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Code Issues Releases Activity

PiOS.posix: small corrections and bugfixes to make pios_com_udp work correctly. Telemetry works now.

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This commit is contained in:
Corvus Corax 2011-08-14 14:19:15 +02:00
parent 5b240a2675
commit b75653a226
3 changed files with 43 additions and 27 deletions
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16
flight/OpenPilot/System/inc/pios_board_posix.h
View File

@ -55,13 +55,19 @@
#define PIOS_COM_MAX_DEVS 256
#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
#define PIOS_COM_TELEM_RF 0
#define PIOS_COM_GPS 1
#define PIOS_COM_TELEM_USB 2
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_aux_id;
extern uint32_t pios_com_spectrum_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_GPS (pios_com_gps_id)
#ifdef PIOS_ENABLE_AUX_UART
#define PIOS_COM_AUX 3
#define PIOS_COM_DEBUG PIOS_COM_AUX
#define PIOS_COM_AUX (pios_com_aux_id)
#define PIOS_COM_DEBUG (PIOS_COM_AUX
#endif
/**

9
flight/PiOS.posix/posix/pios_com.c
View File

@ -92,14 +92,13 @@ static uint32_t PIOS_COM_create(void)
com_dev = &pios_com_devs[pios_com_num_devs++];
com_dev->magic = PIOS_COM_DEV_MAGIC;
return (pios_com_num_devs-1);
return (pios_com_num_devs);
}
static struct pios_com_dev * PIOS_COM_find_dev(uint32_t com_dev_id)
{
if (com_dev_id>pios_com_num_devs) {
return NULL;
}
return &pios_com_devs[com_dev_id];
if (!com_dev_id) return NULL;
if (com_dev_id>pios_com_num_devs+1) return NULL;
return &pios_com_devs[com_dev_id-1];
}
#endif

45
flight/PiOS.posix/posix/pios_udp.c
View File

@ -32,6 +32,7 @@
#if defined(PIOS_INCLUDE_UDP)
#include <signal.h>
#include <pios_udp_priv.h>
/* We need a list of UDP devices */
@ -75,6 +76,12 @@ static pios_udp_dev * find_udp_dev_by_id (uint8_t udp)
*/
void * PIOS_UDP_RxThread(void * udp_dev_n)
{
/* needed because of FreeRTOS.posix scheduling */
sigset_t set;
sigfillset(&set);
sigprocmask(SIG_BLOCK, &set, NULL);
pios_udp_dev * udp_dev = (pios_udp_dev*) udp_dev_n;
/**
@ -93,25 +100,26 @@ void * PIOS_UDP_RxThread(void * udp_dev_n)
PIOS_UDP_RX_BUFFER_SIZE,
0,
(struct sockaddr *) &udp_dev->client,
(socklen_t*)&udp_dev->clientLength)) < 0) {
(socklen_t*)&udp_dev->clientLength)) >= 0)
{
pthread_exit(NULL);
}
/* copy received data to buffer if possible */
/* we do NOT buffer data locally. If the com buffer can't receive, data is discarded! */
/* (thats what the USART driver does too!) */
bool rx_need_yield = false;
if (udp_dev->rx_in_cb) {
(void) (udp_dev->rx_in_cb)(udp_dev->rx_in_context, udp_dev->rx_buffer, received, NULL, &rx_need_yield);
}
/* copy received data to buffer if possible */
/* we do NOT buffer data locally. If the com buffer can't receive, data is discarded! */
/* (thats what the USART driver does too!) */
bool rx_need_yield = false;
if (udp_dev->rx_in_cb) {
(void) (udp_dev->rx_in_cb)(udp_dev->rx_in_context, udp_dev->rx_buffer, received, NULL, &rx_need_yield);
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (rx_need_yield) {
vPortYieldFromISR();
}
if (rx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
}
}
@ -172,7 +180,7 @@ static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail)
PIOS_Assert(udp_dev);
uint16_t length,len,rem;
int32_t length,len,rem;
/**
* we send everything directly whenever notified of data to send (lazy!)
@ -186,8 +194,11 @@ static void PIOS_UDP_TxStart(uint32_t udp_id, uint16_t tx_bytes_avail)
len = sendto(udp_dev->socket, udp_dev->tx_buffer, length, 0,
(struct sockaddr *) &udp_dev->client,
sizeof(udp_dev->client));
if (!len) return;
rem -= len;
if (len<=0) {
rem=0;
} else {
rem -= len;
}
}
tx_bytes_avail -= length;
}