long getCurrentTemperature()
{
CoEnterMutexSection(I2CMutex);
long i = 0;
while(i<100000)
{
i++;
}
writeDataBmp085(0xF4, 0x2E);
//wait 4.5ms
i = 0;
while(i<1000000)
{
i++;
}
long ut = getUtBMP085(0xf6);
CoTickDelay(300);
short oss = 0;
uint8_t transmitData = 0x34;
transmitData += oss<<6;
writeDataBmp085(0xF4, transmitData);
i = 0;
while(i<1000000)
{
i++;
}
long up = getUpBMP085(0xf6, oss);
long temp = getTemperature();
CoLeaveMutexSection(I2CMutex);
CoEnterMutexSection(currentTemperatureMutex);
currentTemperature = temp;
CoLeaveMutexSection(currentTemperatureMutex);
return temp;
}
/*Only use this method after calling the gettemperature method max 1 second ago*/
long getCurrentPressure()
{
long temp = 0;
CoEnterMutexSection(I2CMutex);
temp = getPressure();
CoLeaveMutexSection(I2CMutex);
CoEnterMutexSection(currentPressureMutex);
currentPressure = temp;
CoLeaveMutexSection(currentPressureMutex);
return temp;
}
void mixerTask(void * pdata)
{
s_pulses_paused = true;
while(1) {
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();
CoEnterMutexSection(mixerMutex);
doMixerCalculations();
CoLeaveMutexSection(mixerMutex);
#if defined(FRSKY) || defined(MAVLINK)
telemetryWakeup();
#endif
if (heartbeat == HEART_WDT_CHECK) {
wdt_reset();
heartbeat = 0;
}
t0 = getTmr2MHz() - t0;
if (t0 > maxMixerDuration) maxMixerDuration = t0 ;
}
CoTickDelay(1); // 2ms for now
}
}
float getCurrentAltitude()
{
CoEnterMutexSection(PressureAtSeaLevelMutex);
float p0 = pressureAtSeaLevel;
CoLeaveMutexSection(PressureAtSeaLevelMutex);
float p = getCurrentPressure()/100;
float temp = Pow((p0/p),(1/5.257))-1;
float t = getTemperature()/10;
temp = temp * (t+273.15);
return temp/0.0065;
}
/**
* -----------------------------------------------------------------------------
* @brief mutexTask03
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
* @par Description
* @details Mutex test task code.
* -----------------------------------------------------------------------------
*/
static void mutexTask03 (void* pdata)
{
unsigned int task_para;
unsigned char err;
unsigned char mutex_id;
task_para = (unsigned int)pdata;
mutex_id = task_para % MUTEX_NUM;
for (;;)
{
err = CoEnterMutexSection (Mutex_Id[mutex_id]);
if (err != E_OK) {
printf ("\r Enter mutex error: \n");
printf ("\r Task id = %2d, mutex id = %2d \n",task_para,mutex_id);
}
if (task_para < MUTEX_NUM) {
CoTickDelay (30);
Flag [Cnt] = task_para+3;
Cnt++;
err = CoDelTask (Task_Id[MAX_SLAVE_TEST_TASKS-task_para-1]);
if (task_para == 1) {
if (err == E_OK) {
printf ("\r Error: delete task [%d] fail.\n",MAX_SLAVE_TEST_TASKS-task_para-1);
}
}
else {
if (err != E_OK) {
printf ("\r Error: delete task [%d] fail.\n",MAX_SLAVE_TEST_TASKS-task_para-1);
}
}
}
else {
Flag [Cnt] = task_para+3;
Cnt++;
}
err = CoLeaveMutexSection (Mutex_Id[mutex_id]);
if (err != E_OK) {
printf ("\r Leave Mutex error: \n");
printf ("\r Task id = %2d, mutex id = %2d \n",task_para,mutex_id);
}
if (task_para == 4)
Exit_Flag = 1;
CoExitTask ();
}
}
float calculateCurrentPressureAtSeaLevel(float currentAltitude)
{
float t = getTemperature()/10;
float p = getCurrentPressure()/100;
float temp = 1-((0.0065*currentAltitude)/(t+(0.0065*currentAltitude)+273.15));
temp = Pow(temp,-5.257);
temp = p*temp;
CoEnterMutexSection(PressureAtSeaLevelMutex);
pressureAtSeaLevel = temp;
CoLeaveMutexSection(PressureAtSeaLevelMutex);
return temp;
}
/**
*******************************************************************************
* @brief Print task.
