_LED_TOGGLE;
#endif
// Add the error correcting code.
p->header.source_id = rfm22b_dev->deviceID;
p->header.seq_num = rfm22b_dev->tx_packet_count++;
encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
rfm22b_dev->tx_packet = p;
@ -1363,11 +1414,11 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->packet_start_ticks = 1;
// disable interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
rfm22_write(RFM22_interrupt_enable2, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// TUNE mode
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon);
// Queue the data up for sending
rfm22b_dev->tx_data_wr = PH_PACKET_SIZE(rfm22b_dev->tx_packet);
@ -1377,77 +1428,105 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
// Set the destination address in the transmit header.
// The destination address is the first 4 bytes of the message.
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
rfm22_write(RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(RFM22_transmit_header3, tx_buffer[3]);
rfm22_write(rfm22b_dev, RFM22_transmit_header0, tx_buffer[0]);
rfm22_write(rfm22b_dev, RFM22_transmit_header1, tx_buffer[1]);
rfm22_write(rfm22b_dev, RFM22_transmit_header2, tx_buffer[2]);
rfm22_write(rfm22b_dev, RFM22_transmit_header3, tx_buffer[3]);
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
RFM22_mmc2_modtyp_gfsk);
// set the tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | g_rfm22b_dev->tx_power);
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// clear FIFOs
rfm22_write(RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(RFM22_op_and_func_ctrl2, 0x00);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// *******************
// add some data to the chips TX FIFO before enabling the transmitter
// set the total number of data bytes we are going to transmit
rfm22_write(RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
rfm22_write(rfm22b_dev, RFM22_transmit_packet_length, rfm22b_dev->tx_data_wr);
// add some data
rfm22_claimBus();
rfm22_assertCs();
PIOS_SPI_TransferByte(g_rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > FIFO_SIZE) ? FIFO_SIZE: bytes_to_write;
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs();
rfm22_releaseBus();
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
// enable TX interrupts
rfm22_write(RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, RFM22_ie1_enpksent | RFM22_ie1_entxffaem);
// enable the transmitter
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_pllon | RFM22_opfc1_txon);
TX_LED_ON;
return RFM22B_EVENT_TX_STARTED;
return RFM22B_EVENT_NUM_EVENTS;
}
static bool rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
PHPacketHandle sph = (PHPacketHandle)&(rfm22b_dev->status_packet);
// Only send status if we're connected
if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
return;
// Update the link quality metric.
rfm22_calculateLinkQuality(rfm22b_dev);
// Queue the status message
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
else
rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
rfm22b_dev->status_packet.errors = rfm22b_dev->errors;
rfm22b_dev->status_packet.resets = rfm22b_dev->resets;
rfm22b_dev->status_packet.retries = 0;
rfm22b_dev->status_packet.uavtalk_errors = 0;
rfm22b_dev->status_packet.dropped = 0;
if (xQueueSend(rfm22b_dev->packetQueue, &sph, 0) != pdTRUE)
return false;
rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
rfm22b_dev->send_status = true;
// Process a SEND_PACKT event.
enum pios_rfm22b_event event = RFM22B_EVENT_SEND_PACKET;
while(event != RFM22B_EVENT_NUM_EVENTS)
event = rfm22_process_state_transition(rfm22b_dev, event);
return true;
return;
}
// ************************************
static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
{
#ifdef PIOS_PPM_RECEIVER
// Only send PPM if we're connected
if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
return;
// Just return if the PPM receiver is not configured.
if (PIOS_PPM_RECEIVER == 0)
return;
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
{
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if(rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
// Send the PPM packet if it's valid
if (valid_input_detected)
{
rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
rfm22b_dev->send_ppm = true;
}
#endif
}
/**
* Read the RFM22B interrupt and device status registers
@ -1457,23 +1536,23 @@ static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
// 1. Read the interrupt statuses with burst read
rfm22_claimBus(); // Set RC and the semaphore
rfm22_claimBus(rfm22b_dev); // Set RC and the semaphore
uint8_t write_buf[3] = {RFM22_interrupt_status1 & 0x7f, 0xFF, 0xFF};
uint8_t read_buf[3];
rfm22_assertCs();
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs();
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, write_buf, read_buf, sizeof(write_buf), NULL);
rfm22_deassertCs(rfm22b_dev);
rfm22b_dev->int_status1 = read_buf[1];
rfm22b_dev->int_status2 = read_buf[2];
// Device status
rfm22b_dev->device_status = rfm22_read_noclaim(RFM22_device_status);
rfm22b_dev->device_status = rfm22_read_noclaim(rfm22b_dev, RFM22_device_status);
// EzMAC status
rfm22b_dev->ezmac_status = rfm22_read_noclaim(RFM22_ezmac_status);
rfm22b_dev->ezmac_status = rfm22_read_noclaim(rfm22b_dev, RFM22_ezmac_status);
// Release the bus
rfm22_releaseBus();
rfm22_releaseBus(rfm22b_dev);
// the RF module has gone and done a reset - we need to re-initialize the rf module
if (rfm22b_dev->int_status2 & RFM22_is2_ipor)
@ -1482,12 +1561,26 @@ static bool rfm22_readStatus(struct pios_rfm22b_dev *rfm22b_dev)
return true;
}
/**
* Add a status value to the RX packet status array.
* \param[in] rfm22b_dev The device structure
* \param[in] status The packet status value
*/
static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status)
{
// Shift the status registers
for (uint8_t i = RFM22B_RX_PACKET_STATS_LEN - 1; i > 0; --i)
{
rfm22b_dev->rx_packet_stats[i] = (rfm22b_dev->rx_packet_stats[i] << 2) | (rfm22b_dev->rx_packet_stats[i - 1] >> 30);
}
rfm22b_dev->rx_packet_stats[0] = (rfm22b_dev->rx_packet_stats[0] << 2) | status;
}
static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22b_dev)
{
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Valid preamble detected
if (rfm22b_dev->int_status2 & RFM22_is2_ipreaval)
@ -1496,6 +1589,10 @@ static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22
if (rfm22b_dev->packet_start_ticks == 0)
rfm22b_dev->packet_start_ticks = 1;
RX_LED_ON;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D3_LED_TOGGLE;
#endif
return RFM22B_EVENT_PREAMBLE_DETECTED;
}
@ -1507,7 +1604,7 @@ static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_de
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Sync word detected
if (rfm22b_dev->int_status2 & RFM22_is2_iswdet)
@ -1516,152 +1613,232 @@ static enum pios_rfm22b_event rfm22_detectSync(struct pios_rfm22b_dev *rfm22b_de
// read the 10-bit signed afc correction value
// bits 9 to 2
uint16_t afc_correction = (uint16_t)rfm22_read(RFM22_afc_correction_read) << 8;
uint16_t afc_correction = (uint16_t)rfm22_read(rfm22b_dev, RFM22_afc_correction_read) << 8;
// bits 1 & 0
afc_correction |= (uint16_t)rfm22_read(RFM22_ook_counter_value1) & 0x00c0;
afc_correction |= (uint16_t)rfm22_read(rfm22b_dev, RFM22_ook_counter_value1) & 0x00c0;
afc_correction >>= 6;
// convert the afc value to Hz
rfm22b_dev->afc_correction_Hz = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
int32_t afc_corr = (int32_t)(rfm22b_dev->frequency_step_size * afc_correction + 0.5f);
rfm22b_dev->afc_correction_Hz = (afc_corr < -127) ? -127 : ((afc_corr > 127) ? 127 : afc_corr);
// read rx signal strength .. 45 = -100dBm, 205 = -20dBm
rfm22b_dev->rssi = rfm22_read(RFM22_rssi);
uint8_t rssi = rfm22_read(rfm22b_dev, RFM22_rssi);
// convert to dBm
rfm22b_dev->rssi_dBm = (int8_t)(rfm22b_dev->rssi >> 1) - 122;
// remember the afc value for this packet
rfm22b_dev->rx_packet_start_afc_Hz = rfm22b_dev->afc_correction_Hz;
rfm22b_dev->rssi_dBm = (int8_t)(rssi >> 1) - 122;
return RFM22B_EVENT_SYNC_DETECTED;
}
else if (rfm22b_dev->int_status2 & !RFM22_is2_ipreaval)
{
// Waiting for sync timed out.
return RFM22B_EVENT_TX_START;
}
return RFM22B_EVENT_FAILURE;
return RFM22B_EVENT_NUM_EVENTS;
}
static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len)
{
// Attempt to correct any errors in the packet.
decode_data((unsigned char*)p, rx_len);
bool good_packet = check_syndrome() == 0;
bool corrected_packet = false;
// We have an error. Try to correct it.
if(!good_packet && (correct_errors_erasures((unsigned char*)p, rx_len, 0, 0) != 0))
// We corrected it
corrected_packet = true;
// Add any missed packets into the stats.
bool ack_nack_packet = ((p->header.type == PACKET_TYPE_ACK) || (p->header.type == PACKET_TYPE_ACK_RTS) || (p->header.type == PACKET_TYPE_NACK));
if (!ack_nack_packet && (good_packet || corrected_packet))
{
uint16_t seq_num = p->header.seq_num;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
{
static bool first_time = true;
uint16_t missed_packets = 0;
if (first_time)
first_time = false;
else
{
uint16_t prev_seq_num = rfm22b_dev->stats.rx_seq;
if (seq_num > prev_seq_num)
missed_packets = seq_num - prev_seq_num - 1;
else if((seq_num == prev_seq_num) && (p->header.type == PACKET_TYPE_DATA))
p->header.type = PACKET_TYPE_DUPLICATE_DATA;
}
rfm22b_dev->stats.rx_missed += missed_packets;
}
rfm22b_dev->stats.rx_seq = seq_num;
}
// Set the packet status
if (good_packet)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_GOOD_RX_PACKET);
else if(corrected_packet)
// We corrected the error.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_CORRECTED_RX_PACKET);
else
// We couldn't correct the error, so drop the packet.
rfm22b_add_rx_status(rfm22b_dev, RFM22B_ERROR_RX_PACKET);
return (good_packet || corrected_packet);
}
static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
{
// Swap in the next packet buffer if required.
if (rfm22b_dev->rx_packet == NULL)
{
if (rfm22b_dev->rx_packet_next != NULL)
rfm22b_dev->rx_packet = rfm22b_dev->rx_packet_next;
else
return RFM22B_EVENT_ERROR;
}
uint8_t *rx_buffer = (uint8_t*)(rfm22b_dev->rx_packet);
uint8_t *rx_buffer = (uint8_t*)&(rfm22b_dev->rx_packet);
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// FIFO under/over flow error. Restart RX mode.
if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
return RFM22B_EVENT_ERROR;
if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
return RFM22B_EVENT_FAILURE;
// RX FIFO almost full, it needs emptying
if (rfm22b_dev->int_status1 & RFM22_is1_irxffafull)
{
// read data from the rf chips FIFO buffer
// read the total length of the packet data
uint16_t len = rfm22_read(RFM22_received_packet_length);
uint16_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// The received packet is going to be larger than the specified length
if ((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) > len)
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Another packet length error.
if (((rfm22b_dev->rx_buffer_wr + RX_FIFO_HI_WATERMARK) >= len) && !(rfm22b_dev->int_status1 & RFM22_is1_ipkvalid))
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Fetch the data from the RX FIFO
rfm22_claimBus();
rfm22_assertCs();
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id ,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], RX_FIFO_HI_WATERMARK, NULL) == 0) ? RX_FIFO_HI_WATERMARK : 0;
rfm22_deassertCs();
rfm22_releaseBus();
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// CRC error .. discard the received data
if (rfm22b_dev->int_status1 & RFM22_is1_icrerror)
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// Valid packet received
if (rfm22b_dev->int_status1 & RFM22_is1_ipkvalid)
{
// read the total length of the packet data
uint32_t len = rfm22_read(RFM22_received_packet_length);
uint32_t len = rfm22_read(rfm22b_dev, RFM22_received_packet_length);
// their must still be data in the RX FIFO we need to get
if (rfm22b_dev->rx_buffer_wr < len)
{
int32_t bytes_to_read = len - rfm22b_dev->rx_buffer_wr;
// Fetch the data from the RX FIFO
rfm22_claimBus();
rfm22_assertCs();
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id,RFM22_fifo_access & 0x7F);
rfm22b_dev->rx_buffer_wr += (PIOS_SPI_TransferBlock(rfm22b_dev->spi_id,OUT_FF, (uint8_t *)&rx_buffer[rfm22b_dev->rx_buffer_wr], bytes_to_read, NULL) == 0) ? bytes_to_read : 0;
rfm22_deassertCs();
rfm22_releaseBus();
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
if (rfm22b_dev->rx_buffer_wr != len)
return RFM22B_EVENT_ERROR;
return RFM22B_EVENT_FAILURE;
// we have a valid received packet
enum pios_rfm22b_event ret_event = RFM22B_EVENT_RX_COMPLETE;
if (rfm22b_dev->rx_buffer_wr > 0)
{
// Add the rssi and afc to the end of the packet.
rx_buffer[rfm22b_dev->rx_buffer_wr++] = rfm22b_dev->rssi_dBm;
rx_buffer[rfm22b_dev->rx_buffer_wr++] = rfm22b_dev->rx_packet_start_afc_Hz;
// Swap the Rx packets.
if (rfm22b_dev->rx_packet_prev == NULL)
rfm22b_dev->stats.rx_byte_count += rfm22b_dev->rx_buffer_wr;
// Check the packet for errors.
if (rfm22_receivePacket(rfm22b_dev, &(rfm22b_dev->rx_packet), rfm22b_dev->rx_buffer_wr))
{
rfm22b_dev->rx_packet_prev = rfm22b_dev->rx_packet;
rfm22b_dev->rx_packet = rfm22b_dev->rx_packet_next;
rfm22b_dev->rx_packet_len = rfm22b_dev->rx_buffer_wr;
// Signal the receive thread.
xSemaphoreGive(rfm22b_dev->rxsem);
switch (rfm22b_dev->rx_packet.header.type)
{
case PACKET_TYPE_STATUS:
ret_event = RFM22B_EVENT_STATUS_RECEIVED;
break;
case PACKET_TYPE_CON_REQUEST:
ret_event = RFM22B_EVENT_CONNECTION_REQUESTED;
break;
case PACKET_TYPE_DATA:
{
// Send the data to the com port
bool rx_need_yield;
if (rfm22b_dev->rx_in_cb)
(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
break;
}
case PACKET_TYPE_DUPLICATE_DATA:
break;
case PACKET_TYPE_ACK:
case PACKET_TYPE_ACK_RTS:
ret_event = RFM22B_EVENT_PACKET_ACKED;
break;
case PACKET_TYPE_NACK:
ret_event = RFM22B_EVENT_PACKET_NACKED;
break;
case PACKET_TYPE_PPM:
{
PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i)
rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
rfm22b_dev->ppm_fresh = true;
break;
}
default:
break;
}
}
else
ret_event = RFM22B_EVENT_RX_ERROR;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D2_LED_OFF;
D3_LED_TOGGLE;
#endif
}
// We're finished with Rx mode
rfm22b_dev->in_rx_mode = false;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return RFM22B_EVENT_RX_COMPLETE;
return ret_event;
}
return RFM22B_EVENT_NUM_EVENTS;
}
static enum pios_rfm22b_event rfm22_rxFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->stats.rx_failure++;
rfm22b_dev->rx_buffer_wr = 0;
rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
rfm22b_dev->in_rx_mode = false;
if (rfm22b_dev->rx_complete_ticks == 0)
rfm22b_dev->rx_complete_ticks = 1;
return RFM22B_EVENT_RX_MODE;
}
static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
{
enum pios_rfm22b_event ret_event = RFM22B_EVENT_NUM_EVENTS;
// Read the device status registers
if (!rfm22_readStatus(rfm22b_dev))
{
// Free the tx packet
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_ERROR;
}
return RFM22B_EVENT_FAILURE;
// FIFO under/over flow error. Back to RX mode.
if (rfm22b_dev->device_status & (RFM22_ds_ffunfl | RFM22_ds_ffovfl))
{
// Free the tx packet
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_ERROR;
}
// FIFO under/over flow error.
//if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
//return RFM22B_EVENT_FAILURE;
// TX FIFO almost empty, it needs filling up
if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
@ -1669,62 +1846,267 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
// top-up the rf chips TX FIFO buffer
uint8_t *tx_buffer = (uint8_t*)(rfm22b_dev->tx_packet);
uint16_t max_bytes = FIFO_SIZE - TX_FIFO_LO_WATERMARK - 1;
rfm22_claimBus();
rfm22_assertCs();
PIOS_SPI_TransferByte(g_rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
rfm22_claimBus(rfm22b_dev);
rfm22_assertCs(rfm22b_dev);
PIOS_SPI_TransferByte(rfm22b_dev->spi_id, RFM22_fifo_access | 0x80);
int bytes_to_write = (rfm22b_dev->tx_data_wr - rfm22b_dev->tx_data_rd);
bytes_to_write = (bytes_to_write > max_bytes) ? max_bytes: bytes_to_write;
PIOS_SPI_TransferBlock(g_rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, &tx_buffer[rfm22b_dev->tx_data_rd], NULL, bytes_to_write, NULL);
rfm22b_dev->tx_data_rd += bytes_to_write;
rfm22_deassertCs();
rfm22_releaseBus();
rfm22_deassertCs(rfm22b_dev);
rfm22_releaseBus(rfm22b_dev);
}
// Packet has been sent
else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
{
// Free the tx packet
PHReleaseTXPacket(pios_packet_handler, rfm22b_dev->tx_packet);
rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
// Is this an ACK?
bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
//ret_event = is_ack ? RFM22B_EVENT_TX_START : RFM22B_EVENT_RX_MODE;
ret_event = RFM22B_EVENT_RX_MODE;
if (is_ack)
{
// If this is an ACK for a connection request message we need to
// configure this modem from the connection request message.
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST)
rfm22_setConnectionParameters(rfm22b_dev);
}
else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK)
{
// We need to wait for an ACK if this packet it not an ACK or NACK.
rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
}
// Set the Tx period
portTickType curTicks = xTaskGetTickCount();
if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK)
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS)
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->tx_packet = 0;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
// Start a new transaction
rfm22b_dev->packet_start_ticks = 0;
return RFM22B_EVENT_TX_COMPLETE;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D3_LED_TOGGLE;
#endif
}
return RFM22B_EVENT_NUM_EVENTS;
return ret_event;
}
// ************************************
// return the current mode
int8_t rfm22_currentMode(void)
static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev)
{
return g_rfm22b_dev->state;
rfm22b_dev->stats.tx_failure++;
rfm22b_dev->tx_data_wr = rfm22b_dev->tx_data_rd = 0;
return RFM22B_EVENT_TX_START;
}
// return true if we are transmitting
bool rfm22_transmitting(void)
/**
* Send an ACK to a received packet.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
{
return (g_rfm22b_dev->state == RFM22B_STATE_TX_DATA);
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->rx_packet.header.source_id;
aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
// return true if the channel is clear to transmit on
bool rfm22_channelIsClear(void)
/**
* Send an NACK to a received packet.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
{
if (g_rfm22b_dev->state != RFM22B_STATE_RX_MODE && g_rfm22b_dev->state != RFM22B_STATE_WAIT_PREAMBLE && g_rfm22b_dev->state != RFM22B_STATE_WAIT_SYNC)
// we are receiving something or we are transmitting or we are scanning the spectrum
return false;
return true;
PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
aph->header.destination_id = rfm22b_dev->rx_packet.header.source_id;
aph->header.type = PACKET_TYPE_NACK;
aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
rfm22b_dev->tx_packet = (PHPacketHandle)aph;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
// ************************************
// set/get the frequency calibration value
void rfm22_setFreqCalibration(uint8_t value)
/**
* Receive an ACK.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22_write(RFM22_xtal_osc_load_cap, value);
PHPacketHandle prev = rfm22b_dev->prev_tx_packet;
portTickType curTicks = xTaskGetTickCount();
// Clear the previous TX packet.
rfm22b_dev->prev_tx_packet = NULL;
// Was this a connection request?
switch (prev->header.type)
{
case PACKET_TYPE_CON_REQUEST:
rfm22_setConnectionParameters(rfm22b_dev);
break;
case PACKET_TYPE_DATA:
rfm22b_dev->data_packet.header.data_size = 0;
break;
}
// Should we try to start another TX?
if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK)
{
rfm22b_dev->time_to_send_offset = curTicks;
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
else
{
rfm22b_dev->time_to_send_offset = curTicks + 0x4;
return RFM22B_EVENT_RX_MODE;
}
}
/**
* Receive an MACK.
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
{
// Resend the previous TX packet.
rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
rfm22b_dev->prev_tx_packet = NULL;
if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
rfm22b_dev->time_to_send = true;
return RFM22B_EVENT_TX_START;
}
/**
* Receive a status packet
* \param[in] rfm22b_dev The device structure
*/
static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b_dev)
{
PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
int8_t rssi = rfm22b_dev->rssi_dBm;
int8_t afc = rfm22b_dev->afc_correction_Hz;
uint32_t id = status->header.source_id;
bool found = false;
// Have we seen this device recently?
uint8_t id_idx = 0;
for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(rfm22b_dev->pair_stats[id_idx].pairID == id)
{
found = true;
break;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(found)
{
rfm22b_dev->pair_stats[id_idx].rssi = rssi;
rfm22b_dev->pair_stats[id_idx].afc_correction = afc;
rfm22b_dev->pair_stats[id_idx].lastContact = 0;
}
// If we haven't seen it, find a slot to put it in.
if (!found)
{
uint8_t min_idx = 0;
if(id != rfm22b_dev->destination_id)
{
int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
{
min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
min_idx = id_idx;
}
}
}
rfm22b_dev->pair_stats[min_idx].pairID = id;
rfm22b_dev->pair_stats[min_idx].rssi = rssi;
rfm22b_dev->pair_stats[min_idx].afc_correction = afc;
rfm22b_dev->pair_stats[min_idx].lastContact = 0;
}
return RFM22B_EVENT_RX_COMPLETE;
}
static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
if (rfm22b_dev->coordinator)
return RFM22B_EVENT_REQUEST_CONNECTION;
else
return RFM22B_EVENT_WAIT_FOR_CONNECTION;
}
static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to requesting connection.
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
// Fill in the connection request
cph->header.destination_id = rfm22b_dev->destination_id;
cph->header.type = PACKET_TYPE_CON_REQUEST;
cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
cph->datarate = rfm22b_dev->datarate;
cph->frequency_hz = rfm22b_dev->frequency_hz;
cph->min_frequency = rfm22b_dev->min_frequency;
cph->max_frequency = rfm22b_dev->max_frequency;
cph->max_tx_power = rfm22b_dev->tx_power;
rfm22b_dev->time_to_send = true;
rfm22b_dev->send_connection_request = true;
return RFM22B_EVENT_TX_START;
}
static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
{
PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Configure this modem from the connection request message.
rfm22_setDatarate(rfm22b_dev, cph->datarate, true);
PIOS_RFM22B_SetTxPower((uint32_t)rfm22b_dev, cph->max_tx_power);
rfm22b_dev->min_frequency = cph->min_frequency;
rfm22b_dev->max_frequency = cph->max_frequency;
rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->frequency_hz);
// Call the com port configuration function
if (rfm22b_dev->com_config_cb && !rfm22b_dev->coordinator)
rfm22b_dev->com_config_cb(cph->port, cph->com_speed);
}
static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
{
// Set our connection state to connected
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
// Copy the connection packet
PHConnectionPacketHandle cph = (PHConnectionPacketHandle)(&(rfm22b_dev->rx_packet));
PHConnectionPacketHandle lcph = (PHConnectionPacketHandle)(&(rfm22b_dev->con_packet));
memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
// Set the destination ID to the source of the connection request message.
PIOS_RFM22B_SetDestinationId((uint32_t)rfm22b_dev, cph->header.source_id);
return RFM22B_EVENT_CONNECTION_ACCEPTED;
}
// ************************************
@ -1732,13 +2114,49 @@ void rfm22_setFreqCalibration(uint8_t value)
static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
{
uint32_t id = rfm22b_dev->deviceID;
uint32_t min_frequency_hz = rfm22b_dev->cfg.minFrequencyHz;
uint32_t max_frequency_hz = rfm22b_dev->cfg.maxFrequencyHz;
uint32_t freq_hop_step_size = 50000;
// Initialize the register values.
rfm22b_dev->device_status = 0;
rfm22b_dev->int_status1 = 0;
rfm22b_dev->int_status2 = 0;
rfm22b_dev->ezmac_status = 0;
// Clean the LEDs
rfm22_clearLEDs();
// Initialize the detected device statistics.
for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
{
rfm22b_dev->pair_stats[i].pairID = 0;
rfm22b_dev->pair_stats[i].rssi = -127;
rfm22b_dev->pair_stats[i].afc_correction = 0;
rfm22b_dev->pair_stats[i].lastContact = 0;
}
// Initlize the link stats.
for (uint8_t i = 0; i < RFM22B_RX_PACKET_STATS_LEN; ++i)
rfm22b_dev->rx_packet_stats[i] = 0;
// Initialize the state
rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
rfm22b_dev->destination_id = 0xffffffff;
rfm22b_dev->time_to_send = false;
rfm22b_dev->time_to_send_offset = 0;
rfm22b_dev->send_status = false;
rfm22b_dev->send_connection_request = false;
// Initialize the packets.
rfm22b_dev->rx_packet_len = 0;
rfm22b_dev->tx_packet = NULL;
rfm22b_dev->prev_tx_packet = NULL;
rfm22b_dev->stats.tx_seq = 0;
rfm22b_dev->stats.rx_seq = 0;
rfm22b_dev->data_packet.header.data_size = 0;
rfm22b_dev->in_rx_mode = false;
// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
// wait 26ms
PIOS_DELAY_WaitmS(26);
@ -1749,22 +2167,22 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
PIOS_DELAY_WaitmS(1);
// read the status registers
rfm22b_dev->int_status1 = rfm22_read(RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(RFM22_interrupt_status2);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
}
// ****************
// read status - clears interrupt
rfm22b_dev->device_status = rfm22_read(RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(RFM22_ezmac_status);
rfm22b_dev->device_status = rfm22_read(rfm22b_dev, RFM22_device_status);
rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
rfm22b_dev->ezmac_status = rfm22_read(rfm22b_dev, RFM22_ezmac_status);
// disable all interrupts
rfm22_write(RFM22_interrupt_enable1, 0x00);
rfm22_write(RFM22_interrupt_enable2, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
// ****************
@ -1779,14 +2197,16 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
rfm22b_dev->afc_correction_Hz = 0;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->tx_complete_ticks = 0;
rfm22b_dev->rx_complete_ticks = 0;
// ****************
// read the RF chip ID bytes
// read the device type
uint8_t device_type = rfm22_read(RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
uint8_t device_type = rfm22_read(rfm22b_dev, RFM22_DEVICE_TYPE) & RFM22_DT_MASK;
// read the device version
uint8_t device_version = rfm22_read(RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
uint8_t device_version = rfm22_read(rfm22b_dev, RFM22_DEVICE_VERSION) & RFM22_DV_MASK;
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf device type: %d\n\r", device_type);
@ -1812,99 +2232,88 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
// ****************
// set the minimum and maximum carrier frequency allowed
if (min_frequency_hz < RFM22_MIN_CARRIER_FREQUENCY_HZ) min_frequency_hz = RFM22_MIN_CARRIER_FREQUENCY_HZ;
else
if (min_frequency_hz > RFM22_MAX_CARRIER_FREQUENCY_HZ) min_frequency_hz = RFM22_MAX_CARRIER_FREQUENCY_HZ;
if (max_frequency_hz < RFM22_MIN_CARRIER_FREQUENCY_HZ) max_frequency_hz = RFM22_MIN_CARRIER_FREQUENCY_HZ;
else
if (max_frequency_hz > RFM22_MAX_CARRIER_FREQUENCY_HZ) max_frequency_hz = RFM22_MAX_CARRIER_FREQUENCY_HZ;
if (min_frequency_hz > max_frequency_hz)
{ // swap them over
uint32_t tmp = min_frequency_hz;
min_frequency_hz = max_frequency_hz;
max_frequency_hz = tmp;
}
rfm22b_dev->min_frequency = RFM22B_DEFAULT_MIN_FREQUENCY;
rfm22b_dev->max_frequency = RFM22B_DEFAULT_MAX_FREQUENCY;
rfm22b_dev->frequency_hz = RFM22B_DEFAULT_FREQUENCY;
// ****************
// calibrate our RF module to be exactly on frequency .. different for every module
rfm22_write(RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
// ****************
// disable Low Duty Cycle Mode
rfm22_write(RFM22_op_and_func_ctrl2, 0x00);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
// 1MHz clock output
rfm22_write(RFM22_cpu_output_clk, RFM22_coc_1MHz);
rfm22_write(rfm22b_dev, RFM22_cpu_output_clk, RFM22_coc_1MHz);
// READY mode
rfm22_write(RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_xton);
// choose the 3 GPIO pin functions
// GPIO port use default value
rfm22_write(RFM22_io_port_config, RFM22_io_port_default);
rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
rfm22_write(RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate); // GPIO0 = TX State (to control RF Switch)
rfm22_write(RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate); // GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate); // GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate); // GPIO1 = RX State (to control RF Switch)
} else {
rfm22_write(RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate); // GPIO0 = TX State (to control RF Switch)
rfm22_write(RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate); // GPIO1 = RX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate); // GPIO0 = TX State (to control RF Switch)
rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate); // GPIO1 = RX State (to control RF Switch)
}
rfm22_write(RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca); // GPIO2 = Clear Channel Assessment
rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca); // GPIO2 = Clear Channel Assessment
// ****************
// initialize the frequency hopping step size
uint32_t freq_hop_step_size = 50000;
freq_hop_step_size /= 10000; // in 10kHz increments
if (freq_hop_step_size > 255) freq_hop_step_size = 255;
rfm22b_dev->frequency_hop_step_size_reg = freq_hop_step_size;
// FIFO mode, GFSK modulation
uint8_t fd_bit = rfm22_read(RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, RFM22_mmc2_trclk_clk_none | RFM22_mmc2_dtmod_fifo | fd_bit | RFM22_mmc2_modtyp_gfsk);
// setup to read the internal temperature sensor
// ADC used to sample the temperature sensor
uint8_t adc_config = RFM22_ac_adcsel_temp_sensor | RFM22_ac_adcref_bg;
rfm22_write(RFM22_adc_config, adc_config);
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config);
// adc offset
rfm22_write(RFM22_adc_sensor_amp_offset, 0);
rfm22_write(rfm22b_dev, RFM22_adc_sensor_amp_offset, 0);
// temp sensor calibration .. <20>40C to +64C 0.5C resolution
rfm22_write(RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
rfm22_write(rfm22b_dev, RFM22_temp_sensor_calib, RFM22_tsc_tsrange0 | RFM22_tsc_entsoffs);
// temp sensor offset
rfm22_write(RFM22_temp_value_offset, 0);
rfm22_write(rfm22b_dev, RFM22_temp_value_offset, 0);
// start an ADC conversion
rfm22_write(RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
rfm22_write(rfm22b_dev, RFM22_adc_config, adc_config | RFM22_ac_adcstartbusy);
// set the RSSI threshold interrupt to about -90dBm
rfm22_write(RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
rfm22_write(rfm22b_dev, RFM22_rssi_threshold_clear_chan_indicator, (-90 + 122) * 2);
// enable the internal Tx & Rx packet handlers (without CRC)
rfm22_write(RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
rfm22_write(rfm22b_dev, RFM22_data_access_control, RFM22_dac_enpacrx | RFM22_dac_enpactx);
// x-nibbles tx preamble
rfm22_write(RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
rfm22_write(rfm22b_dev, RFM22_preamble_length, TX_PREAMBLE_NIBBLES);
// x-nibbles rx preamble detection
rfm22_write(RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
rfm22_write(rfm22b_dev, RFM22_preamble_detection_ctrl1, RX_PREAMBLE_NIBBLES << 3);
#ifdef PIOS_RFM22_NO_HEADER
// header control - we are not using the header
rfm22_write(RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none);
rfm22_write(rfm22b_dev, RFM22_header_control1, RFM22_header_cntl1_bcen_none | RFM22_header_cntl1_hdch_none);
// no header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
rfm22_write(rfm22b_dev, RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
#else
// header control - using a 4 by header with broadcast of 0xffffffff
rfm22_write(RFM22_header_control1,
rfm22_write(rfm22b_dev, RFM22_header_control1,
RFM22_header_cntl1_bcen_0 |
RFM22_header_cntl1_bcen_1 |
RFM22_header_cntl1_bcen_2 |
@ -1914,66 +2323,93 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
RFM22_header_cntl1_hdch_2 |
RFM22_header_cntl1_hdch_3);
// Check all bit of all bytes of the header
rfm22_write(RFM22_header_enable0, 0xff);
rfm22_write(RFM22_header_enable1, 0xff);
rfm22_write(RFM22_header_enable2, 0xff);
rfm22_write(RFM22_header_enable3, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable2, 0xff);
rfm22_write(rfm22b_dev, RFM22_header_enable3, 0xff);
// Set the ID to be checked
rfm22_write(RFM22_check_header0, id & 0xff);
rfm22_write(RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(RFM22_check_header3, (id >> 24) & 0xff);
uint32_t id = rfm22b_dev->deviceID;
rfm22_write(rfm22b_dev, RFM22_check_header0, id & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header1, (id >> 8) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header2, (id >> 16) & 0xff);
rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
rfm22_write(RFM22_header_control2,
rfm22_write(rfm22b_dev, RFM22_header_control2,
RFM22_header_cntl2_hdlen_3210 |
RFM22_header_cntl2_synclen_3210 |
((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
#endif
// sync word
rfm22_write(RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(RFM22_sync_word0, SYNC_BYTE_4);
rfm22_write(rfm22b_dev, RFM22_sync_word3, SYNC_BYTE_1);
rfm22_write(rfm22b_dev, RFM22_sync_word2, SYNC_BYTE_2);
rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
rfm22_write(RFM22_agc_override1, RFM22_agc_ovr1_agcen);
rfm22_write(rfm22b_dev, RFM22_agc_override1, RFM22_agc_ovr1_agcen);
// set frequency hopping channel step size (multiples of 10kHz)
rfm22_write(RFM22_frequency_hopping_step_size, rfm22b_dev->frequency_hop_step_size_reg);
// set our nominal carrier frequency
rfm22_setNominalCarrierFrequency(rfm22b_dev, (min_frequency_hz + max_frequency_hz) / 2);
rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, rfm22b_dev->frequency_hop_step_size_reg);
// set the tx power
rfm22_write(RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
// TX FIFO Almost Full Threshold (0 - 63)
rfm22_write(RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
// TX FIFO Almost Empty Threshold (0 - 63)
rfm22_write(RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
rfm22_write(rfm22b_dev, RFM22_tx_fifo_control2, TX_FIFO_LO_WATERMARK);
// RX FIFO Almost Full Threshold (0 - 63)
rfm22_write(RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
rfm22_write(rfm22b_dev, RFM22_rx_fifo_control, RX_FIFO_HI_WATERMARK);
rfm22_setFreqCalibration(rfm22b_dev->cfg.RFXtalCap);
rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->cfg.frequencyHz);
RFM22_SetDatarate((uint32_t)rfm22b_dev, rfm22b_dev->datarate, true);
// Set the frequency calibration
rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
// Initialize the frequency and datarate to te default.
rfm22_setNominalCarrierFrequency(rfm22b_dev, RFM22B_DEFAULT_FREQUENCY);
rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
return RFM22B_EVENT_INITIALIZED;
}
static void rfm22_clearLEDs() {
LINK_LED_OFF;
RX_LED_OFF;
TX_LED_OFF;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
}
static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->resets++;
rfm22b_dev->stats.timeouts++;
rfm22b_dev->packet_start_ticks = 0;
// Release the Tx packet if it's set.
if (rfm22b_dev->tx_packet != 0)
{
rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
}
rfm22b_dev->rx_buffer_wr = 0;
TX_LED_OFF;
RX_LED_OFF;
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
D1_LED_OFF;
D2_LED_OFF;
D3_LED_OFF;
D4_LED_OFF;
#endif
return RFM22B_EVENT_TX_START;
}
static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
{
rfm22b_dev->resets++;
rfm22b_dev->packet_start_ticks = 0;
rfm22b_dev->stats.resets++;
rfm22_clearLEDs();
return RFM22B_EVENT_INITIALIZE;
}
@ -1985,8 +2421,8 @@ static enum pios_rfm22b_event rfm22_error(struct pios_rfm22b_dev *rfm22b_dev)
*/
static enum pios_rfm22b_event rfm22_fatal_error(struct pios_rfm22b_dev *rfm22b_dev)
{
// RF module error .. flash the LED's
rfm22_clearLEDs();
for(unsigned int j = 0; j < 16; j++)
{
USB_LED_ON;

