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Code Issues Releases Activity

HwSettings: move Telemetry and add GPS port speed to the HwSettings object

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TelemetrySettings object removed (saved 200+ bytes of RAM). Telemetry
port speed moved to the HwSettings object. Added GPS port speed setting.
GCS code updated to reflect changes and support both fields.
This commit is contained in:
Oleg Semyonov 2011-09-28 22:09:19 +03:00
parent 53c098dd08
commit a38c569cd0
9 changed files with 414 additions and 318 deletions
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1
flight/CopterControl/Makefile
View File

@ -162,7 +162,6 @@ SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c

64
flight/Modules/GPS/GPS.c
View File

@ -43,11 +43,15 @@
#include "gpssatellites.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
#include "hwsettings.h"
// ****************
// Private functions
static void gpsTask(void *parameters);
static void SettingsUpdatedCb(UAVObjEvent * ev);
static void updateSettings();
#ifdef PIOS_GPS_SETS_HOMELOCATION
static void setHomeLocation(GPSPositionData * gpsData);
@ -116,6 +120,13 @@ int32_t GPSInitialize(void)
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
HwSettingsInitialize();
// Update GPS settings
updateSettings();
// Listen for settings updates, connect a callback function
HwSettingsConnectCallback(&SettingsUpdatedCb);
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
@ -333,6 +344,59 @@ static void setHomeLocation(GPSPositionData * gpsData)
// ****************
/**
* Settings callback, called each time the settings object is updated
*/
static void SettingsUpdatedCb(UAVObjEvent * ev)
{
if (ev->obj == HwSettingsHandle())
updateSettings();
}
/**
* Update the GPS settings, called on startup and
* each time the settings object is updated
*/
static void updateSettings()
{
// Set port
gpsPort = PIOS_COM_GPS;
if (gpsPort) {
// Retrieve settings
uint8_t speed;
HwSettingsGPSSpeedGet(&speed);
// Set port speed
switch (speed) {
case HWSETTINGS_GPSSPEED_2400:
PIOS_COM_ChangeBaud(gpsPort, 2400);
break;
case HWSETTINGS_GPSSPEED_4800:
PIOS_COM_ChangeBaud(gpsPort, 4800);
break;
case HWSETTINGS_GPSSPEED_9600:
PIOS_COM_ChangeBaud(gpsPort, 9600);
break;
case HWSETTINGS_GPSSPEED_19200:
PIOS_COM_ChangeBaud(gpsPort, 19200);
break;
case HWSETTINGS_GPSSPEED_38400:
PIOS_COM_ChangeBaud(gpsPort, 38400);
break;
case HWSETTINGS_GPSSPEED_57600:
PIOS_COM_ChangeBaud(gpsPort, 57600);
break;
case HWSETTINGS_GPSSPEED_115200:
PIOS_COM_ChangeBaud(gpsPort, 115200);
break;
}
}
}
/**
* @}
* @}

57
flight/Modules/Telemetry/telemetry.c
View File

@ -34,7 +34,7 @@
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
#include "hwsettings.h"
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
@ -65,7 +65,6 @@ static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
static TelemetrySettingsData settings;
static uint32_t timeOfLastObjectUpdate;
static UAVTalkConnection uavTalkCon;
@ -94,7 +93,7 @@ int32_t TelemetryStart(void)
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
HwSettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
@ -121,7 +120,7 @@ int32_t TelemetryInitialize(void)
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
TelemetrySettingsInitialize();
HwSettingsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
@ -132,7 +131,7 @@ int32_t TelemetryInitialize(void)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
// Update telemetry settings
updateSettings();
// Initialise UAVTalk
@ -226,7 +225,7 @@ static void processObjEvent(UAVObjEvent * ev)
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else if (ev->obj == TelemetrySettingsHandle()) {
} else if (ev->obj == HwSettingsHandle()) {
updateSettings();
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
@ -514,22 +513,40 @@ static void updateTelemetryStats()
*/
static void updateSettings()
{
// Set port
telemetryPort = PIOS_COM_TELEM_RF;
// Set port
telemetryPort = PIOS_COM_TELEM_RF;
// Retrieve settings
TelemetrySettingsGet(&settings);
if (telemetryPort) {
if (telemetryPort) {
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
}
// Retrieve settings
uint8_t speed;
HwSettingsTelemetrySpeedGet(&speed);
// Set port speed
switch (speed) {
case HWSETTINGS_TELEMETRYSPEED_2400:
PIOS_COM_ChangeBaud(telemetryPort, 2400);
break;
case HWSETTINGS_TELEMETRYSPEED_4800:
PIOS_COM_ChangeBaud(telemetryPort, 4800);
break;
case HWSETTINGS_TELEMETRYSPEED_9600:
PIOS_COM_ChangeBaud(telemetryPort, 9600);
break;
case HWSETTINGS_TELEMETRYSPEED_19200:
PIOS_COM_ChangeBaud(telemetryPort, 19200);
break;
case HWSETTINGS_TELEMETRYSPEED_38400:
PIOS_COM_ChangeBaud(telemetryPort, 38400);
break;
case HWSETTINGS_TELEMETRYSPEED_57600:
PIOS_COM_ChangeBaud(telemetryPort, 57600);
break;
case HWSETTINGS_TELEMETRYSPEED_115200:
PIOS_COM_ChangeBaud(telemetryPort, 115200);
break;
}
}
}
/**

74
ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
View File

@ -102,18 +102,42 @@
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Telemetry speed:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="telemetrySpeedLabel">
<property name="text">
<string>Telemetry speed:</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="GpsSpeedLabel">
<property name="minimumSize">
<size>
<width>55</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>GPS speed:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="gpsSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_3">
@ -130,6 +154,19 @@
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="problems">
<property name="font">
@ -149,19 +186,6 @@
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="font">

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

@ -40,10 +40,11 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_telemetry = new Ui_CC_HW_Widget();
m_telemetry->setupUi(this);
setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr);
addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_telemetry->gpsSpeed);
connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
enableControls(false);
populateWidgets();

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

@ -40,7 +40,7 @@ ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_telemetry->setupUi(this);
setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
enableControls(false);
populateWidgets();
refreshWidgetsValues();

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -36,7 +36,6 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/systemstats.h \
$$UAVOBJECT_SYNTHETICS/systemalarms.h \
$$UAVOBJECT_SYNTHETICS/objectpersistence.h \
$$UAVOBJECT_SYNTHETICS/telemetrysettings.h \
$$UAVOBJECT_SYNTHETICS/systemsettings.h \
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \
$$UAVOBJECT_SYNTHETICS/manualcontrolsettings.h \
@ -88,7 +87,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/systemstats.cpp \
$$UAVOBJECT_SYNTHETICS/systemalarms.cpp \
$$UAVOBJECT_SYNTHETICS/objectpersistence.cpp \
$$UAVOBJECT_SYNTHETICS/telemetrysettings.cpp \
$$UAVOBJECT_SYNTHETICS/systemsettings.cpp \
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \
$$UAVOBJECT_SYNTHETICS/manualcontrolsettings.cpp \

3
shared/uavobjectdefinition/hwsettings.xml
View File

@ -9,6 +9,9 @@
<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
<field name="OP_RcvrPort" units="function" type="enum" elements="1" options="Disabled,Debug,Spektrum1,PWM,PPM" defaultvalue="PWM"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>

10
shared/uavobjectdefinition/telemetrysettings.xml
View File

@ -1,10 +0,0 @@
<xml>
<object name="TelemetrySettings" singleinstance="true" settings="true">
<description>Select baud rate of telemetry. Warning - this must match your modem.</description>
<field name="Speed" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>