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common main()

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This commit is contained in:
Pascal Brisset
2005-12-15 17:40:32 +00:00
parent 9ac33172e6
commit ff161f2d46
5 changed files with 159 additions and 149 deletions
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Doxyfile
+1 -1
View File
@@ -450,7 +450,7 @@ WARN_LOGFILE =
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = sw/airborne/autopilot sw/airborne/fly_by_wire var/include var/Twin1 sw/airborne/avr sw/airborne
INPUT = var/include var/Twin1 sw/airborne/avr sw/airborne
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
conf/autopilot/twin_avr.makefile
+4 -2
View File
@@ -8,7 +8,8 @@ ap.LOW_FUSE = a0
ap.HIGH_FUSE = 99
ap.EXT_FUSE = ff
ap.LOCK_FUSE = ff
ap.srcs = main_ap.c $(SRC_ARCH)/modem.c link_mcu.c $(SRC_ARCH)/link_mcu_ap.c $(SRC_ARCH)/spi_ap.c $(SRC_ARCH)/adc_ap.c gps_ubx.c infrared.c pid.c nav.c $(SRC_ARCH)/uart_ap.c estimator.c if_calib.c mainloop.c cam.c
ap.CFLAGS += -DAP
ap.srcs = main.c main_ap.c $(SRC_ARCH)/modem.c link_mcu.c $(SRC_ARCH)/link_mcu_ap.c $(SRC_ARCH)/spi_ap.c $(SRC_ARCH)/adc_ap.c gps_ubx.c infrared.c pid.c nav.c $(SRC_ARCH)/uart_ap.c estimator.c if_calib.c mainloop.c cam.c
fbw.ARCHDIR = $(ARCHI)
fbw.ARCH = atmega8
@@ -18,4 +19,5 @@ fbw.LOW_FUSE = 2e
fbw.HIGH_FUSE = cb
fbw.EXT_FUSE = ff
fbw.LOCK_FUSE = ff
fbw.srcs = main_fbw.c $(SRC_ARCH)/ppm.c $(SRC_ARCH)/servo.c $(SRC_ARCH)/spi_fbw.c $(SRC_ARCH)/uart_fbw.c $(SRC_ARCH)/adc_fbw.c
fbw.CFLAGS += -DFBW
fbw.srcs = main.c main_fbw.c $(SRC_ARCH)/ppm.c $(SRC_ARCH)/servo.c $(SRC_ARCH)/spi_fbw.c $(SRC_ARCH)/uart_fbw.c $(SRC_ARCH)/adc_fbw.c
sw/airborne/main.c
+32
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@@ -0,0 +1,32 @@
#ifdef FBW
extern void init_fbw( void );
extern void periodic_task_fbw( void );
extern void event_task_fbw( void );
#define Fbw(f) f ## _fbw()
#else
#define Fbw(f)
#endif
#ifdef AP
extern void init_ap( void );
extern void periodic_task_ap( void );
extern void event_task_ap( void );
#define Ap(f) f ## _ap()
#else
#define Ap(f)
#endif
int main( void ) __attribute__ ((noreturn));
int main( void ) {
Fbw(init);
Ap(init);
while (1) {
Fbw(periodic_task);
Ap(periodic_task);
Fbw(event_task);
Ap(event_task);
}
}
sw/airborne/main_fbw.c
+73 -90
View File
@@ -68,7 +68,7 @@ static uint8_t ppm_cpt, last_ppm_cpt;
static inline void to_autopilot_from_last_radio (void) {
uint8_t i;
for(i = 0; i < RADIO_CTL_NB; i++)
to_mega128.channels[i] = last_radio[i];
to_mega128.channels[i] = last_radio[i];
to_mega128.status = (radio_ok ? _BV(STATUS_RADIO_OK) : 0);
to_mega128.status |= (radio_really_lost ? _BV(RADIO_REALLY_LOST) : 0);
to_mega128.status |= (mode == MODE_AUTO ? _BV(STATUS_MODE_AUTO) : 0);
@@ -129,7 +129,7 @@ inline void spi_task(void) {
#if defined IMU_ANALOG || defined IMU_3DMG
control_set_desired(from_mega128.channels);
#else
command_set(from_mega128.channels);
command_set(from_mega128.channels);
#endif
}
}
@@ -142,8 +142,7 @@ inline void spi_task(void) {
// for compatibility
#endif
int main( void )
{
void init_fbw( void ) {
{
uint8_t foo1 = 25;
while (foo1--) {
@@ -175,92 +174,76 @@ int main( void )
#warning IMU_RESET_ON_BOOT
imu_capture_neutral();
#endif
while( 1 ) {
if( ppm_valid ) {