130
flight/PiOS/Common/pios_rfm22b_com.c Normal file
View File

@ -0,0 +1,130 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B Radio Functions
* @brief PIOS COM interface for for the RFM22B radio
* @{
*
* @file pios_rfm22b_com.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Implements a driver the the RFM22B driver
* @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
*/
/* Project Includes */
#include <pios.h>
#include <pios_rfm22b_priv.h>
/* Provide a COM driver */
static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud);
static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail);
static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail);
static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_com_id);
/* Local variables */
const struct pios_com_driver pios_rfm22b_com_driver = {
.set_baud = PIOS_RFM22B_COM_ChangeBaud,
.tx_start = PIOS_RFM22B_COM_TxStart,
.rx_start = PIOS_RFM22B_COM_RxStart,
.bind_tx_cb = PIOS_RFM22B_COM_RegisterTxCallback,
.bind_rx_cb = PIOS_RFM22B_COM_RegisterRxCallback,
.available = PIOS_RFM22B_COM_Available
};
/**
* Changes the baud rate of the RFM22B peripheral without re-initialising.
* \param[in] rfm22b_id RFM22B name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
// This is only allowed for coordinators.
if (!rfm22b_dev->coordinator)
return;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
enum rfm22b_datarate datarate = RFM22_datarate_64000;
if (baud <= 1024)
datarate = RFM22_datarate_500;
else if (baud <= 2048)
datarate = RFM22_datarate_1000;
else if (baud <= 4096)
datarate = RFM22_datarate_8000;
else if (baud <= 9600)
datarate = RFM22_datarate_16000;
else if (baud <= 19200)
datarate = RFM22_datarate_32000;
else if (baud <= 38400)
datarate = RFM22_datarate_64000;
else if (baud <= 57600)
datarate = RFM22_datarate_128000;
else if (baud <= 115200)
datarate = RFM22_datarate_192000;
PIOS_RFM22B_SetDatarate(rfm22b_id, datarate, true);
}
static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)
{
}
static void PIOS_RFM22B_COM_TxStart(uint32_t rfm22b_id, uint16_t tx_bytes_avail)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
}
static void PIOS_RFM22B_COM_RegisterRxCallback(uint32_t rfm22b_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->rx_in_context = context;
rfm22b_dev->rx_in_cb = rx_in_cb;
}
static void PIOS_RFM22B_COM_RegisterTxCallback(uint32_t rfm22b_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
if (!PIOS_RFM22B_validate(rfm22b_dev))
return;
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
rfm22b_dev->tx_out_context = context;
rfm22b_dev->tx_out_cb = tx_out_cb;
}
static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id)
{
return PIOS_RFM22B_LinkStatus(rfm22b_id);
}

99
flight/PiOS/Common/pios_rfm22b_rcvr.c Normal file
View File

@ -0,0 +1,99 @@
/**
******************************************************************************
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
#include "pios_rfm22b_priv.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,
};
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;
}
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];
}
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 * 1000 / 625))
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] = 0;
rfm22b_dev->ppm_fresh = false;
}
#endif /* PIOS_INCLUDE_GCSRCVR */
/**
* @}
* @}
*/

2
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
View File

@ -103,7 +103,7 @@ extern "C" {
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portBYTE_ALIGNMENT 4
/*-----------------------------------------------------------*/

2
flight/PiOS/STM32F10x/pios_usb.c
View File

@ -223,7 +223,7 @@ bool PIOS_USB_CableConnected(uint8_t id)
* \return 0: interface not available
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
bool PIOS_USB_CheckAvailable(uint8_t id)
bool PIOS_USB_CheckAvailable(uint32_t id)
{
struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;

