Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-22 20:36:06 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

more arm7 progress - warning datalink untested on avr

Browse Source
This commit is contained in:
Pascal Brisset
2006-05-08 23:00:00 +00:00
parent a08d4fb49c
commit 0386bfc5f9
27 changed files with 258 additions and 154 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Makefile
+7 -1
View File
@@ -54,7 +54,7 @@ conf/%.xml :conf/%.xml.example
[ -L $@ ] || [ -f $@ ] || cp $< $@
test: static ac1 ac2
demo: static ac1 ac2
PAPARAZZI_HOME=$(PAPARAZZI_SRC) PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(SUPERVISION)
ac1 : conf sim_static
@@ -81,6 +81,9 @@ sim_static :
fbw fly_by_wire: ac_h
cd $(AIRBORNE); $(MAKE) TARGET=fbw all
%.compile: ac_h
cd $(AIRBORNE); $(MAKE) TARGET=$* all
ap autopilot: ac_h
cd $(AIRBORNE); $(MAKE) TARGET=ap all
@@ -90,6 +93,9 @@ sim: ac_h sim_static
upload_fbw: fbw
cd $(AIRBORNE); $(MAKE) TARGET=fbw upload
%.upload: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* upload
upload_ap: ap
cd $(AIRBORNE); $(MAKE) TARGET=ap upload
conf/Makefile.arm7
+2 -1
View File
@@ -188,7 +188,8 @@ LPC21ISP_FLASHFILE = $(OBJDIR)/$(TARGET).hex
#LPC21ISP_DEBUG = -debug
# enter bootloader via RS232 DTR/RTS (only if hardware supports this
# feature - see Philips AppNote):
LPC21ISP_CONTROL = -control
LPC21ISP_CONTROL =
# -control
# ---------------------------------------------------------------------------
conf/airframes/twinjet1.xml
+118 -64
View File
@@ -1,107 +1,161 @@
<airframe name="Twinjet1">
<!-- robostix with direct servo drive on PWM output -->
<airframe name="Twinjet">
<!-- commands section -->
<servos>
<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="2000" neutral="1500" max="1000"/>
<servo name="AILEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="AILEVON_RIGHT" no="1" min="1230" neutral="1640" max="2100"/>
<servo name="AILEVON_LEFT" no="2" min="2120" neutral="1700" max="1300"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.55"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
<define name="AILEVON_AILERON_RATE" value="0.75"/>
<define name="AILEVON_ELEVATOR_RATE" value="1.00"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="GAZ" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
<set servo="GAZ" value="@THROTTLE"/>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="AILEVON_LEFT" value="$aileron + $elevator"/>
<set servo="AILEVON_RIGHT" value="-$aileron + $elevator"/>
</command_laws>
<section name="adc" prefix="ADC_CHANNEL_">
<define name="VSUPPLY" value="3"/>
<define name="IR1" value="1"/>
<define name="IR2" value="0"/>
<define name="IR2" value="2"/>
<define name="IRZ" value="3"/>
<define name="IR_NB_SAMPLES" value="16"/>
<define name="VSUPPLY" value="6"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-4.3" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="400"/>
<define name="RAD_OF_IR_CONTRAST" value="0.6"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.0008"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.008"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
<linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
<define name="ADC_ROLL_NEUTRAL" value="-1042"/>
<define name="ADC_PITCH_NEUTRAL" value="10"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="DEFAULT_CONTRAST" value="200"/>
<define name="RAD_OF_IR_CONTRAST" value="0.75"/>
<linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="0"/>
<linear name="PitchOfIrs" arity="2" coeff1="0" coeff2="-1"/>
<define name="RAD_OF_IR_MAX_VALUE" value="0.0045"/>
<define name="RAD_OF_IR_MIN_VALUE" value="0.00075"/>
<define name="ADC_ROLL_NEUTRAL" value="-512"/>
<define name="ADC_PITCH_NEUTRAL" value="-512"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="10000."/>
<define name="PITCH_OF_ROLL" value="0.0"/>
<define name="PITCH_PGAIN" value="15000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
<define name="AILERON_OF_GAZ" value="0.0"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="1.0"/>
<define name="PGAIN" value="-0.025"/>
<define name="IGAIN" value="0.01"/>
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PGAIN" value="-0.03"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.50"/>
<define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.1"/>
<define name="LEVEL_GAZ" value="0.31"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.3"/>
<define name="ALTITUDE_PGAIN" value="-0.05"/>
<define name="COURSE_PGAIN" value="-0.2"/>
<define name="ALTITUDE_PGAIN" value="-0.025"/>
<define name="NAV_PITCH" value="0."/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="6000."/>
<define name="PITCH_OF_ROLL" value="0.2"/>
<define name="PITCH_PGAIN" value="9000."/>
<define name="MAX_ROLL" value="0.4"/>
<define name="AUTO1_MAX_ROLL" value="0.8"/>
<define name="MAX_PITCH" value="0.25"/>
<define name="MIN_PITCH" value="-0.35"/>
<define name="AILERON_OF_GAZ" value="-0.13"/>
</section>
<section name="BAT" channel="3">
<define name="MILLIAMP_PER_PERCENT" value="0.0"/>
<define name="VoltageOfAdc(adc)" value="4.2"/>
<define name="LOW_BATTERY" value="9" unit="V"/>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="0.86"/>
<define name="VOLTAGE_ADC_A" value="0.0156"/>
<define name="VOLTAGE_ADC_B" value="-0.029"/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="9."/>
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
</section>
<section name="SIMU">
<define name="ROLL_RESPONSE_FACTOR" value="2."/>
<define name="YAW_RESPONSE_FACTOR" value="1.25"/>
<define name="WEIGHT" value="1.3"/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/robostix.makefile
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_GAZ" value="CLIMB_LEVEL_GAZ+0.05" unit="%"/>
<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
<define name="HOME_RADIUS" value="50" unit="m"/>
</section>
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
ap.srcs += pprz_transport.c downlink.c
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
ap.CFLAGS += -DUSE_UART0 -DDOWNLINK_AP_DEVICE=Uart0 -DDOWNLINK_FBW_DEVICE=Uart0
ap.srcs += $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
fbw.srcs += commands.c
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
fbw.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
fbw.CFLAGS += -DADC -DUSE_AD0_6
fbw.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DAP -DCONFIG=\"classix.h\" -DLED -DTIME_LED=2
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0
ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1
ap.srcs += gps_ubx.c gps.c
ap.CFLAGS += -DADC -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DINFRARED
ap.srcs += infrared.c estimator.c
ap.srcs += nav.c pid.c
test.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
</makefile>
</airframe>
conf/airframes/twinstar1.xml
