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

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -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.
+					// 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.
@@ -690,6 +749,8 @@ static void StatusHandler(PHPacketHandle status)
 	}
 
 	// If we haven't seen it, find a slot to put it in.
+	if (!found)
+	{
 		uint8_t min_idx = 0;
 		int8_t min_rssi = data->pairStats[0].rssi;
 		for (id_idx = 1; id_idx < PIPXSTATUS_PAIRIDS_NUMELEM; ++id_idx)
@@ -704,6 +765,7 @@ static void StatusHandler(PHPacketHandle status)
 		data->pairStats[min_idx].rssi = status->header.rssi;
 		data->pairStats[min_idx].lastContact = 0;
 	}
+}
 
 /**
  * Receive a ppm packet

flight/PiOS/Common/pios_rfm22b.c

@@ -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
 
 	// *******

flight/PipXtreme/Makefile

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

flight/PipXtreme/System/pios_board.c

@@ -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)) {

flight/board_hw_defs/pipxtreme/board_hw_defs.c

@@ -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)

ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp

@@ -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.";
 	}

shared/uavobjectdefinition/pipxsettings.xml

@@ -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>