LibrePilot/flight/modules/OveroSync/overosync.c

/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup Overo Sync Module
 * @brief Overo sync module
 * Starts a sync tasks  that watch event queues
 * and push to Overo spi port UAVobjects
 * @{
 *
 * @file       overosync.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 "overosync.h"

#include "hwsettings.h"
#include "overosyncstats.h"
#include "systemstats.h"
#include "taskinfo.h"

// Private constants
#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;
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 overosync module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t OveroSyncInitialize(void)
{
#ifdef MODULE_OVEROSYNC_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 overosync 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 overosync tasks
    xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);

    PIOS_TASK_MONITOR_RegisterTask(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(__attribute__((unused)) 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;
}

/**
 * @}
 * @}
 */