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Merged in webbbn/librepilot/LP-548-output-oplinkreceiver-objects-fro (pull request #461)

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LP-548 output oplinkreceiver objects from OPLink

Approved-by: Philippe Renon <philippe_renon@yahoo.fr>
Approved-by: Vladimir Zidar <mr_w@mindnever.org>
Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Brian Webb <webbbn@gmail.com>
This commit is contained in:
Brian Webb 2017-09-11 19:44:03 +00:00 committed by Philippe Renon
commit d4c681d94d
38 changed files with 230 additions and 67 deletions
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7
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -551,10 +551,8 @@ static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalk
switch (objId) {
case OPLINKSTATUS_OBJID:
case OPLINKSETTINGS_OBJID:
case OPLINKRECEIVER_OBJID:
case MetaObjectId(OPLINKSTATUS_OBJID):
case MetaObjectId(OPLINKSETTINGS_OBJID):
case MetaObjectId(OPLINKRECEIVER_OBJID):
UAVTalkReceiveObject(inConnectionHandle);
break;
case OBJECTPERSISTENCE_OBJID:
@ -613,10 +611,9 @@ static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConn
case OPLINKRECEIVER_OBJID:
case MetaObjectId(OPLINKRECEIVER_OBJID):
// Receive object locally
// These objects are received by the modem and are not transmitted to the telemetry port
// - OPLINKRECEIVER_OBJID : not sure why
// some objects will send back a response to the remote modem
UAVTalkReceiveObject(inConnectionHandle);
// Also send the packet to the telemetry point.
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
default:
// all other packets are relayed to the telemetry port

4
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
View File

@ -43,7 +43,7 @@
#include "gpspositionsensor.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "oplinkstatus.h"
#include "oplinkreceiver.h"
#include "accessorydesired.h"
#include "attitudestate.h"
#include "airspeedstate.h"
@ -481,7 +481,7 @@ static void msp_send_analog(struct msp_bridge *m)
#ifdef PIOS_INCLUDE_OPLINKRCVR
if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
OPLinkReceiverRSSIGet(&rssi);
// MSP values have no units, and OSD rssi display requires calibration anyway, so we will translate OPLINK_LOW_RSSI to OPLINK_HIGH_RSSI -> 0-1023
if (rssi < OPLINK_LOW_RSSI) {

4
flight/modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c
View File

@ -52,7 +52,7 @@
#include "taskinfo.h"
#include "mavlink.h"
#include "hwsettings.h"
#include "oplinkstatus.h"
#include "oplinkreceiver.h"
#include "receiverstatus.h"
#include "manualcontrolsettings.h"
@ -250,7 +250,7 @@ static void mavlink_send_rc_channels()
#ifdef PIOS_INCLUDE_OPLINKRCVR
if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
OPLinkReceiverRSSIGet(&rssi);
if (rssi < OPLINK_LOW_RSSI) {
rssi = OPLINK_LOW_RSSI;

35
flight/pios/common/pios_board_io.c
View File

@ -54,14 +54,16 @@
# ifdef PIOS_INCLUDE_GCSRCVR
# include <pios_gcsrcvr_priv.h>
# endif
# ifdef PIOS_INCLUDE_OPLINKRCVR
# include <oplinkreceiver.h>
# include <pios_oplinkrcvr_priv.h>
# endif
#endif /* PIOS_INCLUDE_RCVR */
#ifdef PIOS_INCLUDE_RFM22B
# include <oplinksettings.h>
# include <oplinkstatus.h>
# ifdef PIOS_INCLUDE_RCVR
# include <oplinkreceiver.h>
# include <pios_oplinkrcvr_priv.h>
# include <pios_openlrs.h>
# include <pios_openlrs_rcvr_priv.h>
# endif /* PIOS_INCLUDE_RCVR */
@ -525,7 +527,7 @@ void PIOS_BOARD_IO_Configure_PPM_RCVR(const struct pios_ppm_cfg *ppm_cfg)
}
#endif /* PIOS_INCLUDE_PPM */
#ifdef PIOS_INCLUDE_GCSRCVR
#if defined(PIOS_INCLUDE_GCSRCVR)
void PIOS_BOARD_IO_Configure_GCS_RCVR()
{
GCSReceiverInitialize();
@ -539,6 +541,24 @@ void PIOS_BOARD_IO_Configure_GCS_RCVR()
}
#endif /* PIOS_INCLUDE_GCSRCVR */
#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
void PIOS_BOARD_IO_Configure_OPLink_RCVR()
{
uint32_t pios_oplinkrcvr_id;
OPLinkReceiverInitialize();
#if defined(PIOS_INCLUDE_RFM22B)
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
#else /* PIOS_INCLUDE_RFM22B */
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
#endif /* PIOS_INCLUDE_RFM22B */
uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
}
#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
#ifdef PIOS_INCLUDE_RFM22B
void PIOS_BOARD_IO_Configure_RFM22B()
@ -596,15 +616,6 @@ void PIOS_BOARD_IO_Configure_RFM22B()
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_SPI_RFM22B_ADAPTER, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
PIOS_Assert(0);
}
#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
uint32_t pios_oplinkrcvr_id;
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
uint32_t pios_oplinkrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
/* Configure the radio com interface */
if (PIOS_COM_Init(&pios_com_pri_radio_id, &pios_rfm22b_com_driver, pios_rfm22b_id,

