diff --git a/flight/Modules/RadioComBridge/RadioComBridge.c b/flight/Modules/RadioComBridge/RadioComBridge.c
index 38331c8f5..08ed7cb7b 100644
--- a/flight/Modules/RadioComBridge/RadioComBridge.c
+++ b/flight/Modules/RadioComBridge/RadioComBridge.c
@@ -80,10 +80,7 @@ typedef struct {
xTaskHandle sendPacketTaskHandle;
xTaskHandle sendDataTaskHandle;
xTaskHandle radioStatusTaskHandle;
-
- // The com ports
- uint32_t com_port;
- uint32_t radio_port;
+ xTaskHandle transparentCommTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection inUAVTalkCon;
@@ -132,6 +129,7 @@ static void comUAVTalkTask(void *parameters);
static void radioReceiveTask(void *parameters);
static void sendPacketTask(void *parameters);
static void sendDataTask(void *parameters);
+static void transparentCommTask(void * parameters);
static void radioStatusTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static int32_t transmitPacket(PHPacketHandle packet);
@@ -141,6 +139,7 @@ static void PPMHandler(uint16_t *channels);
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
+static void updateSettings();
// ****************
// Private variables
@@ -157,12 +156,16 @@ static int32_t RadioComBridgeStart(void)
if(data) {
// Start the tasks
xTaskCreate(comUAVTalkTask, (signed char *)"ComUAVTalk", STACK_SIZE_BYTES/2, NULL, TASK_PRIORITY + 2, &(data->comUAVTalkTaskHandle));
+ if(PIOS_COM_TRANS_COM)
+ xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES/2, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle));
xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES/2, NULL, TASK_PRIORITY, &(data->radioReceiveTaskHandle));
xTaskCreate(sendPacketTask, (signed char *)"SendPacketTask", STACK_SIZE_BYTES/2, NULL, TASK_PRIORITY, &(data->sendPacketTaskHandle));
xTaskCreate(sendDataTask, (signed char *)"SendDataTask", STACK_SIZE_BYTES/2, NULL, TASK_PRIORITY, &(data->sendDataTaskHandle));
xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES/2, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
+ if(PIOS_COM_TRANS_COM)
+ PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
PIOS_WDG_RegisterFlag(PIOS_WDG_SENDDATA);
@@ -190,14 +193,7 @@ static int32_t RadioComBridgeInitialize(void)
GCSReceiverInitialize();
PipXStatusInitialize();
ObjectPersistenceInitialize();
-
- // Get the settings.
- PipXSettingsData pipxSettings;
- PipXSettingsGet(&pipxSettings);
-
- // TODO: Get from settings object
- data->com_port = PIOS_COM_BRIDGE_COM;
- data->radio_port = PIOS_COM_BRIDGE_RADIO;
+ updateSettings();
// Initialise UAVTalk
data->inUAVTalkCon = UAVTalkInitialize(0);
@@ -207,10 +203,6 @@ static int32_t RadioComBridgeInitialize(void)
data->sendPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
data->objEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
- // Initialize the destination ID
- data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
- DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
-
// Initialize the statistics.
data->radioTxErrors = 0;
data->radioTxRetries = 0;
@@ -256,7 +248,7 @@ static void comUAVTalkTask(void *parameters)
PHPacketHandle p = NULL;
// Create the buffered reader.
- BufferedReadHandle f = BufferedReadInit(data->com_port, TEMP_BUFFER_SIZE);
+ BufferedReadHandle f = BufferedReadInit(PIOS_COM_UAVTALK, TEMP_BUFFER_SIZE);
while (1) {
@@ -265,13 +257,19 @@ static void comUAVTalkTask(void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_COMUAVTALK);
#endif /* PIOS_INCLUDE_WDG */
+ // Receive from USB HID if available, otherwise UAVTalk com if it's available.
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
- if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
- BufferedReadSetCom(f, PIOS_COM_TELEM_USB);
+ if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+ BufferedReadSetCom(f, PIOS_COM_USB_HID);
else
#endif /* PIOS_INCLUDE_USB */
- BufferedReadSetCom(f, data->com_port);
+ {
+ if (PIOS_COM_UAVTALK)
+ BufferedReadSetCom(f, PIOS_COM_UAVTALK);
+ else
+ vTaskDelay(5);
+ }
// Read the next byte
uint8_t rx_byte;
@@ -295,7 +293,7 @@ static void comUAVTalkTask(void *parameters)
if (p == NULL)
{
DEBUG_PRINTF(2, "Packet dropped!\n\r");
- return;
+ continue;
}
// Initialize the packet.
