static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
stateInit();
actuators_init();
imu_init();
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
ahrs_init();
settings_init();
mcu_int_enable();
downlink_init();
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_COMMANDS, send_commands);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
// send body_to_imu from here for now
AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
}
STATIC_INLINE void main_init( void ) {
mcu_init();
electrical_init();
stateInit();
actuators_init();
#if USE_MOTOR_MIXING
motor_mixing_init();
#endif
radio_control_init();
air_data_init();
#if USE_BARO_BOARD
baro_init();
#endif
imu_init();
#if USE_IMU_FLOAT
imu_float_init();
#endif
ahrs_aligner_init();
ahrs_init();
ins_init();
#if USE_GPS
gps_init();
#endif
autopilot_init();
modules_init();
settings_init();
mcu_int_enable();
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == UDP
udp_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
#endif
}
STATIC_INLINE void main_init( void ) {
mcu_init();
electrical_init();
stateInit();
actuators_init();
#if USE_MOTOR_MIXING
// motor_mixing_init();
// servo_mixing_init();
set_servo_init();
#endif
radio_control_init();
baro_init();
imu_init();
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#if USE_GPS
gps_init();
#endif
modules_init();
settings_init();
mcu_int_enable();
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == UDP
udp_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
}
static inline void main_init( void ) {
mcu_init();
sys_time_init();
imu_init();
ahrs_aligner_init();
ahrs_init();
DEBUG_SERVO1_INIT();
// DEBUG_SERVO2_INIT();
mcu_int_enable();
}
static inline void main_init(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
imu_init();
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
ahrs_init();
downlink_init();
mcu_int_enable();
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
imu_init();
ahrs_aligner_init();
ahrs_init();
DEBUG_SERVO1_INIT();
// DEBUG_SERVO2_INIT();
mcu_int_enable();
}
STATIC_INLINE void main_init( void ) {
#ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
/* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
__asm("nop");
}
#endif
hw_init();
sys_time_init();
actuators_init();
radio_control_init();
booz2_analog_init();
baro_init();
#if defined USE_CAM || USE_DROP
booz2_pwm_init_hw();
#endif
battery_init();
imu_init();
// booz_fms_init(); // FIXME
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#ifdef USE_GPS
booz_gps_init();
#endif
modules_init();
int_enable();
}
STATIC_INLINE void main_init( void ) {
#ifndef NO_FUCKING_STARTUP_DELAY
#ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
/* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
__asm("nop");
}
#endif
#endif
mcu_init();
sys_time_init();
electrical_init();
actuators_init();
radio_control_init();
#if DATALINK == XBEE
xbee_init();
#endif
baro_init();
imu_init();
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#ifdef USE_GPS
gps_init();
#endif
modules_init();
settings_init();
mcu_int_enable();
}
STATIC_INLINE void main_init( void ) {
mcu_init();
electrical_init();
actuators_init();
radio_control_init();
#if DATALINK == XBEE
xbee_init();
#endif
imu_init();
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
baro_init();
ins_init();
#if USE_GPS
gps_init();
#endif
modules_init();
settings_init();
mcu_int_enable();
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
radio_control_tid = sys_time_register_timer((1./60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
baro_tid = sys_time_register_timer(0.02, NULL);
telemetry_tid = sys_time_register_timer((1./60.), NULL);
}
static inline void main_init(void) {
hw_init();
sys_time_init();
imu_init();
baro_init();
radio_control_init();
actuators_init();
overo_link_init();
cscp_init();
adc_init();
#ifdef PASSTHROUGH_CYGNUS
autopilot_init();
nav_init();
guidance_h_init();
guidance_v_init();
stabilization_init();
ahrs_aligner_init();
ahrs_init();
ins_init();
#endif
