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293 lines
7.3 KiB
C
293 lines
7.3 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup osdinputModule osdinput Module
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* @brief Process osdinput information
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* @{
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*
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* @file osdinput.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief osdinput module, handles osdinput stream
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// ****************
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#include "openpilot.h"
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#include "osdinput.h"
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#include "attitudeactual.h"
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#include "fifo_buffer.h"
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// ****************
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// Private functions
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static void OpOsdTask(void *parameters);
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// ****************
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// Private constants
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#define GPS_TIMEOUT_MS 500
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#define NMEA_MAX_PACKET_LENGTH 33 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
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// same as in COM buffer
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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// Unfortunately need a good size stack for the WMM calculation
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#define STACK_SIZE_BYTES 800
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#else
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#define STACK_SIZE_BYTES 1024
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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// ****************
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// Private variables
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static uint32_t oposdPort;
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static xTaskHandle OpOsdTaskHandle;
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static char* oposd_rx_buffer;
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t_fifo_buffer rx;
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static uint32_t timeOfLastCommandMs;
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static uint32_t timeOfLastUpdateMs;
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static uint32_t numUpdates;
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static uint32_t numChecksumErrors;
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static uint32_t numParsingErrors;
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// ****************
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/**
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* Initialise the gps module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t OpOsdStart(void)
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{
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// Start gps task
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xTaskCreate(OpOsdTask, (signed char *)"OSD", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &OpOsdTaskHandle);
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//TaskMonitorAdd(TASKINFO_RUNNING_GPS, OpOsdTaskHandle);
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return 0;
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}
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/**
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* Initialise the gps module
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* \return -1 if initialisation failed
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* \return 0 on success
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*/
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int32_t OpOsdInitialize(void)
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{
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AttitudeActualInitialize();
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// Initialize quaternion
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AttitudeActualData attitude;
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AttitudeActualGet(&attitude);
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attitude.q1 = 1;
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attitude.q2 = 0;
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attitude.q3 = 0;
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attitude.q4 = 0;
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attitude.Roll = 0;
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attitude.Pitch = 0;
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attitude.Yaw = 0;
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AttitudeActualSet(&attitude);
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// TODO: Get gps settings object
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oposdPort = PIOS_COM_OSD;
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oposd_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
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PIOS_Assert(oposd_rx_buffer);
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return 0;
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}
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MODULE_INITCALL(OpOsdInitialize, OpOsdStart)
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// ****************
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/**
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* Main gps task. It does not return.
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*/
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static void OpOsdTask(void *parameters)
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{
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portTickType xDelay = 100 / portTICK_RATE_MS;
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portTickType lastSysTime;
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// Loop forever
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lastSysTime = xTaskGetTickCount(); //portTickType xDelay = 100 / portTICK_RATE_MS;
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uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
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//GPSPositionData GpsData;
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//uint8_t rx_count = 0;
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//bool start_flag = false;
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//bool found_cr = false;
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//int32_t gpsRxOverflow = 0;
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numUpdates = 0;
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numChecksumErrors = 0;
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numParsingErrors = 0;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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uint8_t rx_count = 0;
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bool start_flag = false;
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//bool found_cr = false;
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int32_t gpsRxOverflow = 0;
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uint8_t c=0xAA;
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// Loop forever
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while (1)
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{
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/*//DMA_Cmd(DMA1_Stream2, DISABLE); //prohibit channel3 for a little time
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uint16_t cnt = DMA_GetCurrDataCounter(DMA1_Stream2);
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rx.wr = rx.buf_size-cnt;
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if(rx.wr)
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{
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//PIOS_LED_Toggle(LED2);
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while ( fifoBuf_getData(&rx, &c, 1) > 0)
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{
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// detect start while acquiring stream
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if (!start_flag && ((c == 0xCB) || (c == 0x34)))
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{
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start_flag = true;
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rx_count = 0;
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}
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else
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if (!start_flag)
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continue;
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if (rx_count >= 11)
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{
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// The buffer is already full and we haven't found a valid NMEA sentence.
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// Flush the buffer and note the overflow event.
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gpsRxOverflow++;
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start_flag = false;
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rx_count = 0;
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}
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else
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{
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oposd_rx_buffer[rx_count] = c;
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rx_count++;
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}
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if (start_flag && rx_count == 11)
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{
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//PIOS_LED_Toggle(LED3);
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if(oposd_rx_buffer[1]==3)
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{
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AttitudeActualData attitude;
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AttitudeActualGet(&attitude);
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attitude.q1 = 1;
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attitude.q2 = 0;
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attitude.q3 = 0;
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attitude.q4 = 0;
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attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
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attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
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attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
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AttitudeActualSet(&attitude);
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//setAttitudeOsd((int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8), //pitch
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// (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8), //roll
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// (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8)); //yaw
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}
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//frame completed
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start_flag = false;
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rx_count = 0;
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}
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}
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}
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//DMA_Cmd(DMA1_Stream2, ENABLE);
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*/
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//PIOS_COM_SendBufferNonBlocking(oposdPort, &c, 1);
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// This blocks the task until there is something on the buffer
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while (PIOS_COM_ReceiveBuffer(oposdPort, &c, 1, xDelay) > 0)
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{
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// detect start while acquiring stream
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if (!start_flag && ((c == 0xCB) || (c == 0x34)))
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{
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start_flag = true;
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rx_count = 0;
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}
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else
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if (!start_flag)
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continue;
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if (rx_count >= 11)
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{
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// The buffer is already full and we haven't found a valid NMEA sentence.
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// Flush the buffer and note the overflow event.
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gpsRxOverflow++;
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start_flag = false;
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rx_count = 0;
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}
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else
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{
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oposd_rx_buffer[rx_count] = c;
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rx_count++;
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}
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if (rx_count == 11)
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{
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if(oposd_rx_buffer[1]==3)
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{
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AttitudeActualData attitude;
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AttitudeActualGet(&attitude);
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attitude.q1 = 1;
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attitude.q2 = 0;
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attitude.q3 = 0;
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attitude.q4 = 0;
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attitude.Roll = (int16_t)(oposd_rx_buffer[3] | oposd_rx_buffer[4]<<8);
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attitude.Pitch = (int16_t)(oposd_rx_buffer[5] | oposd_rx_buffer[6]<<8);
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attitude.Yaw = (int16_t)(oposd_rx_buffer[7] | oposd_rx_buffer[8]<<8);
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AttitudeActualSet(&attitude);
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}
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//frame completed
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start_flag = false;
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rx_count = 0;
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}
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}
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vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
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// Check for GPS timeout
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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if ((timeNowMs - timeOfLastUpdateMs) >= GPS_TIMEOUT_MS)
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{ // we have not received any valid GPS sentences for a while.
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// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
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}
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else
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{ // we appear to be receiving GPS sentences OK, we've had an update
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}
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}
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}
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// ****************
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/**
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* @}
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* @}
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*/
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