[test] add forgotten test_module.c

2026-06-06 07:53:43 +08:00 · 2015-11-24 14:07:14 +01:00
parent 8da468a40a
commit deb77577b3
1 changed files with 91 additions and 0 deletions
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+/*
+ * Copyright (C) 2015 Felix Ruess <felix.ruess@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/** @file test_module.c
+ *  @brief Run one or multiple modules.
+ * Simply calls the periodic and event functions of all added modules.
+ *
+ */
+
+#include BOARD_CONFIG
+
+#define DATALINK_C
+#define MODULES_C
+#define ABI_C
+
+#include "mcu.h"
+#include "mcu_periph/sys_time.h"
+#include "led.h"
+
+#include "subsystems/datalink/downlink.h"
+#include "generated/modules.h"
+#include "subsystems/abi.h"
+
+static inline void main_init(void);
+static inline void main_periodic_task(void);
+static inline void main_event_task(void);
+
+/* MODULES_FREQUENCY is defined in generated/modules.h
+ * according to main_freq parameter set for modules in airframe file
+ */
+PRINT_CONFIG_VAR(MODULES_FREQUENCY)
+
+tid_t modules_tid;       ///< id for modules_periodic_task() timer
+
+int main(void)
+{
+  main_init();
+
+  while (1) {
+    if (sys_time_check_and_ack_timer(0)) {
+      main_periodic_task();
+    }
+    if (sys_time_check_and_ack_timer(modules_tid)) {
+      modules_periodic_task();
+    }
+    main_event_task();
+  }
+
+  return 0;
+}
+
+static inline void main_init(void)
+{
+  mcu_init();
+  sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
+  downlink_init();
+
+  modules_init();
+
+  modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
+}
+
+static inline void main_periodic_task(void)
+{
+  LED_PERIODIC();
+  RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
+}
+
+static inline void main_event_task(void)
+{
+  mcu_event();
+  modules_event_task();
+}