adc_buf_channel(0, &adc0_buf, 8);
adc_buf_channel(1, &adc1_buf, 8);
adc_buf_channel(2, &adc2_buf, 8);
adc_buf_channel(3, &adc3_buf, 8);
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
new_baro_diff = FALSE;
new_baro_abs = FALSE;
new_vane = FALSE;
new_adc = FALSE;
overo_link.up.msg.imu_tick = 0;
}
void init_ap( void )
{
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#if USE_GPS
gps_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#if USE_IMU
imu_init();
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
#if USE_BAROMETER
baro_init();
#endif
ins_init();
stateInit();
/************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
audio_telemetry_init();
#endif
/************ Internal status ***************/
autopilot_init();
h_ctl_init();
v_ctl_init();
nav_init();
modules_init();
settings_init();
/**** start timers for periodic functions *****/
sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer(1./60, NULL);
monitor_tid = sys_time_register_timer(1.0, NULL);
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
STATIC_INLINE void main_init(void)
{
mcu_init();
electrical_init();
stateInit();
actuators_init();
#if USE_MOTOR_MIXING
motor_mixing_init();
#endif
radio_control_init();
#if USE_BARO_BOARD
baro_init();
#endif
#if USE_IMU
imu_init();
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
ins_init();
#if USE_GPS
gps_init();
#endif
autopilot_init();
modules_init();
settings_init();
mcu_int_enable();
#if DOWNLINK
downlink_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1. / TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
#endif
#if USE_IMU
// send body_to_imu from here for now
AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
#endif
// Do a failsafe check first
failsafe_check();
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
sys_time_init();
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef USE_INFRARED
infrared_init();
#endif
#ifdef USE_GYRO
gyro_init();
#endif
#ifdef USE_GPS
gps_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#ifdef USE_IMU
imu_init();
#endif
#ifdef USE_AHRS
ahrs_aligner_init();
ahrs_init();
#endif
/************* Links initialization ***************/
#if defined MCU_SPI_LINK
link_mcu_init();
#endif
#ifdef MODEM
modem_init();
#endif
/************ Internal status ***************/
h_ctl_init();
v_ctl_init();
estimator_init();
#ifdef ALT_KALMAN
alt_kalman_init();
#endif
nav_init();
modules_init();
settings_init();
/** - start interrupt task */
mcu_int_enable();
/** wait 0.5s (historical :-) */
sys_time_usleep(500000);
#if defined GPS_CONFIGURE
gps_configure_uart();
#endif
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
power_switch = FALSE;
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
#endif /* SINGLE_MCU */
/****** initialize and reset state interface ********/
stateInit();
/************* Sensors initialization ***************/
#if USE_GPS
gps_init();
#endif
#if USE_IMU
imu_init();
#if USE_IMU_FLOAT
imu_float_init();
#endif
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
#if USE_AHRS && USE_IMU
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
#endif
air_data_init();
#if USE_BARO_BOARD
baro_init();
#endif
ins_init();
/************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
audio_telemetry_init();
#endif
/************ Internal status ***************/
autopilot_init();
h_ctl_init();
v_ctl_init();
nav_init();
modules_init();
settings_init();
/**** start timers for periodic functions *****/
sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer(1./TELEMETRY_FREQUENCY, NULL);
monitor_tid = sys_time_register_timer(1.0, NULL);
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
/* set initial trim values.
* these are passed to fbw via inter_mcu.
*/
ap_state->command_roll_trim = COMMAND_ROLL_TRIM;
ap_state->command_pitch_trim = COMMAND_PITCH_TRIM;
ap_state->command_yaw_trim = COMMAND_YAW_TRIM;
}
void aos_init(int traj_nb)
{
aos.traj = &traj[traj_nb];
aos.time = 0;
aos.dt = 1. / AHRS_PROPAGATE_FREQUENCY;
aos.traj->ts = 0;