@@ -477,7 +475,7 @@ static void radioReceiveTask(void *parameters)
}
// Receive data from the radio port
- rx_bytes = PIOS_COM_ReceiveBuffer(data->radio_port, (uint8_t*)p, PIOS_PH_MAX_PACKET, MAX_PORT_DELAY);
+ rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, (uint8_t*)p, PIOS_PH_MAX_PACKET, MAX_PORT_DELAY);
if(rx_bytes == 0)
continue;
data->rxBytes += rx_bytes;
@@ -562,44 +560,51 @@ static void sendDataTask(void *parameters)
}
}
-#ifdef NEVER
/**
* The com to radio bridge task.
*/
-static void com2RadioBridgeTask(void * parameters)
+static void transparentCommTask(void * parameters)
{
- uint32_t rx_bytes = 0;
portTickType packet_start_time = 0;
uint32_t timeout = 250;
- uint32_t inputPort;
+ PHPacketHandle p = NULL;
/* Handle usart/usb -> radio direction */
while (1) {
-#if defined(PIOS_INCLUDE_USB)
- // Determine input port (USB takes priority over telemetry port)
- if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
- inputPort = PIOS_COM_TELEM_USB;
- else
-#endif /* PIOS_INCLUDE_USB */
- inputPort = data->com_port;
-
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
- PIOS_WDG_UpdateFlag(PIOS_WDG_COMRADIO);
+ PIOS_WDG_UpdateFlag(PIOS_WDG_TRANSCOMM);
#endif /* PIOS_INCLUDE_WDG */
- // Receive data from the com port
- uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(inputPort, data->com2radio_buf +
- rx_bytes, BRIDGE_BUF_LEN - rx_bytes, timeout);
+ // Get a TX packet from the packet handler if required.
+ if (p == NULL)
+ {
+ p = PHGetTXPacket(pios_packet_handler);
- // Pass the new data through UAVTalk
- for (uint8_t i = 0; i < cur_rx_bytes; i++)
- UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, *(data->com2radio_buf + i + rx_bytes));
+ // No packets available?
+ if (p == NULL)
+ {
+ // Wait a bit for a packet to come available.
+ vTaskDelay(5);
+ continue;
+ }
+
+ // Initialize the packet.
+ p->header.destination_id = data->destination_id;
+ p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
+ //p->header.type = PACKET_TYPE_ACKED_DATA;
+ p->header.type = PACKET_TYPE_DATA;
+ p->header.data_size = 0;
+ }
+
+ // Receive data from the com port
+ uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
+ PH_MAX_DATA - p->header.data_size, timeout);
// Do we have an data to send?
- rx_bytes += cur_rx_bytes;
- if (rx_bytes > 0) {
+ p->header.data_size += cur_rx_bytes;
+ if (p->header.data_size > 0) {
// Check how long since last update
portTickType cur_sys_time = xTaskGetTickCount();
@@ -620,36 +625,22 @@ static void com2RadioBridgeTask(void * parameters)
}
// Also send the packet if the size is over the minimum.
- send_packet |= (rx_bytes > data->min_packet_size);
+ send_packet |= (p->header.data_size > data->min_packet_size);
// Should we send this packet?
if (send_packet)
{
- // Get a TX packet from the packet handler
- PHPacketHandle p = PHGetTXPacket(pios_packet_handler);
-
- // Initialize the packet.
- //p->header.type = PACKET_TYPE_ACKED_DATA;
- p->header.destination_id = data->destination_id;
- p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
- p->header.type = PACKET_TYPE_DATA;
- p->header.data_size = rx_bytes;
-
- // Copy the data into the packet.
- memcpy(p->data, data->com2radio_buf, rx_bytes);
-
// Transmit the packet
PHTransmitPacket(pios_packet_handler, p);
// Reset the timeout
timeout = 500;
- rx_bytes = 0;
+ p = NULL;
packet_start_time = 0;
}
}
}
}
-#endif
/**
* The stats update task.
@@ -717,11 +708,11 @@ static void radioStatusTask(void *parameters)
*/
static int32_t transmitData(uint8_t *buf, int32_t length)
{
- uint32_t outputPort = data->com_port;
+ uint32_t outputPort = PIOS_COM_UAVTALK;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
- if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
- outputPort = PIOS_COM_TELEM_USB;
+ if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+ outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
return PIOS_COM_SendBuffer(outputPort, buf, length);
}
@@ -735,7 +726,7 @@ static int32_t transmitData(uint8_t *buf, int32_t length)
*/
static int32_t transmitPacket(PHPacketHandle p)
{
- return PIOS_COM_SendBuffer(data->radio_port, (uint8_t*)p, PH_PACKET_SIZE(p));
+ return PIOS_COM_SendBuffer(PIOS_COM_RADIO, (uint8_t*)p, PH_PACKET_SIZE(p));
}
/**
@@ -745,12 +736,20 @@ static int32_t transmitPacket(PHPacketHandle p)
*/
static void receiveData(uint8_t *buf, uint8_t len)
{
- uint32_t outputPort = data->com_port;
+ // Packet data should to to transparent com if it's configured,
+ // USB HID if it's connected, otherwise, UAVTalk com if it's configured.
