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LibrePilot/flight/Modules/OveroSync/overosync.c
2012-07-24 09:48:24 -05:00

229 lines
6.3 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 200
#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 void registerObject(UAVObjHandle obj);
// External variables
extern uint32_t pios_com_overo_id;
extern uint32_t pios_overo_id;
struct overosync {
uint32_t sent_bytes;
uint32_t sent_objects;
uint32_t failed_objects;
uint32_t received_objects;
};
struct overosync *overosync;
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncInitialize(void)
{
#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;
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
} else {
overoEnabled = false;
return -1;
}
#endif
OveroSyncStatsInitialize();
// 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;
}
overosync = (struct overosync *) pvPortMalloc(sizeof(*overosync));
if(overosync == NULL)
return -1;
overosync->sent_bytes = 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->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) {
// Process event. This calls transmitData
UAVTalkSendObjectTimestamped(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.Connected = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
syncStats.DroppedUpdates = overosync->failed_objects;
syncStats.Packets = PIOS_OVERO_GetPacketCount(pios_overo_id);
OveroSyncStatsSet(&syncStats);
overosync->failed_objects = 0;
overosync->sent_bytes = 0;
lastUpdateTime = updateTime;
}
// TODO: Check the receive buffer
}
}
}
/**
* 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)
{
if( PIOS_COM_SendBufferNonBlocking(pios_com_overo_id, data, length) < 0)
goto fail;
overosync->sent_bytes += length;
return length;
fail:
overosync->failed_objects++;
return -1;
}
/**
* @}
* @}
*/