ppm_valid = FALSE;
radio_control_task();
}
else if (mode == MODE_MANUAL && radio_really_lost) {
mode = MODE_AUTO;
}
if ( !SpiIsSelected() && spi_was_interrupted ) {
spi_was_interrupted = FALSE;
spi_task();
}
#ifdef IMU_3DMG
if (_3dmg_data_ready) {
imu_update();
}
#endif
if (time_since_last_ppm >= STALLED_TIME) {
radio_ok = FALSE;
}
if (time_since_last_ppm >= REALLY_STALLED_TIME) {
radio_really_lost = TRUE;
}
if (time_since_last_mega128 == STALLED_TIME) {
mega128_ok = FALSE;
}
failsafe_mode = FALSE;
if ((mode == MODE_MANUAL && !radio_ok) ||
(mode == MODE_AUTO && !mega128_ok)) {
failsafe_mode = TRUE;
command_set(failsafe);
}
if(timer_periodic()) {
static uint8_t _1Hz;
static uint8_t _20Hz;
_1Hz++;
_20Hz++;
#if defined IMU_ANALOG
imu_update();
#if 0
{
static uint8_t foo = 0;
foo++;
if (!(foo%10)) {
uart0_print_hex16(roll_dot);
uart0_transmit(',');
uart0_print_hex16(pitch_dot);
uart0_transmit(',');
uart0_print_hex16(yaw_dot);
uart0_transmit('\n');
}
}
#endif /* 0 */
#endif
#if defined IMU_3DMG || defined IMU_ANALOG
control_run();
if (radio_ok) {
if (last_radio[RADIO_THROTTLE] > 0.1*MAX_PPRZ) {
command_set(control_commands);
}
else {
command_set(failsafe);
}
}
#endif
if (_1Hz >= 60) {
_1Hz = 0;
last_ppm_cpt = ppm_cpt;
ppm_cpt = 0;
}
if (_20Hz >= 3) {
_20Hz = 0;
#ifndef IMU_3DMG
/* servo_transmit(); */
#endif
}
if (time_since_last_mega128 < STALLED_TIME)
time_since_last_mega128++;
if (time_since_last_ppm < REALLY_STALLED_TIME)
time_since_last_ppm++;
}
}
return 0;
}
void event_task_fbw( void) {
if( ppm_valid ) {
ppm_valid = FALSE;
radio_control_task();
}
else if (mode == MODE_MANUAL && radio_really_lost) {
mode = MODE_AUTO;
}
if ( !SpiIsSelected() && spi_was_interrupted ) {
spi_was_interrupted = FALSE;
spi_task();
}
#ifdef IMU_3DMG
if (_3dmg_data_ready) {
imu_update();
}
#endif
if (time_since_last_ppm >= STALLED_TIME) {
radio_ok = FALSE;
}
if (time_since_last_ppm >= REALLY_STALLED_TIME) {
radio_really_lost = TRUE;
}
if (time_since_last_mega128 == STALLED_TIME) {
mega128_ok = FALSE;
}
failsafe_mode = FALSE;
if ((mode == MODE_MANUAL && !radio_ok) ||
(mode == MODE_AUTO && !mega128_ok)) {
failsafe_mode = TRUE;
command_set(failsafe);
}
}
void periodic_task_fbw( void ) {
static uint8_t _1Hz;
static uint8_t _20Hz;
_1Hz++;
_20Hz++;
#if defined IMU_ANALOG
imu_update();
#endif
#if defined IMU_3DMG || defined IMU_ANALOG
control_run();
if (radio_ok) {
if (last_radio[RADIO_THROTTLE] > 0.1*MAX_PPRZ) {
command_set(control_commands);
}
else {
command_set(failsafe);
}
}
#endif
if (_1Hz >= 60) {
_1Hz = 0;
last_ppm_cpt = ppm_cpt;
ppm_cpt = 0;
}
if (_20Hz >= 3) {
_20Hz = 0;
#ifndef IMU_3DMG
/* servo_transmit(); */
#endif
}
if (time_since_last_mega128 < STALLED_TIME)
time_since_last_mega128++;
if (time_since_last_ppm < REALLY_STALLED_TIME)
time_since_last_ppm++;
}
sw/airborne/mainloop.c
+49 -56
View File
@@ -24,12 +24,8 @@
* \brief Main loop used in the autopilot microcontroler
*/
#include "std.h"
#include "timer_ap.h"
#include "modem.h"
#include "adc_ap.h"
#include "airframe.h"
#include "autopilot.h"
#include "spi_ap.h"
#include "link_mcu_ap.h"
@@ -38,7 +34,6 @@
#include "infrared.h"
#include "estimator.h"
#include "downlink.h"
#include "uart_ap.h"
#include "datalink.h"
#include "wavecard.h"
@@ -51,10 +46,7 @@
