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event handling rewritten

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This commit is contained in:
Pascal Brisset
2006-04-28 13:11:48 +00:00
parent af92622fa0
commit 96b1e4ff8d
4 changed files with 30 additions and 29 deletions
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conf/airframes/plaster1.xml
+1
View File
@@ -4,6 +4,7 @@
<section name="adc" prefix="ADC_CHANNEL_">
<define name="IR1" value="1"/>
<define name="IR2" value="0"/>
<define name="VSUPPLY" value="3"/>
<define name="IR_NB_SAMPLES" value="16"/>
</section>
sw/airborne/inter_mcu.h
+7 -8
View File
@@ -154,19 +154,18 @@ static inline void to_autopilot_from_rc_values (void) {
#endif
}
/** Prepares date for next comm with AP. Set ::ap_ok to TRUE */
static inline void inter_mcu_event_task( void) {
if (from_ap_receive_valid) {
from_ap_receive_valid = FALSE;
time_since_last_ap = 0;
ap_ok = TRUE;
to_autopilot_from_rc_values();
time_since_last_ap = 0;
ap_ok = TRUE;
to_autopilot_from_rc_values();
#if defined AP
/**Directly set the flag indicating to AP that shared buffer is available*/
from_fbw_receive_valid = TRUE;
/**Directly set the flag indicating to AP that shared buffer is available*/
from_fbw_receive_valid = TRUE;
#endif
}
}
/** Monitors AP. Set ::rc_ok to false if AP is down for a long time. */
static inline void inter_mcu_periodic_task(void) {
if (time_since_last_ap >= AP_STALLED_TIME) {
ap_ok = FALSE;
sw/airborne/main_fbw.c
+12 -7
View File
@@ -91,15 +91,14 @@ void init_fbw( void ) {
void event_task_fbw( void) {
#ifdef RADIO_CONTROL
radio_control_event_task();
if ( rc_status == RC_OK ) {
if (ppm_valid) {
ppm_valid = FALSE;
radio_control_event_task();
if (rc_values_contains_avg_channels) {
fbw_mode = FBW_MODE_OF_PPRZ(rc_values[RADIO_MODE]);
}
if (fbw_mode == FBW_MODE_MANUAL)
SetCommandsFromRC(commands);
} else if (rc_status == RC_REALLY_LOST) {
fbw_mode = FBW_MODE_AUTO;
}
#endif
@@ -108,9 +107,12 @@ void event_task_fbw( void) {
#endif
#ifdef INTER_MCU
inter_mcu_event_task();
if (ap_ok && fbw_mode == FBW_MODE_AUTO) {
SetCommands(from_ap.from_ap.commands);
if (from_ap_receive_valid) {
from_ap_receive_valid = FALSE;
inter_mcu_event_task();
if (fbw_mode == FBW_MODE_AUTO) {
SetCommands(from_ap.from_ap.commands);
}
}
#endif
@@ -141,6 +143,9 @@ void periodic_task_fbw( void ) {
#ifdef RADIO_CONTROL
radio_control_periodic_task();
if (rc_status == RC_REALLY_LOST) {
fbw_mode = FBW_MODE_AUTO;
}
#endif
#ifdef INTER_MCU
sw/airborne/radio_control.h
+10 -14
View File
@@ -84,24 +84,20 @@ static inline void radio_control_periodic_task ( void ) {
/********** EVENT ************************************************************/
static inline void radio_control_event_task ( void ) {
if (ppm_valid) {
ppm_cpt++;
time_since_last_ppm = 0;
rc_status = RC_OK;
ppm_cpt++;
time_since_last_ppm = 0;
rc_status = RC_OK;
/** From ppm values to normalised rc_values */
NormalizePpm();
/** From ppm values to normalised rc_values */
NormalizePpm();
#ifdef DEBUG_RC
uint8_t i;
for(i = 0; i < 7; i++) {
PrintHex16(uart0_transmit, rc_values[i]);
}
uart0_transmit('\n');
#endif
ppm_valid = FALSE;
uint8_t i;
for(i = 0; i < 7; i++) {
PrintHex16(uart0_transmit, rc_values[i]);
}
uart0_transmit('\n');
#endif
}
#endif /* RADIO_CONTROL */