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This commit is contained in:
Antoine Drouin
2009-03-25 11:11:05 +00:00
parent ae841e7273
commit 3950c68b0c
17 changed files with 177 additions and 36 deletions
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conf/airframes/booz2_a1.xml
+1
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@@ -160,6 +160,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
sim.CFLAGS += -DBSM_PARAMS=\"booz_sensors_model_params_booz2_a1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
ap.CFLAGS += -DUART1_BAUD=B57600
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
conf/airframes/motor_bench.xml
+41 -1
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@@ -34,8 +34,9 @@ main.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
main.srcs += $(MB)/mb_servo.c
main.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=3
main.CFLAGS += -DUSE_TWI_CONTROLLER
main.CFLAGS += -DI2C_SCLL=100 -DI2C_SCLH=100
#main.CFLAGS += -DI2C_SCLL=100 -DI2C_SCLH=100
#main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller.c
main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_asctech.c
#main.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_mkk.c
@@ -54,7 +55,46 @@ main.srcs += $(MB)/mb_modes.c
main.srcs += $(MB)/mb_static.c
main.srcs += $(MB)/mb_mode_fixed_rpm.c
foo.ARCHDIR = $(ARCHI)
foo.ARCH = arm7tdmi
foo.TARGET = mb
foo.TARGETDIR = mb
foo.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
foo.srcs = $(MB)/main_foo.c
foo.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
foo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)'
foo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
foo.CFLAGS += -DLED
foo.srcs += $(SRC_ARCH)/armVIC.c
foo.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=9
foo.CFLAGS += -DUSE_TWI_CONTROLLER
foo.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_asctech.c
bar.ARCHDIR = $(ARCHI)
bar.ARCH = arm7tdmi
bar.TARGET = mb
bar.TARGETDIR = mb
bar.CFLAGS += -DCONFIG=\"conf_motor_bench.h\" -I$(MB)
bar.srcs = $(MB)/main_bar.c
bar.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
bar.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)'
bar.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
bar.CFLAGS += -DLED
bar.srcs += $(SRC_ARCH)/armVIC.c
bar.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=9
bar.CFLAGS += -DUSE_TWI_CONTROLLER
bar.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_mkk.c
</makefile>
conf/autopilot/booz2_autopilot.makefile
+2 -1
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@@ -44,7 +44,8 @@ ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
ap.CFLAGS += -DLED
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
# -DUART1_BAUD=B57600
ap.CFLAGS += -DUSE_UART1 -DUART1_VIC_SLOT=6
ap.srcs += $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
conf/autopilot/booz2_test_progs.makefile
+9 -8
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@@ -142,7 +142,8 @@ test_usb.TARGETDIR = test_usb
test_usb.CFLAGS += -DCONFIG=\"booz2_board_usb.h\" $(BOOZ_CFLAGS)
test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c
test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1
test_usb.CFLAGS += -DLED
test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -312,7 +313,7 @@ test_rc.TARGET = test_rc
test_rc.TARGETDIR = test_rc
test_rc.CFLAGS += -DCONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_rc.srcs += $(BOOZ_PRIV_TEST)/booz2_test_rc.c
test_rc.srcs += $(SRC_BOOZ_TEST)/booz2_test_rc.c
test_rc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=4