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

@ -51,6 +51,7 @@ const struct pios_com_driver pios_usb_cdc_com_driver = {
.rx_start = PIOS_USB_CDC_RxStart,
.bind_tx_cb = PIOS_USB_CDC_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_CDC_RegisterRxCallback,
.available = PIOS_USB_CheckAvailable,
};
enum pios_usb_cdc_dev_magic {

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

@ -51,6 +51,7 @@ const struct pios_com_driver pios_usb_hid_com_driver = {
.rx_start = PIOS_USB_HID_RxStart,
.bind_tx_cb = PIOS_USB_HID_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_HID_RegisterRxCallback,
.available = PIOS_USB_CheckAvailable,
};
enum pios_usb_hid_dev_magic {

3
flight/PiOS/STM32F10x/pios_wdg.c
View File

@ -94,6 +94,9 @@ uint16_t PIOS_WDG_Init()
*/
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested)
{
// flag are being registered so we are in module initialization phase
// clear the WDG to prevent timeout while initializing modules. (OP-815)
PIOS_WDG_Clear();
/* Fail if flag already registered */
if(wdg_configuration.used_flags & flag_requested)

191
flight/PiOS/STM32F4xx/pios_tim.c
View File

@ -47,26 +47,8 @@ struct pios_tim_dev {
const struct pios_tim_callbacks * callbacks;
uint32_t context;
};
#define PIOS_TIM_ALL_FLAGS TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4 | TIM_IT_Trigger | TIM_IT_Update
#if 0
static bool PIOS_TIM_validate(struct pios_tim_dev * tim_dev)
{
return (tim_dev->magic == PIOS_TIM_DEV_MAGIC);
}
#endif
#if defined(PIOS_INCLUDE_FREERTOS) && 0
static struct pios_tim_dev * PIOS_TIM_alloc(void)
{
struct pios_tim_dev * tim_dev;
tim_dev = (struct pios_tim_dev *)malloc(sizeof(*tim_dev));
if (!tim_dev) return(NULL);
tim_dev->magic = PIOS_TIM_DEV_MAGIC;
return(tim_dev);
}
#else
static struct pios_tim_dev pios_tim_devs[PIOS_TIM_MAX_DEVS];
static uint8_t pios_tim_num_devs;
static struct pios_tim_dev * PIOS_TIM_alloc(void)
@ -82,8 +64,6 @@ static struct pios_tim_dev * PIOS_TIM_alloc(void)
return (tim_dev);
}
#endif
@ -105,7 +85,6 @@ int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg)
case (uint32_t)TIM4:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
break;
#ifdef STM32F10X_HD
case (uint32_t)TIM5:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
break;
@ -127,16 +106,15 @@ int32_t PIOS_TIM_InitClock(const struct pios_tim_clock_cfg * cfg)
case (uint32_t)TIM11:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM11, ENABLE);
break;
case (uint32_t)TIM12:
case (uint32_t)TIM12:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE);
break;
case (uint32_t)TIM13:
case (uint32_t)TIM13:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM13, ENABLE);
break;
case (uint32_t)TIM14:
case (uint32_t)TIM14:
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM14, ENABLE);
break;
#endif
}
/* Configure the dividers for this timer */
@ -348,68 +326,6 @@ static void PIOS_TIM_generic_irq_handler(TIM_TypeDef * timer)
}
}
}
#if 0
uint16_t val = 0;
for(uint8_t i = 0; i < pios_pwm_cfg.num_channels; i++) {
struct pios_pwm_channel channel = pios_pwm_cfg.channels[i];
if ((channel.timer == timer) && (TIM_GetITStatus(channel.timer, channel.ccr) == SET)) {
TIM_ClearITPendingBit(channel.timer, channel.ccr);
switch(channel.channel) {
case TIM_Channel_1:
val = TIM_GetCapture1(channel.timer);
break;
case TIM_Channel_2:
val = TIM_GetCapture2(channel.timer);
break;
case TIM_Channel_3:
val = TIM_GetCapture3(channel.timer);
break;
case TIM_Channel_4:
val = TIM_GetCapture4(channel.timer);
break;
}
if (CaptureState[i] == 0) {
RiseValue[i] = val;
} else {
FallValue[i] = val;
}
// flip state machine and capture value here
/* Simple rise or fall state machine */
TIM_ICInitTypeDef TIM_ICInitStructure = pios_pwm_cfg.tim_ic_init;
if (CaptureState[i] == 0) {
/* Switch states */
CaptureState[i] = 1;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Falling;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
} else {
/* Capture computation */
if (FallValue[i] > RiseValue[i]) {
CaptureValue[i] = (FallValue[i] - RiseValue[i]);
} else {
CaptureValue[i] = ((channel.timer->ARR - RiseValue[i]) + FallValue[i]);
}
/* Switch states */
CaptureState[i] = 0;
/* Increase supervisor counter */
CapCounter[i]++;
/* Switch polarity of input capture */
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;
TIM_ICInitStructure.TIM_Channel = channel.channel;
TIM_ICInit(channel.timer, &TIM_ICInitStructure);
}
}
}
#endif
/* Bind Interrupt Handlers
*
@ -422,31 +338,6 @@ static void PIOS_TIM_1_CC_irq_handler (void)
PIOS_TIM_generic_irq_handler (TIM1);
}
// The rest of TIM1 interrupts are overlapped
void TIM1_BRK_TIM9_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_9_CC_irq_handler")));
static void PIOS_TIM_9_CC_irq_handler (void)
{
// TODO: Check for TIM1_BRK
PIOS_TIM_generic_irq_handler (TIM9);
}
void TIM1_UP_TIM10_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_10_CC_irq_handler")));
static void PIOS_TIM_10_CC_irq_handler (void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update)) {
PIOS_TIM_generic_irq_handler(TIM1);
} else if (TIM_GetITStatus(TIM10, TIM_IT_CC1 | TIM_IT_CC2 | TIM_IT_CC3 | TIM_IT_CC4)) {
PIOS_TIM_generic_irq_handler (TIM10);
}
}
void TIM1_TRG_COM_TIM11_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_11_CC_irq_handler")));
static void PIOS_TIM_11_CC_irq_handler (void)
{
// TODO: Check for TIM1_TRG
PIOS_TIM_generic_irq_handler (TIM11);
}
void TIM2_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_2_irq_handler")));
static void PIOS_TIM_2_irq_handler (void)
{
@ -495,12 +386,84 @@ static void PIOS_TIM_8_CC_irq_handler (void)
PIOS_TIM_generic_irq_handler (TIM8);
}
// The rest of TIM1 interrupts are overlapped
void TIM1_BRK_TIM9_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_9_CC_irq_handler")));
static void PIOS_TIM_9_CC_irq_handler (void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Break))
{
PIOS_TIM_generic_irq_handler(TIM1);
}
else if (TIM_GetITStatus(TIM9, PIOS_TIM_ALL_FLAGS))
{
PIOS_TIM_generic_irq_handler (TIM9);
}
}
void TIM1_UP_TIM10_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_10_CC_irq_handler")));
static void PIOS_TIM_10_CC_irq_handler (void)
{
if (TIM_GetITStatus(TIM1, TIM_IT_Update))
{
PIOS_TIM_generic_irq_handler(TIM1);
}
else if (TIM_GetITStatus(TIM10, PIOS_TIM_ALL_FLAGS))
{
PIOS_TIM_generic_irq_handler (TIM10);
}
}
void TIM1_TRG_COM_TIM11_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_11_CC_irq_handler")));
static void PIOS_TIM_11_CC_irq_handler (void)
{
if(TIM_GetITStatus(TIM1, TIM_IT_COM | TIM_IT_Trigger))
{
PIOS_TIM_generic_irq_handler (TIM1);
}
else if (TIM_GetITStatus(TIM11, PIOS_TIM_ALL_FLAGS))
{
PIOS_TIM_generic_irq_handler (TIM11);
}
}
void TIM8_BRK_TIM12_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM_12_irq_handler")));
static void PIOS_TIM_12_irq_handler (void)
{
PIOS_TIM_generic_irq_handler (TIM12);
if(TIM_GetITStatus(TIM8, TIM_IT_Break))
{
PIOS_TIM_generic_irq_handler (TIM8);
}
else if (TIM_GetITStatus(TIM12, PIOS_TIM_ALL_FLAGS))
{
PIOS_TIM_generic_irq_handler (TIM12);
}
}
void TIM8_UP_TIM13_IRQHandler(void) __attribute__ ((alias ("PIOS_TIM8_UP_TIM13_IRQHandler")));
static void PIOS_TIM8_UP_TIM13_IRQHandler (void)
{
if(TIM_GetITStatus(TIM8, TIM_IT_Update))
{
PIOS_TIM_generic_irq_handler (TIM8);
}
else if (TIM_GetITStatus(TIM13, PIOS_TIM_ALL_FLAGS))
{
PIOS_TIM_generic_irq_handler (TIM13);
}
}
void TIM8_TRG_COM_TIM14_IRQHandler (void) __attribute__ ((alias ("PIOS_TIM8_TRG_COM_TIM14_IRQHandler")));
static void PIOS_TIM8_TRG_COM_TIM14_IRQHandler (void)
{
if(TIM_GetITStatus(TIM8, TIM_IT_COM | TIM_IT_Trigger))
{
PIOS_TIM_generic_irq_handler (TIM8);
}
else if (TIM_GetITStatus(TIM14, PIOS_TIM_ALL_FLAGS))
{
PIOS_TIM_generic_irq_handler (TIM14);
}
}
/**
* @}

2
flight/PiOS/STM32F4xx/pios_usb.c
View File

@ -155,7 +155,7 @@ int32_t PIOS_USB_ChangeConnectionState(bool connected)
* \return 0: interface not available
*/
uint32_t usb_found;
bool PIOS_USB_CheckAvailable(uint8_t id)
bool PIOS_USB_CheckAvailable(uint32_t id)
{
struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_id;

1
flight/PiOS/STM32F4xx/pios_usb_cdc.c
View File

@ -48,6 +48,7 @@ const struct pios_com_driver pios_usb_cdc_com_driver = {
.rx_start = PIOS_USB_CDC_RxStart,
.bind_tx_cb = PIOS_USB_CDC_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_CDC_RegisterRxCallback,
.available = PIOS_USB_CheckAvailable,
};
enum pios_usb_cdc_dev_magic {

1
flight/PiOS/STM32F4xx/pios_usb_hid.c
View File

@ -52,6 +52,7 @@ const struct pios_com_driver pios_usb_hid_com_driver = {
.rx_start = PIOS_USB_HID_RxStart,
.bind_tx_cb = PIOS_USB_HID_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_HID_RegisterRxCallback,
.available = PIOS_USB_CheckAvailable,
};
enum pios_usb_hid_dev_magic {

5
flight/PiOS/STM32F4xx/pios_wdg.c
View File

@ -98,7 +98,10 @@ uint16_t PIOS_WDG_Init()
*/
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested)
{
// flag are being registered so we are in module initialization phase
// clear the WDG to prevent timeout while initializing modules. (OP-815)
PIOS_WDG_Clear();
/* Fail if flag already registered */
if(wdg_configuration.used_flags & flag_requested)
return false;

2
flight/PiOS/inc/pios_com.h
View File

@ -43,6 +43,7 @@ struct pios_com_driver {
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
bool (*available)(uint32_t id);
};
/* Public Functions */
@ -56,6 +57,7 @@ extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
extern bool PIOS_COM_Available(uint32_t com_id);
#endif /* PIOS_COM_H */

49
flight/PiOS/inc/pios_rfm22b.h
View File

@ -32,6 +32,7 @@
#define PIOS_RFM22B_H
#include <packet_handler.h>
#include <oplinksettings.h>
enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX};
@ -39,12 +40,7 @@ enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX};
struct pios_rfm22b_cfg {
const struct pios_spi_cfg * spi_cfg; /* Pointer to SPI interface configuration */
const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
uint32_t frequencyHz;
uint32_t minFrequencyHz;
uint32_t maxFrequencyHz;
uint8_t RFXtalCap;
uint32_t maxRFBandwidth;
uint8_t maxTxPower;
uint8_t slave_num;
enum gpio_direction gpio_direction;
};
@ -77,18 +73,47 @@ enum rfm22b_datarate {
RFM22_datarate_256000 = 13,
};
struct rfm22b_stats {
uint16_t packets_per_sec;
uint16_t tx_byte_count;
uint16_t rx_byte_count;
uint16_t tx_seq;
uint16_t rx_seq;
uint8_t rx_good;
uint8_t rx_corrected;
uint8_t rx_error;
uint8_t rx_missed;
uint8_t rx_failure;
uint8_t tx_dropped;
uint8_t tx_resent;
uint8_t tx_failure;
uint8_t resets;
uint8_t timeouts;
uint8_t link_quality;
int8_t rssi;
int8_t afc_correction;
uint8_t link_state;
};
/* Callback function prototypes */
typedef void (*PIOS_RFM22B_ComConfigCallback)(OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed);
/* Public Functions */
extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg);
extern void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_frequency, uint32_t max_frequency);
extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr);
extern void RFM22_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening);
extern void PIOS_RFM22B_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening);
extern void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id);
extern void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator);
extern void PIOS_RFM22B_SetRemoteComConfig(uint32_t rfm22b_id, OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed);
extern void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb);
extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
extern uint16_t PIOS_RFM22B_Resets(uint32_t rfm22b_id);
extern uint16_t PIOS_RFM22B_Timeouts(uint32_t rfm22b_id);
extern uint8_t PIOS_RFM22B_LinkQuality(uint32_t rfm22b_id);
extern int8_t PIOS_RFM22B_RSSI(uint32_t rfm22b_id);
extern bool PIOS_RFM22B_Send_Packet(uint32_t rfm22b_id, PHPacketHandle p, uint32_t max_delay);
extern uint32_t PIOS_RFM22B_Receive_Packet(uint32_t rfm22b_id, PHPacketHandle *p, uint32_t max_delay);
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_LinkStatus(uint32_t rfm22b_id);
/* Global Variables */
extern const struct pios_com_driver pios_rfm22b_com_driver;
#endif /* PIOS_RFM22B_H */

65
ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadget.cpp → flight/PiOS/inc/pios_rfm22b_com.h
View File

@ -1,48 +1,41 @@
/**
******************************************************************************
* @file waypointeditorgadget.cpp
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RFM22B COM Functions
* @brief PIOS interface for RFM22B Radio COM interface
* @{
*
* @file pios_rfm22b_com.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup Waypoint Editor GCS Plugins
* @{
* @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
* @{
* @brief A gadget to edit a list of waypoints
* @brief RFM22B 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
/*
* 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
*
* 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.,
*
* 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 "waypointeditorgadget.h"
#include "waypointeditorgadgetwidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include <QDebug>
#ifndef PIOS_RFM22B_H
#define PIOS_RFM22B_H
WaypointEditorGadget::WaypointEditorGadget(QString classId, WaypointEditorGadgetWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
}
extern const struct pios_com_driver pios_rfm22b_com_driver;
WaypointEditorGadget::~WaypointEditorGadget()
{
delete m_widget;
}
#endif /* PIOS_RFM22B_H */
void WaypointEditorGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
Q_UNUSED(config);
}
/**
* @}
* @}
*/

240
flight/PiOS/inc/pios_rfm22b_priv.h
View File

@ -32,10 +32,11 @@
#define PIOS_RFM22B_PRIV_H
#include <pios.h>
#include "fifo_buffer.h"
#include <fifo_buffer.h>
#include <uavobjectmanager.h>
#include <oplinkstatus.h>
#include "pios_rfm22b.h"
extern const struct pios_com_driver pios_rfm22b_com_driver;
#include "pios_rfm22b_rcvr.h"
// ************************************
@ -565,14 +566,239 @@ extern const struct pios_com_driver pios_rfm22b_com_driver;
#define RFM22_fifo_access 0x7F // R/W
// ************************************
typedef int16_t ( *t_rfm22_TxDataByteCallback ) (void);
typedef bool ( *t_rfm22_RxDataCallback ) (void *data, uint8_t len);
// External type definitions
// ************************************
typedef int16_t (*t_rfm22_TxDataByteCallback) (void);
typedef bool (*t_rfm22_RxDataCallback) (void *data, uint8_t len);
enum pios_rfm22b_dev_magic {
PIOS_RFM22B_DEV_MAGIC = 0x68e971b6,
};
enum pios_rfm22b_state {
RFM22B_STATE_UNINITIALIZED,
RFM22B_STATE_INITIALIZING,
RFM22B_STATE_INITIALIZED,
RFM22B_STATE_INITIATING_CONNECTION,
RFM22B_STATE_WAIT_FOR_CONNECTION,
RFM22B_STATE_REQUESTING_CONNECTION,
RFM22B_STATE_ACCEPTING_CONNECTION,
RFM22B_STATE_CONNECTION_ACCEPTED,
RFM22B_STATE_RX_MODE,
RFM22B_STATE_WAIT_PREAMBLE,
RFM22B_STATE_WAIT_SYNC,
RFM22B_STATE_RX_DATA,
RFM22B_STATE_RX_FAILURE,
RFM22B_STATE_RECEIVING_STATUS,
RFM22B_STATE_TX_START,
RFM22B_STATE_TX_DATA,
RFM22B_STATE_TX_FAILURE,
RFM22B_STATE_SENDING_ACK,
RFM22B_STATE_SENDING_NACK,
RFM22B_STATE_RECEIVING_ACK,
RFM22B_STATE_RECEIVING_NACK,
RFM22B_STATE_TIMEOUT,
RFM22B_STATE_ERROR,
RFM22B_STATE_FATAL_ERROR,
RFM22B_STATE_NUM_STATES // Must be last
};
enum pios_rfm22b_event {
RFM22B_EVENT_INT_RECEIVED,
RFM22B_EVENT_INITIALIZE,
RFM22B_EVENT_INITIALIZED,
RFM22B_EVENT_REQUEST_CONNECTION,
RFM22B_EVENT_WAIT_FOR_CONNECTION,
RFM22B_EVENT_CONNECTION_REQUESTED,
RFM22B_EVENT_CONNECTION_ACCEPTED,
RFM22B_EVENT_PACKET_ACKED,
RFM22B_EVENT_PACKET_NACKED,
RFM22B_EVENT_ACK_TIMEOUT,
RFM22B_EVENT_RX_MODE,
RFM22B_EVENT_PREAMBLE_DETECTED,
RFM22B_EVENT_SYNC_DETECTED,
RFM22B_EVENT_RX_COMPLETE,
RFM22B_EVENT_RX_ERROR,
RFM22B_EVENT_STATUS_RECEIVED,
RFM22B_EVENT_TX_START,
RFM22B_EVENT_FAILURE,
RFM22B_EVENT_TIMEOUT,
RFM22B_EVENT_ERROR,
RFM22B_EVENT_FATAL_ERROR,
RFM22B_EVENT_NUM_EVENTS // Must be last
};
#define RFM22B_RX_PACKET_STATS_LEN 4
enum pios_rfm22b_rx_packet_status {
RFM22B_GOOD_RX_PACKET = 0x00,
RFM22B_CORRECTED_RX_PACKET = 0x01,
RFM22B_ERROR_RX_PACKET = 0x2,
RFM22B_RESENT_TX_PACKET = 0x3
};
typedef struct {
uint32_t pairID;
int8_t rssi;
int8_t afc_correction;
uint8_t lastContact;
} rfm22b_pair_stats;
struct pios_rfm22b_dev {
enum pios_rfm22b_dev_magic magic;
struct pios_rfm22b_cfg cfg;
// The SPI bus information
uint32_t spi_id;
uint32_t slave_num;
// The device ID
uint32_t deviceID;
// The destination ID
uint32_t destination_id;
// Is this device a coordinator?
bool coordinator;
// The task handle
xTaskHandle taskHandle;
// The potential paired statistics
rfm22b_pair_stats pair_stats[OPLINKSTATUS_PAIRIDS_NUMELEM];
// ISR pending semaphore
xSemaphoreHandle isrPending;
// The com configuration callback
PIOS_RFM22B_ComConfigCallback com_config_cb;
// The COM callback functions.
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
// the transmit power to use for data transmissions
uint8_t tx_power;
// The RF datarate lookup index.
uint8_t datarate;
// The state machine state and the current event
enum pios_rfm22b_state state;
// The event queue handle
xQueueHandle eventQueue;
// device status register
uint8_t device_status;
// interrupt status register 1
uint8_t int_status1;
// interrupt status register 2
uint8_t int_status2;
// ezmac status register
uint8_t ezmac_status;
// The error statistics counters
uint16_t prev_rx_seq_num;
uint32_t rx_packet_stats[RFM22B_RX_PACKET_STATS_LEN];
// The packet statistics
struct rfm22b_stats stats;
// Stats
uint16_t errors;
// RSSI in dBm
int8_t rssi_dBm;
// The packet queue handle
xQueueHandle packetQueue;
// The tx data packet
PHPacket data_packet;
// The current tx packet
PHPacketHandle tx_packet;
// The previous tx packet (waiting for an ACK)
PHPacketHandle prev_tx_packet;
// The tx data read index
uint16_t tx_data_rd;
// The tx data write index
uint16_t tx_data_wr;
// The tx packet sequence number
uint16_t tx_seq;
// The rx data packet
PHPacket rx_packet;
// The receive buffer write index
uint16_t rx_buffer_wr;
// The receive buffer write index
uint16_t rx_packet_len;
// Is the modem currently in Rx mode?
bool in_rx_mode;
// The status packet
PHStatusPacket status_packet;
// The ACK/NACK packet
PHAckNackPacket ack_nack_packet;
#ifdef PIOS_PPM_RECEIVER
// The PPM packet
PHPpmPacket ppm_packet;
#endif
// The connection packet.
PHConnectionPacket con_packet;
// Send flags
bool send_status;
bool send_ppm;
bool send_connection_request;
bool time_to_send;
uint8_t time_to_send_offset;
// The minimum frequency
uint32_t min_frequency;
// The maximum frequency
uint32_t max_frequency;
// The current nominal frequency
uint32_t frequency_hz;
// The frequency hopping step size
float frequency_step_size;
// current frequency hop channel
uint8_t frequency_hop_channel;
// the frequency hop step size
uint8_t frequency_hop_step_size_reg;
// afc correction reading (in Hz)
int8_t afc_correction_Hz;
// The maximum time (ms) that it should take to transmit / receive a packet.
uint32_t max_packet_time;
portTickType packet_start_ticks;
portTickType tx_complete_ticks;
portTickType rx_complete_ticks;
uint8_t max_ack_delay;
// The PPM channel values
uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
uint8_t ppm_supv_timer;
bool ppm_fresh;
};
// External function definitions
bool PIOS_RFM22_EXT_Int(void);
bool PIOS_RFM22B_validate(struct pios_rfm22b_dev * rfm22b_dev);
void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_event event, bool inISR);
// Global variable definitions
extern const struct pios_com_driver pios_rfm22b_com_driver;
#endif /* PIOS_RFM22B_PRIV_H */

