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Merge branch 'master' of https://github.com/paparazzi/paparazzi into ardrone_mag_freeze

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This commit is contained in:
Oswald Berthold
2014-07-03 10:47:04 +02:00
parent c536eb81f1 25c1b4e13a
commit 497682bb75
91 changed files with 6911 additions and 536 deletions
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conf/Makefile.ardrone2
+3 -3
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@@ -33,9 +33,9 @@ upload_extra:
# Program the device and start it.
load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
$(Q)$(DRONE) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
$(Q)$(DRONE) upload_paparazzi $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
$(Q)$(DRONE) status
$(Q)$(DRONE) --host=$(HOST) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
$(Q)$(DRONE) --host=$(HOST) upload_file_and_run $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
$(Q)$(DRONE) --host=$(HOST) status
# Program the device and start it.
conf/airframes/airframe.dtd
+2 -1
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@@ -121,4 +121,5 @@ target CDATA #IMPLIED>
<!ATTLIST load
name CDATA #REQUIRED
target CDATA #IMPLIED>
target CDATA #IMPLIED
dir CDATA #IMPLIED>
conf/airframes/examples/quadrotor_lisa_mx.xml
+3
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@@ -41,6 +41,7 @@
<firmware name="test_progs">
<target name="test_sys_time_timer" board="lisa_mx_2.0"/>
<target name="test_adc" board="lisa_mx_2.0"/>
<target name="test_telemetry" board="lisa_mx_2.0"/>
<target name="test_radio_control" board="lisa_mx_2.0">
<subsystem name="radio_control" type="spektrum">
@@ -50,6 +51,8 @@
</target>
</firmware>
<autopilot name="rotorcraft_autopilot.xml" freq="512"/>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
conf/airframes/examples/quadrotor_navstik.xml
+212
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@@ -0,0 +1,212 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Navstik http://wiki.paparazziuav.org/wiki/Navstik
* IMU: Navstik http://wiki.paparazziuav.org/wiki/Navstik
* Actuators: Asctec V2 http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sat http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="Quadrotor Navstik">
<firmware name="rotorcraft">
<target name="ap" board="navstik_1.0">
<subsystem name="radio_control" type="spektrum"/>
<configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2c3"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="ACTUATORS_START_DELAY" value="1"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="asctec_v2"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="imu" type="navstik"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="test_progs">
<configure name="MODEM_PORT" value="UART1"/>
<target name="test_sys_time_timer" board="navstik_1.0"/>
<target name="test_telemetry" board="navstik_1.0"/>
<target name="test_actuators_pwm_sin" board="navstik_1.0"/>
</firmware>
<modules>
<load name="gps_ubx_ucenter.xml"/>
<!-- load name="airspeed_ms45xx.xml"/ -->
</modules>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : NE (CW), SE (CCW), SW (CW), NW (CCW) -->
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="LEFT" value="motor_mixing.commands[2]"/>
<set servo="RIGHT" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="75"/>
<define name="THETA_DDGAIN" value="75"/>
<define name="PSI_DDGAIN" value="75"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="100"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/autopilot/rotorcraft_autopilot.xml
+24 -20
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@@ -1,17 +1,22 @@
<!DOCTYPE autopilot SYSTEM "autopilot.dtd">
<autopilot name="Booz Quadrotor Autopilot (Basic version)">
<autopilot name="Quadrotor Autopilot (Basic version)">
<control_block name="set_actuators">
<call fun="SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on)"/>
<call fun="SetActuatorsFromCommands(commands, autopilot_mode)"/>
</control_block>
<control_block name="attitude_loop">
<call fun="SetAttitudeFromRC(rc_values)"/>
<call fun="AddAttitudeFromFMS()" cond="fms.enabled"/>
<call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
<call fun="stabilization_attitude_run(autopilot_in_flight)"/>
</control_block>
<control_block name="altitude_loop">
<call fun="SetAltitudeFromFMS()" cond="fms.enabled"/>
<call fun="b2_gv_update_ref_from_z_sp(booz2_guidance_v_z_sp)"/>
<call fun="run_hover_loop(booz2_autopilot_in_flight)"/>
<call fun="gv_update_ref_from_z_sp(guidance_v_z_sp)"/>
<call fun="run_hover_loop(autopilot_in_flight)"/>
<call fun="SaturateThrottle(rc_values)"/>
</control_block>
@@ -19,28 +24,28 @@
<exception cond="too_far_from_home" deroute="HOME"/>
</exceptions>
<mode name="ATTITUDE" start="booz_stabilization_attitude_enter()">
<mode name="ATTITUDE" start="stabilization_attitude_enter()">
<select cond="$DEFAULT_MODE"/>
<select cond="RCMode0()"/>
<control freq="512">
<call_block name="attitude_loop"/>
<call fun="SetThrottleFromRC(rc_values)"/>
<call fun="actuators_set(booz2_autopilot_motors_on)"/>
<call_block name="set_actuators"/>
</control>
<exception cond="RCLost()" deroute="FAILSAFE"/>
</mode>
<mode name="VERTICAL" start="booz_stabilization_attitude_enter()|booz_guidance_v_enter()">
<mode name="VERTICAL" start="stabilization_attitude_enter()|guidance_v_enter()">
<select cond="RCMode1()"/>
<control freq="512">
<call_block name="attitude_loop"/>
<call_block name="altitude_loop"/>
<call fun="actuators_set(booz2_autopilot_motors_on)"/>
<call_block name="set_actuators"/>
</control>
<exception cond="RCLost()" deroute="FAILSAFE"/>
</mode>
<mode name="NAV" start="booz_guidance_h_nav_enter()|booz_guidance_v_enter()">
<mode name="NAV" start="guidance_h_nav_enter()|guidance_v_enter()">
<select cond="RCMode2()" exception="HOME"/>
<select cond="RCMode2() && DLModeNav()"/>
<control freq="32">
@@ -51,15 +56,14 @@
<call fun="GuidanceNavHorizontal()"/>
<call fun="GuidanceNavVertical()"/>
<call fun="AddAttitudeFromRC(rc_values)" cond="!RCLost()"/>
<call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
<call fun="stabilization_attitude_run(autopilot_in_flight)"/>
<call fun="SaturateThrottle(rc_values)" cond="!RCLost()"/>
<call fun="actuators_set(booz2_autopilot_motors_on)"/>
<call_block name="actuators_ap"/>
<call_block name="set_actuators"/>
</control>
<exception cond="GPSLost()" deroute="FAILSAFE"/>
</mode>
<mode name="HOME" start="booz_guidance_h_nav_enter()|booz_guidance_v_enter()">
<mode name="HOME" start="guidance_h_nav_enter()|guidance_v_enter()">
<control freq="32">
<call fun="nav_home()"/>
</control>
@@ -67,20 +71,20 @@
<call fun="SetCommandFromAP()"/>
<call fun="GuidanceNavHorizontal()"/>
<call fun="GuidanceNavVertical()"/>
<call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
<call fun="actuators_set(booz2_autopilot_motors_on)"/>
<call fun="stabilization_attitude_run(autopilot_in_flight)"/>
<call_block name="set_actuators"/>
</control>
<exception cond="GPSLost()" deroute="FAILSAFE"/>
</mode>
<!-- Safe landing -->
<mode name="FAILSAFE" start="failsafe_enter()|booz_stabilization_attitude_enter()|booz_guidance_v_enter()" stop="failsafe_exit()">
<mode name="FAILSAFE" start="stabilization_attitude_set_failsafe_setpoint()|guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB)|guidance_v_zd_sp = SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED)">
<control freq="512">
<call fun="SetFailsafeCommand()"/>
<call fun="booz_stabilization_attitude_run(booz2_autopilot_in_flight)"/>
<call fun="b2_gv_update_ref_from_zd_sp(booz2_guidance_v_zd_sp)"/>
<call fun="run_hover_loop(booz2_autopilot_in_flight)"/>
<call fun="actuators_set(booz2_autopilot_motors_on)"/>
<call fun="stabilization_attitude_run(autopilot_in_flight)"/>
<call fun="gv_update_ref_from_zd_sp(guidance_v_zd_sp)"/>
<call fun="run_hover_loop(autopilot_in_flight)"/>
<call fun="actuators_set(autopilot_motors_on)"/>
</control>
<exception cond="!GPSLost()" deroute="$LAST_MODE"/>
</mode>
conf/boards/navstik_1.0.makefile
+54
