mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +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
95 lines
2.3 KiB
C
95 lines
2.3 KiB
C
/*
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* Copyright (C) 2017-2021 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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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, see
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* <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* @file main_bare.c
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*
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* Program main function with baremetal inplementation (no RTOS)
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*
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* Calls AP on single/dual MCU
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* Limit polling when used with an OS (e.g. Linux)
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* None on SITL
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*/
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#if (defined AP) && (defined FBW)
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#error "AP and FBW can't be defined at the same time"
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#endif
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#if (!defined AP) && (!defined FBW)
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#error "AP or FBW should be defined"
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#endif
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#ifdef FBW
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#include "main_fbw.h"
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#define Call(f) main_fbw_ ## f
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#endif
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#ifdef AP
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#include "main_ap.h"
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#define Call(f) main_ap_ ## f
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#endif
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#include "generated/modules.h"
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#include "mcu_periph/sys_time.h"
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#define POLLING_PERIOD (500000/PERIODIC_FREQUENCY)
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#ifndef SITL
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int main(void)
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{
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// mcu modules init in all cases
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modules_mcu_init();
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Call(init());
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#if LIMIT_EVENT_POLLING
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/* Limit main loop frequency to 1kHz.
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* This is a kludge until we can better leverage threads and have real events.
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* Without this limit the event flags will constantly polled as fast as possible,
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* resulting on 100% cpu load on boards with an (RT)OS.
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* On bare metal boards this is not an issue, as you have nothing else running anyway.
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*/
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uint32_t t_begin = 0;
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uint32_t t_diff = 0;
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while (1) {
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t_begin = get_sys_time_usec();
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Call(periodic());
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Call(event());
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/* sleep remaining time to limit to polling frequency */
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t_diff = get_sys_time_usec() - t_begin;
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if (t_diff < POLLING_PERIOD) {
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sys_time_usleep(POLLING_PERIOD - t_diff);
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}
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}
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#else
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while (1) {
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Call(periodic());
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Call(event());
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}
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#endif
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return 0;
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}
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#endif /* SITL */
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