+ uint32_t outputPort = PIOS_COM_TRANS_COM;
+ if (!outputPort)
+ {
+ outputPort = PIOS_COM_UAVTALK;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
- if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
- outputPort = PIOS_COM_TELEM_USB;
+ if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
+ outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
+ }
+ if (!outputPort)
+ return;
// Send the received data to the com port
if (PIOS_COM_SendBuffer(outputPort, buf, len) != len)
@@ -867,3 +866,98 @@ static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port)
{
h->com_port = com_port;
}
+
+/**
+ * Update the telemetry settings, called on startup.
+ * FIXME: This should be in the TelemetrySettings object. But objects
+ * have too much overhead yet. Also the telemetry has no any specific
+ * settings, etc. Thus the HwSettings object which contains the
+ * telemetry port speed is used for now.
+ */
+static void updateSettings()
+{
+
+ // Get the settings.
+ PipXSettingsData pipxSettings;
+ PipXSettingsGet(&pipxSettings);
+
+ // Initialize the destination ID
+ data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
+ DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
+
+ if (PIOS_COM_TELEMETRY) {
+ switch (pipxSettings.TelemetrySpeed) {
+ case PIPXSETTINGS_TELEMETRYSPEED_2400:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 2400);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_4800:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 4800);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_9600:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 9600);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_19200:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 19200);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_38400:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 38400);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_57600:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 57600);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_115200:
+ PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 115200);
+ break;
+ }
+ }
+ if (PIOS_COM_FLEXI) {
+ switch (pipxSettings.FlexiSpeed) {
+ case PIPXSETTINGS_TELEMETRYSPEED_2400:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 2400);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_4800:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 4800);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_9600:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 9600);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_19200:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 19200);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_38400:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 38400);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_57600:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 57600);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_115200:
+ PIOS_COM_ChangeBaud(PIOS_COM_FLEXI, 115200);
+ break;
+ }
+ }
+ if (PIOS_COM_VCP) {
+ switch (pipxSettings.VCPSpeed) {
+ case PIPXSETTINGS_TELEMETRYSPEED_2400:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 2400);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_4800:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 4800);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_9600:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 9600);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_19200:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 19200);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_38400:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 38400);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_57600:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 57600);
+ break;
+ case PIPXSETTINGS_TELEMETRYSPEED_115200:
+ PIOS_COM_ChangeBaud(PIOS_COM_VCP, 115200);
+ break;
+ }
+ }
+}
diff --git a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
index ab2028729..3e117bfed 100755
--- a/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
@@ -75,6 +75,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_WDG_RADIORECEIVE 0x0002
#define PIOS_WDG_SENDPACKET 0x0004
#define PIOS_WDG_SENDDATA 0x0008
+#define PIOS_WDG_TRANSCOMM 0x0010
//------------------------
// TELEMETRY
@@ -150,23 +151,26 @@ extern uint32_t pios_spi_port_id;
//-------------------------
#define PIOS_COM_MAX_DEVS 5
-extern uint32_t pios_com_telem_usb_id;
-extern uint32_t pios_com_vcp_usb_id;
-extern uint32_t pios_com_usart1_id;
-extern uint32_t pios_com_usart3_id;
+extern uint32_t pios_com_usb_hid_id;
+extern uint32_t pios_com_telemetry_id;
+extern uint32_t pios_com_flexi_id;
+extern uint32_t pios_com_vcp_id;
+extern uint32_t pios_com_uavtalk_com_id;
+extern uint32_t pios_com_trans_com_id;
+extern uint32_t pios_com_debug_id;
extern uint32_t pios_com_rfm22b_id;
-#define PIOS_COM_TELEM_SERIAL (pios_com_usart1_id)
-#define PIOS_COM_FLEXI (pios_com_usart3_id)
-#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
-#define PIOS_COM_VCP_USB (pios_com_vcp_usb_id)
-#define PIOS_COM_RFM22B_RF (pios_com_rfm22b_id)
-#define PIOS_COM_BRIDGE_RADIO PIOS_COM_RFM22B_RF
-#define PIOS_COM_DEBUG PIOS_COM_FLEXI
-#define PIOS_COM_BRIDGE_COM PIOS_COM_TELEM_SERIAL
+#define PIOS_COM_USB_HID (pios_com_usb_hid_id)
+#define PIOS_COM_TELEMETRY (pios_com_telemetry_id)
+#define PIOS_COM_FLEXI (pios_com_flexi_id)
+#define PIOS_COM_VCP (pios_com_vcp_id)
+#define PIOS_COM_UAVTALK (pios_com_uavtalk_com_id)
+#define PIOS_COM_TRANS_COM (pios_com_trans_com_id)
+#define PIOS_COM_DEBUG (pios_com_debug_id)
+#define PIOS_COM_RADIO (pios_com_rfm22b_id)
#define DEBUG_LEVEL 2
#if DEBUG_LEVEL > 0
-#define DEBUG_PRINTF(level, ...) if(level <= DEBUG_LEVEL) { PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); }
+#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && PIOS_COM_DEBUG > 0) { PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); }}
#else
#define DEBUG_PRINTF(...)
