Create simulated OveroSync module which simply drops updates to log file

flight/Modules/OveroSync/simulated/inc/overosync.h

@@ -0,0 +1,46 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
+ *
+ * @file       telemetry.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Include file of the telemetry module.
+ * 	       As with all modules only the initialize function is exposed all other
+ * 	       interactions with the module take place through the event queue and
+ *             objects.
+ * @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 TELEMETRY_H
+#define TELEMETRY_H
+
+int32_t TelemetryInitialize(void);
+
+#endif // TELEMETRY_H
+
+/**
+  * @}
+  * @}
+  */

flight/Modules/OveroSync/simulated/overosync.c

@@ -0,0 +1,235 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TelemetryModule Telemetry Module
+ * @brief Main telemetry module
+ * Starts three tasks (RX, TX, and priority TX) that watch event queues
+ * and handle all the telemetry of the UAVobjects
+ * @{ 
+ *
+ * @file       telemetry.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Telemetry module, handles telemetry and UAVObject updates
+ * @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 "overosync.h"
+#include "overosyncstats.h"
+#include "systemstats.h"
+
+// Private constants
+#define OVEROSYNC_PACKET_SIZE 1024
+#define MAX_QUEUE_SIZE   40
+#define STACK_SIZE_BYTES 512
+#define TASK_PRIORITY (tskIDLE_PRIORITY + 0)
+
+// Private types
+
+// Private variables
+static xQueueHandle queue;
+static UAVTalkConnection uavTalkCon;
+static xTaskHandle overoSyncTaskHandle;
+volatile bool buffer_swap_failed;
+volatile uint32_t buffer_swap_timeval;
+FILE * fid;
+
+// Private functions
+static void overoSyncTask(void *parameters);
+static int32_t packData(uint8_t * data, int32_t length);
+static void registerObject(UAVObjHandle obj);
+
+struct dma_transaction {
+	uint8_t tx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__ ((aligned(4)));
+	uint8_t rx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__ ((aligned(4)));
+};
+
+struct overosync {
+	struct dma_transaction transactions[2];
+	uint32_t active_transaction_id;
+	uint32_t loading_transaction_id;
+	xSemaphoreHandle transaction_lock;
+	xSemaphoreHandle buffer_lock;
+	volatile bool transaction_done;
+	uint32_t sent_bytes;
+	uint32_t write_pointer;
+	uint32_t sent_objects;
+	uint32_t failed_objects;
+	uint32_t received_objects;
+	uint32_t framesync_error;
+};
+
+struct overosync *overosync;
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OveroSyncInitialize(void)
+{
+	OveroSyncStatsInitialize();
+
+	// Create object queues
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Initialise UAVTalk
+	uavTalkCon = UAVTalkInitialize(&packData);
+
+	return 0;
+}
+
+/**
+ * Initialise the telemetry module
+ * \return -1 if initialisation failed
+ * \return 0 on success
+ */
+int32_t OveroSyncStart(void)
+{
+	overosync = (struct overosync *) pvPortMalloc(sizeof(*overosync));
+	if(overosync == NULL)
+		return -1;
+
+	overosync->transaction_lock = xSemaphoreCreateMutex();
+	if(overosync->transaction_lock == NULL)
+		return -1;
+
+	overosync->buffer_lock = xSemaphoreCreateMutex();
+	if(overosync->buffer_lock == NULL)
+		return -1;
+
+	overosync->active_transaction_id = 0;
+	overosync->loading_transaction_id = 0;
+	overosync->write_pointer = 0;
+	overosync->sent_bytes = 0;
+	overosync->framesync_error = 0;
+
+	// Process all registered objects and connect queue for updates
+	UAVObjIterate(&registerObject);
+	
+	// Start telemetry tasks
+	xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
+	
+	TaskMonitorAdd(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
+	
+	return 0;
+}
+
+MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart)
+
+/**
+ * Register a new object, adds object to local list and connects the queue depending on the object's
+ * telemetry settings.
+ * \param[in] obj Object to connect
+ */
+static void registerObject(UAVObjHandle obj)
+{
+	int32_t eventMask;
+	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, queue, eventMask);
+}
+
+/**
+ * Telemetry transmit task, regular priority
+ *
+ * Logic: We need to double buffer the DMA transfers.  Pack the buffer until either
+ * 1) it is full (and then we should record the number of missed events then)
+ * 2) the current transaction is done (we should immediately schedule since we are slave)
+ * when done packing the buffer we should call PIOS_SPI_TransferBlock, change the active buffer
+ * and then take the semaphrore
+ */
+static void overoSyncTask(void *parameters)
+{
+	UAVObjEvent ev;
+
+	// Kick off SPI transfers (once one is completed another will automatically transmit)
+	overosync->transaction_done = true;
+	overosync->sent_objects = 0;
+	overosync->failed_objects = 0;
+	overosync->received_objects = 0;
+	
+	portTickType lastUpdateTime = xTaskGetTickCount();
+	portTickType updateTime;
+	
+	fid = fopen("sim_log.opl", "w");
+
+	// Loop forever
+	while (1) {
+		// Wait for queue message
+		if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
+		
+			// Check it will fit before packetizing
+			if ((overosync->write_pointer + UAVObjGetNumBytes(ev.obj) + 12) >=
+				sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer)) {
+				overosync->failed_objects ++;
+			} else {
+				// Process event.  This calls transmitData
+				UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
+			}
+
+			updateTime = xTaskGetTickCount();
+			if(((portTickType) (updateTime - lastUpdateTime)) > 1000) {
+				// Update stats.  This will trigger a local send event too
+				OveroSyncStatsData syncStats;
+				syncStats.Send = overosync->sent_bytes;
+				syncStats.Received = 0;
+				syncStats.Connected = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
+				syncStats.DroppedUpdates = overosync->failed_objects;
+				OveroSyncStatsSet(&syncStats);
+				overosync->failed_objects = 0;
+				overosync->sent_bytes = 0;
+				lastUpdateTime = updateTime;
+			}
+		}
+	}
+}
+
+/**
+ * Transmit data buffer to the modem or USB port.
+ * \param[in] data Data buffer to send
+ * \param[in] length Length of buffer
+ * \return -1 on failure
+ * \return number of bytes transmitted on success
+ */
+static int32_t packData(uint8_t * data, int32_t length)
+{
+	// Get the lock for manipulating the buffer
+	xSemaphoreTake(overosync->buffer_lock, portMAX_DELAY);
+
+	portTickType tickTime = xTaskGetTickCount();
+	uint64_t packetSize = data[2] + (data[3] << 8);
+	fwrite((void *) &tickTime, 1, sizeof(tickTime), fid);
+	fwrite((void *) &packetSize, sizeof(packetSize), 1, fid);
+	fwrite((void *) data, 1, length, fid);
+	overosync->sent_bytes += length;
+	overosync->sent_objects++;
+
+	xSemaphoreGive(overosync->buffer_lock);
+	
+	return length;
+}
+
+/**
+  * @}
+  * @}
+  */

flight/Revolution/Makefile.osx

@@ -56,7 +56,7 @@ USE_THUMB_MODE = YES
 MODULES +=  Actuator ManualControl Stabilization 
 MODULES += AltitudeHold Guidance PathPlanner
 MODULES += Attitude/revolution
-#MODULES += SimulatedAttitude
+MODULES += OveroSync/simulated
 
 # To run simulation instead of connect to SITL
 MODULES += Sensors/simulated