common main()

Doxyfile

@@ -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

@@ -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

@@ -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

@@ -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--) {
@@ -175,8 +174,10 @@ int main( void )
 #warning IMU_RESET_ON_BOOT
   imu_capture_neutral();
 #endif
+}
 
-  while( 1 ) {
+
+void event_task_fbw( void) {
   if( ppm_valid ) {
     ppm_valid = FALSE;
     radio_control_task();
@@ -209,28 +210,15 @@ int main( void )
     failsafe_mode = TRUE;
     command_set(failsafe);
   }
+}
 
-    if(timer_periodic()) {
+void periodic_task_fbw( void ) {
   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();
@@ -259,8 +247,3 @@ int main( void )
   if (time_since_last_ppm < REALLY_STALLED_TIME)
     time_since_last_ppm++;
 }
-  } 
-  return 0;
-}
-
-

sw/airborne/mainloop.c

@@ -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 )
+void init_ap( void ) {
- *  \brief Main and @@@@@ unique @@@@@ function \n
- */
-int main( void ) {
   /** - init peripherals:
    *    - \a timer
    *    - \a modem
@@ -113,11 +105,13 @@ int main( void ) {
    *    - receive radio control task from fbw and use it with
    * \a radio_control_task
    */
+}
 
-  while( 1 ) {
+void periodic_task_ap( void) {
-    if(timer_periodic())
-      /* do periodic task */
   periodic_task();
+}
+
+void event_task_ap( void ) {
   if (gps_msg_received) {
     /* parse and use GPS messages */
     parse_gps_msg();
@@ -185,8 +179,7 @@ int main( void ) {
 #endif
   }
 } 
-  return 0;
+
-}