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Improvement OP-3; Buffer based PIOS_COM tested and working.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@255 ebee16cc-31ac-478f-84a7-5cbb03baadba
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gussy
gussy
parent
d406232eb1
commit
53a64f8dba
@ -3,7 +3,7 @@
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*
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* @file openpilot.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Sets up ans runs main OpenPilot tasks.
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* @brief Sets up and runs main OpenPilot tasks.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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@ -42,7 +42,6 @@ static uint8_t sdcard_available;
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static void TaskTick(void *pvParameters);
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static void TaskTesting(void *pvParameters);
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static void TaskServos(void *pvParameters);
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static void TaskHooks(void *pvParameters);
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static void TaskSDCard(void *pvParameters);
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int32_t CONSOLE_Parse(COMPortTypeDef port, char c);
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void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
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@ -98,20 +97,16 @@ int main()
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PIOS_USB_Init(0);
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PIOS_COM_ReceiveCallbackInit(CONSOLE_Parse);
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//PIOS_BMP085_Init();
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/* Initialise OpenPilot application */
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// OpenPilotInit();
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PIOS_I2C_Init();
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PIOS_BMP085_Init();
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//PIOS_Servo_SetHz(50, 500);
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/* Create a FreeRTOS task */
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xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
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xTaskCreate(TaskTesting, (signed portCHAR *)"TaskTesting", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
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xTaskCreate(TaskHooks, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL);
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//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
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/* Start the FreeRTOS scheduler */
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@ -119,46 +114,17 @@ int main()
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/* If all is well we will never reach here as the scheduler will now be running. */
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/* If we do get here, it will most likely be because we ran out of heap space. */
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return 0;
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}
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int32_t CONSOLE_Parse(COMPortTypeDef port, char c)
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{
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if(port == COM_USB_HID) {
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PIOS_COM_SendChar(COM_DEBUG_USART, c);
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return 0;
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PIOS_LED_Off(LED1);
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PIOS_LED_Off(LED2);
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for(;;) {
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PIOS_LED_Toggle(LED1);
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PIOS_LED_Toggle(LED2);
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PIOS_DELAY_WaitmS(100);
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}
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if(c == '\r') {
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/* Ignore */
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} else if(c == '\n') {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "String: %s\n", line_buffer);
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line_ix = 0;
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} else if(line_ix < (STRING_MAX - 1)) {
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line_buffer[line_ix++] = c;
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line_buffer[line_ix] = 0;
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}
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/* No error */
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return 0;
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}
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void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value)
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{
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/* HW v1.0 GPS/IR Connector
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0000000
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|||||||-- 5V
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||||||--- TX (RXD on FDTI)
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|||||---- RX (TXD on FDTI)
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||||----- ADC PIN 3 (PC0)
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|||------ ADC PIN 0 (PC1)
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||------- ADC PIN 1 (PC2)
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|-------- GND
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*/
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}
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static void TaskTick(void *pvParameters)
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{
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portTickType xLastExecutionTime;
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@ -170,32 +136,58 @@ static void TaskTick(void *pvParameters)
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for(;;)
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{
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PIOS_LED_Toggle(LED1);
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// I2C Test: communicate with external PCF8570 ram chip
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{
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uint8_t buf[20];
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PIOS_I2C_Transfer(I2C_Write, 0x50<<1, (uint8_t*)"\x0\x10\x11\x12", 4);
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PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x50<<1, (uint8_t*)"\x0", 1);
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PIOS_I2C_Transfer(I2C_Read, 0x50<<1, buf, 3);
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}
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vTaskDelayUntil(&xLastExecutionTime, 100 / portTICK_RATE_MS);
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vTaskDelayUntil(&xLastExecutionTime, 1000 / portTICK_RATE_MS);
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}
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}
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static void TaskTesting(void *pvParameters)
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{
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portTickType xDelay = 1000 / portTICK_RATE_MS;;
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portTickType xDelay = 1000 / portTICK_RATE_MS;
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portTickType xTimeout = 1 / portTICK_RATE_MS;
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for(;;)
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{
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int32_t state = PIOS_USB_CableConnected();
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PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
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/* This blocks the task until there is something on the buffer */
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xSemaphoreTake(PIOS_USART1_Buffer, portMAX_DELAY);
