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ceadcf49a0
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@817 ebee16cc-31ac-478f-84a7-5cbb03baadba
243 lines
6.3 KiB
C
243 lines
6.3 KiB
C
/**
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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 "flightbatterystate.h"
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#include "positionactual.h"
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//
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// Configuration
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//
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#define DEBUG_PORT PIOS_COM_TELEM_RF
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#define STACK_SIZE 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
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//#define ENABLE_DEBUG_MSG
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//
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// Private constants
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//
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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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#define OSDMSG_V_LS_IDX 10
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#define OSDMSG_V_MS_IDX 18
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#define OSDMSG_LAT_IDX 33
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#define OSDMSG_LON_IDX 37
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#define OSDMSG_HOME_IDX 47
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#define OSDMSG_ALT_IDX 49
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#define OSDMSG_NB_SATS 58
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#define OSDMSG_GPS_STAT 59
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#define OSDMSG_GPS_STAT_NOFIX 0x03
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#define OSDMSG_GPS_STAT_FIX 0x2B
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#define OSDMSG_GPS_STAT_HB_FLAG 0x10
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//
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// Private types
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//
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//
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// Private variables
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//
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// | Header / cmd?| | V | | V | | LAT: 37 57.0000 | LONG: 24 00.4590 | | Hom<-179| Alt 545.4 m | |#sat|stat|
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// 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62
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uint8_t msg[63] = {0x03,0x3F,0x03,0x00,0x00,0x00,0x00,0x00,0x90,0x0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFC,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x09,0x60,0x10,0x02,0x00,0x00,0x90,0x00,0x54,0x54,0x00,0x00,0x33,0x28,0x13,0x00,0x00,0x08,0x00,0x00,0x90,0x0A};
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static volatile bool newPosData=FALSE;
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static volatile bool newBattData=FALSE;
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//
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// Private functions
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//
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static void WriteToMsg8(uint8_t index, uint8_t value)
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{
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if (value>100)
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value = 100;
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msg[index] = ((value/10) << 4) + (value%10);
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}
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static void WriteToMsg16(uint8_t index, uint16_t value)
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{
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WriteToMsg8(index, value % 100);
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WriteToMsg8(index+1, value / 100);
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}
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static void WriteToMsg24(uint8_t index, uint32_t value)
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{
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WriteToMsg16(index, value % 10000);
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WriteToMsg8(index+2, value / 10000);
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}
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static void WriteToMsg32(uint8_t index, uint32_t value)
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{
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WriteToMsg16(index, value % 10000);
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WriteToMsg16(index+2, value / 10000);
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}
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static void SetCoord(uint8_t index, float coord)
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{
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uint32_t deg = (uint32_t)coord;
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float sec = (coord-deg)*60;
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WriteToMsg24(index, sec*10000);
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WriteToMsg8(index+3, deg);
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}
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static void SetCourse(uint16_t dir)
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{
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WriteToMsg16(OSDMSG_HOME_IDX, dir);
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}
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static void SetAltitude(uint32_t altitudeMeter)
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{
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WriteToMsg32(OSDMSG_ALT_IDX, altitudeMeter*10);
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}
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static void SetVoltage(uint32_t milliVolt)
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{
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msg[OSDMSG_V_MS_IDX] = (milliVolt / 6444)<<4;
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msg[OSDMSG_V_LS_IDX] = (milliVolt % 6444)*256/6444;
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}
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static void SetNbSats(uint8_t nb)
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{
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msg[OSDMSG_NB_SATS] = nb;
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}
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static void FlightBatteryStateUpdatedCb(UAVObjEvent* ev)
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{
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newBattData = TRUE;
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}
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static void PositionActualUpdatedCb(UAVObjEvent* ev)
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{
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newPosData = TRUE;
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}
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static void Task(void* parameters)
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{
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uint32_t cnt = 0;
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//PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
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PositionActualConnectCallback(PositionActualUpdatedCb);
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FlightBatteryStateConnectCallback(FlightBatteryStateUpdatedCb);
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DEBUG_MSG("OSD ET Std Started\n\r");
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while (1)
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{
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DEBUG_MSG("%d\n\r", cnt);
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if ( newBattData )
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{
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FlightBatteryStateData flightBatteryData;
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FlightBatteryStateGet(&flightBatteryData);
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DEBUG_MSG("%5d Batt: V=%dmV\n\r", cnt, flightBatteryData.Voltage);
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SetVoltage(flightBatteryData.Voltage);
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newBattData = FALSE;
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}
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if (newPosData)
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{
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PositionActualData positionData;
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PositionActualGet(&positionData);
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DEBUG_MSG("%5d Pos: #stat=%d #sats=%d alt=%d\n\r", cnt,
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positionData.Status, positionData.Satellites, (uint32_t)positionData.Altitude);
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// GPS Status
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if (positionData.Status == POSITIONACTUAL_STATUS_FIX3D)
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msg[OSDMSG_GPS_STAT] = OSDMSG_GPS_STAT_FIX;
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else
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msg[OSDMSG_GPS_STAT] = OSDMSG_GPS_STAT_NOFIX;
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msg[OSDMSG_GPS_STAT] |= OSDMSG_GPS_STAT_HB_FLAG;
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// GPS info
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SetCoord(OSDMSG_LAT_IDX, positionData.Latitude);
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SetCoord(OSDMSG_LON_IDX, positionData.Longitude);
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SetAltitude(positionData.Altitude);
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SetNbSats(positionData.Satellites);
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SetCourse(positionData.Heading);
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newPosData = FALSE;
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}
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else
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{
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msg[OSDMSG_GPS_STAT] &= ~OSDMSG_GPS_STAT_HB_FLAG;
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}
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DEBUG_MSG("SendMsg .");
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if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
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{
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DEBUG_MSG(".");
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PIOS_I2C_Transfer(I2C_Write, 0x30<<1, msg, sizeof(msg));
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DEBUG_MSG(".");
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PIOS_I2C_UnlockDevice();
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}
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DEBUG_MSG("\n\r");
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cnt++;
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vTaskDelay(100 / portTICK_RATE_MS);
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}
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}
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//
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// Public functions
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//
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/**
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* Initialise the 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 OsdEtStdInitialize(void)
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{
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// Start gps task
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xTaskCreate(Task, (signed char*) "Osd", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
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return 0;
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}
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