aos.traj->ts = 1.; // default to one second
/* default state */
EULERS_ASSIGN(aos.ltp_to_imu_euler, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
float_quat_of_eulers(&aos.ltp_to_imu_quat, &aos.ltp_to_imu_euler);
RATES_ASSIGN(aos.imu_rates, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
FLOAT_VECT3_ZERO(aos.ltp_pos);
FLOAT_VECT3_ZERO(aos.ltp_vel);
FLOAT_VECT3_ZERO(aos.ltp_accel);
FLOAT_VECT3_ZERO(aos.ltp_jerk);
aos.traj->init_fun();
imu_init();
ahrs_init();
ahrs_aligner_init();
#ifdef PERFECT_SENSORS
RATES_ASSIGN(aos.gyro_bias, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
RATES_ASSIGN(aos.gyro_noise, RadOfDeg(0.), RadOfDeg(0.), RadOfDeg(0.));
VECT3_ASSIGN(aos.accel_noise, 0., 0., 0.);
aos.heading_noise = 0.;
#else
RATES_ASSIGN(aos.gyro_bias, RadOfDeg(1.), RadOfDeg(2.), RadOfDeg(3.));
RATES_ASSIGN(aos.gyro_noise, RadOfDeg(1.), RadOfDeg(1.), RadOfDeg(1.));
VECT3_ASSIGN(aos.accel_noise, .5, .5, .5);
aos.heading_noise = RadOfDeg(3.);
#endif
#ifdef FORCE_ALIGNEMENT
// DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("# oas quat", aos.ltp_to_imu_quat);
aos_compute_sensors();
// DISPLAY_FLOAT_RATES_DEG("# oas gyro_bias", aos.gyro_bias);
// DISPLAY_FLOAT_RATES_DEG("# oas imu_rates", aos.imu_rates);
VECT3_COPY(ahrs_aligner.lp_accel, imu.accel);
VECT3_COPY(ahrs_aligner.lp_mag, imu.mag);
RATES_COPY(ahrs_aligner.lp_gyro, imu.gyro);
// DISPLAY_INT32_RATES_AS_FLOAT_DEG("# ahrs_aligner.lp_gyro", ahrs_aligner.lp_gyro);
ahrs_align();
// DISPLAY_FLOAT_RATES_DEG("# ahrs_impl.gyro_bias", ahrs_impl.gyro_bias);
#endif
#ifdef DISABLE_ALIGNEMENT
printf("# DISABLE_ALIGNEMENT\n");
#endif
#ifdef DISABLE_PROPAGATE
printf("# DISABLE_PROPAGATE\n");
#endif
#ifdef DISABLE_ACCEL_UPDATE
printf("# DISABLE_ACCEL_UPDATE\n");
#endif
#ifdef DISABLE_MAG_UPDATE
printf("# DISABLE_MAG_UPDATE\n");
#endif
printf("# AHRS_TYPE %s\n", ahrs_type_str[AHRS_TYPE]);
printf("# AHRS_PROPAGATE_FREQUENCY %d\n", AHRS_PROPAGATE_FREQUENCY);
#ifdef AHRS_PROPAGATE_LOW_PASS_RATES
printf("# AHRS_PROPAGATE_LOW_PASS_RATES\n");
#endif
#if AHRS_MAG_UPDATE_YAW_ONLY
printf("# AHRS_MAG_UPDATE_YAW_ONLY\n");
#endif
#if AHRS_GRAVITY_UPDATE_COORDINATED_TURN
printf("# AHRS_GRAVITY_UPDATE_COORDINATED_TURN\n");
#endif
#if AHRS_GRAVITY_UPDATE_NORM_HEURISTIC
printf("# AHRS_GRAVITY_UPDATE_NORM_HEURISTIC\n");
#endif
#ifdef PERFECT_SENSORS
printf("# PERFECT_SENSORS\n");
#endif
#if AHRS_USE_GPS_HEADING
printf("# AHRS_USE_GPS_HEADING\n");
#endif
#if USE_AHRS_GPS_ACCELERATIONS
printf("# USE_AHRS_GPS_ACCELERATIONS\n");
#endif
printf("# tajectory : %s\n", aos.traj->name);
};
STATIC_INLINE void main_init(void)
{
mcu_init();
#if defined(PPRZ_TRIG_INT_COMPR_FLASH)
pprz_trig_int_init();
#endif
electrical_init();
stateInit();
#ifndef INTER_MCU_AP
actuators_init();
#else
intermcu_init();
#endif
#if USE_MOTOR_MIXING
motor_mixing_init();
#endif
#ifndef INTER_MCU_AP
radio_control_init();
#endif
#if USE_BARO_BOARD
baro_init();
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
autopilot_init();
modules_init();
/* temporary hack:
* Since INS is now a module, LTP_DEF is not yet initialized when autopilot_init is called
* This led to the problem that global waypoints were not "localized",
* so as a stop-gap measure we localize them all (again) here..
*/
waypoints_localize_all();
settings_init();
mcu_int_enable();
#if DOWNLINK
downlink_init();
#endif
#ifdef INTER_MCU_AP
intermcu_init();
#endif
// register the timers for the periodic functions
main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
#if PERIODIC_FREQUENCY != MODULES_FREQUENCY
modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
#endif
radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
failsafe_tid = sys_time_register_timer(0.05, NULL);
electrical_tid = sys_time_register_timer(0.1, NULL);
telemetry_tid = sys_time_register_timer((1. / TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
#endif
#if USE_IMU
// send body_to_imu from here for now
AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
#endif
// Do a failsafe check first
failsafe_check();
}