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Code Issues Releases Activity

OP-914: Reformatted the RadioComBridge module.

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This commit is contained in:
Brian Webb 2013-04-13 17:52:48 +01:00
parent a9079bfb7e
commit 9bb3b5870c
1 changed files with 267 additions and 260 deletions
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153
flight/modules/RadioComBridge/RadioComBridge.c
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@ -1,17 +1,17 @@
/** /**
****************************************************************************** ******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules * @addtogroup OpenPilotModules OpenPilot Modules
* @{ * @{
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module * @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
* @brief Bridge Com and Radio ports * @brief Bridge Com and Radio ports
* @{ * @{
* *
* @file RadioComBridge.c * @file RadioComBridge.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bridges selected Com Port to the COM VCP emulated serial port * @brief Bridges selected Com Port to the COM VCP emulated serial port
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
*****************************************************************************/ *****************************************************************************/
/* /*
* This program is free software; you can redistribute it and/or modify * 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 * it under the terms of the GNU General Public License as published by
@ -118,8 +118,8 @@ static RadioComBridgeData *data;
/** /**
* Start the module * Start the module
* \return -1 if initialisation failed *
* \return 0 on success * @return -1 if initialisation failed, 0 on success
*/ */
static int32_t RadioComBridgeStart(void) static int32_t RadioComBridgeStart(void)
{ {
@ -137,8 +137,7 @@ static int32_t RadioComBridgeStart(void)
if (is_coordinator) { if (is_coordinator) {
// Set the maximum radio RF power. // Set the maximum radio RF power.
switch (oplinkSettings.MaxRFPower) switch (oplinkSettings.MaxRFPower) {
{
case OPLINKSETTINGS_MAXRFPOWER_125: case OPLINKSETTINGS_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0); PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break; break;
@ -198,16 +197,17 @@ static int32_t RadioComBridgeStart(void)
/** /**
* Initialise the module * Initialise the module
* \return -1 if initialisation failed *
* \return 0 on success * @return -1 if initialisation failed on success
*/ */
static int32_t RadioComBridgeInitialize(void) static int32_t RadioComBridgeInitialize(void)
{ {
// allocate and initialize the static data storage only if module is enabled // allocate and initialize the static data storage only if module is enabled
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData)); data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
if (!data) if (!data) {
return -1; return -1;
}
// Initialize the UAVObjects that we use // Initialize the UAVObjects that we use
OPLinkStatusInitialize(); OPLinkStatusInitialize();
@ -241,6 +241,8 @@ MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/** /**
* Telemetry transmit task, regular priority * Telemetry transmit task, regular priority
*
* @param[in] parameters The task parameters
*/ */
static void telemetryTxTask(void *parameters) static void telemetryTxTask(void *parameters)
{ {
@ -253,8 +255,7 @@ static void telemetryTxTask(void *parameters)
#endif #endif
// Wait for queue message // Wait for queue message
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) { if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
{
// Send update (with retries) // Send update (with retries)
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; int32_t success = -1;
@ -264,9 +265,7 @@ static void telemetryTxTask(void *parameters)
++retries; ++retries;
} }
data->comTxRetries += retries; data->comTxRetries += retries;
} } else if(ev.event == EV_SEND_ACK) {
else if(ev.event == EV_SEND_ACK)
{
// Send the ACK // Send the ACK
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; int32_t success = -1;
@ -276,9 +275,7 @@ static void telemetryTxTask(void *parameters)
++retries; ++retries;
} }
data->comTxRetries += retries; data->comTxRetries += retries;
} } else if(ev.event == EV_SEND_NACK) {
else if(ev.event == EV_SEND_NACK)
{
// Send the NACK // Send the NACK
uint32_t retries = 0; uint32_t retries = 0;
int32_t success = -1; int32_t success = -1;
@ -295,6 +292,8 @@ static void telemetryTxTask(void *parameters)
/** /**
* Radio rx task. Receive data packets from the radio and pass them on. * Radio rx task. Receive data packets from the radio and pass them on.
*
* @param[in] parameters The task parameters
*/ */
static void radioRxTask(void *parameters) static void radioRxTask(void *parameters)
{ {
@ -305,15 +304,20 @@ static void radioRxTask(void *parameters)
#endif #endif
uint8_t serial_data[1]; uint8_t serial_data[1];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY); uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) for (uint8_t i = 0; i < bytes_to_process; i++) {
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
data->UAVTalkErrors++; data->UAVTalkErrors++;
} }
}
}
}
} }
/** /**
* Radio rx task. Receive data from a com port and pass it on to the radio. * Radio rx task. Receive data from a com port and pass it on to the radio.
*
* @param[in] parameters The task parameters
*/ */
static void radioTxTask(void *parameters) static void radioTxTask(void *parameters)
{ {
@ -325,8 +329,9 @@ static void radioTxTask(void *parameters)
#endif #endif
#if defined(PIOS_INCLUDE_USB) #if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port) // Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
inputPort = PIOS_COM_TELEM_USB_HID; inputPort = PIOS_COM_TELEM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */ #endif /* PIOS_INCLUDE_USB */
if(inputPort) { if(inputPort) {
uint8_t serial_data[1]; uint8_t serial_data[1];
@ -335,38 +340,43 @@ static void radioTxTask(void *parameters)
for (uint8_t i = 0; i < bytes_to_process; i++) for (uint8_t i = 0; i < bytes_to_process; i++)
ProcessInputStream(data->inUAVTalkCon, serial_data[i]); ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
} }
} else } else {
vTaskDelay(5); vTaskDelay(5);
} }
}
} }
/** /**
* Transmit data buffer to the com port. * Transmit data buffer to the com port.
