static inline void main_periodic_task( void ) {
servos[0]+=10;
servos[1]+=10;
servos[2]+=10;
servos[3]+=10;
if ((can_error_warning = CAN_GetFlagStatus(CAN1, CAN_FLAG_EWG)) == SET) {
LED_ON(2);
} else {
LED_OFF(2);
}
if ((can_error_passive = CAN_GetFlagStatus(CAN1, CAN_FLAG_EPV)) == SET) {
LED_ON(3);
} else {
LED_OFF(3);
}
if ((can_bus_off = CAN_GetFlagStatus(CAN1, CAN_FLAG_BOF)) == SET) {
LED_ON(0);
} else {
LED_OFF(0);
}
cscp_transmit(0, 0, (uint8_t *)servos, 8);
LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
}
void mf_daq_send_report(void)
{
// Send report over normal telemetry
if (mf_daq.nb > 0) {
DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 9, mf_daq.values);
}
// Test if log is started
if (pprzLogFile != -1) {
if (log_started == FALSE) {
// Log MD5SUM once
DOWNLINK_SEND_ALIVE(pprzlog_tp, chibios_sdlog, 16, MD5SUM);
log_started = true;
}
// Log GPS for time reference
uint8_t foo = 0;
int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
struct UtmCoor_f utm = *stateGetPositionUtm_f();
int32_t east = utm.east * 100;
int32_t north = utm.north * 100;
DOWNLINK_SEND_GPS(pprzlog_tp, chibios_sdlog, &gps.fix,
&east, &north, &course, &gps.hmsl, &gps.gspeed, &climb,
&gps.week, &gps.tow, &utm.zone, &foo);
}
}
static inline void main_periodic(void)
{
SetActuatorsFromCommands(commands, 0);
LED_PERIODIC();
RunOnceEvery(512, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
static inline void main_periodic_task(void)
{
RunOnceEvery(100, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
if (sys_time.nb_sec > 1) {
lis302dl_spi_periodic(&lis302);
#if USE_LED_5
RunOnceEvery(10, LED_TOGGLE(5););
static inline void main_periodic_task( void ) {
static uint16_t i = 0;
RunOnceEvery(100, {
LED_TOGGLE(3);
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
});
static inline void main_periodic_task(void)
{
tx_data[0] += 1;
ppz_can_transmit(0, tx_data, 8);
LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
}
static void main_periodic(int my_sig_num) {
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
main_send_to_stm();
UdpTransportPeriodic();
}
void periodic_task_fbw(void) {
/* static float t; */
/* t += 1./60.; */
/* uint16_t servo_value = 1500+ 500*sin(t); */
/* SetServo(SERVO_THROTTLE, servo_value); */
RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM));
RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, SERVOS_NB, actuators ));
}
static void ThdTx(void *arg) {
(void)arg;
chRegSetThreadName("sender");
while (TRUE) {
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
chThdSleepMilliseconds(100);
}
return 0;
}
static void periodic_task(int fd, short event, void *arg) {
DOWNLINK_SEND_ALIVE(16, MD5SUM);
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
DOWNLINK_SEND_FMS_TIME(&ts.tv_sec, &ts.tv_nsec);
PERIODIC_RESCHEDULE();
}
void timeout_cb(int fd, short event, void *arg) {
printf("in timeout_cb\n");
DOWNLINK_SEND_ALIVE(16, MD5SUM);
struct timeval tv;
evutil_timerclear(&tv);
tv.tv_sec = TIMEOUT_DT_SEC;
tv.tv_usec = TIMEOUT_DT_USEC;
event_add(&timeout, &tv);
}
void timeout_cb(int fd, short event, void *arg) {
// printf("in timeout_cb\n");
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
float foof = 3.14159265358979323846;
double food = 3.14159265358979323846;
DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, &food, &foof);
UdpTransportPeriodic();
ADD_TIMEOUT();
}
static inline void main_periodic(void) {
uint16_t v1 = 123;
uint16_t v2 = 123;
imu_periodic();
#ifdef PASSTHROUGH_CYGNUS
autopilot_periodic();
#endif
OveroLinkPeriodic(on_overo_link_lost);
RunOnceEvery(10, {
LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
radio_control_periodic();
check_radio_lost();
DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);
});
static inline void main_periodic_task( void ) {
float rpm = mb_tacho_get_averaged();
mb_current_periodic();
float amps = mb_current_amp;
float thrust = mb_scale_thrust;
float torque = 0.;
mb_mode_periodic(rpm, thrust, amps);
float throttle = mb_modes_throttle;
#if defined USE_TWI_CONTROLLER
mb_twi_controller_set(throttle);
#endif
mb_servo_set(throttle);
RunOnceEvery(125, {
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
PeriodicSendDlValue(DefaultChannel);
});
static void send_alive(void) {
DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
}
static inline void main_periodic(void)
{
ActuatorsPwmCommit();
LED_PERIODIC();
RunOnceEvery(100, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
