LP-548 OPLink will output OPLink receiver objects if mode is set to control or data and control and PPM output is not configured. Also adds support for OPLInkReceiver to all FCs.

Author: webbbn

flight/modules/RadioComBridge/RadioComBridge.c

@@ -551,11 +551,9 @@ static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalk
             switch (objId) {
             case OPLINKSTATUS_OBJID:
             case OPLINKSETTINGS_OBJID:
-            case OPLINKRECEIVER_OBJID:
             case MetaObjectId(OPLINKSTATUS_OBJID):
             case MetaObjectId(OPLINKSETTINGS_OBJID):
-            case MetaObjectId(OPLINKRECEIVER_OBJID):
-                UAVTalkReceiveObject(inConnectionHandle);
+                UAVTalkReceiveObject(inConnectionHandle, true);
                 break;
             case OBJECTPERSISTENCE_OBJID:
             case MetaObjectId(OBJECTPERSISTENCE_OBJID):
@@ -568,7 +566,7 @@ static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalk
                 // Second ack/nack will not match an open transaction or will apply to wrong transaction
                 // Question : how does GCS handle receiving the same object twice
                 // The OBJECTPERSISTENCE logic can be broken too if for example OPLM nacks and then REVO acks...
-                UAVTalkReceiveObject(inConnectionHandle);
+                UAVTalkReceiveObject(inConnectionHandle, true);
                 // relay packet to remote modem
                 UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
                 break;
@@ -616,7 +614,9 @@ static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConn
                 // These objects are received by the modem and are not transmitted to the telemetry port
                 // - OPLINKRECEIVER_OBJID : not sure why
                 // some objects will send back a response to the remote modem
-                UAVTalkReceiveObject(inConnectionHandle);
+                UAVTalkReceiveObject(inConnectionHandle, true);
+                // all other packets are relayed to the telemetry port
+                UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
                 break;
             default:
                 // all other packets are relayed to the telemetry port

flight/modules/UAVOMSPBridge/UAVOMSPBridge.c

@@ -43,7 +43,7 @@
 #include "gpspositionsensor.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
-#include "oplinkstatus.h"
+#include "oplinkreceiver.h"
 #include "accessorydesired.h"
 #include "attitudestate.h"
 #include "airspeedstate.h"
@@ -481,7 +481,7 @@ static void msp_send_analog(struct msp_bridge *m)
 #ifdef PIOS_INCLUDE_OPLINKRCVR
     if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
         int8_t rssi;
-        OPLinkStatusRSSIGet(&rssi);
+        OPLinkReceiverRSSIGet(&rssi);
 
         // MSP values have no units, and OSD rssi display requires calibration anyway, so we will translate OPLINK_LOW_RSSI to OPLINK_HIGH_RSSI -> 0-1023
         if (rssi < OPLINK_LOW_RSSI) {

flight/modules/UAVOMavlinkBridge/UAVOMavlinkBridge.c

@@ -52,7 +52,7 @@
 #include "taskinfo.h"
 #include "mavlink.h"
 #include "hwsettings.h"
-#include "oplinkstatus.h"
+#include "oplinkreceiver.h"
 #include "receiverstatus.h"
 #include "manualcontrolsettings.h"
 
@@ -250,7 +250,7 @@ static void mavlink_send_rc_channels()
 #ifdef PIOS_INCLUDE_OPLINKRCVR
     if (channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK) {
         int8_t rssi;
-        OPLinkStatusRSSIGet(&rssi);
+        OPLinkReceiverRSSIGet(&rssi);
 
         if (rssi < OPLINK_LOW_RSSI) {
             rssi = OPLINK_LOW_RSSI;

flight/pios/common/pios_board_io.c

@@ -54,14 +54,16 @@
 # ifdef PIOS_INCLUDE_GCSRCVR
 #  include <pios_gcsrcvr_priv.h>
 # endif
+# ifdef PIOS_INCLUDE_OPLINKRCVR
+#  include <oplinkreceiver.h>
+#  include <pios_oplinkrcvr_priv.h>
+# endif
 #endif /* PIOS_INCLUDE_RCVR */
 
