8000 Add PixHawk telemetry support for Jumper R8 receiver by vishwamartur · Pull Request #146 · dgatf/msrc · GitHub
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Add PixHawk telemetry support for Jumper R8 receiver #146

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Add PixHawk telemetry support for Jumper R8 receiver #146

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7 changes: 5 additions & 2 deletions board/project/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,8 @@ typedef enum rx_protocol_t {
SERIAL_MONITOR,
RX_CRSF,
RX_HOTT,
RX_SANWA
RX_SANWA,
RX_PIXHAWK
} rx_protocol_t;

typedef enum esc_protocol_t {
Expand Down Expand Up @@ -173,4 +174,6 @@ float get_consumption(float current, uint16_t current_max, uint32_t *timestamp);
float voltage_read(uint8_t adc_num);
float get_altitude(float pressure, float temperature, float P0);

#endif
void pixhawk_task(void *parameters);

#endif
266 changes: 136 additions & 130 deletions board/project/main.c
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Original file line number Diff line number Diff line change
@@ -1,130 +1,136 @@
#include <stdio.h>

#include "config.h"
#include "frsky_d.h"
#include "hitec.h"
#include "ibus.h"
#include "jetiex.h"
#include "led.h"
#include "multiplex.h"
#include "sbus.h"
#include "serial_monitor.h"
#include "sim_rx.h"
#include "smartport.h"
#include "srxl.h"
#include "srxl2.h"
#include "usb.h"
#include "xbus.h"
#include "crsf.h"
#include "hott.h"
#include "sanwa.h"

context_t context;

void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) {
debug("stack overflow %x %s\r\n", xTask, (portCHAR *)pcTaskName);
while (1)
;
}

int main() {
stdio_init_all();

if (CONFIG_FORZE_WRITE) config_forze_write();
config_t *config = config_read();

context.debug = config->debug;
if (context.debug) sleep_ms(1000);
debug("\n\nMSRC init");

context.tasks_queue_handle = xQueueCreate(64, sizeof(QueueHandle_t));

context.led_cycle_duration = 200;
context.led_cycles = 3;
xTaskCreate(led_task, "led_task", STACK_LED, NULL, 1, &context.led_task_handle);

xTaskCreate(usb_task, "usb_task", STACK_USB, NULL, 1, &context.usb_task_handle);

switch (config->rx_protocol) {
case RX_XBUS:
xTaskCreate(xbus_task, "xbus_task", STACK_RX_XBUS, NULL, 3, &context.receiver_task_handle);
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_IBUS:
xTaskCreate(ibus_task, "ibus_task", STACK_RX_IBUS, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_FRSKY_D:
xTaskCreate(frsky_d_task, "frsky_d_task", STACK_RX_FRSKY_D, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_MULTIPLEX:
xTaskCreate(multiplex_task, "multiplex_task", STACK_RX_MULTIPLEX, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SMARTPORT:
xTaskCreate(smartport_task, "smartport_task", STACK_RX_SMARTPORT, NULL, 4, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_JETIEX:
xTaskCreate(jetiex_task, "jetiex_task", STACK_RX_JETIEX, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SBUS:
xTaskCreate(sbus_task, "sbus_task", STACK_RX_SBUS, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_HITEC:
xTaskCreate(hitec_task, "hitec_task", STACK_RX_HITEC, NULL, 3, &context.receiver_task_handle);
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SRXL:
xTaskCreate(srxl_task, "srxl_task", STACK_RX_SRXL, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SRXL2:
xTaskCreate(srxl2_task, "srxl2_task", STACK_RX_SRXL2, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case SERIAL_MONITOR:
xTaskCreate(serial_monitor_task, "serial_monitor", STACK_SERIAL_MONITOR, NULL, 3,
&context.receiver_task_handle);
context.uart1_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_CRSF:
xTaskCreate(crsf_task, "crfs_task", STACK_RX_CRSF, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_HOTT:
xTaskCreate(hott_task, "hott_task", STACK_RX_HOTT, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SANWA:
xTaskCreate(sanwa_task, "sanwa_task", STACK_RX_SANWA, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
}