#endif // AHRS
/** \fn int main( void )
* \brief Main and @@@@@ unique @@@@@ function \n
*/
int main( void ) {
void init_ap( void ) {
/** - init peripherals:
* - \a timer
* - \a modem
@@ -113,68 +105,70 @@ int main( void ) {
* - receive radio control task from fbw and use it with
* \a radio_control_task
*/
while( 1 ) {
if(timer_periodic())
/* do periodic task */
periodic_task();
if (gps_msg_received) {
/* parse and use GPS messages */
parse_gps_msg();
gps_msg_received = FALSE;
if (gps_pos_available) {
use_gps_pos();
gps_pos_available = FALSE;
}
}
void periodic_task_ap( void) {
periodic_task();
}
void event_task_ap( void ) {
if (gps_msg_received) {
/* parse and use GPS messages */
parse_gps_msg();
gps_msg_received = FALSE;
if (gps_pos_available) {
use_gps_pos();
gps_pos_available = FALSE;
}
}
#ifdef WAVECARD
if (wc_msg_received) {
wc_parse_payload();
wc_msg_received = FALSE;
}
if (wc_msg_received) {
wc_parse_payload();
wc_msg_received = FALSE;
}
#endif
#ifdef DATALINK
if (dl_msg_available) {
dl_parse_msg();
dl_msg_available = FALSE;
}
if (dl_msg_available) {
dl_parse_msg();
dl_msg_available = FALSE;
}
#endif
#ifdef TELEMETER
/** Handling of data sent by the device (initiated by srf08_receive() */
if (srf08_received) {
srf08_received = FALSE;
srf08_read();
}
if (srf08_got) {
srf08_got = FALSE;
srf08_copy();
DOWNLINK_SEND_RANGEFINDER(&srf08_range);
}
/** Handling of data sent by the device (initiated by srf08_receive() */
if (srf08_received) {
srf08_received = FALSE;
srf08_read();
}
if (srf08_got) {
srf08_got = FALSE;
srf08_copy();
DOWNLINK_SEND_RANGEFINDER(&srf08_range);
}
#endif
if (link_fbw_receive_complete) {
/* receive radio control task from fbw */
link_fbw_receive_complete = FALSE;
radio_control_task();
if (link_fbw_receive_complete) {
/* receive radio control task from fbw */
link_fbw_receive_complete = FALSE;
radio_control_task();
#ifdef IMU_3DMG
DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &from_fbw.euler[0], &from_fbw.euler[1], &from_fbw.euler[2]);
estimator_update_state_3DMG();
DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &from_fbw.euler[0], &from_fbw.euler[1], &from_fbw.euler[2]);
estimator_update_state_3DMG();
#elif defined IMU_ANALOG
/** -Saving now the pqr values from the fbw struct since
/** -Saving now the pqr values from the fbw struct since
* -it's not safe always
* only if gyro are connected to fbw
*/
#if defined AHRS && ((!defined IMU_GYROS_CONNECTED_TO_AP) || (!IMU_GYROS_CONNECTED_TO_AP))
/* it can be called at 20 hz and gyros data come from the fbw so call have to be here */
ahrs_gyro_update();
/* it can be called at 20 hz and gyros data come from the fbw so call have to be here */
ahrs_gyro_update();
#endif //!IMU_GYROS_CONNECTED_TO_AP
int16_t dummy;
// DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &dummy, &dummy, &dummy);
int16_t dummy;
// DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &dummy, &dummy, &dummy);
#endif //IMU
#if defined IMU_3DMG || defined IMU_ANALOG
/*uart0_transmit('G');
/*uart0_transmit('G');
uart0_transmit(' ');
uart0_print_hex16(from_fbw.euler_dot[0]);
uart0_transmit(',');
@@ -183,10 +177,9 @@ int main( void ) {
uart0_print_hex16(from_fbw.euler_dot[2]);
uart0_transmit('\n');*/
#endif
}
}
return 0;
}
}
}