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@@ -0,0 +1,54 @@
# Hey Emacs, this is a -*- makefile -*-
#
# navstik_1.0.makefile
#
# http://paparazzi.enac.fr/wiki/Navstik
#
BOARD=navstik
BOARD_VERSION=1.0
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
ARCH=stm32
ARCH_L=f4
HARD_FLOAT=yes
$(TARGET).ARCHDIR = $(ARCH)
$(TARGET).OOCD_INTERFACE=ftdi/ivygs
$(TARGET).OOCD_BOARD=navstik
$(TARGET).LDSCRIPT=$(SRC_ARCH)/navstik.ld
# -----------------------------------------------------------------------
# default flash mode is via usb dfu bootloader
# other possibilities: DFU-UTIL, JTAG
FLASH_MODE ?= JTAG
#
# default LED configuration
#
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 2
GPS_LED ?= none
SYS_TIME_LED ?= 1
#
# default uart configuration
#
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
MODEM_PORT ?= UART5
MODEM_BAUD ?= B57600
GPS_PORT ?= UART2
GPS_BAUD ?= B57600
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_pwm
conf/conf_example.xml
+10
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@@ -109,6 +109,16 @@
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/modules/rotorcraft_cam.xml settings/modules/servo_switch.xml"
gui_color="white"
/>
<aircraft
name="Quad_Navstik"
ac_id="180"
airframe="airframes/examples/quadrotor_navstik.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
gui_color="#710080"
/>
<aircraft
name="Twinjet"
ac_id="6"
conf/conf_tests.xml
+10
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@@ -189,6 +189,16 @@
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
gui_color="white"
/>
<aircraft
name="Quad_Navstik"
ac_id="180"
airframe="airframes/examples/quadrotor_navstik.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings=" settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
gui_color="#710080"
/>
<aircraft
name="Quad_NavGo"
ac_id="151"
conf/firmwares/subsystems/shared/baro_board.makefile
+7
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@@ -18,6 +18,13 @@ else ifeq ($(BOARD), lisa_l)
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Navstik baro
else ifeq ($(BOARD), navstik)
BARO_BOARD_CFLAGS += -DUSE_I2C3
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Ardrone baro
else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
conf/firmwares/subsystems/shared/imu_navstik.makefile
+49
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@@ -0,0 +1,49 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Navstik onboard IMU
#
#
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
# the defaults from the datasheet will be used
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
#
# </section>
#
IMU_CFLAGS = -DUSE_IMU -DIMU_NAVSTIK -DIMU_TYPE_H=\"imu/imu_navstik.h\"
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c $(SRC_SUBSYSTEMS)/imu/imu_navstik.c
IMU_SRCS += peripherals/hmc58xx.c
IMU_SRCS += peripherals/mpu60x0.c peripherals/mpu60x0_i2c.c
NAVSTIK_MAG_I2C_DEV ?= i2c3
NAVSTIK_MPU_I2C_DEV ?= i2c1
NAVSTIK_MAG_I2C_DEV_UPPER=$(shell echo $(NAVSTIK_MAG_I2C_DEV) | tr a-z A-Z)
NAVSTIK_MAG_I2C_DEV_LOWER=$(shell echo $(NAVSTIK_MAG_I2C_DEV) | tr A-Z a-z)
NAVSTIK_MPU_I2C_DEV_UPPER=$(shell echo $(NAVSTIK_MPU_I2C_DEV) | tr a-z A-Z)
NAVSTIK_MPU_I2C_DEV_LOWER=$(shell echo $(NAVSTIK_MPU_I2C_DEV) | tr A-Z a-z)
IMU_CFLAGS += -DNAVSTIK_MAG_I2C_DEV=$(NAVSTIK_MAG_I2C_DEV_LOWER) -DNAVSTIK_MPU_I2C_DEV=$(NAVSTIK_MPU_I2C_DEV_LOWER)
IMU_CFLAGS += -DUSE_$(NAVSTIK_MAG_I2C_DEV_UPPER)=1 -DUSE_$(NAVSTIK_MPU_I2C_DEV_UPPER)=1
ap.CFLAGS += $(IMU_CFLAGS)
ap.srcs += $(IMU_SRCS)
test_imu.CFLAGS += $(IMU_CFLAGS)
test_imu.srcs += $(IMU_SRCS)
#
# NPS simulator
#
include $(CFG_SHARED)/imu_nps.makefile
conf/firmwares/test_progs.makefile
+3
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@@ -86,6 +86,9 @@ ifeq ($(BOARD_VERSION), 2.0)
LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
endif
endif
ifeq ($(BOARD), navstik)
LED_DEFINES = -DLED_RED=1 -DLED_GREEN=2
endif
LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
test_sys_time_timer.ARCHDIR = $(ARCH)
conf/flash_modes.xml
+2
View File
@@ -53,6 +53,7 @@
<board name="apogee_.*"/>
<board name="stm32f4_discovery"/>
<board name="li[s]?a_mx_.*"/>
<board name="navstik_.*"/>
</boards>
</mode>
<mode name="STLink (SWD)">
@@ -88,6 +89,7 @@
<boards>
<board name="krooz_sd"/>
<board name="li[s]?a_[lm]?_.*"/>
<board name="navstik_.*"/>
</boards>
</mode>
</flash_modes>
conf/flight_plans/cube.xml
+16 -16
View File
@@ -33,26 +33,26 @@
</block>
<block name="Preset cubical lines" strip_button="CubeInit">
<set var="cube_sect" value="1"/>
<set var="cube_nsect_x" value="3"/>
<set var="cube_nsect_z" value="2"/>
<set var="cube_alpha" value="60"/>
<set var="cube_size_x" value="70"/>
<set var="cube_size_y" value="50"/>
<set var="cube_size_z" value="40"/>
<set var="cube_grid_x" value="10"/>
<set var="cube_grid_z" value="10"/>
<set var="cube_offs_x" value="0"/>
<set var="cube_offs_y" value="30"/>
<set var="cube_offs_z" value="10"/>
<set var="nav_cube.sect" value="1"/>
<set var="nav_cube.nsect_x" value="3"/>
<set var="nav_cube.nsect_z" value="2"/>
<set var="nav_cube.alpha" value="60"/>
<set var="nav_cube.size.x" value="70"/>
<set var="nav_cube.size.y" value="50"/>
<set var="nav_cube.size.z" value="40"/>
<set var="nav_cube.grid_x" value="10"/>
<set var="nav_cube.grid_z" value="10"/>
<set var="nav_cube.offset.x" value="0"/>
<set var="nav_cube.offset.y" value="30"/>
<set var="nav_cube.offset.z" value="10"/>
<deroute block="Fly lines in cubical"/>
</block>
<block name="Fly lines in cubical" strip_button="Cube">
<call fun="nav_cube_init(WP_CENTER, WP_B0, WP_E0)"/>
<for from="0" to="cube_nline_z" var="j">
<for from="0" to="cube_nline_x" var="i">
<call fun="nav_cube(_var_j, _var_i, WP__B, WP__E, WP_B0, WP_E0)"/>
<call fun="nav_cube_setup(WP_CENTER, WP_B0, WP_E0)"/>
<for from="0" to="nav_cube.nline_z" var="j">
<for from="0" to="nav_cube.nline_x" var="i">
<call fun="nav_cube_run(_var_j, _var_i, WP__B, WP__E, WP_B0, WP_E0)"/>
<oval p1="_B" p2="_E" radius="-nav_radius" until="(oval_status == OC1)"/>
<go approaching_time="0" from="_B" hmode="route" wp="_E"/>
</for>
conf/messages.xml
+5 -5
View File
@@ -215,7 +215,7 @@
<field name="msg" type="uint8[]"/>
</message>
<message name="SURVEY" ID="27">
<message name="SURVEY" id="27">
<field name="east" type="float" unit="m"/>
<field name="north" type="float" unit="m"/>
<field name="west" type="float" unit="m"/>
@@ -916,7 +916,7 @@
<field name="itow" type="uint32" unit="ms"/>
</message>
<message name="TEST_BOARD_RESULTS" ID="111">
<message name="TEST_BOARD_RESULTS" id="111">
<field name="uart" type="uint8"/>
<field name="ppm" type="uint8"/>
<field name="servo" type="uint16[]"/>
@@ -996,7 +996,7 @@
<field name="dn_t9" type="uint16"/>
</message>
<message name="TCAS_TA" ID="120">
<message name="TCAS_TA" id="120">
<field name="ac_id" type="uint8"/>
</message>
@@ -1005,7 +1005,7 @@
<field name="resolve" type="uint8" values="NONE|LEVEL|CLIMB|DESCEND"/>
</message>
<message name="TCAS_RESOLVED" ID="122">
<message name="TCAS_RESOLVED" id="122">
<field name="ac_id" type="uint8"/>
</message>
@@ -1973,7 +1973,7 @@
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="frame_rate" type="uint8" unit="Hz"/>
<field name="gps_status" type="uint8" values="NO_FIX|NA|NA|3Dfix"/>
<field name="ap_mode" type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE"/>
<field name="ap_mode" type="uint8" values="KILL|FAILSAFE|HOME|RATE_DIRECT|ATTITUDE_DIRECT|RATE_RC_CLIMB|ATTITUDE_RC_CLIMB|ATTITUDE_CLIMB|RATE_Z_HOLD|ATTITUDE_Z_HOLD|HOVER_DIRECT|HOVER_CLIMB|HOVER_Z_HOLD|NAV|RC_DIRECT|CARE_FREE|FORWARD"/>
<field name="ap_in_flight" type="uint8" values="ON_GROUND|IN_FLIGHT"/>
<field name="ap_motors_on" type="uint8" values="MOTORS_OFF|MOTORS_ON"/>
<field name="ap_h_mode" type="uint8" values="KILL|RATE|ATTITUDE|HOVER|NAV|CF"/>
conf/messages_ng.xml
+2800
View File
File diff suppressed because it is too large Load Diff
conf/modules/mf_ptu.xml
+50
View File
@@ -0,0 +1,50 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="mf_ptu" dir="meteo">
<doc>
<description>
PTU board from Meteo France (pressure, temperature, humidity).
