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Code Issues Releases Activity

OP-300 FirmwareIAP: Change to use event dispatcher callback to determine when

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to reset OP (sends reset command to INS)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2648 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-01 01:55:43 +00:00 committed by peabody124
parent 5f83c4170e
commit 42b21a2697
1 changed files with 26 additions and 16 deletions
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42
flight/Modules/FirmwareIAP/firmwareiap.c
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@ -26,10 +26,10 @@
*/
#include <stdint.h>
#include "pios.h"
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
#include "pios_iap.h"
#include "STM3210E_OP.h"
@ -46,6 +46,8 @@
#define IAP_STATE_STEP_1 1
#define IAP_STATE_STEP_2 2
#define RESET_DELAY 500 /* delay between sending reset ot INS */
#define TICKS2MS(t) ((t)/portTICK_RATE_MS)
#define MS2TICKS(m) ((m)*portTICK_RATE_MS)
@ -72,17 +74,13 @@ FirmwareIAPObjData data;
static uint32_t get_time(void);
// Private constants
#define STACK_SIZE_BYTES 800
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void resetTask(void *parameters);
static void resetTask(UAVObjEvent *);
/**
* Initialise the module, called on startup.
@ -166,8 +164,12 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
// we've met the time requirements.
PIOS_IAP_SetRequest1();
PIOS_IAP_SetRequest2();
xTaskCreate(resetTask, (signed char *)"Reset", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
} else {
/* Note: Cant just wait timeout value, because first time is randomized */
UAVObjEvent * ev = pvPortMalloc(sizeof(UAVObjEvent));
memset(ev,0,sizeof(UAVObjEvent));
EventPeriodicCallbackCreate(ev, resetTask, 10);
} else {
iap_state = IAP_STATE_READY;
}
} else {
@ -238,19 +240,27 @@ static void read_description(uint8_t * array)
}
}
static void resetTask(void *parameters)
/**
* Executed by event dispatcher callback to reset INS before resetting OP
*/
static void resetTask(UAVObjEvent * ev)
{
static portTickType lastSysTime;
static uint8_t count = 0;
static uint8_t first = 1;
if(first == 1) { /* Initialize */
lastSysTime = xTaskGetTickCount();
first = 0;
}
portTickType lastSysTime;
uint8_t count=0;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
if((portTickType) (xTaskGetTickCount() - lastSysTime) > RESET_DELAY / portTICK_RATE_MS) {
lastSysTime = xTaskGetTickCount();
data.BoardType=0xFF;
data.ArmReset=1;
data.crc=count;
data.crc=count; /* Must change a value for this to get to INS */
FirmwareIAPObjSet(&data);
vTaskDelayUntil(&lastSysTime, 500 / portTICK_RATE_MS);
++count;
if(count>3)
{