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