mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Pascal Brisset
101 lines
2.3 KiB
C
101 lines
2.3 KiB
C
/* Definitions and declarations required to compile autopilot code on a
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i386 architecture. Binding for OCaml. */
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#include <stdio.h>
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#include <sys/time.h>
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#include <time.h>
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#include "std.h"
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#include "link_autopilot.h"
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#include "autopilot.h"
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#include "estimator.h"
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#include "traffic_info.h"
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#include <caml/mlvalues.h>
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#include <caml/memory.h>
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uint8_t ir_estim_mode;
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uint8_t vertical_mode;
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uint8_t inflight_calib_mode;
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bool_t rc_event_1, rc_event_2;
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bool_t launch;
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bool_t link_fbw_receive_valid;
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uint8_t gps_nb_ovrn, modem_nb_ovrn, link_fbw_fbw_nb_err, link_fbw_nb_err;
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uint8_t ac_id;
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struct inter_mcu_msg from_fbw, to_fbw;
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static int16_t values_from_ap[RADIO_CTL_NB];
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void inflight_calib(void) { }
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void link_fbw_send(void) {
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int i;
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for(i = 0; i < RADIO_CTL_NB; i++)
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values_from_ap[i] = to_fbw.channels[i] / CLOCK;
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}
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value sim_periodic_task(value unit) {
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periodic_task();
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return Val_unit;
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}
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value sim_rc_task(value unit) {
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from_fbw.status = (1 << STATUS_RADIO_OK) | (1 << AVERAGED_CHANNELS_SENT);
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link_fbw_receive_valid = TRUE;
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radio_control_task();
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return Val_unit;
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}
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float ftimeofday(void) {
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struct timeval t;
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struct timezone z;
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gettimeofday(&t, &z);
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return (t.tv_sec + t.tv_usec/1e6);
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}
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value sim_init(value id) {
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pprz_mode = PPRZ_MODE_MANUAL;
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estimator_init();
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ac_id = Int_val(id);
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return Val_unit;
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}
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value update_bat(value bat) {
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from_fbw.vsupply = Int_val(bat);
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return Val_unit;
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}
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value update_rc_channel(value c, value v) {
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from_fbw.channels[Int_val(c)] = Double_val(v)*MAX_PPRZ;
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return Val_unit;
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}
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// Defined in servo.c
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#define _4017_NB_CHANNELS 10
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#define SERVO_NEUTRAL_(i) SERVOS_NEUTRALS_ ## i
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#define SERVO_NEUTRAL(i) (SERVO_NEUTRAL_(i))
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#define SERVO_MIN (SERVO_MIN_US)
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#define SERVO_MAX (SERVO_MAX_US)
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#define ChopServo(x) ((x) < SERVO_MIN ? SERVO_MIN : ((x) > SERVO_MAX ? SERVO_MAX : (x)))
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value set_servos(value servos) {
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int i;
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uint16_t servo_widths[_4017_NB_CHANNELS];
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ServoSet(values_from_ap);
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for(i=0; i < _4017_NB_CHANNELS; i++)
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Store_field(servos, i, Val_int(servo_widths[i]));
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return Val_int(servo_widths[SERVO_GAZ]);
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}
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value
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sim_set_the_other(value id, value east, value north, value heading, value alt) {
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set_the_other(Int_val(id), Double_val(east), Double_val(north), Double_val(heading), Double_val(alt));
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return Val_unit;
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}
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