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This commit is contained in:
Antoine Drouin
2007-01-27 00:16:54 +00:00
parent 52bf9227ed
commit 2263aab958
9 changed files with 111 additions and 18 deletions
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conf/airframes/motor_bench.xml
+2 -2
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@@ -14,7 +14,7 @@ LPC21ISP_XTAL = 12000
#FLASH_MODE = IAP
FLASH_MODE = ISP
mb.CFLAGS += -DCONFIG=\"motor_bench.h\"
mb.CFLAGS += -DCONFIG=\"motor_bench.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-3)'
mb.srcs = main_motor_bench.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
mb.CFLAGS += -DLED
@@ -22,7 +22,7 @@ mb.CFLAGS += -DLED
mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
mb.srcs += $(SRC_ARCH)/uart_hw.c
mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
mb.srcs += downlink.c pprz_transport.c
mb.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
conf/messages.xml
+7
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@@ -363,6 +363,13 @@
<field name="mode" type="uint8"/>
</message>
<message name="MOTOR_BENCH_STATUS" ID="230">
<field name="time_ticks" type="uint32"/>
<field name="time_s" type="uint16"/>
<field name="throttle" type="uint16"/>
<field name="mode" type="uint8"/>
</message>
</class>
sw/airborne/arm7/sys_time_hw.c
+3
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@@ -1,6 +1,9 @@
#include "armVIC.h"
#include "sys_time.h"
uint32_t cpu_time_ticks;
#if defined ACTUATORS
#include ACTUATORS
#endif /* ACTUATORS */
sw/airborne/arm7/sys_time_hw.h
+15 -3
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@@ -35,6 +35,7 @@
#include CONFIG
#include "led.h"
extern uint32_t cpu_time_ticks;
static uint32_t last_periodic_event;
void TIMER0_ISR ( void ) __attribute__((naked));
@@ -58,7 +59,8 @@ static inline void sys_time_init( void ) {
/* enable timer 0 */
T0TCR = TCR_ENABLE;
cpu_time = 0;
cpu_time_sec = 0;
cpu_time_ticks = 0;
/* select TIMER0 as IRQ */
VICIntSelect &= ~VIC_BIT(VIC_TIMER0);
@@ -78,15 +80,25 @@ static inline void sys_time_init( void ) {
#define FIFTY_MS SYS_TICS_OF_SEC( 50e-3 )
#define AVR_PERIOD_MS SYS_TICS_OF_SEC( 15.625e-3 )
#ifndef PERIODIC_TASK_PERIOD
#define PERIODIC_TASK_PERIOD AVR_PERIOD_MS
#endif
#define TIME_TICKS_PER_SEC SYS_TICS_OF_SEC(1)
static inline bool_t sys_time_periodic( void ) {
uint32_t now = T0TC;
if (now - last_periodic_event >= PERIODIC_TASK_PERIOD) {
uint32_t dif = now - last_periodic_event;
if ( dif >= PERIODIC_TASK_PERIOD) {
last_periodic_event += PERIODIC_TASK_PERIOD;
cpu_time_ticks += PERIODIC_TASK_PERIOD;
if (cpu_time_ticks > TIME_TICKS_PER_SEC) {
cpu_time_ticks -= TIME_TICKS_PER_SEC;
cpu_time_sec++;
#ifdef TIME_LED
LED_TOGGLE(TIME_LED)
LED_TOGGLE(TIME_LED)
#endif
}
return TRUE;
}
return FALSE;
sw/airborne/main_motor_bench.c
+45 -11
View File
@@ -16,14 +16,25 @@
#include "messages.h"
#include "downlink.h"
#include "paparazzi.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void);
static inline void bench_periodic ( void );
static inline bool_t prbs_10( void ) ;
#define MODE_MANUAL 0
#define MODE_RAMP 1
#define MODE_STEP 2
#define MODE_PRBS 3
uint8_t mode;
uint16_t throttle;
int main( void ) {
main_init();
LED_ON(1);
LED_ON(2);
while (1) {
if (sys_time_periodic())
main_periodic_task();
@@ -40,28 +51,51 @@ static inline void main_init( void ) {
adc_init();
icp_scale_init();
tacho_mb_init();
mode = MODE_PRBS;
int_enable();
}
static uint32_t t0, t1;
static inline void main_event_task( void ) {
}
static inline void main_periodic_task( void ) {
t0 = T0TC;
bench_periodic();
DOWNLINK_SEND_MOTOR_BENCH_STATUS(&cpu_time_ticks, &cpu_time_sec, &throttle, &mode);
static uint8_t cnt;
cnt++;
if (!(cnt%16)) {
// LED_TOGGLE(1);
uart0_transmit('#');
Uart0PrintHex32(pulse_len);
uart0_transmit(' ');
Uart0PrintHex32(t_duration);
uart0_transmit('\n');
LED_TOGGLE(1);
// DOWNLINK_SEND_MOTOR_BENCH_STATUS(&cpu_time_ticks, &cpu_time_sec, &throttle, &mode);
}
}
#define PRBS_VAL1 (0.55*MAX_PPRZ)
#define PRBS_VAL2 (0.65*MAX_PPRZ)
static inline void bench_periodic ( void ) {
switch (mode) {
case MODE_MANUAL:
throttle = 0;
break;
case MODE_PRBS:
throttle = prbs_10() ? PRBS_VAL1 : PRBS_VAL2;
break;
}
}
static inline bool_t prbs_10( void ) {
static uint16_t lsr = 0xFFFF;
uint8_t feed =
bit_is_set(lsr,6) ^
bit_is_set(lsr,9);
uint8_t val = bit_is_set(lsr,9);
lsr = (lsr << 1) | feed;
return val;
}
sw/airborne/sys_time.c
+1 -1
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@@ -1,3 +1,3 @@
#include "sys_time.h"
uint16_t cpu_time;
uint16_t cpu_time_sec;
sw/airborne/sys_time.h
+1 -1
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@@ -4,7 +4,7 @@
#include <inttypes.h>
#include CONFIG
extern uint16_t cpu_time;
extern uint16_t cpu_time_sec;
#include "sys_time_hw.h"
sw/logalizer/Makefile
+3
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@@ -38,6 +38,9 @@ CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lgtkdatabox `pcre-config --libs` -lglibivy
motor_bench : motor_bench.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
ahrsview : ahrsview.c sliding_plot.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
sw/logalizer/motor_bench.c
+34
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@@ -0,0 +1,34 @@
#include <glib.h>
#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#define TICK_PER_SEC 15000000.
void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
guint time_tick = atoi(argv[0]);
guint time_sec = atoi(argv[1]);
guint throttle = atoi(argv[2]);
guint mode = atoi(argv[3]);
float time = (float)time_sec + (float)time_tick / TICK_PER_SEC;
printf("%f %d\n", time, throttle);
}
int main ( int argc, char** argv) {
// g_timeout_add(16, timeout_callback, chan);
GMainLoop *ml = g_main_loop_new(NULL, FALSE);
IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
g_main_loop_run(ml);
return 0;
}