mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 21:36:28 +08:00
*** empty log message ***
This commit is contained in:
Antoine Drouin
@@ -81,7 +81,7 @@ ap autopilot: ac_h
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upload_fbw: hard_ac
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cd $(AIRBORNE); $(MAKE) TARGET=fbw upload
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upload_ap: hard_ac
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upload_ap: ap
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cd $(AIRBORNE); $(MAKE) TARGET=ap upload
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erase_fbw:
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+8
-5
@@ -83,7 +83,8 @@ OPT = s
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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#DEBUG = stabs
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DEBUG = dwarf-2
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#DEBUG = dwarf-2
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DEBUG = 0
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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@@ -117,8 +118,8 @@ ADEFS = -D$(RUN_MODE)
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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#CFLAGS = -g$(DEBUG)
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CFLAGS = -g0
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CFLAGS += $(CDEFS) $(CINCS)
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#CFLAGS = -g0
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CFLAGS = $(CDEFS) $(CINCS)
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CFLAGS += -O$(OPT)
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CFLAGS += -Wall -Wcast-qual -Wimplicit
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# -Wcast-align # Incompatible with GPS message parsing
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@@ -183,8 +184,10 @@ endif
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#LPC21ISP = lpc21isp
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LPC21ISP = lpc21isp
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LPC21ISP_PORT = /dev/ttyS0
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LPC21ISP_BAUD = 115200
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LPC21ISP_XTAL = 14746
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#LPC21ISP_BAUD = 115200
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#LPC21ISP_XTAL = 14746
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LPC21ISP_BAUD = 38400
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LPC21ISP_XTAL = 12000
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LPC21ISP_FLASHFILE = $(TARGET).hex
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# verbose output:
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#LPC21ISP_DEBUG = -debug
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@@ -8,5 +8,6 @@ ap.TARGET = autopilot
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ap.TARGETDIR = autopilot
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ap.CFLAGS += -DAP
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ap.CFLAGS += -DGPS -DUBX
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ap.srcs = inter_mcu.c pid.c estimator.c gps_ubx.c gps.c nav.c cam.c main_ap.c mainloop.c main.c $(SRC_ARCH)/uart.c $(SRC_ARCH)/armVIC.c
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ap.srcs = inter_mcu.c pid.c estimator.c cam.c main_ap.c mainloop.c main.c $(SRC_ARCH)/uart.c $(SRC_ARCH)/armVIC.c
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ap.srcs += gps_ubx.c gps.c nav.c
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# ap.srcs += $(SRC_ARCH)/modem.c $(SRC_ARCH)/adc_ap.c $(SRC_ARCH)/uart_ap.c $(SRC_ARCH)/servo.c
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@@ -97,7 +97,8 @@ OPT = s
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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#DEBUG = stabs
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DEBUG = dwarf-2
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#DEBUG = dwarf-2
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DEBUG = 0
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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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@@ -131,8 +132,9 @@ ADEFS = -D$(RUN_MODE)
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#
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# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
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#CFLAGS = -g$(DEBUG)
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CFLAGS = -g0
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CFLAGS += $(CDEFS) $(CINCS)
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#CFLAGS = -g0
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CFLAGS = $(CDEFS) $(CINCS)
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CFLAGS += -O$(OPT)
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CFLAGS += -Wall -Wcast-align -Wcast-qual -Wimplicit
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CFLAGS += -Wpointer-arith -Wswitch
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+18
-17
@@ -20,12 +20,12 @@
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#include "LPC21xx.h"
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// some handy DEFINES
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#ifndef FALSE
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#define FALSE 0
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#ifndef TRUE
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#define TRUE !FALSE
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#endif
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#endif
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//#ifndef FALSE
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//#define FALSE 0
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//#ifndef TRUE
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//#define TRUE !FALSE
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//#endif
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//#endif
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#ifndef BIT
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#define BIT(n) (1L << (n))
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@@ -43,8 +43,9 @@ extern void abort(void);
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// PLL setup values are computed within the LPC include file
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// It relies upon the following defines
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#define FOSC (14745600) // Master Oscillator Freq.
