mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-04 12:24:11 +01:00
677 lines
23 KiB
C
677 lines
23 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup RadioComBridgeModule Com Port to Radio Bridge Module
|
|
* @brief Bridge Com and Radio ports
|
|
* @{
|
|
*
|
|
* @file RadioComBridge.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief Bridges selected Com Port to the COM VCP emulated serial port
|
|
* @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 <radiocombridge.h>
|
|
#include <packet_handler.h>
|
|
#include <gcsreceiver.h>
|
|
#include <oplinkstatus.h>
|
|
#include <objectpersistence.h>
|
|
#include <oplinksettings.h>
|
|
#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>
|
|
|
|
// External functions
|
|
void PIOS_InitUartMainPort();
|
|
void PIOS_InitUartFlexiPort();
|
|
void PIOS_InitPPMMainPort(bool input);
|
|
void PIOS_InitPPMFlexiPort(bool input);
|
|
|
|
// ****************
|
|
// Private constants
|
|
|
|
#define STACK_SIZE_BYTES 150
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
|
|
#define MAX_RETRIES 2
|
|
#define RETRY_TIMEOUT_MS 20
|
|
#define EVENT_QUEUE_SIZE 10
|
|
#define MAX_PORT_DELAY 200
|
|
#define EV_SEND_ACK 0x20
|
|
#define EV_SEND_NACK 0x30
|
|
|
|
// ****************
|
|
// Private types
|
|
|
|
typedef struct {
|
|
|
|
// The task handles.
|
|
xTaskHandle telemetryTxTaskHandle;
|
|
xTaskHandle radioRxTaskHandle;
|
|
xTaskHandle radioTxTaskHandle;
|
|
|
|
// The UAVTalk connection on the com side.
|
|
UAVTalkConnection outUAVTalkCon;
|
|
UAVTalkConnection inUAVTalkCon;
|
|
|
|
// Queue handles.
|
|
xQueueHandle gcsEventQueue;
|
|
xQueueHandle uavtalkEventQueue;
|
|
|
|
// Error statistics.
|
|
uint32_t comTxErrors;
|
|
uint32_t comTxRetries;
|
|
uint32_t UAVTalkErrors;
|
|
uint32_t droppedPackets;
|
|
|
|
// Should we parse UAVTalk?
|
|
bool parseUAVTalk;
|
|
|
|
// We can only configure the hardware once.
|
|
bool configured;
|
|
|
|
// The current configured uart speed
|
|
OPLinkSettingsComSpeedOptions comSpeed;
|
|
|
|
} RadioComBridgeData;
|
|
|
|
// ****************
|
|
// Private functions
|
|
|
|
static void telemetryTxTask(void *parameters);
|
|
static void radioRxTask(void *parameters);
|
|
static void radioTxTask(void *parameters);
|
|
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
|
|
static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
|
|
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
|
|
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
|
|
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
|
|
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
|
|
uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing);
|
|
static void updateSettings();
|
|
|
|
// ****************
|
|
// Private variables
|
|
|
|
static RadioComBridgeData *data;
|
|
|
|
/**
|
|
* Start the module
|
|
*
|
|
* @return -1 if initialisation failed, 0 on success
|
|
*/
|
|
static int32_t RadioComBridgeStart(void)
|
|
{
|
|
if(data) {
|
|
|
|
// Configure the com port configuration callback
|
|
PIOS_RFM22B_SetComConfigCallback(pios_rfm22b_id, &configureComCallback);
|
|
|
|
// Get the settings.
|
|
OPLinkSettingsData oplinkSettings;
|
|
OPLinkSettingsGet(&oplinkSettings);
|
|
|
|
// Set the baudrates, etc.
|
|
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
|
|
if (is_coordinator) {
|
|
|
|
// Set the maximum radio RF power.
|
|
switch (oplinkSettings.MaxRFPower) {
|
|
case OPLINKSETTINGS_MAXRFPOWER_125:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_16:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_316:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_63:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_126:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_25:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_50:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_100:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
|
|
break;
|
|
default:
|
|
// do nothing
|
|
break;
|
|
}
|
|
|
|
// Set the frequency range.
