rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity
34b15fedaf
LibrePilot/flight/Modules/RadioComBridge/RadioComBridge.c

660 lines
20 KiB
C
Raw Blame History

/**
******************************************************************************
* @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;
// 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
* \return 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
* \return 0 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->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
PIOS_COM_RADIO = PIOS_COM_RFM22B;
return 0;
}
MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/**
* Telemetry transmit task, regular priority
*/
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.
*/
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.
*/
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;
}
}
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);
// 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);
}
}
Reference in New Issue View Git Blame Copy Permalink