86
ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorplugin.h → flight/PiOS/inc/pios_rfm22b_rcvr.h
View File

@ -1,46 +1,40 @@
/**
******************************************************************************
* @file waypointeditorplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup Waypoint Editor GCS Plugins
* @{
* @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
* @{
* @brief A gadget to edit a list of waypoints
*****************************************************************************/
/*
* 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 WaypointEditorPLUGIN_H_
#define WaypointEditorPLUGIN_H_
#include <extensionsystem/iplugin.h>
class WaypointEditorGadgetFactory;
class WaypointEditorPlugin : public ExtensionSystem::IPlugin
{
public:
WaypointEditorPlugin();
~WaypointEditorPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
private:
WaypointEditorGadgetFactory *mf;
};
#endif /* WaypointEditorPLUGIN_H_ */
/**
******************************************************************************
* @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 */

2
flight/PiOS/inc/pios_usb.h
View File

@ -36,7 +36,7 @@
extern int32_t PIOS_USB_Reenumerate();
extern int32_t PIOS_USB_ChangeConnectionState(bool connected);
extern bool PIOS_USB_CableConnected(uint8_t id);
extern bool PIOS_USB_CheckAvailable(uint8_t id);
extern bool PIOS_USB_CheckAvailable(uint32_t id);
#endif /* PIOS_USB_H */

10
flight/PiOS/pios.h
View File

@ -166,6 +166,16 @@
#include <pios_usb.h>
#endif
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b.h>
#ifdef PIOS_INCLUDE_RFM22B_COM
#include <pios_rfm22b_com.h>
#endif
#ifdef PIOS_INCLUDE_RFM22B_RCVR
#include <pios_rfm22b_rcvr.h>
#endif
#endif
#include <pios_crc.h>
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))

8
flight/PipXtreme/Makefile
View File

@ -73,7 +73,7 @@ FLASH_TOOL = OPENOCD
# List of modules to include
OPTMODULES =
MODULES = Radio RadioComBridge
MODULES = RadioComBridge
# Paths
OPSYSTEM = ./System
@ -147,8 +147,8 @@ endif
## UAVOBJECTS
ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/pipxstatus.c
SRC += $(OPUAVSYNTHDIR)/pipxsettings.c
SRC += $(OPUAVSYNTHDIR)/oplinkstatus.c
SRC += $(OPUAVSYNTHDIR)/oplinksettings.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
endif
@ -191,12 +191,12 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
## Libraries for flight calculations
SRC += $(FLIGHTLIB)/fifo_buffer.c
SRC += $(FLIGHTLIB)/CoordinateConversions.c
SRC += $(FLIGHTLIB)/taskmonitor.c
SRC += $(FLIGHTLIB)/aes.c
SRC += $(FLIGHTLIB)/packet_handler.c
## The Reed-Solomon FEC library
SRC += $(FLIGHTLIB)/rscode/rs.c
SRC += $(FLIGHTLIB)/rscode/berlekamp.c

5
flight/PipXtreme/System/inc/pios_config.h
View File

@ -39,6 +39,7 @@
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_RFM22B
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_RCVR
#define PIOS_INCLUDE_TIM
@ -98,8 +99,8 @@
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL
/* Always include the radio module */
#define RADIO_BUILTIN
/* Turn on debugging signals on the telemetry port */
//#define PIOS_RFM22B_DEBUG_ON_TELEM
#endif /* PIOS_CONFIG_H */
/**

238
flight/PipXtreme/System/pios_board.c
View File

@ -30,30 +30,34 @@
#include <pios.h>
#include <openpilot.h>
#include <pipxsettings.h>
#include <oplinksettings.h>
#include <board_hw_defs.c>
#define PIOS_COM_SERIAL_RX_BUF_LEN 256
#define PIOS_COM_SERIAL_TX_BUF_LEN 256
#define PIOS_COM_FLEXI_RX_BUF_LEN 256
#define PIOS_COM_FLEXI_TX_BUF_LEN 128
#define PIOS_COM_TELEM_RX_BUF_LEN 256
#define PIOS_COM_TELEM_TX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
#define PIOS_COM_TELEM_VCP_RX_BUF_LEN 256
#define PIOS_COM_TELEM_VCP_TX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telemetry_id;
uint32_t pios_com_flexi_id;
uint32_t pios_com_vcp_id;
uint32_t pios_com_uavtalk_com_id = 0;
uint32_t pios_com_gcs_com_id = 0;
uint32_t pios_com_trans_com_id = 0;
uint32_t pios_com_debug_id = 0;
uint32_t pios_com_telem_vcp_id = 0;
uint32_t pios_com_telem_uart_telem_id = 0;
uint32_t pios_com_telem_uart_flexi_id = 0;
uint32_t pios_com_telemetry_id = 0;
#if defined(PIOS_INCLUDE_PPM)
uint32_t pios_ppm_rcvr_id = 0;
#endif
#if defined(PIOS_INCLUDE_RFM22B)
uint32_t pios_rfm22b_id = 0;
uint32_t pios_com_rfm22b_id = 0;
uint32_t pios_com_radio_id = 0;
#endif
/**
* PIOS_Board_Init()
@ -84,24 +88,24 @@ void PIOS_Board_Init(void) {
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif /* PIOS_INCLUDE_RTC */
PipXSettingsInitialize();
OPLinkSettingsInitialize();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
PipXSettingsData pipxSettings;
OPLinkSettingsData oplinkSettings;
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
PIOS_EEPROM_Init(&pios_eeprom_cfg);
/* Read the settings from flash. */
/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
if (PIOS_EEPROM_Load((uint8_t*)&pipxSettings, sizeof(PipXSettingsData)) == 0)
PipXSettingsSet(&pipxSettings);
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
OPLinkSettingsSet(&oplinkSettings);
else
PipXSettingsGet(&pipxSettings);
OPLinkSettingsGet(&oplinkSettings);
#else
PipXSettingsGet(&pipxSettings);
OPLinkSettingsGet(&oplinkSettings);
#endif /* PIOS_INCLUDE_FLASH_EEPROM */
/* Initialize the task monitor library */
@ -115,11 +119,9 @@ void PIOS_Board_Init(void) {
PIOS_TIM_InitClock(&tim_4_cfg);
#endif /* PIOS_INCLUDE_TIM */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_cdc_present = false;
@ -134,60 +136,18 @@ void PIOS_Board_Init(void) {
}
#endif
/*Initialize the USB device */
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
#if defined(PIOS_INCLUDE_USB_CDC)
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
pipxSettings.VCPConfig = PIPXSETTINGS_VCPCONFIG_DISABLED;
}
switch (pipxSettings.VCPConfig)
{
case PIPXSETTINGS_VCPCONFIG_SERIAL:
case PIPXSETTINGS_VCPCONFIG_DEBUG:
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_VCP_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_VCP_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_VCP_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.VCPConfig)
{
case PIPXSETTINGS_VCPCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_vcp_id;
break;
case PIPXSETTINGS_VCPCONFIG_DEBUG:
pios_com_debug_id = pios_com_vcp_id;
break;
}
break;
}
case PIPXSETTINGS_VCPCONFIG_DISABLED:
break;
}
#endif
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
#if defined(PIOS_INCLUDE_COM)
/* Configure the USB HID port */
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
@ -196,109 +156,97 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/* Configure USART1 (telemetry port) */
switch (pipxSettings.TelemetryConfig)
/* Configure the USB virtual com port (VCP) */
#if defined(PIOS_INCLUDE_USB_CDC)
if (usb_cdc_present)
{
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif
/* Configure the telemetry serial port */
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
{
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_TX_BUF_LEN);
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telemetry_id, &pios_usart_com_driver, pios_usart1_id,
rx_buffer, PIOS_COM_SERIAL_RX_BUF_LEN,
tx_buffer, PIOS_COM_SERIAL_TX_BUF_LEN)) {
if (PIOS_COM_Init(&pios_com_telem_uart_telem_id, &pios_usart_com_driver, pios_usart1_id,
rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.TelemetryConfig)
{
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
pios_com_gcs_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
pios_com_debug_id = pios_com_telemetry_id;
break;
}
break;
}
case PIPXSETTINGS_TELEMETRYCONFIG_DISABLED:
break;
}
#endif
/* Configure USART3 */
switch (pipxSettings.FlexiConfig)
/* Configure PPM input */
#if defined(PIOS_INCLUDE_PPM)
if (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE)
{
case PIPXSETTINGS_FLEXICONFIG_SERIAL:
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
case PIPXSETTINGS_FLEXICONFIG_GCS:
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id))
PIOS_Assert(0);
}
else
#endif /* PIOS_INCLUDE_PPM */
/* Configure the flexi serial port */
{
uint32_t pios_usart3_id;
if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_TX_BUF_LEN);
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_flexi_id, &pios_usart_com_driver, pios_usart3_id,
rx_buffer, PIOS_COM_FLEXI_RX_BUF_LEN,
tx_buffer, PIOS_COM_FLEXI_TX_BUF_LEN)) {
if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.FlexiConfig)
{
case PIPXSETTINGS_FLEXICONFIG_SERIAL:
pios_com_trans_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_GCS:
pios_com_gcs_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
pios_com_debug_id = pios_com_flexi_id;
break;
}
break;
}
case PIPXSETTINGS_FLEXICONFIG_PPM_IN:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
{
extern const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision);
const struct pios_board_info * bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_PPM */
break;
case PIPXSETTINGS_FLEXICONFIG_PPM_OUT:
case PIPXSETTINGS_FLEXICONFIG_RSSI:
case PIPXSETTINGS_FLEXICONFIG_DISABLED:
break;
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

4
flight/RevoMini/Makefile
View File

@ -60,7 +60,6 @@ MODULES += AltitudeHold FixedWingPathFollower PathPlanner TxPID
#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
MODULES += CameraStab
#MODULES += OveroSync
MODULES += Radio
MODULES += Telemetry
PYMODULES =
#FlightPlan
@ -155,7 +154,6 @@ SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
## For RFM22b
SRC += $(FLIGHTLIB)/packet_handler.c
SRC += $(RSCODE)/berlekamp.c
SRC += $(RSCODE)/crcgen.c
SRC += $(RSCODE)/galois.c
@ -176,6 +174,8 @@ SRC += $(PIOSCOMMON)/pios_ms5611.c
SRC += $(PIOSCOMMON)/pios_crc.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_rfm22b.c
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
SRC += $(PIOSCOMMON)/pios_rfm22b_rcvr.c
SRC += $(PIOSCOMMON)/pios_rcvr.c
SRC += $(PIOSCOMMON)/pios_sbus.c
SRC += $(PIOSCOMMON)/pios_flash_jedec.c

7
flight/RevoMini/System/inc/pios_config.h
View File

@ -58,8 +58,9 @@
/* Variables related to the RFM22B functionality */
#define PIOS_INCLUDE_RFM22B
#define RFM22_EXT_INT_USE
#define PIOS_INCLUDE_RFM22B_COM
#define PIOS_INCLUDE_RFM22B_RCVR
/* Select the sensors to include */
#define PIOS_INCLUDE_HMC5883
#define PIOS_HMC5883_HAS_GPIOS
@ -93,6 +94,8 @@
/* A really shitty setting saving implementation */
#define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
//#define PIOS_INCLUDE_DEBUG_CONSOLE
/* Other Interfaces */
//#define PIOS_INCLUDE_I2C_ESC

53
flight/RevoMini/System/pios_board.c
View File

@ -219,6 +219,9 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
@ -229,6 +232,9 @@ uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telem_rf_id = 0;
uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
#if defined(PIOS_INCLUDE_RFM22B)
uint32_t pios_rfm22b_id = 0;
#endif
/*
* Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only
@ -522,7 +528,7 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
@ -585,16 +591,53 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hwsettings_rm_flexiport */
} /* hwsettings_rv_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
uint8_t hwsettings_radioport;
HwSettingsRadioPortGet(&hwsettings_radioport);
switch (hwsettings_radioport) {
case HWSETTINGS_RADIOPORT_DISABLED:
break;
case HWSETTINGS_RADIOPORT_TELEMETRY:
{
extern const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision);
const struct pios_board_info * bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
#ifdef PIOS_INCLUDE_RFM22B_COM
uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN))
PIOS_Assert(0);
#endif
#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;
}
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Configure the receiver port*/
uint8_t hwsettings_rcvrport;
HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);

6
flight/RevoMini/UAVObjects.inc
View File

@ -97,11 +97,5 @@ UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += txpidsettings
#Support for radio module on RM
UAVOBJSRCFILENAMES += pipxstatus
UAVOBJSRCFILENAMES += pipxsettings
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

63
flight/UAVObjects/inc/uavobjecttemplate.h
View File

@ -46,40 +46,53 @@
#define $(NAMEUC)_ISSETTINGS $(ISSETTINGS)
#define $(NAMEUC)_NUMBYTES sizeof($(NAME)Data)
// Object access macros
/**
* @function $(NAME)Get(dataOut)
* @brief Populate a $(NAME)Data object
* @param[out] dataOut
*/
#define $(NAME)Get(dataOut) UAVObjGetData($(NAME)Handle(), dataOut)
#define $(NAME)Set(dataIn) UAVObjSetData($(NAME)Handle(), dataIn)
#define $(NAME)InstGet(instId, dataOut) UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut)
#define $(NAME)InstSet(instId, dataIn) UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn)
#define $(NAME)ConnectQueue(queue) UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES)
#define $(NAME)ConnectCallback(cb) UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES)
#define $(NAME)CreateInstance() UAVObjCreateInstance($(NAME)Handle(),&$(NAME)SetDefaults)
#define $(NAME)RequestUpdate() UAVObjRequestUpdate($(NAME)Handle())
#define $(NAME)RequestInstUpdate(instId) UAVObjRequestInstanceUpdate($(NAME)Handle(), instId)
#define $(NAME)Updated() UAVObjUpdated($(NAME)Handle())
#define $(NAME)InstUpdated(instId) UAVObjUpdated($(NAME)Handle(), instId)
#define $(NAME)GetMetadata(dataOut) UAVObjGetMetadata($(NAME)Handle(), dataOut)
#define $(NAME)SetMetadata(dataIn) UAVObjSetMetadata($(NAME)Handle(), dataIn)
#define $(NAME)ReadOnly() UAVObjReadOnly($(NAME)Handle())
// Generic interface functions
int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
// Object data
typedef struct {
$(DATAFIELDS)
} __attribute__((packed)) $(NAME)Data;
// Typesafe Object access functions
/**
* @function $(NAME)Get(dataOut)
* @brief Populate a $(NAME)Data object
* @param[out] dataOut
*/
static inline int32_t $(NAME)Get($(NAME)Data *dataOut) { return UAVObjGetData($(NAME)Handle(), dataOut); }
static inline int32_t $(NAME)Set(const $(NAME)Data *dataIn) { return UAVObjSetData($(NAME)Handle(), dataIn); }
static inline int32_t $(NAME)InstGet(uint16_t instId, $(NAME)Data *dataOut) { return UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut); }
static inline int32_t $(NAME)InstSet(uint16_t instId, const $(NAME)Data *dataIn) { return UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn); }
static inline int32_t $(NAME)ConnectQueue(xQueueHandle queue) { return UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES); }
static inline int32_t $(NAME)ConnectCallback(UAVObjEventCallback cb) { return UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES); }
static inline uint16_t $(NAME)CreateInstance() { return UAVObjCreateInstance($(NAME)Handle(), &$(NAME)SetDefaults); }
static inline void $(NAME)RequestUpdate() { UAVObjRequestUpdate($(NAME)Handle()); }
static inline void $(NAME)RequestInstUpdate(uint16_t instId) { UAVObjRequestInstanceUpdate($(NAME)Handle(), instId); }
static inline void $(NAME)Updated() { UAVObjUpdated($(NAME)Handle()); }
static inline void $(NAME)InstUpdated(uint16_t instId) { UAVObjInstanceUpdated($(NAME)Handle(), instId); }
static inline int32_t $(NAME)GetMetadata(UAVObjMetadata *dataOut) { return UAVObjGetMetadata($(NAME)Handle(), dataOut); }
static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata *dataIn) { return UAVObjSetMetadata($(NAME)Handle(), dataIn); }
static inline int8_t $(NAME)ReadOnly() { return UAVObjReadOnly($(NAME)Handle()); }
// Field information
$(DATAFIELDINFO)
// Generic interface functions
int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
// set/Get functions
$(SETGETFIELDSEXTERN)

51
flight/UAVObjects/uavobjectmanager.c
View File

@ -41,6 +41,17 @@
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/* Table of UAVO handles registered at compile time */
extern struct UAVOData * __start__uavo_handles[] __attribute__((weak));
extern struct UAVOData * __stop__uavo_handles[] __attribute__((weak));
#define UAVO_LIST_ITERATE(_item) \
for (struct UAVOData ** _uavo_slot = __start__uavo_handles; \
_uavo_slot && _uavo_slot < __stop__uavo_handles; \
_uavo_slot++) { \
struct UAVOData * _item = *_uavo_slot; \
if (_item == NULL) continue;
/**
* List of event queues and the eventmask associated with the queue.
*/
@ -98,7 +109,6 @@ struct UAVOData {
* inside the payload for this UAVO.
*/
struct UAVOMeta metaObj;
struct UAVOData * next;
uint16_t instance_size;
} __attribute__((packed));
@ -164,7 +174,6 @@ static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
#endif
// Private variables
static struct UAVOData * uavo_list;
static xSemaphoreHandle mutex;
static const UAVObjMetadata defMetadata = {
.flags = (ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
@ -188,9 +197,12 @@ static UAVObjStats stats;
int32_t UAVObjInitialize()
{
// Initialize variables
uavo_list = NULL;
memset(&stats, 0, sizeof(UAVObjStats));
// Initialize the uavo handle table
memset(__start__uavo_handles, 0,
(uintptr_t)__stop__uavo_handles - (uintptr_t)__start__uavo_handles);
// Create mutex
mutex = xSemaphoreCreateRecursiveMutex();
if (mutex == NULL)
@ -338,9 +350,6 @@ UAVObjHandle UAVObjRegister(uint32_t id,
/* Initialize the embedded meta UAVO */
UAVObjInitMetaData (&uavo_data->metaObj);
/* Add the newly created object to the global list of objects */
LL_APPEND(uavo_list, uavo_data);
/* Initialize object fields and metadata to default values */
if (initCb)
initCb((UAVObjHandle) uavo_data, 0);
@ -374,8 +383,7 @@ UAVObjHandle UAVObjGetByID(uint32_t id)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Look for object
struct UAVOData * tmp_obj;
LL_FOREACH(uavo_list, tmp_obj) {
UAVO_LIST_ITERATE(tmp_obj)
if (tmp_obj->id == id) {
found_obj = (UAVObjHandle *)tmp_obj;
goto unlock_exit;
@ -1019,15 +1027,13 @@ int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId)
*/
int32_t UAVObjSaveSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1051,15 +1057,13 @@ unlock_exit:
*/
int32_t UAVObjLoadSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Load object
@ -1083,15 +1087,13 @@ unlock_exit:
*/
int32_t UAVObjDeleteSettings()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
// Save object
@ -1115,15 +1117,13 @@ unlock_exit:
*/
int32_t UAVObjSaveMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Save all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Save object
if (UAVObjSave( (UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1144,15 +1144,13 @@ unlock_exit:
*/
int32_t UAVObjLoadMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjLoad((UAVObjHandle) MetaObjectPtr(obj), 0) ==
-1) {
@ -1173,15 +1171,13 @@ unlock_exit:
*/
int32_t UAVObjDeleteMetaobjects()
{
struct UAVOData *obj;
// Get lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
int32_t rc = -1;
// Load all settings objects
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
// Load object
if (UAVObjDelete((UAVObjHandle) MetaObjectPtr(obj), 0)
== -1) {
@ -1787,8 +1783,7 @@ void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Iterate through the list and invoke iterator for each object
struct UAVOData *obj;
LL_FOREACH(uavo_list, obj) {
UAVO_LIST_ITERATE(obj)
(*iterator) ((UAVObjHandle) obj);
(*iterator) ((UAVObjHandle) &obj->metaObj);
}

2
flight/UAVObjects/uavobjecttemplate.c
View File

@ -40,7 +40,7 @@
#include "$(NAMELC).h"
// Private variables
static UAVObjHandle handle = NULL;
static UAVObjHandle handle __attribute__((section("_uavo_handles")));
/**
* Initialize object.