* \param[in] buf Data buffer to send *
* \param[in] length Length of buffer * @param[in] buf Data buffer to send
* \return -1 on failure * @param[in] length Length of buffer
* \return number of bytes transmitted on success * @return -1 on failure
* @return number of bytes transmitted on success
*/ */
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length) static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
{ {
uint32_t outputPort = PIOS_COM_TELEMETRY; uint32_t outputPort = PIOS_COM_TELEMETRY;
#if defined(PIOS_INCLUDE_USB) #if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port) // Determine output port (USB takes priority over telemetry port)
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
outputPort = PIOS_COM_TELEM_USB_HID; outputPort = PIOS_COM_TELEM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */ #endif /* PIOS_INCLUDE_USB */
if(outputPort) if(outputPort) {
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length); return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
else } else {
return -1; return -1;
}
} }
/** /**
* Transmit data buffer to the com port. * Transmit data buffer to the com port.
* \param[in] buf Data buffer to send *
* \param[in] length Length of buffer * @param[in] buf Data buffer to send
* \return -1 on failure * @param[in] length Length of buffer
* \return number of bytes transmitted on success * @return -1 on failure
* @return number of bytes transmitted on success
*/ */
static int32_t RadioSendHandler(uint8_t *buf, int32_t length) static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
{ {
@ -380,6 +390,12 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
} }
} }
/**
* Process a byte of data received
*
* @param[in] connectionHandle The UAVTalk connection handle
* @param[in] rxbyte The received byte.
*/
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte) static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
{ {
// Keep reading until we receive a completed packet. // Keep reading until we receive a completed packet.
@ -387,15 +403,12 @@ static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyt
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle); UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
UAVTalkInputProcessor *iproc = &(connection->iproc); UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE) if (state == UAVTALK_STATE_COMPLETE) {
{
// Is this a local UAVObject? // Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them. // We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) {
{
// We treat the ObjectPersistence object differently // We treat the ObjectPersistence object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID) if(iproc->objId == OBJECTPERSISTENCE_OBJID) {
{
// Unpack object, if the instance does not exist it will be created! // Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer); UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
@ -404,15 +417,13 @@ static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyt
ObjectPersistenceGet(&obj_per); ObjectPersistenceGet(&obj_per);
// Is this concerning or setting object? // Is this concerning or setting object?
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
{
// Queue up the ACK. // Queue up the ACK.
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK); queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete? // Is this a save, load, or delete?
bool success = true; bool success = true;
switch (obj_per.Operation) switch (obj_per.Operation) {
{
case OBJECTPERSISTENCE_OPERATION_LOAD: case OBJECTPERSISTENCE_OPERATION_LOAD:
{ {
#if defined(PIOS_INCLUDE_FLASH_EEPROM) #if defined(PIOS_INCLUDE_FLASH_EEPROM)
@ -453,17 +464,13 @@ static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyt
default: default:
break; break;
} }
if (success == true) if (success == true) {
{
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED; obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&obj_per); ObjectPersistenceSet(&obj_per);
} }
} }
} } else {
else switch (iproc->type) {
{
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ: case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created! // Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer); UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
@ -485,17 +492,19 @@ static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyt
data->UAVTalkErrors++; data->UAVTalkErrors++;
// Send a NACK if required. // Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) {
// Queue up a NACK // Queue up a NACK
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK); queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
} }
}
} }
/** /**
* Queue and event into an event queue. * Queue and event into an event queue.
* \param[in] queue The event queue *
* \param[in] obj The data pointer * @param[in] queue The event queue
* \param[in] type The event type * @param[in] obj The data pointer
* @param[in] type The event type
*/ */
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type) static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
{ {
@ -508,8 +517,9 @@ static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEve
/** /**
* Configure the output port based on a configuration event from the remote coordinator. * 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 * @param[in] com_port The com port to configure
* @param[in] com_speed The com port speed
*/ */
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port, static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed, OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
@ -582,8 +592,7 @@ static void updateSettings()
// Configure the main port // Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id); bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort) switch (oplinkSettings.MainPort) {
{
case OPLINKSETTINGS_MAINPORT_TELEMETRY: case OPLINKSETTINGS_MAINPORT_TELEMETRY:
data->parseUAVTalk = true; data->parseUAVTalk = true;
case OPLINKSETTINGS_MAINPORT_SERIAL: case OPLINKSETTINGS_MAINPORT_SERIAL:
@ -599,8 +608,7 @@ static void updateSettings()
} }
// Configure the flexi port // Configure the flexi port
switch (oplinkSettings.FlexiPort) switch (oplinkSettings.FlexiPort) {
{
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY: case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
data->parseUAVTalk = true; data->parseUAVTalk = true;
case OPLINKSETTINGS_FLEXIPORT_SERIAL: case OPLINKSETTINGS_FLEXIPORT_SERIAL:
@ -616,8 +624,7 @@ static void updateSettings()
} }
// Configure the USB VCP port // Configure the USB VCP port
switch (oplinkSettings.VCPPort) switch (oplinkSettings.VCPPort) {
{
case OPLINKSETTINGS_VCPPORT_SERIAL: case OPLINKSETTINGS_VCPPORT_SERIAL:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP; PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
break; break;