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Code Issues Releases Activity

Merge remote-tracking branch 'raid/Brian-PipXtreme-V2' into Brian-PipXtreme-V2

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This commit is contained in:
Brian Webb 2012-05-06 20:49:07 -07:00
commit f9c8687645
7 changed files with 192 additions and 47 deletions
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102
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -40,6 +40,9 @@
#include <uavtalk_priv.h>
#include <pios_rfm22b.h>
#include <ecc.h>
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
#include <pios_eeprom.h>
#endif
#include <stdbool.h>
@ -54,7 +57,7 @@
#define REQ_TIMEOUT_MS 10
#define STATS_UPDATE_PERIOD_MS 2000
#define RADIOSTATS_UPDATE_PERIOD_MS 1000
#define MAX_LOST_CONTACT_TIME 10
#define MAX_LOST_CONTACT_TIME 4
#define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200
#define EV_PACKET_RECEIVED 0x20
@ -182,6 +185,11 @@ static int32_t RadioComBridgeInitialize(void)
// Initialize the UAVObjects that we use
GCSReceiverInitialize();
PipXStatusInitialize();
ObjectPersistenceInitialize();
// Get the settings.
PipXSettingsData pipxSettings;
PipXSettingsGet(&pipxSettings);
// TODO: Get from settings object
data->com_port = PIOS_COM_BRIDGE_COM;
@ -196,7 +204,8 @@ static int32_t RadioComBridgeInitialize(void)
data->objEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
// Initialize the destination ID
data->destination_id = 0xffffffff;
data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
// Initialize the statistics.
data->radioTxErrors = 0;
@ -296,7 +305,8 @@ static void comUAVTalkTask(void *parameters)
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
UAVTalkInputProcessor *iproc = &(((UAVTalkConnectionData*)(data->inUAVTalkCon))->iproc);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(data->inUAVTalkCon);
UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE) {
// Is this a local UAVObject?
@ -305,19 +315,65 @@ static void comUAVTalkTask(void *parameters)
// We treat the ObjectPersistance object differently
if(iproc->objId == OBJECTPERSISTENCE_OBJID)
{
// Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
p = NULL;
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
// Get the ObjectPersistance object.
ObjectPersistenceData obj_per;
ObjectPersistenceGet(&obj_per);
// Is this concerning or setting object?
if (obj_per.ObjectID == PIPXSETTINGS_OBJID)
{
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = 0;
ev.event = EV_SEND_ACK;
// Is this a save, load, or delete?
switch (obj_per.Operation)
{
case OBJECTPERSISTENCE_OPERATION_LOAD:
DEBUG_PRINTF(2, "Load\n\r");
break;
case OBJECTPERSISTENCE_OPERATION_SAVE:
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
{
// Save the settings.
PipXSettingsData pipxSettings;
PipXSettingsGet(&pipxSettings);
if (PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData)) != 0)
ev.event = EV_SEND_NACK;
break;
}
#endif
case OBJECTPERSISTENCE_OPERATION_DELETE:
DEBUG_PRINTF(2, "Delete\n\r");
break;
default:
DEBUG_PRINTF(2, "Other\n\r");
break;
}
// Queue up the ACK/NACK
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
}
else {
// Otherwise, queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
p = NULL;
}
}
else
{
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = 0;
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
// Unpack object, if the instance does not exist it will be created!
UAVObjUnpack(iproc->obj, iproc->instId, p->data);
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
@ -327,7 +383,7 @@ static void comUAVTalkTask(void *parameters)
case UAVTALK_TYPE_OBJ_ACK:
// Queue up an ACK
ev.event = EV_SEND_ACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
break;
}
}
@ -582,6 +638,7 @@ static void radioStatusTask(void *parameters)
{
pipxStatus.PairIDs[i] = data->pairStats[i].pairID;
pipxStatus.PairSignalStrengths[i] = data->pairStats[i].rssi;
data->pairStats[i].lastContact++;
}
// Update the object
@ -663,19 +720,21 @@ static void receiveData(uint8_t *buf, uint8_t len)
static void StatusHandler(PHPacketHandle status)
{
uint32_t id = status->header.source_id;
bool found = false;
// Have we seen this device recently?
uint8_t id_idx = 0;
for ( ; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if(data->pairStats[id_idx].pairID == id)
{
found = true;
break;
}
// If we have seen it, update the RSSI and reset the last contact couter
if(id_idx < PIPXSTATUS_PAIRIDS_NUMELEM)
if(found)
{
data->pairStats[id_idx].rssi = status->header.rssi;
data->pairStats[id_idx].lastContact = 0;
return;
}
// Remove any contacts that we haven't seen for a while.
@ -690,19 +749,22 @@ static void StatusHandler(PHPacketHandle status)
}
// If we haven't seen it, find a slot to put it in.
uint8_t min_idx = 0;
int8_t min_rssi = data->pairStats[0].rssi;
for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
if (!found)
{
if(data->pairStats[id_idx].rssi < min_rssi)
uint8_t min_idx = 0;
int8_t min_rssi = data->pairStats[0].rssi;
for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
{
min_rssi = data->pairStats[id_idx].rssi;
min_idx = id_idx;
if(data->pairStats[id_idx].rssi < min_rssi)
{
min_rssi = data->pairStats[id_idx].rssi;
min_idx = id_idx;
}
}
data->pairStats[min_idx].pairID = id;
data->pairStats[min_idx].rssi = status->header.rssi;
data->pairStats[min_idx].lastContact = 0;
}
data->pairStats[min_idx].pairID = id;
data->pairStats[min_idx].rssi = status->header.rssi;
data->pairStats[min_idx].lastContact = 0;
}
/**

