/**
* @brief Main module task
*/
static void actuatorTask(void* parameters)
{
// UAVObjEvent ev;
portTickType lastSysTime;
ActuatorCommandData command;
ActuatorSettingsData settings;
// Set servo update frequency (done only on start-up)
ActuatorSettingsGet(&settings);
PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
// Go to the neutral (failsafe) values until an ActuatorDesired update is received
setFailsafe();
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
if ( RunMixers(&command, &settings) == -1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
}
// Update output object
ActuatorCommandSet(&command);
// Update in case read only (eg. during servo configuration)
ActuatorCommandGet(&command);
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
PIOS_Servo_Set( n, command.Channel[n] );
}
// Wait until next update
vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS );
}
}
void PIOS_Video_Init(const struct pios_video_cfg *cfg)
{
dev_cfg = cfg; // store config before enabling interrupt
configure_hsync_timers();
/* needed for HW hack */
const GPIO_InitTypeDef initStruct = {
.GPIO_Pin = GPIO_Pin_12,
.GPIO_Speed = GPIO_Speed_100MHz,
.GPIO_Mode = GPIO_Mode_IN,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_NOPULL
};
GPIO_Init(GPIOC, &initStruct);
/* SPI3 - MASKBUFFER */
GPIO_Init(cfg->mask.sclk.gpio, (GPIO_InitTypeDef *)&(cfg->mask.sclk.init));
GPIO_Init(cfg->mask.miso.gpio, (GPIO_InitTypeDef *)&(cfg->mask.miso.init));
/* SPI1 SLAVE FRAMEBUFFER */
GPIO_Init(cfg->level.sclk.gpio, (GPIO_InitTypeDef *)&(cfg->level.sclk.init));
GPIO_Init(cfg->level.miso.gpio, (GPIO_InitTypeDef *)&(cfg->level.miso.init));
if (cfg->mask.remap) {
GPIO_PinAFConfig(cfg->mask.sclk.gpio,
__builtin_ctz(cfg->mask.sclk.init.GPIO_Pin),
cfg->mask.remap);
GPIO_PinAFConfig(cfg->mask.miso.gpio,
__builtin_ctz(cfg->mask.miso.init.GPIO_Pin),
cfg->mask.remap);
}
if (cfg->level.remap) {
GPIO_PinAFConfig(cfg->level.sclk.gpio,
__builtin_ctz(cfg->level.sclk.init.GPIO_Pin),
cfg->level.remap);
GPIO_PinAFConfig(cfg->level.miso.gpio,
__builtin_ctz(cfg->level.miso.init.GPIO_Pin),
cfg->level.remap);
}
/* Initialize the SPI block */
SPI_Init(cfg->level.regs, (SPI_InitTypeDef *)&(cfg->level.init));
SPI_Init(cfg->mask.regs, (SPI_InitTypeDef *)&(cfg->mask.init));
/* Enable SPI */
SPI_Cmd(cfg->level.regs, ENABLE);
SPI_Cmd(cfg->mask.regs, ENABLE);
/* Configure DMA for SPI Tx SLAVE Maskbuffer */
DMA_Cmd(cfg->mask.dma.tx.channel, DISABLE);
DMA_Init(cfg->mask.dma.tx.channel, (DMA_InitTypeDef *)&(cfg->mask.dma.tx.init));
/* Configure DMA for SPI Tx SLAVE Framebuffer*/
DMA_Cmd(cfg->level.dma.tx.channel, DISABLE);
DMA_Init(cfg->level.dma.tx.channel, (DMA_InitTypeDef *)&(cfg->level.dma.tx.init));
/* Trigger interrupt when for half conversions too to indicate double buffer */
DMA_ITConfig(cfg->level.dma.tx.channel, DMA_IT_TC, ENABLE);
/* Configure and clear buffers */
draw_buffer_level = buffer0_level;
draw_buffer_mask = buffer0_mask;
disp_buffer_level = buffer1_level;
disp_buffer_mask = buffer1_mask;
memset(disp_buffer_mask, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
memset(disp_buffer_level, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
memset(draw_buffer_mask, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
memset(draw_buffer_level, 0, GRAPHICS_WIDTH * GRAPHICS_HEIGHT);
/* Configure DMA interrupt */
NVIC_Init(&cfg->level.dma.irq.init);
/* Enable SPI interrupts to DMA */
SPI_I2S_DMACmd(cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
SPI_I2S_DMACmd(cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
mask_dma = DMA1;
main_dma = DMA2;
main_stream = cfg->level.dma.tx.channel;
mask_stream = cfg->mask.dma.tx.channel;
/* Configure the Video Line interrupt */
PIOS_EXTI_Init(cfg->hsync);
PIOS_EXTI_Init(cfg->vsync);
// set levels to zero
PIOS_Servo_Set(0, 0);
PIOS_Servo_Set(1, 0);
}
static void TaskServos(void *pvParameters)
{
/* For testing servo outputs */
portTickType xDelay;
/* Used to test servos, cycles all servos from one side to the other */
for(;;) {
/*xDelay = 250 / portTICK_RATE_MS;
PIOS_Servo_Set(0, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(3, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(4, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(5, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(5, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(4, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(3, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(0, 1000);
vTaskDelay(xDelay);*/
xDelay = 1 / portTICK_RATE_MS;
for(int i = 1000; i < 2000; i++) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i);
PIOS_Servo_Set(4, i);
PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i);
vTaskDelay(xDelay);
}
for(int i = 2000; i > 1000; i--) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
PIOS_Servo_Set(2, i);
PIOS_Servo_Set(3, i);
PIOS_Servo_Set(4, i);
PIOS_Servo_Set(5, i);
PIOS_Servo_Set(6, i);
PIOS_Servo_Set(7, i);
vTaskDelay(xDelay);
}
}
}