 #ifdef PIOS_INCLUDE_RFM22B
 # include <oplinksettings.h>
 # include <oplinkstatus.h>
 # ifdef PIOS_INCLUDE_RCVR
-#  include <oplinkreceiver.h>
-#  include <pios_oplinkrcvr_priv.h>
 #  include <pios_openlrs.h>
 #  include <pios_openlrs_rcvr_priv.h>
 # endif /* PIOS_INCLUDE_RCVR */
@@ -525,7 +527,7 @@ void PIOS_BOARD_IO_Configure_PPM_RCVR(const struct pios_ppm_cfg *ppm_cfg)
 }
 #endif /* PIOS_INCLUDE_PPM */
 
-#ifdef PIOS_INCLUDE_GCSRCVR
+#if defined(PIOS_INCLUDE_GCSRCVR)
 void PIOS_BOARD_IO_Configure_GCS_RCVR()
 {
     GCSReceiverInitialize();
@@ -539,6 +541,24 @@ void PIOS_BOARD_IO_Configure_GCS_RCVR()
 }
 #endif /* PIOS_INCLUDE_GCSRCVR */
 
+#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
+void PIOS_BOARD_IO_Configure_OPLink_RCVR()
+{
+    uint32_t pios_oplinkrcvr_id;
+    OPLinkReceiverInitialize();
+#if defined(PIOS_INCLUDE_RFM22B)
+    PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
+#else /* PIOS_INCLUDE_RFM22B */
+    PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
+#endif /* PIOS_INCLUDE_RFM22B */
+    uint32_t pios_oplinkrcvr_rcvr_id;
+    if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
+        PIOS_Assert(0);
+    }
+    pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
+}
+#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
+
 #ifdef PIOS_INCLUDE_RFM22B
 
 void PIOS_BOARD_IO_Configure_RFM22B()
@@ -596,15 +616,6 @@ void PIOS_BOARD_IO_Configure_RFM22B()
             if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_SPI_RFM22B_ADAPTER, rfm22b_cfg->slave_num, rfm22b_cfg, oplinkSettings.RFBand)) {
                 PIOS_Assert(0);
             }
-#if defined(PIOS_INCLUDE_OPLINKRCVR) && defined(PIOS_INCLUDE_RCVR)
-            uint32_t pios_oplinkrcvr_id;
-            PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id, pios_rfm22b_id);
-            uint32_t pios_oplinkrcvr_rcvr_id;
-            if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
-                PIOS_Assert(0);
-            }
-            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
-#endif /* PIOS_INCLUDE_OPLINKRCVR && PIOS_INCLUDE_RCVR */
 
             /* Configure the radio com interface */
             if (PIOS_COM_Init(&pios_com_pri_radio_id, &pios_rfm22b_com_driver, pios_rfm22b_id,

flight/pios/common/pios_oplinkrcvr.c

@@ -60,11 +60,14 @@ struct pios_oplinkrcvr_dev {
     bool    Fresh;
 };
 
+static struct pios_oplinkrcvr_dev *global_oplinkrcvr_dev;
+
 static bool PIOS_oplinkrcvr_validate(struct pios_oplinkrcvr_dev *oplinkrcvr_dev)
 {
     return oplinkrcvr_dev->magic == PIOS_OPLINKRCVR_DEV_MAGIC;
 }
 
+#if defined(PIOS_INCLUDE_RFM22B)
 static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *channels)
 {
     /* Recover our device context */
@@ -78,10 +81,21 @@ static void PIOS_oplinkrcvr_ppm_callback(uint32_t oplinkrcvr_id, const int16_t *
     for (uint8_t i = 0; i < OPLINKRECEIVER_CHANNEL_NUMELEM; ++i) {
         oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = (i < RFM22B_PPM_NUM_CHANNELS) ? channels[i] : PIOS_RCVR_TIMEOUT;
     }
-    OPLinkReceiverSet(&oplinkrcvr_dev->oplinkreceiverdata);
+    
+    // Update the RSSI and quality fields.
+    int8_t rssi;
+    OPLinkReceiverRSSIGet(&rssi);
+    oplinkrcvr_dev->oplinkreceiverdata.RSSI = rssi;
+    uint8_t quality;
+    OPLinkReceiverLinkQualityGet(&quality);
+    // Link quality is 0-128, so scale it down to 0-100
+    oplinkrcvr_dev->oplinkreceiverdata.LinkQuality = quality * 100 / 128;
+
+    //OPLinkReceiverSet(&oplinkrcvr_dev->oplinkreceiverdata);
 
