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94 lines
2.4 KiB
C
94 lines
2.4 KiB
C
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/**
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******************************************************************************
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*
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* @file MKSerial.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Interfacing with MK via serial port
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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//
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// Configuration
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//
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#define DEBUG_PORT COM_USART1
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#define STACK_SIZE 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
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#define ENABLE_DEBUG_MSG
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//
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// Private constants
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//
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#ifdef ENABLE_DEBUG_MSG
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#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
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#else
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#define DEBUG_MSG(format, ...)
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#endif
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//
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// Private types
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//
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//
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// Private variables
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//
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//
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// Private functions
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//
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static void Task(void* parameters)
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{
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uint8_t msg[63] = {0x03,0x3F,0x03,00,00,00,00,00,0x91,0x0A,0x00,00,00,00,00,00,00,0xFD,0x17,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,0x91,0x0A};
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PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
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DEBUG_MSG("OSD ET Std Started\n\r");
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while (1)
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{
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msg[10]++;
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if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
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{
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PIOS_I2C_Transfer(I2C_Write, 0x30<<1, msg, sizeof(msg));
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PIOS_I2C_UnlockDevice();
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}
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vTaskDelay(100 / portTICK_RATE_MS);
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}
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}
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/**
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* Initialise the module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t OsdEtStdInitialize(void)
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{
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// Start gps task
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xTaskCreate(Task, (signed char*) "Osd", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
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return 0;
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}
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