Paparazzi UAS  v6.1.0_stable
Paparazzi is a free software Unmanned Aircraft System.
sim_ap.c
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1 /* Definitions and declarations required to compile autopilot code on a
2  i386 architecture. Bindings for OCaml. */
3 
4 #define MODULES_C
5 
6 #include <stdio.h>
7 #include <assert.h>
8 #include <sys/time.h>
9 #include <sys/stat.h>
10 #include <time.h>
11 #include <string.h>
12 #include "std.h"
14 #include "autopilot.h"
15 #include "modules/gps/gps.h"
16 #include "generated/settings.h"
20 #include "modules/core/commands.h"
24 #include "generated/flight_plan.h"
25 
26 #include "generated/modules.h"
27 
28 #include <caml/mlvalues.h>
29 #include <caml/memory.h>
30 
31 
32 /* Dummy definitions to replace the ones from the files not compiled in the
33  simulator */
43 
44 #ifndef SIM_UPDATE_DL
45 #define SIM_UPDATE_DL TRUE
46 #endif
47 
49 
50 #if PERIODIC_FREQUENCY != 60
51 #warning "Simple OCaml sim can currently only handle a PERIODIC_FREQUENCY of 60Hz"
52 #endif
53 
54 #if SYS_TIME_FREQUENCY != 120
55 #warning "Simple OCaml sim can currently only handle a SYS_TIME_FREQUENCY of 120Hz"
56 #endif
57 
59 value sim_sys_time_task(value unit)
60 {
62  return unit;
63 }
64 
65 value sim_periodic_task(value unit)
66 {
68  event_task_ap();
70  return unit;
71 }
72 
73 float ftimeofday(void)
74 {
75  struct timeval t;
76  struct timezone z;
77  gettimeofday(&t, &z);
78  return (t.tv_sec + t.tv_usec / 1e6);
79 }
80 
81 value sim_init(value unit)
82 {
83  init_fbw();
84  init_ap();
85 
86  return unit;
87 }
88 
89 value update_bat(value bat)
90 {
91  electrical.vsupply = (float)Int_val(bat) / 10.;
92  return Val_unit;
93 }
94 
95 value update_dl_status(value dl_enabled)
96 {
97  ivy_tp.ivy_dl_enabled = Int_val(dl_enabled);
98  return Val_unit;
99 }
100 
101 
102 value get_commands(value val_commands)
103 {
104  int i;
105 
106  for (i = 0; i < COMMANDS_NB; i++) {
107  Store_field(val_commands, i, Val_int(commands[i]));
108  }
109 
110  return Val_int(commands[COMMAND_THROTTLE]);
111 }
112 
114 {
115  int n = string_length(s);
116  char *ss = String_val(s);
117  assert(n <= MSG_SIZE);
118 
119  int i;
120  for (i = 0; i < n; i++) {
121  dl_buffer[i] = ss[i];
122  }
123 
124  dl_msg_available = true;
126 
127  return Val_unit;
128 }
129 
get_commands
value get_commands(value val_commands)
Definition: sim_ap.c:102
dl_buffer
uint8_t dl_buffer[MSG_SIZE]
Definition: main_demo5.c:63
vertical_mode
uint8_t vertical_mode
Definition: sim_ap.c:35
init_fbw
void init_fbw(void)
Definition: main_fbw.c:362
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
link_fbw_nb_err
uint8_t link_fbw_nb_err
Definition: sim_ap.c:38
rc_event_2
bool rc_event_2
Definition: sim_ap.c:37
init_ap
void init_ap(void)
Definition: main_ap.c:104
gps_nb_ovrn
uint8_t gps_nb_ovrn
Definition: sim_ap.c:38
set_datalink_message
value set_datalink_message(value s)
Definition: sim_ap.c:113
s
static uint32_t s
Definition: light_scheduler.c:33
inter_mcu.h
stabilization_attitude.h
datalink_nb_msgs
uint16_t datalink_nb_msgs
Definition: sim_ap.c:42
Electrical::vsupply
float vsupply
supply voltage in V
Definition: electrical.h:45
sim_sys_time_task
value sim_sys_time_task(value unit)
needs to be called at SYS_TIME_FREQUENCY
Definition: sim_ap.c:59
MSG_SIZE
#define MSG_SIZE
Definition: main_demo5.c:62
telemetry.h
std.h
update_dl_status
value update_dl_status(value dl_enabled)
Definition: sim_ap.c:95
gps.h
Device independent GPS code (interface)
sim_init
value sim_init(value unit)
Definition: sim_ap.c:81
event_task_fbw
void event_task_fbw(void)
Definition: main_fbw.c:417
rc_event_1
bool rc_event_1
Definition: sim_ap.c:37
ivy_tp
struct ivy_transport ivy_tp
IVY transport structure.
Definition: ivy_dl.c:29
autopilot.h
update_bat
value update_bat(value bat)
Definition: sim_ap.c:89
main_ap.h
commands
static const ShellCommand commands[]
Definition: shell_arch.c:71
ftimeofday
float ftimeofday(void)
Definition: sim_ap.c:73
dl_msg_available
bool dl_msg_available
Definition: main_demo5.c:60
nav.h
inflight_calib_mode
uint8_t inflight_calib_mode
Definition: sim_ap.c:36
ir_estim_mode
uint8_t ir_estim_mode
Definition: sim_ap.c:34
datalink_time
uint16_t datalink_time
Definition: sim_ap.c:41
handle_periodic_tasks_ap
void handle_periodic_tasks_ap(void)
Definition: main_ap.c:157
DOWNLINK_DEVICE
#define DOWNLINK_DEVICE
Definition: stereocam_droplet.c:57
unit
static unit_t unit
Definition: nav.c:31
commands.h
Hardware independent code for commands handling.
electrical
struct Electrical electrical
Definition: electrical.c:66
roll_rate_pgain
float roll_rate_pgain
Definition: sim_ap.c:40
ac_id
uint8_t ac_id
Definition: sim_ap.c:48
link_fbw_fbw_nb_err
uint8_t link_fbw_fbw_nb_err
Definition: sim_ap.c:38
uint16_t
unsigned short uint16_t
Typedef defining 16 bit unsigned short type.
Definition: vl53l1_types.h:88
alt_roll_pgain
float alt_roll_pgain
Definition: sim_ap.c:39
sys_tick_handler
static void sys_tick_handler(void)
Definition: sys_time_arch.c:138
event_task_ap
void event_task_ap(void)
Definition: main_ap.c:213
sim_periodic_task
value sim_periodic_task(value unit)
Definition: sim_ap.c:65
SIM_UPDATE_DL
#define SIM_UPDATE_DL
Definition: sim_ap.c:45
guidance_v.h