+1 -1
View File
@@ -121,7 +121,7 @@ ap.EXTRA_SRCS += pprz_transport.c downlink.c
# Datalink (on uart0) used to emulate sensors (infrared and gps)
ap.EXTRA_SRCS += traffic_info.c datalink.c
ap.CFLAGS += -DDATALINK -DPPRZ_INPUT
ap.CFLAGS += -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
conf/airframes/twinstar4.xml
+1 -1
View File
@@ -129,7 +129,7 @@ ap.srcs += if_calib.c
ap.CFLAGS += -DDATALINK
ap.srcs += traffic_info.c datalink.c
ap.CFLAGS += -DWAVECARD -DUSE_UART0
ap.CFLAGS += -DWAVECARD -DWAVECARD_UART=Uart0 -DUSE_UART0
ap.srcs += wavecard.c
</makefile>
conf/autopilot/classix.h
+1 -2
View File
@@ -46,8 +46,7 @@
//#define SERVO_RESET_PINSEL_BIT 3
/* ADCs : supply on AD0.6 ( P0.4 ) */
#define USE_AD0_6
#define BRICOLAGE_ADC
//#define USE_AD0_6
#endif /* FBW */
conf/autopilot/classix.makefile
+6 -1
View File
@@ -13,5 +13,10 @@ fbw.ARCH = arm7tdmi
fbw.TARGET = fbw
fbw.TARGETDIR = fbw
test.ARCHDIR = $(ARCHI)
test.ARCH = arm7tdmi
test.TARGET = fbw
test.TARGETDIR = fbw
LPC21ISP_BAUD = 38400
LPC21ISP_XTAL = 12000
LPC21ISP_XTAL = 12000
conf/messages.xml
+6
View File
@@ -250,6 +250,7 @@
<field name="nb_spi_err" type="uint8"/>
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
<field name="vsupply" type="uint8" unit="decivolt"/>
</message>
<message name="ADC" ID="104">
@@ -303,6 +304,11 @@
<field name="roll" type="int16"/>
<field name="pitch" type="int16"/>
</message>
<message name="SET_ACTUATOR" id="100">
<field name="no" type="uint8"/>
<field name="value" type="uint16"/>
</message>
</class>
conf/telemetry/default.xml
-3
View File
@@ -29,11 +29,8 @@
</process>
<process name="Fbw">
<mode name="default">
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="COMMANDS" period="1"/>
<message name="FBW_STATUS" period="1"/>
<message name="ADC" period="1"/>
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
sw/airborne/arm7/adc_hw.c
+15 -18
View File
@@ -152,12 +152,12 @@ void adc_init( void ) {
/* connect pins for selected ADCs */
/* if I configure both PINSEL0 and 1 it crashes
even with PINSEL0 |= 0 !!!!!!! */
// PINSEL0 |= ADC_PINSEL0_ONES;
PINSEL0 |= ADC_PINSEL0_ONES;
// PINSEL0 |= 0;
PINSEL1 |= ADC_PINSEL1_ONES;
/* setup hw scan - PCLK/7 ( 4.3MHz) - BURST ON */
AD0CR = ADC_AD0CR_SEL_HW_SCAN | 0x06 << 8 | 1 << 16 | 0x01 << 21 ;
AD0CR = ADC_AD0CR_SEL_HW_SCAN | 0xFF << 8 | 1 << 16 | 0x01 << 21 ;
/* AD0 selected as IRQ */
VICIntSelect &= ~VIC_BIT(VIC_AD0);
/* AD0 interrupt enabled */
@@ -173,34 +173,31 @@ void adc_init( void ) {
void adcISR0 ( void ) {
ISR_ENTRY();
LED_ON(1);
uint32_t tmp = AD0DR;
uint8_t channel = (uint8_t)(tmp >> 24) & 0x07;
uint16_t value = (uint16_t)(tmp >> 6) & 0x03FF;
adc0_val[channel] = value;
// LED_TOGGLE(2);
/*
struct adc_buf* buf = buffers[channel];
if (buf) {
uint8_t new_head = buf->head + 1;
if (new_head >= buf->av_nb_sample) new_head = 0;
buf->sum -= buf->values[new_head];
buf->values[new_head] = adc_value;
buf->sum += adc_value;
buf->values[new_head] = value;
buf->sum += value;
buf->head = new_head;
}
*/
LED_OFF(1);
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
void adcISR1 ( void ) {
ISR_ENTRY();
uint32_t tmp = AD1DR;
uint8_t channel = (uint8_t)(tmp >> 24) & 0x07;
adc1_val[channel] = (uint16_t)(tmp >> 6) & 0x03FF;
// LED_TOGGLE(1);
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
/* void adcISR1 ( void ) { */
/* ISR_ENTRY(); */
/* uint32_t tmp = AD1DR; */
