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

@@ -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

@@ -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
@@ -113,68 +105,70 @@ 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())
+  periodic_task();
-      /* do periodic task */
+}
-      periodic_task();
+
-    if (gps_msg_received) {
+void event_task_ap( void ) {
-      /* parse and use GPS messages */
+  if (gps_msg_received) {
-      parse_gps_msg();
+    /* parse and use GPS messages */
-      gps_msg_received = FALSE;
+    parse_gps_msg();
-      if (gps_pos_available) {
+    gps_msg_received = FALSE;
-	use_gps_pos();
+    if (gps_pos_available) {
-	gps_pos_available = FALSE;
+      use_gps_pos();
-      }
+      gps_pos_available = FALSE;
     }
+  }
 #ifdef WAVECARD
-    if (wc_msg_received) {
+  if (wc_msg_received) {
-      wc_parse_payload();
+    wc_parse_payload();
-      wc_msg_received = FALSE;
+    wc_msg_received = FALSE;
-    }
+  }
 #endif
 #ifdef DATALINK
-    if (dl_msg_available) {
+  if (dl_msg_available) {
-      dl_parse_msg();
+    dl_parse_msg();
-      dl_msg_available = FALSE;
+    dl_msg_available = FALSE;
-    }
+  }
 #endif
 #ifdef TELEMETER
-    /** Handling of data sent by the device (initiated by srf08_receive() */
+  /** Handling of data sent by the device (initiated by srf08_receive() */
-    if (srf08_received) {
+  if (srf08_received) {
-      srf08_received = FALSE;
+    srf08_received = FALSE;
-      srf08_read();
+    srf08_read();
-    }
+  }
-    if (srf08_got) {
+  if (srf08_got) {
-      srf08_got = FALSE;
+    srf08_got = FALSE;
-      srf08_copy();
+    srf08_copy();
-      DOWNLINK_SEND_RANGEFINDER(&srf08_range);
+    DOWNLINK_SEND_RANGEFINDER(&srf08_range);
-    }
+  }
 #endif
-    if (link_fbw_receive_complete) {
+  if (link_fbw_receive_complete) {
-      /* receive radio control task from fbw */
+    /* receive radio control task from fbw */
-      link_fbw_receive_complete = FALSE;
+    link_fbw_receive_complete = FALSE;
-      radio_control_task();
+    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]);
+    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();
+    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 */
+    /* it can be called at 20 hz and gyros data come from the fbw so call have to be here */
-	ahrs_gyro_update();
+    ahrs_gyro_update();
 #endif //!IMU_GYROS_CONNECTED_TO_AP	 	  
-	int16_t 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);
+    //      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;
 } 
 
 
 
+