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#define PLL_MUL (4) // PLL Multiplier
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//#define FOSC (14745600) // Master Oscillator Freq.
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#define FOSC (12000000) // Master Oscillator Freq.
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#define PLL_MUL (5) // PLL Multiplier
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#define CCLK (FOSC * PLL_MUL) // CPU Clock Freq.
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// Pheripheral Bus Speed Divider
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@@ -73,7 +74,7 @@ extern void abort(void);
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// Port Bit Definitions & Macros: Description - initial conditions
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// The following defines are for the Olimex (LPC2138)
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// The following defines are for the Tiny v0.9)
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// PIO 0
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#define TXD0_BIT BIT(0) // used by UART0
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#define RXD0_BIT BIT(1) // used by UART0
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@@ -90,8 +91,8 @@ extern void abort(void);
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//#define P0_09_UNUSED_BIT BIT(9) // P0.09 unused - low output
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#define P0_10_UNUSED_BIT BIT(10) // P0.10 unused - low output
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#define P0_11_UNUSED_BIT BIT(11) // P0.11 unused - low output
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#define LED1_BIT BIT(12) // P0.12 LED1 low active
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#define LED2_BIT BIT(13) // P0.13 LED1 low active
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#define P0_12_UNUSED_BIT BIT(12) // P0.12 unused - low output
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#define P0_13_UNUSED_BIT BIT(13) // P0.13 unused - low output
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#define P0_14_UNUSED_BIT BIT(14) // P0.14 unused - low output
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#define SW1_BIT BIT(15) // P0.15 Switch 1 - active low input
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#define SW2_BIT BIT(16) // P0.16 Switch 2 - active low input
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@@ -131,7 +132,7 @@ extern void abort(void);
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#define P1_16_UNUSED_BIT BIT(16) // P1.16 unused - low output
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#define P1_17_UNUSED_BIT BIT(17) // P1.17 unused - low output
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#define P1_18_UNUSED_BIT BIT(18) // P1.18 unused - low output
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#define P1_19_UNUSED_BIT BIT(19) // P1.19 unused - low output
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#define LED_2_BIT BIT(19) // P1.19 unused - low output
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#define SERV0_DATA_BIT BIT(20) // P1.20 unused - low output
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#define SERV0_RESET_BIT BIT(21) // P1.21 unused - low output
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#define P1_22_UNUSED_BIT BIT(22) // P1.22 unused - low output
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@@ -140,7 +141,7 @@ extern void abort(void);
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#define P1_25_UNUSED_BIT BIT(25) // P1.25 unused - low output
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#define P1_26_UNUSED_BIT BIT(26) // P1.26 unused - low output
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#define P1_27_UNUSED_BIT BIT(27) // P1.27 unused - low output
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#define P1_28_UNUSED_BIT BIT(28) // P1.28 unused - low output
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#define LED_1_BIT BIT(28) // P1.28 unused - low output
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#define SERV1_RESET_BIT BIT(29) // P1.29 unused - low output
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#define SERV1_DATA_BIT BIT(30) // P1.30 unused - low output
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#define P1_31_UNUSED_BIT BIT(31) // P1.31 unused - low output
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@@ -160,8 +161,8 @@ extern void abort(void);
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SERV1_CLOCK_BIT | \
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P0_10_UNUSED_BIT | \
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P0_11_UNUSED_BIT | \
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LED1_BIT | \
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LED2_BIT | \
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P0_12_UNUSED_BIT | \
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P0_13_UNUSED_BIT | \
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P0_14_UNUSED_BIT | \
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P0_17_UNUSED_BIT | \
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P0_18_UNUSED_BIT | \
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@@ -212,7 +213,7 @@ extern void abort(void);
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P1_16_UNUSED_BIT | \
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P1_17_UNUSED_BIT | \
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P1_18_UNUSED_BIT | \
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P1_19_UNUSED_BIT | \
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LED_2_BIT | \
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SERV0_DATA_BIT | \
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SERV0_RESET_BIT | \
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P1_22_UNUSED_BIT | \
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@@ -221,7 +222,7 @@ extern void abort(void);
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P1_25_UNUSED_BIT | \
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P1_26_UNUSED_BIT | \
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P1_27_UNUSED_BIT | \
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P1_28_UNUSED_BIT | \
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LED_1_BIT | \
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SERV1_RESET_BIT | \
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SERV1_DATA_BIT | \
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P1_31_UNUSED_BIT | \
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@@ -0,0 +1,98 @@
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/*
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* Paparazzi $Id$
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*
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* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
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*
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||||
* This file is part of paparazzi.