1
flight/UAVTalk/inc/uavtalk.h
View File

@ -59,6 +59,7 @@ int32_t UAVTalkSendNack(UAVTalkConnection connectionHandle, uint32_t objId);
int32_t UAVTalkSendBuf(UAVTalkConnection connectionHandle, uint8_t *buf, uint16_t len);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkRelayInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkResetStats(UAVTalkConnection connection);
void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);

67
flight/UAVTalk/uavtalk.c
View File

@ -558,6 +558,73 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
return state;
}
/**
* Process an byte from the telemetry stream, sending the packet out the output stream when it's complete
* This allows the interlieving of packets on an output UAVTalk stream, and is used by the OPLink device to
* relay packets from an input com port to a different output com port without sending one packet in the middle
* of another packet. Because this uses both the receive buffer and transmit buffer, it should only be used
* for relaying a packet, not for the standard sending and receiving of packets.
* \param[in] connection UAVTalkConnection to be used
* \param[in] rxbyte Received byte
* \return UAVTalkRxState
*/
UAVTalkRxState UAVTalkRelayInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(connectionHandle, rxbyte);
if (state == UAVTALK_STATE_COMPLETE)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle,connection,return -1);
UAVTalkInputProcessor *iproc = &connection->iproc;
if (!connection->outStream) return -1;
// Setup type and object id fields
connection->txBuffer[0] = UAVTALK_SYNC_VAL; // sync byte
connection->txBuffer[1] = iproc->type;
// data length inserted here below
connection->txBuffer[4] = (uint8_t)(iproc->objId & 0xFF);
connection->txBuffer[5] = (uint8_t)((iproc->objId >> 8) & 0xFF);
connection->txBuffer[6] = (uint8_t)((iproc->objId >> 16) & 0xFF);
connection->txBuffer[7] = (uint8_t)((iproc->objId >> 24) & 0xFF);
// Setup instance ID if one is required
int32_t dataOffset = 8;
if (iproc->instanceLength > 0)
{
connection->txBuffer[8] = (uint8_t)(iproc->instId & 0xFF);
connection->txBuffer[9] = (uint8_t)((iproc->instId >> 8) & 0xFF);
dataOffset = 10;
}
// Add timestamp when the transaction type is appropriate
if (iproc->type & UAVTALK_TIMESTAMPED)
{
portTickType time = xTaskGetTickCount();
connection->txBuffer[dataOffset] = (uint8_t)(time & 0xFF);
connection->txBuffer[dataOffset + 1] = (uint8_t)((time >> 8) & 0xFF);
dataOffset += 2;
}
// Copy data (if any)
memcpy(&connection->txBuffer[dataOffset], connection->rxBuffer, iproc->length);
// Store the packet length
connection->txBuffer[2] = (uint8_t)((dataOffset + iproc->length) & 0xFF);
connection->txBuffer[3] = (uint8_t)(((dataOffset + iproc->length) >> 8) & 0xFF);
// Copy the checksum
connection->txBuffer[dataOffset + iproc->length] = iproc->cs;
// Send the buffer.
if (UAVTalkSendBuf(connectionHandle, connection->txBuffer, iproc->rxPacketLength) < 0)
return UAVTALK_STATE_ERROR;
}
return state;
}
/**
* Send a ACK through the telemetry link.
* \param[in] connectionHandle UAVTalkConnection to be used

47
flight/board_hw_defs/pipxtreme/board_hw_defs.c
View File

@ -45,6 +45,48 @@ static const struct pios_led pios_leds[] = {
},
},
},
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
[PIOS_LED_D1] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_D2] = {
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_D3] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
[PIOS_LED_D4] = {
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Mode = GPIO_Mode_Out_PP,
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
},
#endif
};
static const struct pios_led_cfg pios_led_cfg = {
@ -222,12 +264,7 @@ static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
struct pios_rfm22b_cfg pios_rfm22b_pipx_cfg = {
.spi_cfg = &pios_spi_rfm22b_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 64000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
.slave_num = 0,
.gpio_direction = GPIO0_TX_GPIO1_RX,
};

10
flight/board_hw_defs/revomini/board_hw_defs.c
View File

@ -522,12 +522,7 @@ static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = {
const struct pios_rfm22b_cfg pios_rfm22b_rm1_cfg = {
.spi_cfg = &pios_spi_telem_flash_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 64000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
.slave_num = 0,
.gpio_direction = GPIO0_RX_GPIO1_TX,
};
@ -535,12 +530,7 @@ const struct pios_rfm22b_cfg pios_rfm22b_rm1_cfg = {
const struct pios_rfm22b_cfg pios_rfm22b_rm2_cfg = {
.spi_cfg = &pios_spi_telem_flash_cfg,
.exti_cfg = &pios_exti_rfm22b_cfg,
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 64000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
.slave_num = 0,
.gpio_direction = GPIO0_TX_GPIO1_RX,
};

5
ground/openpilotgcs/copydata.pro
View File

@ -6,6 +6,7 @@ TEMPLATE = subdirs
equals(copydata, 1) {
# Windows release only, no debug target DLLs ending with 'd'
# It is assumed that SDL.dll can be found in the same directory as mingw32-make.exe
win32:CONFIG(release, debug|release) {
# copy Qt DLLs and phonon4
@ -29,7 +30,7 @@ equals(copydata, 1) {
MINGW_DLLS = libgcc_s_dw2-1.dll \
mingwm10.dll
for(dll, MINGW_DLLS) {
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../../../../mingw/bin/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(QTMINGW)/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
}
# copy iconengines
@ -74,7 +75,7 @@ equals(copydata, 1) {
# xcopy /s /e <SDL>\include\SDL\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\include\SDL
# xcopy /s /e <SDL>\lib\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\lib
SDL_DLL = SDL.dll
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(QTMINGW)/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
data_copy.target = FORCE
QMAKE_EXTRA_TARGETS += data_copy

2
ground/openpilotgcs/openpilotgcs.pro
View File

@ -9,6 +9,8 @@ include(openpilotgcs.pri)
TEMPLATE = subdirs
CONFIG += ordered
DEFINES += USE_PATHPLANNER
SUBDIRS = src share copydata
unix:!macx:!isEmpty(copydata):SUBDIRS += bin

43
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -5,8 +5,8 @@
<UDPMirror>false</UDPMirror>
<Description>Default configuration</Description>
<Details>Default configuration built to work on all screen sizes</Details>
<ExpertMode>true</ExpertMode>
<OverrideLanguage>en_AU</OverrideLanguage>
<ExpertMode>false</ExpertMode>
<OverrideLanguage>C</OverrideLanguage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>700</SettingsWindowHeight>
<SettingsWindowWidth>800</SettingsWindowWidth>
@ -2538,22 +2538,6 @@
</data>
</default>
</UAVObjectBrowser>
<Uploader>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>/dev/ttyS0</defaultPort>
<defaultSpeed>14</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</default>
</Uploader>
<configInfo>
<locked>false</locked>
<version>1.2.0</version>
@ -2666,27 +2650,18 @@
</side0>
<side1>
<side0>
<side0>
<classId>LoggingGadget</classId>
<type>uavGadget</type>
</side0>
<side1>
<classId>GpsDisplayGadget</classId>
<gadget>
<activeConfiguration>Flight GPS</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAcAAAAAIAAAHo)</splitterSizes>
<type>splitter</type>
<classId>LoggingGadget</classId>
<type>uavGadget</type>
</side0>
<side1>
<classId>DebugGadget</classId>
<classId>GpsDisplayGadget</classId>
<gadget>
<activeConfiguration>Flight GPS</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB3wAAAAIAAAEp)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAVAAAAAIAAAGu)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>

40
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -8,6 +8,7 @@
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>700</SettingsWindowHeight>
<SettingsWindowWidth>800</SettingsWindowWidth>
<OverrideLanguage>C</OverrideLanguage>
<UDPMirror>false</UDPMirror>
<Description>Wide configuration</Description>
<Details>Default configuration built for wide screens (17"up)</Details>
@ -2505,22 +2506,6 @@
</data>
</default>
</UAVObjectBrowser>
<Uploader>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>/dev/ttyS0</defaultPort>
<defaultSpeed>14</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</default>
</Uploader>
<configInfo>
<locked>false</locked>
<version>1.2.0</version>
@ -2645,27 +2630,18 @@
</side0>
<side1>
<side0>
<side0>
<classId>LoggingGadget</classId>
<type>uavGadget</type>
</side0>
<side1>
<classId>GpsDisplayGadget</classId>
<gadget>
<activeConfiguration>Flight GPS</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAcAAAAAIAAAHo)</splitterSizes>
<type>splitter</type>
<classId>LoggingGadget</classId>
<type>uavGadget</type>
</side0>
<side1>
<classId>DebugGadget</classId>
<classId>GpsDisplayGadget</classId>
<gadget>
<activeConfiguration>Flight GPS</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB3wAAAAIAAAEp)</splitterSizes>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAVAAAAAIAAAGu)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>

10
ground/openpilotgcs/src/app/app.pro
View File

@ -1,11 +1,13 @@
include(../../openpilotgcs.pri)
include(../shared/qtsingleapplication/qtsingleapplication.pri)
include(gcsversioninfo.pri)
TEMPLATE = app
TARGET = $$GCS_APP_TARGET
DESTDIR = $$GCS_APP_PATH
QT += xml
SOURCES += main.cpp
SOURCES += main.cpp \
gcssplashscreen.cpp
include(../rpath.pri)
include(../libs/utils/utils.pri)
@ -28,3 +30,9 @@ win32 {
}
OTHER_FILES += openpilotgcs.rc
RESOURCES += \
appresources.qrc
HEADERS += \
gcssplashscreen.h

5
ground/openpilotgcs/src/app/appresources.qrc Normal file
View File

@ -0,0 +1,5 @@
<RCC>
<qresource prefix="/app">
<file>splash.png</file>
</qresource>
</RCC>

85
ground/openpilotgcs/src/app/gcssplashscreen.cpp Normal file
View File

@ -0,0 +1,85 @@
/**
******************************************************************************
*
* @file gcssplashscreen.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup [Group]
* @{
* @addtogroup GCSSplashScreen
* @{
* @brief [Brief]
*****************************************************************************/
/*
* 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 "gcssplashscreen.h"
#include <QDebug>
const QChar CopyrightSymbol(0x00a9);
GCSSplashScreen::GCSSplashScreen() :
QSplashScreen(), m_pixmap(0), m_painter(0)
{
QString revision;
QString year;
#ifdef GCS_REVISION
revision = GCS_REVISION;
#else
revision = tr("N/A");
#endif
#ifdef GCS_YEAR
year = GCS_YEAR;
#else
year = "2013";
#endif
setWindowFlags(windowFlags());
m_pixmap = new QPixmap(":/app/splash.png");
m_painter = new QPainter(m_pixmap);
m_painter->setPen(Qt::lightGray);
QFont font("Tahoma", 8);
m_painter->setFont(font);
m_painter->drawText(405, 170, QString(CopyrightSymbol) +
QString(" 2010-") + year +
QString(tr(" The OpenPilot Project - All Rights Reserved")));
m_painter->drawText(406, 173, 310, 100, Qt::TextWordWrap|Qt::AlignTop|Qt::AlignLeft,
QString(tr("GCS Revision - ")) + revision);
setPixmap(*m_pixmap);
}
GCSSplashScreen::~GCSSplashScreen()
{
}
void GCSSplashScreen::drawMessageText(const QString &message)
{
QPixmap pix(*m_pixmap);
QPainter progressPainter(&pix);
progressPainter.setPen(Qt::lightGray);
QFont font("Tahoma", 13);
progressPainter.setFont(font);
progressPainter.drawText(170, 385, message);
setPixmap(pix);
}
void GCSSplashScreen::showPluginLoadingProgress(ExtensionSystem::PluginSpec *pluginSpec)
{
QString message(tr("Loading ") + pluginSpec->name() + " plugin...");
drawMessageText(message);
}

105
ground/openpilotgcs/src/plugins/waypointeditor/waypointeditorgadgetfactory.h → ground/openpilotgcs/src/app/gcssplashscreen.h
View File

@ -1,49 +1,56 @@
/**
******************************************************************************
* @file waypointeditorgadgetfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup Waypoint Editor GCS Plugins
* @{
* @addtogroup WaypointEditorGadgetPlugin Waypoint Editor Gadget Plugin
* @{
* @brief A gadget to edit a list of waypoints
*****************************************************************************/
/*
* 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 WaypointEditorGADGETFACTORY_H_
#define WaypointEditorGADGETFACTORY_H_
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class WaypointEditorGadgetFactory : public IUAVGadgetFactory
{
Q_OBJECT
public:
WaypointEditorGadgetFactory(QObject *parent = 0);
~WaypointEditorGadgetFactory();
IUAVGadget *createGadget(QWidget *parent);
};
#endif // WaypointEditorGADGETFACTORY_H_
/**
******************************************************************************
*
* @file gcssplashscreen.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup [Group]
* @{
* @addtogroup GCSSplashScreen
* @{
* @brief [Brief]
*****************************************************************************/
/*
* 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 GCSSPLASHSCREEN_H
#define GCSSPLASHSCREEN_H
#include <QSplashScreen>
#include <QPixmap>
#include <QPainter>
#include <extensionsystem/pluginspec.h>
#include "../../../../build/ground/openpilotgcs/gcsversioninfo.h"
class GCSSplashScreen : public QSplashScreen
{
Q_OBJECT
public:
explicit GCSSplashScreen();
~GCSSplashScreen();
public slots:
void showPluginLoadingProgress(ExtensionSystem::PluginSpec *pluginSpec);
void showProgressMessage(const QString &message) { drawMessageText(message); }
private:
QPixmap *m_pixmap;
QPainter *m_painter;
void drawMessageText(const QString &message);
};
#endif // GCSSPLASHSCREEN_H

0
ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri → ground/openpilotgcs/src/app/gcsversioninfo.pri
View File

26
ground/openpilotgcs/src/app/main.cpp
View File

@ -28,6 +28,7 @@
#include "qtsingleapplication.h"
#include "utils/xmlconfig.h"
#include "gcssplashscreen.h"
#include <extensionsystem/pluginmanager.h>
#include <extensionsystem/pluginspec.h>
@ -46,6 +47,8 @@
#include <QtGui/QMessageBox>
#include <QtGui/QApplication>
#include <QtGui/QMainWindow>
#include <QtGui/QSplashScreen>
#include <QtGui/QPainter>
enum { OptionIndent = 4, DescriptionIndent = 24 };
@ -241,10 +244,17 @@ int main(int argc, char **argv)
#ifdef Q_OS_LINUX
QApplication::setAttribute(Qt::AA_X11InitThreads, true);
#endif
QApplication::setGraphicsSystem("raster");
//Set the default locale to EN, if this is not set the system locale will be used
//and as of now we dont want that behaviour.
QLocale::setDefault(QLocale::English);
SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
//Open Splashscreen
GCSSplashScreen splash;
splash.show();
QString locale = QLocale::system().name();
// Must be done before any QSettings class is created
@ -275,6 +285,8 @@ int main(int argc, char **argv)
}
app.setProperty("qtc_locale", locale); // Do we need this?
splash.showProgressMessage(QObject::tr("Application starting..."));
// Load
ExtensionSystem::PluginManager pluginManager;
pluginManager.setFileExtension(QLatin1String("pluginspec"));
@ -314,7 +326,7 @@ int main(int argc, char **argv)
break;
}
}
if (!coreplugin) {
if(!coreplugin){
QString nativePaths = QDir::toNativeSeparators(pluginPaths.join(QLatin1String(",")));
const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(nativePaths);
displayError(msgCoreLoadFailure(reason));
@ -342,11 +354,16 @@ int main(int argc, char **argv)
if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION)))
return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
&splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
pluginManager.loadPlugins();
if (coreplugin->hasError()) {
displayError(msgCoreLoadFailure(coreplugin->errorString()));
return 1;
}
{
QStringList errors;
foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
@ -369,5 +386,10 @@ int main(int argc, char **argv)
// Do this after the event loop has started
QTimer::singleShot(100, &pluginManager, SLOT(startTests()));
//Update message and postpone closing of splashscreen 3 seconds
splash.showProgressMessage(QObject::tr("Application started."));
QTimer::singleShot(1500, &splash, SLOT(close()));
return app.exec();
}

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ground/openpilotgcs/src/app/splash.png Normal file
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4
ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.cpp
View File

@ -583,7 +583,9 @@ void PluginManagerPrivate::loadPlugins()
QListIterator<PluginSpec *> it(queue);
it.toBack();
while (it.hasPrevious()) {
loadPlugin(it.previous(), PluginSpec::Running);
PluginSpec* plugin = it.previous();
emit q->pluginAboutToBeLoaded(plugin);
loadPlugin(plugin, PluginSpec::Running);
}
emit q->pluginsChanged();
q->m_allPluginsLoaded=true;

1
ground/openpilotgcs/src/libs/extensionsystem/pluginmanager.h
View File

@ -114,6 +114,7 @@ signals:
void objectAdded(QObject *obj);
void aboutToRemoveObject(QObject *obj);
void pluginAboutToBeLoaded(ExtensionSystem::PluginSpec* pluginSpec);
void pluginsChanged();
void pluginsLoadEnded();
private slots:

