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Fixed-Wing Code on STM32 Step 1/10

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This commit is contained in:
Christophe De Wagter
2010-07-26 19:14:25 +00:00
parent 765cee2c8c
commit 0da20d8da2
15 changed files with 193 additions and 33 deletions
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conf/airframes/AirborneCodeReorg/LisaFw.xml
+16 -2
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@@ -173,14 +173,28 @@
# Config for AP
# Board Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_l.makefile
# Fixed Wing Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
# Temporary problem solving
ap.CFLAGS += -DSTM32
GPS_UART_NR = 1
GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
MODEM_UART_NR = 2
MODEM_BAUD = 57600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DTRAFFIC_INFO
sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
</makefile>
</airframe>
conf/airframes/AirborneCodeReorg/TinyFw.xml
+10 -10
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@@ -171,8 +171,8 @@
</section>
<makefile>
BOARD_CFG=\"tiny_2_1_1.h\"
FLASH_MODE=IAP
BOARD_CFG = \"tiny_2_1_1.h\"
FLASH_MODE = IAP
# Board Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -185,25 +185,25 @@ include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
# IO Options
include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
GPS_UART=Uart0
GPS_BAUD=38400
GPS_UART_NR = 0
GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
MODEM_UART=Uart1
MODEM_BAUD=9600
MODEM_UART_NR = 1
MODEM_BAUD = 9600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# Special options
ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
######################################
# Todo
ap.CFLAGS += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c
ap.CFLAGS += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += $(SRC_FIXEDWING)/gyro.c
######################################
conf/autopilot/fixedwing_autopilot.makefile
+5 -2
View File
@@ -60,11 +60,13 @@ endif
#
ap.CFLAGS += -DUSE_SYS_TIME
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DSYS_TIME_LED=1
ap.CFLAGS += -DSYS_TIME_LED=1 -DPERIPHERALS_AUTO_INIT
endif
#
# FlyByWire Main
#
@@ -80,8 +82,9 @@ ap.srcs += $(SRC_FIXEDWING)/estimator.c
ap.CFLAGS += -DNAV
ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
#
# InterMCU Commands
# InterMCU & Commands
#
ap.CFLAGS += -DINTER_MCU
conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
+5 -8
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@@ -1,13 +1,10 @@
ifeq ($(GPS_UART), Uart0)
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B$(GPS_BAUD)
else
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B$(GPS_BAUD)
endif
ap.CFLAGS += -DGPS -DUBX
ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
ap.CFLAGS += -DGPS -DUBX -DGPS_LINK=$(GPS_UART)
ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
+3 -6
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@@ -1,12 +1,9 @@
ifeq ($(MODEM_UART), Uart0)
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B$(MODEM_BAUD)
else
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B$(MODEM_BAUD)
endif
ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
MODEM_UART = Uart$(MODEM_UART_NR)
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART) -DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
conf/settings/lisa.xml
+32
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@@ -0,0 +1,32 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<!-- A conf to use for standard operation (no tuning) -->
<settings>
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
<dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
<dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="nav" handler="IncreaseShift" shortname="inc. shift"/>
<dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
<strip_button icon="circle-right.png" name="Circle right" value="1"/>
<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
<key_press key="greater" value="1"/>