51
flight/pios/common/pios_oplinkrcvr.c
View File

@ -37,6 +37,8 @@
#include <oplinkstatus.h>
#include <pios_oplinkrcvr_priv.h>
// Put receiver in failsafe if not updated within timeout
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
/* Provide a RCVR driver */
static int32_t PIOS_OPLinkRCVR_Get(uint32_t rcvr_id, uint8_t channel);
@ -60,11 +62,14 @@ struct pios_oplinkrcvr_dev {
bool Fresh;
};
static struct pios_oplinkrcvr_dev *global_oplinkrcvr_dev;
static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
{
return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
}
#if defined(PIOS_INCLUDE_RFM22B)
static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *channels)
{
/* Recover our device context */
@ -78,10 +83,21 @@ static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
}
// Update the RSSI and quality fields.
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
oplinkrcvr_dev->oplinkreceiverdata.RSSI = rssi;
uint16_t quality;
OPLinkStatusLinkQualityGet(&quality);
// Link quality is 0-128, so scale it down to 0-100
oplinkrcvr_dev->oplinkreceiverdata.LinkQuality = quality * 100 / 128;
OPLinkReceiverSet(&oplinkrcvr_dev->oplinkreceiverdata);
oplinkrcvr_dev->Fresh = true;
}
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
@ -97,6 +113,9 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
oplinkrcvr_dev->Fresh = false;
oplinkrcvr_dev->supv_timer = 0;
/* The update callback cannot receive the device pointer, so set it in a global */
global_oplinkrcvr_dev = oplinkrcvr_dev;
return oplinkrcvr_dev;
}
#else
@ -119,7 +138,21 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
static void oplinkreceiver_updated(UAVObjEvent *ev)
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
if (ev->obj == OPLinkReceiverHandle()) {
OPLinkReceiverGet(&oplinkrcvr_dev->oplinkreceiverdata);
oplinkrcvr_dev->Fresh = true;
}
}
#if defined(PIOS_INCLUDE_RFM22B)
extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
#else
extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id)
#endif
{
struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
@ -134,8 +167,13 @@ extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
}
#if defined(PIOS_INCLUDE_RFM22B)
/* Register ppm callback */
PIOS_RFM22B_SetPPMCallback(rfm22b_id, PIOS_oplinkrcvr_ppm_callback, (uint32_t)oplinkrcvr_dev);
#endif
/* Updates could come over the telemetry channel, so register uavobj callback */
OPLinkReceiverConnectCallback(oplinkreceiver_updated);
/* Register the failsafe timer callback. */
if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) {
@ -199,14 +237,17 @@ static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
oplinkrcvr_dev->Fresh = false;
}
static uint8_t PIOS_OPLinkRCVR_Quality_Get(__attribute__((unused)) uint32_t oplinkrcvr_id)
static uint8_t PIOS_OPLinkRCVR_Quality_Get(uint32_t oplinkrcvr_id)
{
uint16_t oplink_quality;
/* Recover our device context */
struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
OPLinkStatusLinkQualityGet(&oplink_quality);
if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
/* Invalid device specified */
return 0;
}
/* link_status is in the range 0-128, so scale to a % */
return oplink_quality * 100 / 128;
return oplinkrcvr_dev->oplinkreceiverdata.LinkQuality;
}
#endif /* PIOS_INCLUDE_OPLINKRCVR */

