void event_task_ap( void ) {
/***** Datalink *******/
if (PprzBuffer()) {
ReadPprzBuffer();
if (pprz_msg_received) {
pprz_parse_payload();
pprz_msg_received = FALSE;
if (dl_msg_available) {
dl_parse_msg();
dl_msg_available = FALSE;
}
}
}
/* parse and use GPS messages */
if (GpsBuffer()) {
ReadGpsBuffer();
}
if (gps_msg_received) {
parse_gps_msg();
gps_msg_received = FALSE;
if (gps_pos_available) {
use_gps_pos();
gps_pos_available = FALSE;
}
}
}
value set_datalink_message(value s) {
int n = string_length(s);
char *ss = String_val(s);
assert(n <= MSG_SIZE);
int i;
for(i = 0; i < n; i++)
dl_buffer[i] = ss[i];
dl_parse_msg();
return Val_unit;
}
/********** EVENT ************************************************************/
void event_task_rctx( void) {
#ifdef RADIO_CONTROL
if (ppm_valid) {
ppm_valid = FALSE;
radio_control_event_task();
#ifdef USE_RCTX_MODE_SWITCH
// TODO: set rxtx_mode from GPIO connected switch (e.g. I2C pins)
#else
rctx_mode = PPRZ_MODE_OF_PULSE(rc_values[RADIO_MODE], 0) & 3;
#endif
rctx_mode |= rctx_under_voltage << 2;
LED_TOGGLE(3);
if (1)
// TODO: check XBee busy pin
// TODO: send only if aircraft is listening
// TODO: send (here) only in auto1 and manual
{
DOWNLINK_SEND_RC_3CH(
&rctx_mode,
&rc_values[RADIO_THROTTLE],
&rc_values[RADIO_ROLL],
&rc_values[RADIO_PITCH]);
}
}
#endif
#if defined DATALINK
#if DATALINK == XBEE
if (XBeeBuffer()) {
ReadXBeeBuffer();
if (xbee_msg_received) {
xbee_parse_payload();
xbee_msg_received = FALSE;
}
}
#endif
if (dl_msg_available) {
dl_parse_msg();
dl_msg_available = FALSE;
}
#endif /* DATALINK */
}
/*********** EVENT ***********************************************************/
void event_task_ap( void ) {
#ifdef USE_ANALOG_IMU
ImuEvent(on_gyro_accel_event, on_mag_event);
#endif // USE_ANALOG_IMU
#ifdef USE_GPS
#if !(defined HITL) && !(defined UBX_EXTERNAL) /** else comes through the datalink */
if (GpsBuffer()) {
ReadGpsBuffer();
}
#endif
if (gps_msg_received) {
/* parse and use GPS messages */
#ifdef GPS_CONFIGURE
if (gps_configuring)
gps_configure();
else
#endif
parse_gps_msg();
gps_msg_received = FALSE;
if (gps_pos_available) {
gps_verbose_downlink = !launch;
UseGpsPosNoSend(estimator_update_state_gps);
gps_downlink();
#ifdef GPS_TRIGGERED_FUNCTION
#ifndef SITL
GPS_TRIGGERED_FUNCTION();
#endif
#endif
gps_pos_available = FALSE;
}
}
#endif /** USE_GPS */
#if defined DATALINK
#if DATALINK == PPRZ
if (PprzBuffer()) {
ReadPprzBuffer();
if (pprz_msg_received) {
pprz_parse_payload();
pprz_msg_received = FALSE;
}
}
#elif DATALINK == XBEE
if (XBeeBuffer()) {
ReadXBeeBuffer();
if (xbee_msg_received) {
xbee_parse_payload();
xbee_msg_received = FALSE;
}
}
#else
#error "Unknown DATALINK"
#endif
if (dl_msg_available) {
dl_parse_msg();
dl_msg_available = FALSE;
}
#endif /** DATALINK */
#ifdef MCU_SPI_LINK
link_mcu_event_task();
#endif
if (inter_mcu_received_fbw) {
/* receive radio control task from fbw */
inter_mcu_received_fbw = FALSE;
telecommand_task();
}
modules_event_task();
} /* event_task_ap() */