<key_press key="less" value="-1"/>
</dl_setting>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="estimator" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE">
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
</dl_setting>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
</dl_setting>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/estimator.h
+2 -1
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@@ -32,7 +32,8 @@
#include <inttypes.h>
#include "std.h"
#ifndef READYBOARD_NO_BARO
//#ifndef READYBOARD_NO_BARO
#ifdef BARO_MS5534A
#include "baro_MS5534A.h"
#endif
sw/airborne/main.c
+12 -1
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@@ -41,10 +41,18 @@
#define Ap(f)
#endif
#ifdef STM32
#include "init_hw.h"
#endif
int main( void ) {
#ifdef STM32
hw_init();
sys_time_init();
#endif
Fbw(init);
Ap(init);
InitSysTimePeriodic()
InitSysTimePeriodic();
while (1) {
if (sys_time_periodic()) {
Fbw(periodic_task);
@@ -52,6 +60,9 @@ int main( void ) {
}
Fbw(event_task);
Ap(event_task);
#ifdef STM32
LED_PERIODIC();
#endif
}
return 0;
}
sw/airborne/main_ap.c
+10 -1
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@@ -54,7 +54,11 @@
#include "flight_plan.h"
#include "datalink.h"
#include "xbee.h"
#ifdef STM32
#include <stm32/gpio.h>
#else
#include "gpio.h"
#endif
#include "light.h"
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
@@ -490,7 +494,8 @@ void periodic_task_ap( void ) {
tcas_periodic_task_1Hz();
break;
#endif
default:
break;
}
#ifdef USE_LIGHT
@@ -508,6 +513,8 @@ void periodic_task_ap( void ) {
estimator_flight_time = 1;
launch = TRUE; /* Not set in non auto launch */
DOWNLINK_SEND_TAKEOFF(DefaultChannel, &cpu_time_sec);
default:
break;
}
#ifdef DIGITAL_CAM
@@ -812,7 +819,9 @@ void init_ap( void ) {
int_enable();
/** wait 0.5s (historical :-) */
#ifndef STM32
sys_time_usleep(500000);
#endif
#if defined GPS_CONFIGURE
gps_configure_uart();
sw/airborne/stm32/adc_hw.h
+31
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@@ -0,0 +1,31 @@
/*
* $Id: adc_hw.h 2638 2008-08-18 01:30:27Z poine $
*
* Copyright (C) 2008 Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef ADC_HW_H
#define ADC_HW_H
#define AdcBank0(x) (x)
#define AdcBank1(x) (x+NB_ADC)
#endif /* ADC_HW_H */
sw/airborne/stm32/gps_hw.h
+4
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@@ -0,0 +1,4 @@
#ifndef GPS_HW_H
#define GPS_HW_H
#endif /* GPS_HW_H */
sw/airborne/stm32/link_mcu_hw.h
+42
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@@ -0,0 +1,42 @@
/* $Id: link_mcu_hw.h 2064 2007-11-23 12:35:50Z hecto $
*
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \brief handling of arm7 inter mcu link
*
*/
#ifndef LINK_MCU_HW_H
#define LINK_MCU_HW_H
#define CRC_INIT 0x0
#define CrcLow(x) ((x)&0xff)
#define CrcHigh(x) ((x)>>8)
static inline uint16_t CrcUpdate(uint16_t crc, uint8_t data) {
uint8_t a = ((uint8_t)CrcHigh(crc)) + data;
uint8_t b = ((uint8_t)CrcLow(crc)) + a;
crc = b | a << 8;
return crc;
}
#endif /* LINK_MCU_HW_H */
sw/airborne/stm32/sys_time_hw.h
+2
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@@ -37,6 +37,8 @@
#include "led.h"
#endif
#define InitSysTimePeriodic()
extern void sys_time_init( void );
extern void sys_tick_irq_handler(void);
sw/airborne/stm32/uart_hw.c
+15 -2
View File
@@ -29,8 +29,6 @@
#include <stm32/gpio.h>
#include "std.h"
#ifdef USE_UART1
volatile uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
@@ -397,3 +395,18 @@ void usart3_irq_handler(void) {
#endif /* USE_UART3 */
void uart_init( void )
{
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_UART2
uart2_init();
#endif
#ifdef USE_UART3
uart3_init();
#endif
}
sw/airborne/stm32/uart_hw.h
+4
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@@ -31,6 +31,7 @@
#include "std.h"
#define B9600 9600
#define B38400 38400
#define B57600 57600
#define B115200 115200
@@ -107,4 +108,7 @@ extern void usart3_irq_handler(void);
#endif /* USE_UART3 */
void uart_init( void );
#endif /* UART_HW_H */