17
flight/PiOS/Common/pios_rfm22b.c
View File

@ -152,7 +152,7 @@ enum pios_rfm22b_dev_magic {
struct pios_rfm22b_dev {
enum pios_rfm22b_dev_magic magic;
const struct pios_rfm22b_cfg *cfg;
struct pios_rfm22b_cfg cfg;
uint32_t deviceID;
@ -448,7 +448,7 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, const struct pios_rfm22b_cfg *cfg)
return(-1);
// Bind the configuration to the device instance
rfm22b_dev->cfg = cfg;
rfm22b_dev->cfg = *cfg;
*rfm22b_id = (uint32_t)rfm22b_dev;
@ -853,7 +853,7 @@ void rfm22_setNominalCarrierFrequency(uint32_t frequency_hz)
// *******
#if defined(RFM22_DEBUG)
DEBUG_PRINTF(2, "rf setFreq: %u\n\r", carrier_frequency_hz);
//DEBUG_PRINTF(2, "rf setFreq: %u\n\r", carrier_frequency_hz);
// DEBUG_PRINTF(2, "rf setFreq frequency_step_size: %0.2f\n\r", frequency_step_size);
#endif
@ -912,13 +912,6 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening)
rf_bandwidth_used = rx_bandwidth[lookup_index];
// ********************************
#if defined(RFM22_DEBUG)
uint32_t frequency_deviation = freq_deviation[lookup_index]; // Hz
uint32_t modulation_bandwidth = datarate_bps + (2 * frequency_deviation);
#endif
// rfm22_if_filter_bandwidth
rfm22_write(0x1C, reg_1C[lookup_index]);
@ -1028,11 +1021,15 @@ void rfm22_setDatarate(uint32_t datarate_bps, bool data_whitening)
// ********************************
#if defined(RFM22_DEBUG)
/*
DEBUG_PRINTF(2, "rf datarate_bps: %d\n\r", datarate_bps);
DEBUG_PRINTF(2, "rf frequency_deviation: %d\n\r", frequency_deviation);
uint32_t frequency_deviation = freq_deviation[lookup_index]; // Hz
uint32_t modulation_bandwidth = datarate_bps + (2 * frequency_deviation);
DEBUG_PRINTF(2, "rf modulation_bandwidth: %u\n\r", modulation_bandwidth);
DEBUG_PRINTF(2, "rf_rx_bandwidth[%u]: %u\n\r", lookup_index, rx_bandwidth[lookup_index]);
DEBUG_PRINTF(2, "rf est rx sensitivity[%u]: %ddBm\n\r", lookup_index, est_rx_sens_dBm[lookup_index]);
*/
#endif
// *******

