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[actuators] first test with 2 drivers

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- actuators are now in signed int16 (need to check size again) (int32 ?)
- servo_switch module replaces booz_drop
- booz_pwm is now handled by actuators_direct
This commit is contained in:
Gautier Hattenberger
2012-10-15 18:17:43 +02:00
parent 184b41633d
commit 38d3e71aca
15 changed files with 33 additions and 277 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+9 -16
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@@ -1,11 +1,8 @@
<airframe name="BOOZ2_G1">
<modules main_freq="512">
<!--load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
<load name="booz_cam.xml"/-->
<load name="servo_switch.xml"/>
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
<!--load name="adc_generic_booz.xml"/-->
<!--load name="sys_mon.xml"/-->
@@ -54,8 +51,8 @@
</servos>
<servos driver="Pwm">
<servo name="CAM" no="0" min="1000" neutral="1500" max="2000"/>
<servo name="DROP" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="CAM" no="5" min="1000" neutral="1500" max="2000"/>
<servo name="SWITCH" no="0" min="2120" neutral="1500" max="1060"/>
</servos>
<commands>
@@ -63,13 +60,15 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="SWITCH" failsafe_value="0"/>
</commands>
<command_laws>
<set servo="PITCH" value="@PITCH"/>
<set servo="ROLL" value="@ROLL"/>
<set servo="YAW" value="@YAW"/>
<set servo="PITCH" value="@PITCH - TRIM_PITCH"/>
<set servo="ROLL" value="@ROLL - TRIM_ROLL"/>
<set servo="YAW" value="@YAW - TRIM_YAW"/>
<set servo="THRUST" value="@THRUST"/>
<set servo="SWITCH" value="@SWITCH"/>
</command_laws>
<section name="IMU" prefix="IMU_">
@@ -230,12 +229,6 @@
<define name="SetPwm(_v)" value="BoozSetPwm1Value(_v)"/>
</section>
<section name="DROP">
<define name="DROP_SERVO_CLOSED" value="2120"/>
<define name="DROP_SERVO_OPEN" value="1060"/>
<!--define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/-->
</section>
<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
conf/messages.xml
+1 -1
View File
@@ -737,7 +737,7 @@
</message>
<message name="ACTUATORS" id="105">
<field name="values" type="uint16[]" unit="none"/>
<field name="values" type="int16[]" unit="none"/>
</message>
<message name="BETH" id="106">
conf/modules/booz_drop.xml
-24
View File
@@ -1,24 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!--
DROP_SERVO_CLOSED and DROP_SERVO_OPEN can be redefined in airframe file
units: PWM width in us
-->
<module name="drop">
<doc>
<description>Drop control for BOOZ board</description>
<define name="DROP_SERVO_OPEN" value="pwm" description="PWM value when servo is in open position in us (optional)"/>
<define name="DROP_SERVO_CLOSED" value="pwm" description="PWM value when servo is in closed position in us (optional)"/>
</doc>
<!-- depend require="booz_pwm" -->
<header>
<file name="booz_drop.h"/>
</header>
<init fun="booz_drop_init()"/>
<periodic fun="booz_drop_periodic()" freq="10."/>
<makefile>
<define name="USE_DROP"/>
<file name="booz_drop.c"/>
</makefile>
</module>
conf/modules/booz_pwm.xml
-22
View File
@@ -1,22 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<!--
Allow to use PWM output on booz boards
PWM0 is activated by default (PWM5 on lpc21 output)
PWM1 can be activated with USE_PWM1 flag (PWM2 on lpc21 output)
-->
<module name="booz_pwm" dir="core">
<doc>
<description>Allow to use PWM output on booz boards, PWM0 is activated by default (PWM5 on lpc21 output)</description>
<define name="USE_PWM1" description="flag to activate with USE_PWM1 flag (PWM2 on lpc21 output)"/>
</doc>
<header>
<file name="booz_pwm_arch.h"/>
</header>
<init fun="booz_pwm_init_arch()"/>
<makefile target="ap">
<file_arch name="booz_pwm_arch.c"/>
</makefile>
</module>
conf/modules/servo_switch.xml
+8 -4
View File
@@ -5,7 +5,7 @@
<description>Servo switch</description>
<define name="SERVO_SWITCH_ON_VALUE" value="pwm" description="servo value in usec"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="pwm" description="servo value in usec"/>
<define name="SERVO_SWITCH_SERVO" value="nb" description="Id of the servo to use"/>
<define name="SERVO_SWITCH_SERVO" value="nb" description="Id of the switch command (default: COMMAND_SWITCH)"/>
</doc>
<header>
<file name="servo_switch.h"/>
@@ -17,10 +17,14 @@
<!-- these parameters should be set for that module in the airframe file unless you want the defaults
Servo value in usec
<load name="servo_switch.xml">
<define name="SERVO_SWITCH_ON_VALUE" value="2000"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="1000"/>
<define name="SERVO_SWITCH_SERVO" value="SERVO_SWITCH"/>
<define name="SERVO_SWITCH_ON_VALUE" value="MAX_PPRZ"/>
<define name="SERVO_SWITCH_OFF_VALUE" value="-MAX_PPRZ"/>
<define name="SERVO_SWITCH_SERVO" value="COMMAND_SWITCH"/>
</load>
The SWITCH servo, the SWITCH command and the command_law (usually <set servo="SWITCH" value="@SWITCH"/>
must be defined correctly
The min and max positions of the servo are defined in the servo section
-->
<file name="servo_switch.c"/>
sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c
-60
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@@ -1,60 +0,0 @@
/*
* $Id: $
*
* Copyright (C) 2011 ENAC
*
* 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 "modules/core/booz_pwm_arch.h"
#define PWM_PERIOD CPU_TICKS_OF_USEC(20000)
#define PWM_DUTY CPU_TICKS_OF_USEC(1500)
void booz_pwm_init_arch( void ) {
/* start PWM5 */
/* select P0.21 as PWM5 */
PWM0_PINSEL |= PWM0_PINSEL_VAL << PWM0_PINSEL_BIT;
/* select pwm period */
PWMMR0 = PWM_PERIOD;
/* select pwm value to 50% at init (1500 us) */
PWMMR5 = PWM_DUTY;
/* commit values */
PWMLER = PWMLER_LATCH0 | PWMLER_LATCH5;
/* prescle timer to match TIMER 0 (15MHz) */
PWMPR = T0_PCLK_DIV - 1;
/* enable counter and pwm mode */
PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
/* enable PWM5 */
PWMPCR = PWMPCR_ENA5;
#ifdef USE_PWM1
/* start PWM2 */
PWM1_PINSEL |= PWM1_PINSEL_VAL << PWM1_PINSEL_BIT;
/* select pwm value to 50% at init (1500 us) */
PWMMR2 = PWM_DUTY;
/* commit values */
PWMLER = PWMLER_LATCH2;
/* enable PWM2 */
PWMPCR |= PWMPCR_ENA2;
#endif
}
sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h
-46
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@@ -1,46 +0,0 @@
/*
* $Id: $
*
* Copyright (C) 2011 ENAC
*
* 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.
*
*/
#ifndef BOOZ_PWM_ARCH_H
#define BOOZ_PWM_ARCH_H
#include "std.h"
#include "mcu_periph/sys_time.h"
extern void booz_pwm_init_arch(void);
// Default PWM is PWM0
#define BoozSetPwmValue(_v) BoozSetPwm0Value(_v)
#define BoozSetPwm0Value(_v) { \
PWMMR5 = CPU_TICKS_OF_USEC(_v); \
PWMLER = PWMLER_LATCH5; \
}
#define BoozSetPwm1Value(_v) { \
PWMMR2 = CPU_TICKS_OF_USEC(_v); \
PWMLER = PWMLER_LATCH2; \
}
#endif /* BOOZ_PWM_ARCH_H */
sw/airborne/firmwares/rotorcraft/telemetry.h
+6
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@@ -136,6 +136,12 @@
#define PERIODIC_SEND_PPM(_trans, _dev) {}
#endif
#ifdef ACTUATORS
#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, ACTUATORS_NB, actuators)
#else
#define PERIODIC_SEND_ACTUATORS(_trans, _dev) {}
#endif
#define PERIODIC_SEND_IMU_GYRO_SCALED(_trans, _dev) { \
DOWNLINK_SEND_IMU_GYRO_SCALED(_trans, _dev, \
&imu.gyro.p, \
sw/airborne/modules/drop/booz_drop.c
-54
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@@ -1,54 +0,0 @@
/*
* $Id: $
*
* Copyright (C) 2009 Flixr
*
* 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 "modules/drop/booz_drop.h"
#include "modules/core/booz_pwm_arch.h"
#include "generated/airframe.h"
bool_t booz_drop_ball;
int16_t booz_drop_servo;
#ifndef DROP_SERVO_OPEN
#define DROP_SERVO_OPEN 1700
#endif
#ifndef DROP_SERVO_CLOSED
#define DROP_SERVO_CLOSED 900
#endif
// PWM definition
#ifndef BoozDropPwm
#define BoozDropPwm(_v) BoozSetPwmValue(_v)
#endif
void booz_drop_init(void) {
booz_drop_ball = FALSE;
booz_drop_periodic();
}
void booz_drop_periodic(void) {
if (booz_drop_ball == TRUE)
booz_drop_servo = DROP_SERVO_OPEN;
else
booz_drop_servo = DROP_SERVO_CLOSED;
BoozDropPwm(booz_drop_servo);
}
sw/airborne/modules/drop/booz_drop.h
-38
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@@ -1,38 +0,0 @@
/*
* $Id: $
*
* Copyright (C) 2009 Flixr
*
* 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.
