int main(void)
{
main_init();
#if LIMIT_EVENT_POLLING
/* Limit main loop frequency to 1kHz.
* This is a kludge until we can better leverage threads and have real events.
* Without this limit the event flags will constantly polled as fast as possible,
* resulting on 100% cpu load on boards with an (RT)OS.
* On bare metal boards this is not an issue, as you have nothing else running anyway.
*/
uint32_t t_begin = 0;
uint32_t t_diff = 0;
while (1) {
t_begin = get_sys_time_usec();
handle_periodic_tasks();
main_event();
/* sleep remaining time to limit to 1kHz */
t_diff = get_sys_time_usec() - t_begin;
if (t_diff < 1000) {
sys_time_usleep(1000 - t_diff);
}
}
#else
while (1) {
handle_periodic_tasks();
main_event();
}
#endif
return 0;
}
int main(void)
{
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
/* Init GPIO for rx pins */
gpio_setup_input_pullup(A_RX_PORT, A_RX_PIN);
gpio_setup_input_pullup(B_RX_PORT, B_RX_PIN);
/* Init GPIO for tx pins */
gpio_setup_output(A_TX_PORT, A_TX_PIN);
gpio_setup_output(B_TX_PORT, B_TX_PIN);
gpio_clear(A_TX_PORT, A_TX_PIN);
/* */
while (1) {
if (sys_time_check_and_ack_timer(0)) {
main_periodic();
}
main_event();
}
return 0;
}
int main(void) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
/* init RCC */
rcc_peripheral_enable_clock(&RCC_APB2ENR, A_PERIPH);
// rccp_perihperal_enable_clock(&RCC_APB2ENR, B_PERIPH);
/* Init GPIO for rx pins */
gpio_set(A_RX_PORT, A_RX_PIN);
gpio_set_mode(A_RX_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, A_RX_PIN);
gpio_set(B_RX_PORT, B_RX_PIN);
gpio_set_mode(B_RX_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, B_RX_PIN);
/* Init GPIO for tx pins */
gpio_set_mode(A_RX_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, A_TX_PIN);
gpio_set_mode(B_RX_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, B_TX_PIN);
gpio_clear(A_TX_PORT, A_TX_PIN);
/* */
while (1) {
if (sys_time_check_and_ack_timer(0))
main_periodic();
main_event();
}
return 0;
}
void nps_autopilot_run_step(double time __attribute__ ((unused))) {
if (nps_radio_control_available(time)) {
radio_control_feed();
main_event();
}
if (nps_sensors_gyro_available()) {
imu_feed_gyro_accel();
main_event();
}
if (nps_sensors_mag_available()) {
imu_feed_mag();
main_event();
}
if (nps_sensors_baro_available()) {
baro_feed_value(sensors.baro.value);
main_event();
}
if (nps_sensors_gps_available()) {
booz_gps_feed_value();
main_event();
}
if (nps_bypass_ahrs) {
sim_overwrite_ahrs();
}
main_periodic();
if (time < 8) { /* start with a little bit of hovering */
int32_t init_cmd[4];
init_cmd[COMMAND_THRUST] = 0.253*SUPERVISION_MAX_MOTOR;
init_cmd[COMMAND_ROLL] = 0;
init_cmd[COMMAND_PITCH] = 0;
init_cmd[COMMAND_YAW] = 0;
supervision_run(TRUE, FALSE, init_cmd);
}
for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++)
autopilot.commands[i] = (double)supervision.commands[i] / SUPERVISION_MAX_MOTOR;
}
int main( void ) {
main_init();
while(1) {
handle_periodic_tasks();
main_event();
}
return 0;
}
int main( void ) {
main_init();
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic();
main_event();
}
return 0;
}
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic();
main_event();
}
return 0;
}
void nps_autopilot_run_step(double time)
{
nps_electrical_run_step(time);
#if RADIO_CONTROL && !RADIO_CONTROL_TYPE_DATALINK
if (nps_radio_control_available(time)) {
radio_control_feed();
main_event();
}
#endif
if (nps_sensors_gyro_available()) {
imu_feed_gyro_accel();
main_event();
}
if (nps_sensors_mag_available()) {
imu_feed_mag();
main_event();
}
if (nps_sensors_baro_available()) {
float pressure = (float) sensors.baro.value;
AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, pressure);
main_event();
}
#if USE_SONAR
