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Code Issues Releases Activity

Flight\Telemetry Implement telemetry settings object, added functions for changing the baud rate in PiOS

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@607 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-05-08 02:44:26 +00:00 committed by vassilis
parent 9c800f6007
commit a31215293d
9 changed files with 266 additions and 38 deletions
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1
flight/OpenPilot/Makefile
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@ -140,6 +140,7 @@ SRC += $(OPUAVOBJ)/gcstelemetrystats.c
SRC += $(OPUAVOBJ)/flighttelemetrystats.c
SRC += $(OPUAVOBJ)/systemstats.c
SRC += $(OPUAVOBJ)/systemalarms.c
SRC += $(OPUAVOBJ)/telemetrysettings.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c

43
flight/OpenPilot/Modules/Telemetry/telemetry.c
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@ -26,6 +26,7 @@
#include "openpilot.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
// Private constants
#define MAX_QUEUE_SIZE 20
@ -48,6 +49,7 @@ static xTaskHandle telemetryTxPriTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
static TelemetrySettingsData settings;
// Private functions
static void telemetryTxTask(void* parameters);
@ -61,6 +63,7 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent* ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
/**
* Initialise the telemetry module
@ -75,8 +78,8 @@ int32_t TelemetryInitialize(void)
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// TODO: Get telemetry settings object
telemetryPort = COM_USART1;
// Get telemetry settings object
updateSettings();
// Initialise UAVTalk
UAVTalkInitialize(&transmitData);
@ -88,8 +91,11 @@ int32_t TelemetryInitialize(void)
txErrors = 0;
txRetries = 0;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, queue, STATS_UPDATE_PERIOD_MS);
GCSTelemetryStatsConnectQueue(queue);
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char*)"TelTx", STACK_SIZE, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
@ -189,11 +195,15 @@ static void processObjEvent(UAVObjEvent* ev)
{
gcsTelemetryStatsUpdated();
}
else if ( ev->obj == TelemetrySettingsHandle() )
{
updateSettings();
}
else
{
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || UAVObjGetID(ev->obj) == FLIGHTTELEMETRYSTATS_OBJID )
if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle() )
{
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
@ -457,7 +467,7 @@ static void updateTelemetryStats()
}
else if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
{
if ( gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED || utalkStats.rxBytes == 0 )
if ( gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED || utalkStats.rxObjects == 0 )
{
flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
}
@ -491,3 +501,24 @@ static void updateTelemetryStats()
}
}
/**
* Update the telemetry settings, called on startup and
* each time the settings object is updated
*/
static void updateSettings()
{
// Set port
telemetryPort = COM_USART1;
// Retrieve settings
TelemetrySettingsGet(&settings);
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600)
{
PIOS_COM_ChangeBaud(telemetryPort, 9600);
}
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600)
{
PIOS_COM_ChangeBaud(telemetryPort, 57600);
}
}

74
flight/OpenPilot/UAVObjects/inc/telemetrysettings.h Normal file
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@ -0,0 +1,74 @@
/**
******************************************************************************
*
* @file telemetrysettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the TelemetrySettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: telemetrysettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 TELEMETRYSETTINGS_H
#define TELEMETRYSETTINGS_H
// Object constants
#define TELEMETRYSETTINGS_OBJID 2785592614U
#define TELEMETRYSETTINGS_NAME "TelemetrySettings"
#define TELEMETRYSETTINGS_METANAME "TelemetrySettingsMeta"
#define TELEMETRYSETTINGS_ISSINGLEINST 1
#define TELEMETRYSETTINGS_ISSETTINGS 1
#define TELEMETRYSETTINGS_NUMBYTES sizeof(TelemetrySettingsData)
// Object access macros
#define TelemetrySettingsGet(dataOut) UAVObjGetData(TelemetrySettingsHandle(), dataOut)
#define TelemetrySettingsSet(dataIn) UAVObjSetData(TelemetrySettingsHandle(), dataIn)
#define TelemetrySettingsInstGet(instId, dataOut) UAVObjGetInstanceData(TelemetrySettingsHandle(), instId, dataOut)
#define TelemetrySettingsInstSet(instId, dataIn) UAVObjSetInstanceData(TelemetrySettingsHandle(), instId, dataIn)
#define TelemetrySettingsConnectQueue(queue) UAVObjConnectQueue(TelemetrySettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define TelemetrySettingsConnectCallback(cb) UAVObjConnectCallback(TelemetrySettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define TelemetrySettingsCreateInstance() UAVObjCreateInstance(TelemetrySettingsHandle())
#define TelemetrySettingsRequestUpdate() UAVObjRequestUpdate(TelemetrySettingsHandle())
#define TelemetrySettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(TelemetrySettingsHandle(), instId)
#define TelemetrySettingsUpdated() UAVObjUpdated(TelemetrySettingsHandle())
#define TelemetrySettingsInstUpdated(instId) UAVObjUpdated(TelemetrySettingsHandle(), instId)
#define TelemetrySettingsGetMetadata(dataOut) UAVObjGetMetadata(TelemetrySettingsHandle(), dataOut)
#define TelemetrySettingsSetMetadata(dataIn) UAVObjSetMetadata(TelemetrySettingsHandle(), dataIn)
// Object data
typedef struct {
uint8_t Speed;
} __attribute__((packed)) TelemetrySettingsData;
// Field information
// Field Speed information
/* Enumeration options for field Speed */
typedef enum { TELEMETRYSETTINGS_SPEED_9600=0, TELEMETRYSETTINGS_SPEED_57600=1, } TelemetrySettingsSpeedOptions;
// Generic interface functions
int32_t TelemetrySettingsInitialize();
UAVObjHandle TelemetrySettingsHandle();
#endif // TELEMETRYSETTINGS_H