|
|
PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, oplinkSettings.MinFrequency, oplinkSettings.MaxFrequency, oplinkSettings.ChannelSpacing);
|
|
|
|
// Reinitilize the modem.
|
|
PIOS_RFM22B_Reinit(pios_rfm22b_id);
|
|
}
|
|
|
|
// Set the initial frequency.
|
|
PIOS_RFM22B_SetInitialFrequency(pios_rfm22b_id, oplinkSettings.InitFrequency);
|
|
|
|
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
|
|
xTaskCreate(telemetryTxTask, (signed char *)"telemTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
|
|
xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
|
|
xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
|
|
|
|
// Register the watchdog timers.
|
|
#ifdef PIOS_INCLUDE_WDG
|
|
PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRY);
|
|
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
|
|
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
|
|
#endif
|
|
|
|
return 0;
|
|
}
|
|
|
|
return -1;
|
|
}
|
|
|
|
/**
|
|
* Initialise the module
|
|
*
|
|
* @return -1 if initialisation failed on success
|
|
*/
|
|
static int32_t RadioComBridgeInitialize(void)
|
|
{
|
|
|
|
// allocate and initialize the static data storage only if module is enabled
|
|
data = (RadioComBridgeData *)pvPortMalloc(sizeof(RadioComBridgeData));
|
|
if (!data) {
|
|
return -1;
|
|
}
|
|
|
|
// Initialize the UAVObjects that we use
|
|
OPLinkStatusInitialize();
|
|
ObjectPersistenceInitialize();
|
|
|
|
// Initialise UAVTalk
|
|
data->outUAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
|
|
data->inUAVTalkCon = UAVTalkInitialize(&RadioSendHandler);
|
|
|
|
// Initialize the queues.
|
|
data->uavtalkEventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(UAVObjEvent));
|
|
|
|
// Configure our UAVObjects for updates.
|
|
UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
|
|
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
|
|
#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
|
|
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
|
|
#endif
|
|
|
|
// Initialize the statistics.
|
|
data->comTxErrors = 0;
|
|
data->comTxRetries = 0;
|
|
data->UAVTalkErrors = 0;
|
|
data->parseUAVTalk = false;
|
|
data->configured = false;
|
|
data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
|
|
PIOS_COM_RADIO = PIOS_COM_RFM22B;
|
|
|
|
return 0;
|
|
}
|
|
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
|
|
|
|
/**
|
|
* Telemetry transmit task, regular priority
|
|
*
|
|
* @param[in] parameters The task parameters
|
|
*/
|
|
static void telemetryTxTask(void *parameters)
|
|
{
|
|
UAVObjEvent ev;
|
|
|
|
// Loop forever
|
|
while (1) {
|
|
#ifdef PIOS_INCLUDE_WDG
|
|
PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRY);
|
|
#endif
|
|
// Wait for queue message
|
|
if (xQueueReceive(data->uavtalkEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
|
|
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
|
|
// Send update (with retries)
|
|
uint32_t retries = 0;
|
|
int32_t success = -1;
|
|
while (retries < MAX_RETRIES && success == -1) {
|
|
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
|
|
if (!success)
|
|
++retries;
|
|
}
|
|
data->comTxRetries += retries;
|
|
} else if(ev.event == EV_SEND_ACK) {
|
|
// Send the ACK
|
|
uint32_t retries = 0;
|
|
int32_t success = -1;
|
|
while (retries < MAX_RETRIES && success == -1) {
|
|
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId) == 0;
|
|
if (!success)
|
|
++retries;
|
|
}
|
|
data->comTxRetries += retries;
|
|
} else if(ev.event == EV_SEND_NACK) {
|
|
// Send the NACK
|
|
uint32_t retries = 0;
|
|
int32_t success = -1;
|
|
while (retries < MAX_RETRIES && success == -1) {
|
|
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj)) == 0;
|
|
if (!success)
|
|
++retries;
|
|
}
|
|
data->comTxRetries += retries;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Radio rx task. Receive data packets from the radio and pass them on.
