Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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test_servos.c
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1 /*
2  * $Id$
3  *
4  * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
5  *
6  * This file is part of paparazzi.
7  *
8  * paparazzi is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2, or (at your option)
11  * any later version.
12  *
13  * paparazzi is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16  * GNU General Public License for more details.
17  *
18  * You should have received a copy of the GNU General Public License
19  * along with paparazzi; see the file COPYING. If not, write to
20  * the Free Software Foundation, 59 Temple Place - Suite 330,
21  * Boston, MA 02111-1307, USA.
22  */
23 
24 #include <inttypes.h>
25 
26 #include "mcu.h"
27 #include "mcu_periph/sys_time.h"
29 #include "led.h"
30 
31 static inline void main_init( void );
32 static inline void main_periodic( void );
33 
34 int main(void) {
35 
36  main_init();
37  while (1) {
39  main_periodic();
40  };
41  return 0;
42 }
43 
44 static inline void main_init( void ) {
45  mcu_init();
48 }
49 
50 static inline void main_periodic( void ) {
51  static float foo = 0.;
52  foo += 0.0025;
53  int32_t bar = 1500 + 500. * sin(foo);
54  for (int i = 0; i < ACTUATORS_PWM_NB; i++) {
55  actuators_pwm_values[i] = bar;
56  }
58 
59  LED_PERIODIC();
60 }
61 
62 
63 
int32_t actuators_pwm_values[ACTUATORS_PWM_NB]
static void main_init(void)
Definition: test_servos.c:44
#define PERIODIC_FREQUENCY
Definition: imu_aspirin2.c:54
Architecture independent timing functions.
void actuators_init(void)
static void main_periodic(void)
Definition: test_servos.c:50
uint16_t foo
Definition: main_demo5.c:54
int sys_time_register_timer(float duration, sys_time_cb cb)
Register a new system timer.
Definition: sys_time.c:35
static bool_t sys_time_check_and_ack_timer(tid_t id)
Definition: sys_time.h:90
signed long int32_t
Definition: types.h:19
#define LED_PERIODIC()
Definition: led_hw.h:8
arch independent mcu ( Micro Controller Unit ) utilities
int main(void)
Definition: test_servos.c:34
#define ACTUATORS_PWM_NB
arch independent LED (Light Emitting Diodes) API
void actuators_pwm_commit(void)
void mcu_init(void)
Definition: mcu.c:57