mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
92 lines
1.6 KiB
C
92 lines
1.6 KiB
C
#include "std.h"
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#include "mcu.h"
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#include "mcu_periph/sys_time.h"
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#include "led.h"
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#include "mcu_periph/uart.h"
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#include "messages.h"
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#include "subsystems/datalink/downlink.h"
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#include "subsystems/datalink/datalink.h"
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#include "generated/settings.h"
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#include "dl_protocol.h"
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#include "mcu_periph/spi.h"
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#include "sd_card.h"
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static inline void main_init( void );
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static inline void main_periodic_task( void );
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static inline void main_event_task( void );
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uint8_t dl_buffer[MSG_SIZE] __attribute__ ((aligned));
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bool_t dl_msg_available;
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uint16_t datalink_time;
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int main( void ) {
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main_init();
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while(1) {
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if (sys_time_check_and_ack_timer(0))
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main_periodic_task();
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main_event_task( );
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}
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return 0;
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}
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static inline void main_init( void ) {
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mcu_init();
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sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
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led_init();
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uart_init(&uart0);
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spi_init();
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sd_card_init();
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mcu_int_enable();
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}
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static inline void main_periodic_task( void ) {
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LED_TOGGLE(1);
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//DOWNLINK_SEND_DEBUG(3,buf_input);
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}
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static inline void main_event_task( void ) {
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DatalinkEvent();
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// spi event
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if (spi_message_received) {
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/* Got a message on SPI. */
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spi_message_received = FALSE;
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sd_card_event();
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}
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}
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#define IdOfMsg(x) (x[1])
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void dl_parse_msg(void) {
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LED_TOGGLE(1);
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uint8_t msg_id = IdOfMsg(dl_buffer);
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switch (msg_id) {
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case DL_PING: {
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DOWNLINK_SEND_PONG();
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break;
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}
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case DL_SETTING : {
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uint8_t i = DL_SETTING_index(dl_buffer);
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float var = DL_SETTING_value(dl_buffer);
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DlSetting(i, var);
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DOWNLINK_SEND_DL_VALUE(&i, &var);
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break;
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}
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}
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}
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