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fixed headers

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This commit is contained in:
Antoine Drouin
2010-08-15 16:25:12 +00:00
parent 1d79f3251e
commit a131996236
1 changed files with 48 additions and 44 deletions
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sw/airborne/lisa/lisa_stm_passthrough_main.c
+48 -44
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@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -27,8 +27,8 @@
#include "booz/booz2_commands.h"
#include "booz/booz_actuators.h"
#include "booz/booz_imu.h"
#include "booz_radio_control.h"
#include "actuators/booz_actuators_pwm.h"
#include "booz/booz_radio_control.h"
#include "booz/actuators/booz_actuators_pwm.h"
#include "lisa/lisa_overo_link.h"
static inline void main_init(void);
@@ -61,17 +61,18 @@ int main(void) {
static inline void main_init(void) {
hw_init();
sys_time_init();
booz_imu_init();
radio_control_init();
booz_actuators_pwm_hw_init();
overo_link_init();
new_radio_msg = FALSE;
hw_init();
sys_time_init();
booz_imu_init();
radio_control_init();
booz_actuators_pwm_hw_init();
overo_link_init();
new_radio_msg = FALSE;
}
static inline void main_periodic(void) {
booz_imu_periodic();
OveroLinkPeriodic(on_overo_link_lost);
RunOnceEvery(10, {
@@ -83,10 +84,10 @@ static inline void main_periodic(void) {
}
static inline void main_event(void) {
BoozImuEvent(on_gyro_accel_event, on_mag_event);
OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
RadioControlEvent(on_rc_message);
BoozImuEvent(on_gyro_accel_event, on_mag_event);
OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
RadioControlEvent(on_rc_message);
}
@@ -96,35 +97,38 @@ static inline void on_rc_message(void) {
static inline void on_overo_link_msg_received(void) {
if (new_radio_msg) overo_link.up.msg.valid.rc = 1;
else overo_link.up.msg.valid.rc = 0;
new_radio_msg = FALSE;
overo_link.up.msg.valid.imu = 1;
RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
overo_link.up.msg.rc_status = radio_control.status;
overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
booz_actuators_pwm_commit();
overo_link.up.msg.valid.rc = new_radio_msg;
new_radio_msg = FALSE;
overo_link.up.msg.valid.imu = 1;
RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
#ifdef RADIO_CONTROL_KILL
overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
#endif
#ifdef RADIO_CONTROL_GEAR
overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
#endif
overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
overo_link.up.msg.rc_status = radio_control.status;
overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
booz_actuators_pwm_commit();
}
static inline void on_overo_link_lost(void) {