Raw meteo data:
- Pressure in ADC
- Temperature in ADC
- Humidity in micro-seconds (period of the input signal)
When using SEND_PTU flag, scaled pressure, temperature and humidity data are sent over telemetry with the PAYLOAD_FLOAT message (array of float).
If scale factors and offset are not specified, raw values are sent (scale=1.0, offset=0).
When using LOG_PTU flag, raw pressure, temperature and humidity data are stored with raw gps data (position, speed, time, status).
Field names and units are in the first line of the log file.
</description>
<configure name="ADC_PRESSURE" value="ADC_X" description="Select ADC channel for pressure sensor"/>
<configure name="ADC_TEMPERATURE" value="ADC_X" description="Select ADC channel for temperature sensor"/>
<configure name="PWM_INPUT_HUMIDITY" value="PWM_INPUTX" description="Select PWM input channel for humidity sensor"/>
<section name="MF_PTU">
<define name="PTU_POWER_GPIO" value="GPIOX,GPIOYY" description="If defined, enable power by setting the specified GPIO to 1 at starup"/>
<define name="PTU_PRESSURE_OFFSET" value="0" description="Offset in ADC of the pressure sensor"/>
<define name="PTU_PRESSURE_SCALE" value="1." description="Scale factor of the pressure sensor"/>
<define name="PTU_TEMPERATURE_OFFSET" value="0" description="Offset in ADC of the temperature sensor"/>
<define name="PTU_TEMPERATURE_SCALE" value="1." description="Scale factor of the temperature sensor"/>
<define name="PTU_HUMIDITY_OFFSET" value="0" description="Offset in micro seconds of the humidity sensor"/>
<define name="PTU_HUMIDITY_SCALE" value="1." description="Scale factor of the pressure sensor"/>
<define name="LOG_PTU" value="TRUE|FALSE" description="Log data on SD card (ascii format, raw PTU data + GPS data)"/>
<define name="SEND_PTU" value="TRU|FALSE" description="Send data over telemetry (PAYLOAD_FLOAT message, scaled PTU data)"/>
</section>
</doc>
<depend require="pwm_meas"/>
<header>
<file name="mf_ptu.h"/>
</header>
<init fun="mf_ptu_init()"/>
<periodic fun="mf_ptu_periodic()" freq="10" autorun="TRUE"/>
<makefile target="ap">
<file name="mf_ptu.c"/>
<define name="ADC_CHANNEL_PRESSURE" value="$(ADC_PRESSURE)"/>
<define name="USE_$(ADC_PRESSURE)"/>
<define name="ADC_CHANNEL_TEMPERATURE" value="$(ADC_TEMPERATURE)"/>
<define name="USE_$(ADC_TEMPERATURE)"/>
<define name="PWM_INPUT_CHANNEL_HUMIDITY" value="$(PWM_INPUT_HUMIDITY)"/>
<define name="USE_$(PWM_INPUT_HUMIDITY)" value="PWM_PULSE_TYPE_ACTIVE_LOW"/>
</makefile>
</module>
conf/modules/module.dtd
+6 -1
View File
@@ -9,11 +9,12 @@
<!ELEMENT event (handler*)>
<!ELEMENT handler EMPTY>
<!ELEMENT datalink EMPTY>
<!ELEMENT makefile (configure|define|file|file_arch|raw)*>
<!ELEMENT makefile (configure|define|flag|file|file_arch|raw)*>
<!ELEMENT section (define|configure)*>
<!ELEMENT description (#PCDATA)>
<!ELEMENT configure EMPTY>
<!ELEMENT define EMPTY>
<!ELEMENT flag EMPTY>
<!ELEMENT file EMPTY>
<!ELEMENT file_arch EMPTY>
<!ELEMENT raw (#PCDATA)>
@@ -69,6 +70,10 @@ unit CDATA #IMPLIED
type CDATA #IMPLIED
description CDATA #IMPLIED>
<!ATTLIST flag
name CDATA #REQUIRED
value CDATA #REQUIRED>
<!ATTLIST file
name CDATA #REQUIRED
dir CDATA #IMPLIED>
conf/modules/pwm_meas.xml
+5 -1
View File
@@ -11,8 +11,12 @@
- INPUT CAPTURE CAP0.3 on P0.29 (TWOG ADC5, 5V to 3.3V voltage divider)
- INPUT CAPTURE CAP0.0 on P0.30 (TWOG ADC4, no voltage divider)
Currently only available on LPC21xx arch
For STM32:
- each board (or airframe file) has to define the PWM input pin and parameters
- example can be found in sw/airborne/boards/apogee_1.0.h board file
</description>
<define name="USE_PWM_INPUT1" value="PWM_PULSE_TYPE_ACTIVE_LOW|PWM_PULSE_TYPE_ACTIVE_HIGH" description="Activate PWM input 1 and select polarity"/>
<define name="USE_PWM_INPUT2" value="PWM_PULSE_TYPE_ACTIVE_LOW|PWM_PULSE_TYPE_ACTIVE_HIGH" description="Activate PWM input 2 and select polarity"/>
</doc>
<header>
<file name="pwm_meas.h"/>
conf/settings/estimation/ins_float_invariant.xml
+1
View File
@@ -3,6 +3,7 @@
<settings>
<dl_settings>
<dl_settings NAME="invariant">
<dl_setting MAX="1" MIN="1" STEP="1" VAR="ins_impl.reset" shortname="reset"/>
<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_impl.gains.lv" shortname="lv" module="subsystems/ins/ins_float_invariant"/>
<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_impl.gains.lb" shortname="lb"/>
<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_impl.gains.mv" shortname="mv"/>
conf/system/udev/rules/50-paparazzi.rules
+7
View File
@@ -9,6 +9,10 @@ SUBSYSTEM=="tty", ATTRS{product}=="FT232R USB UART", SYMLINK+="paparazzi/serial"
# MaxStream xbee pro box
SUBSYSTEM=="tty", ATTRS{product}=="MaxStream PKG-U", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
# Navstik Xbee port
SUBSYSTEMS=="usb", ENV{.LOCAL_ifNum}="$attr{bInterfaceNumber}"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{product}=="Quad RS232-HS", ENV{.LOCAL_ifNum}=="02", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
# Recent Digi XBee pro modems (XBP24-PKC-001-UA)
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{product}=="USB <-> Serial", SYMLINK+="paparazzi/xbee", GROUP="plugdev"
@@ -27,6 +31,9 @@ ATTRS{idVendor}=="0403", ATTRS{idProduct}=="cff8", GROUP="plugdev"
# FTDI 2232 based jtag for Lisa/L and usb upload
ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0666", GROUP="plugdev"
# FTDI 2232 based jtag for Navstik
ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", MODE="0666", GROUP="plugdev"
# dfu devices
ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666", GROUP="plugdev"
sw/airborne/Makefile
+1
View File
@@ -33,6 +33,7 @@ VARINCLUDE = $(PAPARAZZI_HOME)/var/include
INCLUDES = -I$(PAPARAZZI_SRC)/sw/include -I$(PAPARAZZI_SRC)/sw/airborne -I$(PAPARAZZI_SRC)/conf/autopilot -I$(PAPARAZZI_SRC)/sw/airborne/arch/$($(TARGET).ARCHDIR) -I$(VARINCLUDE) -I$(ACINCLUDE)
VPATH = .
ifneq ($(MAKECMDGOALS),clean)
include $(AIRCRAFT_BUILD_DIR)/Makefile.ac
sw/airborne/arch/lpc21/mcu_periph/pwm_input_arch.h
+5 -1
View File
@@ -34,7 +34,11 @@
#include "LPC21xx.h"
#include "interrupt_hw.h"
#define PWM_INPUT_NB 2 //this is architecture dependent
enum pwm_input_channels {
PWM_INPUT1,
PWM_INPUT2,
PWM_INPUT_NB
};
#include "mcu_periph/pwm_input.h"
sw/airborne/arch/stm32/mcu_arch.c
+22 -2
View File
@@ -39,6 +39,23 @@
#include "std.h"
#if defined(STM32F4)
/** 25MHz external clock to PLL it to 168MHz */
const clock_scale_t hse_25mhz_3v3_168mhz = { /* 168MHz */
.pllm = 25,
.plln = 336,
.pllp = 2,
.pllq = 7,
.hpre = RCC_CFGR_HPRE_DIV_NONE,
.ppre1 = RCC_CFGR_PPRE_DIV_4,
.ppre2 = RCC_CFGR_PPRE_DIV_2,
.flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE |
FLASH_ACR_LATENCY_5WS,
.apb1_frequency = 42000000,
.apb2_frequency = 84000000,
};
#endif
void mcu_arch_init(void) {
#if LUFTBOOT
PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
@@ -65,6 +82,11 @@ PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 168MHz.")