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*
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||||
* 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,
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* Boston, MA 02111-1307, USA.
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||||
*
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||||
*/
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/*
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*\brief ARM7 low level hardware initialisation
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* PLL, IOPORT, MAM, VIC
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*
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*/
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#ifndef LOW_LEVEL_HW_H
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#define LOW_LEVEL_HW_H
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#include "LPC21xx.h"
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#include "config.h"
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static inline void low_level_init(void) {
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/* set PLL multiplier & divisor. */
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/* values computed from config.h */
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PLLCFG = PLLCFG_MSEL | PLLCFG_PSEL;
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/* enable PLL */
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PLLCON = PLLCON_PLLE;
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/* commit changes */
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PLLFEED = 0xAA;
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PLLFEED = 0x55;
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/* setup port pins */
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IO0CLR = PIO0_ZERO_BITS; // clear the ZEROs output
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IO0SET = PIO0_ONE_BITS; // set the ONEs output
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IO0DIR = PIO0_OUTPUT_BITS; // set the output bit direction
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IO1CLR = PIO1_ZERO_BITS; // clear the ZEROs output
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IO1SET = PIO1_ONE_BITS; // set the ONEs output
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IO1DIR = PIO1_OUTPUT_BITS; // set the output bit direction
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/* wait for PLL lock */
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while (!(PLLSTAT & PLLSTAT_LOCK))
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continue;
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/* enable & connect PLL */
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PLLCON = PLLCON_PLLE | PLLCON_PLLC;
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/* commit changes */
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PLLFEED = 0xAA;
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PLLFEED = 0x55;
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/* setup & enable the MAM */
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MAMTIM = MAMTIM_CYCLES;
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MAMCR = MAMCR_FULL;
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/* setup & enable the MAM */
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MAMTIM = MAMTIM_CYCLES;
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MAMCR = MAMCR_FULL;
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/* set the peripheral bus speed */
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/* value computed from config.h */
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VPBDIV = VPBDIV_VALUE;
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|
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/* set the interrupt controller defaults */
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#if defined(RAM_RUN)
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/* map interrupt vectors space into SRAM */
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MEMMAP = MEMMAP_SRAM;
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#elif defined(ROM_RUN)
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/* map interrupt vectors space into FLASH */
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MEMMAP = MEMMAP_FLASH;
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#else
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#error RUN_MODE not defined!