1
flight/PipXtreme/Makefile
View File

@ -140,6 +140,7 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/pipxstatus.c
SRC += $(OPUAVSYNTHDIR)/pipxsettings.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
endif

68
flight/PipXtreme/System/pios_board.c
View File

@ -214,12 +214,72 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
}
PIOS_COM_SendString(PIOS_COM_DEBUG, "Hello DEBUG\n\r");
PIOS_COM_SendString(PIOS_COM_FLEXI, "Hello Flexi\n\r");
PIOS_COM_SendString(PIOS_COM_TELEM_SERIAL, "Hello Telem Serial\n\r");
PIOS_COM_SendString(PIOS_COM_VCP_USB, "Hello VCP\n\r");
#if defined(PIOS_INCLUDE_RFM22B)
struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
/* Retrieve hardware settings. */
pios_rfm22b_cfg.frequencyHz = pipxSettings.Frequency;
pios_rfm22b_cfg.RFXtalCap = pipxSettings.FrequencyCalibration;
switch (pipxSettings.RFSpeed)
{
case PIPXSETTINGS_RFSPEED_2400:
pios_rfm22b_cfg.maxRFBandwidth = 2000;
break;
case PIPXSETTINGS_RFSPEED_4800:
pios_rfm22b_cfg.maxRFBandwidth = 4000;
break;
case PIPXSETTINGS_RFSPEED_9600:
pios_rfm22b_cfg.maxRFBandwidth = 9600;
break;
case PIPXSETTINGS_RFSPEED_19200:
pios_rfm22b_cfg.maxRFBandwidth = 19200;
break;
case PIPXSETTINGS_RFSPEED_38400:
pios_rfm22b_cfg.maxRFBandwidth = 32000;
break;
case PIPXSETTINGS_RFSPEED_57600:
pios_rfm22b_cfg.maxRFBandwidth = 64000;
break;
case PIPXSETTINGS_RFSPEED_115200:
pios_rfm22b_cfg.maxRFBandwidth = 128000;
break;
}
switch (pipxSettings.RFSpeed)
{
case PIPXSETTINGS_MAXRFPOWER_125:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_0;
break;
case PIPXSETTINGS_MAXRFPOWER_16:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_1;
break;
case PIPXSETTINGS_MAXRFPOWER_316:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_2;
break;
case PIPXSETTINGS_MAXRFPOWER_63:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_3;
break;
case PIPXSETTINGS_MAXRFPOWER_126:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_4;
break;
case PIPXSETTINGS_MAXRFPOWER_25:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_5;
break;
case PIPXSETTINGS_MAXRFPOWER_50:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_6;
break;
case PIPXSETTINGS_MAXRFPOWER_100:
pios_rfm22b_cfg.maxTxPower = RFM22_tx_pwr_txpow_7;
break;
}
/* Initalize the RFM22B radio COM device. */
{
if (PIOS_RFM22B_Init(&pios_rfm22b_id, &pios_rfm22b_cfg)) {

10
flight/board_hw_defs/pipxtreme/board_hw_defs.c
View File

@ -494,16 +494,6 @@ const struct pios_eeprom_cfg pios_eeprom_cfg = {
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_priv.h>
const struct pios_rfm22b_cfg pios_rfm22b_cfg = {
.frequencyHz = 434000000,
.minFrequencyHz = 434000000 - 2000000,
.maxFrequencyHz = 434000000 + 2000000,
.RFXtalCap = 0x7f,
.maxRFBandwidth = 128000,
//.maxTxPower = RFM22_tx_pwr_txpow_0, // +1dBm ... 1.25mW
.maxTxPower = RFM22_tx_pwr_txpow_7, // +20dBm .. 100mW
};
#endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PACKET_HANDLER)

