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242 lines
7.5 KiB
C
242 lines
7.5 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup TelemetryModule Telemetry Module
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* @brief Main telemetry module
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* Starts three tasks (RX, TX, and priority TX) that watch event queues
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* and handle all the telemetry of the UAVobjects
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* @{
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*
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* @file telemetry.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Telemetry module, handles telemetry and UAVObject updates
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <openpilot.h>
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#include "overosync.h"
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#include "overosyncstats.h"
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#include "systemstats.h"
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#include "taskinfo.h"
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// Private constants
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#define OVEROSYNC_PACKET_SIZE 1024
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#define MAX_QUEUE_SIZE 40
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#define STACK_SIZE_BYTES 512
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 0)
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// Private types
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// Private variables
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static xQueueHandle queue;
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static UAVTalkConnection uavTalkCon;
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static xTaskHandle overoSyncTaskHandle;
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volatile bool buffer_swap_failed;
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volatile uint32_t buffer_swap_timeval;
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FILE *fid;
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// Private functions
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static void overoSyncTask(void *parameters);
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static int32_t packData(uint8_t *data, int32_t length);
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static void registerObject(UAVObjHandle obj);
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struct dma_transaction {
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uint8_t tx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__((aligned(4)));
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uint8_t rx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__((aligned(4)));
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};
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struct overosync {
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struct dma_transaction transactions[2];
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uint32_t active_transaction_id;
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uint32_t loading_transaction_id;
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xSemaphoreHandle transaction_lock;
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xSemaphoreHandle buffer_lock;
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volatile bool transaction_done;
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uint32_t sent_bytes;
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uint32_t write_pointer;
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uint32_t sent_objects;
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uint32_t failed_objects;
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uint32_t received_objects;
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uint32_t framesync_error;
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};
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struct overosync *overosync;
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/**
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* Initialise the telemetry module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t OveroSyncInitialize(void)
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{
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OveroSyncStatsInitialize();
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// Create object queues
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Initialise UAVTalk
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uavTalkCon = UAVTalkInitialize(&packData);
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return 0;
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}
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/**
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* Initialise the telemetry module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t OveroSyncStart(void)
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{
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overosync = (struct overosync *)pios_malloc(sizeof(*overosync));
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if (overosync == NULL) {
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return -1;
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}
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overosync->transaction_lock = xSemaphoreCreateMutex();
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if (overosync->transaction_lock == NULL) {
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return -1;
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}
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overosync->buffer_lock = xSemaphoreCreateMutex();
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if (overosync->buffer_lock == NULL) {
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return -1;
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}
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overosync->active_transaction_id = 0;
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overosync->loading_transaction_id = 0;
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overosync->write_pointer = 0;
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overosync->sent_bytes = 0;
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overosync->framesync_error = 0;
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// Process all registered objects and connect queue for updates
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UAVObjIterate(®isterObject);
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// Start telemetry tasks
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xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
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return 0;
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}
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MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart);
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/**
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* Register a new object, adds object to local list and connects the queue depending on the object's
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* telemetry settings.
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* \param[in] obj Object to connect
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*/
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static void registerObject(UAVObjHandle obj)
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{
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int32_t eventMask;
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eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
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if (UAVObjIsMetaobject(obj)) {
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eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
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}
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UAVObjConnectQueue(obj, queue, eventMask);
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}
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/**
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* Telemetry transmit task, regular priority
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*
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* Logic: We need to double buffer the DMA transfers. Pack the buffer until either
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* 1) it is full (and then we should record the number of missed events then)
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* 2) the current transaction is done (we should immediately schedule since we are slave)
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* when done packing the buffer we should call PIOS_SPI_TransferBlock, change the active buffer
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* and then take the semaphrore
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*/
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static void overoSyncTask(__attribute__((unused)) void *parameters)
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{
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UAVObjEvent ev;
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// Kick off SPI transfers (once one is completed another will automatically transmit)
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overosync->transaction_done = true;
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overosync->sent_objects = 0;
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overosync->failed_objects = 0;
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overosync->received_objects = 0;
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portTickType lastUpdateTime = xTaskGetTickCount();
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portTickType updateTime;
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fid = fopen("sim_log.opl", "w");
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// Loop forever
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while (1) {
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// Wait for queue message
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if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
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// Check it will fit before packetizing
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if ((overosync->write_pointer + UAVObjGetNumBytes(ev.obj) + 12) >=
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sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer)) {
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overosync->failed_objects++;
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} else {
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// Process event. This calls transmitData
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UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
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}
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updateTime = xTaskGetTickCount();
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if (((portTickType)(updateTime - lastUpdateTime)) > 1000) {
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// Update stats. This will trigger a local send event too
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OveroSyncStatsData syncStats;
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syncStats.Send = overosync->sent_bytes;
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syncStats.Received = 0;
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syncStats.Connected = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
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syncStats.DroppedUpdates = overosync->failed_objects;
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OveroSyncStatsSet(&syncStats);
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overosync->failed_objects = 0;
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overosync->sent_bytes = 0;
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lastUpdateTime = updateTime;
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}
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}
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}
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}
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/**
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* Transmit data buffer to the modem or USB port.
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* \param[in] data Data buffer to send
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* \param[in] length Length of buffer
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* \return -1 on failure
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* \return number of bytes transmitted on success
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*/
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static int32_t packData(uint8_t *data, int32_t length)
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{
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// Get the lock for manipulating the buffer
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xSemaphoreTake(overosync->buffer_lock, portMAX_DELAY);
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portTickType tickTime = xTaskGetTickCount();
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uint64_t packetSize = data[2] + (data[3] << 8);
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fwrite((void *)&tickTime, 1, sizeof(tickTime), fid);
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fwrite((void *)&packetSize, sizeof(packetSize), 1, fid);
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fwrite((void *)data, 1, length, fid);
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overosync->sent_bytes += length;
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overosync->sent_objects++;
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xSemaphoreGive(overosync->buffer_lock);
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return length;
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}
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/**
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* @}
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* @}
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*/
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