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find ./flight/OpenPilot/Modules/ \! \( -name '*~' -a -prune \) -type f |
xargs -I{} bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss
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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1776 ebee16cc-31ac-478f-84a7-5cbb03baadba
559 lines
13 KiB
C
559 lines
13 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup MKSerialModule MK Serial Control Module
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* @brief Connect to MK module
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* @{
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*
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* @file MKSerial.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Interfacing with MK via serial port
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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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#include "openpilot.h"
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#include "MkSerial.h"
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#include "attitudeactual.h" // object that will be updated by the module
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#include "positionactual.h"
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#include "flightbatterystate.h"
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//
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// Configuration
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//
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#define PORT PIOS_COM_AUX
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#define DEBUG_PORT PIOS_COM_GPS
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#define STACK_SIZE 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
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#define MAX_NB_PARS 100
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//#define ENABLE_DEBUG_MSG
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//#define GENERATE_BATTERY_INFO // The MK can report battery voltage, but normally the current sensor will be used, so this module should not report battery state
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#if PORT == PIOS_COM_AUX
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#ifndef PIOS_ENABLE_AUX_UART
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#error "This module cannot be included without the AUX UART enabled"
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#endif
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#endif
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//
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// Private constants
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//
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#define MSGCMD_ANY 0
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#define MSGCMD_GET_DEBUG 'd'
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#define MSGCMD_DEBUG 'D'
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#define MSGCMD_GET_VERSION 'v'
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#define MSGCMD_VERSION 'V'
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#define MSGCMD_GET_OSD 'o'
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#define MSGCMD_OSD 'O'
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#define DEBUG_MSG_NICK_IDX (2+2*2)
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#define DEBUG_MSG_ROLL_IDX (2+3*2)
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#define OSD_MSG_CURRPOS_IDX 1
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#define OSD_MSG_NB_SATS_IDX 50
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#define OSD_MSG_BATT_IDX 57
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#define OSD_MSG_GNDSPEED_IDX 58
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#define OSD_MSG_COMPHEADING_IDX 62
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#define OSD_MSG_NICK_IDX 64
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#define OSD_MSG_ROLL_IDX 65
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#ifdef ENABLE_DEBUG_MSG
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#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
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#else
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#define DEBUG_MSG(format, ...)
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#endif
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//
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// Private types
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//
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typedef struct {
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uint8_t address;
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uint8_t cmd;
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uint8_t nbPars;
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uint8_t pars[MAX_NB_PARS];
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} MkMsg_t;
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typedef struct {
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float longitute;
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float latitude;
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float altitude;
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uint8_t status;
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} GpsPosition_t;
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enum {
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MK_ADDR_ALL = 0,
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MK_ADDR_FC = 1,
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MK_ADDR_NC = 2,
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MK_ADDR_MAG = 3,
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};
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//
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// Private variables
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//
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//
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// Private functions
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//
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static void OnError(int line);
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//static void PrintMsg(const MkMsg_t* msg);
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static int16_t Par2Int16(const MkMsg_t * msg, uint8_t index);
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static int32_t Par2Int32(const MkMsg_t * msg, uint8_t index);
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static int8_t Par2Int8(const MkMsg_t * msg, uint8_t index);
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static void GetGpsPos(const MkMsg_t * msg, uint8_t index, GpsPosition_t * pos);
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static uint8_t WaitForBytes(uint8_t * buf, uint8_t nbBytes, portTickType xTicksToWait);
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static bool WaitForMsg(uint8_t cmd, MkMsg_t * msg, portTickType xTicksToWait);
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static void SendMsg(const MkMsg_t * msg);
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static void SendMsgParNone(uint8_t address, uint8_t cmd);
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static void SendMsgPar8(uint8_t address, uint8_t cmd, uint8_t par0);
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static void MkSerialTask(void *parameters);
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static void OnError(int line)
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{
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DEBUG_MSG("MKProcol error %d\n\r", line);
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}
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#if 0
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static void PrintMsg(const MkMsg_t * msg)
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{
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switch (msg->address) {
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case MK_ADDR_ALL:
