From 3676530d2c47309f2fed2f0fc687a74bfc664d90 Mon Sep 17 00:00:00 2001
From: Pascal Brisset <pascal.brisset@free.fr>
Date: Sun, 6 Jan 2008 20:46:22 +0000
Subject: [PATCH] #ifdef added to be able to compile an A/C without RC

---
 sw/airborne/fbw_downlink.h | 12 ++++++++++--
 sw/airborne/inter_mcu.h    | 13 ++++++++++---
 sw/airborne/main_ap.c      | 17 +++++++++++++----
 sw/airborne/sim/ppm_hw.c   | 11 +++++++++++
 4 files changed, 44 insertions(+), 9 deletions(-)

diff --git a/sw/airborne/fbw_downlink.h b/sw/airborne/fbw_downlink.h
index b91e3b919a..ab26b34cb1 100644
--- a/sw/airborne/fbw_downlink.h
+++ b/sw/airborne/fbw_downlink.h
@@ -50,10 +50,18 @@
 #define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
 #include "downlink.h"
 
+#define PERIODIC_SEND_COMMANDS() DOWNLINK_SEND_COMMANDS(COMMANDS_NB, commands)
+
+#ifdef RADIO_CONTROL
+#define PERIODIC_SEND_FBW_STATUS() DOWNLINK_SEND_FBW_STATUS(&rc_status, &fbw_mode, &fbw_vsupply_decivolt)
 #define PERIODIC_SEND_PPM() DOWNLINK_SEND_PPM(PPM_NB_PULSES, ppm_pulses)
 #define PERIODIC_SEND_RC() DOWNLINK_SEND_RC(PPM_NB_PULSES, rc_values)
-#define PERIODIC_SEND_COMMANDS() DOWNLINK_SEND_COMMANDS(COMMANDS_NB, commands)
-#define PERIODIC_SEND_FBW_STATUS() DOWNLINK_SEND_FBW_STATUS(&rc_status, &fbw_mode, &fbw_vsupply_decivolt)
+#else // RADIO_CONTROL
+#define PERIODIC_SEND_FBW_STATUS() { uint8_t dummy = 0; DOWNLINK_SEND_FBW_STATUS(&dummy, &fbw_mode, &fbw_vsupply_decivolt); }
+#define PERIODIC_SEND_PPM() {}
+#define PERIODIC_SEND_RC() {}
+#endif // RADIO_CONTROL
+
 #ifdef ACTUATORS
 #define PERIODIC_SEND_ACTUATORS() DOWNLINK_SEND_ACTUATORS(SERVOS_NB, actuators)
 #else
diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h
index 9d8d790d5e..a3a04bddfb 100644
--- a/sw/airborne/inter_mcu.h
+++ b/sw/airborne/inter_mcu.h
@@ -59,7 +59,7 @@ struct ap_state {
 
 // Status bits from FBW to AUTOPILOT
 #define STATUS_RADIO_OK 0
-#define RADIO_REALLY_LOST 1
+#define STATUS_RADIO_REALLY_LOST 1
 #define STATUS_MODE_AUTO 2
 #define STATUS_MODE_FAILSAFE 3
 #define AVERAGED_CHANNELS_SENT 4
@@ -91,23 +91,30 @@ static inline void inter_mcu_init(void) {
 
 /* Prepare data to be sent to mcu0 */
 static inline void inter_mcu_fill_fbw_state (void) {
+  uint8_t status = 0;
+
+#ifdef RADIO_CONTROL
   uint8_t i;
   for(i = 0; i < RADIO_CTL_NB; i++)
     fbw_state->channels[i] = rc_values[i];
 
   fbw_state->ppm_cpt = last_ppm_cpt;
 
-  uint8_t status;
   status = (rc_status == RC_OK ? _BV(STATUS_RADIO_OK) : 0);
-  status |= (rc_status == RC_REALLY_LOST ? _BV(RADIO_REALLY_LOST) : 0);
+  status |= (rc_status == RC_REALLY_LOST ? _BV(STATUS_RADIO_REALLY_LOST) : 0);
+#endif // RADIO_CONTROL
+
   status |= (fbw_mode == FBW_MODE_AUTO ? _BV(STATUS_MODE_AUTO) : 0);
   status |= (fbw_mode == FBW_MODE_FAILSAFE ? _BV(STATUS_MODE_FAILSAFE) : 0);
   fbw_state->status  = status;
 