/* uint8_t channel = (uint8_t)(tmp >> 24) & 0x07; */
/* adc1_val[channel] = (uint16_t)(tmp >> 6) & 0x03FF; */
/* // LED_TOGGLE(1); */
/* VICVectAddr = 0x00000000; // clear this interrupt from the VIC */
/* ISR_EXIT(); // recover registers and return */
/* } */
sw/airborne/arm7/spi_hw.c
+6 -4
View File
@@ -46,7 +46,7 @@ void SPI1_ISR(void) __attribute__((naked));
/* SSPCR1 settings */
#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
#define SSP_SSE 0x01 << 0 /* SSP enable : disabled */
#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
#define SSP_MS 0x01 << 2 /* master slave mode : slave */
#define SSP_SOD 0x00 << 3 /* slave output disable : disabled */
@@ -74,7 +74,7 @@ void spi_init( void ) {
VICVectAddr7 = (uint32_t)SPI1_ISR; // address of the ISR
/* enable SPI */
SpiEnable();
// SpiEnable();
}
void SPI1_ISR(void) {
@@ -92,6 +92,7 @@ void SPI1_ISR(void) {
SpiReceive();
SpiClearRti(); /* clear interrupt */
SpiDisableRti();
SpiDisable();
spi_message_received = TRUE;
}
@@ -127,7 +128,7 @@ void SPI1_ISR(void) __attribute__((naked));
/* SSPCR1 settings */
#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
#define SSP_SSE 0x01 << 0 /* SSP enable : disabled */
#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
#define SSP_MS 0x00 << 2 /* master slave mode : master */
#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
@@ -147,7 +148,7 @@ void spi_init( void ) {
/* setup SSP */
SSPCR0 = SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
SSPCR1 = SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD;
SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
SSPCPSR = 0x20;
/* initialize interrupt vector */
@@ -175,6 +176,7 @@ void SPI1_ISR(void) {
SpiDisableRti();
SpiClearRti(); /* clear interrupt */
SpiDisable();
spi_message_received = TRUE;
}
// SPI_UNSELECT_SLAVE1(); /* debug */
sw/airborne/arm7/spi_hw.h
+4 -3
View File
@@ -105,13 +105,14 @@ extern volatile uint8_t spi_rx_idx;
}
#define SpiRead(a) { \
a = SSPDR; \
a = SSPDR; \
}
#ifdef FBW
#define SpiStart() { \
SpiInitBuf(); \
SpiEnableTxi(); /* enable tx fifo half empty interrupt */ \
SpiEnable(); \
SpiInitBuf(); \
SpiEnableTxi(); /* enable tx fifo half empty interrupt */ \
}
#endif /* FBW */
sw/airborne/arm7/uart_hw.h
+12
View File
@@ -39,6 +39,18 @@
#define UART_FIFO_14 (uint8_t)(UFCR_FIFO_ENABLE + UFCR_FIFO_TRIG14)
extern uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
extern uint8_t uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
#define Uart0ChAvailable() (uart0_rx_insert_idx != uart0_rx_extract_idx)
#define Uart0Getch() ({\
uint8_t ret = uart0_rx_buffer[uart0_rx_extract_idx]; \
uart0_rx_extract_idx = (uart0_rx_extract_idx + 1)%UART0_RX_BUFFER_SIZE; \
ret; \
})
extern uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
extern uint8_t uart1_rx_buffer[UART0_RX_BUFFER_SIZE];
sw/airborne/avr/uart_hw.c
+8
View File
@@ -168,6 +168,14 @@ SIGNAL(SIG_UART0_TRANS) {
}
}
uint8_t uart0_char;
bool_t uart0_char_available;
SIGNAL( SIG_UART0_RECV ) {
uart0_char = UDR0;
uart0_char_available = TRUE;
}
void uart1_init_tx( void ) {
/* Baudrate is 38.4k */
sw/airborne/avr/uart_hw.h
+9 -13
View File
@@ -53,17 +53,6 @@
/************************************************************************/
#if defined (__AVR_ATmega128__)
#define ReceiveUart0(cb) \
SIGNAL( SIG_UART0_RECV ) { \
uint8_t c = UDR0; \
cb(c); \
}
#define ReceiveUart1(cb) \
SIGNAL( SIG_UART1_RECV ) { \