PRINT_CONFIG_MSG("Using 16MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&hse_16mhz_3v3[CLOCK_3V3_168MHZ]);
#endif
#elif EXT_CLK == 25000000
#if defined(STM32F4)
PRINT_CONFIG_MSG("Using 25MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&hse_25mhz_3v3_168mhz);
#endif
#else
#error EXT_CLK is either set to an unsupported frequency or not defined at all. Please check!
#endif
@@ -118,10 +140,8 @@ uint32_t timer_get_frequency(uint32_t timer_peripheral)
{
switch (timer_peripheral) {
// Timers on APB1
#if ADVANCED_TIMERS
case TIM1:
case TIM8:
#endif
#ifdef TIM9
case TIM9:
#endif
sw/airborne/arch/stm32/mcu_periph/adc_arch.c
+5 -17
View File
@@ -97,7 +97,6 @@
#include "mcu_periph/gpio.h"
#include "mcu_arch.h"
#include "std.h"
#include "led.h"
#include BOARD_CONFIG
@@ -190,8 +189,6 @@ static inline void adc_init_irq( void );
* for the particular adc converter.
*/
volatile uint8_t adc_new_data_trigger;
static uint8_t nb_adc1_channels = 0;
static uint8_t nb_adc2_channels = 0;
static uint8_t nb_adc3_channels = 0;
@@ -350,8 +347,6 @@ void adc_init( void ) {
adc_init_single(ADC3, nb_adc3_channels, adc_channel_map);
#endif // USE_AD3
adc_new_data_trigger = FALSE;
#if USE_ADC_WATCHDOG
adc_watchdog.cb = NULL;
adc_watchdog.timeStamp=0;
@@ -614,12 +609,9 @@ void adc1_2_isr(void)
#if USE_ADC_WATCHDOG
}
#endif
#if !USE_AD2 && !USE_AD3
adc_new_data_trigger = TRUE;
#endif
}
#endif
#endif // USE_AD1
#if USE_AD2
if (adc_eoc_injected(ADC2)){
ADC_SR(ADC2) &= ~ADC_SR_JEOC;
@@ -635,12 +627,10 @@ void adc1_2_isr(void)
}
#if USE_ADC_WATCHDOG
}
#endif
#if !USE_AD3
adc_new_data_trigger = TRUE;
#endif
}
#endif
#endif // USE_AD2
#if USE_AD3
if (adc_eoc_injected(ADC3)){
ADC_SR(ADC3) &= ~ADC_SR_JEOC;
@@ -657,10 +647,8 @@ void adc1_2_isr(void)
#if USE_ADC_WATCHDOG
}
#endif
adc_new_data_trigger = TRUE;
}
#endif
#endif // USE_AD3
return;
}
sw/airborne/arch/stm32/mcu_periph/gpio_arch.c
+1 -1
View File
@@ -86,7 +86,7 @@ void gpio_setup_input(uint32_t port, uint16_t gpios) {
gpio_set_mode(port, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, gpios);
}
void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output) {
void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output) {
gpio_enable_clock(port);
/* remap alternate function if needed */
if (af) {
sw/airborne/arch/stm32/mcu_periph/gpio_arch.h
+4
View File
@@ -51,7 +51,11 @@ extern void gpio_setup_input(uint32_t port, uint16_t gpios);
* Setup a gpio for input or output with alternate function.
* This is an STM32 specific helper funtion and should only be used in stm32 arch code.
*/
#if defined(STM32F1)
extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint32_t af, bool_t is_output);
#else
extern void gpio_setup_pin_af(uint32_t port, uint16_t pin, uint8_t af, bool_t is_output);
#endif
/**
* Setup a gpio for analog use.
sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+6 -6
View File
@@ -982,7 +982,7 @@ void i2c1_hw_init(void) {
#else
/* reset peripheral to default state ( sometimes not achieved on reset :( ) */
//i2c_reset(I2C1);
//rcc_periph_reset_pulse(RST_I2C1);
/* Configure and enable I2C1 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C1_EV_IRQ, NVIC_I2C1_IRQ_PRIO);
@@ -998,7 +998,7 @@ void i2c1_hw_init(void) {
/* setup gpio clock and pins */
i2c_setup_gpio(I2C1);
i2c_reset(I2C1);
rcc_periph_reset_pulse(RST_I2C1);
// enable peripheral
i2c_peripheral_enable(I2C1);
@@ -1056,7 +1056,7 @@ void i2c2_hw_init(void) {
ZEROS_ERR_COUNTER(i2c2_errors);
/* reset peripheral to default state ( sometimes not achieved on reset :( ) */
//i2c_reset(I2C2);
//rcc_periph_reset_pulse(RST_I2C2);
/* Configure and enable I2C2 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C2_EV_IRQ, NVIC_I2C2_IRQ_PRIO);
@@ -1073,7 +1073,7 @@ void i2c2_hw_init(void) {
/* setup gpio clock and pins */
i2c_setup_gpio(I2C2);
i2c_reset(I2C2);
rcc_periph_reset_pulse(RST_I2C2);
// enable peripheral
i2c_peripheral_enable(I2C2);
@@ -1131,7 +1131,7 @@ void i2c3_hw_init(void) {
ZEROS_ERR_COUNTER(i2c3_errors);
/* reset peripheral to default state ( sometimes not achieved on reset :( ) */
//i2c_reset(I2C3);
//rcc_periph_reset_pulse(RST_I2C3);
/* Configure and enable I2C3 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C3_EV_IRQ, NVIC_I2C3_IRQ_PRIO);
@@ -1148,7 +1148,7 @@ void i2c3_hw_init(void) {
/* setup gpio clock and pins */
i2c_setup_gpio(I2C3);
i2c_reset(I2C3);
rcc_periph_reset_pulse(RST_I2C3);
// enable peripheral
i2c_peripheral_enable(I2C3);
sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c
+235
View File
@@ -0,0 +1,235 @@
/*
* Copyright (C) 2014 Gautier Hattenberger
*
* 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 arch/stm32/mcu_periph/pwm_input_arch.c
* @ingroup stm32_arch
*
* handling of smt32 PWM input using a timer with capture.