101
flight/OpenPilot/UAVObjects/telemetrysettings.c Normal file
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@ -0,0 +1,101 @@
/**
******************************************************************************
*
* @file telemetrysettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the TelemetrySettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: telemetrysettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @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 "telemetrysettings.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t TelemetrySettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(TELEMETRYSETTINGS_OBJID, TELEMETRYSETTINGS_NAME, TELEMETRYSETTINGS_METANAME, 0,
TELEMETRYSETTINGS_ISSINGLEINST, TELEMETRYSETTINGS_ISSETTINGS, TELEMETRYSETTINGS_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
TelemetrySettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(TelemetrySettingsData));
data.Speed = 1;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle TelemetrySettingsHandle()
{
return handle;
}

2
flight/OpenPilot/UAVObjects/uavobjectsinit.c
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@ -37,6 +37,7 @@
#include "objectpersistence.h"
#include "systemalarms.h"
#include "systemstats.h"
#include "telemetrysettings.h"
/**
@ -54,5 +55,6 @@ void UAVObjectsInitializeAll()
ObjectPersistenceInitialize();
SystemAlarmsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();
}

33
flight/PiOS/Common/pios_com.c
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@ -63,6 +63,39 @@ int32_t PIOS_COM_Init(void)
return ret;
}
/**
* Change the port speed without re-initializing
* \param[in] port COM port
* \param[in] baud Requested baud rate
* \return -1 if port not available
* \return 0 on success
*/
int32_t PIOS_COM_ChangeBaud(COMPortTypeDef port, uint32_t baud)
{
/* Branch depending on selected port */
switch(port) {
#if defined(PIOS_INCLUDE_USART)
case COM_DEBUG_USART:
PIOS_USART_ChangeBaud(PIOS_COM_DEBUG_PORT, baud);
return 0;
case COM_USART1:
PIOS_USART_ChangeBaud(USART_1, baud);
return 0;
case COM_USART2:
PIOS_USART_ChangeBaud(USART_2, baud);
return 0;
case COM_USART3:
PIOS_USART_ChangeBaud(USART_3, baud);
return 0;
#endif
case COM_USB_HID:
return 0;
default:
/* Invalid port */
return -1;
}
}
/**
* Sends a package over given port
* \param[in] port COM port

46
flight/PiOS/STM32F10x/pios_usart.c
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@ -182,38 +182,24 @@ void PIOS_USART_Init(void)
/**
* Changes the baud rate of the USART peripheral without re-initialising.
* \param[in] USARTx USART name (GPS, TELEM, AUX)
* \param[in] Baud Requested baud rate
* \param[in] usart USART name (GPS, TELEM, AUX)
* \param[in] baud Requested baud rate
*/
void PIOS_USART_ChangeBaud(USART_TypeDef* USARTx, uint32_t Baud)
void PIOS_USART_ChangeBaud(USARTNumTypeDef usart, uint32_t baud)
{
/* USART BRR Configuration */
/* Configure the USART Baud Rate */
/* Adapted from stm32f01x_usart.c */
uint32_t TmpReg = 0x00, ApbClock = 0x00;
uint32_t IntegerDivider = 0x00;
uint32_t FractionalDivider = 0x00;
uint32_t USARTxBase = (uint32_t)USARTx;
RCC_ClocksTypeDef RCC_ClocksStatus;
RCC_GetClocksFreq(&RCC_ClocksStatus);
if (USARTxBase == USART1_BASE) {
ApbClock = RCC_ClocksStatus.PCLK2_Frequency;
} else {
ApbClock = RCC_ClocksStatus.PCLK1_Frequency;
}
/* Determine the integer part */
IntegerDivider = ((0x19 * ApbClock) / (0x04 * (Baud)));
TmpReg = (IntegerDivider / 0x64) << 0x04;
/* Determine the fractional part */
FractionalDivider = IntegerDivider - (0x64 * (TmpReg >> 0x04));
TmpReg |= ((((FractionalDivider * 0x10) + 0x32) / 0x64)) & ((uint8_t)0x0F);
/* Write to USART BRR */
USARTx->BRR = (uint16_t)TmpReg;
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_InitStructure.USART_BaudRate = baud;
if (usart == USART_1)
USART_Init(PIOS_USART1_USART, &USART_InitStructure);
else if (usart == USART_2)
USART_Init(PIOS_USART2_USART, &USART_InitStructure);
else if (usart == USART_3)
USART_Init(PIOS_USART3_USART, &USART_InitStructure);
}
/**

2
flight/PiOS/inc/pios_com.h
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@ -38,7 +38,7 @@ typedef enum {
/* Public Functions */
extern int32_t PIOS_COM_Init(void);
extern int32_t PIOS_COM_ChangeBaud(COMPortTypeDef port, uint32_t baud);
extern int32_t PIOS_COM_SendCharNonBlocking(COMPortTypeDef port, char c);
extern int32_t PIOS_COM_SendChar(COMPortTypeDef port, char c);
extern int32_t PIOS_COM_SendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len);

2
flight/PiOS/inc/pios_usart.h
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@ -33,7 +33,7 @@ typedef enum {USART_1 = 0, USART_2 = 1, USART_3 = 2} USARTNumTypeDef;
/* Public Functions */
extern void PIOS_USART_Init(void);
extern void PIOS_USART_ChangeBaud(USART_TypeDef* USARTx, uint32_t Baud);
extern void PIOS_USART_ChangeBaud(USARTNumTypeDef usart, uint32_t baud);
extern int32_t PIOS_USART_RxBufferFree(USARTNumTypeDef uart);
extern int32_t PIOS_USART_RxBufferUsed(USARTNumTypeDef uart);