37
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp Normal file → Executable file
View File

@ -46,6 +46,8 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
}
addApplySaveButtons(m_pipx->Apply, m_pipx->Save);
connect(m_pipx->Apply, SIGNAL(clicked()), this, SLOT(applySettings()));
connect(m_pipx->Save, SIGNAL(clicked()), this, SLOT(saveSettings()));
}
ConfigPipXtremeWidget::~ConfigPipXtremeWidget()
@ -61,6 +63,19 @@ void ConfigPipXtremeWidget::applySettings()
{
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
PipXSettings::DataFields pipxSettingsData = pipxSettings->getData();
// Get the pair ID.
quint32 pairID = 0;
bool okay;
if (m_pipx->PairSelect1->isChecked())
pairID = m_pipx->PairID1->text().toUInt(&okay, 16);
else if (m_pipx->PairSelect2->isChecked())
pairID = m_pipx->PairID2->text().toUInt(&okay, 16);
else if (m_pipx->PairSelect3->isChecked())
pairID = m_pipx->PairID3->text().toUInt(&okay, 16);
else if (m_pipx->PairSelect4->isChecked())
pairID = m_pipx->PairID4->text().toUInt(&okay, 16);
pipxSettingsData.PairID = pairID;
pipxSettings->setData(pipxSettingsData);
}
@ -76,13 +91,33 @@ void ConfigPipXtremeWidget::saveSettings()
*/
void ConfigPipXtremeWidget::updateStatus(UAVObject *object) {
// Get the settings object.
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
PipXSettings::DataFields pipxSettingsData = pipxSettings->getData();
// Update the detected devices.
UAVObjectField* pairIdField = object->getField("PairIDs");
if (pairIdField) {
m_pipx->PairID1->setText(QString::number(pairIdField->getValue(0).toUInt(), 16).toUpper());
quint32 pairid1 = pairIdField->getValue(0).toUInt();
m_pipx->PairID1->setText(QString::number(pairid1, 16).toUpper());
m_pipx->PairID1->setEnabled(false);
m_pipx->PairSelect1->setChecked(pipxSettingsData.PairID == pairid1);
m_pipx->PairSelect1->setEnabled(pairid1);
quint32 pairid2 = pairIdField->getValue(1).toUInt();
m_pipx->PairID2->setText(QString::number(pairIdField->getValue(1).toUInt(), 16).toUpper());
m_pipx->PairID2->setEnabled(false);
m_pipx->PairSelect2->setChecked(pipxSettingsData.PairID == pairid2);
m_pipx->PairSelect2->setEnabled(pairid2);
quint32 pairid3 = pairIdField->getValue(2).toUInt();
m_pipx->PairID3->setText(QString::number(pairIdField->getValue(2).toUInt(), 16).toUpper());
m_pipx->PairID3->setEnabled(false);
m_pipx->PairSelect3->setChecked(pipxSettingsData.PairID == pairid3);
m_pipx->PairSelect3->setEnabled(pairid3);
quint32 pairid4 = pairIdField->getValue(3).toUInt();
m_pipx->PairID4->setText(QString::number(pairIdField->getValue(3).toUInt(), 16).toUpper());
m_pipx->PairID4->setEnabled(false);
m_pipx->PairSelect4->setChecked(pipxSettingsData.PairID == pairid4);
m_pipx->PairSelect4->setEnabled(pairid4);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
}

4
shared/uavobjectdefinition/pipxsettings.xml
View File

@ -16,9 +16,9 @@
<field name="Frequency" units="" type="uint32" elements="1" defaultvalue="434000000"/>
<field name="AESKey" units="" type="uint8" elements="32" defaultvalue="0123456789abcdef0123456789abcdef"/>
<access gcs="readwrite" flight="readonly"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>