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https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
104 lines
2.7 KiB
C
104 lines
2.7 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup WavPlayerModule WavPlayer Module
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* @brief Process WavPlayer information
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* @{
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*
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* @file wavplayer.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief WavPlayer module
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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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// ****************
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// Private functions
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static void WavPlayerTask(void *parameters);
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// ****************
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// Private constants
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#define STACK_SIZE_BYTES 1600
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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 xTaskHandle WavPlayerTaskHandle;
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static uint32_t timeOfLastCommandMs;
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static uint32_t timeOfLastUpdateMs;
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// ****************
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int32_t WavPlayerStart(void)
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{
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// Start WavPlayer task
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xTaskCreate(WavPlayerTask, (signed char *) "WavPlayer", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &WavPlayerTaskHandle);
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return 0;
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}
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/**
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* Initialise the WavPlayer 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 WavPlayerInitialize(void)
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{
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return 0;
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}
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MODULE_INITCALL( WavPlayerInitialize, WavPlayerStart)
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// ****************
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/**
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* Main WavPlayer task. It does not return.
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*/
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static void WavPlayerTask(__attribute__((unused)) void *parameters)
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{
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portTickType lastSysTime;
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// Loop forever
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lastSysTime = xTaskGetTickCount();
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uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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#if defined(PIOS_INCLUDE_WAVE)
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WavePlayer_Start();
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#endif
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// Loop forever
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while (1) {
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vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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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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