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https://bitbucket.org/librepilot/librepilot.git
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f8b793e54d
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@750 ebee16cc-31ac-478f-84a7-5cbb03baadba
183 lines
5.4 KiB
C
183 lines
5.4 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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//
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// Configuration
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//
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#define DEBUG_PORT COM_USART1
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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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//
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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,0x03,0x00,0x00,0x00,0x00,0x00,0x91,0x0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFD,0x17,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x91,0x0A};
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// uint8_t msg[63] = {0x03,0x3F,0x03,0x00,0x00,0x00,0x00,0x00,0x8F,0x0A,0x40,0x00,0x00,0x00,0x00,0x00,0x00,0xFD,0x17,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x57,0x37,0x90,0x45,0x00,0x24,0x09,0x00,0x24,0x03,0x00,0x00,0x90,0x00,0x54,0x54,0x00,0x00,0x52,0x11,0x20,0x00,0x00,0x06,0x2B,0x00,0x8F,0x0A};
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uint8_t msg[63] = {0x03,0x3F,0x03,0x00,0x00,0x00,0x00,0x00,0x90,0x0A,0x8A,0x00,0x00,0x00,0x00,0x00,0x00,0xFC,0x17,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x57,0x37,0x14,0x33,0x02,0x24,0x09,0x60,0x10,0x02,0x00,0x00,0x90,0x00,0x54,0x54,0x00,0x00,0x33,0x28,0x13,0x00,0x00,0x08,0x00,0x00,0x90,0x0A};
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// uint8_t msg[63] = {0x03,0x3F,0x03,0x00,0x00,0x00,0x00,0x00,0x90,0x0A,0x8A,0x00,0x00,0x00,0x00,0x00,0x00,0xFC,0x17,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x57,0x37,0x14,0x33,0x02,0x24,0x09,0x60,0x10,0x02,0x00,0x00,0x90,0x00,0x54,0x54,0x00,0x00,0x33,0x28,0x13,0x00,0x00,0x08,0x03,0x00,0x90,0x0A};
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static bool fix=FALSE;
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static bool newGpsData=FALSE;
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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 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 SetHomeDir(uint32_t dir)
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{
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int etDir;
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etDir = dir - 89;
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if (etDir < 0)
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etDir += 360;
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WriteToMsg16(47, etDir);
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}
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static void SetAltitude(uint32_t altitudeMeter)
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{
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WriteToMsg32(49, 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[18] = (milliVolt / 6444)<<4;
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msg[10] = (milliVolt % 6444)*256/6444;
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}
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//
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// Private functions
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//
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static void Task(void* parameters)
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{
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int dir=0;
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int alt=100;
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int voltage = 0;
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PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
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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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SetHomeDir(dir);
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dir++;
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if (dir>90)
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{
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fix=TRUE;
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}
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if (dir>360)
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{
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dir = 0;
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// Change coordinates
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msg[39]++;
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}
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SetAltitude(alt);
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alt++;
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SetVoltage(voltage);
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voltage += 50;
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// GPS status
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if (fix)
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msg[59] = 0x2B;
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else
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msg[59] = 0x03;
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if (newGpsData)
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{
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msg[59] |= 0x10;
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newGpsData = FALSE;
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}
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else
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{
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newGpsData = TRUE;
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}
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if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
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{
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PIOS_I2C_Transfer(I2C_Write, 0x30<<1, msg, sizeof(msg));
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PIOS_I2C_UnlockDevice();
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}
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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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* 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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