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#endif
|
||||
|
||||
/* clear all interrupts */
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||||
VICIntEnClear = 0xFFFFFFFF;
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/* clear all FIQ selections */
|
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VICIntSelect = 0x00000000;
|
||||
/* point unvectored IRQs to reset() */
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VICDefVectAddr = (uint32_t)reset;
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||||
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||||
}
|
||||
|
||||
#endif /* LOW_LEVEL_HW_H */
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||||
@@ -114,6 +114,7 @@ static void periodic_task ( void ) {
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IO0CLR = LED1_BIT;
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else
|
||||
IO0SET = LED1_BIT;
|
||||
MODEM_PRINT_GPS();
|
||||
// PRINT_ADC();
|
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DOWNLINK_SEND_IDENT(&AC_ID);
|
||||
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
/*
|
||||
* Paparazzi $Id$
|
||||
*
|
||||
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
*\brief ARM7 timer functions
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef SYS_TIME_HW_H
|
||||
#define SYS_TIME_HW_H
|
||||
|
||||
#include "std.h"
|
||||
#include "LPC21xx.h"
|
||||
#include "config.h" /* PCLK */
|
||||
|
||||
static uint32_t last_periodic_event;
|
||||
|
||||
/* T0 prescaler */
|
||||
#define T0_PCLK_DIV 3
|
||||
|
||||
static inline void sys_time_init( void ) {
|
||||
/* setup Timer 0 to count forever */
|
||||
/* reset & disable timer 0 */
|
||||
T0TCR = TCR_RESET;
|
||||
/* set the prescale divider */
|
||||
T0PR = T0_PCLK_DIV - 1;
|
||||
/* disable match registers */
|
||||
T0MCR = 0;
|
||||
/* disable compare registers */
|
||||
T0CCR = 0;
|
||||
/* disable external match register */
|
||||
T0EMR = 0;
|
||||
/* enable timer 0 */
|
||||
T0TCR = TCR_ENABLE;
|
||||
// sysTICs = 0;
|
||||
}
|
||||
|
||||
#define SysTicsOfSec(s) (uint32_t)(s * PCLK / T0_PCLK_DIV + 0.5)
|
||||
#define FIFTY_MS SysTicsOfSec( 50e-3 )
|
||||
|
||||
#define PERIODIC_TASK_PERIOD FIFTY_MS
|
||||
|
||||
static inline bool_t sys_time_periodic( void ) {
|
||||
uint32_t now = T0TC;
|
||||
if (now - last_periodic_event >= PERIODIC_TASK_PERIOD) {
|
||||
last_periodic_event = now;
|
||||
if (IO1PIN & LED_1_BIT)
|
||||
IO1CLR = LED_1_BIT;
|
||||
else
|
||||
IO1SET = LED_1_BIT;
|
||||
return TRUE;
|
||||
}
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
#endif /* SYS_TIME_HW_H */
|
||||
@@ -1,36 +0,0 @@
|
||||
/*
|
||||
* Paparazzi autopilot $Id$
|
||||
*
|
||||
* Copyright (C) 2004 Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* UBX protocol specific code
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#ifndef UBX_H
|
||||
#define UBX_H
|
||||
|
||||
#define GPS_FIX_VALID(gps_mode) (gps_mode == 3)
|
||||
|
||||
#endif /* UBX_H */
|
||||
@@ -1,58 +0,0 @@
|
||||
/* Generated from conf/ubx.xml */
|
||||
/* Please DO NOT EDIT */
|
||||
|
||||
#define UBX_SYNC1 0xB5
|
||||
#define UBX_SYNC2 0x62
|
||||
|
||||
#define UBX_NAV_ID 0x01
|
||||
|
||||
#define UBX_NAV_POSLLH_ID 0x02
|
||||
#define UBX_NAV_POSLLH_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
