Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 15:30:08 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

started adding some sim arch fils for aspirin, still needs some work

Browse Source
This commit is contained in:
Felix Ruess
2011-05-31 01:23:36 +02:00
parent 6f152afae2
commit 3ef5188a1b
5 changed files with 157 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/autopilot/subsystems/rotorcraft/imu_aspirin.makefile
+4
View File
@@ -60,3 +60,7 @@ imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
ap.CFLAGS += $(imu_CFLAGS)
ap.srcs += $(imu_srcs)
sim.CFLAGS += $(imu_CFLAGS)
sim.srcs += $(imu_srcs)
sw/airborne/arch/sim/peripherals/hmc5843_arch.c
+26
View File
@@ -0,0 +1,26 @@
/*
* Copyright (C) 2011 The Paparazzi Team
*
* 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 "peripherals/hmc5843.h"
void hmc5843_arch_init( void ) {}
void hmc5843_read( void ) {}
sw/airborne/arch/sim/peripherals/hmc5843_arch.h
+32
View File
@@ -0,0 +1,32 @@
/*
* Copyright (C) 2011 The Paparazzi Team
*
* 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.
*/
/*
*
* simulator plug for hmc5843
*
*/
#ifndef HMC5843_HW_H
#define HMC5843_HW_H
#endif /* HMC5843_HW_H */
sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.c
+58
View File
@@ -0,0 +1,58 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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 "subsystems/imu.h"
#include "generated/airframe.h"
void imu_aspirin_arch_init(void) {
}
void imu_periodic(void) {
}
#include "nps_sensors.h"
void imu_feed_gyro_accel(void) {
/* do something similar to this, fill imu_aspirin.i2c_trans_gyro and
* imu_aspirin.accel_rx_buf
*/
max1168_values[IMU_GYRO_P_CHAN] = sensors.gyro.value.x;
max1168_values[IMU_GYRO_Q_CHAN] = sensors.gyro.value.y;
max1168_values[IMU_GYRO_R_CHAN] = sensors.gyro.value.z;
max1168_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
max1168_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
max1168_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
max1168_status = STA_MAX1168_DATA_AVAILABLE;
}
void imu_feed_mag(void) {
hmc5843.data.value[IMU_MAG_X_CHAN] = sensors.mag.value.x;
hmc5843.data.value[IMU_MAG_Y_CHAN] = sensors.mag.value.y;
hmc5843.data.value[IMU_MAG_Z_CHAN] = sensors.mag.value.z;
hmc5843.data_available = TRUE;
}
sw/airborne/arch/sim/subsystems/imu/imu_aspirin_arch.h
+37
View File
@@ -0,0 +1,37 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
/*
*
* simulator plug for the booz2 v1 imu arch dependant functions
*
*/
#ifndef IMU_ASPIRIN_ARCH_H
#define IMU_ASPIRIN_ARCH_H
extern void imu_feed_gyro_accel(void);
extern void imu_feed_mag(void);
#endif /* IMU_ASPIRIN_ARCH_H */