/*******************************************************************************
* @brief register micro task
* @author zhanggaoxin
* @date 2013-03-19
* @param [in]task:
* @param [in]callInterval:
* @return T_U8
* @retval the handle of micro task
*******************************************************************************/
T_U8 Fwl_MicroTaskRegister(TASK_FUNC task,T_U16 CallInterval)//CallInterval以10ms为单位
{
T_U8 i;
for(i=0;i<MAX_MICRO_TASK;i++)
{
if(task_param[i].TaskCalBak == AK_NULL)
{
task_param[i].TaskCalBak = task;
task_param[i].BackUpInterval = task_param[i].CallInterval = CallInterval;
RunTaskCnt++;
TaskRegMap |= (1<<i);//注册记录
if(RunTaskCnt == 1)
{
TaskTimer = vtimer_start(10, AK_TRUE, TaskTimerCallBak);
if(TaskTimer == ERROR_TIMER)
{
akerror("task timer start fail",0,1);
while(1);
}
}
return i;
}
}
return 0xff;
}
static void
main_thread(void *pdata) {
QueueSetHandle_t qs;
QueueSetMemberHandle_t active;
ASSERT((qs = xQueueCreateSet(SERIAL_RX_SIZE * 3)));
serial_start(cli_serial, 115200, qs);
serial_start(&Serial4, 57600, qs);
serial_start(&Serial5, cfg.gps_baud_rate ? cfg.gps_baud_rate : 57600, qs);
cli_set_output(cli_serial);
log_start(cli_serial);
cl_enabled = 1;
load_eeprom();
cfg.flags &= ~FLAG_HOLDOVER_TEST;
if (cfg.flags & FLAG_GPSEXT) {
gps_serial = &Serial5;
} else {
gps_serial = &Serial4;
}
if (!cfg.holdover) {
cfg.holdover = 60;
}
if (!cfg.loopstats_interval) {
cfg.loopstats_interval = 60;
}
ppscapture_start();
vtimer_start();
tcpip_start();
test_reset();
cli_banner();
if (!(cfg.flags & FLAG_GPSEXT)) {
ublox_configure();
if (HAS_FEATURE(PPSEN) && (cfg.flags & FLAG_PPSEN)) {
GPIO_OFF(PPSEN);
}
}
cl_enabled = 0;
while (1) {
watchdog_main = 5;
active = xQueueSelectFromSet(qs, pdMS_TO_TICKS(1000));
if (active == cli_serial->rx_q) {
int16_t val = serial_get(cli_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
cli_feed(val);
} else if (active == gps_serial->rx_q) {
int16_t val = serial_get(gps_serial, TIMEOUT_NOBLOCK);
ASSERT(val >= 0);
gps_byte_received(val);
if (cfg.flags & FLAG_GPSOUT) {
char tmp = val;
serial_write(&Serial5, &tmp, 1);
}
#if 0
} else if (active == Serial5.rx_q) {
char tmp = serial_get(&Serial5, TIMEOUT_NOBLOCK);
serial_write(&Serial4, &tmp, 1);
#endif
}
}
}
T_TIMER Fwl_TimerStartMilliSecond(T_U16 milliSeconds, T_BOOL loop)
{
return vtimer_start(milliSeconds, loop, vtimer_callback_func);
}
T_TIMER Fwl_TimerStartSecond(T_U8 seconds, T_BOOL loop)
{
return vtimer_start((T_U16)(seconds*1000), loop, vtimer_callback_func);
}
T_TIMER Fwl_TimerStart(T_U16 milliSeconds, T_BOOL loop, T_fVTIMER_CALLBACK callback)
{
return vtimer_start(milliSeconds, loop, callback);
}
