102 lines
2.3 KiB
C
102 lines
2.3 KiB
C
/*
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$Id: mainloop.c,v 1.3 2011-01-25 09:40:37 plazar Exp $
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Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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This file is part of paparazzi.
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paparazzi is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2, or (at your option)
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any later version.
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paparazzi is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with paparazzi; see the file COPYING. If not, write to
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the Free Software Foundation, 59 Temple Place - Suite 330,
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Boston, MA 02111-1307, USA.
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*/
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#include <arch/interrupt.h>
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#include "std.h"
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#include "timer.h"
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#include "modem.h"
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#include "adc.h"
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#include "airframe.h"
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#include "autopilot.h"
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#include "spi.h"
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#include "link_fbw.h"
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#include "gps.h"
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#include "nav.h"
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#include "infrared.h"
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#include "estimator.h"
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#include "downlink.h"
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#ifndef PAPABENCH_SINGLE
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void fbw_init( void );
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void fbw_schedule( void );
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#endif
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int main( void )
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{
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uint8_t init_cpt;
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/* init peripherals */
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timer_init();
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modem_init();
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adc_init();
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#ifdef CTL_BRD_V1_1
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adc_buf_channel( ADC_CHANNEL_BAT, &buf_bat );
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#endif
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spi_init();
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link_fbw_init();
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gps_init();
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nav_init();
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ir_init();
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estimator_init();
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# ifdef PAPABENCH_SINGLE
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fbw_init();
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# endif
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/* start interrupt task */
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//sei(); /*Fadia*/
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/* Wait 0.5s (for modem init ?) */
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init_cpt = 30;
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_Pragma( "loopbound min 31 max 31" )
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while ( init_cpt ) {
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if ( timer_periodic() )
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init_cpt--;
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}
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/* enter mainloop */
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#ifndef NO_MAINLOOP
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while ( 1 ) {
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#endif
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if ( timer_periodic() ) {
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periodic_task();
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# if PAPABENCH_SINGLE
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fbw_schedule();
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# endif
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}
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if ( gps_msg_received ) {
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/*receive_gps_data_task()*/
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parse_gps_msg();
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send_gps_pos();
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send_radIR();
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send_takeOff();
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}
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if ( link_fbw_receive_complete ) {
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link_fbw_receive_complete = FALSE;
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radio_control_task();
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}
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#ifndef NO_MAINLOOP
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}
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#endif
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return 0;
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}
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