test_rc.CFLAGS += -DLED
test_rc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -360,8 +361,8 @@ test_amc.ARCH = arm7tdmi
test_amc.TARGET = test_amc
test_amc.TARGETDIR = test_amc
test_amc.CFLAGS += -DCONFIG=$(BOARD_CFG) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) -I$(BOOZ_ARCH)
test_amc.srcs += $(BOOZ_PRIV_TEST)/booz2_test_amc.c
test_amc.CFLAGS += -DCONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_amc.srcs += $(SRC_BOOZ_TEST)/booz2_test_amc.c
test_amc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_amc.CFLAGS += -DLED
test_amc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -372,15 +373,15 @@ test_amc.srcs += $(SRC_ARCH)/uart_hw.c
test_amc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_amc.srcs += downlink.c pprz_transport.c
test_amc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
test_amc.srcs += $(BOOZ_PRIV)/booz2_datalink.c
test_amc.srcs += $(SRC_BOOZ)/booz2_datalink.c
test_amc.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
test_amc.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
test_amc.srcs += $(SRC_BOOZ_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
test_amc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
test_amc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_amc.CFLAGS += -DFLOAT_T=float
test_amc.CFLAGS += -DFLOAT_T=float
#-DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
#
# test 24 bits baro
sw/airborne/booz/booz2_filter_attitude_cmpl_euler.c
-2
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@@ -170,8 +170,6 @@ void booz_ahrs_propagate(void) {
INT32_RMAT_COMP_INV(booz_ahrs.ltp_to_body_rmat, booz_ahrs.ltp_to_imu_rmat, booz_imu.body_to_imu_rmat);
/* compute LTP to BODY eulers */
INT32_EULERS_OF_RMAT(booz_ahrs.ltp_to_body_euler, booz_ahrs.ltp_to_body_rmat);
// booz_ahrs.ltp_to_body_euler.phi = booz_ahrs.ltp_to_imu_euler.phi - IMU_BODY_TO_IMU_PHI;
//booz_ahrs.ltp_to_body_euler.theta = booz_ahrs.ltp_to_imu_euler.theta - IMU_BODY_TO_IMU_THETA;
/* Do we compute actual body rate ? */
RATES_COPY(booz_ahrs.body_rate, booz_ahrs.imu_rate);
sw/airborne/booz/test/booz2_test_rc.c
+55
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@@ -0,0 +1,55 @@
#include <inttypes.h>
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#include "uart.h"
#include "messages.h"
#include "downlink.h"
#include "interrupt_hw.h"
#include "radio_control.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static void on_rc_event(void);
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
uart1_init_tx();
ppm_init();
radio_control_init();
int_enable();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(100, {LED_TOGGLE(3); DOWNLINK_SEND_BOOT(&cpu_time_sec);});
RunOnceEvery(10, { radio_control_periodic_task(); });
}
static inline void main_event_task( void ) {
RadioControlEventCheckAndHandle(on_rc_event);
}
static void on_rc_event(void) {
}
sw/airborne/booz/test/booz2_test_usb.c
+1 -1
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@@ -45,7 +45,7 @@ static inline void main_init( void ) {
}
static inline void main_periodic_task( void ) {
RunOnceEvery(100, {
RunOnceEvery(10, {
LED_TOGGLE(1);
DOWNLINK_SEND_ALIVE(16, MD5SUM);
});
sw/airborne/fms/fms_ap_link.c
+3 -1
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@@ -1,6 +1,8 @@
#include "fms_ap_link.h"
#include <stdlib.h>
#include "fms_debug.h"
#include "fms_serial_port.h"
@@ -33,7 +35,7 @@ void ap_link_free(struct FmsApLink* me) {
void ap_link_parse(struct FmsApLink* me, int nb_bytes) {
printf("got %d bytes\n", nb_bytes);
