Add wasm tacle-bench targets

2026-06-12 20:06:22 +02:00
parent 30daa8a00c
commit 08c2e9c13d
1122 changed files with 520422 additions and 0 deletions
--- a/targets/wasm-tacle/parallel/PapaBench/sw/airborne/autopilot/mainloop.c
+++ b/targets/wasm-tacle/parallel/PapaBench/sw/airborne/autopilot/mainloop.c
@ -0,0 +1,101 @@
+/*
+   $Id: mainloop.c,v 1.3 2011-01-25 09:40:37 plazar 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.
+
+*/
+#include <arch/interrupt.h>
+#include "std.h"
+
+#include "timer.h"
+#include "modem.h"
+#include "adc.h"
+#include "airframe.h"
+#include "autopilot.h"
+#include "spi.h"
+#include "link_fbw.h"
+#include "gps.h"
+#include "nav.h"
+#include "infrared.h"
+#include "estimator.h"
+#include "downlink.h"
+
+#ifndef PAPABENCH_SINGLE
+void fbw_init( void );
+void fbw_schedule( void );
+#endif
+
+int main( void )
+{
+  uint8_t init_cpt;
+  /* init peripherals */
+  timer_init();
+  modem_init();
+  adc_init();
+  #ifdef CTL_BRD_V1_1
+  adc_buf_channel( ADC_CHANNEL_BAT, &buf_bat );
+  #endif
+  spi_init();
+  link_fbw_init();
+  gps_init();
+  nav_init();
+  ir_init();
+  estimator_init();
+  # ifdef PAPABENCH_SINGLE
+  fbw_init();
+  # endif
+
+  /* start interrupt task */
+  //sei(); /*Fadia*/
+
+  /* Wait 0.5s (for modem init ?) */
+  init_cpt = 30;
+  _Pragma( "loopbound min 31 max 31" )
+  while ( init_cpt ) {
+    if ( timer_periodic() )
+      init_cpt--;
+  }
+
+  /*  enter mainloop */
+  #ifndef NO_MAINLOOP
+  while ( 1 ) {
+  #endif
+    if ( timer_periodic() ) {
+      periodic_task();
+      #   if PAPABENCH_SINGLE
+      fbw_schedule();
+      #   endif
+    }
+    if ( gps_msg_received ) {
+      /*receive_gps_data_task()*/
+      parse_gps_msg();
+      send_gps_pos();
+      send_radIR();
+      send_takeOff();
+    }
+    if ( link_fbw_receive_complete ) {
+      link_fbw_receive_complete = FALSE;
+      radio_control_task();
+    }
+    #ifndef NO_MAINLOOP
+  }
+    #endif
+  return 0;
+}