*/
#include "mcu_periph/pwm_input_arch.h"
#include BOARD_CONFIG
#include "generated/airframe.h"
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/cm3/nvic.h>
#include "mcu_periph/sys_time.h"
#include "mcu_periph/gpio.h"
// for timer_get_frequency
#include "mcu_arch.h"
#define ONE_MHZ_CLK 1000000
#ifdef NVIC_TIM_IRQ_PRIO
#define PWM_INPUT_IRQ_PRIO NVIC_TIM_IRQ_PRIO
#else
#define PWM_INPUT_IRQ_PRIO 2
#endif
static inline void pwm_input_set_timer(uint32_t tim) {
timer_reset(tim);
timer_set_mode(tim, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
timer_set_period(tim, 0xFFFF);
uint32_t timer_clk = timer_get_frequency(tim);
timer_set_prescaler(tim, (timer_clk / (PWM_INPUT_TICKS_PER_USEC*ONE_MHZ_CLK)) - 1);
timer_enable_counter(tim);
}
void pwm_input_init ( void )
{
int i;
// initialize the arrays to 0
for (i = 0; i < PWM_INPUT_NB; i++) {
pwm_input_duty_tics[i] = 0;
pwm_input_duty_valid[i] = 0;
pwm_input_period_tics[i] = 0;
pwm_input_period_valid[i] = 0;
}
/** Configure timers
* - timer clock enable
* - base configuration
* - enable counter
*/
#if USE_PWM_INPUT_TIM1
rcc_periph_clock_enable(RCC_TIM1);
pwm_input_set_timer(TIM1);
#endif
#if USE_PWM_INPUT_TIM2
rcc_periph_clock_enable(RCC_TIM2);
pwm_input_set_timer(TIM2);
#endif
#if USE_PWM_INPUT_TIM3
rcc_periph_clock_enable(RCC_TIM3);
pwm_input_set_timer(TIM3);
#endif
#ifdef USE_PWM_INPUT1
/* GPIO configuration as input capture for timer */
gpio_setup_pin_af(PWM_INPUT1_GPIO_PORT, PWM_INPUT1_GPIO_PIN, PWM_INPUT1_GPIO_AF, FALSE);
/** TIM configuration: Input Capture mode
* Two IC signals are mapped to the same TI input
*/
timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, PWM_INPUT1_TIMER_INPUT);
timer_ic_set_input(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, PWM_INPUT1_TIMER_INPUT);
#if USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_LOW
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_RISING);
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_FALLING);
#elif USE_PWM_INPUT1 == PWM_PULSE_TYPE_ACTIVE_HIGH
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD, TIM_IC_FALLING);
timer_ic_set_polarity(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY, TIM_IC_RISING);
#endif
/* Select the valid trigger input */
timer_slave_set_trigger(PWM_INPUT1_TIMER, PWM_INPUT1_SLAVE_TRIG);
/* Configure the slave mode controller in reset mode */
timer_slave_set_mode(PWM_INPUT1_TIMER, TIM_SMCR_SMS_RM);
/* Enable timer Interrupt(s). */
nvic_set_priority(PWM_INPUT1_IRQ, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT1_IRQ);
#ifdef PWM_INPUT1_IRQ2
nvic_set_priority(PWM_INPUT1_IRQ2, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT1_IRQ2);
#endif
/* Enable the Capture/Compare and Update interrupt requests. */
timer_enable_irq(PWM_INPUT1_TIMER, (PWM_INPUT1_CC_IE | TIM_DIER_UIE));
/* Enable capture channel. */
timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_PERIOD);
timer_ic_enable(PWM_INPUT1_TIMER, PWM_INPUT1_CHANNEL_DUTY);
#endif
#ifdef USE_PWM_INPUT2
/* GPIO configuration as input capture for timer */
gpio_setup_pin_af(PWM_INPUT2_GPIO_PORT, PWM_INPUT2_GPIO_PIN, PWM_INPUT2_GPIO_AF, FALSE);
/** TIM configuration: Input Capture mode
* Two IC signals are mapped to the same TI input
*/
timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, PWM_INPUT2_TIMER_INPUT);
timer_ic_set_input(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, PWM_INPUT2_TIMER_INPUT);
#if USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_LOW
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_RISING);
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_FALLING);
#elif USE_PWM_INPUT2 == PWM_PULSE_TYPE_ACTIVE_HIGH
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD, TIM_IC_FALLING);
timer_ic_set_polarity(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY, TIM_IC_RISING);
#endif
/* Select the valid trigger input */
timer_slave_set_trigger(PWM_INPUT2_TIMER, PWM_INPUT2_SLAVE_TRIG);
/* Configure the slave mode controller in reset mode */
timer_slave_set_mode(PWM_INPUT2_TIMER, TIM_SMCR_SMS_RM);
/* Enable timer Interrupt(s). */
nvic_set_priority(PWM_INPUT2_IRQ, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT2_IRQ);
#ifdef PWM_INPUT2_IRQ2
nvic_set_priority(PWM_INPUT2_IRQ2, PWM_INPUT_IRQ_PRIO);
nvic_enable_irq(PWM_INPUT2_IRQ2);
#endif
/* Enable the Capture/Compare and Update interrupt requests. */
timer_enable_irq(PWM_INPUT2_TIMER, (PWM_INPUT2_CC_IE | TIM_DIER_UIE));
/* Enable capture channel. */
timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_PERIOD);
timer_ic_enable(PWM_INPUT2_TIMER, PWM_INPUT2_CHANNEL_DUTY);
#endif
}
#if USE_PWM_INPUT_TIM1
#if defined(STM32F1)
void tim1_up_isr(void) {
#elif defined(STM32F4)
void tim1_up_tim10_isr(void) {
#endif
if((TIM1_SR & TIM_SR_UIF) != 0) {
timer_clear_flag(TIM1, TIM_SR_UIF);
// FIXME clear overflow interrupt but what else ?
}
}
void tim1_cc_isr(void) {
if((TIM1_SR & TIM1_CC_IF_PERIOD) != 0) {
timer_clear_flag(TIM1, TIM1_CC_IF_PERIOD);
pwm_input_period_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_PERIOD;
pwm_input_period_valid[TIM1_PWM_INPUT_IDX] = TRUE;
}
if((TIM1_SR & TIM1_CC_IF_DUTY) != 0) {
timer_clear_flag(TIM1, TIM1_CC_IF_DUTY);
pwm_input_duty_tics[TIM1_PWM_INPUT_IDX] = TIM1_CCR_DUTY;
pwm_input_duty_valid[TIM1_PWM_INPUT_IDX] = TRUE;
}
}
#endif
#if USE_PWM_INPUT_TIM2
void tim2_isr(void) {
if((TIM2_SR & TIM2_CC_IF_PERIOD) != 0) {
timer_clear_flag(TIM2, TIM2_CC_IF_PERIOD);
pwm_input_period_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_PERIOD;
pwm_input_period_valid[TIM2_PWM_INPUT_IDX] = TRUE;
}
if((TIM2_SR & TIM2_CC_IF_DUTY) != 0) {
timer_clear_flag(TIM2, TIM2_CC_IF_DUTY);
pwm_input_duty_tics[TIM2_PWM_INPUT_IDX] = TIM2_CCR_DUTY;
pwm_input_duty_valid[TIM2_PWM_INPUT_IDX] = TRUE;
}
if((TIM2_SR & TIM_SR_UIF) != 0) {
timer_clear_flag(TIM2, TIM_SR_UIF);
// FIXME clear overflow interrupt but what else ?
}
}
#endif
#if USE_PWM_INPUT_TIM3
void tim3_isr(void) {
if((TIM3_SR & TIM3_CC_IF_PERIOD) != 0) {
timer_clear_flag(TIM3, TIM3_CC_IF_PERIOD);
pwm_input_period_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_PERIOD;
pwm_input_period_valid[TIM3_PWM_INPUT_IDX] = TRUE;
}
if((TIM3_SR & TIM3_CC_IF_DUTY) != 0) {
timer_clear_flag(TIM3, TIM3_CC_IF_DUTY);
pwm_input_duty_tics[TIM3_PWM_INPUT_IDX] = TIM3_CCR_DUTY;
pwm_input_duty_valid[TIM3_PWM_INPUT_IDX] = TRUE;
}
if((TIM3_SR & TIM_SR_UIF) != 0) {
timer_clear_flag(TIM3, TIM_SR_UIF);
// FIXME clear overflow interrupt but what else ?
}
}
#endif
sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h
+61
View File
@@ -0,0 +1,61 @@
/*
* Copyright (C) 2014 Gautier Hattenberger
*
* 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 arch/stm32/mcu_periph/pwm_input_arch.h
* @ingroup stm32_arch
*
* handling of smt32 PWM input using a timer with capture.
*/
#ifndef PWM_INPUT_ARCH_H
#define PWM_INPUT_ARCH_H
#include "std.h"
enum pwm_input_channels {
PWM_INPUT1,
PWM_INPUT2,
PWM_INPUT_NB
};
/**
* The pwm counter is set-up to have 1/6 us resolution.
*
* The timer clock frequency (before prescaling):
* STM32F1:
* TIM1 -> APB2 = HCLK = 72MHz
* TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz
* STM32F4:
* TIM1 -> 2 * APB2 = 2 * 84MHz = 168MHz
* TIM2 -> 2 * APB1 = 2 * 42MHz = 84MHz
*/
#define PWM_INPUT_TICKS_PER_USEC 6
#define PWM_INPUT_TICKS_OF_USEC(_v) ((_v)*PWM_INPUT_TICKS_PER_USEC)
#define PWM_INPUT_SIGNED_TICKS_OF_USEC(_v) (int32_t)((_v)*PWM_INPUT_TICKS_PER_USEC)
#define USEC_OF_PWM_INPUT_TICKS(_v) ((_v)/PWM_INPUT_TICKS_PER_USEC)
#include "mcu_periph/pwm_input.h"
#endif /* PWM_INPUT_ARCH_H */
sw/airborne/arch/stm32/navstik.ld
+35
View File
@@ -0,0 +1,35 @@
/*
* Hey Emacs, this is a -*- makefile -*-
*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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.
