*** empty log message ***

sw/airborne/main_ap_2.c

@@ -1,162 +0,0 @@
-
-/** \file main_ap_2.c
- *  \brief Dummy file to ease the transistion to ARM code
- *
- */
-
-#include "main_ap.h"
-#include "init_hw.h"
-#include "interrupt_hw.h"
-#include "sys_time.h"
-#include "led.h"
-#include "modem.h"
-#include "gps.h"
-#include "print.h"
-
-#include "spi.h"
-#include "link_mcu.h"
-
-#include "infrared.h"
-#include "estimator.h"
-#include "nav.h"
-
-#include "airframe.h"
-float pitch_of_vz;
-float pitch_of_vz_pgain;
-uint8_t ac_ident = AC_ID;
-float desired_roll = 0.;
-float desired_pitch = 0.;
-float desired_x = 0.;
-float desired_y = 0.;
-float desired_altitude;
-float desired_climb;
-uint8_t pprz_mode;
-uint8_t vertical_mode;
-uint8_t lateral_mode;
-uint8_t horizontal_mode;
-uint8_t inflight_calib_mode;
-uint8_t mcu1_status;
-uint8_t ir_estim_mode;
-//int32_t nav_utm_east0;
-//int32_t nav_utm_north0;
-//int8_t nav_utm_zone0;
-//float estimator_phi;
-//float estimator_psi;
-//float estimator_theta;
-//float estimator_x;
-//float estimator_y;
-//float estimator_z;
-//float estimator_hspeed_mod;
-//float estimator_hspeed_dir;
-//float estimator_z_dot;
-//uint16_t estimator_flight_time;
-//bool_t in_segment;
-//int16_t segment_x_1;
-//int16_t segment_y_1;
-//int16_t segment_x_2;
-//int16_t segment_y_2;
-float energy;
-int16_t desired_gaz;
-uint8_t vsupply;
-bool_t low_battery;
-//uint16_t block_time;
-//uint16_t stage_time;
-//float climb_sum_err;
-//float climb_pgain;
-//float course_pgain;
-//bool_t in_circle;
-//int16_t circle_x;
-//int16_t circle_y;
-//int16_t circle_radius;
-uint8_t modem_nb_ovrn;
-uint8_t mcu1_ppm_cpt;
-
-#include "ap_downlink.h"
-#define PeriodicSendDlValue() {}
-
-void init_ap( void ) {
-  /* if AP is running in a separate MCU */
-#ifndef SINGLE_MCU
-  hw_init();
-  sys_time_init();
-#ifdef LED
-  led_init();
-#endif /* LED */
-#ifdef USE_UART0
-  Uart0Init();
-#endif  /* USE_UART0 */
-#if USE_UART1
-  Uart1Init();
-#endif
-#ifdef ADC
-  adc_init();
-#endif
-#endif  /* !SINGLE_MCU */
-
-#ifdef MODEM
-  modem_init();
-#endif /* MODEM */
-#ifdef GPS
-  gps_init();
-  gps_configure();
-#endif
-#if defined MCU_SPI_LINK
-  spi_init();
-  link_mcu_init();
-#endif
-
-  /* if AP is running in a separate MCU */
-#ifndef SINGLE_MCU
- int_enable();
-#endif /* FBW */
-}
-
-void periodic_task_ap( void ) {
-#ifdef DOWNLINK
-  PeriodicSendAp();
-#endif
-
-#if defined MCU_SPI_LINK
-  uint8_t j;
-  for (j=0; j<10; j++) {
-    ((uint8_t*)&link_mcu_from_ap_msg)[j] = 42+j;
-  }
-  link_mcu_send();
-#endif
-  {
-    extern volatile uint16_t adc0_val[];
-    //    int_disable();
-    DOWNLINK_SEND_ADC(&ac_ident, NB_ADC, adc0_val);
-    //    int_enable();
-  }
-}
-
-void event_task_ap( void ) {
-#ifdef GPS
-  if (GpsBuffer()) {
-    ReadGpsBuffer();
-  }
-  if (gps_msg_received) {
-    /* parse and use GPS messages */
-    parse_gps_msg();
-    gps_msg_received = FALSE;
-    if (gps_pos_available) {
-      //      LED_TOGGLE(2);
-      use_gps_pos();
-      gps_pos_available = FALSE;
-    }
-  }
-#endif /* GPS */
-#ifdef MCU_SPI_LINK
-  if (spi_message_received) {
-    /* Got a message on SPI. */
-    spi_message_received = FALSE;
-    link_mcu_event_task();
-  }
-#endif
- if (inter_mcu_received_fbw) {
-   /* receive radio control task from fbw */
-   inter_mcu_received_fbw = FALSE;
-   DOWNLINK_SEND_DEBUG2((uint8_t)sizeof(struct link_mcu_msg), ((uint8_t*)&link_mcu_from_fbw_msg));
- }
-}