if (nps_sensors_sonar_available()) {
float dist = (float) sensors.sonar.value;
AbiSendMsgAGL(AGL_SONAR_NPS_ID, dist);
uint16_t foo = 0;
DOWNLINK_SEND_SONAR(DefaultChannel, DefaultDevice, &foo, &dist);
main_event();
}
#endif
if (nps_sensors_gps_available()) {
gps_feed_value();
main_event();
}
if (nps_bypass_ahrs) {
sim_overwrite_ahrs();
}
if (nps_bypass_ins) {
sim_overwrite_ins();
}
handle_periodic_tasks();
/* scale final motor commands to 0-1 for feeding the fdm */
for (uint8_t i = 0; i < NPS_COMMANDS_NB; i++) {
autopilot.commands[i] = (double)motor_mixing.commands[i] / MAX_PPRZ;
}
}
void nps_autopilot_run_step(double time __attribute__ ((unused))) {
if (nps_radio_control_available(time)) {
radio_control_feed();
main_event();
}
if (nps_sensors_gyro_available()) {
imu_feed_gyro_accel();
main_event();
}
if (nps_sensors_mag_available()) {
imu_feed_mag();
main_event();
}
if (nps_sensors_baro_available()) {
baro_feed_value(sensors.baro.value);
main_event();
}
if (nps_sensors_gps_available()) {
gps_feed_value();
main_event();
}
if (nps_bypass_ahrs) {
sim_overwrite_ahrs();
}
handle_periodic_tasks();
/* scale final motor commands to 0-1 for feeding the fdm */
/* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */
for (uint8_t i=0; i<SUPERVISION_NB_MOTOR; i++)
autopilot.commands[i] = (double)(supervision.commands[i] - SUPERVISION_MIN_MOTOR) / SUPERVISION_MAX_MOTOR;
}
int main(void) {
hw_init();
sys_time_init();
overo_link_init();
DEBUG_SERVO1_INIT();
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
}
return 0;
}
int main(void) {
main_init();
servos[0] = 1;
servos[1] = 2;
servos[2] = 3;
servos[3] = 4;
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
}
return 0;
}
int main(void)
{
main_init();
while (1) {
if (sys_time_check_and_ack_timer(main_periodic_tid)) {
main_periodic();
}
if (sys_time_check_and_ack_timer(radio_control_tid)) {
radio_control_periodic_task();
}
main_event();
};
return 0;
}
int main(void) {
mcu_init();
unsigned int tmr_02 = sys_time_register_timer(0.2, NULL);
unsigned int tmr_03 = sys_time_register_timer(0.3, NULL);
sys_time_register_timer(0.5, main_periodic_05);
while(1) {
if (sys_time_check_and_ack_timer(tmr_02))
main_periodic_02();
if (sys_time_check_and_ack_timer(tmr_03))
main_periodic_03();
main_event();
}
return 0;
}
int main(void) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
/* init RCC */
RCC_APB2PeriphClockCmd(A_PERIPH , ENABLE);
// RCC_APB2PeriphClockCmd(B_PERIPH , ENABLE);
// GPIO_DeInit(A_RX_PORT);
/* Init GPIO for rx pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_RX_PIN;
GPIO_Init(A_RX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_RX_PIN;
GPIO_Init(B_RX_PORT, &GPIO_InitStructure);
/* Init GPIO for tx pins */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_TX_PIN;
GPIO_Init(A_TX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_TX_PIN;
GPIO_Init(B_TX_PORT, &GPIO_InitStructure);
A_TX_PORT->BRR = A_TX_PIN;
/* */
while (1) {
if (sys_time_check_and_ack_timer(0))
main_periodic();
main_event();
}
return 0;
}
int main(void) {
hw_init();
sys_time_init();
/* init RCC */
RCC_APB2PeriphClockCmd(A_PERIPH , ENABLE);
// RCC_APB2PeriphClockCmd(B_PERIPH , ENABLE);
// GPIO_DeInit(A_RX_PORT);
/* Init GPIO for rx pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_RX_PIN;
GPIO_Init(A_RX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_RX_PIN;
GPIO_Init(B_RX_PORT, &GPIO_InitStructure);
/* Init GPIO for tx pins */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_TX_PIN;
GPIO_Init(A_TX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_TX_PIN;
GPIO_Init(B_TX_PORT, &GPIO_InitStructure);
A_TX_PORT->BRR = A_TX_PIN;
/* */
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
};
return 0;
}