*/
/* Linker script for Navstik (STM32F415, 1024K flash, 192K RAM). */
/* Define memory regions. */
MEMORY
{
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
/* TODO: Pages on stm32f4 are not just 2k in size, stored settings have to deal with that correctly. */
rom (rx) : ORIGIN = 0x08000000, LENGTH = 1022K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f4.ld
sw/airborne/arch/stm32/subsystems/actuators/actuators_dualpwm_arch.c
+3 -7
View File
@@ -34,6 +34,7 @@
#include <libopencm3/stm32/timer.h>
#include <libopencm3/cm3/nvic.h>
#include "mcu_periph/gpio_arch.h"
uint32_t ratio_4ms, ratio_16ms;
@@ -75,16 +76,11 @@ void actuators_dualpwm_arch_init(void) {
/*----------------
* Configure GPIO
*----------------*/
#if defined(STM32F1)
/* TIM3 GPIO for PWM1..4 */
AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP;
#endif
#ifdef DUAL_PWM_SERVO_5
set_servo_gpio(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, DUAL_PWM_SERVO_5_RCC);
gpio_setup_pin_af(DUAL_PWM_SERVO_5_GPIO, DUAL_PWM_SERVO_5_PIN, DUAL_PWM_SERVO_5_AF, TRUE);
#endif
#ifdef DUAL_PWM_SERVO_6
set_servo_gpio(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, DUAL_PWM_SERVO_6_RCC);
gpio_setup_pin_af(DUAL_PWM_SERVO_6_GPIO, DUAL_PWM_SERVO_6_PIN, DUAL_PWM_SERVO_6_AF, TRUE);
#endif
#if DUAL_PWM_USE_TIM5
sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c
+14 -18
View File
@@ -33,6 +33,8 @@
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/timer.h>
#include "mcu_periph/gpio_arch.h"
int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
@@ -72,49 +74,43 @@ void actuators_pwm_arch_init(void) {
/*----------------
* Configure GPIO
*----------------*/
#if defined(STM32F1)
/* TIM3 GPIO for PWM1..4 */
AFIO_MAPR |= AFIO_MAPR_TIM3_REMAP_FULL_REMAP;
#endif
#ifdef PWM_SERVO_0
set_servo_gpio(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, PWM_SERVO_0_RCC);
gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, TRUE);
#endif
#ifdef PWM_SERVO_1
set_servo_gpio(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, PWM_SERVO_1_RCC);
gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, TRUE);
#endif
#ifdef PWM_SERVO_2
set_servo_gpio(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, PWM_SERVO_2_RCC);
gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, TRUE);
#endif
#ifdef PWM_SERVO_3
set_servo_gpio(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, PWM_SERVO_3_RCC);
gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, TRUE);
#endif
#ifdef PWM_SERVO_4
set_servo_gpio(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, PWM_SERVO_4_RCC);
gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, TRUE);
#endif
#ifdef PWM_SERVO_5
set_servo_gpio(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, PWM_SERVO_5_RCC);
gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, TRUE);
#endif
#ifdef PWM_SERVO_6
set_servo_gpio(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, PWM_SERVO_6_RCC);
gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, TRUE);
#endif
#ifdef PWM_SERVO_7
set_servo_gpio(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, PWM_SERVO_7_RCC);
gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, TRUE);
#endif
#ifdef PWM_SERVO_8
set_servo_gpio(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, PWM_SERVO_8_RCC);
gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, TRUE);
#endif
#ifdef PWM_SERVO_9
set_servo_gpio(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, PWM_SERVO_9_RCC);
gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, TRUE);
#endif
#ifdef PWM_SERVO_10
set_servo_gpio(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, PWM_SERVO_10_RCC);
gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, TRUE);
#endif
#ifdef PWM_SERVO_11
set_servo_gpio(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, PWM_SERVO_11_RCC);
gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, TRUE);
#endif
#if PWM_USE_TIM1
set_servo_timer(TIM1, TIM1_SERVO_HZ, PWM_TIM1_CHAN_MASK);
#endif
sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.c
-18
View File
@@ -28,24 +28,6 @@
// for timer_get_frequency
#include "mcu_arch.h"
/** Set GPIO configuration
*/
#if defined(STM32F4)
void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, enum rcc_periph_clken clken) {
rcc_periph_clock_enable(clken);
gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, pin);
gpio_set_af(gpioport, af_num, pin);
}
#elif defined(STM32F1)
void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none __attribute__((unused)), enum rcc_periph_clken clken) {
rcc_periph_clock_enable(clken);
rcc_periph_clock_enable(RCC_AFIO);
gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, pin);
}
#endif
/** Set PWM channel configuration
*/
sw/airborne/arch/stm32/subsystems/actuators/actuators_shared_arch.h
+3 -17
View File
@@ -36,15 +36,6 @@
#include <libopencm3/cm3/nvic.h>
#include "mcu_arch.h"
#if defined(STM32F1)
//#define PCLK 72000000
#define PCLK AHB_CLK
#elif defined(STM32F4)
//#define PCLK 84000000
#define PCLK AHB_CLK/2
#endif
#define ONE_MHZ_CLK 1000000
/* Default timer base frequency is 1MHz */
@@ -74,6 +65,9 @@
#ifndef TIM5_SERVO_HZ
#define TIM5_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM8_SERVO_HZ
#define TIM8_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM9_SERVO_HZ
#define TIM9_SERVO_HZ SERVO_HZ
#endif
@@ -81,15 +75,7 @@
#define TIM12_SERVO_HZ SERVO_HZ
#endif
#if defined(STM32F4)
extern void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, enum rcc_periph_clken clken);
#elif defined(STM32F1)
extern void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none __attribute__((unused)), enum rcc_periph_clken clken);
#endif
extern void actuators_pwm_arch_channel_init(uint32_t timer_peripheral, enum tim_oc_id oc_id);
extern void set_servo_timer(uint32_t timer, uint32_t period, uint8_t channels_mask);
#endif /* ACTUATORS_PWM_SHARED_ARCH_H */
sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
+5
View File
@@ -691,8 +691,13 @@ void radio_control_spektrum_try_bind(void) {
/* exit if the BIND_PIN is high, it needs to
be pulled low at startup to initiate bind */
#ifdef SPEKTRUM_BIND_PIN_HIGH
if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) == 0)
return;
#else
if (gpio_get(SPEKTRUM_BIND_PIN_PORT, SPEKTRUM_BIND_PIN) != 0)
return;
#endif
/* Master receiver Rx push-pull */
gpio_setup_output(SPEKTRUM_PRIMARY_BIND_CONF_PORT, SPEKTRUM_PRIMARY_BIND_CONF_PIN);
sw/airborne/boards/apogee_0.99.h
-6
View File
@@ -165,7 +165,6 @@
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_TIMER TIM2
#define PWM_SERVO_0_RCC RCC_GPIOA
#define PWM_SERVO_0_GPIO GPIOA
#define PWM_SERVO_0_PIN GPIO3
#define PWM_SERVO_0_AF GPIO_AF1
@@ -178,7 +177,6 @@
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_TIMER TIM2
#define PWM_SERVO_1_RCC RCC_GPIOA
#define PWM_SERVO_1_GPIO GPIOA
#define PWM_SERVO_1_PIN GPIO2
#define PWM_SERVO_1_AF GPIO_AF1
@@ -191,7 +189,6 @@
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC RCC_GPIOB