|
||||
#define UBX_NAV_POSLLH_LON(_ubx_payload) (*((int32_t*)(_ubx_payload+4)))
|
||||
#define UBX_NAV_POSLLH_LAT(_ubx_payload) (*((int32_t*)(_ubx_payload+8)))
|
||||
#define UBX_NAV_POSLLH_HEIGHT(_ubx_payload) (*((int32_t*)(_ubx_payload+12)))
|
||||
#define UBX_NAV_POSLLH_HMSL(_ubx_payload) (*((int32_t*)(_ubx_payload+16)))
|
||||
#define UBX_NAV_POSLLH_Hacc(_ubx_payload) (*((uint32_t*)(_ubx_payload+20)))
|
||||
#define UBX_NAV_POSLLH_Vacc(_ubx_payload) (*((uint32_t*)(_ubx_payload+24)))
|
||||
|
||||
#define UBX_NAV_POSUTM_ID 0x08
|
||||
#define UBX_NAV_POSUTM_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
|
||||
#define UBX_NAV_POSUTM_EAST(_ubx_payload) (*((int32_t*)(_ubx_payload+4)))
|
||||
#define UBX_NAV_POSUTM_NORTH(_ubx_payload) (*((int32_t*)(_ubx_payload+8)))
|
||||
#define UBX_NAV_POSUTM_ALT(_ubx_payload) (*((int32_t*)(_ubx_payload+12)))
|
||||
#define UBX_NAV_POSUTM_ZONE(_ubx_payload) (*((int8_t*)(_ubx_payload+16)))
|
||||
#define UBX_NAV_POSUTM_HEM(_ubx_payload) (*((int8_t*)(_ubx_payload+17)))
|
||||
|
||||
#define UBX_NAV_STATUS_ID 0x03
|
||||
#define UBX_NAV_STATUS_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
|
||||
#define UBX_NAV_STATUS_GPSfix(_ubx_payload) (*((uint8_t*)(_ubx_payload+4)))
|
||||
#define UBX_NAV_STATUS_Flags(_ubx_payload) (*((uint8_t*)(_ubx_payload+5)))
|
||||
#define UBX_NAV_STATUS_DiffS(_ubx_payload) (*((uint8_t*)(_ubx_payload+6)))
|
||||
#define UBX_NAV_STATUS_res(_ubx_payload) (*((uint8_t*)(_ubx_payload+7)))
|
||||
#define UBX_NAV_STATUS_TTFF(_ubx_payload) (*((uint32_t*)(_ubx_payload+8)))
|
||||
#define UBX_NAV_STATUS_MSSS(_ubx_payload) (*((uint32_t*)(_ubx_payload+12)))
|
||||
|
||||
#define UBX_NAV_VELNED_ID 0x12
|
||||
#define UBX_NAV_VELNED_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
|
||||
#define UBX_NAV_VELNED_VEL_N(_ubx_payload) (*((int32_t*)(_ubx_payload+4)))
|
||||
#define UBX_NAV_VELNED_VEL_E(_ubx_payload) (*((int32_t*)(_ubx_payload+8)))
|
||||
#define UBX_NAV_VELNED_VEL_D(_ubx_payload) (*((int32_t*)(_ubx_payload+12)))
|
||||
#define UBX_NAV_VELNED_Speed(_ubx_payload) (*((uint32_t*)(_ubx_payload+16)))
|
||||
#define UBX_NAV_VELNED_GSpeed(_ubx_payload) (*((uint32_t*)(_ubx_payload+20)))
|
||||
#define UBX_NAV_VELNED_Heading(_ubx_payload) (*((int32_t*)(_ubx_payload+24)))
|
||||
#define UBX_NAV_VELNED_SAcc(_ubx_payload) (*((uint32_t*)(_ubx_payload+28)))
|
||||
#define UBX_NAV_VELNED_CAcc(_ubx_payload) (*((uint32_t*)(_ubx_payload+32)))
|
||||
|
||||
#define UBX_NAV_SVINFO_ID 0x30
|
||||
#define UBX_NAV_SVINFO_ITOW(_ubx_payload) (*((uint32_t*)(_ubx_payload+0)))
|
||||
#define UBX_NAV_SVINFO_NCH(_ubx_payload) (*((uint8_t*)(_ubx_payload+4)))
|
||||
#define UBX_NAV_SVINFO_RES1(_ubx_payload) (*((uint8_t*)(_ubx_payload+5)))
|
||||
#define UBX_NAV_SVINFO_RES2(_ubx_payload) (*((uint16_t*)(_ubx_payload+6)))
|
||||
#define UBX_NAV_SVINFO_chn(_ubx_payload,_ubx_block) (*((uint8_t*)(_ubx_payload+8+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_SVID(_ubx_payload,_ubx_block) (*((uint8_t*)(_ubx_payload+9+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_Flags(_ubx_payload,_ubx_block) (*((uint8_t*)(_ubx_payload+10+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_QI(_ubx_payload,_ubx_block) (*((int8_t*)(_ubx_payload+11+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_CNO(_ubx_payload,_ubx_block) (*((uint8_t*)(_ubx_payload+12+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_Elev(_ubx_payload,_ubx_block) (*((int8_t*)(_ubx_payload+13+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_Azim(_ubx_payload,_ubx_block) (*((int16_t*)(_ubx_payload+14+12*_ubx_block)))
