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First cut on RadioComBridge module, which is intended to pass data from either a USART or a USB port to the PipX radio link.
This commit is contained in:
Brian Webb
parent
d506dd1f35
commit
e2cb750dc6
199
flight/Modules/RadioComBridge/RadioComBridge.c
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199
flight/Modules/RadioComBridge/RadioComBridge.c
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
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* @brief Bridge Com and Radio ports
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* @{
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*
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* @file RadioComBridge.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Bridges selected Com Port to the COM VCP emulated serial port
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// ****************
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#include "openpilot.h"
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#include "hwsettings.h"
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#include "radiocombridge.h"
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#include <stdbool.h>
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// ****************
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// Private functions
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static void radio2ComBridgeTask(void *parameters);
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static void com2RadioBridgeTask(void *parameters);
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static void updateSettings();
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// ****************
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// Private constants
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#define STACK_SIZE_BYTES 280
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define BRIDGE_BUF_LEN 10
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// ****************
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// Private types
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typedef struct {
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// The task handles.
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xTaskHandle radio2ComBridgeTaskHandle;
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xTaskHandle com2RadioBridgeTaskHandle;
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// The com buffers.
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uint8_t *radio2com_buf;
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uint8_t *com2radio_buf;
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// The com ports
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uint32_t com_port;
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uint32_t radio_port;
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} RadioComBridgeData;
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// ****************
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// Private variables
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static RadioComBridgeData *data;
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/**
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* Initialise the module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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static int32_t RadioComBridgeStart(void)
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{
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if(data) {
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// Start the tasks
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xTaskCreate(radio2ComBridgeTask, (signed char *)"Radio2ComBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &(data->radio2ComBridgeTaskHandle));
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xTaskCreate(com2RadioBridgeTask, (signed char *)"Com2RadioBridge", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &(data->com2RadioBridgeTaskHandle));
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return 0;
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}
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return -1;
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}
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/**
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* Initialise the module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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static int32_t RadioComBridgeInitialize(void)
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{
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// allocate and initialize the static data storage only if module is enabled
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data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
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if (!data)
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return -1;
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// TODO: Get from settings object
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//data->com_port = PIOS_COM_VCP;
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data->com_port = PIOS_COM_TELEM_USB;
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data->radio_port = PIOS_COM_TELEM_SERIAL;
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data->radio2com_buf = pvPortMalloc(BRIDGE_BUF_LEN);
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PIOS_Assert(data->radio2com_buf);
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data->com2radio_buf = pvPortMalloc(BRIDGE_BUF_LEN);
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PIOS_Assert(data->com2radio_buf);
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updateSettings();
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return 0;
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}
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MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
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/**
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* Main task. It does not return.
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*/
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static void radio2ComBridgeTask(void *parameters)
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{
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/* Handle radio -> usart/usb direction */
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volatile uint32_t tx_errors = 0;
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while (1) {
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uint32_t rx_bytes;
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rx_bytes = PIOS_COM_ReceiveBuffer(data->radio_port, data->radio2com_buf, BRIDGE_BUF_LEN, 500);
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if (rx_bytes > 0) {
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/* Bytes available to transfer */
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if (PIOS_COM_SendBuffer(data->com_port, data->radio2com_buf, rx_bytes) != rx_bytes) {
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/* Error on transmit */
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tx_errors++;
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}
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}
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}
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}
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static void com2RadioBridgeTask(void * parameters)
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{
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/* Handle usart/usb -> radio direction */
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volatile uint32_t tx_errors = 0;
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while (1) {
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uint32_t rx_bytes;
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rx_bytes = PIOS_COM_ReceiveBuffer(data->com_port, data->com2radio_buf, BRIDGE_BUF_LEN, 500);
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if (rx_bytes > 0) {
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PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Rec com\n\r");
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/* Bytes available to transfer */
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if (PIOS_COM_SendBuffer(data->radio_port, data->com2radio_buf, rx_bytes) != rx_bytes) {
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/* Error on transmit */
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tx_errors++;
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}
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}
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}
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}
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static void updateSettings()
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{
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if (data->com_port) {
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#ifdef NEVER
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// Retrieve settings
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uint8_t speed;
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HwSettingsRadioComBridgeSpeedGet(&speed);
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// Set port speed
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switch (speed) {
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case HWSETTINGS_RADIOCOMBRIDGESPEED_2400:
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PIOS_COM_ChangeBaud(data->com_port, 2400);
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break;
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case HWSETTINGS_RADIOCOMBRIDGESPEED_4800:
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PIOS_COM_ChangeBaud(data->com_port, 4800);
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break;
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case HWSETTINGS_RADIOCOMBRIDGESPEED_9600:
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PIOS_COM_ChangeBaud(data->com_port, 9600);
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break;
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case HWSETTINGS_RADIOCOMBRIDGESPEED_19200:
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PIOS_COM_ChangeBaud(data->com_port, 19200);
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break;
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case HWSETTINGS_RADIOCOMBRIDGESPEED_38400:
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PIOS_COM_ChangeBaud(data->com_port, 38400);
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break;
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case HWSETTINGS_RADIOCOMBRIDGESPEED_57600:
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PIOS_COM_ChangeBaud(data->com_port, 57600);
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break;
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case HWSETTINGS_RADIOCOMBRIDGESPEED_115200:
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PIOS_COM_ChangeBaud(data->com_port, 115200);
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break;
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}
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#endif
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}
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}
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39
flight/Modules/RadioComBridge/inc/radiocombridge.h
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39
flight/Modules/RadioComBridge/inc/radiocombridge.h
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@ -0,0 +1,39 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
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* @brief Bridge Com and Radio ports
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* @{
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*
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* @file radiocombridge.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Include file of the telemetry module.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef RADIOCOMBRIDGE_H
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#define RADIOCOMBRIDGE_H
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#endif // RADIOCOMBRIDGE_H
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/**
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* @}
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* @}
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*/
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@ -72,7 +72,7 @@ FLASH_TOOL = OPENOCD
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# List of modules to include
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OPTMODULES =
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MODULES = TransmitterControls FirmwareIAP
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MODULES = TransmitterControls FirmwareIAP RadioComBridge
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ifeq ($(ENABLE_MOVE_CONTROLLER), YES)
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MODULES += AttitudeMARG
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endif
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