telemetry.c File Reference

Telemetry module, handles telemetry and UAVObject updates. More...

#include "openpilot.h"
#include <eventdispatcher.h>
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "modulesettings.h"
#include "pios_thread.h"
#include "pios_mutex.h"
#include "pios_queue.h"
#include "pios_hal.h"
#include <uavtalk.h>

Go to the source code of this file.

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

Telemetry module, handles telemetry and UAVObject updates.

Author

The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.

Tau Labs, http://taulabs.org, Copyright (C) 2012-2014

dRonin, http://dronin.org Copyright (C) 2015-2016

See Also

The GNU Public License (GPL) Version 3

Definition in file telemetry.c.