1
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/uavitem.cpp
View File

@ -150,6 +150,7 @@ namespace mapcontrol
QString uavoInfoStrLine3, uavoInfoStrLine4;
QString uavoInfoStrLine5;
uavoInfoStrLine1.append(QString("CAS: %1 kph").arg(CAS_mps * 3.6));
uavoInfoStrLine2.append(QString("Groundspeed: %1 kph").arg(groundspeed_kph, 0, 'f',1));
uavoInfoStrLine3.append(QString("Lat-Lon: %1, %2").arg(coord.Lat(), 0, 'f',7).arg(coord.Lng(), 0, 'f',7));
uavoInfoStrLine4.append(QString("North-East: %1 m, %2 m").arg(NED[0], 0, 'f',1).arg(NED[1], 0, 'f',1));

4
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp
View File

@ -229,7 +229,6 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(fals
}
void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
{
QGraphicsItem::mouseReleaseEvent(event);
if(event->button()==Qt::LeftButton)
{
if(text)
@ -242,15 +241,14 @@ WayPointItem::WayPointItem(MapGraphicItem *map, bool magicwaypoint):reached(fals
delete textBG;
textBG=NULL;
}
coord=map->FromLocalToLatLng(this->pos().x(),this->pos().y());
isDragging=false;
RefreshToolTip();
emit manualCoordChange(this);
emit localPositionChanged(this->pos(),this);
emit WPValuesChanged(this);
emit WPDropped(this);
}
QGraphicsItem::mouseReleaseEvent(event);
}
void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{

7
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h
View File

@ -234,13 +234,6 @@ signals:
* @param waypoint a pointer to this WayPoint
*/
/**
* @brief Fired when the waypoint is dropped somewhere
*
* @param waypoint a pointer to this WayPoint
*/
void WPDropped(WayPointItem* waypoint);
void WPValuesChanged(WayPointItem* waypoint);
void waypointdoubleclick(WayPointItem* waypoint);
void localPositionChanged(QPointF point,WayPointItem* waypoint);

2
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -1498,7 +1498,7 @@ font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Tricopter Yaw Motor channel</string>
<string>Tricopter Yaw Servo channel</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>

30
ground/openpilotgcs/src/plugins/config/autotune.ui
View File

@ -51,9 +51,10 @@
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;On the &lt;span style=&quot; font-style:italic;&quot;&gt;Input configuration&lt;/span&gt; tab, &lt;span style=&quot; font-style:italic;&quot;&gt;Flight Mode Switch Settings&lt;/span&gt;, set one of your flight modes to &amp;quot;Autotune&amp;quot;.&lt;br /&gt;&lt;/li&gt;
@ -70,7 +71,7 @@ p, li { white-space: pre-wrap; }
<property name="title">
<string>Module Control</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QCheckBox" name="enableAutoTune">
<property name="text">
@ -82,24 +83,13 @@ p, li { white-space: pre-wrap; }
</widget>
</item>
<item>
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<widget class="QLabel" name="label_13">
<property name="text">
<string>After enabling the module, you must power cycle before using and configuring.</string>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>454</width>
<height>20</height>
</size>
</property>
</spacer>
</widget>
</item>
</layout>
<zorder>horizontalSpacer_5</zorder>
<zorder>enableAutoTune</zorder>
<zorder>horizontalSpacer_4</zorder>
<zorder>enableAutoTune</zorder>
<zorder>horizontalSpacer_5</zorder>
</widget>
</item>
</layout>
@ -192,8 +182,8 @@ p, li { white-space: pre-wrap; }
<rect>
<x>0</x>
<y>0</y>
<width>711</width>
<height>596</height>
<width>709</width>
<height>605</height>
</rect>
</property>
<property name="sizePolicy">

669
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>786</width>
<height>566</height>
<height>791</height>
</rect>
</property>
<property name="sizePolicy">
@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>741</width>
<height>559</height>
<width>762</width>
<height>658</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
@ -130,7 +130,7 @@
<property name="minimumSize">
<size>
<width>0</width>
<height>130</height>
<height>110</height>
</size>
</property>
<property name="maximumSize">
@ -285,7 +285,7 @@ have to define channel output range using Output configuration tab.</string>
<item row="2" column="0">
<widget class="QLabel" name="label_43">
<property name="text">
<string>Output Range</string>
<string>Output Range (Angle)</string>
</property>
</widget>
</item>
@ -390,7 +390,7 @@ margin:1px;</string>
<property name="minimumSize">
<size>
<width>0</width>
<height>250</height>
<height>187</height>
</size>
</property>
<property name="maximumSize">
@ -403,9 +403,6 @@ margin:1px;</string>
<string>Advanced Settings (Control)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<property name="verticalSpacing">
<number>6</number>
</property>
<item row="0" column="3">
<widget class="QLabel" name="label_32">
<property name="minimumSize">
@ -653,34 +650,6 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for yaw axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Yaw</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="pitchStabilizationMode">
<property name="focusPolicy">
@ -759,34 +728,6 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for pitch axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Pitch</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="rollStabilizationMode">
<property name="focusPolicy">
@ -865,59 +806,24 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Input low-pass filter response time for roll axis, ms.
This option smoothes the stick input. Zero value disables LPF.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>150</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Roll</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QLabel" name="label_36">
<property name="text">
<string>MaxAxisLockRate</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Response Time</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Input Rate</string>
<string>Input Rate (Speed)</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Input Range</string>
<string>Input Range (Angle)</string>
</property>
</widget>
</item>
@ -928,14 +834,14 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property>
</widget>
</item>
<item row="6" column="2" colspan="2">
<item row="5" column="2" colspan="2">
<widget class="QLabel" name="label_41">
<property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
@ -974,30 +880,471 @@ value.</string>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_4">
<widget class="QGroupBox" name="groupBox_3">
<property name="minimumSize">
<size>
<width>0</width>
<height>71</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
<height>187</height>
</size>
</property>
<property name="title">
<string>Messages</string>
<string>Expert Settings (Attitude Filter and Feed Forward)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="message">
<property name="autoFillBackground">
<bool>false</bool>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="1">
<widget class="QLabel" name="label_49">
<property name="minimumSize">
<size>
<width>0</width>
<height>16</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string/>
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_50">
<property name="minimumSize">
<size>
<width>0</width>
<height>16</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_51">
<property name="minimumSize">
<size>
<width>0</width>
<height>16</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Attitude Filter RT</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollResponseTime">
<property name="toolTip">
<string>Roll axis attitude filter response time
Range: 0-250ms, 0 disables the filter (default).
Smoothes estimated airframe attitude used by camera stabilization.</string>
</property>
<property name="maximum">
<number>250</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Roll</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="pitchResponseTime">
<property name="toolTip">
<string>Pitch axis attitude filter response time
Range: 0-250ms, 0 disables the filter (default).
Smoothes estimated airframe attitude used by camera stabilization.</string>
</property>
<property name="maximum">
<number>250</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Pitch</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="yawResponseTime">
<property name="toolTip">
<string>Yaw axis attitude filter response time
Range: 0-250ms, 0 disables the filter (default).
Smoothes estimated airframe attitude used by camera stabilization.</string>
</property>
<property name="maximum">
<number>250</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:ResponseTime</string>
<string>element:Yaw</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string>FF Servo Acceleration</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="rollFeedForward">
<property name="toolTip">
<string>Roll servo feed forward acceleration
Range: 0-25, 0 disables feed forward for the axis (default).
Good starting value is 2-7.
Too high value may burn your servo!</string>
</property>
<property name="maximum">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:FeedForward</string>
<string>element:Roll</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="pitchFeedForward">
<property name="toolTip">
<string>Pitch servo feed forward acceleration
Range: 0-25, 0 disables feed forward for the axis (default).
Good starting value is 2-7.
Too high value may burn your servo!</string>
</property>
<property name="maximum">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:FeedForward</string>
<string>element:Pitch</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="yawFeedForward">
<property name="toolTip">
<string>Yaw servo feed forward acceleration
Range: 0-25, 0 disables feed forward for the axis (default).
Good starting value is 2-7.
Too high value may burn your servo!</string>
</property>
<property name="maximum">
<number>25</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:FeedForward</string>
<string>element:Yaw</string>
<string>haslimits:no</string>
<string>scale:1</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_48">
<property name="text">
<string>FF Accel Time Constant</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="rollAccelTime">
<property name="toolTip">
<string>Roll servo feed forward acceleration time constant
Range: 0-50ms, default is 5.</string>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:AccelTime</string>
<string>element:Roll</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="pitchAccelTime">
<property name="toolTip">
<string>Pitch servo feed forward acceleration time constant
Range: 0-50ms, default is 5.</string>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:AccelTime</string>
<string>element:Pitch</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="yawAccelTime">
<property name="toolTip">
<string>Yaw servo feed forward acceleration time constant
Range: 0-50ms, default is 5.</string>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:AccelTime</string>
<string>element:Yaw</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>FF Decel Time Constant</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="rollDecelTime">
<property name="toolTip">
<string>Roll servo feed forward deceleration time constant
Range: 0-50ms, default is 5.</string>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:DecelTime</string>
<string>element:Roll</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QSpinBox" name="pitchDecelTime">
<property name="toolTip">
<string>Pitch servo feed forward deceleration time constant
Range: 0-50ms, default is 5.</string>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:DecelTime</string>
<string>element:Pitch</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QSpinBox" name="yawDecelTime">
<property name="toolTip">
<string>Yaw servo feed forward deceleration time constant
Range: 0-50ms, default is 5.</string>
</property>
<property name="maximum">
<number>50</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:DecelTime</string>
<string>element:Yaw</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Gimbal Type:</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="gimbalType">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>Gimbal type
Used to limit feed forward acceleration at extreme angles.
Generic type provides no limit.</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:GimbalType</string>
<string>buttongroup:1</string>
</stringlist>
</property>
<item>
<property name="text">
<string>Yaw-Roll-Pitch</string>
</property>
</item>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_6">
<property name="text">
<string>FF Max Acceleration</string>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QSpinBox" name="maxAccel">
<property name="toolTip">
<string>Feed forward maximum acceleration
Range: 0-1000, default is 500.
The same value is used for all axes.</string>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>500</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:CameraStabSettings</string>
<string>fieldname:MaxAccel</string>
<string>buttongroup:1</string>
</stringlist>
</property>
</widget>
</item>
@ -1005,13 +1352,17 @@ value.</string>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<widget class="QLabel" name="label">
<property name="text">
<string>Input configuration also provides smoothing for controls. Look for RT options on the RC Input tab.</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Expanding</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
@ -1028,6 +1379,37 @@ value.</string>
</widget>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="title">
<string>Messages</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="message">
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<property name="horizontalSpacing">
@ -1221,7 +1603,44 @@ Apply or Save button afterwards.</string>
</layout>
</widget>
<tabstops>
<tabstop>scrollArea</tabstop>
<tabstop>enableCameraStabilization</tabstop>
<tabstop>rollChannel</tabstop>
<tabstop>pitchChannel</tabstop>
<tabstop>yawChannel</tabstop>
<tabstop>rollOutputRange</tabstop>
<tabstop>pitchOutputRange</tabstop>
<tabstop>yawOutputRange</tabstop>
<tabstop>rollInputChannel</tabstop>
<tabstop>pitchInputChannel</tabstop>
<tabstop>yawInputChannel</tabstop>
<tabstop>rollStabilizationMode</tabstop>
<tabstop>pitchStabilizationMode</tabstop>
<tabstop>yawStabilizationMode</tabstop>
<tabstop>rollInputRange</tabstop>
<tabstop>pitchInputRange</tabstop>
<tabstop>yawInputRange</tabstop>
<tabstop>rollInputRate</tabstop>
<tabstop>pitchInputRate</tabstop>
<tabstop>yawInputRate</tabstop>
<tabstop>MaxAxisLockRate</tabstop>
<tabstop>rollResponseTime</tabstop>
<tabstop>pitchResponseTime</tabstop>
<tabstop>yawResponseTime</tabstop>
<tabstop>rollFeedForward</tabstop>
<tabstop>pitchFeedForward</tabstop>
<tabstop>yawFeedForward</tabstop>
<tabstop>rollAccelTime</tabstop>
<tabstop>pitchAccelTime</tabstop>
<tabstop>yawAccelTime</tabstop>
<tabstop>rollDecelTime</tabstop>
<tabstop>pitchDecelTime</tabstop>
<tabstop>yawDecelTime</tabstop>
<tabstop>gimbalType</tabstop>
<tabstop>maxAccel</tabstop>
<tabstop>camerastabilizationResetToDefaults</tabstop>
<tabstop>pushButton</tabstop>
<tabstop>camerastabilizationSaveRAM</tabstop>
<tabstop>camerastabilizationSaveSD</tabstop>
</tabstops>
<resources>
<include location="../coreplugin/core.qrc"/>

82
ground/openpilotgcs/src/plugins/config/ccattitude.ui
View File

@ -111,7 +111,7 @@
<x>0</x>
<y>0</y>
<width>750</width>
<height>466</height>
<height>483</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
@ -391,6 +391,86 @@ arming it in that case!</string>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_5">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>AccelTau</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_12">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QDoubleSpinBox" name="accelTauSpinbox">
<property name="minimumSize">
<size>
<width>60</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Accelerometer filtering.
Sets the amount of lowpass filtering of accelerometer data
for the attitude estimation. Higher values apply a stronger
filter, which may help with drifting in attitude mode.
Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
Start low and raise until drift stops.
A setting of 0.00 disables the filter.</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>0.200000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>

31
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
View File

@ -281,6 +281,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// ... and compute the matrix:
// In order to make code a bit nicer, we assume:
@ -288,16 +289,8 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
// 1. Assign the servo/motor/none for each channel
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
@ -359,6 +352,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
@ -367,17 +361,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
// 1. Assign the servo/motor/none for each channel
int channel;
double value;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
@ -437,6 +424,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
// Save the curve:
// ... and compute the matrix:
@ -445,17 +433,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
// 1. Assign the servo/motor/none for each channel
int channel;
double value;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
//motor
channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
int channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_MOTOR);
setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);

30
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
View File

@ -295,16 +295,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
resetMotorAndServoMixers(mixer);
//motor
channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
int channel = m_aircraft->gvMotor2ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -352,16 +346,10 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
resetMotorAndServoMixers(mixer);
//left motor
channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
int channel = m_aircraft->gvMotor1ChannelBox->currentIndex()-1;
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);
@ -407,15 +395,9 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
resetMotorAndServoMixers(mixer);
int channel;
//disable all
for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
int channel = m_aircraft->gvSteering1ChannelBox->currentIndex()-1;
setMixerType(mixer,channel, VehicleConfig::MIXERTYPE_SERVO);
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, 127);

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -1032,13 +1032,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
Q_ASSERT(mixer);
//disable all
for (int channel=0; channel<(int)VehicleConfig::CHANNEL_NUMELEM; channel++)
{
setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
resetMotorAndServoMixers(mixer);
// and enable only the relevant channels:
double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;

12
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
View File

@ -181,6 +181,18 @@ void VehicleConfig::resetMixerVector(UAVDataObject* mixer, int channel)
}
}
// Disable all servo/motor mixers (but keep camera and accessory ones)
void VehicleConfig::resetMotorAndServoMixers(UAVDataObject *mixer)
{
for (int channel = 0; channel < (int)VehicleConfig::CHANNEL_NUMELEM; channel++) {
QString type = getMixerType(mixer, channel);
if ((type == "Disabled") || (type == "Motor") || (type == "Servo")) {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_DISABLED);
resetMixerVector(mixer, channel);
}
}
}
double VehicleConfig::getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName)
{
Q_ASSERT(mixer);

1
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -127,6 +127,7 @@ class VehicleConfig: public ConfigTaskWidget
double getMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName);
void setMixerVectorValue(UAVDataObject* mixer, int channel, MixerVectorElem elementName, double value);
void resetMixerVector(UAVDataObject* mixer, int channel);
void resetMotorAndServoMixers(UAVDataObject* mixer);
QString getMixerType(UAVDataObject* mixer, int channel);
void setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
double getMixerValue(UAVDataObject* mixer, QString elementName);

21
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -56,7 +56,9 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
// Connect the help button
connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
addUAVObjectToWidgetRelation("AttitudeSettings","ZeroDuringArming",ui->zeroGyroBiasOnArming);
addUAVObjectToWidgetRelation("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->rollBias,AttitudeSettings::BOARDROTATION_ROLL);
addUAVObjectToWidgetRelation("AttitudeSettings","BoardRotation",ui->pitchBias,AttitudeSettings::BOARDROTATION_PITCH);
@ -73,8 +75,8 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject * obj) {
if (!timer.isActive()) {
// ignore updates that come in after the timer has expired
return;
// ignore updates that come in after the timer has expired
return;
}
Accels * accels = Accels::GetInstance(getObjectManager());
@ -207,16 +209,27 @@ void ConfigCCAttitudeWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/44Cf", QUrl::StrictMode) );
}
void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
{
setDirty(true);
}
void ConfigCCAttitudeWidget::enableControls(bool enable)
{
if(ui->zeroBias)
if(ui->zeroBias) {
ui->zeroBias->setEnabled(enable);
}
if(ui->zeroGyroBiasOnArming) {
ui->zeroGyroBiasOnArming->setEnabled(enable);
}
if(ui->accelTauSpinbox) {
ui->accelTauSpinbox->setEnabled(enable);
}
ConfigTaskWidget::enableControls(enable);
}
void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
{
ConfigTaskWidget::updateObjectsFromWidgets();
ui->zeroBiasProgress->setValue(0);
}

2
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
View File

@ -52,6 +52,7 @@ private slots:
void timeout();
void startAccelCalibration();
void openHelp();
void setAccelFiltering(bool active);
private:
Ui_ccattitude *ui;
@ -65,6 +66,7 @@ private:
QList<double> x_accum, y_accum, z_accum;
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
static const int NUM_SENSOR_UPDATES = 300;
static const float ACCEL_SCALE = 0.004f * 9.81f;
protected:

40
ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
View File

@ -140,17 +140,17 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
// Connect to the PipXStatus object updates
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
pipxStatusObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PipXStatus"));
if (pipxStatusObj != NULL ) {
connect(pipxStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updatePipXStatus(UAVObject*)));
oplinkStatusObj = dynamic_cast<UAVDataObject*>(objManager->getObject("OPLinkStatus"));
if (oplinkStatusObj != NULL ) {
connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateOPLinkStatus(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PipXStatus).";
qDebug() << "Error: Object is unknown (OPLinkStatus).";
}
// Create the timer that is used to timeout the connection to the PipX.
pipxTimeout = new QTimer(this);
connect(pipxTimeout, SIGNAL(timeout()),this,SLOT(onPipxtremeDisconnect()));
pipxConnected = false;
// Create the timer that is used to timeout the connection to the OPLink.
oplinkTimeout = new QTimer(this);
connect(oplinkTimeout, SIGNAL(timeout()), this, SLOT(onOPLinkDisconnect()));
oplinkConnected = false;
}
ConfigGadgetWidget::~ConfigGadgetWidget()
@ -268,29 +268,29 @@ void ConfigGadgetWidget::tabAboutToChange(int i, bool * proceed)
}
/*!
\brief Called by updates to @PipXStatus
\brief Called by updates to @OPLinkStatus
*/
void ConfigGadgetWidget::updatePipXStatus(UAVObject *)
void ConfigGadgetWidget::updateOPLinkStatus(UAVObject *)
{
// Restart the disconnection timer.
pipxTimeout->start(5000);
if (!pipxConnected)
oplinkTimeout->start(5000);
if (!oplinkConnected)
{
qDebug() << "ConfigGadgetWidget onPipxtremeConnect";
qDebug() << "ConfigGadgetWidget onOPLinkConnect";
QIcon *icon = new QIcon();
icon->addFile(":/configgadget/images/pipx-normal.png", QSize(), QIcon::Normal, QIcon::Off);
icon->addFile(":/configgadget/images/pipx-selected.png", QSize(), QIcon::Selected, QIcon::Off);
QWidget *qwd = new ConfigPipXtremeWidget(this);
ftw->insertTab(ConfigGadgetWidget::pipxtreme, qwd, *icon, QString("PipXtreme"));
pipxConnected = true;
ftw->insertTab(ConfigGadgetWidget::oplink, qwd, *icon, QString("OPLink"));
oplinkConnected = true;
}
}
void ConfigGadgetWidget::onPipxtremeDisconnect() {
qDebug()<<"ConfigGadgetWidget onPipxtremeDisconnect";
pipxTimeout->stop();
ftw->removeTab(ConfigGadgetWidget::pipxtreme);
pipxConnected = false;
void ConfigGadgetWidget::onOPLinkDisconnect() {
qDebug()<<"ConfigGadgetWidget onOPLinkDisconnect";
oplinkTimeout->stop();
ftw->removeTab(ConfigGadgetWidget::oplink);
oplinkConnected = false;
}