#endif
diff --git a/flight/PipXtreme/System/pios_board.c b/flight/PipXtreme/System/pios_board.c
index f7294a178..dc752b51a 100755
--- a/flight/PipXtreme/System/pios_board.c
+++ b/flight/PipXtreme/System/pios_board.c
@@ -48,12 +48,15 @@
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 192
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 192
-uint32_t pios_com_telem_usb_id;
-uint32_t pios_com_vcp_usb_id;
-uint32_t pios_com_usart1_id;
-uint32_t pios_com_usart3_id;
-uint32_t pios_com_rfm22b_id;
-uint32_t pios_rfm22b_id;
+uint32_t pios_com_usb_hid_id = 0;
+uint32_t pios_com_telemetry_id;
+uint32_t pios_com_flexi_id;
+uint32_t pios_com_vcp_id;
+uint32_t pios_com_uavtalk_com_id = 0;
+uint32_t pios_com_trans_com_id = 0;
+uint32_t pios_com_debug_id = 0;
+uint32_t pios_com_rfm22b_id = 0;
+uint32_t pios_rfm22b_id = 0;
/**
* PIOS_Board_Init()
@@ -136,6 +139,10 @@ void PIOS_Board_Init(void) {
#if defined(PIOS_INCLUDE_USB_CDC)
#if defined(PIOS_INCLUDE_COM)
+ switch (pipxSettings.VCPConfig)
+ {
+ case PIPXSETTINGS_VCPCONFIG_SERIAL:
+ case PIPXSETTINGS_VCPCONFIG_DEBUG:
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
@@ -145,11 +152,27 @@ void PIOS_Board_Init(void) {
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_VCP_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
- if (PIOS_COM_Init(&pios_com_vcp_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+ if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_VCP_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
+ switch (pipxSettings.TelemetryConfig)
+ {
+ case PIPXSETTINGS_VCPCONFIG_SERIAL:
+ pios_com_trans_com_id = pios_com_vcp_id;
+ break;
+ case PIPXSETTINGS_VCPCONFIG_UAVTALK:
+ pios_com_uavtalk_com_id = pios_com_vcp_id;
+ break;
+ case PIPXSETTINGS_VCPCONFIG_DEBUG:
+ pios_com_debug_id = pios_com_vcp_id;
+ break;
+ }
+ break;
+ }
+ case PIPXSETTINGS_VCPCONFIG_DISABLED:
+ break;
}
#endif /* PIOS_INCLUDE_COM */
@@ -168,7 +191,7 @@ void PIOS_Board_Init(void) {
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
- if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+ if (PIOS_COM_Init(&pios_com_usb_hid_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
@@ -186,27 +209,38 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
- case PIPXSETTINGS_TELEMETRYCONFIG_DISABLED:
{
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
-
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
- if (PIOS_COM_Init(&pios_com_usart1_id, &pios_usart_com_driver, pios_usart1_id,
+ if (PIOS_COM_Init(&pios_com_telemetry_id, &pios_usart_com_driver, pios_usart1_id,
rx_buffer, PIOS_COM_SERIAL_RX_BUF_LEN,
tx_buffer, PIOS_COM_SERIAL_TX_BUF_LEN)) {
PIOS_Assert(0);
}
+ switch (pipxSettings.TelemetryConfig)
+ {
+ case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
+ pios_com_trans_com_id = pios_com_telemetry_id;
+ break;
+ case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
+ pios_com_uavtalk_com_id = pios_com_telemetry_id;
+ break;
+ case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
+ pios_com_debug_id = pios_com_telemetry_id;
+ break;
+ }
break;
}
case PIPXSETTINGS_TELEMETRYCONFIG_PPM_IN:
case PIPXSETTINGS_TELEMETRYCONFIG_PPM_OUT:
case PIPXSETTINGS_TELEMETRYCONFIG_RSSI:
+ case PIPXSETTINGS_TELEMETRYCONFIG_DISABLED:
break;
}
@@ -225,11 +259,23 @@ void PIOS_Board_Init(void) {
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
- if (PIOS_COM_Init(&pios_com_usart3_id, &pios_usart_com_driver, pios_usart3_id,
+ if (PIOS_COM_Init(&pios_com_flexi_id, &pios_usart_com_driver, pios_usart3_id,
rx_buffer, PIOS_COM_FLEXI_RX_BUF_LEN,
