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LibrePilot/flight/Modules/Osd/osdinput/osdinput.c

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2013-04-07 08:49:13 +02:00
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup osdinputModule osdinput Module
* @brief Process osdinput information
* @{
*
* @file osdinput.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief osdinput module, handles osdinput stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// ****************
#include "openpilot.h"
#include "osdinput.h"
#include "attitudeactual.h"
#include "fifo_buffer.h"
// ****************
// Private functions
static void OpOsdTask(void *parameters);
// ****************
// Private constants
#define GPS_TIMEOUT_MS 500
#define NMEA_MAX_PACKET_LENGTH 33 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
// same as in COM buffer
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES 1024
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
// ****************
// Private variables
static uint32_t oposdPort;
static xTaskHandle OpOsdTaskHandle;
static char* oposd_rx_buffer;
t_fifo_buffer rx;
static uint32_t timeOfLastCommandMs;
static uint32_t timeOfLastUpdateMs;
static uint32_t numUpdates;
static uint32_t numChecksumErrors;
static uint32_t numParsingErrors;
// ****************
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OpOsdStart(void)
{
// Start gps task
xTaskCreate(OpOsdTask, (signed char *)"OSD", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &OpOsdTaskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
return 0;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OpOsdInitialize(void)
{
AttitudeActualInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = 0;
attitude.Pitch = 0;
attitude.Yaw = 0;
AttitudeActualSet(&attitude);
// TODO: Get gps settings object
oposdPort = PIOS_COM_OSD;
oposd_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(oposd_rx_buffer);
return 0;
}
MODULE_INITCALL(OpOsdInitialize, OpOsdStart)
// ****************
/**
* Main gps task. It does not return.
*/
static void OpOsdTask(void *parameters)
{
portTickType xDelay = 100 / portTICK_RATE_MS;
portTickType lastSysTime;
// Loop forever
lastSysTime = xTaskGetTickCount(); //portTickType xDelay = 100 / portTICK_RATE_MS;
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
//GPSPositionData GpsData;
//uint8_t rx_count = 0;
//bool start_flag = false;
//bool found_cr = false;
//int32_t gpsRxOverflow = 0;
numUpdates = 0;
numChecksumErrors = 0;
numParsingErrors = 0;
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
uint8_t rx_count = 0;
bool start_flag = false;
//bool found_cr = false;
int32_t gpsRxOverflow = 0;
uint8_t c=0xAA;
// Loop forever
while (1)
{
/*//DMA_Cmd(DMA1_Stream2, DISABLE); //prohibit channel3 for a little time
uint16_t cnt = DMA_GetCurrDataCounter(DMA1_Stream2);
rx.wr = rx.buf_size-cnt;
if(rx.wr)
{
//PIOS_LED_Toggle(LED2);
while ( fifoBuf_getData(&rx, &c, 1) > 0)
{
// detect start while acquiring stream
if (!start_flag && ((c == 0xCB) || (c == 0x34)))
{
start_flag = true;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= 11)
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
rx_count = 0;
}
else
{
oposd_rx_buffer[rx_count] = c;
rx_count++;
}
if (start_flag && rx_count == 11)
{
//PIOS_LED_Toggle(LED3);
if(oposd_rx_buffer[1]==3)
{
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
AttitudeActualSet(&attitude);
//setAttitudeOsd((int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8), //pitch
// (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8), //roll
// (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8)); //yaw
}
//frame completed
start_flag = false;
rx_count = 0;
}
}
}
//DMA_Cmd(DMA1_Stream2, ENABLE);
*/
//PIOS_COM_SendBufferNonBlocking(oposdPort, &c, 1);
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBuffer(oposdPort, &c, 1, xDelay) > 0)
{
// detect start while acquiring stream
if (!start_flag && ((c == 0xCB) || (c == 0x34)))
{
start_flag = true;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= 11)
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
rx_count = 0;
}
else
{
oposd_rx_buffer[rx_count] = c;
rx_count++;
}
if (rx_count == 11)
{
if(oposd_rx_buffer[1]==3)
{
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
AttitudeActualSet(&attitude);
}
//frame completed
start_flag = false;
rx_count = 0;
}
}
vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
// Check for GPS timeout
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS)
{ // we have not received any valid GPS sentences for a while.
// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
}
else
{ // we appear to be receiving GPS sentences OK, we've had an update
}
}
}
// ****************
/**
* @}
* @}
*/