|
|
*
|
|
* @param[in] parameters The task parameters
|
|
*/
|
|
static void radioRxTask(void *parameters)
|
|
{
|
|
// Task loop
|
|
while (1) {
|
|
#ifdef PIOS_INCLUDE_WDG
|
|
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
|
|
#endif
|
|
uint8_t serial_data[1];
|
|
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
|
|
if (bytes_to_process > 0) {
|
|
for (uint8_t i = 0; i < bytes_to_process; i++) {
|
|
if (UAVTalkRelayInputStream(data->outUAVTalkCon, serial_data[i]) == UAVTALK_STATE_ERROR) {
|
|
data->UAVTalkErrors++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Radio rx task. Receive data from a com port and pass it on to the radio.
|
|
*
|
|
* @param[in] parameters The task parameters
|
|
*/
|
|
static void radioTxTask(void *parameters)
|
|
{
|
|
// Task loop
|
|
while (1) {
|
|
uint32_t inputPort = PIOS_COM_TELEMETRY;
|
|
#ifdef PIOS_INCLUDE_WDG
|
|
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
|
|
#endif
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
// Determine output port (USB takes priority over telemetry port)
|
|
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
|
|
inputPort = PIOS_COM_TELEM_USB_HID;
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
if(inputPort) {
|
|
uint8_t serial_data[1];
|
|
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
|
|
if (bytes_to_process > 0) {
|
|
for (uint8_t i = 0; i < bytes_to_process; i++)
|
|
ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
|
|
}
|
|
} else {
|
|
vTaskDelay(5);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Transmit data buffer to the com port.
|
|
*
|
|
* @param[in] buf Data buffer to send
|
|
* @param[in] length Length of buffer
|
|
* @return -1 on failure
|
|
* @return number of bytes transmitted on success
|
|
*/
|
|
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
|
|
{
|
|
uint32_t outputPort = PIOS_COM_TELEMETRY;
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
// Determine output port (USB takes priority over telemetry port)
|
|
if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
|
|
outputPort = PIOS_COM_TELEM_USB_HID;
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
if(outputPort) {
|
|
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
|
|
} else {
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Transmit data buffer to the com port.
|
|
*
|
|
* @param[in] buf Data buffer to send
|
|
* @param[in] length Length of buffer
|
|
* @return -1 on failure
|
|
* @return number of bytes transmitted on success
|
|
*/
|
|
static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
|
|
{
|
|
uint32_t outputPort = PIOS_COM_RADIO;
|
|
// Don't send any data unless the radio port is available.
|
|
if(outputPort && PIOS_COM_Available(outputPort)) {
|
|
return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
|
|
} else {
|
|
// For some reason, if this function returns failure, it prevents saving settings.
|
|
return length;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Process a byte of data received
|
|
*
|
|
* @param[in] connectionHandle The UAVTalk connection handle
|
|
* @param[in] rxbyte The received byte.
|
|
*/
|
|
static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
|
|
{
|
|
// Keep reading until we receive a completed packet.
|
|
UAVTalkRxState state = UAVTalkRelayInputStream(connectionHandle, rxbyte);
|
|
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(connectionHandle);
|
|
UAVTalkInputProcessor *iproc = &(connection->iproc);
|
|
|
|
if (state == UAVTALK_STATE_COMPLETE) {
|
|
// Is this a local UAVObject?
|
|
// We only generate GcsReceiver ojects, we don't consume them.
|
|
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID)) {
|
|
// We treat the ObjectPersistence object differently
|
|
if(iproc->objId == OBJECTPERSISTENCE_OBJID) {
|
|
// Unpack object, if the instance does not exist it will be created!
|
|
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
|
|
|
|
// Get the ObjectPersistence object.
|
|
ObjectPersistenceData obj_per;
|
|
ObjectPersistenceGet(&obj_per);
|
|
|
|
// Is this concerning or setting object?
|
|
if (obj_per.ObjectID == OPLINKSETTINGS_OBJID) {
|
|
// Queue up the ACK.