10
flight/pios/common/pios_rfm22b.c
View File

@ -1798,6 +1798,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
}
// Should we append PPM data to the packet?
bool ppm_valid = false;
if (radio_dev->ppm_send_mode) {
len = RFM22B_PPM_NUM_CHANNELS + (radio_dev->ppm_only_mode ? 2 : 1);
@ -1817,10 +1818,13 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
if ((val == PIOS_RCVR_INVALID) || (val == PIOS_RCVR_TIMEOUT)) {
val = RFM22B_PPM_INVALID;
} else if (val > RFM22B_PPM_MAX_US) {
ppm_valid = true;
val = RFM22B_PPM_MAX;
} else if (val < RFM22B_PPM_MIN_US) {
ppm_valid = true;
val = RFM22B_PPM_MIN;
} else {
ppm_valid = true;
val = (val - RFM22B_PPM_MIN_US) / RFM22B_PPM_SCALE + RFM22B_PPM_MIN;
}
@ -1844,6 +1848,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
}
// Append data from the com interface if applicable.
bool packet_data = false;
if (!radio_dev->ppm_only_mode) {
uint8_t newlen = 0;
bool need_yield = false;
@ -1863,7 +1868,8 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
i++;
}
if (newlen) {
*(p + len) = radio_dev->last_stream_sent;
packet_data = true;
*(p + len) = radio_dev->last_stream_sent;
len += newlen + 1;
}
}
@ -1885,7 +1891,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
}
// Only count the packet if it contains valid data.
if (radio_dev->ppm_only_mode || (len > RS_ECC_NPARITY)) {
if (ppm_valid || packet_data) {
TX_LED_ON;
radio_dev->stats.tx_byte_count += len;
}

4
flight/pios/inc/pios_board_io.h
View File

@ -268,4 +268,8 @@ void PIOS_BOARD_IO_Configure_RadioAuxStream(HwSettingsRadioAuxStreamOptions radi
void PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
void PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#endif /* PIOS_BOARD_IO_H */

4
flight/pios/inc/pios_oplinkrcvr_priv.h
View File

@ -35,7 +35,11 @@
extern const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver;
#if defined(PIOS_INCLUDE_RFM22B)
extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id);
#else
extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id);
#endif
#endif /* PIOS_OPLINKRCVR_PRIV_H */

4
flight/targets/boards/ccf3d/firmware/inc/pios_config.h
View File

@ -105,8 +105,8 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

9
flight/targets/boards/ccf3d/firmware/pios_board.c
View File

@ -251,10 +251,13 @@ void PIOS_Board_Init(void)
break;
}
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
PIOS_BOARD_IO_Configure_GCSRCVR();
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {

4
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -281,6 +281,10 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
/* Remap AFIO pin for PB4 (Servo 5 Out)*/
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);

2
flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
View File

@ -105,7 +105,7 @@
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_GCSRCVR
// #define PIOS_INCLUDE_OPLINKRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

4
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -315,6 +315,10 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);

2
flight/targets/boards/discoveryf4bare/pios_board.h
View File

@ -203,8 +203,6 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input

4
flight/targets/boards/nucleof303re/firmware/inc/pios_config.h
View File

@ -109,8 +109,8 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

21
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -32,6 +32,7 @@
#include <pios_board_info.h>
#include <pios_ppm_out.h>
#include <oplinksettings.h>
#include <oplinkreceiver.h>
#include <pios_openlrs.h>
#include <taskinfo.h>
#ifdef PIOS_INCLUDE_SERVO
@ -133,6 +134,7 @@ void PIOS_Board_Init(void)
}
OPLinkSettingsInitialize();
OPLinkReceiverInitialize();
/* Retrieve the settings object. */
OPLinkSettingsData oplinkSettings;
@ -450,6 +452,25 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co
ppm_value = 1000 + ((rssi + 127) * 9);
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, RFM22B_PPM_NUM_CHANNELS, ppm_value);
}
} else {
// If there is no PPM output defined, try sending the control outputs as a UAVObject.
OPLinkReceiverData recv_data;
for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
if (i < RFM22B_PPM_NUM_CHANNELS) {
recv_data.Channel[i] = channels[i];
} else {
recv_data.Channel[i] = PIOS_RCVR_TIMEOUT;
}
}
// Update the RSSI and quality fields.
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
recv_data.RSSI = rssi;
uint16_t quality;
OPLinkStatusLinkQualityGet(&quality);
// Link quality is 0-128, so scale it down to 0-100
recv_data.LinkQuality = quality * 100 / 128;
OPLinkReceiverSet(&recv_data);
}
#if defined(PIOS_INCLUDE_SERVO)
for (uint8_t i = 0; i < servo_count; ++i) {