18
ground/openpilotgcs/src/plugins/config/configgadgetwidget.h
View File

@ -48,32 +48,32 @@ class ConfigGadgetWidget: public QWidget
public:
ConfigGadgetWidget(QWidget *parent = 0);
~ConfigGadgetWidget();
enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme, autotune};
enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, oplink, autotune};
void startInputWizard();
public slots:
void onAutopilotConnect();
void onAutopilotDisconnect();
void tabAboutToChange(int i,bool *);
void updatePipXStatus(UAVObject *object);
void onPipxtremeDisconnect();
void updateOPLinkStatus(UAVObject *object);
void onOPLinkDisconnect();
signals:
void autopilotConnected();
void autopilotDisconnected();
void pipxtremeConnect();
void pipxtremeDisconnect();
void oplinkConnect();
void oplinkDisconnect();
protected:
void resizeEvent(QResizeEvent * event);
MyTabbedStackWidget *ftw;
private:
UAVDataObject* pipxStatusObj;
UAVDataObject* oplinkStatusObj;
// A timer that timesout the connction to the PipX.
QTimer *pipxTimeout;
bool pipxConnected;
// A timer that timesout the connction to the OPLink.
QTimer *oplinkTimeout;
bool oplinkConnected;
};
#endif // CONFIGGADGETWIDGET_H

23
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -77,6 +77,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
//Generate the rows of buttons in the input channel form GUI
unsigned int index=0;
unsigned int indexRT = 0;
foreach (QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames())
{
Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
@ -88,6 +89,28 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMin",inpForm->ui->channelMin,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelNeutral",inpForm->ui->channelNeutral,index);
addUAVObjectToWidgetRelation("ManualControlSettings","ChannelMax",inpForm->ui->channelMax,index);
// Input filter response time fields supported for some channels only
switch (index) {
case ManualControlSettings::CHANNELGROUPS_ROLL:
case ManualControlSettings::CHANNELGROUPS_PITCH:
case ManualControlSettings::CHANNELGROUPS_YAW:
case ManualControlSettings::CHANNELGROUPS_ACCESSORY0:
case ManualControlSettings::CHANNELGROUPS_ACCESSORY1:
case ManualControlSettings::CHANNELGROUPS_ACCESSORY2:
addUAVObjectToWidgetRelation("ManualControlSettings", "ResponseTime", inpForm->ui->channelResponseTime, indexRT);
++indexRT;
break;
case ManualControlSettings::CHANNELGROUPS_THROTTLE:
case ManualControlSettings::CHANNELGROUPS_FLIGHTMODE:
case ManualControlSettings::CHANNELGROUPS_COLLECTIVE:
inpForm->ui->channelResponseTime->setEnabled(false);
break;
default:
Q_ASSERT(0);
break;
}
++index;
}

226
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -27,77 +27,81 @@
#include "configpipxtremewidget.h"
#include <pipxsettings.h>
#include <pipxstatus.h>
#include <oplinksettings.h>
#include <oplinkstatus.h>
ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget(parent)
{
m_pipx = new Ui_PipXtremeWidget();
m_pipx->setupUi(this);
m_oplink = new Ui_PipXtremeWidget();
m_oplink->setupUi(this);
// Connect to the PipXStatus object updates
// Connect to the OPLinkStatus object updates
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
pipxStatusObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PipXStatus"));
if (pipxStatusObj != NULL ) {
connect(pipxStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateStatus(UAVObject*)));
oplinkStatusObj = dynamic_cast<UAVDataObject*>(objManager->getObject("OPLinkStatus"));
if (oplinkStatusObj != NULL ) {
connect(oplinkStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateStatus(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PipXStatus).";
qDebug() << "Error: Object is unknown (OPLinkStatus).";
}
// Connect to the PipXSettings object updates
pipxSettingsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("PipXSettings"));
if (pipxSettingsObj != NULL ) {
connect(pipxSettingsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateSettings(UAVObject*)));
// Connect to the OPLinkSettings object updates
oplinkSettingsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("OPLinkSettings"));
if (oplinkSettingsObj != NULL ) {
connect(oplinkSettingsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateSettings(UAVObject*)));
} else {
qDebug() << "Error: Object is unknown (PipXSettings).";
qDebug() << "Error: Object is unknown (OPLinkSettings).";
}
autoLoadWidgets();
addApplySaveButtons(m_pipx->Apply, m_pipx->Save);
addApplySaveButtons(m_oplink->Apply, m_oplink->Save);
addUAVObjectToWidgetRelation("PipXSettings", "TelemetryConfig", m_pipx->TelemPortConfig);
addUAVObjectToWidgetRelation("PipXSettings", "TelemetrySpeed", m_pipx->TelemPortSpeed);
addUAVObjectToWidgetRelation("PipXSettings", "FlexiConfig", m_pipx->FlexiPortConfig);
addUAVObjectToWidgetRelation("PipXSettings", "FlexiSpeed", m_pipx->FlexiPortSpeed);
addUAVObjectToWidgetRelation("PipXSettings", "VCPConfig", m_pipx->VCPConfig);
addUAVObjectToWidgetRelation("PipXSettings", "VCPSpeed", m_pipx->VCPSpeed);
addUAVObjectToWidgetRelation("PipXSettings", "RFSpeed", m_pipx->MaxRFDatarate);
addUAVObjectToWidgetRelation("PipXSettings", "MaxRFPower", m_pipx->MaxRFTxPower);
addUAVObjectToWidgetRelation("PipXSettings", "SendTimeout", m_pipx->SendTimeout);
addUAVObjectToWidgetRelation("PipXSettings", "MinPacketSize", m_pipx->MinPacketSize);
addUAVObjectToWidgetRelation("PipXSettings", "FrequencyCalibration", m_pipx->FrequencyCalibration);
addUAVObjectToWidgetRelation("PipXSettings", "Frequency", m_pipx->Frequency);
addUAVObjectToWidgetRelation("OPLinkSettings", "Coordinator", m_oplink->Coordinator);
addUAVObjectToWidgetRelation("OPLinkSettings", "PPM", m_oplink->PPM);
addUAVObjectToWidgetRelation("OPLinkSettings", "UAVTalk", m_oplink->UAVTalk);
addUAVObjectToWidgetRelation("OPLinkSettings", "InputConnection", m_oplink->InputConnection);
addUAVObjectToWidgetRelation("OPLinkSettings", "OutputConnection", m_oplink->OutputConnection);
addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed);
addUAVObjectToWidgetRelation("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
addUAVObjectToWidgetRelation("OPLinkSettings", "SendTimeout", m_oplink->SendTimeout);
addUAVObjectToWidgetRelation("OPLinkSettings", "MinPacketSize", m_oplink->MinPacketSize);
addUAVObjectToWidgetRelation("OPLinkSettings", "FrequencyCalibration", m_oplink->FrequencyCalibration);
addUAVObjectToWidgetRelation("OPLinkSettings", "MinFrequency", m_oplink->MinFrequency);
addUAVObjectToWidgetRelation("OPLinkSettings", "MaxFrequency", m_oplink->MaxFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "MinFrequency", m_pipx->MinFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "MaxFrequency", m_pipx->MaxFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "FrequencyStepSize", m_pipx->FrequencyStepSize);
addUAVObjectToWidgetRelation("PipXStatus", "FrequencyBand", m_pipx->FreqBand);
addUAVObjectToWidgetRelation("PipXStatus", "RSSI", m_pipx->RSSI);
addUAVObjectToWidgetRelation("PipXStatus", "AFC", m_pipx->RxAFC);
addUAVObjectToWidgetRelation("PipXStatus", "Retries", m_pipx->Retries);
addUAVObjectToWidgetRelation("PipXStatus", "LinkQuality", m_pipx->LinkQuality);
addUAVObjectToWidgetRelation("PipXStatus", "UAVTalkErrors", m_pipx->UAVTalkErrors);
addUAVObjectToWidgetRelation("PipXStatus", "Resets", m_pipx->Resets);
addUAVObjectToWidgetRelation("PipXStatus", "Dropped", m_pipx->Dropped);
addUAVObjectToWidgetRelation("PipXStatus", "RXRate", m_pipx->RXRate);
addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxGood", m_oplink->Good);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxCorrected", m_oplink->Corrected);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxErrors", m_oplink->Errors);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxMissed", m_oplink->Missed);
addUAVObjectToWidgetRelation("OPLinkStatus", "RxFailure", m_oplink->RxFailure);
addUAVObjectToWidgetRelation("OPLinkStatus", "UAVTalkErrors", m_oplink->UAVTalkErrors);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxDropped", m_oplink->Dropped);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxResent", m_oplink->Resent);
addUAVObjectToWidgetRelation("OPLinkStatus", "TxFailure", m_oplink->TxFailure);
addUAVObjectToWidgetRelation("OPLinkStatus", "Resets", m_oplink->Resets);
addUAVObjectToWidgetRelation("OPLinkStatus", "Timeouts", m_oplink->Timeouts);
addUAVObjectToWidgetRelation("OPLinkStatus", "RSSI", m_oplink->RSSI);
addUAVObjectToWidgetRelation("OPLinkStatus", "AFCCorrection", m_oplink->AFCCorrection);
addUAVObjectToWidgetRelation("OPLinkStatus", "LinkQuality", m_oplink->LinkQuality);
addUAVObjectToWidgetRelation("OPLinkStatus", "RXSeq", m_oplink->RXSeq);
addUAVObjectToWidgetRelation("OPLinkStatus", "TXSeq", m_oplink->TXSeq);
addUAVObjectToWidgetRelation("OPLinkStatus", "RXRate", m_oplink->RXRate);
addUAVObjectToWidgetRelation("OPLinkStatus", "TXRate", m_oplink->TXRate);
// Connect to the pair ID radio buttons.
connect(m_pipx->PairSelectB, SIGNAL(toggled(bool)), this, SLOT(pairBToggled(bool)));
connect(m_pipx->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool)));
connect(m_pipx->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool)));
connect(m_pipx->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
connect(m_pipx->PairSelect4, SIGNAL(toggled(bool)), this, SLOT(pair4Toggled(bool)));
connect(m_oplink->PairSelectB, SIGNAL(toggled(bool)), this, SLOT(pairBToggled(bool)));
connect(m_oplink->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool)));
connect(m_oplink->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool)));
connect(m_oplink->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
connect(m_oplink->PairSelect4, SIGNAL(toggled(bool)), this, SLOT(pair4Toggled(bool)));
//Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea;
scroll->setWidget(m_pipx->frame_3);
scroll->setWidget(m_oplink->frame_3);
scroll->setWidgetResizable(true);
m_pipx->verticalLayout_3->addWidget(scroll);
m_oplink->verticalLayout_3->addWidget(scroll);
// Request and update of the setting object.
settingsUpdated = false;
//pipxSettingsObj->requestUpdate();
disableMouseWheelEvents();
}
@ -113,84 +117,84 @@ void ConfigPipXtremeWidget::refreshValues()
void ConfigPipXtremeWidget::applySettings()
{
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
PipXSettings::DataFields pipxSettingsData = pipxSettings->getData();
OPLinkSettings *oplinkSettings = OPLinkSettings::GetInstance(getObjectManager());
OPLinkSettings::DataFields oplinkSettingsData = oplinkSettings->getData();
// Get the pair ID.
quint32 pairID = 0;
bool okay;
if (m_pipx->PairSelect1->isChecked())
pairID = m_pipx->PairID1->text().toUInt(&okay, 16);
else if (m_pipx->PairSelect2->isChecked())
pairID = m_pipx->PairID2->text().toUInt(&okay, 16);
else if (m_pipx->PairSelect3->isChecked())
pairID = m_pipx->PairID3->text().toUInt(&okay, 16);
else if (m_pipx->PairSelect4->isChecked())
pairID = m_pipx->PairID4->text().toUInt(&okay, 16);
pipxSettingsData.PairID = pairID;
pipxSettings->setData(pipxSettingsData);
if (m_oplink->PairSelect1->isChecked())
pairID = m_oplink->PairID1->text().toUInt(&okay, 16);
else if (m_oplink->PairSelect2->isChecked())
pairID = m_oplink->PairID2->text().toUInt(&okay, 16);
else if (m_oplink->PairSelect3->isChecked())
pairID = m_oplink->PairID3->text().toUInt(&okay, 16);
else if (m_oplink->PairSelect4->isChecked())
pairID = m_oplink->PairID4->text().toUInt(&okay, 16);
oplinkSettingsData.PairID = pairID;
oplinkSettings->setData(oplinkSettingsData);
}
void ConfigPipXtremeWidget::saveSettings()
{
//applySettings();
UAVObject *obj = PipXSettings::GetInstance(getObjectManager());
UAVObject *obj = OPLinkSettings::GetInstance(getObjectManager());
saveObjectToSD(obj);
}
/*!
\brief Called by updates to @PipXStatus
\brief Called by updates to @OPLinkStatus
*/
void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
{
// Request and update of the setting object if we haven't received it yet.
if (!settingsUpdated)
pipxSettingsObj->requestUpdate();
oplinkSettingsObj->requestUpdate();
// Get the current pairID
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
OPLinkSettings *oplinkSettings = OPLinkSettings::GetInstance(getObjectManager());
quint32 pairID = 0;
if (pipxSettings)
pairID = pipxSettings->getPairID();
if (oplinkSettings)
pairID = oplinkSettings->getPairID();
// Update the detected devices.
UAVObjectField* pairIdField = object->getField("PairIDs");
if (pairIdField) {
quint32 pairid1 = pairIdField->getValue(0).toUInt();
m_pipx->PairID1->setText(QString::number(pairid1, 16).toUpper());
m_pipx->PairID1->setEnabled(false);
m_pipx->PairSelect1->setChecked(pairID && (pairID == pairid1));
m_pipx->PairSelect1->setEnabled(pairid1);
m_oplink->PairID1->setText(QString::number(pairid1, 16).toUpper());
m_oplink->PairID1->setEnabled(false);
m_oplink->PairSelect1->setChecked(pairID && (pairID == pairid1));
m_oplink->PairSelect1->setEnabled(pairid1);
quint32 pairid2 = pairIdField->getValue(1).toUInt();
m_pipx->PairID2->setText(QString::number(pairIdField->getValue(1).toUInt(), 16).toUpper());
m_pipx->PairID2->setEnabled(false);
m_pipx->PairSelect2->setChecked(pairID && (pairID == pairid2));
m_pipx->PairSelect2->setEnabled(pairid2);
m_oplink->PairID2->setText(QString::number(pairIdField->getValue(1).toUInt(), 16).toUpper());
m_oplink->PairID2->setEnabled(false);
m_oplink->PairSelect2->setChecked(pairID && (pairID == pairid2));
m_oplink->PairSelect2->setEnabled(pairid2);
quint32 pairid3 = pairIdField->getValue(2).toUInt();
m_pipx->PairID3->setText(QString::number(pairIdField->getValue(2).toUInt(), 16).toUpper());
m_pipx->PairID3->setEnabled(false);
m_pipx->PairSelect3->setChecked(pairID && (pairID == pairid3));
m_pipx->PairSelect3->setEnabled(pairid3);
m_oplink->PairID3->setText(QString::number(pairIdField->getValue(2).toUInt(), 16).toUpper());
m_oplink->PairID3->setEnabled(false);
m_oplink->PairSelect3->setChecked(pairID && (pairID == pairid3));
m_oplink->PairSelect3->setEnabled(pairid3);
quint32 pairid4 = pairIdField->getValue(3).toUInt();
m_pipx->PairID4->setText(QString::number(pairIdField->getValue(3).toUInt(), 16).toUpper());
m_pipx->PairID4->setEnabled(false);
m_pipx->PairSelect4->setChecked(pairID && (pairID == pairid4));
m_pipx->PairSelect4->setEnabled(pairid4);
m_oplink->PairID4->setText(QString::number(pairIdField->getValue(3).toUInt(), 16).toUpper());
m_oplink->PairID4->setEnabled(false);
m_oplink->PairSelect4->setChecked(pairID && (pairID == pairid4));
m_oplink->PairSelect4->setEnabled(pairid4);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
}
UAVObjectField* pairRssiField = object->getField("PairSignalStrengths");
if (pairRssiField) {
m_pipx->PairSignalStrengthBar1->setValue(pairRssiField->getValue(0).toInt());
m_pipx->PairSignalStrengthBar2->setValue(pairRssiField->getValue(1).toInt());
m_pipx->PairSignalStrengthBar3->setValue(pairRssiField->getValue(2).toInt());
m_pipx->PairSignalStrengthBar4->setValue(pairRssiField->getValue(3).toInt());
m_pipx->PairSignalStrengthLabel1->setText(QString("%1dB").arg(pairRssiField->getValue(0).toInt()));
m_pipx->PairSignalStrengthLabel2->setText(QString("%1dB").arg(pairRssiField->getValue(1).toInt()));
m_pipx->PairSignalStrengthLabel3->setText(QString("%1dB").arg(pairRssiField->getValue(2).toInt()));
m_pipx->PairSignalStrengthLabel4->setText(QString("%1dB").arg(pairRssiField->getValue(3).toInt()));
} else {
m_oplink->PairSignalStrengthBar1->setValue(pairRssiField->getValue(0).toInt());
m_oplink->PairSignalStrengthBar2->setValue(pairRssiField->getValue(1).toInt());
m_oplink->PairSignalStrengthBar3->setValue(pairRssiField->getValue(2).toInt());
m_oplink->PairSignalStrengthBar4->setValue(pairRssiField->getValue(3).toInt());
m_oplink->PairSignalStrengthLabel1->setText(QString("%1dB").arg(pairRssiField->getValue(0).toInt()));
m_oplink->PairSignalStrengthLabel2->setText(QString("%1dB").arg(pairRssiField->getValue(1).toInt()));
m_oplink->PairSignalStrengthLabel3->setText(QString("%1dB").arg(pairRssiField->getValue(2).toInt()));
m_oplink->PairSignalStrengthLabel4->setText(QString("%1dB").arg(pairRssiField->getValue(3).toInt()));
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
}
@ -208,7 +212,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
* 20 bytes: SHA1 sum of the firmware.
* 40 bytes: free for now.
*/
char buf[PipXStatus::DESCRIPTION_NUMELEM];
char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
for (unsigned int i = 0; i < 26; ++i)
buf[i] = descField->getValue(i + 14).toChar().toAscii();
buf[26] = '\0';
@ -219,7 +223,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
gitDate += descField->getValue(11-i).toChar().toAscii() & 0xFF;
}
QString date = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyy-MM-dd HH:mm");
m_pipx->FirmwareVersion->setText(descstr + " " + date);
m_oplink->FirmwareVersion->setText(descstr + " " + date);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read Description field.";
}
@ -227,16 +231,16 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
// Update the serial number field
UAVObjectField* serialField = object->getField("CPUSerial");
if (serialField) {
char buf[PipXStatus::CPUSERIAL_NUMELEM * 2 + 1];
for (unsigned int i = 0; i < PipXStatus::CPUSERIAL_NUMELEM; ++i)
char buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2 + 1];
for (unsigned int i = 0; i < OPLinkStatus::CPUSERIAL_NUMELEM; ++i)
{
unsigned char val = serialField->getValue(i).toUInt() >> 4;
buf[i * 2] = ((val < 10) ? '0' : '7') + val;
val = serialField->getValue(i).toUInt() & 0xf;
buf[i * 2 + 1] = ((val < 10) ? '0' : '7') + val;
}
buf[PipXStatus::CPUSERIAL_NUMELEM * 2] = '\0';
m_pipx->SerialNumber->setText(buf);
buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2] = '\0';
m_oplink->SerialNumber->setText(buf);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read Description field.";
}
@ -244,35 +248,35 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
// Update the DeviceID field
UAVObjectField* idField = object->getField("DeviceID");
if (idField) {
m_pipx->DeviceID->setText(QString::number(idField->getValue().toUInt(), 16).toUpper());
m_oplink->DeviceID->setText(QString::number(idField->getValue().toUInt(), 16).toUpper());
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read DeviceID field.";
}
// Update the PairID field
m_pipx->PairID->setText(QString::number(pairID, 16).toUpper());
m_oplink->PairID->setText(QString::number(pairID, 16).toUpper());
// Update the link state
UAVObjectField* linkField = object->getField("LinkState");
if (linkField) {
m_pipx->LinkState->setText(linkField->getValue().toString());
m_oplink->LinkState->setText(linkField->getValue().toString());
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read link state field.";
}
}
/*!
\brief Called by updates to @PipXSettings
\brief Called by updates to @OPLinkSettings
*/
void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
{
Q_UNUSED(object);
if (!settingsUpdated)
{
settingsUpdated = true;
enableControls(true);
}
{
settingsUpdated = true;
enableControls(true);
}
}
void ConfigPipXtremeWidget::disconnected()
@ -288,20 +292,20 @@ void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
{
if(checked)
{
PipXStatus *pipxStatus = PipXStatus::GetInstance(getObjectManager());
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
OPLinkStatus *oplinkStatus = OPLinkStatus::GetInstance(getObjectManager());
OPLinkSettings *oplinkSettings = OPLinkSettings::GetInstance(getObjectManager());
if (pipxStatus && pipxSettings)
if (oplinkStatus && oplinkSettings)
{
if (idx == 4)
{
pipxSettings->setPairID(0);
oplinkSettings->setPairID(0);
}
else
{
quint32 pairID = pipxStatus->getPairIDs(idx);
quint32 pairID = oplinkStatus->getPairIDs(idx);
if (pairID)
pipxSettings->setPairID(pairID);
oplinkSettings->setPairID(pairID);
}
}
}

