flight/modules/OveroSync/overosync.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup Overo Sync Module
   6  * @brief Overo sync module
   7  * Starts a sync tasks  that watch event queues
   8  * and push to Overo spi port UAVobjects
   9  * @{
  10  *
  11  * @file       overosync.c
  12  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  13  * @brief      Telemetry module, handles telemetry and UAVObject updates
  14  * @see        The GNU Public License (GPL) Version 3
  15  *
  16  *****************************************************************************/
  17 /*
  18  * This program is free software; you can redistribute it and/or modify
  19  * it under the terms of the GNU General Public License as published by
  20  * the Free Software Foundation; either version 3 of the License, or
  21  * (at your option) any later version.
  22  *
  23  * This program is distributed in the hope that it will be useful, but
  24  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  25  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  26  * for more details.
  27  *
  28  * You should have received a copy of the GNU General Public License along
  29  * with this program; if not, write to the Free Software Foundation, Inc.,
  30  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  31  */
  32
  33 #include <openpilot.h>
  34
  35 #include "overosync.h"
  36
  37 #include "hwsettings.h"
  38 #include "overosyncstats.h"
  39 #include "systemstats.h"
  40 #include "taskinfo.h"
  41
  42 // Private constants
  43 #define MAX_QUEUE_SIZE   200
  44 #define STACK_SIZE_BYTES 512
  45 #define TASK_PRIORITY    (tskIDLE_PRIORITY + 0)
  46
  47 // Private types
  48
  49 // Private variables
  50 static xQueueHandle queue;
  51 static UAVTalkConnection uavTalkCon;
  52 static xTaskHandle overoSyncTaskHandle;
  53 static bool overoEnabled;
  54
  55 // Private functions
  56 static void overoSyncTask(void *parameters);
  57 static int32_t packData(uint8_t *data, int32_t length);
  58 static void registerObject(UAVObjHandle obj);
  59
  60 // External variables
  61 extern uint32_t pios_com_overo_id;
  62 extern uint32_t pios_overo_id;
  63
  64 struct overosync {
  65     uint32_t sent_bytes;
  66     uint32_t sent_objects;
  67     uint32_t failed_objects;
  68     uint32_t received_objects;
  69 };
  70
  71 struct overosync *overosync;
  72
  73 /**
  74  * Initialise the overosync module
  75  * \return -1 if initialisation failed
  76  * \return 0 on success
  77  */
  78 int32_t OveroSyncInitialize(void)
  79 {
  80 #ifdef MODULE_OVEROSYNC_BUILTIN
  81     overoEnabled = true;
  82 #else
  83
  84     HwSettingsInitialize();
  85     uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
  86     HwSettingsOptionalModulesGet(optionalModules);
  87
  88     if (optionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
  89         overoEnabled = true;
  90
  91         // Create object queues
  92         queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
  93     } else {
  94         overoEnabled = false;
  95         return -1;
  96     }
  97 #endif
  98
  99
 100     OveroSyncStatsInitialize();
 101
 102
 103     // Initialise UAVTalk
 104     uavTalkCon = UAVTalkInitialize(&packData);
 105
 106     return 0;
 107 }
 108
 109 /**
 110  * Initialise the overosync module
 111  * \return -1 if initialisation failed
 112  * \return 0 on success
 113  */
 114 int32_t OveroSyncStart(void)
 115 {
 116     // Check if module is enabled or not
 117     if (overoEnabled == false) {
 118         return -1;
 119     }
 120
 121     overosync = (struct overosync *)pios_malloc(sizeof(*overosync));
 122     if (overosync == NULL) {
 123         return -1;
 124     }
 125
 126     overosync->sent_bytes = 0;
 127
 128     // Process all registered objects and connect queue for updates
 129     UAVObjIterate(&registerObject);
 130
 131     // Start overosync tasks
 132     xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
 133
 134     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
 135
 136     return 0;
 137 }
 138
 139 MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart);
 140
 141 /**
 142  * Register a new object, adds object to local list and connects the queue depending on the object's
 143  * telemetry settings.
 144  * \param[in] obj Object to connect
 145  */
 146 static void registerObject(UAVObjHandle obj)
 147 {
 148     int32_t eventMask;
 149
 150     eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
 151     if (UAVObjIsMetaobject(obj)) {
 152         eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
 153     }
 154     UAVObjConnectQueue(obj, queue, eventMask);
 155 }
 156
 157 /**
 158  * Telemetry transmit task, regular priority
 159  *
 160  * Logic: We need to double buffer the DMA transfers.  Pack the buffer until either
 161  * 1) it is full (and then we should record the number of missed events then)
 162  * 2) the current transaction is done (we should immediately schedule since we are slave)
 163  * when done packing the buffer we should call PIOS_SPI_TransferBlock, change the active buffer
 164  * and then take the semaphrore
 165  */
 166 static void overoSyncTask(__attribute__((unused)) void *parameters)
 167 {
 168     UAVObjEvent ev;
 169
 170     // Kick off SPI transfers (once one is completed another will automatically transmit)
 171     overosync->sent_objects     = 0;
 172     overosync->failed_objects   = 0;
 173     overosync->received_objects = 0;
 174
 175     portTickType lastUpdateTime = xTaskGetTickCount();
 176     portTickType updateTime;
 177
 178     // Loop forever
 179     while (1) {
 180         // Wait for queue message
 181         if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
 182             // Process event.  This calls transmitData
 183             UAVTalkSendObjectTimestamped(uavTalkCon, ev.obj, ev.instId, false, 0);
 184
 185             updateTime = xTaskGetTickCount();
 186             if (((portTickType)(updateTime - lastUpdateTime)) > 1000) {
 187                 // Update stats.  This will trigger a local send event too
 188                 OveroSyncStatsData syncStats;
 189                 syncStats.Send            = overosync->sent_bytes;
 190                 syncStats.Connected       = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
 191                 syncStats.DroppedUpdates  = overosync->failed_objects;
 192                 syncStats.Packets         = PIOS_OVERO_GetPacketCount(pios_overo_id);
 193                 OveroSyncStatsSet(&syncStats);
 194                 overosync->failed_objects = 0;
 195                 overosync->sent_bytes     = 0;
 196                 lastUpdateTime            = updateTime;
 197             }
 198
 199             // TODO: Check the receive buffer
 200         }
 201     }
 202 }
 203
 204 /**
 205  * Transmit data buffer to the modem or USB port.
 206  * \param[in] data Data buffer to send
 207  * \param[in] length Length of buffer
 208  * \return -1 on failure
 209  * \return number of bytes transmitted on success
 210  */
 211 static int32_t packData(uint8_t *data, int32_t length)
 212 {
 213     if (PIOS_COM_SendBufferNonBlocking(pios_com_overo_id, data, length) < 0) {
 214         goto fail;
 215     }
 216
 217     overosync->sent_bytes += length;
 218
 219     return length;
 220
 221 fail:
 222     overosync->failed_objects++;
 223     return -1;
 224 }
 225
 226 /**
 227  * @}
 228  * @}
 229  */