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Code Issues Releases Activity

OP-932 Adds additional thread and UAVTalk connection to the telemetry module that reads from the uart/radio link on the Revo. This allows the Revo to read OAVObjects over both the uart/radio link and the USB link at the same time. Unfortunately, there's no way to know which link to send UAVObjects out on, so all UAVObjects go to the USB port if USB is connected. This allows UAVObjects to be received from the OPLink radio, even when USB is connected.

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This commit is contained in:
Brian Webb 2013-06-17 07:06:47 -07:00
parent cdd51537f1
commit f8d60e6dee
4 changed files with 90 additions and 6 deletions
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64
flight/modules/Telemetry/telemetry.c
View File

@ -44,6 +44,7 @@
#define STACK_SIZE_BYTES PIOS_TELEM_STACK_SIZE
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
@ -66,14 +67,23 @@ static void telemetryTxPriTask(void *parameters);
static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
#ifdef PIOS_INCLUDE_RFM22B
static xTaskHandle radioRxTaskHandle;
#endif
static uint32_t txErrors;
static uint32_t txRetries;
static uint32_t timeOfLastObjectUpdate;
static UAVTalkConnection uavTalkCon;
#ifdef PIOS_INCLUDE_RFM22B
static UAVTalkConnection radioUavTalkCon;
#endif
// Private functions
static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
#ifdef PIOS_INCLUDE_RFM22B
static void radioRxTask(void *parameters);
#endif
static int32_t transmitData(uint8_t *data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj, int32_t eventType);
@ -82,7 +92,7 @@ static void processObjEvent(UAVObjEvent *ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
static uint32_t getComPort();
static uint32_t getComPort(bool input);
/**
* Initialise the telemetry module
@ -103,6 +113,11 @@ int32_t TelemetryStart(void)
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#ifdef PIOS_INCLUDE_RFM22B
xTaskCreate(radioRxTask, (signed char *)"RadioRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
#endif
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
@ -137,6 +152,9 @@ int32_t TelemetryInitialize(void)
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&transmitData);
#ifdef PIOS_INCLUDE_RFM22B
radioUavTalkCon = UAVTalkInitialize(&transmitData);
#endif
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
@ -342,13 +360,13 @@ static void telemetryTxPriTask(__attribute__((unused)) void *parameters)
#endif
/**
* Telemetry transmit task. Processes queue events and periodic updates.
* Telemetry receive task. Processes queue events and periodic updates.
*/
static void telemetryRxTask(__attribute__((unused)) void *parameters)
{
// Task loop
while (1) {
uint32_t inputPort = getComPort();
uint32_t inputPort = getComPort(true);
if (inputPort) {
// Block until data are available
@ -367,6 +385,32 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
}
}
#ifdef PIOS_INCLUDE_RFM22B
/**
* Radio telemetry receive task. Processes queue events and periodic updates.
*/
static void radioRxTask(__attribute__((unused)) void *parameters)
{
// Task loop
while (1) {
if (telemetryPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(telemetryPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(radioUavTalkCon, serial_data[i]);
}
}
} else {
vTaskDelay(5);
}
}
}
#endif /* PIOS_INCLUDE_RFM22B */
/**
* Transmit data buffer to the modem or USB port.
* \param[in] data Data buffer to send
@ -376,7 +420,7 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
*/
static int32_t transmitData(uint8_t *data, int32_t length)
{
uint32_t outputPort = getComPort();
uint32_t outputPort = getComPort(false);
if (outputPort) {
return PIOS_COM_SendBuffer(outputPort, data, length);
@ -434,6 +478,10 @@ static void updateTelemetryStats()
// Get stats
UAVTalkGetStats(uavTalkCon, &utalkStats);
#ifdef PIOS_INCLUDE_RFM22B
UAVTalkAddStats(radioUavTalkCon, &utalkStats);
UAVTalkResetStats(radioUavTalkCon);
#endif
UAVTalkResetStats(uavTalkCon);
// Get object data
@ -553,15 +601,19 @@ static void updateSettings()
/**
* Determine input/output com port as highest priority available
* @param[in] input Returns the approproate input com port if true, else the appropriate output com port
*/
static uint32_t getComPort()
static uint32_t getComPort(bool input)
{
#ifndef PIOS_INCLUDE_RFM22B
input = false;
#endif
#if defined(PIOS_INCLUDE_USB)
if (PIOS_COM_Available(PIOS_COM_TELEM_USB)) {
return PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB */
if (PIOS_COM_Available(telemetryPort)) {
if (!input && PIOS_COM_Available(telemetryPort)) {
return telemetryPort;
} else {
return 0;

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

@ -62,6 +62,7 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint
UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkResetStats(UAVTalkConnection connection);
void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);
uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connection);

28
flight/uavtalk/uavtalk.c
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@ -136,6 +136,34 @@ void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
xSemaphoreGiveRecursive(connection->lock);
}
/**
* Get communication statistics counters
* \param[in] connection UAVTalkConnection to be used
* @param[out] statsOut Statistics counters
*/
void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
{
UAVTalkConnectionData *connection;
CHECKCONHANDLE(connectionHandle, connection, return );
// Lock
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
// Copy stats
statsOut->txBytes += connection->stats.txBytes;
statsOut->rxBytes += connection->stats.rxBytes;
statsOut->txObjectBytes += connection->stats.txObjectBytes;
statsOut->rxObjectBytes += connection->stats.rxObjectBytes;
statsOut->txObjects += connection->stats.txObjects;
statsOut->rxObjects += connection->stats.rxObjects;
statsOut->txErrors += connection->stats.txErrors;
statsOut->txErrors += connection->stats.txErrors;
// Release lock
xSemaphoreGiveRecursive(connection->lock);
}
/**
* Reset the statistics counters.
* \param[in] connection UAVTalkConnection to be used

3
shared/uavobjectdefinition/taskinfo.xml
View File

@ -10,6 +10,7 @@
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<elementname>RadioRx</elementname>
<elementname>GPS</elementname>
<elementname>ManualControl</elementname>
<elementname>Altitude</elementname>
@ -44,6 +45,7 @@
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<elementname>RadioRx</elementname>
<elementname>GPS</elementname>
<elementname>ManualControl</elementname>
<elementname>Altitude</elementname>
@ -82,6 +84,7 @@
<elementname>TelemetryTx</elementname>
<elementname>TelemetryTxPri</elementname>
<elementname>TelemetryRx</elementname>
<elementname>RadioRx</elementname>
<elementname>GPS</elementname>
<elementname>ManualControl</elementname>
<elementname>Altitude</elementname>