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LibrePilot/flight/modules/Osd/WavPlayer/wavplayer.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup WavPlayerModule WavPlayer Module
* @brief Process WavPlayer information
* @{
*
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* @file wavplayer.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief WavPlayer module
* @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"
// ****************
// Private functions
static void WavPlayerTask(void *parameters);
// ****************
// Private constants
#define STACK_SIZE_BYTES 1600
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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// ****************
// Private variables
static xTaskHandle WavPlayerTaskHandle;
static uint32_t timeOfLastCommandMs;
static uint32_t timeOfLastUpdateMs;
// ****************
int32_t WavPlayerStart(void)
{
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// Start WavPlayer task
xTaskCreate(WavPlayerTask, (signed char *)"WavPlayer", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &WavPlayerTaskHandle);
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return 0;
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}
/**
* Initialise the WavPlayer module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t WavPlayerInitialize(void)
{
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return 0;
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}
MODULE_INITCALL(WavPlayerInitialize, WavPlayerStart);
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// ****************
/**
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* Main WavPlayer task. It does not return.
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*/
static void WavPlayerTask(__attribute__((unused)) void *parameters)
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{
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portTickType lastSysTime;
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// Loop forever
lastSysTime = xTaskGetTickCount();
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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#if defined(PIOS_INCLUDE_WAVE)
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WavePlayer_Start();
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#endif
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// Loop forever
while (1) {
vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
}
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}
// ****************
/**
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* @}
* @}
*/