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telemetry_ap starting working

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This commit is contained in:
Antoine Drouin
2005-02-24 00:41:10 +00:00
parent 3ea8ce6b94
commit 175d65779e
6 changed files with 64 additions and 34 deletions
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sw/airborne/fly_by_wire/telemetry.c
+12
View File
@@ -1,2 +1,14 @@
#include "telemetry.h"
#include <avr/io.h>
uint8_t ck_a, ck_b;
#define DL_FBW_STATUS 0x04
void telemetry_send_fbw_status(uint8_t* nb_spi_err, uint8_t* rc_status, uint8_t* mode) { if (TELEMETRY_CHECK_FREE_SPACE(7)) {
TELEMETRY_START_MESSAGE(DL_FBW_STATUS);
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR((uint8_t*)(nb_spi_err));
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR((uint8_t*)(rc_status));
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR((uint8_t*)(mode));
TELEMETRY_END_MESSAGE();
}
}
sw/airborne/fly_by_wire/telemetry.h
+8 -6
View File
@@ -33,13 +33,15 @@
extern uint8_t ck_a, ck_b;
#include "uart.h"
void telemetry_send_fbw_status(uint8_t* nb_spi_err, uint8_t* rc_status, uint8_t* mode);
#define TELEMETRY_START_MESSAGE(id) { \
UART_PUT_1_BYTE(STX); UART_PUT_1_BYTE(id); ck_a = id; ck_b = id; \
}
}
#define TELEMETRY_END_MESSAGE() { \
UART_PUT_1_BYTE(ck_a); UART_PUT_1_BYTE(ck_b); UART_CHECK_RUNNING(); \
}
UART_PUT_1_BYTE(ck_a); UART_PUT_1_BYTE(ck_b); \
}
#define TELEMETRY_CHECK_FREE_SPACE(_space) UART_CHECK_FREE_SPACE(_space)
@@ -47,18 +49,18 @@ extern uint8_t ck_a, ck_b;
UART_PUT_1_BYTE_BY_ADDR(_byte); \
ck_a += *(_byte); \
ck_b += ck_a; \
}
}
#define TELEMETRY_PUT_2_DATA_BYTE_BY_ADDR(_byte) { \
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte); \
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+1); \
}
}
#define TELEMETRY_PUT_4_DATA_BYTE_BY_ADDR(_byte) { \
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte); \
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+1); \
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+2); \
TELEMETRY_PUT_1_DATA_BYTE_BY_ADDR(_byte+3); \
}
}
#endif /* TELEMETRY_H */
sw/airborne/fly_by_wire/test/new_rc_transmitter.c
+4 -3
View File
@@ -6,7 +6,7 @@
#include "uart.h"
#include "ppm.h"
#include "fbw_messages.h"
#include "telemetry.h"
uint8_t nb_spi_err = 0;
uint8_t rc_status = 0;
@@ -14,7 +14,6 @@ uint8_t mode = 0;
int main( void ) {
uart_init_tx();
uart_print_string("Calib_radio Booting $Id$\n");
timer_init();
ppm_init();
sei();
@@ -27,7 +26,9 @@ int main( void ) {
n++;
if (n == 60) {
n = 0;
TELEMETRY_SEND_FBW_STATUS(&nb_spi_err, &rc_status, &mode);
// uart_transmit('A');
// uart_transmit('\n');
telemetry_send_fbw_status(&nb_spi_err, &rc_status, &mode);
}
}
}
sw/airborne/fly_by_wire/uart.c
+5 -5
View File
@@ -30,10 +30,10 @@
#include "std.h"
#include "uart.h"
uint8_t tx_head; /* next free in buf */
volatile uint8_t tx_tail; /* next char to send */
uint8_t tx_head = 0; /* next free in buf */
volatile uint8_t tx_tail = 0; /* next char to send */
uint8_t tx_buf[ TX_BUF_SIZE ];
