mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +01:00
139 lines
4.1 KiB
C
139 lines
4.1 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup AHRSCommsModule AHRSComms Module
|
|
* @brief Handles communication with AHRS and updating position
|
|
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
|
|
* @{
|
|
*
|
|
* @file ahrs_comms.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Module to handle all comms to the AHRS on a periodic basis.
|
|
*
|
|
* @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
|
|
*/
|
|
|
|
/**
|
|
* Input objects: As defined in PiOS/inc/pios_ahrs_comms.h
|
|
* Output objects: As defined in PiOS/inc/pios_ahrs_comms.h
|
|
*
|
|
* This module will periodically update the values of latest attitude solution
|
|
* and other objects that are transferred to and from the AHRS
|
|
* The module settings can configure how often AHRS is polled for a new solution.
|
|
*
|
|
* The module executes in its own thread.
|
|
*
|
|
* UAVObjects are automatically generated by the UAVObjectGenerator from
|
|
* the object definition XML file.
|
|
*
|
|
* Modules have no API, all communication to other modules is done through UAVObjects.
|
|
* However modules may use the API exposed by shared libraries.
|
|
* See the OpenPilot wiki for more details.
|
|
* http://www.openpilot.org/OpenPilot_Application_Architecture
|
|
*
|
|
*/
|
|
|
|
#include "ahrs_comms.h"
|
|
#include "ahrs_spi_comm.h"
|
|
|
|
// Private constants
|
|
#define STACK_SIZE configMINIMAL_STACK_SIZE-128
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
static xTaskHandle taskHandle;
|
|
|
|
// Private functions
|
|
static void ahrscommsTask(void *parameters);
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t AHRSCommsStart(void)
|
|
{
|
|
// Start main task
|
|
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
|
|
TaskMonitorAdd(TASKINFO_RUNNING_AHRSCOMMS, taskHandle);
|
|
PIOS_WDG_RegisterFlag(PIOS_WDG_AHRS);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t AHRSCommsInitialize(void)
|
|
{
|
|
|
|
return 0;
|
|
}
|
|
MODULE_INITCALL(AHRSCommsInitialize, AHRSCommsStart)
|
|
|
|
/**
|
|
* Module thread, should not return.
|
|
*/
|
|
static void ahrscommsTask(void *parameters)
|
|
{
|
|
portTickType lastSysTime;
|
|
|
|
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
|
|
|
|
// Main task loop
|
|
while (1) {
|
|
PIOS_WDG_UpdateFlag(PIOS_WDG_AHRS);
|
|
|
|
AHRSSettingsData settings;
|
|
AHRSSettingsGet(&settings);
|
|
|
|
AhrsSendObjects();
|
|
AhrsCommStatus stat = AhrsGetStatus();
|
|
if (stat.linkOk) {
|
|
AlarmsClear(SYSTEMALARMS_ALARM_AHRSCOMMS);
|
|
} else {
|
|
AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_WARNING);
|
|
}
|
|
AhrsStatusData sData;
|
|
AhrsStatusGet(&sData);
|
|
|
|
sData.LinkRunning = stat.linkOk;
|
|
sData.AhrsKickstarts = stat.remote.kickStarts;
|
|
sData.AhrsCrcErrors = stat.remote.crcErrors;
|
|
sData.AhrsRetries = stat.remote.retries;
|
|
sData.AhrsInvalidPackets = stat.remote.invalidPacket;
|
|
sData.OpCrcErrors = stat.local.crcErrors;
|
|
sData.OpRetries = stat.local.retries;
|
|
sData.OpInvalidPackets = stat.local.invalidPacket;
|
|
|
|
AhrsStatusSet(&sData);
|
|
/* Wait for the next update interval */
|
|
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS);
|
|
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|