tx_buffer, PIOS_COM_FLEXI_TX_BUF_LEN)) {
PIOS_Assert(0);
}
+ switch (pipxSettings.FlexiConfig)
+ {
+ case PIPXSETTINGS_FLEXICONFIG_SERIAL:
+ pios_com_trans_com_id = pios_com_flexi_id;
+ break;
+ case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
+ pios_com_uavtalk_com_id = pios_com_flexi_id;
+ break;
+ case PIPXSETTINGS_FLEXICONFIG_DEBUG:
+ pios_com_debug_id = pios_com_flexi_id;
+ break;
+ }
break;
}
case PIPXSETTINGS_FLEXICONFIG_PPM_IN:
diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
old mode 100755
new mode 100644
index 5aab6488c..295338f1a
--- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
@@ -81,6 +81,10 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("PipXStatus", "RXRate", m_pipx->RXRate);
addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate);
+ // Create the timer that is used to timeout the connection to the PipX.
+ timeOut = new QTimer(this);
+ connect(timeOut, SIGNAL(timeout()),this,SLOT(disconnected()));
+
// Request and update of the setting object.
settingsUpdated = false;
pipxSettingsObj->requestUpdate();
@@ -125,7 +129,11 @@ void ConfigPipXtremeWidget::saveSettings()
/*!
\brief Called by updates to @PipXStatus
*/
-void ConfigPipXtremeWidget::updateStatus(UAVObject *object) {
+void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
+{
+
+ // Restart the disconnection timer.
+ timeOut->start(5000);
// Request and update of the setting object if we haven't received it yet.
if (!settingsUpdated)
@@ -228,7 +236,8 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object) {
/*!
\brief Called by updates to @PipXSettings
*/
-void ConfigPipXtremeWidget::updateSettings(UAVObject *object) {
+void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
+{
settingsUpdated = true;
enableControls(true);
@@ -238,6 +247,12 @@ void ConfigPipXtremeWidget::updateSettings(UAVObject *object) {
pairID = pipxSettingsData.PairID;
}
+void ConfigPipXtremeWidget::disconnected()
+{
+ settingsUpdated = false;
+ enableControls(false);
+}
+
/**
@}
@}
diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
index 9ab35b4ae..d0ca690af 100644
--- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
@@ -54,10 +54,14 @@ private:
bool settingsUpdated;
quint32 pairID;
+ // A timer that timesout the connction to the PipX.
+ QTimer *timeOut;
+
private slots:
void refreshValues();
void applySettings();
void saveSettings();
+ void disconnected();
};
#endif // CONFIGTXPIDWIDGET_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
index b618c8ecc..9b0268a4e 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
@@ -87,7 +87,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
connect(obj,SIGNAL(transactionCompleted(UAVObject*,bool)),this,SLOT(transaction_finished(UAVObject*, bool)));
connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
obj->updated();
- timer.start(2000);
+ timer.start(3000);
//qDebug()<<"begin loop";
loop.exec();
//qDebug()<<"end loop";
@@ -113,7 +113,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
connect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
connect(&timer,SIGNAL(timeout()),&loop,SLOT(quit()));
utilMngr->saveObjectToSD(obj);
- timer.start(2000);
+ timer.start(3000);
loop.exec();
timer.stop();
disconnect(utilMngr,SIGNAL(saveCompleted(int,bool)),this,SLOT(saving_finished(int,bool)));
diff --git a/shared/uavobjectdefinition/pipxsettings.xml b/shared/uavobjectdefinition/pipxsettings.xml
index 7a91dcf8e..e2f7b44f6 100644
--- a/shared/uavobjectdefinition/pipxsettings.xml
+++ b/shared/uavobjectdefinition/pipxsettings.xml
@@ -6,7 +6,7 @@
-
+