Files
file	telemetry.c
	Telemetry module, handles telemetry and UAVObject updates.

Data Structures
struct	pending_ack

struct	pending_req

struct	telemetry_state

Macros
#define	TELEM_QUEUE_SIZE 60

#define	TELEM_STACK_SIZE 624

#define	MAX_QUEUE_SIZE TELEM_QUEUE_SIZE

#define	STACK_SIZE_BYTES TELEM_STACK_SIZE

#define	TASK_PRIORITY_RX PIOS_THREAD_PRIO_NORMAL

#define	TASK_PRIORITY_TX PIOS_THREAD_PRIO_NORMAL

#define	MAX_RETRIES 2

#define	STATS_UPDATE_PERIOD_MS 1753

#define	CONNECTION_TIMEOUT_MS 8000

#define	USB_ACTIVITY_TIMEOUT_MS 6000

#define	MAX_ACKS_PENDING 3

#define	MAX_REQS_PENDING 5

#define	ACK_TIMEOUT_MS 250

Typedefs
typedef struct telemetry_state *	telem_t

Functions
static void	telemetryTxTask (void *parameters)

static void	telemetryRxTask (void *parameters)

static int32_t	transmitData (void ctx, uint8_t data, int32_t length)

static void	addAckPending (telem_t telem, UAVObjHandle obj, uint16_t inst_id)

static void	ackCallback (void *ctx, uint32_t obj_id, uint16_t inst_id)

static void	reqCallback (void *ctx, uint32_t obj_id, uint16_t inst_id)

static void	registerObject (telem_t telem, UAVObjHandle obj)

static void	updateObject (telem_t telem, UAVObjHandle obj, int32_t eventType)

static int32_t	setUpdatePeriod (telem_t telem, UAVObjHandle obj, int32_t updatePeriodMs)

static void	processObjEvent (telem_t telem, UAVObjEvent *ev)

static void	updateTelemetryStats (telem_t telem)

static void	gcsTelemetryStatsUpdated ()

static void	updateSettings ()

static uintptr_t	getComPort ()

static void	update_object_instances (uint32_t obj_id, uint32_t inst_id)

static bool	processUsbActivity (bool seen_active)

static int32_t	fileReqCallback (void ctx, uint8_t buf, uint32_t file_id, uint32_t offset, uint32_t len)

static void	registerObjectShim (UAVObjHandle obj)

int32_t	TelemetryStart (void)

int32_t	TelemetryInitialize (void)

static void	ackResendOrTimeout (telem_t telem, int idx)

static bool	ackHousekeeping (telem_t telem)

static bool	sendRequestedObjs (telem_t telem)

static void	gcsTelemetryStatsUpdated (telem_t telem)

void	telemetry_set_inhibit (bool inhibit)

Variables
static struct telemetry_state	telem_state = { }

Detailed Description

Macro Definition Documentation

#define ACK_TIMEOUT_MS 250

Definition at line 73 of file telemetry.c.

#define CONNECTION_TIMEOUT_MS 8000

Definition at line 68 of file telemetry.c.

#define MAX_ACKS_PENDING 3

Definition at line 71 of file telemetry.c.

#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE

Definition at line 61 of file telemetry.c.

#define MAX_REQS_PENDING 5

Definition at line 72 of file telemetry.c.

#define MAX_RETRIES 2

Definition at line 65 of file telemetry.c.

#define STACK_SIZE_BYTES TELEM_STACK_SIZE

Definition at line 62 of file telemetry.c.

#define STATS_UPDATE_PERIOD_MS 1753

Definition at line 67 of file telemetry.c.

#define TASK_PRIORITY_RX PIOS_THREAD_PRIO_NORMAL

Definition at line 63 of file telemetry.c.

#define TASK_PRIORITY_TX PIOS_THREAD_PRIO_NORMAL

Definition at line 64 of file telemetry.c.

#define TELEM_QUEUE_SIZE 60

Definition at line 53 of file telemetry.c.

#define TELEM_STACK_SIZE 624

Definition at line 57 of file telemetry.c.

#define USB_ACTIVITY_TIMEOUT_MS 6000

Definition at line 69 of file telemetry.c.

Typedef Documentation

typedef struct telemetry_state* telem_t

Definition at line 113 of file telemetry.c.

Function Documentation

static void ackCallback	(	void *	ctx,
		uint32_t	obj_id,
		uint16_t	inst_id
	)

static

Callback for when we receive an ack.

Parameters

[in]	ctx	Callback context (telemetry subsystem handle)
[in]	obj_id	The object ID that we got an ack for.
[in]	inst_id	The instance ID that we got an ack for.

Definition at line 520 of file telemetry.c.

static bool ackHousekeeping ( telem_t telem )

static

Checks for expected-ack messages that need resend or expiration.

Parameters

[in] telem Telemetry subsystem handle

Definition at line 356 of file telemetry.c.

static void ackResendOrTimeout	(	telem_t	telem,
		int	idx
	)

static

Either expires or retransmits a message that expects ack.

Parameters

[in]	telem	Telemetry subsystem handle
[in]	idx	The offset for "which ack" to do this for.

