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Code Issues Releases Activity

Some cleanup

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@717 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
FredericG 2010-06-05 15:32:57 +00:00 committed by FredericG
parent 8a7eba0675
commit db629cebc5
2 changed files with 25 additions and 14 deletions
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37
flight/OpenPilot/Modules/MK/MKSerial/MKSerial.c
View File

@ -28,18 +28,20 @@
#include "attitudeactual.h" // object that will be updated by the module
//
// Private constants
// Configuration
//
#define PORT COM_USART1
#define PORT COM_USART2
#define DEBUG_PORT COM_USART1
#define STACK_SIZE 1024
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
#define MAX_NB_PARS 40
//#define ENABLE_DEBUG_MSG
#define DEBUG_PORT COM_USART2
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
//
// Private constants
//
#define MSGCMD_ANY 0
#define MSGCMD_GET_DEBUG 'd'
#define MSGCMD_DEBUG 'D'
@ -49,6 +51,12 @@
#define DEBUG_MSG_NICK_IDX (2+2*2)
#define DEBUG_MSG_ROLL_IDX (2+3*2)
#ifdef ENABLE_DEBUG_MSG
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
#endif
//
// Private types
@ -84,11 +92,11 @@ static bool WaitForMsg(uint8_t cmd, MkMsg_t* msg, portTickType xTicksToWait);
static void SendMsg(const MkMsg_t* msg);
static void SendMsgParNone(uint8_t address, uint8_t cmd);
static void SendMsgPar8(uint8_t address, uint8_t cmd, uint8_t par0);
static uint16_t VersionMsg_GetVersion(const MkMsg_t* msg);
static void MkSerialTask(void* parameters);
static void OnError(int line)
{
DEBUG_MSG("MKProcol error %d\n", line);
@ -373,10 +381,12 @@ static void SendMsgPar8(uint8_t address, uint8_t cmd, uint8_t par0)
SendMsg(&msg);
}
#ifdef ENABLE_DEBUG_MSG
static uint16_t VersionMsg_GetVersion(const MkMsg_t* msg)
{
return msg->pars[0] * 100 + msg->pars[1];
}
#endif
static void MkSerialTask(void* parameters)
@ -401,8 +411,10 @@ static void MkSerialTask(void* parameters)
DEBUG_MSG("Version... ");
if (WaitForMsg(MSGCMD_VERSION, &msg, 100 / portTICK_RATE_MS))
{
//PrintMsg(&msg);
DEBUG_MSG("%d\n", VersionMsg_GetVersion(&msg));
#ifdef ENABLE_DEBUG_MSG
uint32_t version = VersionMsg_GetVersion(&msg);
DEBUG_MSG("%d\n", version);
#endif
connectionOk = TRUE;
}
else
@ -428,8 +440,8 @@ static void MkSerialTask(void* parameters)
DEBUG_MSG("Att: Nick=%5d Roll=%5d\n", nick, roll);
data.seq++;
data.Pitch = (float)nick/10;
data.Roll = (float)roll/10;
data.Pitch = -(float)nick/10;
data.Roll = -(float)roll/10;
AttitudeActualSet(&data);
}
else
@ -450,8 +462,7 @@ static void MkSerialTask(void* parameters)
int32_t MKSerialInitialize(void)
{
// Start gps task
xTaskCreate(MkSerialTask, (signed char*) "MkSerial", STACK_SIZE, NULL,
TASK_PRIORITY, NULL);
xTaskCreate(MkSerialTask, (signed char*) "MkSerial", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
return 0;
}

2
flight/OpenPilot/Modules/MK/MKSerial/inc/MkSerial.h
View File

@ -29,6 +29,6 @@
#ifndef MK_SERIAL_H
#define MK_SERIAL_H
int32_t MkSerialInitialize(void);
int32_t MKSerialInitialize(void);
#endif // MK_SER_INPUT_H