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DEBUG_MSG("ALL ");
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break;
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case MK_ADDR_FC:
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DEBUG_MSG("FC ");
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break;
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case MK_ADDR_NC:
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DEBUG_MSG("NC ");
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break;
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case MK_ADDR_MAG:
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DEBUG_MSG("MAG ");
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break;
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default:
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DEBUG_MSG("??? ");
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break;
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}
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DEBUG_MSG("%c ", msg->cmd);
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for (int i = 0; i < msg->nbPars; i++) {
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DEBUG_MSG("%02x ", msg->pars[i]);
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}
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DEBUG_MSG("\n\r");
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}
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#endif
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static int16_t Par2Int16(const MkMsg_t * msg, uint8_t index)
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{
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int16_t res;
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res = (int)(msg->pars[index + 1]) * 256 + msg->pars[index];
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if (res > 0xFFFF / 2)
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res -= 0xFFFF;
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return res;
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}
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static int32_t Par2Int32(const MkMsg_t * msg, uint8_t index)
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{
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uint32_t val = 0;
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val = (((int)msg->pars[index]) << 0) + (((int)msg->pars[index + 1]) << 8);
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val += (((int)msg->pars[index + 2]) << 16) + ((int)msg->pars[index + 3] << 24);
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if (val > 0xFFFFFFFF / 2)
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val -= 0xFFFFFFFF;
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return (int32_t) val;
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}
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static int8_t Par2Int8(const MkMsg_t * msg, uint8_t index)
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{
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if (msg->pars[index] > 127)
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return msg->pars[index] - 256;
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else
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return msg->pars[index];
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}
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static void GetGpsPos(const MkMsg_t * msg, uint8_t index, GpsPosition_t * pos)
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{
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pos->longitute = (float)Par2Int32(msg, index) * (float)1e-7;
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pos->latitude = (float)Par2Int32(msg, index + 4) * (float)1e-7;
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pos->altitude = (float)Par2Int32(msg, index + 8) * (float)1e-3;
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pos->status = msg->pars[index + 12];
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}
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static uint8_t WaitForBytes(uint8_t * buf, uint8_t nbBytes, portTickType xTicksToWait)
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{
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uint8_t nbBytesLeft = nbBytes;
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xTimeOutType xTimeOut;
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vTaskSetTimeOutState(&xTimeOut);
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// Loop until
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// - all bytes are received
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// - \r is seen
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// - Timeout occurs
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do {
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// Check if timeout occured
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if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait))
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break;
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// Check if there are some bytes
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if (PIOS_COM_ReceiveBufferUsed(PORT)) {
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*buf = PIOS_COM_ReceiveBuffer(PORT);
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nbBytesLeft--;
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if (buf[0] == '\r')
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break;
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buf++;
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} else {
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// Avoid tight loop
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// FIXME: should be blocking
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vTaskDelay(5);
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}
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} while (nbBytesLeft);
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return nbBytes - nbBytesLeft;
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}
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static bool WaitForMsg(uint8_t cmd, MkMsg_t * msg, portTickType xTicksToWait)
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{
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uint8_t buf[10];
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uint8_t n;
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bool done = FALSE;
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bool error = FALSE;
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unsigned int checkVal;
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xTimeOutType xTimeOut;
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vTaskSetTimeOutState(&xTimeOut);
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while (!done && !error) {
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// When we are here, it means we did not encounter the message we are waiting for
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// Check if we did not timeout yet.
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// Wait for start
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buf[0] = 0;
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do {
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if (xTaskCheckForTimeOut(&xTimeOut, &xTicksToWait)) {
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return FALSE;
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}
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WaitForBytes(buf, 1, 100 / portTICK_RATE_MS);
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} while (buf[0] != '#');
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// Wait for cmd and address
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if (WaitForBytes(buf, 2, 10 / portTICK_RATE_MS) != 2) {
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OnError(__LINE__);
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continue;
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}
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// Is this the command we are waiting for?
