Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-26 16:30:07 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

*** empty log message ***

Browse Source
This commit is contained in:
Pascal Brisset
2006-06-01 06:47:42 +00:00
parent 2aea767f50
commit 22bd6f05a1
3 changed files with 22 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/gorazoptere_brushless_ANALOG.xml
+4 -4
View File
@@ -14,11 +14,11 @@
<define name="ADC_ROLL_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
<define name="ADC_PITCH_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
<define name="ADC_YAW_DOT_SCALE" value="(real_t) (0.9444 * 3.14159 / 180.0)"/>
<define name="ADC_ACCELX" value="3"/>
<define name="ADC_ACCELY" value="4"/>
<define name="ADC_ACCELZ" value="5"/>
<define name="ADC_ACCELX" value="4"/>
<define name="ADC_ACCELY" value="3"/>
<define name="ADC_ACCELZ" value="2"/>
<define name="ADC_ACCELX_SIGN" value="-"/>
<define name="ADC_ACCELY_SIGN" value="+"/>
<define name="ADC_ACCELY_SIGN" value="-"/>
<define name="ADC_ACCELZ_SIGN" value="-"/>
<define name="ADC_ACCELX_ZERO" value="0x24A"/>
<define name="ADC_ACCELY_ZERO" value="0x280"/>
sw/ground_segment/tmtc/link.ml
+9 -5
View File
@@ -141,11 +141,14 @@ let ground_id = 0
let use_tele_message = fun payload ->
let buf = Serial.string_of_payload payload in
Debug.call 'l' (fun f -> fprintf f "mm receiving: %s\n" (Debug.xprint buf));
let (msg_id, ac_id, values) = Tm_Pprz.values_of_payload payload in
let msg = Tm_Pprz.message_of_id msg_id in
Tm_Pprz.message_send (string_of_int ac_id) msg.Pprz.name values;
update_status ac_id buf
Debug.call 'l' (fun f -> fprintf f "pprz receiving: %s\n" (Debug.xprint buf));
try
let (msg_id, ac_id, values) = Tm_Pprz.values_of_payload payload in
let msg = Tm_Pprz.message_of_id msg_id in
Tm_Pprz.message_send (string_of_int ac_id) msg.Pprz.name values;
update_status ac_id buf
with
_ -> ()
type priority = Null | Low | Normal | High
@@ -276,6 +279,7 @@ module XB = struct (** XBee module *)
let switch_to_api = fun device ->
let o = Unix.out_channel_of_descr device.fd in
(*** fprintf o "%s%!" (Xbee.at_set_my 255); ***)
Debug.trace 'x' "config xbee";
fprintf o "%s%!" Xbee.at_api_enable;
fprintf o "%s%!" Xbee.at_exit;
Debug.trace 'x' "end init xbee"
sw/lib/ocaml/xbee.ml
+9 -7
View File
@@ -35,7 +35,7 @@ module Protocol = struct
if String.length s < i+offset_length+2 then
raise Serial.Not_enough
else
(Char.code s.[i+offset_length] lsl 8) lor (Char.code s.[i+offset_length+1])
(Char.code s.[i+offset_length] lsl 8) lor (Char.code s.[i+offset_length+1]) + size_packet
let compute_checksum = fun s ->
let cs = ref 0 in
@@ -45,7 +45,9 @@ module Protocol = struct
0xff - !cs
let checksum = fun s ->
compute_checksum s + Char.code s.[String.length s-1] = 0xff
let c = compute_checksum s in
Debug.call 'x' (fun f -> Printf.fprintf f "BX.cs=%x\n" c);
c = Char.code s.[String.length s-1]
let payload = fun s ->
Serial.payload_of_string (String.sub s offset_payload (String.length s - size_packet))
@@ -57,8 +59,8 @@ module Protocol = struct
let m = String.create msg_length in
String.blit payload 0 m offset_payload n;
m.[0] <- start_delimiter;
m.[offset_length] <- Char.chr (msg_length lsr 8);
m.[offset_length+1] <- Char.chr (msg_length land 0xff);
m.[offset_length] <- Char.chr (n lsr 8);
m.[offset_length+1] <- Char.chr (n land 0xff);
let cs = compute_checksum m in
m.[msg_length-1] <- Char.chr cs;
m
@@ -138,9 +140,9 @@ let api_tx16 = fun ?(frame_id = 0) dest data ->
let at_command_sequence = "+++"
let at_set_my = fun addr ->
assert (addr >= 0 && addr < 0x10000);
Printf.sprintf "ATMY%04x\n" addr
let at_exit = "ATCN\n"
let at_api_enable = "ATAP1\n"
Printf.sprintf "ATMY%04x\r" addr
let at_exit = "ATCN\r"
let at_api_enable = "ATAP1\r"
let api_parse_frame = fun s ->
let n = String.length s in