mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
104 lines
2.6 KiB
C
104 lines
2.6 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup WavPlayerModule WavPlayer Module
|
|
* @brief Process WavPlayer information
|
|
* @{
|
|
*
|
|
* @file wavplayer.c
|
|
* @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
|
|
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
|
|
|
|
// ****************
|
|
// Private variables
|
|
|
|
static xTaskHandle WavPlayerTaskHandle;
|
|
|
|
static uint32_t timeOfLastCommandMs;
|
|
static uint32_t timeOfLastUpdateMs;
|
|
|
|
// ****************
|
|
int32_t WavPlayerStart(void)
|
|
{
|
|
// Start WavPlayer task
|
|
xTaskCreate(WavPlayerTask, "WavPlayer", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &WavPlayerTaskHandle);
|
|
|
|
return 0;
|
|
}
|
|
/**
|
|
* Initialise the WavPlayer module
|
|
* \return -1 if initialisation failed
|
|
* \return 0 on success
|
|
*/
|
|
int32_t WavPlayerInitialize(void)
|
|
{
|
|
return 0;
|
|
}
|
|
MODULE_INITCALL(WavPlayerInitialize, WavPlayerStart);
|
|
|
|
// ****************
|
|
/**
|
|
* Main WavPlayer task. It does not return.
|
|
*/
|
|
|
|
static void WavPlayerTask(__attribute__((unused)) void *parameters)
|
|
{
|
|
portTickType lastSysTime;
|
|
|
|
// Loop forever
|
|
lastSysTime = xTaskGetTickCount();
|
|
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
|
|
|
|
timeOfLastUpdateMs = timeNowMs;
|
|
timeOfLastCommandMs = timeNowMs;
|
|
#if defined(PIOS_INCLUDE_WAVE)
|
|
WavePlayer_Start();
|
|
#endif
|
|
// Loop forever
|
|
while (1) {
|
|
vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
|
|
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
|
|
}
|
|
}
|
|
|
|
// ****************
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|