// Kalman filter sensor fusion task
void Fusion_task(uint32_t task_init_data)
{
uint16_t LedGreenCounter = 0;
// initialize the sensor fusion algorithms
Fusion_Init();
// initialize the user medium frequency (typically 25Hz) task
UserMediumFrequencyTaskInit();
// infinite loop controlled by MQX-Lite events
while(1)
{
// ensure the red LED (power up check) is off (line high)
LED_RED_SetVal(NULL);
// set the output test pin to zero (for timing measurements)
TestPin_KF_Time_ClrVal(NULL);
// wait for the sensor fusion event to occur
// FALSE means any bit (of the 1 bit enabled by the mask) unblocks
// and NULL means timeout is infinite
_lwevent_wait_for(&(mqxglobals.RunKFEventStruct), 1, FALSE, NULL);
// set the output test pin to high to denote sensor fusion running
TestPin_KF_Time_SetVal(NULL);
// flash the green LED to denote the sensor fusion is running
if (++LedGreenCounter >= 5)
{
LED_GREEN_NegVal(NULL);
LedGreenCounter = 0;
}
// reset the magnetic calibration flag (this is set by the fusion algorithm)
mqxglobals.MagCal_Event_Flag = 0;
// call the sensor fusion algorithms
Fusion_Run();
// run the user medium frequency (typically 25Hz) user task
UserMediumFrequencyTaskRun();
// enable the magnetic calibration event if the flag for a new magnetic calibration
// with a mask of 1 (least significant bit set)
// was set by the sensor fusion algorithms
if (mqxglobals.MagCal_Event_Flag)
{
_lwevent_set(&(mqxglobals.MagCalEventStruct), 1);
}
} // end of infinite loop
return;
}
void UART_OnBlockReceived(LDD_TUserData *UserDataPtr)
{
int32 isum; // 32 bit command identifier
int16 nbytes; // number of bytes received
int16 i, j; // loop counters
// this function is called when one or more characters have arrived in the UART's receive buffer
// incoming characters are placed in a delay line and processed whenever a valid command is received.
// this provides resilience against loss of incoming characters.
// note also that although this callback is theoretically called whenever a single byte is received,
// in practice there may be bursts of more than one byte in the receive buffer.
// all received bytes are processed before this callback is executed.
// determine how many bytes are available in the UART receive buffer
nbytes = UART_GetReceivedDataNum(UART_DeviceData);
// parse all received bytes in sUARTInputBuf into the iCommand delay line
for (i = 0; i < nbytes; i++)
{
// shuffle the iCommand delay line and add the new command byte
for (j = 0; j < 3; j++)
iCommand[j] = iCommand[j + 1];
iCommand[3] = sUARTInputBuf[i];
// check if we have a valid command yet
isum = ((((((int32)iCommand[0] << 8) + iCommand[1]) << 8) + iCommand[2]) << 8) + iCommand[3];
switch (isum)
{
// "VG+ " = enable angular velocity packet transmission
case ((((('V' << 8) + 'G') << 8) + '+') << 8) + ' ':
globals.AngularVelocityPacketOn = true;
iCommand[3] = '~';
break;
// "VG- " = disable angular velocity packet transmission
case ((((('V' << 8) + 'G') << 8) + '-') << 8) + ' ':
globals.AngularVelocityPacketOn = false;
iCommand[3] = '~';
break;
// "DB+ " = enable debug packet transmission
case ((((('D' << 8) + 'B') << 8) + '+') << 8) + ' ':
globals.DebugPacketOn = true;
iCommand[3] = '~';
break;
// "DB- " = disable debug packet transmission
case ((((('D' << 8) + 'B') << 8) + '-') << 8) + ' ':
globals.DebugPacketOn = false;
iCommand[3] = '~';
break;
// "Q3 " = transmit 3-axis accelerometer quaternion in standard packet
case ((((('Q' << 8) + '3') << 8) + ' ') << 8) + ' ':
#if defined COMPUTE_3DOF_G_BASIC
globals.QuaternionPacketType = Q3;
iCommand[3] = '~';
#endif
break;
// "Q3M " = transmit 3-axis magnetometer quaternion in standard packet
case ((((('Q' << 8) + '3') << 8) + 'M') << 8) + ' ':
#if defined COMPUTE_3DOF_B_BASIC
globals.QuaternionPacketType = Q3M;
iCommand[3] = '~';
#endif
break;
// "Q3G " = transmit 3-axis gyro quaternion in standard packet
case ((((('Q' << 8) + '3') << 8) + 'G') << 8) + ' ':
#if defined COMPUTE_3DOF_Y_BASIC
globals.QuaternionPacketType = Q3G;
iCommand[3] = '~';
#endif
break;
// "Q6MA" = transmit 6-axis mag/accel quaternion in standard packet
case ((((('Q' << 8) + '6') << 8) + 'M') << 8) + 'A':
#if defined COMPUTE_6DOF_GB_BASIC
globals.QuaternionPacketType = Q6MA;
iCommand[3] = '~';
#endif
break;
// "Q6AG" = transmit 6-axis accel/gyro quaternion in standard packet
case ((((('Q' << 8) + '6') << 8) + 'A') << 8) + 'G':
#if defined COMPUTE_6DOF_GY_KALMAN
globals.QuaternionPacketType = Q6AG;
iCommand[3] = '~';
#endif
break;
// "Q9 " = transmit 9-axis quaternion in standard packet (default)
case ((((('Q' << 8) + '9') << 8) + ' ') << 8) + ' ':
#if defined COMPUTE_9DOF_GBY_KALMAN
globals.QuaternionPacketType = Q9;
iCommand[3] = '~';
#endif
break;
// "RPC+" = Roll/Pitch/Compass on
case ((((('R' << 8) + 'P') << 8) + 'C') << 8) + '+':
globals.RPCPacketOn = true;
iCommand[3] = '~';
break;
// "RPC-" = Roll/Pitch/Compass off
case ((((('R' << 8) + 'P') << 8) + 'C') << 8) + '-':
globals.RPCPacketOn = false;
iCommand[3] = '~';
break;
// "ALT+" = Altitude packet on
case ((((('A' << 8) + 'L') << 8) + 'T') << 8) + '+':
globals.AltPacketOn = true;
iCommand[3] = '~';
break;
// "ALT-" = Altitude packet off
case ((((('A' << 8) + 'L') << 8) + 'T') << 8) + '-':
globals.AltPacketOn = false;
iCommand[3] = '~';
break;
// "RST " = Soft reset
case ((((('R' << 8) + 'S') << 8) + 'T') << 8) + ' ':
Fusion_Init();
mqxglobals.FTMTimestamp = 0;
iCommand[3] = '~';
break;
default:
// no action
break;
}
} // end of loop over received characters
// generate the next callback event to this function when the next character arrives
// this function is non-blocking
UART_ReceiveBlock(UART_DeviceData, sUARTInputBuf, 1);
return;
}
