/**** TASKS ****/
void vTaskADC_VoltPwr(void * pvParameters)
{
SENSOR_t SENSOR_Struct;
vSENSOR_initStruct(&SENSOR_Struct);
/* Local variables. */
static uint16_t v_divider = 4400; // resistor relation value of the voltage divider
/*
* ADC_CONVERTED_VALUES[0] is related to Power Supply voltage measurement
* ADC_CONVERTED_VALUES[1] is related to IR Sensor voltage measurement
*/
static uint32_t moving_average = 0;
static uint16_t buffor[21] = {0};
static uint8_t i = 0, k = 0;
for(;;){
if( xSemaphoreTake(xSemaphoreADC_VoltPwr, 100 ) == pdTRUE)
{
/*** Moving average ***/
buffor[i] = ADC_CONVERTED_VALUES[0];
if( i >= 19 ) // collecting buffor
{
uint8_t j = 0;
for( j = 0; j < 20; j++ ){
buffor[j] = buffor[j+1];
}
}
else
i++;
for( moving_average = 0, k = 0; k < 20; k++ ) //summing up the buffor
{
moving_average += buffor[k];
}
moving_average /= 20; //calculating average of the buffor
moving_average *= v_divider;
/*** Moving average ***/
SENSOR_Struct.PS_Voltage = moving_average*3.3/4095;
SENSOR_Struct.IR_Sensor = ADC_CONVERTED_VALUES[1];
xQueueSend(xQueueUART_1xSENSOR_t, &SENSOR_Struct, 0);
}
}
}
/*-----------------------------------------------------------
* @brief Task Name : vTaskUART_NAVIsns
* @brief Description : This task is responsible for sending SENSOR data frames to the
* NAVIGATION & FAULT INJECTION BOARD by managing a semaphore
*/
void vTaskUART_NAVIsns(void * pvParameters)
{
/* Local variables. */
portTickType xLastFlashTime;
xLastFlashTime = xTaskGetTickCount();
SENSOR_t SENSOR_Struct;
vSENSOR_initStruct(&SENSOR_Struct);
/* 10 Hz task [100 ms delay] */
for(;;){
vTaskDelayUntil( &xLastFlashTime, 100 );
/* Receive IMU_Structure */
xQueueReceive(xQueueUART_1xSENSOR_t, &SENSOR_Struct, 100);
/* Sharing xSemaphoreUART_NAVITX MUTEX with vTaskUART_NAVIimu task */
if( xSemaphoreTake(xSemaphoreUART_NAVITX, 0))
{
/* Clear buffer before updating it */
vUART_ClearBuffer(UART_NaviBufferSEND);
/* Send data to the Navigation & Fault injection board */
char tmp_buffer[NAVI_BUFFER_LENGTH] = {0};
sprintf(tmp_buffer, "%c,4,%i,%i,0,0,*", NAVI_DF_CHAR,
SENSOR_Struct.PS_Voltage,
SENSOR_Struct.IR_Sensor);
// Add calculated CRC to this string.
sprintf(GV_bufferNAVIsend, "%s%i\n\r", tmp_buffer,
ucUART_calculateCRC(tmp_buffer, NAVI_DF_CHAR, NAVI_BUFFER_LENGTH) );
vUART_puts(USART2, GV_bufferNAVIsend);
/* Allow putting another IMU_Structure to the xQueueUART_1xIMU_t */
xSemaphoreGive(xSemaphoreUART_NAVITX);
}
}
/* sprintf(GV_bufferNAVIsend, "a%i\nb%i\n",
SENSOR_Struct.PS_Voltage,
SENSOR_Struct.IR_Sensor);
vUART_puts(USART2, GV_bufferNAVIsend); // QUADROPLOT DATA FRAME*/
}
/**** TASKS ****/
void vTaskADC_VoltPwr(void * pvParameters)
{
SENSOR_t SENSOR_Struct;
vSENSOR_initStruct(&SENSOR_Struct);
/* Local variables. */
static uint16_t v_divider = 4400; // resistor relation value of the voltage divider
/*
* ADC_CONVERTED_VALUES[0] is related to Power Supply voltage measurement
* ADC_CONVERTED_VALUES[1] is related to IR Sensor voltage measurement
*/
for(;;){
if( xSemaphoreTake(xSemaphoreADC_VoltPwr, 100 ) == pdTRUE)
{
uint32_t tmp = ADC_CONVERTED_VALUES[0] * v_divider;
SENSOR_Struct.PS_Voltage = tmp*3.3/4095;
SENSOR_Struct.IR_Sensor = ADC_CONVERTED_VALUES[1];
xQueueSend(xQueueUART_1xSENSOR_t, &SENSOR_Struct, 0);
}
}
}