4
flight/targets/boards/pikoblx/firmware/inc/pios_config.h
View File

@ -111,8 +111,8 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

8
flight/targets/boards/pikoblx/firmware/pios_board.c
View File

@ -226,6 +226,14 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
#endif
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg);
#else

4
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -315,6 +315,10 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
// pios_servo_cfg points to the correct configuration based on input port settings
PIOS_Servo_Init(pios_servo_cfg);

3
flight/targets/boards/revolution/pios_board.h
View File

@ -1,3 +1,4 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
@ -223,8 +224,6 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input

2
flight/targets/boards/revonano/firmware/inc/pios_config.h
View File

@ -113,7 +113,7 @@
#define PIOS_INCLUDE_EXBUS
#define PIOS_INCLUDE_IBUS
#define PIOS_INCLUDE_GCSRCVR
// #define PIOS_INCLUDE_OPLINKRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

4
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -258,6 +258,10 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>
HwSettingsWS2811LED_OutOptions ws2811_pin_settings;

2
flight/targets/boards/revonano/pios_board.h
View File

@ -218,8 +218,6 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input

2
flight/targets/boards/revoproto/firmware/inc/pios_config.h
View File

@ -100,7 +100,7 @@
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_GCSRCVR
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

4
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -326,6 +326,10 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
switch (hwsettings_rcvrport) {
case HWSETTINGS_RV_RCVRPORT_DISABLED:

4
flight/targets/boards/sparky2/firmware/pios_board.c
View File

@ -274,6 +274,10 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg_out);
#else

3
flight/targets/boards/sparky2/pios_board.h
View File

@ -1,3 +1,4 @@
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
@ -225,8 +226,6 @@ extern uint32_t pios_packet_handler;
#define PIOS_RCVR_MAX_DEVS 3
#define PIOS_RCVR_MAX_CHANNELS 12
#define PIOS_GCSRCVR_TIMEOUT_MS 100
#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200
#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100
// -------------------------
// Receiver PPM input

4
flight/targets/boards/spracingf3/firmware/inc/pios_config.h
View File

@ -108,8 +108,8 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

8
flight/targets/boards/spracingf3/firmware/pios_board.c
View File

@ -239,6 +239,14 @@ void PIOS_Board_Init(void)
#endif /* if defined(PIOS_INCLUDE_PWM) */
}
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
// TODO: make use of HWSPRACINGF3SETTINGS_IOPORTS_[PPM]OUTPUTS
PIOS_Servo_Init(&pios_servo_cfg);

4
flight/targets/boards/spracingf3evo/firmware/inc/pios_config.h
View File

@ -111,8 +111,8 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
/* PIOS abstract receiver interface */
#define PIOS_INCLUDE_RCVR

8
flight/targets/boards/spracingf3evo/firmware/pios_board.c
View File

@ -227,6 +227,14 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
}
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg);
#else

4
flight/targets/boards/tinyfish/firmware/inc/pios_config.h
View File

@ -111,8 +111,8 @@
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_HOTT
#define PIOS_INCLUDE_IBUS
/* #define PIOS_INCLUDE_GCSRCVR */
/* #define PIOS_INCLUDE_OPLINKRCVR */
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR
#define PIOS_INCLUDE_FRSKY_SENSORHUB

8
flight/targets/boards/tinyfish/firmware/pios_board.c
View File

@ -254,6 +254,14 @@ void PIOS_Board_Init(void)
PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[0], PIOS_BOARD_IO_UART_COMBRIDGE);
}
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifdef PIOS_INCLUDE_OPLINKRCVR
PIOS_BOARD_IO_Configure_OPLink_RCVR();
#endif
#ifdef PIOS_ENABLE_DEBUG_PINS
PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
#else

2
flight/uavobjects/inc/uavobjectmanager.h
View File

@ -202,7 +202,7 @@ bool UAVObjIsSingleInstance(UAVObjHandle obj);
bool UAVObjIsMetaobject(UAVObjHandle obj);
bool UAVObjIsSettings(UAVObjHandle obj);
bool UAVObjIsPriority(UAVObjHandle obj);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn);
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn, bool create);
int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut);
uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc);
int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);

