STATIC_INLINE void handle_periodic_tasks(void)
{
if (sys_time_check_and_ack_timer(main_periodic_tid)) {
main_periodic();
}
if (sys_time_check_and_ack_timer(modules_tid)) {
modules_periodic_task();
}
if (sys_time_check_and_ack_timer(radio_control_tid)) {
radio_control_periodic_task();
}
if (sys_time_check_and_ack_timer(failsafe_tid)) {
failsafe_check();
}
if (sys_time_check_and_ack_timer(electrical_tid)) {
electrical_periodic();
}
if (sys_time_check_and_ack_timer(telemetry_tid)) {
telemetry_periodic();
}
#if USE_BARO_BOARD
if (sys_time_check_and_ack_timer(baro_tid)) {
baro_periodic();
}
#endif
}
STATIC_INLINE void handle_periodic_tasks(void)
{
if (sys_time_check_and_ack_timer(main_periodic_tid)) {
main_periodic();
#if PERIODIC_FREQUENCY == MODULES_FREQUENCY
/* Use the main periodc freq timer for modules if the freqs are the same
* This is mainly useful for logging each step.
*/
modules_periodic_task();
#else
}
/* separate timer for modules, since it has a different freq than main */
if (sys_time_check_and_ack_timer(modules_tid)) {
modules_periodic_task();
#endif
}
if (sys_time_check_and_ack_timer(radio_control_tid)) {
radio_control_periodic_task();
}
if (sys_time_check_and_ack_timer(failsafe_tid)) {
failsafe_check();
}
if (sys_time_check_and_ack_timer(electrical_tid)) {
electrical_periodic();
}
if (sys_time_check_and_ack_timer(telemetry_tid)) {
telemetry_periodic();
}
#if USE_BARO_BOARD
if (sys_time_check_and_ack_timer(baro_tid)) {
baro_periodic();
}
#endif
}
void
draw_scene()
{
static int first_run = 1;
static rc_t rc;
static est2User_t e2u;
static sensors2Estimator_t s2e;
static system_energy_t se;
if (first_run == 1){
first_run = 0;
/* set up telemetry stream */
initialize_visualizer_telemetry(&rc, &e2u, &s2e, &se);
init_object_manager();
init_spline_geometry();
init_tether_vis();
init_spline_trajectory_vis();
init_wind_vis();
init_simple_model_vis();
init_path_vis();
}
telemetry_periodic();
manage_high_score( &e2u, &rc);
// Render GL stuff
glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glPushMatrix();
// put the visualizer in NED
glRotatef( 90.0f, 1.0f, 0.0f, 0.0f);
draw_grid();
draw_object_manager_objects();
draw_tether();
draw_axes_from_euler(0.0f,0.0f,0.0f,0.0f,0.0f,-1.0f,30.0f,8.0f); // origin
draw_all_spline_trajectories();
draw_spline_geometry( 10 );
draw_wind_est( &e2u );
draw_wind_vis( DT );
draw_simple_model_vis();
draw_path_vis();
draw_camera_focus();
// satellite imagery
manage_imagery();
draw_text( &rc, &e2u, &s2e, &se, window_width, window_height, current_score, session_high_score );
glPopMatrix();
visualizer_talk( &s2e, &e2u, &rc);
run_realtime( DT );
// swap the buffers to display, since double buffering is used.
glutSwapBuffers();
}
STATIC_INLINE void handle_periodic_tasks( void ) {
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();
if (sys_time_check_and_ack_timer(failsafe_tid))
failsafe_check();
if (sys_time_check_and_ack_timer(electrical_tid))
electrical_periodic();
if (sys_time_check_and_ack_timer(baro_tid))
baro_periodic();
if (sys_time_check_and_ack_timer(telemetry_tid))
telemetry_periodic();
}
int main(void) {
// Set the system clock to the full 120MHz
uint32_t sysClkFreq = SysCtlClockFreqSet(SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480, 120000000);
debug_init(sysClkFreq);
status_led_init();
network_driver_init(sysClkFreq);
networking_init();
telemetry_init();
transducer_init();
thermocouple_init();
solenoid_init();
debug_print("Initialization complete. starting main loop.\r\n");
// Set up the SysTick timer and its interrupts
SysTickPeriodSet(6000); // 40 kHz
SysTickIntRegister(sys_tick);
SysTickIntEnable();
SysTickEnable();
uint32_t loopIterations = 0;
uint32_t frame_start = systick_clock;
while(1) {
status_led_periodic();
network_driver_periodic();
telemetry_periodic();
solenoid_periodic();
// debug_print_u32(systick_clock);
//count loop iterations per second
loopIterations++;
if(systick_clock - frame_start >= 1000) {
loops_per_second = loopIterations;
loopIterations = 0;
frame_start = systick_clock;
}
}
}
STATIC_INLINE void handle_periodic_tasks(void)
{
if (sys_time_check_and_ack_timer(main_periodic_tid)) {
main_periodic();
}
if (sys_time_check_and_ack_timer(modules_tid)) {
modules_periodic_task();
}
if (sys_time_check_and_ack_timer(radio_control_tid)) {
radio_control_periodic_task();
}
if (sys_time_check_and_ack_timer(electrical_tid)) {
electrical_periodic();
}
if (sys_time_check_and_ack_timer(telemetry_tid)) {
telemetry_periodic();
}
}
