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Code Issues Releases Activity

Split out the PipX radio interface from RadioComBridge module to a separate Radio module. Now the RadioComBridge module just routes messages between the com ports and handles sending/receiving the PipX UAVOs.

Browse Source 
Conflicts:

	flight/Modules/RadioComBridge/RadioComBridge.c
	flight/PipXtreme/System/pios_board.c

Conflicts:

	flight/Modules/RadioComBridge/RadioComBridge.c
This commit is contained in:
Brian Webb 2012-08-24 19:25:02 -07:00
parent 415b86879c
commit e602b73a6f
1 changed files with 25 additions and 17 deletions
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42
flight/Modules/RadioComBridge/RadioComBridge.c
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@ -55,8 +55,8 @@
#define BRIDGE_BUF_LEN 512
#define MAX_RETRIES 2
#define RETRY_TIMEOUT_MS 20
#define STATS_UPDATE_PERIOD_MS 500
#define RADIOSTATS_UPDATE_PERIOD_MS 250
#define STATS_UPDATE_PERIOD_MS 1000
#define RADIOSTATS_UPDATE_PERIOD_MS 500
#define MAX_LOST_CONTACT_TIME 4
#define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200
@ -664,27 +664,35 @@ static void ppmInputTask(void *parameters)
#endif /* PIOS_INCLUDE_WDG */
// Read the receiver.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
{
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
// Send the PPM packet
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
if(ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT)
valid_input_detected = true;
}
else
// Send the PPM packet if it's valid
if (valid_input_detected)
{
GCSReceiverData rcvr;
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
}
else
{
GCSReceiverData rcvr;
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = ppm_packet.channels[i];
// Copy the receiver channels into the GCSReceiver object.
for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; ++i)
rcvr.Channel[i] = ppm_packet.channels[i];
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
}
}
// Delay until the next update period.