TRACE(TRACE_DEBUG, "ap link parsing %d bytes \n", nb_bytes);
}
sw/airborne/fms/fms_ap_link.h
+2 -1
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@@ -3,7 +3,8 @@
#include "fms_serial_port.h"
#define AP_LINK_BUF_SIZE 4096
//#define AP_LINK_BUF_SIZE 4096
#define AP_LINK_BUF_SIZE 256
struct FmsApLink {
struct FmsSerialPort* sp;
sw/airborne/fms/fms_gs_link.c
+12 -1
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@@ -1,8 +1,9 @@
#include "fms_gs_link.h"
#include <stdlib.h>
#include "fms_debug.h"
struct FmsGsLink* gs_link_new(const char* str_ip, const int port) {
struct FmsGsLink* me = malloc(sizeof(struct FmsGsLink));
@@ -11,3 +12,13 @@ struct FmsGsLink* gs_link_new(const char* str_ip, const int port) {
}
int gs_link_write(struct FmsGsLink* me, char* buf, int len) {
TRACE(TRACE_DEBUG, "gs_link writing %d bytes to network\n", len);
return network_write(me->network, buf, len);
}
sw/airborne/fms/fms_gs_link.h
+1
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@@ -9,6 +9,7 @@ struct FmsGsLink {
extern struct FmsGsLink* gs_link_new(const char* str_ip, const int port);
extern int gs_link_write(struct FmsGsLink* me, char* buf, int len);
#endif /* FMS_GS_LINK_H */
sw/airborne/fms/fms_main.c
+23 -15
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@@ -1,16 +1,22 @@
// nc -l -u -p 2442 > /tmp/test123
#include <glib.h>
#include <stdio.h>
#define AP_DEVICE "/dev/ttyACM0"
#define GS_IP "192.168.1.8"
#define GS_IP "10.31.4.19"
#define GS_PORT 2442
#include "fms_debug.h"
#include "fms_ap_link.h"
#include "fms_gs_link.h"
static struct FmsApLink* ap_link;
static struct FmsGsLink* gs_link;
static gboolean on_ap_link_data_received(GIOChannel *source,
GIOCondition condition,
gpointer data);
@@ -23,18 +29,18 @@ static gboolean on_gs_link_data_received(GIOChannel *source,
static gboolean on_ap_link_data_received(GIOChannel *source,
GIOCondition condition,
gpointer data) {
struct FmsApLink* ap_link = (struct FmsApLink*)data;
gsize bytes_read;
GError* _err = NULL;
GIOStatus st = g_io_channel_read_chars(source, ap_link->buf, AP_LINK_BUF_SIZE, &bytes_read, &_err);
printf("in on_ap_link_data_received %d %d\n", st, _err);
if (_err != NULL) {
fprintf (stderr, "error reading serial: %s\n", _err->message);
g_error_free (_err);
if (!_err) {
if (st == G_IO_STATUS_NORMAL) {
ap_link_parse(ap_link, bytes_read);
gs_link_write(gs_link, ap_link->buf, bytes_read);
}
}
if (st == G_IO_STATUS_NORMAL) {
ap_link_parse(ap_link, bytes_read);
else {
TRACE(TRACE_ERROR,"error reading serial: %s\n", _err->message);
g_error_free (_err);
}
return TRUE;
}
@@ -48,8 +54,6 @@ static gboolean on_gs_link_data_received(GIOChannel *source,
int main(int argc, char** argv) {
struct FmsApLink* ap_link;
struct FmsGsLink* gs_link;
ap_link = ap_link_new(AP_DEVICE);
if (!ap_link) {
printf("error opening serial port %s\n", AP_DEVICE);
@@ -57,11 +61,15 @@ int main(int argc, char** argv) {
}
GIOChannel* ioc1 = g_io_channel_unix_new(ap_link->sp->fd);
g_io_channel_set_encoding(ioc1, NULL, NULL);
g_io_add_watch (ioc1, G_IO_IN, on_ap_link_data_received, ap_link);
g_io_add_watch (ioc1, G_IO_IN, on_ap_link_data_received, NULL);
// gs_link = gs_link_new(GS_IP, GS_PORT);
// GIOChannel* ioc2 = g_io_channel_unix_new(gs_link->network->fd);
// g_io_add_watch (ioc2, G_IO_IN, on_gs_link_data_received, ap_link);
gs_link = gs_link_new(GS_IP, GS_PORT);
if (!gs_link) {
printf("error opening network connection (%s:%d)\n", GS_IP, GS_PORT);
return -1;
}
GIOChannel* ioc2 = g_io_channel_unix_new(gs_link->network->socket);