uint8_t c = UDR1; \
cb(c); \
}
extern uint8_t tx_buf0[256]; /** For debugging purpose */
extern void uart0_init_tx(void);
@@ -73,10 +62,17 @@ extern void uart1_init(void);
extern void uart0_transmit(const uint8_t);
extern void uart1_transmit(const uint8_t);
extern uint8_t uart1_char;
extern bool_t uart1_char_available;
extern uint8_t uart1_char, uart0_char;
extern bool_t uart1_char_available, uart0_char_available;
#define Uart0ChAvailable() (uart0_char_available)
#define Uart1ChAvailable() (uart1_char_available)
static inline uint8_t Uart0Getch( void ) {
uart0_char_available = FALSE;
return uart0_char;
}
static inline uint8_t Uart1Getch( void ) {
uart1_char_available = FALSE;
return uart1_char;
sw/airborne/datalink.c
-1
View File
@@ -28,7 +28,6 @@
#define DATALINK_C
#include <inttypes.h>
#include "dl_protocol.h"
#include "traffic_info.h"
#include "nav.h"
#include "datalink.h"
sw/airborne/datalink.h
+2
View File
@@ -35,6 +35,8 @@
#define EXTERN extern
#endif
#include "dl_protocol.h"
EXTERN bool_t dl_msg_available;
/** Flag provided to control calls to ::dl_parse_msg. NOT used in this module*/
sw/airborne/fbw_downlink.h
+1 -1
View File
@@ -42,7 +42,7 @@ extern uint8_t telemetry_mode_Fbw;
#define PERIODIC_SEND_PPM() DOWNLINK_SEND_PPM(PPM_NB_PULSES, ppm_pulses)
#define PERIODIC_SEND_RC() DOWNLINK_SEND_RC(PPM_NB_PULSES, rc_values)
#define PERIODIC_SEND_COMMANDS() DOWNLINK_SEND_COMMANDS(COMMANDS_NB, commands)
#define PERIODIC_SEND_FBW_STATUS() DOWNLINK_SEND_FBW_STATUS(&fbw_state->nb_err, &rc_status, &fbw_mode)
#define PERIODIC_SEND_FBW_STATUS() DOWNLINK_SEND_FBW_STATUS(&fbw_state->nb_err, &rc_status, &fbw_mode, &fbw_vsupply_decivolt)
#ifdef BRICOLAGE_ADC
extern uint16_t adc0_val[];
sw/airborne/inter_mcu.h
+6
View File
@@ -108,6 +108,12 @@ static inline void inter_mcu_fill_fbw_state (void) {
}
fbw_state->vsupply = fbw_vsupply_decivolt;
/**
for(i = 0; i < sizeof(*fbw_state); i++) {
((uint8_t*)fbw_state)[i] = i;
}
**/
}
/** Prepares date for next comm with AP. Set ::ap_ok to TRUE */
sw/airborne/main_ap.c
+13 -9
View File
@@ -541,9 +541,7 @@ void init_ap( void ) {
if (sys_time_periodic())
init_cpt--;
}
uart0_transmit(42);
wc_configure();
DOWNLINK_SEND_DEBUG2(16, tx_buf0);
#endif
}
@@ -567,17 +565,22 @@ void event_task_ap( void ) {
#endif /** GPS */
#ifdef WAVECARD
if (wc_msg_received) {
DOWNLINK_SEND_DEBUG1(10, wc_payload);
wc_parse_payload();
wc_msg_received = FALSE;
if (WavecardBuffer()) {
ReadWavecardBuffer();
if (wc_msg_received) {
wc_parse_payload();
wc_msg_received = FALSE;
}
}
#endif /** WAVECARD */
#ifdef PPRZ_INPUT
if (pprz_msg_received) {
pprz_msg_received = FALSE;
pprz_parse_payload();
if (PprzBuffer()) {
ReadPprzBuffer();
if (pprz_msg_received) {
pprz_msg_received = FALSE;
pprz_parse_payload();
}
}
#endif /** PPRZ_INPUT */
@@ -604,6 +607,7 @@ void event_task_ap( void ) {
#ifdef MCU_SPI_LINK
if (spi_message_received) {
/* Got a message on SPI. */
DOWNLINK_SEND_DEBUG1((uint8_t)sizeof(link_mcu_from_fbw_msg), ((uint8_t*)&(link_mcu_from_fbw_msg)));
spi_message_received = FALSE;
link_mcu_event_task();
}
sw/airborne/main_ap_2.c
+21 -17
View File
@@ -18,8 +18,12 @@
#include "infrared.h"
#include "estimator.h"
#include "nav.h"
#include "airframe.h"
float pitch_of_vz;
float pitch_of_vz_pgain;
bool_t auto_pitch = FALSE;
uint8_t ac_ident = AC_ID;
float desired_roll = 0.;
float desired_pitch = 0.;
@@ -34,9 +38,9 @@ uint8_t horizontal_mode;
