src/main/main.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22 #include "build/debug.h"
  23 #include "drivers/serial.h"
  24 #include "drivers/serial_softserial.h"
  25
  26 #include "fc/fc_init.h"
  27
  28 #include "scheduler/scheduler.h"
  29
  30 #if defined(SITL_BUILD)
  31 #include "target/SITL/serial_proxy.h"
  32 #endif
  33
  34
  35 #ifdef SOFTSERIAL_LOOPBACK
  36 serialPort_t *loopbackPort;
  37 #endif
  38
  39
  40 static void loopbackInit(void)
  41 {
  42 #ifdef SOFTSERIAL_LOOPBACK
  43     loopbackPort = softSerialLoopbackPort();
  44     serialPrint(loopbackPort, "LOOPBACK\r\n");
  45 #endif
  46 }
  47
  48 static void processLoopback(void)
  49 {
  50 #ifdef SOFTSERIAL_LOOPBACK
  51     if (loopbackPort) {
  52         uint8_t bytesWaiting;
  53         while ((bytesWaiting = serialRxBytesWaiting(loopbackPort))) {
  54             uint8_t b = serialRead(loopbackPort);
  55             serialWrite(loopbackPort, b);
  56         };
  57     }
  58 #endif
  59 }
  60
  61 #if defined(SITL_BUILD)
  62 int main(int argc, char *argv[])
  63 {
  64     parseArguments(argc, argv);
  65 #else
  66 int main(void)
  67 {
  68 #endif
  69     init();
  70     loopbackInit();
  71
  72     while (true) {
  73 #if defined(SITL_BUILD)
  74         serialProxyProcess();
  75 #endif
  76         scheduler();
  77         processLoopback();
  78     }
  79 }