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some doxygen

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This commit is contained in:
Pascal Brisset
2005-12-12 23:31:31 +00:00
parent 745dfc408d
commit 241145085b
11 changed files with 1308 additions and 34 deletions
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Doxyfile
+1218
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File diff suppressed because it is too large Load Diff
Makefile
+6 -2
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@@ -50,9 +50,9 @@ conf/%.xml :conf/%.xml.example
test: conf ac1 ac2
PAPARAZZI_HOME=$(PAPARAZZI_SRC) PAPARAZZI_SRC=$(PAPARAZZI_SRC) $(SUPERVISION)
ac1 :
ac1 : conf
make AIRCRAFT=Twin1 PAPARAZZI_HOME=$(PAPARAZZI_SRC) sim_ac
ac2 :
ac2 : conf
make AIRCRAFT=Twin2 PAPARAZZI_HOME=$(PAPARAZZI_SRC) sim_ac
lib:
@@ -121,6 +121,10 @@ sim_ac: ac_h sim_sitl
hard_ac: ac_h ap fbw
ac: sim_ac hard_ac
doxygen: ac1
mkdir -p dox
doxygen Doxyfile
clean_ac :
rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
README
+2 -2
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@@ -1,5 +1,5 @@
# Paparazzi $Id$
# Copyright (C) 2003 Pascal Brisset Antoine Drouin
# Copyright (C) 2003-2005 Pascal Brisset Antoine Drouin
#
# This file is part of paparazzi.
#
@@ -63,7 +63,7 @@ needed (if something is missing, please ask)
Compilation
-----------
0) Configuration. Default PAPARAZZI_HOME is $(HOME)/PAPARAZZI. You
0) Configuration. Default PAPARAZZI_HOME is $(HOME)/paparazzi. You
can change it by setting an environment variable
1) "make" in the top directory
conf/Makefile.avr
+1 -1
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@@ -1,6 +1,6 @@
#
# $Id$
# Copyright (C) 2003 Pascal Brisset, Antoine Drouin
# Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
#
# This file is part of paparazzi.
#
conf/airframes/twinstar1.xml
+3 -1
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@@ -84,7 +84,9 @@
<define name="PHI0" value="30" unit="deg"/>
</section>
<makefile>
LOCAL_CFLAGS += -DDATALINK
AP_EXTRA_SRCS += traffic_info.c datalink.c
LOCAL_CFLAGS += -DWAVECARD
$(TARGET).srcs += wavecard.c
AP_EXTRA_SRCS += wavecard.c
</makefile>
</airframe>
sw/airborne/autopilot/adc.c
+3 -7
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@@ -1,10 +1,10 @@
/*
* Paparazzi mcu0 adc functions
* $Id$
*
* Copied from autopilot (autopilot.sf.net) thanx alot Trammell
* Originally from autopilot (autopilot.sf.net) thanx alot Trammell
*
* Copyright (C) 2002 Trammell Hudson <hudson@rotomotion.com>
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
@@ -52,8 +52,6 @@
#define ANALOG_VREF _BV(REFS0)
uint16_t adc_samples[ NB_ADC ];
static struct adc_buf* buffers[NB_ADC];
void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sample) {
@@ -99,8 +97,6 @@ SIGNAL( SIG_ADC )
uint8_t adc_input = ADMUX & 0x7;
struct adc_buf* buf = buffers[adc_input];
uint16_t adc_value = ADCW;
/* Store result */
adc_samples[ adc_input ] = adc_value;
if (buf) {
uint8_t new_head = buf->head + 1;
sw/airborne/autopilot/adc.h
+17 -10
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@@ -25,6 +25,11 @@
*
*/
/** \file adc.h
* \brief Analog to Digital Converter API
*
*/
#ifndef _ADC_H_
#define _ADC_H_
@@ -32,24 +37,26 @@
#define NB_ADC 8
/* Array containing the last measured value */
extern uint16_t adc_samples[ NB_ADC ];
void adc_init( void );
#define MAX_AV_NB_SAMPLE 0x20
#define DEFAULT_AV_NB_SAMPLE 0x20
/** Facility to store last values in a circular buffer for a specific
* channel:
* - allocate a (struct adc_buf)
* - register it with the ::adc_buf_channel function
*/
/** Data structure used to store samples */
struct adc_buf {
uint16_t sum;
uint16_t values[MAX_AV_NB_SAMPLE];
uint8_t head;
uint8_t av_nb_sample;
uint8_t av_nb_sample;
};
/* Facility to store last values in a circular buffer for a specific
channel: allocate a (struct adc_buf) and register it with the following
function */
/** Registers a buffer to be used to store the specified converted channel */
void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sample);
/** Starts conversions */
void adc_init( void );
#endif
sw/airborne/autopilot/ahrs.c
+18 -1
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@@ -5,7 +5,24 @@
*
* (c) 2003 Trammell Hudson <hudson@rotomotion.com>
* (c) 2005 Jean-Pierre Dumont <flyingtuxATfreeDOTfr>
*/
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include <stdlib.h>
sw/airborne/autopilot/ahrs.h
+37 -7
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@@ -6,7 +6,31 @@
*
* (c) 2003 Trammell Hudson <hudson@rotomotion.com>
* (c) 2005 Jean-Pierre Dumont <jpxDOTdumontATwanadooDOTfr>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
/** \file ahrs.h
* \brief Attitude Heading Reference System (gyros, accels and magneto
* filtered through a Kalman)
*
*/
#ifndef __AHRS_
#define __AHRS_
@@ -52,22 +76,28 @@ extern int16_t gyro_raw_zero[3];
*/
extern real_t ahrs_euler[3];
//haere are the ahrs_state possible values
/** @name ahrs_state possible values */
//@{
#define AHRS_NOT_INITIALIZED 0
#define AHRS_IMU_CALIBRATION 1
#define AHRS_RUNNING 2
//@}
//export internal state
/** Current internal state */
extern uint8_t ahrs_state;
//exported procedure
extern void ahrs_init( uint8_t do_zero_calibration );//will restart the ahrs with zero_calibration phase
extern void ahrs_update( void );//will update state with accels and compas if we have
/** Restarts the ahrs with zero_calibration phase */
void ahrs_init( uint8_t do_zero_calibration );
/** Udates state with accels and compas (if available) */
void ahrs_update( void );
#if (!defined IMU_GYROS_CONNECTED_TO_AP) || (IMU_GYROS_CONNECTED_TO_AP == 0)
extern void ahrs_gyro_update( void );//needed by paparazzi achitecture
/** Function to be called when gyro data are available (through the link to
the fbw mcu */
void ahrs_gyro_update( void );
#endif //IMU_GYROS_CONNECTED_TO_AP
#endif //__AHRS_
sw/airborne/autopilot/datalink.c
+1 -1
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@@ -22,7 +22,7 @@
*
*/
/** \file datalink.c
* \brief Hadling of messages coming from ground and other A/Cs
* \brief Handling of messages coming from ground and other A/Cs
*
*/
#define DATALINK_C
sw/airborne/autopilot/nav.c
+2 -2
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@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
* Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
@@ -22,7 +22,7 @@
*
*/
/** \file nav.c
* \brief Regroup functions to compute navigation plopplopplop ::block_time
* \brief Regroup functions to compute navigation
*
*/