12
flight/uavobjects/uavobjectmanager.c
View File

@ -511,9 +511,10 @@ unlock_exit:
* \param[in] obj The object handle
* \param[in] instId The instance ID
* \param[in] dataIn The byte array
* \param[in] create Create the object if it does not already exist.
* \return 0 if success or -1 if failure
*/
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn)
int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *dataIn, bool create)
{
PIOS_Assert(obj_handle);
@ -538,12 +539,13 @@ int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *da
instEntry = getInstance(obj, instId);
// If the instance does not exist create it and any other instances before it
if (instEntry == NULL) {
if ((instEntry == NULL) && create) {
instEntry = createInstance(obj, instId);
if (instEntry == NULL) {
goto unlock_exit;
}
}
if (instEntry == NULL) {
goto unlock_exit;
}
// Set the data
memcpy(InstanceData(instEntry), dataIn, obj->type->instance_size);
}

1
flight/uavtalk/inc/uavtalk.h
View File

@ -61,6 +61,7 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle, uint8_t *rxbuffer, uint8_t length, uint8_t *position);
int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
int32_t UAVTalkReceiveObjectNoCreate(UAVTalkConnection connectionHandle);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
void UAVTalkResetStats(UAVTalkConnection connection);

35
flight/uavtalk/uavtalk.c
View File

@ -51,7 +51,7 @@
static int32_t objectTransaction(UAVTalkConnectionData *connection, uint8_t type, UAVObjHandle obj, uint16_t instId, int32_t timeout);
static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, UAVObjHandle obj);
static int32_t sendSingleObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, UAVObjHandle obj);
static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data);
static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data, bool create);
static void updateAck(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId);
// UavTalk Process FSM functions
static bool UAVTalkProcess_SYNC(UAVTalkConnectionData *connection, UAVTalkInputProcessor *iproc, uint8_t *rxbuffer, uint8_t length, uint8_t *position);
@ -557,7 +557,28 @@ int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle)
return -1;
}
return receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer);
return receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, true);
}
/**
* Complete receiving a UAVTalk packet. This will cause the packet to be unpacked, acked, etc.
* This version will not create/unpack an object if it does not already exist.
* \param[in] connectionHandle UAVTalkConnection to be used
* \return 0 Success
* \return -1 Failure
*/
int32_t UAVTalkReceiveObjectNoCreate(UAVTalkConnection connectionHandle)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle, connection, return -1);
UAVTalkInputProcessor *iproc = &connection->iproc;
if (iproc->state != UAVTALK_STATE_COMPLETE) {
return -1;
}
return receiveObject(connection, iproc->type, iproc->objId, iproc->instId, connection->rxBuffer, false);
}
/**
@ -592,7 +613,7 @@ uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connectionHandle)
* \return 0 Success
* \return -1 Failure
*/
static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data)
static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, uint32_t objId, uint16_t instId, uint8_t *data, bool create)
{
UAVObjHandle obj;
int32_t ret = 0;
@ -613,8 +634,8 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
case UAVTALK_TYPE_OBJ_TS:
// All instances not allowed for OBJ messages
if (obj && (instId != UAVOBJ_ALL_INSTANCES)) {
// Unpack object, if the instance does not exist it will be created!
if (UAVObjUnpack(obj, instId, data) == 0) {
// Unpack object, if create is true and the instance does not exist it will be created!
if (UAVObjUnpack(obj, instId, data, create) == 0) {
// Check if this object acks a pending OBJ_REQ message
// any OBJ message can ack a pending OBJ_REQ message
// even one that was not sent in response to the OBJ_REQ message
@ -632,8 +653,8 @@ static int32_t receiveObject(UAVTalkConnectionData *connection, uint8_t type, ui
UAVT_DEBUGLOG_CPRINTF(objId, "OBJ_ACK %X %d", objId, instId);
// All instances not allowed for OBJ_ACK messages
if (obj && (instId != UAVOBJ_ALL_INSTANCES)) {
// Unpack object, if the instance does not exist it will be created!
if (UAVObjUnpack(obj, instId, data) == 0) {
// Unpack object, if create is true and the instance does not exist it will be created!
if (UAVObjUnpack(obj, instId, data, create) == 0) {
UAVT_DEBUGLOG_CPRINTF(objId, "OBJ ACK %X %d", objId, instId);
// Object updated or created, transmit ACK
sendObject(connection, UAVTALK_TYPE_ACK, objId, instId, NULL);

2
shared/uavobjectdefinition/oplinkreceiver.xml
View File

@ -2,6 +2,8 @@
<object name="OPLinkReceiver" singleinstance="true" settings="false" category="System">
<description>A receiver channel group carried over the OPLink radio.</description>
<field name="Channel" units="us" type="int16" elements="16"/>
<field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>
<field name="LinkQuality" units="%" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>