g_io_add_watch (ioc2, G_IO_IN, on_gs_link_data_received, NULL);
GMainLoop* ml = g_main_loop_new(NULL, FALSE);
g_main_loop_run(ml);
sw/airborne/fms/fms_network.c
+15 -4
View File
@@ -1,11 +1,11 @@
#include "fms_network.h"
#include <netdb.h>
#include <netinet/in.h>
#include <stdlib.h>
#include "fms_debug.h"
struct FmsNetwork* network_new(const char* str_ip, const int port) {
struct FmsNetwork* me = malloc(sizeof(struct FmsNetwork));
@@ -13,8 +13,8 @@ struct FmsNetwork* network_new(const char* str_ip, const int port) {
// struct FgNetChannel* chan = malloc(sizeof (struct FgNetChannel));
int so_reuseaddr = 1;
struct protoent * pte = getprotobyname("UDP");
me->fd = socket( PF_INET, SOCK_DGRAM, pte->p_proto);
setsockopt(me->fd, SOL_SOCKET, SO_REUSEADDR,
me->socket = socket( PF_INET, SOCK_DGRAM, pte->p_proto);
setsockopt(me->socket, SOL_SOCKET, SO_REUSEADDR,
&so_reuseaddr, sizeof(so_reuseaddr));
me->addr.sin_family = PF_INET;
@@ -24,3 +24,14 @@ struct FmsNetwork* network_new(const char* str_ip, const int port) {
return me;
}
int network_write(struct FmsNetwork* me, char* buf, int len) {
ssize_t byte_written = sendto(me->socket, buf, len, 0,
(struct sockaddr*)&me->addr, sizeof(me->addr));
if ( byte_written != len) {
TRACE(TRACE_ERROR, "error sending to network %d\n", byte_written);
}
return len;
}
sw/airborne/fms/fms_network.h
+2 -1
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@@ -5,12 +5,13 @@
#include <arpa/inet.h>
struct FmsNetwork {
int fd;
int socket;
struct sockaddr_in addr;
};
extern struct FmsNetwork* network_new(const char* str_ip, const int port);
extern int network_write(struct FmsNetwork* me, char* buf, int len);
#endif /* FMS_NETWORK_H */
sw/airborne/motor_bench/mb_twi_controller.c
+3
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@@ -16,6 +16,9 @@ void mb_twi_controller_init(void) {
}
void mb_twi_controller_set( float throttle ) {
LED_TOGGLE(1);
if (mb_twi_i2c_done) {
mb_twi_command = throttle * MB_TWI_CONTROLLER_MAX_CMD;
i2c_buf[0] = (uint8_t)(mb_twi_command&0xFF);
sw/airborne/motor_bench/mb_twi_controller_asctech.c
+6
View File
@@ -31,6 +31,7 @@ void mb_twi_controller_init(void) {
}
void mb_twi_controller_set( float throttle ) {
if (mb_twi_i2c_done) {
if (mb_twi_controller_asctech_command) {
mb_twi_controller_asctech_command = FALSE;
@@ -41,6 +42,7 @@ void mb_twi_controller_set( float throttle ) {
i2c_buf[1] = mb_twi_controller_asctech_addr;
i2c_buf[2] = 0;
i2c_buf[3] = 231 + mb_twi_controller_asctech_addr;
// mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
@@ -49,6 +51,7 @@ void mb_twi_controller_set( float throttle ) {
i2c_buf[1] = mb_twi_controller_asctech_addr;
i2c_buf[2] = 0;
i2c_buf[3] = 234 + mb_twi_controller_asctech_addr;
// mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
@@ -59,12 +62,14 @@ void mb_twi_controller_set( float throttle ) {
i2c_buf[3] = 230 + mb_twi_controller_asctech_addr +
mb_twi_controller_asctech_new_addr;
mb_twi_controller_asctech_addr = mb_twi_controller_asctech_new_addr;
// mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
break;
}
}
else {
uint8_t pitch = 100;
uint8_t roll = 100;
uint8_t yaw = 100;
@@ -73,6 +78,7 @@ void mb_twi_controller_set( float throttle ) {
i2c_buf[1] = roll;
i2c_buf[2] = yaw;
i2c_buf[3] = power;
// mb_twi_i2c_done = FALSE;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
}
}
sw/simulator/Makefile
+1
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@@ -1,3 +1,4 @@
# Paparazzi simulator $Id$
#
# Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin