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Merge branch 'esden-master'

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This commit is contained in:
Felix Ruess
2010-11-23 00:17:26 +01:00
parent c845adc978 a6cc31e36a
commit 13a3a357f2
10 changed files with 31 additions and 31 deletions
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conf/Makefile.lpc21
+1 -1
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@@ -32,7 +32,7 @@
SRC_ARCH = arch/lpc21 SRC_ARCH = arch/lpc21
# Define programs and commands. # Define programs and commands.
HAVE_ARM_NONE_EABI_GCC := $(wildcard /usr/bin/arm-none-eabi-gcc) HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc)
ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),) ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),)
CC = arm-elf-gcc CC = arm-elf-gcc
LD = $(CC) LD = $(CC)
conf/Makefile.stm32
+1 -1
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@@ -38,7 +38,7 @@ OPT = s
#OPT = 0 #OPT = 0
# Programs location # Programs location
TOOLCHAIN_DIR=/opt/paparazzi/stm32 TOOLCHAIN_DIR=$(shell find -L /opt/paparazzi/stm32 ~/sat -maxdepth 1 -type d -name arm-none-eabi 2>/dev/null | head -n 1 | xargs dirname )
GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin GCC_BIN_DIR=$(TOOLCHAIN_DIR)/bin
GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib GCC_LIB_DIR=$(TOOLCHAIN_DIR)/arm-none-eabi/lib
paparazzi.osx
+1 -1
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@@ -1,4 +1,4 @@
#!/usr/local/bin/ocamlrun /usr/local/bin/ocaml #!/opt/local/bin/ocamlrun /opt/local/bin/ocaml
#load "unix.cma";; #load "unix.cma";;
let (//) = Filename.concat let (//) = Filename.concat
let dirname = Filename.dirname Sys.argv.(0) let dirname = Filename.dirname Sys.argv.(0)
sw/airborne/arch/lpc21/i2c_hw.c
+11 -11
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@@ -33,16 +33,16 @@
// I2C Automaton // // I2C Automaton //
/////////////////// ///////////////////
static inline void I2cSendStart(struct i2c_periph* p) { __attribute__ ((always_inline)) static inline void I2cSendStart(struct i2c_periph* p) {
p->status = I2CStartRequested; p->status = I2CStartRequested;
((i2cRegs_t *)(p->reg_addr))->conset = _BV(STA); ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STA);
} }
static inline void I2cSendAck(void* reg) { __attribute__ ((always_inline)) static inline void I2cSendAck(void* reg) {
((i2cRegs_t *)reg)->conset = _BV(AA); ((i2cRegs_t *)reg)->conset = _BV(AA);
} }
static inline void I2cEndOfTransaction(struct i2c_periph* p) { __attribute__ ((always_inline)) static inline void I2cEndOfTransaction(struct i2c_periph* p) {
// handle fifo here // handle fifo here
p->trans_extract_idx++; p->trans_extract_idx++;
if (p->trans_extract_idx >= I2C_TRANSACTION_QUEUE_LEN) if (p->trans_extract_idx >= I2C_TRANSACTION_QUEUE_LEN)
@@ -56,18 +56,18 @@ static inline void I2cEndOfTransaction(struct i2c_periph* p) {
} }
} }
static inline void I2cFinished(struct i2c_periph* p, struct i2c_transaction* t) { __attribute__ ((always_inline)) static inline void I2cFinished(struct i2c_periph* p, struct i2c_transaction* t) {
// transaction finished with success // transaction finished with success
t->status = I2CTransSuccess; t->status = I2CTransSuccess;
I2cEndOfTransaction(p); I2cEndOfTransaction(p);
} }
static inline void I2cSendStop(struct i2c_periph* p, struct i2c_transaction* t) { __attribute__ ((always_inline)) static inline void I2cSendStop(struct i2c_periph* p, struct i2c_transaction* t) {
((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO); ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO);
I2cFinished(p,t); I2cFinished(p,t);
} }
static inline void I2cFail(struct i2c_periph* p, struct i2c_transaction* t) { __attribute__ ((always_inline)) static inline void I2cFail(struct i2c_periph* p, struct i2c_transaction* t) {
((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO); ((i2cRegs_t *)(p->reg_addr))->conset = _BV(STO);
t->status = I2CTransFailed; t->status = I2CTransFailed;
p->status = I2CFailed; p->status = I2CFailed;
@@ -75,24 +75,24 @@ static inline void I2cFail(struct i2c_periph* p, struct i2c_transaction* t) {
I2cEndOfTransaction(p); I2cEndOfTransaction(p);
} }
static inline void I2cSendByte(void* reg, uint8_t b) { __attribute__ ((always_inline)) static inline void I2cSendByte(void* reg, uint8_t b) {
((i2cRegs_t *)reg)->dat = b; ((i2cRegs_t *)reg)->dat = b;
} }
static inline void I2cReceive(void* reg, bool_t ack) { __attribute__ ((always_inline)) static inline void I2cReceive(void* reg, bool_t ack) {
if (ack) ((i2cRegs_t *)reg)->conset = _BV(AA); if (ack) ((i2cRegs_t *)reg)->conset = _BV(AA);
else ((i2cRegs_t *)reg)->conclr = _BV(AAC); else ((i2cRegs_t *)reg)->conclr = _BV(AAC);
} }
static inline void I2cClearStart(void* reg) { __attribute__ ((always_inline)) static inline void I2cClearStart(void* reg) {
((i2cRegs_t *)reg)->conclr = _BV(STAC); ((i2cRegs_t *)reg)->conclr = _BV(STAC);
} }
static inline void I2cClearIT(void* reg) { __attribute__ ((always_inline)) static inline void I2cClearIT(void* reg) {
((i2cRegs_t *)reg)->conclr = _BV(SIC); ((i2cRegs_t *)reg)->conclr = _BV(SIC);
} }
static inline void I2cAutomaton(int32_t state, struct i2c_periph* p) { __attribute__ ((always_inline)) static inline void I2cAutomaton(int32_t state, struct i2c_periph* p) {
struct i2c_transaction* trans = p->trans[p->trans_extract_idx]; struct i2c_transaction* trans = p->trans[p->trans_extract_idx];
switch (state) { switch (state) {
case I2C_START: case I2C_START:
sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+2 -2
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@@ -59,13 +59,13 @@ void supervision_init(void) {
supervision.nb_failure = 0; supervision.nb_failure = 0;
} }
static inline void offset_commands(int32_t offset) { __attribute__ ((always_inline)) static inline void offset_commands(int32_t offset) {
uint8_t j; uint8_t j;
for (j=0; j<SUPERVISION_NB_MOTOR; j++) for (j=0; j<SUPERVISION_NB_MOTOR; j++)
supervision.commands[j] += (offset); supervision.commands[j] += (offset);
} }
static inline void bound_commands(void) { __attribute__ ((always_inline)) static inline void bound_commands(void) {
uint8_t j; uint8_t j;
for (j=0; j<SUPERVISION_NB_MOTOR; j++) for (j=0; j<SUPERVISION_NB_MOTOR; j++)
Bound(supervision.commands[j], Bound(supervision.commands[j],
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+4 -4
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@@ -221,7 +221,7 @@ void guidance_h_run(bool_t in_flight) {
//#define MAX_BANK (65536) //#define MAX_BANK (65536)
#define MAX_BANK (98000) #define MAX_BANK (98000)
static inline void guidance_h_hover_run(void) { __attribute__ ((always_inline)) static inline void guidance_h_hover_run(void) {
/* compute position error */ /* compute position error */
VECT2_DIFF(guidance_h_pos_err, ins_ltp_pos, guidance_h_pos_sp); VECT2_DIFF(guidance_h_pos_err, ins_ltp_pos, guidance_h_pos_sp);
@@ -279,7 +279,7 @@ static inline void guidance_h_hover_run(void) {
#define NAV_MAX_BANK BFP_OF_REAL(0.35,REF_ANGLE_FRAC) #define NAV_MAX_BANK BFP_OF_REAL(0.35,REF_ANGLE_FRAC)
#define HOLD_DISTANCE POS_BFP_OF_REAL(10.) #define HOLD_DISTANCE POS_BFP_OF_REAL(10.)
static inline void guidance_h_nav_run(bool_t in_flight) { __attribute__ ((always_inline)) static inline void guidance_h_nav_run(bool_t in_flight) {
/* convert our reference to generic representation */ /* convert our reference to generic representation */
#ifdef GUIDANCE_H_USE_REF #ifdef GUIDANCE_H_USE_REF
@@ -368,7 +368,7 @@ static inline void guidance_h_nav_run(bool_t in_flight) {
} }
static inline void guidance_h_hover_enter(void) { __attribute__ ((always_inline)) static inline void guidance_h_hover_enter(void) {
VECT2_COPY(guidance_h_pos_sp, ins_ltp_pos); VECT2_COPY(guidance_h_pos_sp, ins_ltp_pos);
@@ -378,7 +378,7 @@ static inline void guidance_h_hover_enter(void) {
} }
static inline void guidance_h_nav_enter(void) { __attribute__ ((always_inline)) static inline void guidance_h_nav_enter(void) {
INT32_VECT2_NED_OF_ENU(guidance_h_pos_sp, navigation_carrot); INT32_VECT2_NED_OF_ENU(guidance_h_pos_sp, navigation_carrot);
struct Int32Vect2 pos,speed,zero; struct Int32Vect2 pos,speed,zero;
sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+2 -2
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@@ -82,7 +82,7 @@ int32_t guidance_v_z_sum_err;
} }
static inline void run_hover_loop(bool_t in_flight); __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flight);
void guidance_v_init(void) { void guidance_v_init(void) {
@@ -232,7 +232,7 @@ void guidance_v_run(bool_t in_flight) {
#define MAX_BANK_COEF (BFP_OF_REAL(RadOfDeg(30.),INT32_TRIG_FRAC)) #define MAX_BANK_COEF (BFP_OF_REAL(RadOfDeg(30.),INT32_TRIG_FRAC))
static inline void run_hover_loop(bool_t in_flight) { __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flight) {
/* convert our reference to generic representation */ /* convert our reference to generic representation */
int64_t tmp = gv_z_ref>>(GV_Z_REF_FRAC - INT32_POS_FRAC); int64_t tmp = gv_z_ref>>(GV_Z_REF_FRAC - INT32_POS_FRAC);
sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h
+3 -3
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@@ -96,14 +96,14 @@ int64_t gv_z_ref;
int32_t gv_zd_ref; int32_t gv_zd_ref;
int32_t gv_zdd_ref; int32_t gv_zdd_ref;
static inline void gv_set_ref(int32_t alt, int32_t speed, int32_t accel) { __attribute__ ((always_inline)) static inline void gv_set_ref(int32_t alt, int32_t speed, int32_t accel) {
int64_t new_z = ((int64_t)alt)<<(GV_Z_REF_FRAC - INT32_POS_FRAC); int64_t new_z = ((int64_t)alt)<<(GV_Z_REF_FRAC - INT32_POS_FRAC);
gv_z_ref = new_z; gv_z_ref = new_z;
gv_zd_ref = speed>>(INT32_SPEED_FRAC - GV_ZD_REF_FRAC); gv_zd_ref = speed>>(INT32_SPEED_FRAC - GV_ZD_REF_FRAC);
gv_zdd_ref = accel>>(INT32_ACCEL_FRAC - GV_ZDD_REF_FRAC); gv_zdd_ref = accel>>(INT32_ACCEL_FRAC - GV_ZDD_REF_FRAC);
} }
static inline void gv_update_ref_from_z_sp(int32_t z_sp) { __attribute__ ((always_inline)) static inline void gv_update_ref_from_z_sp(int32_t z_sp) {
gv_z_ref += gv_zd_ref; gv_z_ref += gv_zd_ref;
gv_zd_ref += gv_zdd_ref; gv_zd_ref += gv_zdd_ref;
@@ -135,7 +135,7 @@ static inline void gv_update_ref_from_z_sp(int32_t z_sp) {
} }
static inline void gv_update_ref_from_zd_sp(int32_t zd_sp) { __attribute__ ((always_inline)) static inline void gv_update_ref_from_zd_sp(int32_t zd_sp) {
gv_z_ref += gv_zd_ref; gv_z_ref += gv_zd_ref;
gv_zd_ref += gv_zdd_ref; gv_zd_ref += gv_zdd_ref;
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+4 -4
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@@ -154,7 +154,7 @@ void ahrs_update_mag(void) {
} }
/* measures phi and theta assuming no dynamic acceleration ?!! */ /* measures phi and theta assuming no dynamic acceleration ?!! */
static inline void get_phi_theta_measurement_fom_accel(int32_t* phi_meas, int32_t* theta_meas, struct Int32Vect3 accel) { __attribute__ ((always_inline)) static inline void get_phi_theta_measurement_fom_accel(int32_t* phi_meas, int32_t* theta_meas, struct Int32Vect3 accel) {
INT32_ATAN2(*phi_meas, -accel.y, -accel.z); INT32_ATAN2(*phi_meas, -accel.y, -accel.z);
int32_t cphi; int32_t cphi;
@@ -167,7 +167,7 @@ static inline void get_phi_theta_measurement_fom_accel(int32_t* phi_meas, int32_
} }
/* measure psi by projecting magnetic vector in local tangeant plan */ /* measure psi by projecting magnetic vector in local tangeant plan */
static inline void get_psi_measurement_from_mag(int32_t* psi_meas, int32_t phi_est, int32_t theta_est, struct Int32Vect3 mag) { __attribute__ ((always_inline)) static inline void get_psi_measurement_from_mag(int32_t* psi_meas, int32_t phi_est, int32_t theta_est, struct Int32Vect3 mag) {
int32_t sphi; int32_t sphi;
PPRZ_ITRIG_SIN(sphi, phi_est); PPRZ_ITRIG_SIN(sphi, phi_est);
@@ -196,7 +196,7 @@ static inline void get_psi_measurement_from_mag(int32_t* psi_meas, int32_t phi_e
/* Compute ltp to imu rotation in quaternion and rotation matrice representation /* Compute ltp to imu rotation in quaternion and rotation matrice representation
from the euler angle representation */ from the euler angle representation */
static inline void compute_imu_quat_and_rmat_from_euler(void) { __attribute__ ((always_inline)) static inline void compute_imu_quat_and_rmat_from_euler(void) {
/* Compute LTP to IMU quaternion */ /* Compute LTP to IMU quaternion */
INT32_QUAT_OF_EULERS(ahrs.ltp_to_imu_quat, ahrs.ltp_to_imu_euler); INT32_QUAT_OF_EULERS(ahrs.ltp_to_imu_quat, ahrs.ltp_to_imu_euler);
@@ -205,7 +205,7 @@ static inline void compute_imu_quat_and_rmat_from_euler(void) {
} }
static inline void compute_body_orientation(void) { __attribute__ ((always_inline)) static inline void compute_body_orientation(void) {
/* Compute LTP to BODY quaternion */ /* Compute LTP to BODY quaternion */
INT32_QUAT_COMP_INV(ahrs.ltp_to_body_quat, ahrs.ltp_to_imu_quat, imu.body_to_imu_quat); INT32_QUAT_COMP_INV(ahrs.ltp_to_body_quat, ahrs.ltp_to_imu_quat, imu.body_to_imu_quat);
sw/airborne/subsystems/ins/vf_float.c
+2 -2
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@@ -122,7 +122,7 @@ void vff_propagate(float accel) {
// update covariance // update covariance
Pp = Pm - K*H*Pm; Pp = Pm - K*H*Pm;
*/ */
static inline void update_z_conf(float z_meas, float conf) { __attribute__ ((always_inline)) static inline void update_z_conf(float z_meas, float conf) {
vff_z_meas = z_meas; vff_z_meas = z_meas;
const float y = z_meas - vff_z; const float y = z_meas - vff_z;
@@ -179,7 +179,7 @@ void vff_update_z_conf(float z_meas, float conf) {
// update covariance // update covariance
Pp = Pm - K*H*Pm; Pp = Pm - K*H*Pm;
*/ */
static inline void update_vz_conf(float vz, float conf) { __attribute__ ((always_inline)) static inline void update_vz_conf(float vz, float conf) {
const float yd = vz - vff_zdot; const float yd = vz - vff_zdot;
const float S = vff_P[1][1] + conf; const float S = vff_P[1][1] + conf;
const float K1 = vff_P[0][1] * 1/S; const float K1 = vff_P[0][1] * 1/S;