flight/modules/OveroSync/simulated/overosync.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup TelemetryModule Telemetry Module
   6  * @brief Main telemetry module
   7  * Starts three tasks (RX, TX, and priority TX) that watch event queues
   8  * and handle all the telemetry of the UAVobjects
   9  * @{
  10  *
  11  * @file       telemetry.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 "overosyncstats.h"
  38 #include "systemstats.h"
  39 #include "taskinfo.h"
  40
  41 // Private constants
  42 #define OVEROSYNC_PACKET_SIZE 1024
  43 #define MAX_QUEUE_SIZE        40
  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 volatile bool buffer_swap_failed;
  54 volatile uint32_t buffer_swap_timeval;
  55 FILE *fid;
  56
  57 // Private functions
  58 static void overoSyncTask(void *parameters);
  59 static int32_t packData(uint8_t *data, int32_t length);
  60 static void registerObject(UAVObjHandle obj);
  61
  62 struct dma_transaction {
  63     uint8_t tx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__((aligned(4)));
  64     uint8_t rx_buffer[OVEROSYNC_PACKET_SIZE] __attribute__((aligned(4)));
  65 };
  66
  67 struct overosync {
  68     struct dma_transaction transactions[2];
  69     uint32_t active_transaction_id;
  70     uint32_t loading_transaction_id;
  71     xSemaphoreHandle transaction_lock;
  72     xSemaphoreHandle buffer_lock;
  73     volatile bool    transaction_done;
  74     uint32_t sent_bytes;
  75     uint32_t write_pointer;
  76     uint32_t sent_objects;
  77     uint32_t failed_objects;
  78     uint32_t received_objects;
  79     uint32_t framesync_error;
  80 };
  81
  82 struct overosync *overosync;
  83
  84 /**
  85  * Initialise the telemetry module
  86  * \return -1 if initialisation failed
  87  * \return 0 on success
  88  */
  89 int32_t OveroSyncInitialize(void)
  90 {
  91     OveroSyncStatsInitialize();
  92
  93     // Create object queues
  94     queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
  95
  96     // Initialise UAVTalk
  97     uavTalkCon = UAVTalkInitialize(&packData);
  98
  99     return 0;
 100 }
 101
 102 /**
 103  * Initialise the telemetry module
 104  * \return -1 if initialisation failed
 105  * \return 0 on success
 106  */
 107 int32_t OveroSyncStart(void)
 108 {
 109     overosync = (struct overosync *)pios_malloc(sizeof(*overosync));
 110     if (overosync == NULL) {
 111         return -1;
 112     }
 113
 114     overosync->transaction_lock = xSemaphoreCreateMutex();
 115     if (overosync->transaction_lock == NULL) {
 116         return -1;
 117     }
 118
 119     overosync->buffer_lock = xSemaphoreCreateMutex();
 120     if (overosync->buffer_lock == NULL) {
 121         return -1;
 122     }
 123
 124     overosync->active_transaction_id  = 0;
 125     overosync->loading_transaction_id = 0;
 126     overosync->write_pointer   = 0;
 127     overosync->sent_bytes      = 0;
 128     overosync->framesync_error = 0;
 129
 130     // Process all registered objects and connect queue for updates
 131     UAVObjIterate(&registerObject);
 132
 133     // Start telemetry tasks
 134     xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
 135
 136     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
 137
 138     return 0;
 139 }
 140
 141 MODULE_INITCALL(OveroSyncInitialize, OveroSyncStart);
 142
 143 /**
 144  * Register a new object, adds object to local list and connects the queue depending on the object's
 145  * telemetry settings.
 146  * \param[in] obj Object to connect
 147  */
 148 static void registerObject(UAVObjHandle obj)
 149 {
 150     int32_t eventMask;
 151
 152     eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
 153     if (UAVObjIsMetaobject(obj)) {
 154         eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
 155     }
 156     UAVObjConnectQueue(obj, queue, eventMask);
 157 }
 158
 159 /**
 160  * Telemetry transmit task, regular priority
 161  *
 162  * Logic: We need to double buffer the DMA transfers.  Pack the buffer until either
 163  * 1) it is full (and then we should record the number of missed events then)
 164  * 2) the current transaction is done (we should immediately schedule since we are slave)
 165  * when done packing the buffer we should call PIOS_SPI_TransferBlock, change the active buffer
 166  * and then take the semaphrore
 167  */
 168 static void overoSyncTask(__attribute__((unused)) void *parameters)
 169 {
 170     UAVObjEvent ev;
 171
 172     // Kick off SPI transfers (once one is completed another will automatically transmit)
 173     overosync->transaction_done = true;
 174     overosync->sent_objects     = 0;
 175     overosync->failed_objects   = 0;
 176     overosync->received_objects = 0;
 177
 178     portTickType lastUpdateTime = xTaskGetTickCount();
 179     portTickType updateTime;
 180
 181     fid = fopen("sim_log.opl", "w");
 182
 183     // Loop forever
 184     while (1) {
 185         // Wait for queue message
 186         if (xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE) {
 187             // Check it will fit before packetizing
 188             if ((overosync->write_pointer + UAVObjGetNumBytes(ev.obj) + 12) >=
 189                 sizeof(overosync->transactions[overosync->loading_transaction_id].tx_buffer)) {
 190                 overosync->failed_objects++;
 191             } else {
 192                 // Process event.  This calls transmitData
 193                 UAVTalkSendObject(uavTalkCon, ev.obj, ev.instId, false, 0);
 194             }
 195
 196             updateTime = xTaskGetTickCount();
 197             if (((portTickType)(updateTime - lastUpdateTime)) > 1000) {
 198                 // Update stats.  This will trigger a local send event too
 199                 OveroSyncStatsData syncStats;
 200                 syncStats.Send      = overosync->sent_bytes;
 201                 syncStats.Received  = 0;
 202                 syncStats.Connected = syncStats.Send > 500 ? OVEROSYNCSTATS_CONNECTED_TRUE : OVEROSYNCSTATS_CONNECTED_FALSE;
 203                 syncStats.DroppedUpdates  = overosync->failed_objects;
 204                 OveroSyncStatsSet(&syncStats);
 205                 overosync->failed_objects = 0;
 206                 overosync->sent_bytes     = 0;
 207                 lastUpdateTime = updateTime;
 208             }
 209         }
 210     }
 211 }
 212
 213 /**
 214  * Transmit data buffer to the modem or USB port.
 215  * \param[in] data Data buffer to send
 216  * \param[in] length Length of buffer
 217  * \return -1 on failure
 218  * \return number of bytes transmitted on success
 219  */
 220 static int32_t packData(uint8_t *data, int32_t length)
 221 {
 222     // Get the lock for manipulating the buffer
 223     xSemaphoreTake(overosync->buffer_lock, portMAX_DELAY);
 224
 225     portTickType tickTime = xTaskGetTickCount();
 226     uint64_t packetSize   = data[2] + (data[3] << 8);
 227     fwrite((void *)&tickTime, 1, sizeof(tickTime), fid);
 228     fwrite((void *)&packetSize, sizeof(packetSize), 1, fid);
 229     fwrite((void *)data, 1, length, fid);
 230     overosync->sent_bytes += length;
 231     overosync->sent_objects++;
 232
 233     xSemaphoreGive(overosync->buffer_lock);
 234
 235     return length;
 236 }
 237
 238 /**
 239  * @}
 240  * @}
 241  */