Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 16:58:48 +08:00
Code Issues Actions 24 Packages Projects Releases Wiki Activity

added ground segment gateway address from command line

Browse Source
This commit is contained in:
Antoine Drouin
2010-08-21 20:49:36 +00:00
parent 6dc441215a
commit f7b55d4464
2 changed files with 50 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/fms/overo_test_passthrough.c
+39 -62
View File
@@ -45,35 +45,18 @@
struct OveroTestPassthrough otp;
static void parse_command_line(int argc, char** argv);
static void main_init(void);
static void main_periodic(int my_sig_num);
static void dialog_with_io_proc(void);
int main(int argc, char *argv[]) {
TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
/* Initalize our SPI link to IO processor */
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return -1;
}
parse_command_line(argc, argv);
/* Initalize the event library */
event_init();
/* Initalize our ô so accurate periodic timer */
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
/* Initialize our communications with ground segment */
fms_gs_com_init("10.31.4.7", 4242, 4243, FALSE);
TRACE(TRACE_DEBUG, "%s", "Initialization completed, entering mainloop\n");
/* Initialize blaaa */
for (uint8_t i=0; i<6; i++) otp.servos_outputs_usecs[i] = 1500;
main_init();
TRACE(TRACE_DEBUG, "%s", "Entering mainloop\n");
/* Enter our mainloop */
event_dispatch();
@@ -120,49 +103,43 @@ static void dialog_with_io_proc() {
}
static void main_init(void) {
TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
/* Initalize our SPI link to IO processor */
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
return -1;
}
/* Initalize the event library */
event_init();
/* Initalize our ô so accurate periodic timer */
if (fms_periodic_init(main_periodic)) {
TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
return -1;
}
/* Initialize our communications with ground segment */
fms_gs_com_init(otp.gs_gw, 4242, 4243, FALSE);
#if 0
static void print_up_msg(struct AutopilotMessageCRCFrame * msg) {
printf("UP: %04X %04X %04X %04X %04x %04X %04X %04X %04X \n",
msg->payload.msg_up.gyro.p,
msg->payload.msg_up.gyro.q,
msg->payload.msg_up.gyro.r,
msg->payload.msg_up.accel.x,
msg->payload.msg_up.accel.y,
msg->payload.msg_up.accel.z,
msg->payload.msg_up.mag.x,
msg->payload.msg_up.mag.y,
msg->payload.msg_up.mag.z);
printf(" %04X %04X %04X %04X %04X %04X %04X %04X %04X %02X [%d %d %d %d] CRC: %d\n",
msg->payload.msg_up.rc_pitch,
msg->payload.msg_up.rc_roll,
msg->payload.msg_up.rc_yaw,
msg->payload.msg_up.rc_thrust,
msg->payload.msg_up.rc_mode,
msg->payload.msg_up.rc_kill,
msg->payload.msg_up.rc_gear,
msg->payload.msg_up.rc_aux3,
msg->payload.msg_up.rc_aux4,
msg->payload.msg_up.rc_status,
msg->payload.msg_up.valid.rc,
msg->payload.msg_up.valid.pressure,
msg->payload.msg_up.valid.vane,
msg->payload.msg_up.valid.imu,
msg->crc);
/* Initialize blaaa */
for (uint8_t i=0; i<6; i++) otp.servos_outputs_usecs[i] = 1500;
TRACE(TRACE_DEBUG, "%s", "Initialization completed\n");
}
static void print_down_msg(struct AutopilotMessageCRCFrame * msg) {
printf("%04X %04X %04X %04X %04X %04X CRC: %d\n", msg->payload.msg_down.pwm_outputs_usecs[0],
msg->payload.msg_down.pwm_outputs_usecs[1],
msg->payload.msg_down.pwm_outputs_usecs[2],
msg->payload.msg_down.pwm_outputs_usecs[3],
msg->payload.msg_down.pwm_outputs_usecs[4],
msg->payload.msg_down.pwm_outputs_usecs[5],
msg->crc);
static void parse_command_line(int argc, char** argv) {
if (argc > 1)
otp.gs_gw = strdup(argv[1]);
else
otp.gs_gw = strdup("10.31.4.7");
TRACE(TRACE_DEBUG, "%s", "Parsing command line:\n");
TRACE(TRACE_DEBUG, " gw: %s\n", otp.gs_gw);
}
#endif
sw/airborne/fms/overo_test_passthrough.h
+11 -3
View File
@@ -5,13 +5,21 @@
#include "booz/booz_imu.h"
struct OveroTestPassthrough {
/* our network connection */
char* gs_gw;
/* our sensors */
struct BoozImuFloat imu;
uint32_t io_proc_msg_cnt;
uint32_t io_proc_err_cnt;
uint16_t servos_outputs_usecs[6]; /* FIXME */
uint8_t rc_status;
int16_t baro_abs;
int16_t baro_diff;
/* our actuators */
uint16_t servos_outputs_usecs[6]; /* FIXME */
/* the io proc status */
uint32_t io_proc_msg_cnt;
uint32_t io_proc_err_cnt;
};
extern struct OveroTestPassthrough otp;