uint8_t inflight_calib_mode;
uint8_t mcu1_status;
uint8_t ir_estim_mode;
int32_t nav_utm_east0;
int32_t nav_utm_north0;
int8_t nav_utm_zone0;
//int32_t nav_utm_east0;
//int32_t nav_utm_north0;
//int8_t nav_utm_zone0;
//float estimator_phi;
//float estimator_psi;
//float estimator_theta;
@@ -47,24 +51,24 @@ int8_t nav_utm_zone0;
//float estimator_hspeed_dir;
//float estimator_z_dot;
//uint16_t estimator_flight_time;
bool_t in_segment;
int16_t segment_x_1;
int16_t segment_y_1;
int16_t segment_x_2;
int16_t segment_y_2;
//bool_t in_segment;
//int16_t segment_x_1;
//int16_t segment_y_1;
//int16_t segment_x_2;
//int16_t segment_y_2;
float energy;
int16_t desired_gaz;
uint8_t vsupply;
bool_t low_battery;
uint16_t block_time;
uint16_t stage_time;
float climb_sum_err;
float climb_pgain;
float course_pgain;
bool_t in_circle;
int16_t circle_x;
int16_t circle_y;
int16_t circle_radius;
//uint16_t block_time;
//uint16_t stage_time;
//float climb_sum_err;
//float climb_pgain;
//float course_pgain;
//bool_t in_circle;
//int16_t circle_x;
//int16_t circle_y;
//int16_t circle_radius;
uint8_t modem_nb_ovrn;
uint8_t mcu1_ppm_cpt;
sw/airborne/pprz_transport.c
-6
View File
@@ -32,9 +32,3 @@ volatile bool_t pprz_msg_received = FALSE;
uint8_t pprz_ovrn, pprz_error;
volatile uint8_t payload_length;
uint8_t input_payload[MAX_INPUT_PAYLOAD];
#ifdef PPRZ_INPUT
/** FIXME: Where to put it ??? */
ReceiveUart0(parse_pprz);
#endif
sw/airborne/pprz_transport.h
+8
View File
@@ -172,5 +172,13 @@ static inline void pprz_parse_payload(void) {
dl_msg_available = TRUE;
}
#define __PprzLink(dev, _x) dev##_x
#define _PprzLink(dev, _x) __PprzLink(dev, _x)
#define PprzLink(_x) _PprzLink(PPRZ_UART, _x)
#define PprzBuffer() PprzLink(ChAvailable())
#define ReadPprzBuffer() { while (PprzLink(ChAvailable())&&!pprz_msg_received) parse_pprz(PprzLink(Getch())); }
#endif /* PPRZ_TRANSPORT_H */
sw/airborne/radio_control.h
+1 -1
View File
@@ -39,7 +39,7 @@
#define RC_AVG_PERIOD 8
#define RC_LOST_TIME 30 /* 500ms with a 60Hz timer */
#define RC_REALLY_LOST_TIME 100 /* ~1.5s */
#define RC_REALLY_LOST_TIME 60 /* ~1s */
#define RC_OK 0
#define RC_LOST 1
sw/airborne/wavecard.c
+1 -4
View File
@@ -119,7 +119,7 @@ void wc_parse_payload() {
}
}
static inline void parse_wc( uint8_t c ) {
void parse_wc( uint8_t c ) {
switch (wc_status) {
case UNINIT:
if (c == WC_SYNC)
@@ -172,6 +172,3 @@ static inline void parse_wc( uint8_t c ) {
wc_status = UNINIT;
return;
}
ReceiveUart0(parse_wc);
sw/airborne/wavecard.h
+9
View File
@@ -297,6 +297,15 @@ void wc_debug( void );
WcPut1PayloadByte(channel); \
WcEnd() \
} \
void parse_wc( uint8_t c );
#define __WavecardLink(dev, _x) dev##_x
#define _WavecardLink(dev, _x) __WavecardLink(dev, _x)
#define WavecardLink(_x) _WavecardLink(WAVECARD_UART, _x)
#define WavecardBuffer() WavecardLink(ChAvailable())
#define ReadWavecardBuffer() { while (WavecardLink(ChAvailable())&&!wc_msg_received) parse_wc(WavecardLink(Getch())); }
#endif /* WAVECARD_H */
sw/configurator/Makefile
-3
View File
@@ -31,9 +31,6 @@ all : configurator
configurator : $(CMO)
$(OCAMLC) -custom -o $@ labltk.cma lib-pprz.cma jpflib.cma $^
@cat ../../pprz_src_test.sh > $@
@echo 'ocaml -I +labltk -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $$PAPARAZZI_SRC/sw/configurator labltk.cma ivy-ocaml.cma lib-pprz.cma jpflib.cma $(ABS_CMO) $$*' >> $@
@chmod a+x $@
%.cmo : %.ml