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[telemetry] fixing and cleaning a few stuff

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This commit is contained in:
Gautier Hattenberger
2014-11-05 22:21:32 +01:00
parent 96445e9ffe
commit 765d09a527
18 changed files with 76 additions and 68 deletions
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sw/airborne/boards/ardrone/navdata.c
+3 -3
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@@ -154,7 +154,7 @@ static void send_navdata(struct transport_tx *trans, struct device *dev) {
&nav_port.checksum_errors);
}
static void send_fliter_status(void) {
static void send_filter_status(struct transport_tx *trans, struct device *dev) {
uint8_t mde = 3;
if (ahrs.status == AHRS_UNINIT) mde = 2;
if (imu_lost) mde = 5;
@@ -231,7 +231,7 @@ bool_t navdata_init()
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "ARDRONE_NAVDATA", send_navdata);
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_filter_status);
#endif
return TRUE;
@@ -324,7 +324,7 @@ static void mag_freeze_check(void) {
uint8_t mde = 5;
uint16_t val = 0;
pprz_msg_send_STATE_FILTER_STATUS(trans, dev, AC_ID, &mde, &val);
DOWNLINK_SEND_STATE_FILTER_STATUS(DefaultChannel, DefaultDevice, &mde, &val);
// stop acquisition
uint8_t cmd=0x02;
sw/airborne/firmwares/beth/overo_test_uart.c
+6 -6
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@@ -146,9 +146,9 @@ static void main_periodic(int my_sig_num) {
#include "subsystems/datalink/downlink.h"
#if 0
uint8_t downlink_nb_ovrn;
uint16_t downlink_nb_bytes;
uint16_t downlink_nb_msgs;
uint8_t downlink.nb_ovrn;
uint16_t downlink.nb_bytes;
uint16_t downlink.nb_msgs;
#define __Transport(dev, _x) dev##_x
#define _Transport(dev, _x) __Transport(dev, _x)
@@ -161,11 +161,11 @@ uint16_t downlink_nb_msgs;
#define DownlinkPutUint8ByAddr(_chan, _x) Transport(_chan, PutUint8ByAddr(_x))
#define DownlinkPutUint8Array(_chan, _n, _x) Transport(_chan, PutUint8Array(_n, _x))
#define DownlinkOverrun(_chan) downlink_nb_ovrn++;
#define DownlinkCountBytes(_chan, _n) downlink_nb_bytes += _n;
#define DownlinkOverrun(_chan) downlink.nb_ovrn++;
#define DownlinkCountBytes(_chan, _n) downlink.nb_bytes += _n;
#define DownlinkStartMessage(_chan, _name, msg_id, payload_len) { \
downlink_nb_msgs++; \
downlink.nb_msgs++; \
Transport(_chan, Header(DownlinkIDsSize(_chan, payload_len))); \
Transport(_chan, PutUint8(AC_ID)); \
Transport(_chan, PutNamedUint8(_name, msg_id)); \
sw/airborne/firmwares/fixedwing/autopilot.c
+3 -3
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@@ -138,10 +138,10 @@ static void send_airspeed(struct transport_tx *trans __attribute__((unused)), st
static void send_downlink(struct transport_tx *trans, struct device *dev) {
static uint16_t last;
uint16_t rate = (downlink_nb_bytes - last) / PERIOD_DOWNLINK_Ap_0;
last = downlink_nb_bytes;
uint16_t rate = (downlink.nb_bytes - last) / PERIOD_DOWNLINK_Ap_0;
last = downlink.nb_bytes;
pprz_msg_send_DOWNLINK(trans, dev, AC_ID,
&downlink_nb_ovrn, &rate, &downlink_nb_msgs);
&downlink.nb_ovrn, &rate, &downlink.nb_msgs);
}
void autopilot_init(void) {
sw/airborne/firmwares/fixedwing/datalink.c
+1 -1
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@@ -139,7 +139,7 @@ void dl_parse_msg(void) {
DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
} else if (msg_id == DL_BLOCK && DL_BLOCK_ac_id(dl_buffer) == AC_ID) {
nav_goto_block(DL_BLOCK_block_id(dl_buffer));
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
} else
#endif /** NAV */
#ifdef WIND_INFO
sw/airborne/firmwares/fixedwing/main_ap.c
+3 -19
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@@ -73,12 +73,9 @@ PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BO
// datalink & telemetry
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/telemetry.h"
#include "subsystems/settings.h"
#include "subsystems/datalink/pprz_transport.h"
#include "subsystems/datalink/xbee.h"
#include "subsystems/datalink/w5100.h"
#include "subsystems/datalink/ivy_transport.h"
// modules & settings
#include "generated/modules.h"
@@ -244,20 +241,7 @@ void init_ap( void ) {
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == PPRZ
pprz_transport_init();
#endif
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if SITL
ivy_transport_init();
#endif