|
||||
#define UBX_NAV_SVINFO_PRRes(_ubx_payload,_ubx_block) (*((int32_t*)(_ubx_payload+16+12*_ubx_block)))
|
||||
@@ -22,6 +22,10 @@
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file modem_hw.c
|
||||
* \brief Handling of a CMX 469 on avr mega128 architecture
|
||||
*/
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
@@ -42,6 +46,7 @@ uint8_t tx_byte_idx;
|
||||
uint8_t ck_a, ck_b;
|
||||
|
||||
void modem_init( void ) {
|
||||
/* setup TIMER0 to generate a 4MHz clock */
|
||||
MODEM_OSC_DDR |= _BV(MODEM_OSC);
|
||||
OCR0 = 1; /* 4MhZ */
|
||||
TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
|
||||
|
||||
@@ -1,10 +1,7 @@
|
||||
/*
|
||||
* Paparazzi mcu0 timer functions
|
||||
*
|
||||
* Copied from autopilot (autopilot.sf.net) thanx alot Trammell
|
||||
* Paparazzi $Id$
|
||||
*
|
||||
* Copyright (C) 2002 Trammell Hudson <hudson@rotomotion.com>
|
||||
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
|
||||
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
@@ -21,71 +18,53 @@
|
||||
* 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.
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef TIMER_H
|
||||
#define TIMER_H
|
||||
/*
|
||||
*\brief AVR timer functions
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef SYS_TIME_HW_H
|
||||
#define SYS_TIME_HW_H
|
||||
|
||||
#include "std.h"
|
||||
#include <avr/signal.h>
|
||||
#include <avr/io.h>
|
||||
|
||||
|
||||
/*
|
||||
* Enable Timer1 (16-bit) running at Clk/1 for the global system
|
||||
* clock. This will be used for computing the servo pulse widths,
|
||||
* PPM decoding, etc.
|
||||
* clock.
|
||||
*
|
||||
* Low frequency periodic tasks will be signaled by timer 0
|
||||
* running at Clk/1024. For 16 Mhz clock, this will be every
|
||||
* 262144 microseconds, or 61 Hz.
|
||||
*/
|
||||
static inline void timer_init( void ) {
|
||||
static inline void sys_time_init( void ) {
|
||||
|
||||
/* Timer0: Modem clock is started in modem.h in ctc mode*/
|
||||
|
||||
/* Timer1 @ Clk/1: System clock */
|
||||
TCCR1A = 0x00;
|
||||
TCCR1B = 0x01;
|
||||
TCCR1A = 0x00;
|
||||
TCCR1B = 0x01;
|
||||
|
||||
/* Timer2 @ Clk/1024: Periodic clock */
|
||||
TCCR2 = 0x05;
|
||||
TCCR2 = 0x05;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Retrieve the current time from the global clock in Timer1,
|
||||
* disabling interrupts to avoid stomping on the TEMP register.
|
||||
* If interrupts are already off, the non_atomic form can be used.
|
||||
*/
|
||||
static inline uint16_t
|
||||
timer_now( void )
|
||||
{
|
||||
return TCNT1;
|
||||
}
|
||||
|
||||
static inline uint16_t
|
||||
timer_now_non_atomic( void )
|
||||
{
|
||||
return TCNT1L;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Periodic tasks occur when Timer2 overflows. Check and unset
|
||||
* the overflow bit. We cycle through four possible periodic states,
|
||||
* so each state occurs every 30 Hz.
|
||||
* the overflow bit.
|
||||
*
|
||||
*/
|
||||
static inline bool_t
|
||||
timer_periodic( void )
|
||||
{
|
||||
static inline bool_t sys_time_periodic( void ) {
|
||||
if( !bit_is_set( TIFR, TOV2 ) )
|
||||
return FALSE;
|
||||
|
||||
TIFR = 1 << TOV2;
|
||||
return TRUE;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* SYS_TIME_HW_H */
|
||||
@@ -61,7 +61,6 @@ void estimator_update_state_gps( void ) {
|
||||
*/
|
||||
void use_gps_pos( void ) {
|
||||
DOWNLINK_SEND_GPS(&gps_mode, &gps_utm_east, &gps_utm_north, &gps_course, &gps_alt, &gps_gspeed,&gps_climb, &gps_itow, &gps_utm_zone);
|
||||
|
||||
if (GPS_FIX_VALID(gps_mode)) {
|
||||
last_gps_msg_t = cputime;
|
||||
estimator_update_state_gps();
|
||||
|
||||
@@ -103,7 +103,7 @@ void gps_init( void ) {
|
||||
#define NAV_DYN_AIRBORNE_4G 7
|
||||
|
||||
void gps_configure ( void ) {
|
||||
static uint8_t gps_config_status = 0;
|
||||
static uint8_t gps_config_status = 1;
|
||||
switch (gps_config_status) {
|
||||
case 0:
|
||||
UbxSend_CFG_PRT(0x01, 0x00, 0x0000, 0x000080C0, 0x00009600, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0000, 0x0000);
|
||||
@@ -130,8 +130,6 @@ void gps_configure ( void ) {
|
||||
case 7:
|
||||
UbxSend_CFG_RATE(0x00FA, 0x0001, 0x0000);
|
||||
break;
|
||||
|
||||
|
||||
}
|
||||
gps_config_status++;
|
||||
}
|
||||
|
||||
@@ -341,6 +341,7 @@ static void navigation_task( void ) {
|
||||
energy += (float)desired_gaz * (MILLIAMP_PER_PERCENT / MAX_PPRZ * 0.25);
|
||||
}
|
||||
|
||||
|
||||
#define PERIOD (256. * 1024. / CLOCK / 1000000.)
|
||||
|
||||
/** Maximum time allowed for low battery level */
|
||||
|
||||
@@ -26,7 +26,9 @@
|
||||
|
||||
#include "main_ap.h"
|
||||
#include "int.h"
|
||||
#include "timer_ap.h"
|
||||
//#include "timer_ap.h"
|
||||
#include "low_level_hw.h"
|
||||
#include "sys_time_hw.h"
|
||||
#include "adc_ap.h"
|
||||
#include "autopilot.h"
|
||||
#include "gps.h"
|
||||
@@ -56,7 +58,8 @@
|
||||
|
||||
void init_ap( void ) {
|
||||
#ifndef FBW /** Dual mcus : init done in main_fbw */
|
||||
timer_init();
|
||||
low_level_init();
|
||||
sys_time_init();
|
||||
#ifdef ADC
|
||||
adc_init();
|
||||
#endif
|
||||
@@ -102,7 +105,7 @@ void init_ap( void ) {
|
||||
/** - wait 0.5s (for modem init ?) */
|
||||
uint8_t init_cpt = 30;
|
||||
while (init_cpt) {
|
||||
if (timer_periodic())
|
||||
if (sys_time_periodic())
|
||||
init_cpt--;
|
||||
}
|
||||
#ifdef WAVECARD
|
||||
|
||||
@@ -32,9 +32,6 @@ extern void uart0_init_tx(void);
|
||||
extern void uart0_init_rx(void);
|
||||
//extern void uart1_init(void);
|
||||
|
||||
extern void uart0_print_string(const uint8_t*);
|
||||
extern void uart0_print_hex(const uint8_t);
|
||||
extern void uart0_print_hex16(const uint16_t);
|
||||
extern void uart0_transmit(const uint8_t);
|
||||
extern void uart1_transmit(const uint8_t);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user