LibrePilot/flight/modules/OveroSync/simulated/overosync.c

/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup TelemetryModule Telemetry Module
 * @brief Main telemetry module
 * Starts three tasks (RX, TX, and priority TX) that watch event queues
 * and handle all the telemetry of the UAVobjects
 * @{
 *
 * @file       telemetry.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Telemetry module, handles telemetry and UAVObject updates
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <openpilot.h>

#include "overosync.h"

#include "overosyncstats.h"
#include "systemstats.h"
#include "taskinfo.h"

// Private constants
#define OVEROSYNC_PACKET_SIZE 1024
#define MAX_QUEUE_SIZE        40
#define STACK_SIZE_BYTES      512
#define TASK_PRIORITY         (tskIDLE_PRIORITY + 0)

// Private types

// Private variables
static xQueueHandle queue;
static UAVTalkConnection uavTalkCon;
static xTaskHandle overoSyncTaskHandle;
volatile bool buffer_swap_failed;
volatile uint32_t buffer_swap_timeval;
FILE *fid;

// Private functions
static void overoSyncTask(void *parameters);
static int32_t packData(uint8_t *data, int32_t length);
static void registerObject(UAVObjHandle obj);

struct dma_transaction {
    uint8_t tx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__((aligned(4)));
    uint8_t rx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__((aligned(4)));
};

struct overosync {
    struct dma_transaction transactions[2];
    uint32_t active_transaction_id;
    uint32_t loading_transaction_id;
    xSemaphoreHandle transaction_lock;
    xSemaphoreHandle buffer_lock;
    volatile bool    transaction_done;
    uint32_t sent_bytes;
    uint32_t write_pointer;
    uint32_t sent_objects;
    uint32_t failed_objects;
    uint32_t received_objects;
    uint32_t framesync_error;
};

struct overosync *overosync;

/**
 * Initialise the telemetry module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t OveroSyncInitialize(void)
{
    OveroSyncStatsInitialize();

    // Create object queues
    queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));

    // Initialise UAVTalk
    uavTalkCon = UAVTalkInitialize(&packData);

    return 0;
}

/**
 * Initialise the telemetry module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t OveroSyncStart(void)
{
    overosync = (struct overosync *)pios_malloc(sizeof(*overosync));
    if (overosync == NULL) {
        return -1;
    }

    overosync->transaction_lock = xSemaphoreCreateMutex();
    if (overosync->transaction_lock == NULL) {
        return -1;
    }

    overosync->buffer_lock = xSemaphoreCreateMutex();
    if (overosync->buffer_lock == NULL) {
        return -1;
    }

    overosync->active_transaction_id  = 0;
    overosync->loading_transaction_id = 0;
    overosync->write_pointer   = 0;
    overosync->sent_bytes      = 0;
    overosync->framesync_error = 0;

    // Process all registered objects and connect queue for updates
    UAVObjIterate(&registerObject);

    // Start telemetry tasks
    xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);

    PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);

    return 0;
}

MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart);

/**
 * Register a new object, adds object to local list and connects the queue depending on the object's
 * telemetry settings.
 * \param[in] obj Object to connect
 */
static void registerObject(UAVObjHandle obj)
{
    int32_t eventMask;

    eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
    if (UAVObjIsMetaobject(obj)) {
        eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
    }
    UAVObjConnectQueue(obj, queue, eventMask);
}

/**
 * Telemetry transmit task, regular priority
 *
 * Logic: We need to double buffer the DMA transfers.  Pack the buffer until either
 * 1) it is full (and then we should record the number of missed events then)
 * 2) the current transaction is done (we should immediately schedule since we are slave)
 * when done packing the buffer we should call PIOS_SPI_TransferBlock, change the active buffer
 * and then take the semaphrore
 */
static void overoSyncTask(__attribute__((unused)) void *parameters)
{
    UAVObjEvent ev;

    // Kick off SPI transfers (once one is completed another will automatically transmit)
    overosync->transaction_done = true;
    overosync->sent_objects     = 0;
    overosync->failed_objects   = 0;
    overosync->received_objects = 0;

    portTickType lastUpdateTime = xTaskGetTickCount();
    portTickType updateTime;

    fid = fopen("sim_log.opl", "w");

    // Loop forever
    while (1) {
        // Wait for queue message
        if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
            // Check it will fit before packetizing
            if ((overosync->write_pointer + UAVObjGetNumBytes(ev.obj) + 12) >=
                sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer)) {
                overosync->failed_objects++;
            } else {
                // Process event.  This calls transmitData
                UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
            }

            updateTime = xTaskGetTickCount();
            if (((portTickType)(updateTime - lastUpdateTime)) > 1000) {
                // Update stats.  This will trigger a local send event too
                OveroSyncStatsData syncStats;
                syncStats.Send      = overosync->sent_bytes;
                syncStats.Received  = 0;
                syncStats.Connected = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
                syncStats.DroppedUpdates  = overosync->failed_objects;
                OveroSyncStatsSet(&syncStats);
                overosync->failed_objects = 0;
                overosync->sent_bytes     = 0;
                lastUpdateTime = updateTime;
            }
        }
    }
}

/**
 * Transmit data buffer to the modem or USB port.
 * \param[in] data Data buffer to send
 * \param[in] length Length of buffer
 * \return -1 on failure
 * \return number of bytes transmitted on success
 */
static int32_t packData(uint8_t *data, int32_t length)
{
    // Get the lock for manipulating the buffer
    xSemaphoreTake(overosync->buffer_lock, portMAX_DELAY);

    portTickType tickTime = xTaskGetTickCount();
    uint64_t packetSize   = data[2] + (data[3] << 8);
    fwrite((void *)&tickTime, 1, sizeof(tickTime), fid);
    fwrite((void *)&packetSize, sizeof(packetSize), 1, fid);
    fwrite((void *)data, 1, length, fid);
    overosync->sent_bytes += length;
    overosync->sent_objects++;

    xSemaphoreGive(overosync->buffer_lock);

    return length;
}

/**
 * @}
 * @}
 */