     oplinkrcvr_dev->Fresh = true;
 }
+#endif /* PIOS_INCLUDE_RFM22B */
 
 #if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
@@ -96,6 +110,9 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
     oplinkrcvr_dev->magic = PIOS_OPLINKRCVR_DEV_MAGIC;
     oplinkrcvr_dev->Fresh = false;
     oplinkrcvr_dev->supv_timer = 0;
+    
+    /* The update callback cannot receive the device pointer, so set it in a global */
+    global_oplinkrcvr_dev = oplinkrcvr_dev;
 
     return oplinkrcvr_dev;
 }
@@ -119,7 +136,21 @@ static struct pios_oplinkrcvr_dev *PIOS_oplinkrcvr_alloc(void)
 }
 #endif /* if defined(PIOS_INCLUDE_FREERTOS) */
 
+static void oplinkreceiver_updated(UAVObjEvent *ev)
+{
+    struct pios_oplinkrcvr_dev *oplinkrcvr_dev = global_oplinkrcvr_dev;
+
+    if (ev->obj == OPLinkReceiverHandle()) {
+        OPLinkReceiverGet(&oplinkrcvr_dev->oplinkreceiverdata);
+        oplinkrcvr_dev->Fresh = true;
+    }
+}
+
+#if defined(PIOS_INCLUDE_RFM22B)
 extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
+#else
+extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id)
+#endif
 {
     struct pios_oplinkrcvr_dev *oplinkrcvr_dev;
 
@@ -134,8 +165,13 @@ extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id)
         oplinkrcvr_dev->oplinkreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
     }
 
+#if defined(PIOS_INCLUDE_RFM22B)
     /* Register ppm callback */
     PIOS_RFM22B_SetPPMCallback(rfm22b_id, PIOS_oplinkrcvr_ppm_callback, (uint32_t)oplinkrcvr_dev);
+#endif
+
+    /* Updates could come over the telemetry channel, so register uavobj callback */
+    OPLinkReceiverConnectCallback(oplinkreceiver_updated);
 
     /* Register the failsafe timer callback. */
     if (!PIOS_RTC_RegisterTickCallback(PIOS_oplinkrcvr_Supervisor, (uint32_t)oplinkrcvr_dev)) {
@@ -199,14 +235,17 @@ static void PIOS_oplinkrcvr_Supervisor(uint32_t oplinkrcvr_id)
     oplinkrcvr_dev->Fresh = false;
 }
 
-static uint8_t PIOS_OPLinkRCVR_Quality_Get(__attribute__((unused)) uint32_t oplinkrcvr_id)
+static uint8_t PIOS_OPLinkRCVR_Quality_Get(uint32_t oplinkrcvr_id)
 {
-    uint16_t oplink_quality;
+    /* Recover our device context */
+    struct pios_oplinkrcvr_dev *oplinkrcvr_dev = (struct pios_oplinkrcvr_dev *)oplinkrcvr_id;
 
-    OPLinkStatusLinkQualityGet(&oplink_quality);
+    if (!PIOS_oplinkrcvr_validate(oplinkrcvr_dev)) {
+        /* Invalid device specified */
+        return 0;
+    }
 
-    /* link_status is in the range 0-128, so scale to a % */
-    return oplink_quality * 100 / 128;
+    return oplinkrcvr_dev->oplinkreceiverdata.LinkQuality;
 }
 
