flight/modules/Osd/WavPlayer/wavplayer.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup WavPlayerModule WavPlayer Module
   6  * @brief Process WavPlayer information
   7  * @{
   8  *
   9  * @file       wavplayer.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      WavPlayer module
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 // ****************
  32 #include "openpilot.h"
  33
  34 // ****************
  35 // Private functions
  36
  37 static void WavPlayerTask(void *parameters);
  38
  39 // ****************
  40 // Private constants
  41
  42 #define STACK_SIZE_BYTES 1600
  43
  44 #define TASK_PRIORITY    (tskIDLE_PRIORITY + 4)
  45
  46 // ****************
  47 // Private variables
  48
  49 static xTaskHandle WavPlayerTaskHandle;
  50
  51 static uint32_t timeOfLastCommandMs;
  52 static uint32_t timeOfLastUpdateMs;
  53
  54 // ****************
  55 int32_t WavPlayerStart(void)
  56 {
  57     // Start WavPlayer task
  58     xTaskCreate(WavPlayerTask, "WavPlayer", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &WavPlayerTaskHandle);
  59
  60     return 0;
  61 }
  62 /**
  63  * Initialise the WavPlayer module
  64  * \return -1 if initialisation failed
  65  * \return 0 on success
  66  */
  67 int32_t WavPlayerInitialize(void)
  68 {
  69     return 0;
  70 }
  71 MODULE_INITCALL(WavPlayerInitialize, WavPlayerStart);
  72
  73 // ****************
  74 /**
  75  * Main WavPlayer task. It does not return.
  76  */
  77
  78 static void WavPlayerTask(__attribute__((unused)) void *parameters)
  79 {
  80     portTickType lastSysTime;
  81
  82     // Loop forever
  83     lastSysTime = xTaskGetTickCount();
  84     uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
  85
  86     timeOfLastUpdateMs  = timeNowMs;
  87     timeOfLastCommandMs = timeNowMs;
  88 #if defined(PIOS_INCLUDE_WAVE)
  89     WavePlayer_Start();
  90 #endif
  91     // Loop forever
  92     while (1) {
  93         vTaskDelayUntil(&lastSysTime, 50 / portTICK_RATE_MS);
  94         timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
  95     }
  96 }
  97
  98 // ****************
  99
 100 /**
 101  * @}
 102  * @}
 103  */