/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryStart(void)
{
// Process all registered objects and connect queue for updates
UAVObjIterate(®isterObject);
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#ifdef PIOS_INCLUDE_RFM22B
xTaskCreate(radioRxTask, (signed char *)"RadioRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
#endif
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
static int32_t comUsbBridgeStart(void)
{
if (bridge_enabled) {
// Start tasks
xTaskCreate(com2UsbBridgeTask, "Com2UsbBridge", C2U_STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &com2UsbBridgeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_COM2USBBRIDGE, com2UsbBridgeTaskHandle);
xTaskCreate(usb2ComBridgeTask, "Usb2ComBridge", U2C_STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &usb2ComBridgeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_USB2COMBRIDGE, usb2ComBridgeTaskHandle);
return 0;
}
return -1;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncStart(void)
{
overosync = (struct overosync *)pios_malloc(sizeof(*overosync));
if (overosync == NULL) {
return -1;
}
overosync->transaction_lock = xSemaphoreCreateMutex();
if (overosync->transaction_lock == NULL) {
return -1;
}
overosync->buffer_lock = xSemaphoreCreateMutex();
if (overosync->buffer_lock == NULL) {
return -1;
}
overosync->active_transaction_id = 0;
overosync->loading_transaction_id = 0;
overosync->write_pointer = 0;
overosync->sent_bytes = 0;
overosync->framesync_error = 0;
// Process all registered objects and connect queue for updates
UAVObjIterate(®isterObject);
// Start telemetry tasks
xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
return 0;
}
/**
* Start the task. Expects all objects to be initialized by this point.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Create the queues for the sensors
gyroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
accelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
magQueue = xQueueCreate(1, sizeof(UAVObjEvent));
airspeedQueue = xQueueCreate(1, sizeof(UAVObjEvent));
baroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
gpsQueue = xQueueCreate(1, sizeof(UAVObjEvent));
gpsVelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
#endif
GyrosConnectQueue(gyroQueue);
AccelsConnectQueue(accelQueue);
MagnetometerConnectQueue(magQueue);
AirspeedSensorConnectQueue(airspeedQueue);
BaroAltitudeConnectQueue(baroQueue);
GPSPositionConnectQueue(gpsQueue);
GPSVelocityConnectQueue(gpsVelQueue);
return 0;
}
/**
* Start the task. Expects all objects to be initialized by this point.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t SensorsStart(void)
{
// Start main task
xTaskCreate(SensorsTask, "Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
REGISTER_WDG();
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeStart()
{
// Start main task
xTaskCreate(altitudeTask, "Altitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Start main task
xTaskCreate(AttitudeTask, "Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, taskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
#endif
return 0;
}
/**
* Start the task. Expects all objects to be initialized by this point.
* \returns 0 on success or -1 if initialisation failed
*/
int32_t SensorsStart(void)
{
// Start main task
xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
#endif
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AutotuneStart(void)
{
// Start main task if it is enabled
if (autotuneEnabled) {
xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_AUTOTUNE);
}
return 0;
}
/**
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t OPLinkModStart(void)
{
// Initialize vars
stackOverflow = false;
mallocFailed = false;
// Create oplink system task
xTaskCreate(systemTask, "OPLink", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
/**
* Start all scheduler tasks
* Will instantiate all scheduler tasks registered so far. Although new
* callbacks CAN be registered beyond that point, any further scheduling tasks
* will be started the moment of instantiation. It is not possible to increase
* the STACK requirements of a scheduler task after this function has been
* run. No callbacks will be run before this function is called, although
* they can be marked for later execution by executing the dispatch function.
* \return Success (0), failure (-1)
*/
int32_t CallbackSchedulerStart()
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// only call once
PIOS_Assert(schedulerStarted == false);
// start tasks
struct DelayedCallbackTaskStruct *cursor = NULL;
int t = 0;
LL_FOREACH(schedulerTasks, cursor) {
xTaskCreate(
CallbackSchedulerTask,
cursor->name,
cursor->stackSize / 4,
cursor,
cursor->priorityTask,
&cursor->callbackSchedulerTaskHandle
);
if (TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t <= TASKINFO_RUNNING_CALLBACKSCHEDULER3) {
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t, cursor->callbackSchedulerTaskHandle);
}
t++;
}
/**
* Initialise the overosync module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t OveroSyncStart(void)
{
// Check if module is enabled or not
if (overoEnabled == false) {
return -1;
}
overosync = (struct overosync *)pios_malloc(sizeof(*overosync));
if (overosync == NULL) {
return -1;
}
overosync->sent_bytes = 0;
// Process all registered objects and connect queue for updates
UAVObjIterate(®isterObject);
// Start overosync tasks
xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle);
return 0;
}