#define PWM_SERVO_2_GPIO GPIOB
#define PWM_SERVO_2_PIN GPIO5
#define PWM_SERVO_2_AF GPIO_AF2
@@ -204,7 +201,6 @@
#if USE_PWM3
#define PWM_SERVO_3_IDX 3
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC RCC_GPIOB
#define PWM_SERVO_3_GPIO GPIOB
#define PWM_SERVO_3_PIN GPIO4
#define PWM_SERVO_3_AF GPIO_AF2
@@ -217,7 +213,6 @@
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_TIMER TIM2
#define PWM_SERVO_4_RCC RCC_GPIOB
#define PWM_SERVO_4_GPIO GPIOB
#define PWM_SERVO_4_PIN GPIO3
#define PWM_SERVO_4_AF GPIO_AF1
@@ -230,7 +225,6 @@
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_TIMER TIM2
#define PWM_SERVO_5_RCC RCC_GPIOA
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO15
#define PWM_SERVO_5_AF GPIO_AF1
sw/airborne/boards/apogee_1.0.h
+22 -7
View File
@@ -222,7 +222,6 @@
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_TIMER TIM3
#define PWM_SERVO_0_RCC RCC_GPIOB
#define PWM_SERVO_0_GPIO GPIOB
#define PWM_SERVO_0_PIN GPIO0
#define PWM_SERVO_0_AF GPIO_AF2
@@ -238,7 +237,6 @@
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_TIMER TIM2
#define PWM_SERVO_1_RCC RCC_GPIOA
#define PWM_SERVO_1_GPIO GPIOA
#define PWM_SERVO_1_PIN GPIO2
#define PWM_SERVO_1_AF GPIO_AF1
@@ -254,7 +252,6 @@
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC RCC_GPIOB
#define PWM_SERVO_2_GPIO GPIOB
#define PWM_SERVO_2_PIN GPIO5
#define PWM_SERVO_2_AF GPIO_AF2
@@ -270,7 +267,6 @@
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC RCC_GPIOB
#define PWM_SERVO_3_GPIO GPIOB
#define PWM_SERVO_3_PIN GPIO4
#define PWM_SERVO_3_AF GPIO_AF2
@@ -286,7 +282,6 @@
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_TIMER TIM2
#define PWM_SERVO_4_RCC RCC_GPIOB
#define PWM_SERVO_4_GPIO GPIOB
#define PWM_SERVO_4_PIN GPIO3
#define PWM_SERVO_4_AF GPIO_AF1
@@ -302,7 +297,6 @@
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_TIMER TIM2
#define PWM_SERVO_5_RCC RCC_GPIOA
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO15
#define PWM_SERVO_5_AF GPIO_AF1
@@ -316,7 +310,6 @@
#if USE_PWM6
#define PWM_SERVO_6 6
#define PWM_SERVO_6_TIMER TIM3
#define PWM_SERVO_6_RCC RCC_GPIOB
#define PWM_SERVO_6_GPIO GPIOB
#define PWM_SERVO_6_PIN GPIO1
#define PWM_SERVO_6_AF GPIO_AF2
@@ -346,6 +339,28 @@
#define PPM_GPIO_PIN GPIO8
#define PPM_GPIO_AF GPIO_AF1
/*
* PWM input
*/
#define PWM_INPUT1_TIMER TIM1
#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1
#define PWM_INPUT1_CHANNEL_DUTY TIM_IC2
#define PWM_INPUT1_TIMER_INPUT TIM_IC_IN_TI1
#define PWM_INPUT1_SLAVE_TRIG TIM_SMCR_TS_IT1FP1
#define PWM_INPUT1_IRQ NVIC_TIM1_CC_IRQ
#define PWM_INPUT1_IRQ2 NVIC_TIM1_UP_TIM10_IRQ
#define PWM_INPUT1_CC_IE (TIM_DIER_CC1IE | TIM_DIER_CC2IE)
#define USE_PWM_INPUT_TIM1 TRUE
#define TIM1_PWM_INPUT_IDX 0
#define TIM1_CC_IF_PERIOD TIM_SR_CC1IF
#define TIM1_CC_IF_DUTY TIM_SR_CC2IF
#define TIM1_CCR_PERIOD TIM1_CCR1
#define TIM1_CCR_DUTY TIM1_CCR2
// PPM in (aka PA8) is used: not compatible with PPM RC receiver
#define PWM_INPUT1_GPIO_PORT GPIOA
#define PWM_INPUT1_GPIO_PIN GPIO8
#define PWM_INPUT1_GPIO_AF GPIO_AF1
/*
* Spektrum
*/
sw/airborne/boards/krooz_sd.h
-11
View File
@@ -219,7 +219,6 @@
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_TIMER TIM3
#define PWM_SERVO_0_RCC RCC_GPIOB
#define PWM_SERVO_0_GPIO GPIOB
#define PWM_SERVO_0_PIN GPIO1
#define PWM_SERVO_0_AF GPIO_AF2
@@ -232,7 +231,6 @@
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_RCC RCC_GPIOC
#define PWM_SERVO_1_GPIO GPIOC
#define PWM_SERVO_1_PIN GPIO8
#define PWM_SERVO_1_AF GPIO_AF2
@@ -245,7 +243,6 @@
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC RCC_GPIOC
#define PWM_SERVO_2_GPIO GPIOC
#define PWM_SERVO_2_PIN GPIO7
#define PWM_SERVO_2_AF GPIO_AF2
@@ -258,7 +255,6 @@
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC RCC_GPIOB
#define PWM_SERVO_3_GPIO GPIOB
#define PWM_SERVO_3_PIN GPIO4
#define PWM_SERVO_3_AF GPIO_AF2
@@ -271,7 +267,6 @@
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_TIMER TIM4
#define PWM_SERVO_4_RCC RCC_GPIOB
#define PWM_SERVO_4_GPIO GPIOB
#define PWM_SERVO_4_PIN GPIO7
#define PWM_SERVO_4_AF GPIO_AF2
@@ -284,7 +279,6 @@
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_TIMER TIM4
#define PWM_SERVO_5_RCC RCC_GPIOB
#define PWM_SERVO_5_GPIO GPIOB
#define PWM_SERVO_5_PIN GPIO6
#define PWM_SERVO_5_AF GPIO_AF2
@@ -297,7 +291,6 @@
#if USE_PWM6
#define PWM_SERVO_6 6
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_RCC RCC_GPIOA
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO3
#define PWM_SERVO_6_AF GPIO_AF2
@@ -310,7 +303,6 @@
#if USE_PWM7
#define PWM_SERVO_7 7
#define PWM_SERVO_7_TIMER TIM5
#define PWM_SERVO_7_RCC RCC_GPIOA
#define PWM_SERVO_7_GPIO GPIOA
#define PWM_SERVO_7_PIN GPIO2
#define PWM_SERVO_7_AF GPIO_AF2
@@ -323,7 +315,6 @@
#if USE_PWM8
#define PWM_SERVO_8 8
#define PWM_SERVO_8_TIMER TIM5
#define PWM_SERVO_8_RCC RCC_GPIOA
#define PWM_SERVO_8_GPIO GPIOA
#define PWM_SERVO_8_PIN GPIO1
#define PWM_SERVO_8_AF GPIO_AF2
@@ -336,7 +327,6 @@
#if USE_PWM9
#define PWM_SERVO_9 9
#define PWM_SERVO_9_TIMER TIM5
#define PWM_SERVO_9_RCC RCC_GPIOA
#define PWM_SERVO_9_GPIO GPIOA
#define PWM_SERVO_9_PIN GPIO0
#define PWM_SERVO_9_AF GPIO_AF2
@@ -349,7 +339,6 @@
#if USE_PWM10
#define PWM_SERVO_10 10
#define PWM_SERVO_10_TIMER TIM2
#define PWM_SERVO_10_RCC RCC_GPIOB
#define PWM_SERVO_10_GPIO GPIOB
#define PWM_SERVO_10_PIN GPIO3
#define PWM_SERVO_10_AF GPIO_AF1
sw/airborne/boards/lisa_l_1.0.h
+5 -11
View File
@@ -203,10 +203,9 @@
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_RCC RCC_GPIOC
#define PWM_SERVO_1_GPIO GPIOC
#define PWM_SERVO_1_PIN GPIO6
#define PWM_SERVO_1_AF 0
#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_1_OC TIM_OC1
#define PWM_SERVO_1_OC_BIT (1<<0)
#else
@@ -216,10 +215,9 @@
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC RCC_GPIOC
#define PWM_SERVO_2_GPIO GPIOC
#define PWM_SERVO_2_PIN GPIO7
#define PWM_SERVO_2_AF 0
#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_2_OC TIM_OC2
#define PWM_SERVO_2_OC_BIT (1<<1)
#else
@@ -229,10 +227,9 @@
#if USE_PWM3
#define PWM_SERVO_3 2
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC RCC_GPIOC
#define PWM_SERVO_3_GPIO GPIOC
#define PWM_SERVO_3_PIN GPIO8
#define PWM_SERVO_3_AF 0
#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_3_OC TIM_OC3
#define PWM_SERVO_3_OC_BIT (1<<2)
#else
@@ -242,10 +239,9 @@
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM3
#define PWM_SERVO_4_RCC RCC_GPIOC
#define PWM_SERVO_4_GPIO GPIOC
#define PWM_SERVO_4_PIN GPIO9
#define PWM_SERVO_4_AF 0
#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_4_OC TIM_OC4
#define PWM_SERVO_4_OC_BIT (1<<3)
#else
@@ -255,7 +251,6 @@
#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_TIMER TIM4
#define PWM_SERVO_5_RCC RCC_GPIOB
#define PWM_SERVO_5_GPIO GPIOB
#define PWM_SERVO_5_PIN GPIO8
#define PWM_SERVO_5_AF 0
@@ -268,12 +263,11 @@
#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_TIMER TIM4
#define PWM_SERVO_6_RCC RCC_GPIOB
#define PWM_SERVO_6_GPIO GPIOB
#define PWM_SERVO_6_PIN GPIO9
