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This commit is contained in:
Pascal Brisset
2006-05-16 14:23:27 +00:00
parent d3dc95d8cd
commit 124d03ebd5
6 changed files with 40 additions and 46 deletions
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conf/airframes/microjet4.xml
+2
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@@ -139,6 +139,8 @@ ap.srcs += nav.c pid.c
# Harware In The Loop
ap.CFLAGS += -DHITL
test.CFLAGS += -DFBW -DCONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -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_4015_hw.c main.c
</makefile>
</airframe>
conf/autopilot/tiny.makefile
+5
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@@ -7,5 +7,10 @@ ap.ARCH = arm7tdmi
ap.TARGET = autopilot
ap.TARGETDIR = autopilot
test.ARCHDIR = $(ARCHI)
test.ARCH = arm7tdmi
test.TARGET = autopilot
test.TARGETDIR = autopilot
LPC21ISP_BAUD = 115200
LPC21ISP_XTAL = 14746
sw/airborne/arm7/servos_4015_hw.c
+9 -8
View File
@@ -5,10 +5,6 @@
#include "sys_time.h"
#define COMMAND(i) servos_values[i]
#define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
void actuators_init ( void ) {
/* PWM selected as IRQ */
VICIntSelect &= ~VIC_BIT(VIC_PWM);
@@ -32,6 +28,10 @@ void actuators_init ( void ) {
PWMMCR = PWMMCR_MR0R | PWMMCR_MR5I;
/* enable PWM5 ouptput */
PWMPCR = PWMPCR_ENA5;
/* Prescaler */
PWMPR = PWM_PRESCALER-1;
/* enable PWM timer counter and PWM mode */
PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
/* Load failsafe values */
@@ -52,12 +52,11 @@ uint16_t servos_values[_4015_NB_CHANNELS];
#define SERV7_START_POS 1600
#define SERVO_REFRESH_US 25000
uint32_t servos_delay = CLOCK_OF_US(SERVO_REFRESH_US - SERV4_START_POS - SERV5_START_POS - SERV6_START_POS - SERV7_START_POS) / 2;
uint8_t servos_idx = 0;
#define SERVO_REFRESH_TICS SERVOS_TICS_OF_USEC(25000)
static uint8_t servos_idx = 0;
static uint32_t servos_delay;
void PWM_ISR ( void ) {
ISR_ENTRY();
@@ -66,12 +65,14 @@ void PWM_ISR ( void ) {
IO1CLR = _BV(SERV0_RESET_PIN);
IO1SET = _BV(SERV0_DATA_PIN);
PWMMR0 = servos_values[servos_idx];
servos_delay = SERVO_REFRESH_TICS - servos_values[servos_idx];
PWMLER = PWMLER_LATCH0;
servos_idx++;
}
else if (servos_idx < _4015_NB_CHANNELS) {
IO1CLR = _BV(SERV0_DATA_PIN);
PWMMR0 = servos_values[servos_idx];
servos_delay -= servos_values[servos_idx];
PWMLER = PWMLER_LATCH0;
servos_idx++;
}
sw/airborne/arm7/servos_4015_hw.h
+5 -1
View File
@@ -9,7 +9,11 @@
#include CONFIG
#define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
#define PWM_PRESCALER 1
#define PWM_TICS_OF_USEC(us) (uint32_t)((us) *1e-6 * PCLK / PWM_PRESCALER + 0.5)
#define SERVOS_TICS_OF_USEC(s) PWM_TICS_OF_USEC(s)
#define ChopServo(x,a,b) Chop(x, a, b)
#define _4015_NB_CHANNELS 8
sw/airborne/arm7/uart_hw.c
+17 -35
View File
@@ -203,30 +203,34 @@ void uart0_ISR(void)
* for both uarts
*
*/
#define UART1_TX_INT_MODE 1
#define UART1_RX_INT_MODE 1
#if defined(UART1_TX_INT_MODE) || defined(UART1_RX_INT_MODE)
#ifdef USE_UART1
void uart1_ISR(void) __attribute__((naked));
#endif
#ifdef UART1_RX_INT_MODE
uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
#endif
#ifdef UART1_TX_INT_MODE
static void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
uint8_t uart1_tx_buffer[UART1_TX_BUFFER_SIZE];
uint16_t uart1_tx_insert_idx, uart1_tx_extract_idx;
uint8_t uart1_tx_running;
#endif
static void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
void uart1_init_tx( void ) {
uart1_init_param(UART1_BAUD, UART_8N1, UART_FIFO_8);
}
bool_t uart1_check_free_space( uint8_t len) {
int16_t space;
if ((space = (uart1_tx_extract_idx - uart1_tx_insert_idx)) <= 0)
space += UART1_TX_BUFFER_SIZE;
return (uint16_t)(space - 1) >= len;
}
void uart1_init_rx( void ) {}
static void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode) {
@@ -247,41 +251,28 @@ static void uart1_init_param( uint16_t baud, uint8_t mode, uint8_t fmode) {
// user specified operating parameters
U1LCR = (mode & ~ULCR_DLAB_ENABLE);
U1FCR = fmode;
#if defined(UART1_TX_INT_MODE) || defined(UART1_RX_INT_MODE)
// initialize the interrupt vector
VICIntSelect &= ~VIC_BIT(VIC_UART1); // UART0 selected as IRQ
VICIntEnable = VIC_BIT(VIC_UART1); // UART0 interrupt enabled
VICVectCntl6 = VIC_ENABLE | VIC_UART1;
VICVectAddr6 = (uint32_t)uart1_ISR; // address of the ISR
#ifdef UART1_TX_INT_MODE
// initialize the transmit data queue
uart1_tx_extract_idx = 0;
uart1_tx_insert_idx = 0;
uart1_tx_running = 0;
#endif
#ifdef UART1_RX_INT_MODE
// initialize the receive data queue
uart1_rx_extract_idx = 0;
uart1_rx_insert_idx = 0;
// enable receiver interrupts
U1IER = UIER_ERBFI;
#endif
#endif
}
bool_t uart1_check_free_space( uint8_t len) {
int16_t space;
if ((space = (uart1_tx_extract_idx - uart1_tx_insert_idx)) <= 0)
space += UART1_TX_BUFFER_SIZE;
return (uint16_t)(space - 1) >= len;
}
void uart1_transmit( unsigned char data ) {
#ifdef UART1_TX_INT_MODE
uint16_t temp;
unsigned cpsr;
@@ -312,13 +303,6 @@ void uart1_transmit( unsigned char data ) {
cpsr = disableIRQ(); // disable global interrupts
U1IER |= UIER_ETBEI; // enable TX interrupts
restoreIRQ(cpsr); // restore global interrupts
#else
while (!(U1LSR & ULSR_THRE)) // wait for TX buffer to empty
continue; // also either WDOG() or swap()
U1THR = (uint8_t)ch;
#endif
// return (uint8_t)ch;
}
@@ -339,7 +323,6 @@ void uart1_ISR(void)
U1LSR; // read LSR to clear
break;
#ifdef UART1_RX_INT_MODE
case UIIR_CTI_INT: // Character Timeout Indicator
case UIIR_RDA_INT: // Receive Data Available
do
@@ -356,9 +339,7 @@ void uart1_ISR(void)
while (U1LSR & ULSR_RDR);
break;
#endif
#ifdef UART1_TX_INT_MODE
case UIIR_THRE_INT: // Transmit Holding Register Empty
while (U1LSR & ULSR_THRE)
{
@@ -377,7 +358,6 @@ void uart1_ISR(void)
}
break;
#endif // UART1_TX_INT_MODE
case UIIR_MS_INT: // MODEM Status
U1MSR; // read MSR to clear
@@ -394,3 +374,5 @@ void uart1_ISR(void)
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
#endif /* USE_UART1 */
sw/lib/ocaml/pprz.ml
+2 -2
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@@ -246,8 +246,8 @@ let rec sprint_value = fun buf i _type v ->
buf.[i+1] <- byte (value lsr 8);
buf.[i+0] <- byte value;
sizeof _type
| Scalar ("int16"|"uint16"), Int value ->
assert (_type <> Scalar "uint16" || value >= 0);
| Scalar "uint16", Int value ->
assert (value >= 0);
buf.[i+1] <- byte (value lsr 8);
buf.[i+0] <- byte value;
sizeof _type