uint8_t uart_nb_overrun = 0;
/*
* UART Baud rate generation settings:
*
@@ -100,10 +100,10 @@ void uart_print_string(const uint8_t* s) {
SIGNAL(SIG_UART_TRANS) {
if (tx_head == tx_tail) {
/* Nothing more to send */
/* buffer ring is empty */
cbi(UCSRB, TXCIE); /* disable interrupt */
} else {
UDR = tx_buf[tx_tail];
tx_tail++; /* warning tx_buf_len is 256 */
tx_tail++; /* WARNING : only works with TX_BUF_LEN = 256 */
}
}
sw/airborne/fly_by_wire/uart.h
+14 -3
View File
@@ -40,13 +40,24 @@ void uart_print_float( const float * f);
extern uint8_t tx_head;
extern volatile uint8_t tx_tail;
extern uint8_t tx_buf[ TX_BUF_SIZE ];
extern uint8_t uart_nb_overrun;
#define UART_CHECK_FREE_SPACE(_space) (tx_head>=tx_tail? _space < (TX_BUF_SIZE - (tx_head - tx_tail)) : _space < (tx_tail - tx_head))
#define UART_CHECK_FREE_SPACE(_space) (tx_head>=tx_tail ? _space < (TX_BUF_SIZE - (tx_head - tx_tail)) : _space < (tx_tail - tx_head))
#define UART_PUT_1_BYTE(_byte) { \
if (UCSRB & _BV(TXCIE)) { \
/* something is already beeing transmitted so we're buffering */ \
if (tx_tail == tx_head + 1) { /* BUF_SIZE = 256 */ \
/* Buffer is full (well almost... but tx_head = tx_tail means "empty" */ \
uart_nb_overrun++; \
} else { \
tx_buf[tx_head] = _byte; \
tx_head++; \
if (tx_head >= TX_BUF_SIZE) tx_head = 0; \
tx_head++; /* WARNING : only works with BUF_SIZE = 256 */ \
} \
} else { /* uart is available: just send */ \
UDR = _byte; \
sbi(UCSRB, TXCIE); \
} \
}
#define UART_PUT_1_BYTE_BY_ADDR(_byte) { \
sw/ground_segment/tmtc/listen.ml
+14 -10
View File
@@ -28,17 +28,22 @@ open Printf
let _ =
if Array.length Sys.argv <> 3 then
failwith (sprintf "Usage: %s <message class> <port>" Sys.argv.(0));
let bus = ref "127.255.255.255:2010" in
let class_name = ref "telemetry_fbw" in
let serial_dev = ref "/dev/ttyUSB0" in
Arg.parse
[ "-b", Arg.String (fun x -> bus := x), "Bus\tDefault is 127.255.255.25:2010";
"-c", Arg.String (fun x -> class_name := x), "class name";
"-d", Arg.String (fun x -> serial_dev := x), "serial device"]
(fun x -> prerr_endline ("WARNING: don't do anything with "))
"Usage: ";
let class_name = Sys.argv.(1) in
let module Tele_Class = struct let name = class_name end in
let module Tele_Class = struct let name = !class_name end in
let module Tele_Pprz = Pprz.Protocol(Tele_Class) in
let module PprzTransport = Serial.Transport(Tele_Pprz) in
let listen_tty = fun use_pprz_message tty ->
let fd = Serial.opendev tty Serial.B4800 in
let fd = Serial.opendev tty Serial.B38400 in
let use_pprz_buf = fun buf ->
use_pprz_message (Tele_Pprz.values_of_bin buf) in
@@ -60,10 +65,9 @@ let _ =
let s = String.concat " " (List.map snd values) in
Ivy.send (sprintf "%s %s" msg.Pprz.name s) in
let port = Sys.argv.(2) in
listen_tty handle_pprz_message port;
listen_tty handle_pprz_message !serial_dev;
Ivy.init "Paparazzi listen" "READY" (fun _ _ -> ());
Ivy.start "127.255.255.255:2010";
let loop = Glib.Main.create true in
while Glib.Main.is_running loop do ignore (Glib.Main.iteration true) done