#ifdef SIM_RX
sim_rx_parameters_t parameter = {config->rx_protocol};
xTaskCreate(sim_rx_task, "sim_rx_task", STACK_SIM_RX, &parameter, 3, NULL);
#endif

vTaskStartScheduler();

vTaskResume(context.led_task_handle);
while (1)
;
}
#include <stdio.h>

#include "config.h"
#include "frsky_d.h"
#include "hitec.h"
#include "ibus.h"
#include "jetiex.h"
#include "led.h"
#include "multiplex.h"
#include "sbus.h"
#include "serial_monitor.h"
#include "sim_rx.h"
#include "smartport.h"
#include "srxl.h"
#include "srxl2.h"
#include "usb.h"
#include "xbus.h"
#include "crsf.h"
#include "hott.h"
#include "sanwa.h"
#include "pixhawk.h"

context_t context;

void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName) {
debug("stack overflow %x %s\r\n", xTask, (portCHAR *)pcTaskName);
while (1)
;
}

int main() {
stdio_init_all();

if (CONFIG_FORZE_WRITE) config_forze_write();
config_t *config = config_read();

context.debug = config->debug;
if (context.debug) sleep_ms(1000);
debug("\n\nMSRC init");

context.tasks_queue_handle = xQueueCreate(64, sizeof(QueueHandle_t));

context.led_cycle_duration = 200;
context.led_cycles = 3;
xTaskCreate(led_task, "led_task", STACK_LED, NULL, 1, &context.led_task_handle);

xTaskCreate(usb_task, "usb_task", STACK_USB, NULL, 1, &context.usb_task_handle);

switch (config->rx_protocol) {
case RX_XBUS:
xTaskCreate(xbus_task, "xbus_task", STACK_RX_XBUS, NULL, 3, &context.receiver_task_handle);
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_IBUS:
xTaskCreate(ibus_task, "ibus_task", STACK_RX_IBUS, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_FRSKY_D:
xTaskCreate(frsky_d_task, "frsky_d_task", STACK_RX_FRSKY_D, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_MULTIPLEX:
xTaskCreate(multiplex_task, "multiplex_task", STACK_RX_MULTIPLEX, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SMARTPORT:
xTaskCreate(smartport_task, "smartport_task", STACK_RX_SMARTPORT, NULL, 4, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_JETIEX:
xTaskCreate(jetiex_task, "jetiex_task", STACK_RX_JETIEX, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SBUS:
xTaskCreate(sbus_task, "sbus_task", STACK_RX_SBUS, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_HITEC:
xTaskCreate(hitec_task, "hitec_task", STACK_RX_HITEC, NULL, 3, &context.receiver_task_handle);
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SRXL:
xTaskCreate(srxl_task, "srxl_task", STACK_RX_SRXL, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SRXL2:
xTaskCreate(srxl2_task, "srxl2_task", STACK_RX_SRXL2, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case SERIAL_MONITOR:
xTaskCreate(serial_monitor_task, "serial_monitor", STACK_SERIAL_MONITOR, NULL, 3,
&context.receiver_task_handle);
context.uart1_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_CRSF:
xTaskCreate(crsf_task, "crfs_task", STACK_RX_CRSF, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_HOTT:
xTaskCreate(hott_task, "hott_task", STACK_RX_HOTT, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_SANWA:
xTaskCreate(sanwa_task, "sanwa_task", STACK_RX_SANWA, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
case RX_PIXHAWK:
xTaskCreate(pixhawk_task, "pixhawk_task", STACK_RX_PIXHAWK, NULL, 3, &context.receiver_task_handle);
context.uart0_notify_task_handle = context.receiver_task_handle;
xQueueSendToBack(context.tasks_queue_handle, context.receiver_task_handle, 0);
break;
}

#ifdef SIM_RX
sim_rx_parameters_t parameter = {config->rx_protocol};
xTaskCreate(sim_rx_task, "sim_rx_task", STACK_SIM_RX, &parameter, 3, NULL);
#endif

vTaskStartScheduler();

vTaskResume(context.led_task_handle);
while (1)
;
}
15 changes: 15 additions & 0 deletions board/project/protocol/pixhawk.c
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Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
#include "pixhawk.h"
#include "uart.h"
#include <stdio.h>
#include <stdlib.h>

void pixhawk_task(void *parameters) {
uart0_begin(57600, UART_RECEIVER_TX, UART_RECEIVER_RX, 1000, 8, 1, UART_PARITY_NONE, false);
while (1) {
if (uart0_available()) {
uint8_t data = uart0_read();
// Process PixHawk telemetry data
// Add your data parsing and processing logic here
}
}
}
8 changes: 8 additions & 0 deletions board/project/protocol/pixhawk.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
#ifndef PIXHAWK_H
#define PIXHAWK_H

#include "uart.h"

void pixhawk_task(void *parameters);

#endif
0