|
|
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
|
|
|
|
// Is this a save, load, or delete?
|
|
bool success = true;
|
|
switch (obj_per.Operation) {
|
|
case OBJECTPERSISTENCE_OPERATION_LOAD:
|
|
{
|
|
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
|
// Load the settings.
|
|
OPLinkSettingsData oplinkSettings;
|
|
if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
|
|
OPLinkSettingsSet(&oplinkSettings);
|
|
else
|
|
success = false;
|
|
#endif
|
|
break;
|
|
}
|
|
case OBJECTPERSISTENCE_OPERATION_SAVE:
|
|
{
|
|
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
|
// Save the settings.
|
|
OPLinkSettingsData oplinkSettings;
|
|
OPLinkSettingsGet(&oplinkSettings);
|
|
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
|
|
if (ret != 0)
|
|
success = false;
|
|
#endif
|
|
break;
|
|
}
|
|
case OBJECTPERSISTENCE_OPERATION_DELETE:
|
|
{
|
|
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
|
|
// Erase the settings.
|
|
OPLinkSettingsData oplinkSettings;
|
|
uint8_t *ptr = (uint8_t*)&oplinkSettings;
|
|
memset(ptr, 0, sizeof(OPLinkSettingsData));
|
|
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(OPLinkSettingsData));
|
|
if (ret != 0)
|
|
success = false;
|
|
#endif
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
if (success == true) {
|
|
obj_per.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
|
|
ObjectPersistenceSet(&obj_per);
|
|
}
|
|
}
|
|
} else {
|
|
switch (iproc->type) {
|
|
case UAVTALK_TYPE_OBJ:
|
|
// Unpack object, if the instance does not exist it will be created!
|
|
UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer);
|
|
break;
|
|
case UAVTALK_TYPE_OBJ_REQ:
|
|
// Queue up an object send request.
|
|
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
|
|
break;
|
|
case UAVTALK_TYPE_OBJ_ACK:
|
|
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
|
|
// Queue up an ACK
|
|
queueEvent(data->uavtalkEventQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
} else if(state == UAVTALK_STATE_ERROR) {
|
|
data->UAVTalkErrors++;
|
|
|
|
// Send a NACK if required.
|
|
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK)) {
|
|
// Queue up a NACK
|
|
queueEvent(data->uavtalkEventQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Queue and event into an event queue.
|
|
*
|
|
* @param[in] queue The event queue
|
|
* @param[in] obj The data pointer
|
|
* @param[in] type The event type
|
|
*/
|
|
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
|
|
{
|
|
UAVObjEvent ev;
|
|
ev.obj = (UAVObjHandle)obj;
|
|
ev.instId = instId;
|
|
ev.event = type;
|
|
xQueueSend(queue, &ev, portMAX_DELAY);
|
|
}
|
|
|
|
/**
|
|
* Configure the output port based on a configuration event from the remote coordinator.
|
|
*
|
|
* @param[in] com_port The com port to configure
|
|
* @param[in] com_speed The com port speed
|
|
*/
|
|
static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
|
|
OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
|
|
uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing)
|
|
{
|
|
|
|
// Update the com baud rate
|
|
data->comSpeed = com_speed;
|
|
|
|
// Set the output main/flexi/vcp port and speed.
|
|
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
|
|
if (!is_coordinator) {
|
|
|
|
// Get the settings.
