mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-12 10:19:11 +08:00
Gautier Hattenberger
e436d78c84
There is no longer a separated FBW in normal operation for fixedwing, only a single AP task/thread. The code for main_ap is now factorized for all firmwares. Dual MCU support (separated AP and FBW) is still possible, based on the rotorcraft implementation and intermcu pprzlink messages. Relevant code is also factorized and available in all firmwares. The recovery mode (in case of hard fault) is still available for fixedwing with ChibiOS implementation. Only intermcu_uart is supported at the moment. Other options (spi/can) might be added back in the future if really used. Some other evolution are made: - in the radio_control and actuators modules, now integrated to AP and using ABI messages - the message parsing on datalink event (defined in module) that is now properly filtering the messages based on their class and allowing to have multiple callbacks for the same message - cleaning the part of code that were using the old intermcu fixedwing interface
119 lines
4.0 KiB
C
119 lines
4.0 KiB
C
#ifndef GENERATED_MODULES_H
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#define GENERATED_MODULES_H
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#define MODULES_IDLE 0
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#define MODULES_RUN 1
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#define MODULES_START 2
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#define MODULES_STOP 3
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#include "std.h"
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#include "core/settings.h"
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#include "radio_control/radio_control.h"
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#include "./mcu.h"
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#include "mcu_periph/gpio.h"
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#include "math/pprz_algebra_int.h"
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#include "math/pprz_algebra_float.h"
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#include "math/pprz_algebra_double.h"
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#include "math/pprz_geodetic_int.h"
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#include "math/pprz_geodetic_float.h"
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#include "math/pprz_geodetic_double.h"
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#include "math/pprz_trig_int.h"
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#include "math/pprz_orientation_conversion.h"
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#include "math/pprz_stat.h"
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#include "imu/imu.h"
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#include "mcu_periph/i2c.h"
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#include "gps/gps.h"
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#include "air_data/air_data.h"
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#include "ahrs/ahrs.h"
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#include "actuators/actuators.h"
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#include "mcu_periph/adc.h"
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#include "energy/electrical.h"
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#include "mcu_periph/spi.h"
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#include "./state.h"
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#include "mcu_periph/uart.h"
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#include "core/commands.h"
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// dummy variables
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extern int nav_catapult_nav_catapult_highrate_module_status;
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static inline void modules_mcu_init(void) {}
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static inline void modules_core_init(void) {}
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static inline void modules_sensors_init(void) {}
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static inline void modules_estimation_init(void) {}
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static inline void modules_radio_control_init(void) {}
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static inline void modules_control_init(void) {}
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static inline void modules_actuators_init(void) {}
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static inline void modules_datalink_init(void) {}
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static inline void modules_default_init(void) {}
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static inline void modules_init(void) {
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modules_mcu_init();
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modules_core_init();
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modules_sensors_init();
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modules_estimation_init();
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modules_radio_control_init();
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modules_control_init();
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modules_actuators_init();
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modules_datalink_init();
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modules_default_init();
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}
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static inline void modules_mcu_periodic_task(void) {}
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static inline void modules_core_periodic_task(void) {}
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static inline void modules_sensors_periodic_task(void) {}
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static inline void modules_estimation_periodic_task(void) {}
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static inline void modules_radio_control_periodic_task(void) {}
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static inline void modules_control_periodic_task(void) {}
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static inline void modules_actuators_periodic_task(void) {}
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static inline void modules_datalink_periodic_task(void) {}
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static inline void modules_default_periodic_task(void) {}
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static inline void modules_periodic_task(void) {
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modules_mcu_periodic_task();
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modules_core_periodic_task();
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modules_sensors_periodic_task();
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modules_estimation_periodic_task();
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modules_radio_control_periodic_task();
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modules_control_periodic_task();
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modules_actuators_periodic_task();
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modules_datalink_periodic_task();
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modules_default_periodic_task();
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}
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static inline void modules_mcu_event_task(void) {}
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static inline void modules_core_event_task(void) {}
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static inline void modules_sensors_event_task(void) {}
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static inline void modules_estimation_event_task(void) {}
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static inline void modules_radio_control_event_task(void) {}
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static inline void modules_control_event_task(void) {}
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static inline void modules_actuators_event_task(void) {}
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static inline void modules_datalink_event_task(void) {}
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static inline void modules_default_event_task(void) {}
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static inline void modules_event_task(void) {
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modules_mcu_event_task();
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modules_core_event_task();
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modules_sensors_event_task();
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modules_estimation_event_task();
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modules_radio_control_event_task();
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modules_control_event_task();
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modules_actuators_event_task();
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modules_datalink_event_task();
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modules_default_event_task();
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}
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#ifdef MODULES_DATALINK_C
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#include "pprzlink/messages.h"
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#include "generated/airframe.h"
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static inline void modules_parse_datalink(uint8_t msg_id __attribute__ ((unused)),
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uint8_t class_id __attribute__((unused)),
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struct link_device *dev __attribute__((unused)),
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struct transport_tx *trans __attribute__((unused)),
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uint8_t *buf __attribute__((unused))) {
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}
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#endif
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#endif // GENERATED_MODULES_H
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