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if (cmd == 0 || cmd == buf[1]) {
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// OK follow this message to the end
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msg->address = buf[0] - 'a';
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msg->cmd = buf[1];
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checkVal = '#' + buf[0] + buf[1];
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// Parse parameters
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msg->nbPars = 0;
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while (!done && !error) {
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n = WaitForBytes(buf, 4, 10 / portTICK_RATE_MS);
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if (n > 0 && buf[n - 1] == '\r') {
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n--;
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// This is the end of the message
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// Get check bytes
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if (n >= 2) {
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unsigned int msgCeckVal;
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msgCeckVal = (buf[n - 1] - '=') + (buf[n - 2] - '=') * 64;
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//printf("%x %x\n", msgCeckVal, checkVal&0xFFF);
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n -= 2;
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if (msgCeckVal == (checkVal & 0xFFF)) {
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done = TRUE;
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} else {
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OnError(__LINE__);
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error = TRUE;
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}
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} else {
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OnError(__LINE__);
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error = TRUE;
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}
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} else if (n == 4) {
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// Parse parameters
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int i;
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for (i = 0; i < 4; i++) {
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checkVal += buf[i];
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buf[i] -= '=';
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}
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if (msg->nbPars < MAX_NB_PARS) {
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msg->pars[msg->nbPars] = (((buf[0] << 2) & 0xFF) | ((buf[1] >> 4)));
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msg->nbPars++;
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}
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if (msg->nbPars < MAX_NB_PARS) {
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msg->pars[msg->nbPars] = ((buf[1] & 0x0F) << 4 | (buf[2] >> 2));
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msg->nbPars++;
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}
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if (msg->nbPars < MAX_NB_PARS) {
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msg->pars[msg->nbPars] = ((buf[2] & 0x03) << 6 | buf[3]);
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msg->nbPars++;
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}
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} else {
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OnError(__LINE__);
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error = TRUE;
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}
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}
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}
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}
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return (done && !error);
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}
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static void SendMsg(const MkMsg_t * msg)
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{
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uint8_t buf[10];
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uint16_t checkVal;
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uint8_t nbParsRemaining;
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const uint8_t *pPar;
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// Header
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buf[0] = '#';
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buf[1] = msg->address + 'a';
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buf[2] = msg->cmd;
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PIOS_COM_SendBuffer(PORT, buf, 3);
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checkVal = (unsigned int)'#' + buf[1] + buf[2];
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// Parameters
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nbParsRemaining = msg->nbPars;
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pPar = msg->pars;
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while (nbParsRemaining) {
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uint8_t a, b, c;
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a = *pPar;
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b = 0;
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c = 0;
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nbParsRemaining--;
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pPar++;
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if (nbParsRemaining) {
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b = *pPar;
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nbParsRemaining--;
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pPar++;
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if (nbParsRemaining) {
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c = *pPar;
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nbParsRemaining--;
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pPar++;
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}
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}
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buf[0] = (a >> 2) + '=';
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buf[1] = (((a & 0x03) << 4) | ((b & 0xf0) >> 4)) + '=';
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buf[2] = (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)) + '=';
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buf[3] = (c & 0x3f) + '=';
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checkVal += buf[0];
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checkVal += buf[1];
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checkVal += buf[2];
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checkVal += buf[3];
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PIOS_COM_SendBuffer(PORT, buf, 4);
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}
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checkVal &= 0xFFF;
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buf[0] = (checkVal / 64) + '=';
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buf[1] = (checkVal % 64) + '=';
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buf[2] = '\r';
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PIOS_COM_SendBuffer(PORT, buf, 3);
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}
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static void SendMsgParNone(uint8_t address, uint8_t cmd)
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{
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MkMsg_t msg;
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msg.address = address;
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msg.cmd = cmd;
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msg.nbPars = 0;
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SendMsg(&msg);
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}
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static void SendMsgPar8(uint8_t address, uint8_t cmd, uint8_t par0)
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{
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MkMsg_t msg;
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msg.address = address;
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msg.cmd = cmd;
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msg.nbPars = 1;
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msg.pars[0] = par0;
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SendMsg(&msg);
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}
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static uint16_t VersionMsg_GetVersion(const MkMsg_t * msg)
