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Add wasm tacle-bench targets

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Christoph Urlacher
2026-06-12 20:06:22 +02:00
parent 30daa8a00c
commit 08c2e9c13d
1122 changed files with 520422 additions and 0 deletions
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targets/wasm-tacle/parallel/PapaBench/sw/airborne/autopilot/autopilot.h Normal file
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/*
$Id: autopilot.h,v 1.1 2011-01-18 12:48:38 moellmer Exp $
Copyright (C) 2003 Pascal Brisset, Antoine Drouin
This file is part of paparazzi.
paparazzi is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2, or (at your option)
any later version.
paparazzi is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with paparazzi; see the file COPYING. If not, write to
the Free Software Foundation, 59 Temple Place - Suite 330,
Boston, MA 02111-1307, USA.
*/
#ifndef AUTOPILOT_H
#define AUTOPILOT_H
#include "link_autopilot.h"
#define TRESHOLD1 TRESHOLD_MANUAL_PPRZ
#define TRESHOLD2 200 * CLOCK
#define PPRZ_MODE_MANUAL 0
#define PPRZ_MODE_AUTO1 1
#define PPRZ_MODE_AUTO2 2
#define PPRZ_MODE_HOME 3
#define PPRZ_MODE_NB 4
#define PPRZ_MODE_OF_PULSE(pprz, mega8_status) \
(pprz > TRESHOLD2 ? PPRZ_MODE_AUTO2 : \
(pprz > TRESHOLD1 ? PPRZ_MODE_AUTO1 : PPRZ_MODE_MANUAL))
extern uint8_t pprz_mode;
#define VERTICAL_MODE_MANUAL 0
#define VERTICAL_MODE_AUTO_GAZ 1
#define VERTICAL_MODE_AUTO_CLIMB 2
#define VERTICAL_MODE_AUTO_ALT 3
#define VERTICAL_MODE_NB 4
#define LATERAL_MODE_MANUAL 0
#define LATERAL_MODE_ROLL_RATE 1
#define LATERAL_MODE_ROLL 2
#define LATERAL_MODE_COURSE 3
#define LATERAL_MODE_NB 4
#define VERTICAL_MODE_OF_PULSE(pprz) (pprz < TRESHOLD2 ? VERTICAL_MODE_MANUAL: \
VERTICAL_MODE_AUTO_ALT)
#define IR_ESTIM_MODE_OFF 0
#define IR_ESTIM_MODE_ON 1
#define IR_ESTIM_MODE_OF_PULSE(pprz) (pprz < TRESHOLD2 ? IR_ESTIM_MODE_OFF: \
IR_ESTIM_MODE_ON)
extern uint8_t ir_estim_mode;
#define STICK_PUSHED(pprz) (pprz < TRESHOLD1 || pprz > TRESHOLD2)
#define TRIM_PPRZ(pprz) (pprz < MIN_PPRZ ? MIN_PPRZ : \
(pprz > MAX_PPRZ ? MAX_PPRZ : \
pprz))
#define TRIM_UPPRZ(pprz) (pprz < 0 ? 0 : \
(pprz > MAX_PPRZ ? MAX_PPRZ : \
pprz))
#define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)
extern uint8_t fatal_error_nb;
#define GAZ_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9)
extern uint8_t inflight_calib_mode;
//extern uint16_t flight_time;
extern uint8_t vertical_mode;
extern bool_t auto_pitch;
extern uint8_t lateral_mode;
extern uint8_t vsupply;
extern bool_t rc_event_1, rc_event_2;
extern float slider_1_val, slider_2_val;
extern bool_t launch;
#define ModeUpdate(_mode, _value) { \
uint8_t new_mode = _value; \
if (_mode != new_mode) { _mode = new_mode; return TRUE; } \
return FALSE; \
}
#define CheckEvent(_event) (_event ? _event = FALSE, TRUE : FALSE)
#ifdef CTL_BRD_V1_1
extern struct adc_buf buf_bat;
#endif
void periodic_task( void );
void use_gps_pos( void );
void radio_control_task( void );
/*receive_gps_data_task */
void send_gps_pos( void );
void send_radIR( void );
void send_takeOff( void );
/*end receive_gps_data_task*/
void stabilisation_task( void );
#endif /* AUTOPILOT_H */