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LibrePilot/flight/Modules/AHRSComms/ahrs_comms.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AHRSCommsModule AHRSComms Module
* @brief Handles communication with AHRS and updating position
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
* @file ahrs_comms.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to handle all comms to the AHRS on a periodic basis.
*
* @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
*/
/**
* Input objects: As defined in PiOS/inc/pios_ahrs_comms.h
* Output objects: As defined in PiOS/inc/pios_ahrs_comms.h
*
* This module will periodically update the values of latest attitude solution
* and other objects that are transferred to and from the AHRS
* The module settings can configure how often AHRS is polled for a new solution.
*
* The module executes in its own thread.
*
* UAVObjects are automatically generated by the UAVObjectGenerator from
* the object definition XML file.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "ahrs_comms.h"
#include "ahrs_spi_comm.h"
#include "ahrsstatus.h"
#include "ahrscalibration.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE-128
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void ahrscommsTask(void *parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsStart(void)
{
// Start main task
AhrsStatusInitialize();
AHRSCalibrationInitialize();
AttitudeRawInitialize();
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
return 0;
}
MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
/**
* Module thread, should not return.
*/
static void ahrscommsTask(void *parameters)
{
portTickType lastSysTime;
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
// Main task loop
while (1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
AhrsSendObjects();
AhrsCommStatus stat = AhrsGetStatus();
if (stat.linkOk) {
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
} else {
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
}
AhrsStatusData sData;
AhrsStatusGet(&sData);
sData.LinkRunning = stat.linkOk;
sData.AhrsKickstarts = stat.remote.kickStarts;
sData.AhrsCrcErrors = stat.remote.crcErrors;
sData.AhrsRetries = stat.remote.retries;
sData.AhrsInvalidPackets = stat.remote.invalidPacket;
sData.OpCrcErrors = stat.local.crcErrors;
sData.OpRetries = stat.local.retries;
sData.OpInvalidPackets = stat.local.invalidPacket;
AhrsStatusSet(&sData);
/* Wait for the next update interval */
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS);
}
}
/**
* @}
* @}
*/