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{
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return msg->pars[0] * 100 + msg->pars[1];
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}
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static void DoConnectedToFC(void)
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{
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AttitudeActualData attitudeData;
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MkMsg_t msg;
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DEBUG_MSG("FC\n\r");
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memset(&attitudeData, 0, sizeof(attitudeData));
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// Configure FC for fast reporting of the debug-message
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SendMsgPar8(MK_ADDR_ALL, MSGCMD_GET_DEBUG, 10);
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while (TRUE) {
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if (WaitForMsg(MSGCMD_DEBUG, &msg, 500 / portTICK_RATE_MS)) {
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int16_t nick;
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int16_t roll;
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//PrintMsg(&msg);
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nick = Par2Int16(&msg, DEBUG_MSG_NICK_IDX);
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roll = Par2Int16(&msg, DEBUG_MSG_ROLL_IDX);
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DEBUG_MSG("Att: Nick=%5d Roll=%5d\n\r", nick, roll);
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attitudeData.Pitch = -(float)nick / 10;
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attitudeData.Roll = -(float)roll / 10;
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AttitudeActualSet(&attitudeData);
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} else {
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DEBUG_MSG("TO\n\r");
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break;
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}
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}
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}
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static void DoConnectedToNC(void)
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{
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MkMsg_t msg;
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GpsPosition_t pos;
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AttitudeActualData attitudeData;
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PositionActualData positionData;
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FlightBatteryStateData flightBatteryData;
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#ifdef GENERATE_BATTERY_INFO
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uint8_t battStateCnt = 0;
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#endif
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DEBUG_MSG("NC\n\r");
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memset(&attitudeData, 0, sizeof(attitudeData));
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memset(&positionData, 0, sizeof(positionData));
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memset(&flightBatteryData, 0, sizeof(flightBatteryData));
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// Configure NC for fast reporting of the osd-message
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SendMsgPar8(MK_ADDR_ALL, MSGCMD_GET_OSD, 10);
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while (TRUE) {
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if (WaitForMsg(MSGCMD_OSD, &msg, 500 / portTICK_RATE_MS)) {
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//PrintMsg(&msg);
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GetGpsPos(&msg, OSD_MSG_CURRPOS_IDX, &pos);
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#if 0
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DEBUG_MSG("Bat=%d\n\r", msg.pars[OSD_MSG_BATT_IDX]);
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DEBUG_MSG("Nick=%d Roll=%d\n\r", Par2Int8(&msg, OSD_MSG_NICK_IDX), Par2Int8(&msg, OSD_MSG_ROLL_IDX));
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DEBUG_MSG("POS #Sats=%d stat=%d lat=%d lon=%d alt=%d\n\r", msg.pars[OSD_MSG_NB_SATS_IDX], pos.status, (int)pos.latitude,
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(int)pos.longitute, (int)pos.altitude);
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#else
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DEBUG_MSG(".");
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#endif
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attitudeData.Pitch = -Par2Int8(&msg, OSD_MSG_NICK_IDX);
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attitudeData.Roll = -Par2Int8(&msg, OSD_MSG_ROLL_IDX);
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AttitudeActualSet(&attitudeData);
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positionData.Longitude = pos.longitute;
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positionData.Latitude = pos.latitude;
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positionData.Altitude = pos.altitude;
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positionData.Satellites = msg.pars[OSD_MSG_NB_SATS_IDX];
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positionData.Heading = Par2Int16(&msg, OSD_MSG_COMPHEADING_IDX);
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positionData.Groundspeed = ((float)Par2Int16(&msg, OSD_MSG_GNDSPEED_IDX)) / 100 /* cm/s => m/s */ ;
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if (positionData.Satellites < 5) {
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positionData.Status = POSITIONACTUAL_STATUS_NOFIX;
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} else {
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positionData.Status = POSITIONACTUAL_STATUS_FIX3D;
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}
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PositionActualSet(&positionData);
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#if GENERATE_BATTERY_INFO
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if (++battStateCnt > 2) {
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flightBatteryData.Voltage = (float)msg.pars[OSD_MSG_BATT_IDX] / 10;
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FlightBatteryStateSet(&flightBatteryData);
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battStateCnt = 0;
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}
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#endif
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} else {
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DEBUG_MSG("TO\n\r");
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break;
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}
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}
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}
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|
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static void MkSerialTask(void *parameters)
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|
{
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|
MkMsg_t msg;
|
|
uint32_t version;
|
|
bool connectionOk = FALSE;
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|
|
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PIOS_COM_ChangeBaud(PORT, 57600);
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PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
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|
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DEBUG_MSG("MKSerial Started\n\r");
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|
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|
while (1) {
|
|
// Wait until we get version from MK
|
|
while (!connectionOk) {
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|
SendMsgParNone(MK_ADDR_ALL, MSGCMD_GET_VERSION);
|
|
DEBUG_MSG("Version... ");
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|
if (WaitForMsg(MSGCMD_VERSION, &msg, 250 / portTICK_RATE_MS)) {
|
|
version = VersionMsg_GetVersion(&msg);
|
|
DEBUG_MSG("%d\n\r", version);
|
|
connectionOk = TRUE;
|
|
} else {
|
|
DEBUG_MSG("TO\n\r");
|
|
}
|
|
}
|
|
|
|
// Dependent on version, decide it we are connected to NC or FC
|
|
if (version < 60) {
|
|
DoConnectedToNC(); // Will only return after an error
|
|
} else {
|
|
DoConnectedToFC(); // Will only return after an error
|
|
}
|
|
|
|
connectionOk = FALSE;
|
|
|
|
vTaskDelay(250 / portTICK_RATE_MS);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Initialise the module
|
|
* \return -1 if initialisation failed
|
|
* \return 0 on success
|
|
*/
|
|
int32_t MKSerialInitialize(void)
|
|
{
|
|
// Start gps task
|
|
xTaskCreate(MkSerialTask, (signed char *)"MkSerial", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|