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LibrePilot/flight/Modules/OveroSync/overosync.c
2012-07-07 11:53:58 +02:00

403 lines
12 KiB
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 "hwsettings.h"
#include "overosync.h"
#include "overosyncstats.h"
#include "systemstats.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;
static bool overoEnabled;
// Private functions
static void overoSyncTask(void *parameters);
static int32_t packData(uint8_t * data, int32_t length);
static int32_t transmitData();
static void transmitDataDone(bool crc_ok, uint8_t crc_val);
static void registerObject(UAVObjHandle obj);
// External variables
extern int32_t pios_spi_overo_id;
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;
static void PIOS_OVERO_IRQHandler();
static const struct pios_exti_cfg pios_exti_overo_cfg __exti_config = {
.vector = PIOS_OVERO_IRQHandler,
.line = EXTI_Line15,
.pin = {
.gpio = GPIOA,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_OD,
.GPIO_PuPd = GPIO_PuPd_NOPULL,
},
},
.irq = {
.init = {
.NVIC_IRQChannel = EXTI15_10_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.exti = {
.init = {
.EXTI_Line = EXTI_Line15, // matches above GPIO pin
.EXTI_Mode = EXTI_Mode_Interrupt,
.EXTI_Trigger = EXTI_Trigger_Rising,
.EXTI_LineCmd = ENABLE,
},
},
};
/**
* On the rising edge of NSS schedule a new transaction. This cannot be
* done by the DMA complete because there is 150 us between that and the
* Overo deasserting the CS line. We don't want to spin that long in an
* isr
*/
void PIOS_OVERO_IRQHandler()
{
// transmitData must not block to get semaphore for when we get out of
// frame and transaction is still running here. -1 indicates the transaction
// semaphore is blocked and we are still in a transaction, thus a framesync
// error occurred. This shouldn't happen. Race condition?
if(transmitData() == -1)
overosync->framesync_error++;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncInitialize(void)
{
if(pios_spi_overo_id == 0)
return -1;
#ifdef MODULE_OVERO_BUILTIN
overoEnabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
overoEnabled = true;
} else {
overoEnabled = false;
return -1;
}
#endif
OveroSyncStatsInitialize();
PIOS_EXTI_Init(&pios_exti_overo_cfg);
// 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)
{
//Check if module is enabled or not
if (overoEnabled == false) {
return -1;
}
if(pios_spi_overo_id == 0)
return -1;
overosync = (struct overosync *) pvPortMalloc(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);
TaskMonitorAdd(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(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;
// 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;
}
}
}
}
static void transmitDataDone(bool crc_ok, uint8_t crc_val)
{
uint8_t *rx_buffer;
static signed portBASE_TYPE xHigherPriorityTaskWoken;
rx_buffer = overosync->transactions[overosync->active_transaction_id].rx_buffer;
// Release the semaphore and start another transaction (which grabs semaphore again but then
// returns instantly). Because this is called by the DMA ISR we need to be aware of context
// switches.
xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
overosync->transaction_done = true;
// Parse the data from overo
for (uint32_t i = 0; rx_buffer[0] != 0 && i < sizeof(rx_buffer) ; i++)
UAVTalkProcessInputStream(uavTalkCon, rx_buffer[i]);
}
/**
* 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
*/
uint32_t too_long = 0;
static int32_t packData(uint8_t * data, int32_t length)
{
uint8_t *tx_buffer;
portTickType tickTime = xTaskGetTickCount();
// Get the lock for manipulating the buffer
xSemaphoreTake(overosync->buffer_lock, portMAX_DELAY);
// Check this packet will fit
if ((overosync->write_pointer + length + sizeof(tickTime)) >
sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer)) {
overosync->failed_objects ++;
xSemaphoreGive(overosync->buffer_lock);
return -1;
}
// Get offset into buffer and copy contents
tx_buffer = overosync->transactions[overosync->loading_transaction_id].tx_buffer +
overosync->write_pointer;
memcpy(tx_buffer, &tickTime, sizeof(tickTime));
memcpy(tx_buffer + sizeof(tickTime),data,length);
overosync->write_pointer += length + sizeof(tickTime);
overosync->sent_bytes += length;
overosync->sent_objects++;
xSemaphoreGive(overosync->buffer_lock);
// When the NSS line rises while we are packing data then a transaction doesn't start
// because that means we will be here very shortly afterwards (priority of task making that
// not always perfectly true) schedule the transaction here.
if (buffer_swap_failed && (PIOS_DELAY_DiffuS(buffer_swap_timeval) < 50)) {
buffer_swap_failed = false;
transmitData();
} else if (buffer_swap_failed) {
buffer_swap_failed = false;
too_long++;
}
return length;
}
static int32_t transmitData()
{
uint8_t *tx_buffer, *rx_buffer;
static signed portBASE_TYPE xHigherPriorityTaskWoken;
// Get this lock first so we don't swap buffers and then fail
// to start
if (xSemaphoreTake(overosync->transaction_lock, 0) == pdFALSE)
return -1;
// Get lock to manipulate buffers
if(xSemaphoreTake(overosync->buffer_lock, 0) == pdFALSE) {
xSemaphoreGiveFromISR(overosync->transaction_lock, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
buffer_swap_failed = true;
buffer_swap_timeval = PIOS_DELAY_GetRaw();
return -2;
}
overosync->transaction_done = false;
// Swap buffers
overosync->active_transaction_id = overosync->loading_transaction_id;
overosync->loading_transaction_id = (overosync->loading_transaction_id + 1) %
NELEMENTS(overosync->transactions);
tx_buffer = overosync->transactions[overosync->active_transaction_id].tx_buffer;
rx_buffer = overosync->transactions[overosync->active_transaction_id].rx_buffer;
// Prepare the new loading buffer
memset(overosync->transactions[overosync->loading_transaction_id].tx_buffer, 0xff,
sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer));
overosync->write_pointer = 0;
xSemaphoreGiveFromISR(overosync->buffer_lock, &xHigherPriorityTaskWoken);
portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
return PIOS_SPI_TransferBlock(pios_spi_overo_id, (uint8_t *) tx_buffer, (uint8_t *) rx_buffer, sizeof(overosync->transactions[overosync->active_transaction_id].tx_buffer), &transmitDataDone) == 0 ? 0 : -3;
}
/**
* @}
* @}
*/