+#ifdef RADIO_CONTROL
   if (rc_values_contains_avg_channels) {
     fbw_state->status |= _BV(AVERAGED_CHANNELS_SENT);
     rc_values_contains_avg_channels = FALSE;
   }
+#endif // RADIO_CONTROL
+
   fbw_state->vsupply = fbw_vsupply_decivolt;
 }
 
diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c
index dc55938529..496c6987c9 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/main_ap.c
@@ -100,6 +100,10 @@
 #endif
 
 #define LOW_BATTERY_DECIVOLT (LOW_BATTERY*10)
+#ifndef MILLIAMP_PER_PERCENT
+#define MILLIAMP_PER_PERCENT 0
+#endif
+
 
 /** FIXME: should be in rc_settings but required by telemetry (ap_downlink.h)*/
 uint8_t rc_settings_mode = RC_SETTINGS_MODE_NONE;
@@ -198,13 +202,12 @@ static inline void reporting_task( void ) {
 #define RC_LOST_MODE PPRZ_MODE_HOME
 #endif
 
-/** \brief Function to be called when a command is available (usually comming from the radio command)
- */
+/** \brief Function to be called when a message from FBW is available */
 inline void telecommand_task( void ) {
   uint8_t mode_changed = FALSE;
   copy_from_to_fbw();
   
-  uint8_t really_lost = bit_is_set(fbw_state->status, RADIO_REALLY_LOST) && (pprz_mode == PPRZ_MODE_AUTO1 || pprz_mode == PPRZ_MODE_MANUAL);
+  uint8_t really_lost = bit_is_set(fbw_state->status, STATUS_RADIO_REALLY_LOST) && (pprz_mode == PPRZ_MODE_AUTO1 || pprz_mode == PPRZ_MODE_MANUAL);
   if (pprz_mode != PPRZ_MODE_HOME && pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER && launch) {
     if  (too_far_from_home) {
       pprz_mode = PPRZ_MODE_HOME;
@@ -227,7 +230,8 @@ inline void telecommand_task( void ) {
   mode_changed |= mcu1_status_update();
   if ( mode_changed )
     PERIODIC_SEND_PPRZ_MODE();
-  
+
+#ifdef RADIO_CONTROL  
   /** In AUTO1 mode, compute roll setpoint and pitch setpoint from 
    * \a RADIO_ROLL and \a RADIO_PITCH \n
    */
@@ -247,6 +251,9 @@ inline void telecommand_task( void ) {
   /** else asynchronously set by v_ctl_climb_loop(); */
   
   mcu1_ppm_cpt = fbw_state->ppm_cpt;
+#endif // RADIO_CONTROL
+
+
   vsupply = fbw_state->vsupply;
   
   if (!estimator_flight_time) {
@@ -381,7 +388,9 @@ void periodic_task_ap( void ) {
     stage_time_ds = (int16_t)(stage_time_ds+.5);
     stage_time++;
     block_time++;
+#if defined DATALINK || defined SITL
     datalink_time++;
+#endif
 
     static uint8_t t = 0;
     if (vsupply < LOW_BATTERY_DECIVOLT) t++; else t = 0;
diff --git a/sw/airborne/sim/ppm_hw.c b/sw/airborne/sim/ppm_hw.c
index 1d24cc2e42..bf9ffb1ec7 100644
--- a/sw/airborne/sim/ppm_hw.c
+++ b/sw/airborne/sim/ppm_hw.c
@@ -2,6 +2,7 @@
 #include <caml/mlvalues.h>
 #include "ppm.h"
 
+#ifdef RADIO_CONTROL
 uint16_t ppm_pulses[ PPM_NB_PULSES ];
 volatile bool_t ppm_valid;
 
@@ -15,3 +16,13 @@ value send_ppm(value unit) {
   ppm_valid = TRUE;
   return unit;
 }
+#else // RADIO_CONTROL
+value update_rc_channel(value c, value v) {
+  return Val_unit;
+}
+
+value send_ppm(value unit) {
+  return unit;
+}
+
+#endif // RADIO_CONTROL