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Thread 1 (translateToMavlinkThread)
Parse messages in the receive buffer (which is also the circular DMA buffer)
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/**
* @brief This thread is responsible for taking the bytes from the GSC.DMAReceiveBuffer and
* converting them to Mavlink messages/triggering the callbacks associated with each mavlink
* message.
*/
void translateToMavlinkThread()
{
while (true)
{
MT.bytesToMavlinkMsg(GSC.DMAReceiveBuffer);
vTaskDelay(pdMS_TO_TICKS(10)); // Adjust the delay as necessary
}
} |
Thread 2 (mavlinkToBytesThread)
...
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/**
* @brief This thread is responsible for taking data from other managers and converting
* them to mavlink bytes, then putting them into GSC.lowPriorityTransmitBuffer.
*/
void mavlinkToBytesThread()
{
while (true)
{
// START: fill GSC.lowPriorityTransmitBuffer with data to transmit
// END: fill GSC.lowPriorityTransmitBuffer with data to transmit
vTaskDelay(pdMS_TO_TICKS(10)); // Adjust the delay as necessary
}
} |
DMA
If the received buffer has space dump bytes into it otherwise disregard the received data
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