10
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
View File

@ -43,13 +43,13 @@ public slots:
void updateSettings(UAVObject *object1);
private:
Ui_PipXtremeWidget *m_pipx;
Ui_PipXtremeWidget *m_oplink;
// The PipXtreme status UAVObject
UAVDataObject* pipxStatusObj;
// The OPLink status UAVObject
UAVDataObject* oplinkStatusObj;
// The PipXtreme ssettins UAVObject
UAVDataObject* pipxSettingsObj;
// The OPLink ssettins UAVObject
UAVDataObject* oplinkSettingsObj;
bool settingsUpdated;

2
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -54,7 +54,7 @@
#define sign(x) ((x < 0) ? -1 : 1)
// Uncomment this to enable 6 point calibration on the accels
//#define SIX_POINT_CAL_ACCEL
#define SIX_POINT_CAL_ACCEL
const double ConfigRevoWidget::maxVarValue = 0.1;

3
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -49,9 +49,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode() || true)
if(!settings->useExpertMode())
m_stabilization->saveStabilizationToRAM_6->setVisible(false);
m_stabilization->saveStabilizationToRAM_6->setVisible(true);

5
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -1368,7 +1368,8 @@ channel value for each flight mode.</string>
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>After the time indicated here, the frame go back to disarmed state.</string>
<string>After the time indicated here, the frame go back to disarmed state.
Set to 0 to disable (recommended for soaring fixed wings).</string>
</property>
<property name="maximum">
<number>64</number>
@ -1378,7 +1379,7 @@ channel value for each flight mode.</string>
<item>
<widget class="QLabel" name="label_19">
<property name="text">
<string>seconds.</string>
<string>seconds (0 to disable).</string>
</property>
</widget>
</item>

3
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -19,12 +19,14 @@ inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
layout()->removeWidget(ui->legend3);
layout()->removeWidget(ui->legend4);
layout()->removeWidget(ui->legend5);
layout()->removeWidget(ui->legend6);
delete ui->legend0;
delete ui->legend1;
delete ui->legend2;
delete ui->legend3;
delete ui->legend4;
delete ui->legend5;
delete ui->legend6;
}
@ -109,6 +111,7 @@ void inputChannelForm::groupUpdated()
count = 8; // Need to make this 6 for CC
break;
case ManualControlSettings::CHANNELGROUPS_PPM:
case ManualControlSettings::CHANNELGROUPS_OPLINK:
case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT:
case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT:
count = 12;

232
ground/openpilotgcs/src/plugins/config/inputchannelform.ui
View File

@ -236,83 +236,6 @@ font:bold;</string>
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="legend5">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="8">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>48</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="9">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>42</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<widget class="QLabel" name="channelName">
<property name="sizePolicy">
@ -483,6 +406,144 @@ font:bold;</string>
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="legend5">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:1px;
font:bold;</string>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="text">
<string>Max</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="channelRev">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>Rev</string>
</property>
</widget>
</item>
<item row="1" column="10">
<widget class="QSpinBox" name="channelResponseTime">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>30</width>
<height>25</height>
</size>
</property>
<property name="toolTip">
<string>Optional input filter response time.
Range: 0-999ms, 0 disables filter (default).
Warning: this is an expert mode feature, mostly used for aerial video
camera control (airframe yaw and camera gimbal accessory channels).
Too high values for main controls can cause undesirable effects and
even lead to crash. Use with caution.</string>
</property>
<property name="wrapping">
<bool>false</bool>
</property>
<property name="frame">
<bool>true</bool>
</property>
<property name="buttonSymbols">
<enum>QAbstractSpinBox::NoButtons</enum>
</property>
<property name="maximum">
<number>999</number>
</property>
</widget>
</item>
<item row="0" column="10">
<widget class="QLabel" name="legend6">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>30</width>
<height>26</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<italic>false</italic>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
margin:5px;
font:bold;</string>
</property>
<property name="text">
<string>RT</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QLabel" name="neutral">
<property name="sizePolicy">
@ -508,22 +569,6 @@ font:bold;</string>
</property>
</widget>
</item>
<item row="1" column="9">
<widget class="QCheckBox" name="channelRev">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="text">
<string>Rev</string>
</property>
</widget>
</item>
</layout>
<widget class="QSpinBox" name="channelNumber">
<property name="enabled">
@ -552,7 +597,6 @@ font:bold;</string>
<tabstop>channelMin</tabstop>
<tabstop>channelNeutral</tabstop>
<tabstop>channelMax</tabstop>
<tabstop>channelRev</tabstop>
</tabstops>
<resources/>
<connections/>

945
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -434,7 +434,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Serial Number</string>
@ -444,7 +444,7 @@
</property>
</widget>
</item>
<item row="2" column="1" colspan="3">
<item row="1" column="1" colspan="3">
<widget class="QLineEdit" name="SerialNumber">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -498,7 +498,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="2" column="0">
<widget class="QLabel" name="DeviceIDLabel">
<property name="text">
<string>Device ID</string>
@ -508,7 +508,7 @@
</property>
</widget>
</item>
<item row="3" column="1">
<item row="2" column="1">
<widget class="QLineEdit" name="DeviceID">
<property name="minimumSize">
<size>
@ -552,7 +552,7 @@
</property>
</widget>
</item>
<item row="3" column="2">
<item row="3" column="0">
<widget class="QLabel" name="PairIDLabel">
<property name="text">
<string>Pair ID</string>
@ -562,7 +562,7 @@
</property>
</widget>
</item>
<item row="3" column="3">
<item row="3" column="1">
<widget class="QLineEdit" name="PairID">
<property name="maximumSize">
<size>
@ -601,9 +601,9 @@
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_3">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Min Frequency</string>
<string>Link State</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -611,9 +611,9 @@
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="MinFrequency">
<widget class="QLineEdit" name="LinkState">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -637,13 +637,13 @@
</font>
</property>
<property name="toolTip">
<string>The modems minimum allowed frequency</string>
<string>The modems current state</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
padding: 0 3px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -655,63 +655,15 @@
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Max Frequency</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLineEdit" name="MaxFrequency">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The modems maximum allowed frequency</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
<property name="placeholderText">
<string>Disconnected</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_12">
<widget class="QLabel" name="LinkQualityLabel">
<property name="text">
<string>Freq. Step Size</string>
<string>Link Quality</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -719,19 +671,7 @@
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="FrequencyStepSize">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<widget class="QLineEdit" name="LinkQuality">
<property name="maximumSize">
<size>
<width>101</width>
@ -744,9 +684,6 @@
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The modems minimum frequency step size</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
@ -757,59 +694,8 @@
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="FreqBandLabel">
<property name="text">
<string>Freq. Band</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLineEdit" name="FreqBand">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The current frequency band</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
@ -861,18 +747,18 @@
</property>
</widget>
</item>
<item row="6" column="2">
<item row="7" column="0">
<widget class="QLabel" name="RxAFCLabel">
<property name="text">
<string>Rx AFC</string>
<string>AFC Corr.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLineEdit" name="RxAFC">
<item row="7" column="1">
<widget class="QLineEdit" name="AFCCorrection">
<property name="maximumSize">
<size>
<width>101</width>
@ -900,7 +786,55 @@
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QLabel" name="TXSeqLabel">
<property name="text">
<string>TX Seq. No.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLineEdit" name="TXSeq">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
@ -910,7 +844,7 @@
</property>
</widget>
</item>
<item row="7" column="1">
<item row="9" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="minimumSize">
<size>
@ -948,7 +882,55 @@
</property>
</widget>
</item>
<item row="7" column="2">
<item row="10" column="0">
<widget class="QLabel" name="RXSeqLabel">
<property name="text">
<string>RX Seq. No.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLineEdit" name="RXSeq">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
@ -958,7 +940,7 @@
</property>
</widget>
</item>
<item row="7" column="3">
<item row="11" column="1">
<widget class="QLineEdit" name="RXRate">
<property name="maximumSize">
<size>
@ -990,20 +972,20 @@
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_11">
<item row="2" column="2">
<widget class="QLabel" name="GoodLabel">
<property name="text">
<string>Link State</string>
<string>RX Good</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLineEdit" name="LinkState">
<item row="2" column="3">
<widget class="QLineEdit" name="Good">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -1027,52 +1009,7 @@
</font>
</property>
<property name="toolTip">
<string>The modems current state</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 3px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>Disconnected</string>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="LinkQualityLabel">
<property name="text">
<string>Link Quality</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="3">
<widget class="QLineEdit" name="LinkQuality">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
<string>The percentage of packets that were corrected with error correction</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
@ -1084,32 +1021,350 @@
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="RetriesLabel">
<item row="3" column="2">
<widget class="QLabel" name="CorrectedLabel">
<property name="text">
<string>Retries</string>
<string>RX Corrected</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLineEdit" name="Retries">
<item row="3" column="3">
<widget class="QLineEdit" name="Corrected">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The percentage of packets that were corrected with error correction</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="ErrorsLabel">
<property name="text">
<string>RX Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="3">
<widget class="QLineEdit" name="Errors">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The percentage of packets that could not be corrected with error correction</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="MissedPacketsLabel">
<property name="text">
<string>RX Missed</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLineEdit" name="Missed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The percentage of packets that were not received at all</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="RxFailureLabel">
<property name="text">
<string>RX Failure</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLineEdit" name="RxFailure">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The percentage of packets that were not received at all</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="DroppedLabel">
<property name="text">
<string>TX Dropped</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QLineEdit" name="Dropped">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The number of packets that were unable to be transmitted</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="ResentLabel">
<property name="text">
<string>TX Resent</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="3">
<widget class="QLineEdit" name="Resent">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The number of packets that were unable to be transmitted</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="2">
<widget class="QLabel" name="TxFailureLabel">
<property name="text">
<string>Tx Failure</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="3">
<widget class="QLineEdit" name="TxFailure">
<property name="maximumSize">
<size>
<width>101</width>
@ -1140,7 +1395,7 @@
</property>
</widget>
</item>
<item row="9" column="2">
<item row="10" column="2">
<widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
@ -1150,7 +1405,7 @@
</property>
</widget>
</item>
<item row="9" column="3">
<item row="10" column="3">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="maximumSize">
<size>
@ -1182,7 +1437,7 @@
</property>
</widget>
</item>
<item row="10" column="0">
<item row="11" column="2">
<widget class="QLabel" name="ResetsLabel">
<property name="text">
<string>Resets</string>
@ -1192,7 +1447,7 @@
</property>
</widget>
</item>
<item row="10" column="1">
<item row="11" column="3">
<widget class="QLineEdit" name="Resets">
<property name="minimumSize">
<size>
@ -1230,18 +1485,18 @@
</property>
</widget>
</item>
<item row="10" column="2">
<widget class="QLabel" name="DroppedLabel">
<item row="12" column="2">
<widget class="QLabel" name="TimeoutsLabel">
<property name="text">
<string>Dropped</string>
<string>Timeouts</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="10" column="3">
<widget class="QLineEdit" name="Dropped">
<item row="12" column="3">
<widget class="QLineEdit" name="Timeouts">
<property name="maximumSize">
<size>
<width>101</width>
@ -1296,18 +1551,39 @@
<string>Configuration</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="TelemPortConfigLabel">
<item row="0" column="1">
<widget class="QCheckBox" name="Coordinator">
<property name="text">
<string>Coordinator</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="PPM">
<property name="text">
<string>PPM</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QCheckBox" name="UAVTalk">
<property name="text">
<string>UAVTalk</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="InputConnectionLabel">
<property name="text">
<string>Telemetry Port Config.</string>
<string>Input Connection</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="TelemPortConfig">
<item row="3" column="1">
<widget class="QComboBox" name="InputConnection">
<property name="maximumSize">
<size>
<width>16777215</width>
@ -1315,22 +1591,45 @@
</size>
</property>
<property name="toolTip">
<string>Set the telemetry port configuration</string>
<string>Choose which port to communicate over on this modem</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="TelemPortSpeedLabel">
<item row="4" column="0">
<widget class="QLabel" name="OutputConnectionLabel">
<property name="text">
<string>Telemetry Port Speed</string>
<string>Output Connection</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="TelemPortSpeed">
<item row="4" column="1">
<widget class="QComboBox" name="OutputConnection">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Choose which port to communicate over on the remote modem</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="ComSpeedLabel">
<property name="text">
<string>COM Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="ComSpeed">
<property name="maximumSize">
<size>
<width>16777215</width>
@ -1342,122 +1641,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="FlexiPortConfigLabel">
<property name="text">
<string>Flexi Port Configuration</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="FlexiPortConfig">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the flexi port configuration</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="FlexiPortSpeedConfig">
<property name="text">
<string>Flexi Port Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="FlexiPortSpeed">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the flexi port speed</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="VCPConfigLabel">
<property name="text">
<string>VCP Configuration</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="VCPConfig">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the virtual serial port configuration</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="VCPSpeedLabel">
<property name="text">
<string>VCP Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QComboBox" name="VCPSpeed">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the virtual serial port speed</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="MaxRFDatarateLabel">
<property name="text">
<string>Max RF Datarate (bits/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QComboBox" name="MaxRFDatarate">
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the maximum RF datarate/channel bandwidth the modem will use</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="MaxRFTxPowerLabel">
<property name="text">
<string>Max RF Tx Power(mW)</string>
@ -1467,7 +1651,7 @@
</property>
</widget>
</item>
<item row="7" column="1">
<item row="6" column="1">
<widget class="QComboBox" name="MaxRFTxPower">
<property name="maximumSize">
<size>
@ -1486,7 +1670,7 @@
</property>
</widget>
</item>
<item row="8" column="0">
<item row="7" column="0">
<widget class="QLabel" name="SendTimeoutLabel">
<property name="text">
<string>Send Timeout (ms)</string>
@ -1496,7 +1680,7 @@
</property>
</widget>
</item>
<item row="8" column="1">
<item row="7" column="1">
<widget class="QSpinBox" name="SendTimeout">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -1511,7 +1695,7 @@
</size>
</property>
<property name="toolTip">
<string>Calibrate the modems RF carrier frequency</string>
<string>Set the send timeout</string>
</property>
<property name="accelerated">
<bool>true</bool>
@ -1521,7 +1705,7 @@
</property>
</widget>
</item>
<item row="9" column="0">
<item row="8" column="0">
<widget class="QLabel" name="MinPacketSizeLabel">
<property name="text">
<string>Min Packet Size</string>
@ -1531,7 +1715,7 @@
</property>
</widget>
</item>
<item row="9" column="1">
<item row="8" column="1">
<widget class="QSpinBox" name="MinPacketSize">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -1546,7 +1730,7 @@
</size>
</property>
<property name="toolTip">
<string>Calibrate the modems RF carrier frequency</string>
<string>Set the minimum packet size</string>
</property>
<property name="accelerated">
<bool>true</bool>
@ -1556,7 +1740,7 @@
</property>
</widget>
</item>
<item row="10" column="0">
<item row="9" column="0">
<widget class="QLabel" name="FreqCalLabel">
<property name="text">
<string>Frequency Calibration</string>
@ -1566,7 +1750,7 @@
</property>
</widget>
</item>
<item row="10" column="1">
<item row="9" column="1">
<widget class="QSpinBox" name="FrequencyCalibration">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -1591,18 +1775,18 @@
</property>
</widget>
</item>
<item row="11" column="0">
<item row="10" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Frequency (Hz)</string>
<string>Min. Frequency (Hz)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QSpinBox" name="Frequency">
<item row="10" column="1">
<widget class="QSpinBox" name="MinFrequency">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -1616,7 +1800,7 @@
</size>
</property>
<property name="toolTip">
<string>Set the modems RF carrier frequency</string>
<string>Set the modems minimum RF carrier frequency</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@ -1625,7 +1809,7 @@
<bool>true</bool>
</property>
<property name="minimum">
<number>0</number>
<number>400000000</number>
</property>
<property name="maximum">
<number>1000000000</number>
@ -1635,7 +1819,51 @@
</property>
</widget>
</item>
<item row="15" column="0" colspan="2">
<item row="11" column="0">
<widget class="QLabel" name="MaxFrequencyLabel">
<property name="text">
<string>Max. Frequency (Hz)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QSpinBox" name="MaxFrequency">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Set the modems maximum RF carrier frequency</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="accelerated">
<bool>true</bool>
</property>
<property name="minimum">
<number>400000000</number>
</property>
<property name="maximum">
<number>1000000000</number>
</property>
<property name="singleStep">
<number>100000</number>
</property>
</widget>
</item>
<item row="12" column="0" colspan="2">
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>AES Encryption</string>
@ -1704,7 +1932,7 @@
</layout>
</widget>
</item>
<item row="16" column="0">
<item row="13" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
@ -1717,16 +1945,6 @@
</property>
</spacer>
</item>
<item row="14" column="0" colspan="2">
<widget class="QPushButton" name="ScanSpectrum">
<property name="toolTip">
<string>Scan whole band to see where their is interference and/or used channels</string>
</property>
<property name="text">
<string> Scan Spectrum </string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -1747,9 +1965,6 @@
<tabstop>FirmwareVersion</tabstop>
<tabstop>SerialNumber</tabstop>
<tabstop>DeviceID</tabstop>
<tabstop>MinFrequency</tabstop>
<tabstop>MaxFrequency</tabstop>
<tabstop>FrequencyStepSize</tabstop>
<tabstop>LinkState</tabstop>
<tabstop>RxAFC</tabstop>
<tabstop>Retries</tabstop>

8
ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html
View File

@ -4,9 +4,9 @@ Without the work of the people in this file OpenPilot would not be what it is to
<p>It is sorted alphabetically by name</p>
<pre>
Connor Abbott
<pre>Connor Abbott
David Ankers
Sergiy Anikeyev
Pedro Assuncao
Fredrik Arvidsson
Werner Backes
@ -16,6 +16,7 @@ David Carlson
James Cotton
Steve Doll
Piotr Esden-Tempski
Richard Flay
Peter Farnworth
Ed Faulkner
Darren Furniss
@ -23,6 +24,7 @@ Frederic Goddeeris
Daniel Godin
Bani Greyling
Nuno Guedes
Erik Gustavsson
Peter Gunnarsson
Dean Hall
Joe Hlebasko
@ -43,6 +45,7 @@ Ken Northup
Greg Matthews
Guy McCaldin
Gary Mortimer
Alessio Morale
Cathy Moss
Angus Peart
Dmytro Poplavskiy
@ -72,6 +75,7 @@ Brian Webb
Justin Welander
Mat Wellington
Kendal Wells
Dmitriy Zaitsev
</pre>
</html>

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