*/
#ifndef BOOZ_DROP_H
#define BOOZ_DROP_H
#include "std.h"
extern bool_t booz_drop_ball;
extern void booz_drop_init(void);
extern void booz_drop_periodic(void);
#define NavDropNow() ({ booz_drop_ball = TRUE; FALSE; })
#define NavDropClose() ({ booz_drop_ball = FALSE; FALSE; })
#endif /* BOOZ_DROP_H */
sw/airborne/modules/servo_switch/servo_switch.c
+3 -6
View File
@@ -1,6 +1,4 @@
/*
* $Id: $
*
* Copyright (C) 2010 Flixr
*
* This file is part of paparazzi.
@@ -23,10 +21,9 @@
#include "servo_switch/servo_switch.h"
#include "generated/airframe.h"
#include "actuators.h"
#include "firmwares/rotorcraft/commands.h"
bool_t servo_switch_on;
int16_t servo_switch_value;
void servo_switch_init(void) {
servo_switch_on = FALSE;
@@ -35,7 +32,7 @@ void servo_switch_init(void) {
void servo_switch_periodic(void) {
if (servo_switch_on == TRUE)
SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_ON_VALUE)
commands[SERVO_SWITCH_SERVO] = SERVO_SWITCH_ON_VALUE;
else
SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_OFF_VALUE)
commands[SERVO_SWITCH_SERVO] = SERVO_SWITCH_OFF_VALUE;
}
sw/airborne/modules/servo_switch/servo_switch.h
+3 -3
View File
@@ -31,13 +31,13 @@ extern bool_t servo_switch_on;
extern int16_t servo_switch_value;
#ifndef SERVO_SWITCH_ON_VALUE
#define SERVO_SWITCH_ON_VALUE 2000
#define SERVO_SWITCH_ON_VALUE MAX_PPRZ
#endif
#ifndef SERVO_SWITCH_OFF_VALUE
#define SERVO_SWITCH_OFF_VALUE 1000
#define SERVO_SWITCH_OFF_VALUE -MAX_PPRZ
#endif
#ifndef SERVO_SWITCH_SERVO
#define SERVO_SWITCH_SERVO SERVO_SWITCH
#define SERVO_SWITCH_SERVO COMMAND_SWITCH
#endif
sw/airborne/subsystems/actuators.c
+1 -1
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@@ -29,7 +29,7 @@
#if ACTUATORS_NB
uint16_t actuators[ACTUATORS_NB];
int16_t actuators[ACTUATORS_NB];
void actuators_init(void) {
sw/airborne/subsystems/actuators.h
+1 -1
View File
@@ -40,7 +40,7 @@
extern void actuators_init(void);
/** Temporary storage (for debugging purpose, downlinked via telemetry) */
extern uint16_t actuators[ACTUATORS_NB];
extern int16_t actuators[ACTUATORS_NB];
#endif /* ACTUATORS_NB */
sw/tools/gen_airframe.ml
+1 -1
View File
@@ -258,7 +258,7 @@ let rec parse_section = fun s ->
print_actuators_idx ();
printf "#define SetActuatorsFromCommands(values) { \\\n";
printf " uint32_t servo_value;\\\n";
printf " int32_t servo_value;\\\n";
printf " float command_value;\\\n";
List.iter parse_command_laws (Xml.children s);