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task print adc value by UART.
*******************************************************************************
*/
void uart_print(void *pdata)
{
int AD_value;
pdata = pdata;
for (;;)
{
CoEnterMutexSection(mut_uart); /*!< Enter mutex area. */
AD_value = ADC_ConvertedValue;
uart_printf ("\r AD value = 0x");
uart_print_hex (AD_value,4);
CoLeaveMutexSection(mut_uart); /*!< Leave mutex area. */
CoTickDelay(100);
}
}
/**
* -----------------------------------------------------------------------------
* @brief mutexTask02
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
* @par Description
* @details Mutex test task code.
* -----------------------------------------------------------------------------
*/
static void mutexTask02 (void* pdata)
{
unsigned int task_para;
unsigned char err;
unsigned char mutex_id;
task_para = (unsigned int)pdata;
mutex_id = task_para%MUTEX_NUM;
for (;;)
{
err = CoEnterMutexSection (Mutex_Id[mutex_id]);
if (err != E_OK) {
printf ("\r Enter mutex error: \n");
printf ("\r Task id = %2d, mutex id = %2d \n",task_para,mutex_id);
}
if (task_para < MUTEX_NUM) {
CoTickDelay (25);
}
Flag [Cnt] = task_para +3;
Cnt++ ;
if (Cnt == MAX_SLAVE_TEST_TASKS){
Exit_Flag = 1;
}
if (task_para < MUTEX_NUM) {
Del_Flag = 1;
CoExitTask ();
}
err = CoLeaveMutexSection (Mutex_Id[mutex_id]);
if (err != E_OK) {
printf ("\r Leave Mutex error: \n");
printf ("\r Task id = %2d, mutex id = %2d \n",task_para,mutex_id);
}
if (Del_Flag == 1) {
CoExitTask ();
}
}
}
/**
*******************************************************************************
* @brief Task of display adc value in LCD.
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task use to display adc value in lcd.
*******************************************************************************
*/
void lcd_display_adc(void *pdata)
{
int AD_value = 0;
int AD_scaled_ex = 0;
int AD_scaled = 0;
pdata = pdata;
for (;;)
{
AD_value = ADC_ConvertedValue; /*!< Read AD value. */
AD_scaled = AD_value / 52; /*!< AD value scaled to 0..78(lines on LCD). */
CoEnterMutexSection(mut_lcd);
if (AD_scaled != AD_scaled_ex) { /*!< If new AD value different than old.*/
AD_scaled_ex = AD_scaled;
lcd_bargraphXY(0, 1, AD_scaled);
}
CoLeaveMutexSection(mut_lcd);
CoTickDelay(80);
}
}
/**
*******************************************************************************
* @brief time_display task
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task use to display time in LCD.
*******************************************************************************
*/
void time_display(void *pdata)
{
static unsigned char tim[3] = {0,0,0};
static unsigned char *ptr;
pdata = pdata;
for (;;)
{
CoWaitForSingleFlag(time_display_flg,0);
ptr = (unsigned char *)CoPendMail(mbox0,0,&errinfo[30]);
CoEnterMutexSection(mut_lcd);
if (tim[0] != *(ptr+0))
{
tim[0] = *(ptr+0);
chart[6] = tim[0]/10 + '0';
chart[7] = tim[0]%10 + '0';
}
if (tim[1] != *(ptr+1))
{
tim[1] = *(ptr+1);
chart[3] = tim[1]/10 + '0';
chart[4] = tim[1]%10 + '0';
}
if (tim[2] != *(ptr+2))
{
tim[2] = *(ptr+2);
chart[0] = tim[2]/10 + '0';
chart[1] = tim[2]%10 + '0';
}
set_cursor(7, 0);
lcd_print (chart);
CoLeaveMutexSection(mut_lcd);
}
}
/**
*******************************************************************************
* @brief lcd_blink task
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task use to blink lcd when setting time.