Definition at line 310 of file telemetry.c.

static void addAckPending	(	telem_t	telem,
		UAVObjHandle	obj,
		uint16_t	inst_id
	)

static

Adds a message for which we want an ack. Can block if there are already too many ack-required things pending.

Parameters

[in]	telem	Telemetry subsystem handle
[in]	obj	The object for which we want to wait for an ack.
[in]	inst_id	The instance ID of said object.

Todo:: Consider nicer wakeup mechanism here.

Definition at line 383 of file telemetry.c.

static int32_t fileReqCallback	(	void *	ctx,
		uint8_t *	buf,
		uint32_t	file_id,
		uint32_t	offset,
		uint32_t	len
	)

static

Callback for when we receive a request for data. Converts a file id to the actual unit of information, and returns/copies it. Currently only operates on partitions.

Parameters

[in]	ctx	Callback context (telemetry subsystem handle)
[in]	file_id	The requested file_id
[in]	offset	The offset of information requested
[in]	len	The maximum amount of information to return. A short read is permissable, as long as some bytes are returned.

Returns: The number of bytes filled, 0 on EOF, negative on error.

Definition at line 439 of file telemetry.c.

static void gcsTelemetryStatsUpdated ( )

static

static void gcsTelemetryStatsUpdated ( telem_t telem )

static

Called each time the GCS telemetry stats object is updated. Trigger a flight telemetry stats update if a connection is not yet established.

Definition at line 780 of file telemetry.c.

static uintptr_t getComPort ( )

static

Determine input/output com port as highest priority available

Definition at line 938 of file telemetry.c.

static void processObjEvent	(	telem_t	telem,
		UAVObjEvent *	ev
	)

static

Processes queue events

Definition at line 556 of file telemetry.c.

static bool processUsbActivity ( bool seen_active )

static

static void registerObject	(	telem_t	telem,
		UAVObjHandle	obj
	)

static

Register a new object, adds object to local list and connects the queue depending on the object's telemetry settings.

Parameters

[in] obj Object to connect

Definition at line 217 of file telemetry.c.

static void registerObjectShim ( UAVObjHandle obj )

static

Definition at line 138 of file telemetry.c.

static void reqCallback	(	void *	ctx,
		uint32_t	obj_id,
		uint16_t	inst_id
	)

static

Callback for when a telemetry session requests data

Parameters

[in]	ctx	Callback context (telemetry subsystem handle)
[in]	obj_id	The object ID that we got a req for.
[in]	inst_id	The instance ID that we got a req for.

Definition at line 488 of file telemetry.c.

static bool sendRequestedObjs ( telem_t telem )

static

Definition at line 603 of file telemetry.c.

static int32_t setUpdatePeriod	(	telem_t	telem,
		UAVObjHandle	obj,
		int32_t	updatePeriodMs
	)

static

Set update period of object (it must be already setup for periodic updates)

Parameters

[in]	obj	The object to update
[in]	updatePeriodMs	The update period in ms, if zero then periodic updates are disabled

Returns: 0 Success; -1 Failure

Definition at line 763 of file telemetry.c.

void telemetry_set_inhibit ( bool inhibit )

Todo:: Consider nulling out flighttelemetrystats conn state.

Definition at line 981 of file telemetry.c.

int32_t TelemetryInitialize ( void )

Initialise the telemetry module

Returns: -1 if initialisation failed; 0 on success

Definition at line 181 of file telemetry.c.

static void telemetryRxTask ( void * parameters )

static

Telemetry transmit task. Processes queue events and periodic updates.

Definition at line 702 of file telemetry.c.

int32_t TelemetryStart ( void )

Initialise the telemetry module

Returns: -1 if initialisation failed; 0 on success

Definition at line 147 of file telemetry.c.

static void telemetryTxTask ( void * parameters )

static

Telemetry transmit task

Definition at line 659 of file telemetry.c.

static int32_t transmitData	(	void *	ctx,
		uint8_t *	data,
		int32_t	length
	)

static

Transmit data buffer to the modem or USB port.

Parameters

[in]	data	Data buffer to send
[in]	length	Length of buffer

Returns: -1 on failure; number of bytes transmitted on success

Definition at line 744 of file telemetry.c.

static void update_object_instances	(	uint32_t	obj_id,
		uint32_t	inst_id
	)

static

New UAVO object instance callback This is called from the uavobjectmanager

Parameters

[in]	obj_id	The id of the object which had a new instance created
[in]	inst_id	the instance ID that was created

Todo:: just send the new instance, reqack.

Definition at line 976 of file telemetry.c.

static void updateObject	(	telem_t	telem,
		UAVObjHandle	obj,
		int32_t	eventType
	)

static

Update object's queue connections and timer, depending on object's settings

Parameters

[in] obj Object to updates

Definition at line 250 of file telemetry.c.

static void updateSettings ( )

static

Update the telemetry settings, called on startup.

Definition at line 891 of file telemetry.c.

static void updateTelemetryStats ( telem_t telem )

static

Update telemetry statistics and handle connection handshake

Definition at line 797 of file telemetry.c.

Variable Documentation

struct telemetry_state telem_state = { }

static

Definition at line 111 of file telemetry.c.

Files

Data Structures

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation