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Merge branch 'master' of git://github.com/paparazzi/paparazzi

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This commit is contained in:
Martin Mueller
2010-12-06 21:07:42 +01:00
parent 6a818650db 208902ae59
commit 1b5a99ce17
17 changed files with 49 additions and 49 deletions
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sw/airborne/arch/avr/mcu_periph/spi_arch.c
+1 -1
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@@ -22,7 +22,7 @@
*
*/
/** \file spi_hw.c
/** \file mcu_periph/spi_arch.c
* \brief handling of hardware dependant SPI on AVR architecture
*/
sw/airborne/arch/avr/mcu_periph/spi_arch.h
+3 -3
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@@ -22,8 +22,8 @@
*
*/
#ifndef SPI_HW_H
#define SPI_HW_H
#ifndef SPI_ARCH_H
#define SPI_ARCH_H
/** Index in SPI buffers: one is enough for full duplex communication */
extern volatile uint8_t spi_idx_buf;
@@ -83,4 +83,4 @@ extern volatile uint8_t spi_idx_buf;
#endif /* SPI_MASTER */
#endif /* SPI_HW_H */
#endif /* SPI_ARCH_H */
sw/airborne/arch/lpc21/mcu_arch.c
+1 -1
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@@ -64,7 +64,7 @@ void mcu_arch_init(void) {
/* set the interrupt controller to flash */
MEMMAP = MEMMAP_FLASH;
/* clear all interrupts */
VICIntEnClear = 0xFFFFFFFF;
/* clear all FIQ selections */
sw/airborne/arch/lpc21/mcu_periph/spi_arch.h
+3 -3
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@@ -25,8 +25,8 @@
* for now only SPI1 ( aka SSP )
*/
#ifndef SPI_HW_H
#define SPI_HW_H
#ifndef SPI_ARCH_H
#define SPI_ARCH_H
#include "std.h"
#include "LPC21xx.h"
@@ -192,4 +192,4 @@ extern volatile uint8_t spi_rx_idx;
#define SpiClrCPHA() (SSPCR0 &= ~(_BV(7)))
#endif /* SPI_HW_H */
#endif /* SPI_ARCH_H */
sw/airborne/boards/classix_1.0.h
+5 -5
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@@ -2,16 +2,16 @@
#define CONFIG_CLASSIX_H
/* Master oscillator freq. */
#define FOSC (12000000)
#define FOSC (12000000)
/* PLL multiplier */
#define PLL_MUL (5)
#define PLL_MUL (5)
/* CPU clock freq. */
#define CCLK (FOSC * PLL_MUL)
#define CCLK (FOSC * PLL_MUL)
/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
#define PBSD_BITS 0x00
#define PBSD_BITS 0x00
#define PBSD_VAL 4
/* Peripheral bus clock freq. */
#define PCLK (CCLK / PBSD_VAL)
#define PCLK (CCLK / PBSD_VAL)
sw/airborne/csc/csc_baro.c
+1 -1
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@@ -10,7 +10,7 @@
#include "csc_booz2_ins.h"
#include "csc_ap_link.h"
#include "spi_hw.h"
#include "mcu_periph/spi_arch.h"
#include "csc_baro.h"
sw/airborne/firmwares/fixedwing/main_fbw.c
+2 -2
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@@ -169,8 +169,8 @@ void periodic_task_fbw( void ) {
fbw_downlink_periodic_task();
#endif
if (!_10Hz) {
electrical_periodic();
if (!_10Hz) {
electrical_periodic();
}
#ifdef ACTUATORS
sw/airborne/firmwares/vor/lpc_vor_main.c
+4 -4
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@@ -22,18 +22,18 @@ int main( void ) {
if (vor_adc_sample_available) {
int16_t off_sample = vor_adc_sample - 512;
// off_sample *= 2;
vor_int_demod_run (off_sample);
if (vid_qdr_available) {
vid_qdr_available = FALSE;
main_report();
}
VorDacSet(vor_adc_sample);
vor_adc_sample_available = FALSE;
}
}
return 0;
}
sw/airborne/mcu.c
+2 -2
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@@ -53,7 +53,7 @@
void mcu_init(void) {
mcu_arch_init();
#ifdef PERIPHERALS_AUTO_INIT
#ifdef USE_LED
led_init();
@@ -99,5 +99,5 @@ void mcu_init(void) {
spi_init();
#endif
#endif /* PERIPHERALS_AUTO_INIT */
}
sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
+4 -4
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@@ -22,7 +22,7 @@
/** \file atmega_i2c_cam_ctrl.c
* \brief Interface with digital camera though AVR AtMega chip
* \brief Interface with digital camera though AVR AtMega chip
*
* Send Commands over I2C
*/
@@ -55,7 +55,7 @@ static struct i2c_transaction atmega_i2c_cam_ctrl_trans;
uint8_t atmega_i2c_cam_ctrl_just_sent_command = 0;
void atmega_i2c_cam_ctrl_init(void)
void atmega_i2c_cam_ctrl_init(void)
{
atmega_i2c_cam_ctrl_trans.status = I2CTransDone;
dc_init();
@@ -89,9 +89,9 @@ void atmega_i2c_cam_ctrl_send(uint8_t cmd)
}
}
void atmega_i2c_cam_ctrl_event( void )
void atmega_i2c_cam_ctrl_event( void )
{
if (atmega_i2c_cam_ctrl_trans.status == I2CTransSuccess)
if (atmega_i2c_cam_ctrl_trans.status == I2CTransSuccess)
{
unsigned char cam_ret[1];
cam_ret[0] = atmega_i2c_cam_ctrl_trans.buf[0];
sw/airborne/modules/digital_cam/dc.h
+6 -6
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@@ -74,7 +74,7 @@ static inline void dc_send_command(uint8_t cmd);
/* Auotmatic Digital Camera Photo Triggering */
typedef enum {
DC_AUTOSHOOT_STOP = 0,
DC_AUTOSHOOT_PERIODIC = 1,
DC_AUTOSHOOT_PERIODIC = 1,
DC_AUTOSHOOT_DISTANCE = 2,
DC_AUTOSHOOT_EXT_TRIG = 3
} dc_autoshoot_type;
@@ -89,7 +89,7 @@ extern uint8_t dc_autoshoot_meter_grid;
/* Send Down the coordinates of where the photo was taken */
#ifdef SENSOR_SYNC_SEND
void dc_send_shot_position(void);
#else
#else
#define dc_send_shot_position() {}
#endif
@@ -109,7 +109,7 @@ static inline void dc_init(void)
}
/* shoot on grid */
static inline void dc_shot_on_utm_north_close_to_100m_grid( void )
static inline void dc_shot_on_utm_north_close_to_100m_grid( void )
{
uint32_t dist_to_100m_grid = (gps_utm_north / 100) % 100;
if (dist_to_100m_grid < dc_autoshoot_meter_grid || 100 - dist_to_100m_grid < dc_autoshoot_meter_grid)
@@ -119,14 +119,14 @@ static inline void dc_shot_on_utm_north_close_to_100m_grid( void )
}
/* periodic 4Hz function */
static inline void dc_periodic_4Hz( void )
static inline void dc_periodic_4Hz( void )
{
static uint8_t dc_shutter_timer = 0;
#ifdef DC_AUTOSHOOT_QUARTERSEC_PERIOD
if (dc_autoshoot == DC_AUTOSHOOT_PERIODIC)
{
if (dc_shutter_timer)
if (dc_shutter_timer)
{
dc_shutter_timer--;
} else {
@@ -145,6 +145,6 @@ static inline void dc_periodic_4Hz( void )
}
#endif // DC_H
sw/airborne/modules/digital_cam/led_cam_ctrl.h
+2 -2
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@@ -49,7 +49,7 @@
extern uint8_t dc_timer;
static inline void led_cam_ctrl_init(void)
static inline void led_cam_ctrl_init(void)
{
// Call common DC init
dc_init();
@@ -104,7 +104,7 @@ static inline void dc_send_command(uint8_t cmd)
/* 4Hz Periodic */
static inline void led_cam_ctrl_periodic( void )
static inline void led_cam_ctrl_periodic( void )
{
if (dc_timer) {
dc_timer--;
sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
+5 -5
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@@ -39,7 +39,7 @@
#include "estimator.h"
void atmega_i2c_cam_ctrl_init(void)
void atmega_i2c_cam_ctrl_init(void)
{
dc_init();
}
@@ -75,16 +75,16 @@ void atmega_i2c_cam_ctrl_send(uint8_t cmd)
else if (cmd == DC_GET_STATUS)
{
mode++;
if (mode > 15)
if (mode > 15)
mode = 0;
}
cam_ret[0] = mode + zoom * 0x20;
RunOnceEvery(6,DOWNLINK_SEND_PAYLOAD(DefaultChannel, 1, cam_ret ));
}
void atmega_i2c_cam_ctrl_event( void )
void atmega_i2c_cam_ctrl_event( void )
{
}
sw/airborne/modules/max3100/max3100_hw.h
+1 -1
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@@ -3,7 +3,7 @@
#include <stdbool.h>
#include "std.h"
#include "mcu_periph/spi_hw.h"
#include "mcu_periph/spi_arch.h"
#include "led.h"
/* Pin configuration for max3100 IRQ */
sw/airborne/subsystems/electrical.c
+2 -2
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@@ -12,7 +12,7 @@ static struct {
struct adc_buf vsupply_adc_buf;
#ifdef ADC_CHANNEL_CURRENT
struct adc_buf current_adc_buf;
#endif
#endif
} electrical_priv;
#ifndef VoltageOfAdc
@@ -27,7 +27,7 @@ void electrical_init(void) {
electrical.vsupply = 0;
electrical.current = 0;
adc_buf_channel(ADC_CHANNEL_VSUPPLY, &electrical_priv.vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
adc_buf_channel(ADC_CHANNEL_VSUPPLY, &electrical_priv.vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
#ifdef ADC_CHANNEL_CURRENT
adc_buf_channel(ADC_CHANNEL_CURRENT, &electrical_priv.current_adc_buf, DEFAULT_AV_NB_SAMPLE);
#endif
sw/airborne/subsystems/electrical.h
+2 -2
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@@ -4,10 +4,10 @@
#include "std.h"
struct Electrical {
uint8_t vsupply; /* supply in decivolts */
int32_t current; /* current in miliamps */
};
extern struct Electrical electrical;
sw/airborne/subsystems/sensors/infrared.h
+5 -5
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@@ -29,17 +29,17 @@
#include "generated/airframe.h"
struct Infrared {
/* the 3 channels of the sensor
/* the 3 channels of the sensor
*/
int16_t ir1;
int16_t ir2;
int16_t ir3;
/* neutrals in radians
/* neutrals in radians
*/
float roll_neutral;
float pitch_neutral;
float pitch_vneutral;
/* roll, pitch, yaw unscaled reading
/* roll, pitch, yaw unscaled reading
*/
int16_t roll;
int16_t pitch;
@@ -51,8 +51,8 @@ struct Infrared {
float longitudinal_correction;
float vertical_correction;
/* coefficients used to compensate
for masking
*/
for masking
*/
float correction_left;
float correction_right;
float correction_up;