void udp_init ( UdpCommStruct *commStruct )
{
UbloxModemUdpStruct *pUbloxModemUdpStruct = (UbloxModemUdpStruct *) &ubloxModemUdpStruct;
//For now, making this so that it is single instance implementation.
//TODO: Make more generic this wrapper in future
commStruct->udpSocketDataPtr = pUbloxModemUdpStruct;
commStruct->socketIP.port = atoi(commStruct->port);
pUbloxModemUdpStruct->hostname = commStruct->hostname;
pUbloxModemUdpStruct->port = atoi(commStruct->port);
ublox_init(pUbloxModemUdpStruct);
//Handles server connections
if (commStruct->actAsServer)
{
//Server
//Bind connection
//Read POSIX socket to populate Generic IP Address
//commStruct->socketIP.address = 0;
commStruct->socketIP.address = 0x7f000001; //127.0.0.1
//TO DO: Add more server stuff here
}
else
{
//Client
//Resolve the name of the server
//Read POSIX socket to populate Generic IP Address
ublox_blocked_namelookup(pUbloxModemUdpStruct, commStruct->hostname, (int *) &commStruct->socketIP.address);
pUbloxModemUdpStruct->hostnameIp = commStruct->socketIP.address;
}
}
void vmisc_tasks()
{
uint8_t time_count,time_200ms;
portTickType ticks_now,ticks_old = 0;
uint16_t time_elapsed = 0;
modem_config();
ublox_init();
// debug_config(); //configure debug serial port
/*
* data from external sensors initialized, version M21
* can disable it by commenting here and changing dataFromInternalSensors from 0 to 1
* check externalPackets.h for more information
*/
if (!(dataFromInternalSensors))
/* initialize external sensors data UART3, debug port and this can't be enabled together */
externalDataPortInit();
RPM_config();
ADC_config();
ADC_SoftwareStartConv(ADC1);
ADC_3_config();
ADC_SoftwareStartConv(ADC3);
PWM_out_config();
for(;;)
{
if(WDT_status == 1)
{
IWDG_ReloadCounter();
WDT_status = 0; //clear it so that it can be set again if all is OK
}
if(xbee_tx_count>0) //enable TX interrupts if transmit data is present
USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
if(gps_tx.count >0) //enable TX interrupts if transmit data is present
USART_ITConfig(USART2, USART_IT_TXE, ENABLE);
if(debug_tx_count >0) //enable TX interrupts if transmit data is present
USART_ITConfig(USART3, USART_IT_TXE, ENABLE);
parse_gps_data();
if(xbee_rx_count)
parse_modem_data();
if(xbee_fresh_data) //if received fresh data
{
calculate_xbee(); //call appropriate function based on received data
xbee_fresh_data = 0;
}
if(log_init_flag)
{
if(write_buff_to_card == 1) //if one buffer is full
{
res = f_open(&fil, file_name, FA_OPEN_ALWAYS | FA_WRITE |FA_READ);
f_lseek(&fil, cursor_pos);
if(log_buff_status == 1)
{
f_write(&fil, SD_buffer2.BUFFER, SD_buffer2.write_count, &bw);
cursor_pos += SD_buffer2.write_count;
}
else if(log_buff_status == 2)
{
f_write(&fil, SD_buffer1.BUFFER, SD_buffer1.write_count, &bw);
cursor_pos += SD_buffer1.write_count;
}
write_buff_to_card = 0;
f_close(&fil);
GPIOF->ODR ^= GPIO_Pin_12;
}
}
ticks_now = xTaskGetTickCount()*2;
if((ticks_now - ticks_old) >=100) //do the following every 100ms
{
time_elapsed = ticks_now - ticks_old;
rpm = pulse_cnt*2*60/MOTOR_POLES*(1000/time_elapsed);
pulse_cnt = 0;
ticks_old = ticks_now;
air_speed_indicator();
send_status();
if(link_count >= 5 ) //no data from more than 500ms
{
modem_link_active = 0; //indicate absence of GIB
link_count = 0;
}
else
link_count++;
if(time_200ms == 2) //do the following every 200ms
{
send_gps_data();
time_200ms = 0;
}
else
time_200ms++;
if(time_count == 5) //do the following every 500ms
{
queue_data(); //append debug data for transmission
update_battery();
update_RPM();
send_press_temp();
send_defections();
send_power_propulsion();
time_count = 0;
}
else
time_count++;
}
}
}
