mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 15:30:08 +08:00
Felix Ruess
71 lines
1.7 KiB
C
71 lines
1.7 KiB
C
/*
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* $Id$
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*
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* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#include <math.h>
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#include BOARD_CONFIG
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#include "mcu.h"
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#include "mcu_periph/sys_time.h"
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#include "subsystems/datalink/downlink.h"
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static inline void main_init( void );
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static inline void main_periodic( void );
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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();
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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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}
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static inline void main_periodic( void ) {
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static float f = 0.1f;
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f += 0.001;
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float f1 = sinf(f); // ok
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static double d = 0.1;
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d += 0.0025;
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double d1 = sin(d);
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float i = sqrt(f); // ok
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//float i = powf(f1, f1); // nok
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//float i = atan2(f, f); // ok
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RunOnceEvery(10, {DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, DefaultDevice, &d1, &i);});
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uint16_t blaaa = f+d;
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RunOnceEvery(10, {DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &blaaa);});
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LED_PERIODIC();
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}
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