 #endif /* PIOS_INCLUDE_OPLINKRCVR */

flight/pios/common/pios_rfm22b.c

@@ -1798,6 +1798,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
     }
 
     // Should we append PPM data to the packet?
+    bool ppm_valid = false;
     if (radio_dev->ppm_send_mode) {
         len = RFM22B_PPM_NUM_CHANNELS + (radio_dev->ppm_only_mode ? 2 : 1);
 
@@ -1817,10 +1818,13 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
             if ((val == PIOS_RCVR_INVALID) || (val == PIOS_RCVR_TIMEOUT)) {
                 val = RFM22B_PPM_INVALID;
             } else if (val > RFM22B_PPM_MAX_US) {
+                ppm_valid = true;
                 val = RFM22B_PPM_MAX;
             } else if (val < RFM22B_PPM_MIN_US) {
+                ppm_valid = true;
                 val = RFM22B_PPM_MIN;
             } else {
+                ppm_valid = true;
                 val = (val - RFM22B_PPM_MIN_US) / RFM22B_PPM_SCALE + RFM22B_PPM_MIN;
             }
 
@@ -1844,6 +1848,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
     }
 
     // Append data from the com interface if applicable.
+    bool packet_data = false;
     if (!radio_dev->ppm_only_mode) {
         uint8_t newlen  = 0;
         bool need_yield = false;
@@ -1863,6 +1868,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
             i++;
         }
         if (newlen) {
+            packet_data = true;
             *(p + len) = radio_dev->last_stream_sent;
             len += newlen + 1;
         }
@@ -1885,7 +1891,7 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
     }
 
     // Only count the packet if it contains valid data.
-    if (radio_dev->ppm_only_mode || (len > RS_ECC_NPARITY)) {
+    if (ppm_valid || packet_data) {
         TX_LED_ON;
         radio_dev->stats.tx_byte_count += len;
     }

flight/pios/inc/pios_board_io.h

@@ -268,4 +268,8 @@ void PIOS_BOARD_IO_Configure_RadioAuxStream(HwSettingsRadioAuxStreamOptions radi
 void PIOS_BOARD_IO_Configure_GCS_RCVR();
 #endif
 
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+void PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
+
 #endif /* PIOS_BOARD_IO_H */

flight/pios/inc/pios_oplinkrcvr_priv.h

@@ -35,7 +35,11 @@
 
 extern const struct pios_rcvr_driver pios_oplinkrcvr_rcvr_driver;
 
+#if defined(PIOS_INCLUDE_RFM22B)
 extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id, uint32_t rfm22b_id);
+#else
+extern int32_t PIOS_OPLinkRCVR_Init(uint32_t *oplinkrcvr_id);
+#endif
 
 #endif /* PIOS_OPLINKRCVR_PRIV_H */
 

flight/targets/boards/ccf3d/firmware/inc/pios_config.h

@@ -105,8 +105,8 @@
 #define PIOS_INCLUDE_SRXL
 #define PIOS_INCLUDE_HOTT
 #define PIOS_INCLUDE_IBUS
-/* #define PIOS_INCLUDE_GCSRCVR */
-/* #define PIOS_INCLUDE_OPLINKRCVR */
+#define PIOS_INCLUDE_GCSRCVR
+#define PIOS_INCLUDE_OPLINKRCVR
 
 /* PIOS abstract receiver interface */
 #define PIOS_INCLUDE_RCVR

flight/targets/boards/ccf3d/firmware/pios_board.c

@@ -251,10 +251,13 @@ void PIOS_Board_Init(void)
         break;
     }
 
+#ifdef PIOS_INCLUDE_GCSRCVR
+    PIOS_BOARD_IO_Configure_GCS_RCVR();
+#endif
 
-#if defined(PIOS_INCLUDE_GCSRCVR)
-    PIOS_BOARD_IO_Configure_GCSRCVR();
-#endif /* PIOS_INCLUDE_GCSRCVR */
+#ifdef PIOS_INCLUDE_OPLINKRCVR
+    PIOS_BOARD_IO_Configure_OPLink_RCVR();
+#endif
 
 #ifndef PIOS_ENABLE_DEBUG_PINS
     switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {