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#define DEBUG_MODULE "RR-DATA"
#include "FreeRTOS.h"
#include "task.h"
#include "debug.h"
#include "system.h"
#include "uart2.h"
#include "log.h"

#include "deck.h"

static struct __attribute__((packed)) rrData_s {
  float posX;
  float posY;
  float posZ;
} rrData;


void rrdataTask(void *param)
{
  int positionXid;
  int positionYid;
  int positionZid;

  systemWaitStart();

  // Setup data to transfer
  positionXid = logGetVarId("stateEstimate", "x");
  positionYid = logGetVarId("stateEstimate", "y");
  positionZid = logGetVarId("stateEstimate", "z");

  TickType_t lastWakeTime = xTaskGetTickCount();

  while (1)
  {
    // Set the loop unlock time in ms
    vTaskDelayUntil(&lastWakeTime, M2T(10));

    // Assemble the data
    rrData.posX = logGetFloat(positionXid);
    rrData.posY = logGetFloat(positionYid);
    rrData.posZ = logGetFloat(positionZid);

    // Send the three floates, byte by byte, to uart2.
    uart2SendDataDmaBlocking(sizeof(rrData), (uint8_t *)(&rrData));
  }
}

static void rrdataInit()
{
  DEBUG_PRINT("Starting position data task writing to uart2\n");

  xTaskCreate(rrdataTask, "RRDATA", configMINIMAL_STACK_SIZE, NULL, /*priority*/1, NULL);

  // Configure uart and set the baud rate
  uart2Init(115200);

}

static bool rrdataTest()
{
  return true;
}

static const DeckDriver rrdataDriver = {
  .name = "rrData",
  .init = rrdataInit,
  .test = rrdataTest,
};

DECK_DRIVER(rrdataDriver);

Code: Select all

loadbin s110_nrf51822_7.0.0_softdevice.bin, 0
loadbin cload_nrf_v1.0_rfx2411n.bin, 0x3A000
loadbin nrf_mbs_roadrunner_v1.1.bin, 0x3F000
loadbin cf2_nrf.bin, 0x16000