mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
Antoine Drouin
86 lines
1.9 KiB
C
86 lines
1.9 KiB
C
/*
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* $Id$
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*
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* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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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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*/
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#include <avr/interrupt.h>
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#include "std.h"
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#include "timer.h"
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#include "modem.h"
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#include "adc.h"
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#include "airframe.h"
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#include "autopilot.h"
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#include "spi.h"
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#include "link_fbw.h"
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#include "gps.h"
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#include "nav.h"
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#include "infrared.h"
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#include "estimator.h"
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#include "downlink.h"
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int main( void ) {
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/* init peripherals */
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timer_init();
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modem_init();
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adc_init();
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#ifdef CTL_BRD_V1_1
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adc_buf_channel(ADC_CHANNEL_BAT, &buf_bat);
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#endif
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spi_init();
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link_fbw_init();
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gps_init();
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nav_init();
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ir_init();
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estimator_init();
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/* start interrupt task */
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sei();
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/* Wait 0.5s (for modem init ?) */
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uint8_t init_cpt = 30;
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while (init_cpt) {
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if (timer_periodic())
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init_cpt--;
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}
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/* enter mainloop */
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while( 1 ) {
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if(timer_periodic())
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periodic_task();
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if (gps_msg_received) {
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parse_gps_msg();
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gps_msg_received = FALSE;
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if (gps_pos_available) {
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use_gps_pos();
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gps_pos_available = FALSE;
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}
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}
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if (link_fbw_receive_complete) {
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link_fbw_receive_complete = FALSE;
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radio_control_task();
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}
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}
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return 0;
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}
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