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LibrePilot/flight/modules/Osd/osdinput/osdinput.c

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/**
******************************************************************************
* @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>
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#include "osdinput.h"
#include "attitudestate.h"
#include "taskinfo.h"
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#include "flightstatus.h"
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#include "fifo_buffer.h"
// ****************
// Private functions
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static void osdinputTask(void *parameters);
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// ****************
// Private constants
#define STACK_SIZE_BYTES 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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#define MAX_PACKET_LENGTH 33
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// ****************
// Private variables
static uint32_t oposdPort;
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static xTaskHandle osdinputTaskHandle;
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static char *oposd_rx_buffer;
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t_fifo_buffer rx;
enum osd_pkt_type {
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OSD_PKT_TYPE_MISC = 0, OSD_PKT_TYPE_NAV = 1, OSD_PKT_TYPE_MAINT = 2, OSD_PKT_TYPE_ATT = 3, OSD_PKT_TYPE_MODE = 4,
};
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// ****************
/**
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* Initialise the osdinput module
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* \return -1 if initialisation failed
* \return 0 on success
*/
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int32_t osdinputStart(void)
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{
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// Start osdinput task
xTaskCreate(osdinputTask, (signed char *)"OSDINPUT", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &osdinputTaskHandle);
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return 0;
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}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
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int32_t osdinputInitialize(void)
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{
AttitudeStateInitialize();
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FlightStatusInitialize();
// Initialize quaternion
AttitudeStateData attitude;
AttitudeStateGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = 0;
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attitude.Pitch = 0;
attitude.Yaw = 0;
AttitudeStateSet(&attitude);
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oposdPort = PIOS_COM_OSD;
oposd_rx_buffer = pvPortMalloc(MAX_PACKET_LENGTH);
PIOS_Assert(oposd_rx_buffer);
return 0;
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}
MODULE_INITCALL(osdinputInitialize, osdinputStart);
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// ****************
/**
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* Main osdinput task. It does not return.
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*/
static void osdinputTask(__attribute__((unused)) void *parameters)
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{
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portTickType xDelay = 100 / portTICK_RATE_MS;
portTickType lastSysTime;
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lastSysTime = xTaskGetTickCount();
uint8_t rx_count = 0;
bool start_flag = false;
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int32_t osdRxOverflow = 0;
uint8_t c = 0xAA;
// Loop forever
while (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;
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} else if (!start_flag) {
continue;
}
if (rx_count >= 11) {
// Flush the buffer and note the overflow event.
osdRxOverflow++;
start_flag = false;
rx_count = 0;
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} else {
oposd_rx_buffer[rx_count] = c;
rx_count++;
}
if (rx_count == 11) {
if (oposd_rx_buffer[1] == OSD_PKT_TYPE_ATT) {
AttitudeStateData attitude;
AttitudeStateGet(&attitude);
attitude.q1 = 1;
attitude.q2 = 0;
attitude.q3 = 0;
attitude.q4 = 0;
attitude.Roll = (float)((int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4] << 8)) / 10.0f;
attitude.Pitch = (float)((int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6] << 8)) / 10.0f;
attitude.Yaw = (float)((int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8] << 8)) / 10.0f;
AttitudeStateSet(&attitude);
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} else if (oposd_rx_buffer[1] == OSD_PKT_TYPE_MODE) {
FlightStatusData status;
FlightStatusGet(&status);
status.Armed = oposd_rx_buffer[8];
status.FlightMode = oposd_rx_buffer[3];
FlightStatusSet(&status);
}
// frame completed
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start_flag = false;
rx_count = 0;
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}
}
vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
}
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}
// ****************
/**
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* @}
* @}
*/