int main( void ) {
Fbw(init);
Ap(init);
while (1) {
if (sys_time_periodic()) {
Fbw(periodic_task);
Ap(periodic_task);
}
Fbw(event_task);
Ap(event_task);
}
return 0;
}
/*
* PPRZ/FBW thread
*
* Call PPRZ FBW periodic and event functions
*/
static void thd_fbw(void *arg)
{
(void) arg;
chRegSetThreadName("FBW");
while (!chThdShouldTerminateX()) {
Fbw(handle_periodic_tasks);
Fbw(event_task);
chThdSleepMicroseconds(500);
}
chThdExit(0);
}
static int32_t pprz_thd(void *arg)
{
/*
To be compatible with rtos architecture, each of this 4 workers should
be implemented in differents threads, each of them waiting for job to be done:
periodic task should sleep, and event task should wait for event
*/
(void) arg;
chibios_chRegSetThreadName("pprz big loop");
while (!chThdShouldTerminate()) {
Fbw(handle_periodic_tasks);
Ap(handle_periodic_tasks);
Fbw(event_task);
Ap(event_task);
chibios_chThdSleepMilliseconds(1);
}
return 0;
}
rtems_task Init(
rtems_task_argument ignored
){
#ifndef SERIO_TESTING
Fbw(init);
Ap(init);
while (1) {
update_bat(12.0);
Fbw(handle_periodic_tasks);
Ap(handle_periodic_tasks);
Fbw(event_task);
Ap(event_task);
}
#else
UART1Init();
while(1){
Ap(event_task);
}
#endif
return ;
}
/**
* Main function
*/
int main(void)
{
// Init
Fbw(init);
Ap(init);
chThdSleepMilliseconds(100);
// Create threads
apThdPtr = chThdCreateStatic(wa_thd_ap, sizeof(wa_thd_ap), NORMALPRIO, thd_ap, NULL);
fbwThdPtr = chThdCreateStatic(wa_thd_fbw, sizeof(wa_thd_fbw), NORMALPRIO, thd_fbw, NULL);
// Main loop, do nothing
while (TRUE) {
chThdSleepMilliseconds(1000);
}
return 0;
}
int main(void)
{
// Init
sys_time_init();
// Init ChibiOS
sdlogOk = chibios_init();
// Init PPRZ
Fbw(init);
Ap(init);
chibios_chThdSleepMilliseconds(100);
launch_pprz_thd(&pprz_thd);
pprzReady = true;
// Call PPRZ periodic and event functions
while (TRUE) {
chibios_chThdSleepMilliseconds(1000);
}
return 0;
}