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int32_t len = PIOS_COM_ReceiveBufferUsed(COM_USART1);
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for(int32_t i = 0; i < len; i++) {
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, ">%c\r", PIOS_COM_ReceiveBuffer(COM_USART1));
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}
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vTaskDelay(xDelay);
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//int32_t state = PIOS_USB_CableConnected();
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//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART, "State: %d\r", state);
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//PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x57, (uint8_t *)50, 1);
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/*uint8_t buffer[2];
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int32_t err1 = PIOS_BMP085_Write(0xF4, 0x2E);
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PIOS_DELAY_WaitmS(5);
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int32_t err2 = PIOS_BMP085_Read(0xF6, buffer, 2);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "err1 = %d err2 = %d\r", err1, err2);
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PIOS_COM_SendFormattedString(COM_DEBUG_USART, "0xF6 = %u 0xF7 = %u\r", buffer[0], buffer[1]);
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PIOS_BMP085_StartADC(Temperature);
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//PIOS_DELAY_WaitmS(50);
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//PIOS_BMP085_StartADC(Pressure);
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//PIOS_DELAY_WaitmS(50);
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PIOS_DELAY_WaitmS(50);
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uint16_t P;
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uint16_t A;
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uint16_t T;
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PIOS_BMP085_GetValues(P, A, T);*/
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/* Test ADC pins */
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//temp = ((1.43 - ((Vsense / 4096) * 3.3)) / 4.3) + 25;
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//uint32_t vsense = PIOS_ADC_PinGet(0);
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//uint32_t Temp = (1.42 - vsense * 3.3 / 4096) * 1000 / 4.35 + 25;
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//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "Temp: %d, CS_I: %d, CS_V: %d, 5v: %d\r", PIOS_ADC_PinGet(0), PIOS_ADC_PinGet(1), PIOS_ADC_PinGet(2), PIOS_ADC_PinGet(3));
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//PIOS_COM_SendFormattedString(COM_DEBUG_USART, "AUX1?: %d, AUX2?: %d, AUX3?: %d\r", PIOS_ADC_PinGet(4), PIOS_ADC_PinGet(5), PIOS_ADC_PinGet(6));
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//vTaskDelay(xDelay);
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}
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}
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@ -207,8 +199,6 @@ static void TaskServos(void *pvParameters)
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/* Used to test servos, cycles all servos from one side to the other */
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for(;;) {
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xDelay = 250 / portTICK_RATE_MS;
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PIOS_Servo_Set(0, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(1, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(2, 2000);
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@ -223,7 +213,11 @@ static void TaskServos(void *pvParameters)
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vTaskDelay(xDelay);
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PIOS_Servo_Set(7, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(8, 2000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(8, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(7, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(6, 1000);
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@ -238,12 +232,9 @@ static void TaskServos(void *pvParameters)
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vTaskDelay(xDelay);
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PIOS_Servo_Set(1, 1000);
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vTaskDelay(xDelay);
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PIOS_Servo_Set(0, 1000);
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vTaskDelay(xDelay);
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xDelay = 1 / portTICK_RATE_MS;
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for(int i = 1000; i < 2000; i++) {
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PIOS_Servo_Set(0, i);
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PIOS_Servo_Set(1, i);
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PIOS_Servo_Set(2, i);
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PIOS_Servo_Set(3, i);
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@ -251,10 +242,10 @@ static void TaskServos(void *pvParameters)
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PIOS_Servo_Set(5, i);
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PIOS_Servo_Set(6, i);
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PIOS_Servo_Set(7, i);
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PIOS_Servo_Set(8, i);
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vTaskDelay(xDelay);
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}
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for(int i = 2000; i > 1000; i--) {
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PIOS_Servo_Set(0, i);
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PIOS_Servo_Set(1, i);
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PIOS_Servo_Set(2, i);
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PIOS_Servo_Set(3, i);
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@ -262,35 +253,12 @@ static void TaskServos(void *pvParameters)
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PIOS_Servo_Set(5, i);
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PIOS_Servo_Set(6, i);
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PIOS_Servo_Set(7, i);
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PIOS_Servo_Set(8, i);
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vTaskDelay(xDelay);
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}
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}
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}
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static void TaskHooks(void *pvParameters)
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{
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portTickType xLastExecutionTime;
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// Initialise the xLastExecutionTime variable on task entry
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xLastExecutionTime = xTaskGetTickCount();
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for(;;) {
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vTaskDelayUntil(&xLastExecutionTime, 1 / portTICK_RATE_MS);
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/* Skip delay gap if we had to wait for more than 5 ticks to avoid */
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/* unnecessary repeats until xLastExecutionTime reached xTaskGetTickCount() again */
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portTickType xCurrentTickCount = xTaskGetTickCount();
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if(xLastExecutionTime < (xCurrentTickCount - 5))
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xLastExecutionTime = xCurrentTickCount;
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/* Check for incoming COM messages */
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PIOS_COM_ReceiveHandler();
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/* Check for incoming ADC notifications */
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PIOS_ADC_Handler(OP_ADC_NotifyChange);
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}
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}
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static void TaskSDCard(void *pvParameters)
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{
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uint16_t second_delay_ctr = 0;
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