#45: Extracted main logic into application

Src/Application/application.c

@@ -0,0 +1,103 @@
+/**
+ * @file application.c
+ * @author Paul Nykiel
+ * @date 31.12.22
+ * @brief Implementation of the main application logic.
+ * @ingroup Application
+ */
+#include "application.h"
+
+#include "Application/controller.h"
+#include "Application/error_handler.h"
+#include "Application/mode_handler.h"
+#include "Components/actuators.h"
+#include "Components/flightcomputer.h"
+#include "Components/imu.h"
+#include "Components/remote.h"
+#include "Components/system.h"
+
+/**
+ * Frequency divider between the timer interrupt and sending new messages.
+ * 6 * 16.384 approx 100ms
+ */
+enum { FLIGHTCOMPUTER_SEND_PERIOD = 6 };
+
+/**
+ * Offset from the remote data (in [0, 1000]) to the servo_motor_cmd data (in [-500, 500])
+ */
+enum { SERVO_REMOTE_OFFSET = 1000U / 2 };
+
+static void timer_tick(void) {
+    imu_data_t imu_data;
+    remote_data_t remote_data;
+    flightcomputer_setpoint_t flightcomputer_setpoint;
+    mode_handler_mode_t mode = mode_handler_handle(&imu_data, &remote_data, &flightcomputer_setpoint);
+
+    /*
+     * Calculate outputs
+     */
+    actuator_cmd_t actuator_cmd;
+    switch (mode) {
+        case MODE_FLIGHTCOMPUTER: {
+            controller_result_t controller_result =
+                    controller_update(&imu_data, flightcomputer_setpoint.roll, flightcomputer_setpoint.pitch);
+            actuator_cmd.elevon_left = controller_result.elevon_left;
+            actuator_cmd.elevon_right = controller_result.elevon_right;
+            actuator_cmd.motor = flightcomputer_setpoint.motor;
+            break;
+        }
+        case MODE_REMOTE:
+            actuator_cmd.motor = remote_data.throttle_mixed;
+            actuator_cmd.elevon_left = remote_data.elevon_left_mixed - SERVO_REMOTE_OFFSET;
+            actuator_cmd.elevon_right = remote_data.elevon_right_mixed - SERVO_REMOTE_OFFSET;
+            break;
+        case MODE_STABILISED_FAILSAVE: {
+            controller_result_t controller_result = controller_update(&imu_data, 0, 0);
+            actuator_cmd.elevon_left = controller_result.elevon_left;
+            actuator_cmd.elevon_right = controller_result.elevon_right;
+            actuator_cmd.motor = 0;
+            break;
+        }
+        case MODE_FAILSAVE:
+            actuator_cmd.motor = 0;
+            actuator_cmd.elevon_left = 0;
+            actuator_cmd.elevon_right = 0;
+            break;
+    }
+
+    actuators_set(&actuator_cmd);
+
+    /*
+     * Send information to FCPS
+     */
+    static volatile uint8_t fcps_send_mux = 0;
+    fcps_send_mux += 1;
+    if (fcps_send_mux >= FLIGHTCOMPUTER_SEND_PERIOD) {
+        flightcomputer_send(&imu_data, &remote_data, &actuator_cmd);
+        fcps_send_mux = 0;
+    }
+
+    /*
+     * Read the next IMU data
+     */
+    imu_start_sampling();
+}
+
+void application_init(void) {
+    system_pre_init(timer_tick);
+    error_handler_init();
+
+    imu_init();
+    remote_init();
+    flightcomputer_init();
+    actuators_init();
+    mode_handler_init();
+
+    imu_start_sampling();
+
+    system_post_init();
+
+    while (true) {
+        system_reset_watchdog();
+    }
+}

Src/Application/application.h

@@ -0,0 +1,27 @@
+/**
+ * @file application.h
+ * @author Paul Nykiel
+ * @date 31.12.22
+ * @brief Declaration of the main application logic.
+ * @ingroup Application
+ */
+#ifndef FLIGHTCONTROLLER_APPLICATION_H
+#define FLIGHTCONTROLLER_APPLICATION_H
+
+/**
+ * Main application that performs the following task:
+ *  * System Pre-Initialization
+ *  * Error Handler initialization
+ *  * IMU initialization
+ *  * Remote initialization
+ *  * Flightcomputer initialization
+ *  * Actuator initialization
+ *  * Mode handler initialization
+ *  * System Post-Initialization
+ * The system post initialization will start the timer, which is also implemented as part of the application logic.
+ * This function never returns but calls wdt_reset in an infinite loop, if this idle does not run for 30ms
+ * (i.e. the system is continuously blocked by interrupts a reset is performed).
+ */
+void application_init(void);
+
+#endif // FLIGHTCONTROLLER_APPLICATION_H

Src/CMakeLists.txt

@@ -3,6 +3,7 @@ project(FlightController)
 
 if (${CMAKE_C_COMPILER} MATCHES "avr")
     add_executable(${PROJECT_NAME} main.c
+            Application/application.c
             Application/controller.c
             Application/error_handler.c
             Application/mode_handler.c)

Src/main.c

@@ -4,6 +4,7 @@
  * @date 12.04.19
  * @brief Main file of the Flightcontroller firmware.
  */
+#include "Application/application.h"
 
 /**
  * @defgroup HAL Hardware-Abstraction-Layer
@@ -25,104 +26,10 @@
  * @brief Library for application specific functions.
  */
 
-#include "Application/controller.h"
-#include "Application/error_handler.h"
-#include "Application/mode_handler.h"
-#include "Components/actuators.h"
-#include "Components/flightcomputer.h"
-#include "Components/imu.h"
-#include "Components/remote.h"
-#include "Components/system.h"
-
-/**
- * Frequency divider between the timer interrupt and sending new messages.
- * 6 * 16.384 approx 100ms
- */
-enum { FLIGHTCOMPUTER_SEND_PERIOD = 6 };
-
-/**
- * Offset from the remote data (in [0, 1000]) to the servo_motor_cmd data (in [-500, 500])
- */
-enum { SERVO_REMOTE_OFFSET = 1000U / 2 };
-
 /**
- * Timer interrupt, called every 16.384ms, if the run-time exceeds 12ms a warning is triggered
- */
-void timer_tick(void) {
-    imu_data_t imu_data;
-    remote_data_t remote_data;
-    flightcomputer_setpoint_t flightcomputer_setpoint;
-    mode_handler_mode_t mode = mode_handler_handle(&imu_data, &remote_data, &flightcomputer_setpoint);
-
-    /*
-     * Calculate outputs
-     */
-    actuator_cmd_t actuator_cmd;
-    switch (mode) {
-        case MODE_FLIGHTCOMPUTER: {
-            controller_result_t controller_result =
-                    controller_update(&imu_data, flightcomputer_setpoint.roll, flightcomputer_setpoint.pitch);
-            actuator_cmd.elevon_left = controller_result.elevon_left;
-            actuator_cmd.elevon_right = controller_result.elevon_right;
-            actuator_cmd.motor = flightcomputer_setpoint.motor;
-            break;
-        }
-        case MODE_REMOTE:
-            actuator_cmd.motor = remote_data.throttle_mixed;
-            actuator_cmd.elevon_left = remote_data.elevon_left_mixed - SERVO_REMOTE_OFFSET;
-            actuator_cmd.elevon_right = remote_data.elevon_right_mixed - SERVO_REMOTE_OFFSET;
-            break;
-        case MODE_STABILISED_FAILSAVE: {
-            controller_result_t controller_result = controller_update(&imu_data, 0, 0);
-            actuator_cmd.elevon_left = controller_result.elevon_left;
-            actuator_cmd.elevon_right = controller_result.elevon_right;
-            actuator_cmd.motor = 0;
-            break;
-        }
-        case MODE_FAILSAVE:
-            actuator_cmd.motor = 0;
-            actuator_cmd.elevon_left = 0;
-            actuator_cmd.elevon_right = 0;
-            break;
-    }
-
-    actuators_set(&actuator_cmd);
-
-    /*
-     * Send information to FCPS
-     */
-    static volatile uint8_t fcps_send_mux = 0;
-    fcps_send_mux += 1;
-    if (fcps_send_mux >= FLIGHTCOMPUTER_SEND_PERIOD) {
-        flightcomputer_send(&imu_data, &remote_data, &actuator_cmd);
-        fcps_send_mux = 0;
-    }
-
-    /*
-     * Read the next IMU data
-     */
-    imu_start_sampling();
-}
-
-/**
- * Main function, performs initialization and resets the watchdog during operation
+ * Main function, all functionality is extracted to application for testing purposes.
  * @return nothing
  */
 int main(void) {
-    system_pre_init(timer_tick);
-    error_handler_init();
-
-    imu_init();
-    remote_init();
-    flightcomputer_init();
-    actuators_init();
-    mode_handler_init();
-
-    imu_start_sampling();
-
-    system_post_init();
-
-    while (true) {
-        system_reset_watchdog();
-    }
+    application_init();
 }