downlink_init();
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
@@ -513,7 +497,7 @@ void navigation_task( void ) {
#endif
#ifndef PERIOD_NAVIGATION_Ap_0 // If not sent periodically (in default 0 mode)
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
SEND_NAVIGATION(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
#endif
/* The nav task computes only nav_altitude. However, we are interested
sw/airborne/firmwares/fixedwing/nav.c
+3 -3
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@@ -457,18 +457,18 @@ static void send_nav_ref(struct transport_tx *trans, struct device *dev) {
}
static void send_nav(struct transport_tx *trans, struct device *dev) {
SEND_NAVIGATION(DefaultChannel, DefaultDevice);
SEND_NAVIGATION(trans, dev);
}
static void send_wp_moved(struct transport_tx *trans, struct device *dev) {
static uint8_t i;
i++; if (i >= nb_waypoint) i = 0;
DownlinkSendWp(DefaultChannel, DefaultDevice, i);
DownlinkSendWp(trans, dev, i);
}
bool_t DownlinkSendWpNr(uint8_t _wp)
{
DownlinkSendWp(DefaultChannel, DefaultDevice, _wp);
DownlinkSendWp(&(DefaultChannel).trans_tx, &(DefaultDevice).device, _wp);
return FALSE;
}
sw/airborne/firmwares/fixedwing/nav.h
+2 -2
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@@ -206,7 +206,7 @@ bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float ap
struct EnuCoor_f* pos = stateGetPositionEnu_f(); \
float dist_wp = sqrtf(dist2_to_wp); \
float dist_home = sqrtf(dist2_to_home); \
DOWNLINK_SEND_NAVIGATION(_trans, _dev, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &_circle_count, &nav_oval_count); \
pprz_msg_send_NAVIGATION(_trans, _dev, AC_ID, &nav_block, &nav_stage, &(pos->x), &(pos->y), &dist_wp, &dist_home, &_circle_count, &nav_oval_count); \
}
extern bool_t DownlinkSendWpNr(uint8_t _wp);
@@ -214,7 +214,7 @@ extern bool_t DownlinkSendWpNr(uint8_t _wp);
#define DownlinkSendWp(_trans, _dev, i) { \
float x = nav_utm_east0 + waypoints[i].x; \
float y = nav_utm_north0 + waypoints[i].y; \
DOWNLINK_SEND_WP_MOVED(_trans, _dev, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \
pprz_msg_send_WP_MOVED(_trans, _dev, AC_ID, &i, &x, &y, &(waypoints[i].a),&nav_utm_zone0); \
}
#endif /* NAV_H */
sw/airborne/firmwares/rotorcraft/main.c
+2 -12
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@@ -41,10 +41,8 @@
#include "subsystems/datalink/telemetry.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/settings.h"
#include "subsystems/datalink/pprz_transport.h"
#include "subsystems/datalink/xbee.h"
#include "subsystems/datalink/ivy_transport.h"
#include "subsystems/commands.h"
#include "subsystems/actuators.h"
@@ -173,15 +171,7 @@ STATIC_INLINE void main_init( void ) {
mcu_int_enable();
#if DATALINK == PPRZ
pprz_transport_init();
#endif
#if DATALINK == XBEE
xbee_init();
#endif
#if SITL
ivy_transport_init();
#endif
downlink_init();
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
sw/airborne/fms/udp_transport.h
+3 -3
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@@ -35,10 +35,10 @@ extern uint8_t udpt_ck_a, udpt_ck_b;
if (udpt_tx_buf_idx) { \
int len; \
len = network_write(network, updt_tx_buf, udpt_tx_buf_idx); \
downlink_nb_bytes += udpt_tx_buf_idx; \
downlink_nb_msgs++; \
downlink.nb_bytes += udpt_tx_buf_idx; \
downlink.nb_msgs++; \
if (len != udpt_tx_buf_idx) \
downlink_nb_ovrn++; \
downlink.nb_ovrn++; \
udpt_tx_buf_idx = 0; \
} \
}
sw/airborne/mcu_periph/i2c.c
+1 -1
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@@ -190,7 +190,7 @@ static void send_i2c3_err(struct transport_tx *trans, struct device *dev) {
#endif /* USE_I2C3 */
#if PERIODIC_TELEMETRY
static void send_i2c_err(struct transport_tx *trans, struct device *dev) {
static void send_i2c_err(struct transport_tx *trans __attribute__((unused)), struct device *dev __attribute__((unused))) {
static uint8_t _i2c_nb_cnt = 0;
switch (_i2c_nb_cnt) {
case 0:
sw/airborne/modules/digital_cam/hackhd.h
+1 -1
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@@ -58,7 +58,7 @@ enum hackhd_status {
struct HackHD {
enum hackhd_status status;
uint32_t timer;
uint32_t photo_nr;
int16_t photo_nr;
uint32_t autoshoot;
struct EnuCoor_f last_shot_pos;
uint32_t log_delay;
sw/airborne/subsystems/datalink/downlink.c
+27 -4
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@@ -26,8 +26,31 @@