*******************************************************************************
*/
void lcd_blink (void *pdata)
{
char flag = 0;
pdata = pdata;
for (;;)
{
CoWaitForSingleFlag(lcd_blink_flg,0);
CoEnterMutexSection(mut_lcd);
set_cursor(7, 0);
lcd_print (chart);
switch (timeflag)
{
case 0:
break;
case 1:
set_cursor (13, 0);
if (flag == 0)
{
lcd_putchar (0);
lcd_putchar (0);
flag = 1;
}
else
{
lcd_putchar (chart[6]);
lcd_putchar (chart[7]);
flag = 0;
}
break;
case 2:
set_cursor (10, 0);
if (flag == 0)
{
lcd_putchar (0);
lcd_putchar (0);
flag = 1;
}
else
{
lcd_putchar (chart[3]);
lcd_putchar (chart[4]);
flag = 0;
}
break;
case 3:
set_cursor (7, 0);
if (flag == 0)
{
lcd_putchar (0);
lcd_putchar (0);
flag = 1;
}
else
{
lcd_putchar (chart[0]);
lcd_putchar (chart[1]);
flag = 0;
}
break;
default: break;
};
CoLeaveMutexSection(mut_lcd);
CoTickDelay (55);
}
}
/**
*******************************************************************************
* @brief Set time task
* @param[in] pdata A pointer to parameter passed to task.
* @param[out] None
* @retval None
*
* @details This task use to set time.
*******************************************************************************
*/
void time_set(void *pdata)
{
static unsigned char bct = 0; /* Button calc */
U16 evtmp = 0;
pdata = pdata;
for (;;)
{
evtmp = CoWaitForMultipleFlags(EVT_BUTTON_SEL|EVT_BUTTON_ADD,OPT_WAIT_ANY,0,&errinfo[20]);
if(errinfo[20] != E_OK)
uart_printf("\r Flag ERROR:\n");
if (evtmp == EVT_BUTTON_SEL)
{
bct++;
switch (bct)
{
case 1:
timeflag = 1;
if(lcd_blink_id == 0)
lcd_blink_id = CoCreateTask (lcd_blink,(void *)0, LCD_BLINK_PRI ,&lcd_blink_Stk[TASK_STK_SIZE - 1], TASK_STK_SIZE );
DisableRTCInterrupt();
CoClearFlag(time_display_flg);
CoSetFlag(lcd_blink_flg);
break;
case 2:
timeflag = 2;
break;
case 3:
timeflag = 3;
break;
case 4:
bct = 0;
CoClearFlag(lcd_blink_flg);
CoSetFlag(time_display_flg);
EnableRTCInterrupt();
break;
default: break;
};
CoTickDelay(40);
CoClearFlag(button_sel_flg);
}
else if(evtmp == EVT_BUTTON_ADD)
{
CoEnterMutexSection(mut_lcd);
switch (bct)
{
case 1:
time[0]++;
if (time[0] >= 60)
time[0] = 0;
chart[6] = time[0]/10 + '0';
chart[7] = time[0]%10 + '0';
break;
case 2:
time[1]++;
if (time[1] >= 60)
time[1] = 0;
chart[3] = time[1]/10 + '0';
chart[4] = time[1]%10 + '0';
break;
case 3:
time[2]++;
if (time[2] >= 24)
time[2] = 0;
chart[0] = time[2]/10 + '0';
chart[1] = time[2]%10 + '0';
break;
default: break;
}
set_cursor(7, 0);
lcd_print (chart);
CoLeaveMutexSection(mut_lcd);
CoTickDelay(40);
CoClearFlag(button_add_flg);
}
}
}