|
|
OPLinkSettingsData oplinkSettings;
|
|
OPLinkSettingsGet(&oplinkSettings);
|
|
|
|
switch (main_port) {
|
|
case OPLINKSETTINGS_REMOTEMAINPORT_DISABLED:
|
|
oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_DISABLED;
|
|
break;
|
|
case OPLINKSETTINGS_REMOTEMAINPORT_SERIAL:
|
|
oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_SERIAL;
|
|
break;
|
|
case OPLINKSETTINGS_REMOTEMAINPORT_PPM:
|
|
oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_PPM;
|
|
break;
|
|
}
|
|
|
|
switch (flexi_port) {
|
|
case OPLINKSETTINGS_REMOTEFLEXIPORT_DISABLED:
|
|
oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_DISABLED;
|
|
break;
|
|
case OPLINKSETTINGS_REMOTEFLEXIPORT_SERIAL:
|
|
oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_SERIAL;
|
|
break;
|
|
case OPLINKSETTINGS_REMOTEFLEXIPORT_PPM:
|
|
oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_PPM;
|
|
break;
|
|
}
|
|
|
|
switch (vcp_port) {
|
|
case OPLINKSETTINGS_REMOTEVCPPORT_DISABLED:
|
|
oplinkSettings.VCPPort = OPLINKSETTINGS_VCPPORT_DISABLED;
|
|
break;
|
|
case OPLINKSETTINGS_REMOTEVCPPORT_SERIAL:
|
|
oplinkSettings.VCPPort = OPLINKSETTINGS_VCPPORT_SERIAL;
|
|
break;
|
|
}
|
|
|
|
// Set the frequency range.
|
|
PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, min_frequency, max_frequency, channel_spacing);
|
|
|
|
// Update the OPLinkSettings object.
|
|
OPLinkSettingsSet(&oplinkSettings);
|
|
}
|
|
|
|
// Perform the update.
|
|
updateSettings();
|
|
}
|
|
|
|
/**
|
|
* Update the oplink settings.
|
|
*/
|
|
static void updateSettings()
|
|
{
|
|
// Get the settings.
|
|
OPLinkSettingsData oplinkSettings;
|
|
OPLinkSettingsGet(&oplinkSettings);
|
|
|
|
// We can only configure the hardware once.
|
|
if (data->configured) {
|
|
return;
|
|
}
|
|
data->configured = true;
|
|
|
|
// Configure the main port
|
|
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
|
|
switch (oplinkSettings.MainPort) {
|
|
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
|
|
data->parseUAVTalk = true;
|
|
case OPLINKSETTINGS_MAINPORT_SERIAL:
|
|
/* Configure the main port for uart serial */
|
|
PIOS_InitUartMainPort();
|
|
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
|
|
break;
|
|
case OPLINKSETTINGS_MAINPORT_PPM:
|
|
PIOS_InitPPMMainPort(is_coordinator);
|
|
break;
|
|
case OPLINKSETTINGS_MAINPORT_DISABLED:
|
|
break;
|
|
}
|
|
|
|
// Configure the flexi port
|
|
switch (oplinkSettings.FlexiPort) {
|
|
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
|
|
data->parseUAVTalk = true;
|
|
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
|
|
/* Configure the flexi port as uart serial */
|
|
PIOS_InitUartFlexiPort();
|
|
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
|
|
break;
|
|
case OPLINKSETTINGS_FLEXIPORT_PPM:
|
|
PIOS_InitPPMFlexiPort(is_coordinator);
|
|
break;
|
|
case OPLINKSETTINGS_FLEXIPORT_DISABLED:
|
|
break;
|
|
}
|
|
|
|
// Configure the USB VCP port
|
|
switch (oplinkSettings.VCPPort) {
|
|
case OPLINKSETTINGS_VCPPORT_SERIAL:
|
|
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
|
|
break;
|
|
case OPLINKSETTINGS_VCPPORT_DISABLED:
|
|
break;
|
|
}
|
|
|
|
// Update the com baud rate.
|
|
uint32_t comBaud = 9600;
|
|
switch (data->comSpeed) {
|
|
case OPLINKSETTINGS_COMSPEED_2400:
|
|
comBaud = 2400;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_4800:
|
|
comBaud = 4800;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_9600:
|
|
comBaud = 9600;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_19200:
|
|
comBaud = 19200;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_38400:
|
|
comBaud = 38400;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_57600:
|
|
comBaud = 57600;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_115200:
|
|
comBaud = 115200;
|
|
break;
|
|
}
|
|
if (PIOS_COM_RADIO) {
|
|
PIOS_COM_ChangeBaud(PIOS_COM_RADIO, comBaud);
|
|
}
|
|
if (PIOS_COM_TELEMETRY) {
|
|
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, comBaud);
|
|
}
|
|
}
|