*/
#include "std.h"
#include "subsystems/datalink/downlink.h"
struct downlink downlink;
void downlink_init(void)
{
downlink.nb_ovrn = 0;
downlink.nb_bytes = 0;
downlink.nb_msgs = 0;
#if defined DATALINK
#if DATALINK == PPRZ
pprz_transport_init();
#endif
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif
#if SITL
ivy_transport_init();
#endif
}
uint8_t downlink_nb_ovrn;
uint16_t downlink_nb_bytes;
uint16_t downlink_nb_msgs;
sw/airborne/subsystems/datalink/downlink.h
+11 -4
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@@ -93,9 +93,16 @@
#define DefaultDevice DOWNLINK_DEVICE
#endif
/** Counter of messages not sent because of unavailibity of the output buffer*/
extern uint8_t downlink_nb_ovrn;
extern uint16_t downlink_nb_bytes;
extern uint16_t downlink_nb_msgs;
/** Downlink structure */
struct downlink {
uint8_t nb_ovrn; ///< Counter of messages not sent because of unavailibity of the output buffer
uint16_t nb_bytes; ///< Number of bytes send over telemetry
uint16_t nb_msgs; ///< Number of messages send over telemetry
};
extern struct downlink downlink;
// Init function
extern void downlink_init(void);
#endif /* DOWNLINK_H */
sw/airborne/subsystems/datalink/ivy_transport.c
+2 -2
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@@ -140,12 +140,12 @@ static void end_message(struct ivy_transport *trans, struct device *dev __attrib
static void overrun(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
{
downlink_nb_ovrn++;
downlink.nb_ovrn++;
}
static void count_bytes(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes)
{
downlink_nb_bytes += bytes;
downlink.nb_bytes += bytes;
}
static int check_available_space(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused)))
sw/airborne/subsystems/datalink/pprz_transport.c
+3 -2
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@@ -77,6 +77,7 @@ static uint8_t size_of(struct pprz_transport *trans __attribute__((unused)), uin
static void start_message(struct pprz_transport *trans, struct device *dev, uint8_t payload_len)
{
downlink.nb_msgs++;
dev->transmit(dev->periph, STX);
const uint8_t msg_len = size_of(trans, payload_len);
dev->transmit(dev->periph, msg_len);
@@ -93,12 +94,12 @@ static void end_message(struct pprz_transport *trans, struct device *dev)
static void overrun(struct pprz_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
{
downlink_nb_ovrn++;
downlink.nb_ovrn++;
}
static void count_bytes(struct pprz_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes)
{
downlink_nb_bytes += bytes;
downlink.nb_bytes += bytes;
}
static int check_available_space(struct pprz_transport *trans __attribute__((unused)), struct device *dev, uint8_t bytes)
sw/airborne/subsystems/datalink/pprzlog_transport.c
+1
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@@ -75,6 +75,7 @@ static uint8_t size_of(struct pprzlog_transport *trans __attribute__((unused)),
static void start_message(struct pprzlog_transport *trans, struct device *dev, uint8_t payload_len)
{
downlink.nb_msgs++;
dev->transmit(dev->periph, STX_LOG);
const uint8_t msg_len = size_of(trans, payload_len);
trans->ck = 0;
sw/airborne/subsystems/datalink/xbee.c
+3 -2
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@@ -81,6 +81,7 @@ static uint8_t size_of(struct xbee_transport *trans __attribute__((unused)), uin
static void start_message(struct xbee_transport *trans, struct device *dev, uint8_t payload_len)
{
downlink.nb_msgs++;
dev->transmit(dev->periph, XBEE_START);
const uint16_t len = payload_len + XBEE_API_OVERHEAD;
dev->transmit(dev->periph, (len >> 8));
@@ -99,12 +100,12 @@ static void end_message(struct xbee_transport *trans, struct device *dev)
static void overrun(struct xbee_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
{
downlink_nb_ovrn++;
downlink.nb_ovrn++;
}
static void count_bytes(struct xbee_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes)
{
downlink_nb_bytes += bytes;
downlink.nb_bytes += bytes;
}
static int check_available_space(struct xbee_transport *trans __attribute__((unused)), struct device *dev, uint8_t bytes)
sw/simulator/nps/nps_ivy_common.c
+1
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@@ -1,6 +1,7 @@
#include "nps_ivy.h"
#include <stdlib.h>
#include <stdio.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>