mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Michal Podhradsky
73 lines
1.8 KiB
C
73 lines
1.8 KiB
C
#ifndef NPS_MAIN_H
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#define NPS_MAIN_H
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#include <pthread.h>
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#include <sys/time.h>
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#include "nps_fdm.h"
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#include "mcu_periph/sys_time.h"
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#include "nps_atmosphere.h"
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#include "nps_sensors.h"
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#include "nps_autopilot.h"
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#ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
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#include <mach/clock.h>
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#include <mach/mach.h>
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void clock_get_current_time(struct timespec *ts);
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#else // Linux
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#define clock_get_current_time(_x) clock_gettime(CLOCK_REALTIME, _x)
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#endif // #ifdef __MACH__
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#define SIM_DT (1./SYS_TIME_FREQUENCY)
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#define DISPLAY_DT (1./30.)
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#define HOST_TIMEOUT_MS 40
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pthread_t th_flight_gear; // sends/receives flight gear packets
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pthread_t th_display_ivy; // sends Ivy messages
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pthread_t th_main_loop; // handles simulation
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pthread_mutex_t fdm_mutex; // mutex for fdm data
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int pauseSignal; // for catching SIGTSTP
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bool nps_main_parse_options(int argc, char **argv);
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int nps_main_init(int argc, char **argv);
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void nps_radio_and_autopilot_init(void);
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void nps_main_run_sim_step(void);
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void nps_set_time_factor(float time_factor);
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void* nps_main_loop(void* data __attribute__((unused)));
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void* nps_flight_gear_loop(void* data __attribute__((unused)));
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void* nps_main_display(void* data __attribute__((unused)));
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void tstp_hdl(int n __attribute__((unused)));
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void cont_hdl(int n __attribute__((unused)));
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double time_to_double(struct timeval *t);
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double ntime_to_double(struct timespec *t);
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void nps_update_launch_from_dl(uint8_t value);
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struct NpsMain {
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double real_initial_time;
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double scaled_initial_time;
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double host_time_factor;
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double sim_time;
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double display_time;
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char *fg_host;
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unsigned int fg_port;
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unsigned int fg_port_in;
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unsigned int fg_time_offset;
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int fg_fdm;
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char *js_dev;
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char *spektrum_dev;
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int rc_script;
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bool norc;
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char *ivy_bus;
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bool nodisplay;
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};
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struct NpsMain nps_main;
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#endif /* NPS_MAIN_H */
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