#define PWM_SERVO_6_AF 0
#define PWM_SERVO_6_OC TIM_OC4
#define PWM_SERVO_6_OC_BIT (1<<4)
#define PWM_SERVO_6_OC_BIT (1<<3)
#else
#define PWM_SERVO_6_OC_BIT 0
#endif
sw/airborne/boards/lisa_m_common.h
+4 -12
View File
@@ -256,10 +256,9 @@
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_RCC RCC_GPIOC
#define PWM_SERVO_1_GPIO GPIOC
#define PWM_SERVO_1_PIN GPIO6
#define PWM_SERVO_1_AF 0
#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_1_OC TIM_OC1
#define PWM_SERVO_1_OC_BIT (1<<0)
#else
@@ -269,10 +268,9 @@
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC RCC_GPIOC
#define PWM_SERVO_2_GPIO GPIOC
#define PWM_SERVO_2_PIN GPIO7
#define PWM_SERVO_2_AF 0
#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_2_OC TIM_OC2
#define PWM_SERVO_2_OC_BIT (1<<1)
#else
@@ -282,10 +280,9 @@
#if USE_PWM3
#define PWM_SERVO_3 2
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC RCC_GPIOC
#define PWM_SERVO_3_GPIO GPIOC
#define PWM_SERVO_3_PIN GPIO8
#define PWM_SERVO_3_AF 0
#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_3_OC TIM_OC3
#define PWM_SERVO_3_OC_BIT (1<<2)
#else
@@ -295,10 +292,9 @@
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM3
#define PWM_SERVO_4_RCC RCC_GPIOC
#define PWM_SERVO_4_GPIO GPIOC
#define PWM_SERVO_4_PIN GPIO9
#define PWM_SERVO_4_AF 0
#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP
#define PWM_SERVO_4_OC TIM_OC4
#define PWM_SERVO_4_OC_BIT (1<<3)
#else
@@ -308,7 +304,6 @@
#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_TIMER TIM5
#define PWM_SERVO_5_RCC RCC_GPIOA
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO0
#define PWM_SERVO_5_AF 0
@@ -333,7 +328,6 @@
#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_RCC RCC_GPIOA
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO1
#define PWM_SERVO_6_AF 0
@@ -363,7 +357,6 @@
#if USE_PWM7
#define PWM_SERVO_7 6
#define PWM_SERVO_7_TIMER TIM4
#define PWM_SERVO_7_RCC RCC_GPIOB
#define PWM_SERVO_7_GPIO GPIOB
#define PWM_SERVO_7_PIN GPIO6
#define PWM_SERVO_7_AF 0
@@ -376,7 +369,6 @@
#if USE_PWM8
#define PWM_SERVO_8 7
#define PWM_SERVO_8_TIMER TIM4
#define PWM_SERVO_8_RCC RCC_GPIOB
#define PWM_SERVO_8_GPIO GPIOB
#define PWM_SERVO_8_PIN GPIO7
#define PWM_SERVO_8_AF 0
sw/airborne/boards/lisa_mx_2.0.h
-8
View File
@@ -382,7 +382,6 @@
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_RCC RCC_GPIOC
#define PWM_SERVO_1_GPIO GPIOC
#define PWM_SERVO_1_PIN GPIO6
#define PWM_SERVO_1_AF GPIO_AF2
@@ -395,7 +394,6 @@
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC RCC_GPIOC
#define PWM_SERVO_2_GPIO GPIOC
#define PWM_SERVO_2_PIN GPIO7
#define PWM_SERVO_2_AF GPIO_AF2
@@ -408,7 +406,6 @@
#if USE_PWM3
#define PWM_SERVO_3 2
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC RCC_GPIOC
#define PWM_SERVO_3_GPIO GPIOC
#define PWM_SERVO_3_PIN GPIO8
#define PWM_SERVO_3_AF GPIO_AF2
@@ -421,7 +418,6 @@
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM3
#define PWM_SERVO_4_RCC RCC_GPIOC
#define PWM_SERVO_4_GPIO GPIOC
#define PWM_SERVO_4_PIN GPIO9
#define PWM_SERVO_4_AF GPIO_AF2
@@ -434,7 +430,6 @@
#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_TIMER TIM5
#define PWM_SERVO_5_RCC RCC_GPIOA
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO0
#define PWM_SERVO_5_AF GPIO_AF2
@@ -447,7 +442,6 @@
#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_RCC RCC_GPIOA
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO1
#define PWM_SERVO_6_AF GPIO_AF2
@@ -460,7 +454,6 @@
#if USE_PWM7
#define PWM_SERVO_7 6
#define PWM_SERVO_7_TIMER TIM4
#define PWM_SERVO_7_RCC RCC_GPIOB
#define PWM_SERVO_7_GPIO GPIOB
#define PWM_SERVO_7_PIN GPIO6
#define PWM_SERVO_7_AF GPIO_AF2
@@ -473,7 +466,6 @@
#if USE_PWM8
#define PWM_SERVO_8 7
#define PWM_SERVO_8_TIMER TIM4
#define PWM_SERVO_8_RCC RCC_GPIOB
#define PWM_SERVO_8_GPIO GPIOB
#define PWM_SERVO_8_PIN GPIO7
#define PWM_SERVO_8_AF GPIO_AF2
sw/airborne/boards/lisa_s_1.0.h
-6
View File
@@ -315,7 +315,6 @@
#if USE_PWM1
#define PWM_SERVO_1 4
#define PWM_SERVO_1_TIMER TIM4
#define PWM_SERVO_1_RCC RCC_GPIOB
#define PWM_SERVO_1_GPIO GPIOB
#define PWM_SERVO_1_PIN GPIO6
#define PWM_SERVO_1_AF 0
@@ -328,7 +327,6 @@
#if USE_PWM2
#define PWM_SERVO_2 5
#define PWM_SERVO_2_TIMER TIM4
#define PWM_SERVO_2_RCC RCC_GPIOB
#define PWM_SERVO_2_GPIO GPIOB
#define PWM_SERVO_2_PIN GPIO7
#define PWM_SERVO_2_AF 0
@@ -341,7 +339,6 @@
#if USE_PWM3
#define PWM_SERVO_3 0
#define PWM_SERVO_3_TIMER TIM4
#define PWM_SERVO_3_RCC RCC_GPIOB
#define PWM_SERVO_3_GPIO GPIOB
#define PWM_SERVO_3_PIN GPIO8
#define PWM_SERVO_3_AF 0
@@ -354,7 +351,6 @@
#if USE_PWM4
#define PWM_SERVO_4 1
#define PWM_SERVO_4_TIMER TIM4
#define PWM_SERVO_4_RCC RCC_GPIOB
#define PWM_SERVO_4_GPIO GPIOB
#define PWM_SERVO_4_PIN GPIO9
#define PWM_SERVO_4_AF 0
@@ -367,7 +363,6 @@
#if USE_PWM5
#define PWM_SERVO_5 2
#define PWM_SERVO_5_TIMER TIM5
#define PWM_SERVO_5_RCC RCC_GPIOA
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO0
#define PWM_SERVO_5_AF 0
@@ -392,7 +387,6 @@
#if USE_PWM6
#define PWM_SERVO_6 3
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_RCC RCC_GPIOA
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO1
#define PWM_SERVO_6_AF 0
sw/airborne/boards/navstik/baro_board.c
+67
View File
@@ -0,0 +1,67 @@
/*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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.
*/
/** @file boards/navstik/baro_board.c
* Baro board interface for Bosch BMP185 on Navstik I2C3 without EOC check.
*/
#include "std.h"
#include "subsystems/sensors/baro.h"
#include "peripherals/bmp085.h"
#include "peripherals/bmp085_regs.h"
#include <libopencm3/stm32/gpio.h>
#include "subsystems/abi.h"
#include "led.h"
struct Bmp085 baro_bmp085;
void baro_init(void) {
bmp085_init(&baro_bmp085, &i2c3, BMP085_SLAVE_ADDR);
#ifdef BARO_LED
LED_OFF(BARO_LED);
#endif
}
void baro_periodic(void) {
if (baro_bmp085.initialized) {
bmp085_periodic(&baro_bmp085);
}
else {
bmp085_read_eeprom_calib(&baro_bmp085);
}
}
void baro_event(void) {
bmp085_event(&baro_bmp085);
if (baro_bmp085.data_available) {
float pressure = (float)baro_bmp085.pressure;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
baro_bmp085.data_available = FALSE;
#ifdef BARO_LED
RunOnceEvery(10,LED_TOGGLE(BARO_LED));
#endif
}
}
sw/airborne/boards/navstik/baro_board.h
+37
View File
@@ -0,0 +1,37 @@
/*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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.
*/
/*
* board specific functions for the navstik board
*/
#ifndef BOARDS_NAVSTIK_BARO_H
#define BOARDS_NAVSTIK_BARO_H
// only for printing the baro type during compilation
#ifndef BARO_BOARD
#define BARO_BOARD BARO_BOARD_BMP085
#endif
extern void baro_event(void);
#define BaroEvent baro_event
#endif /* BOARDS_NAVSTIK_BARO_H */
sw/airborne/boards/navstik_1.0.h
+320
View File
@@ -0,0 +1,320 @@
/*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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.
*
*/
#ifndef CONFIG_NAVSTIK_1_0_H
#define CONFIG_NAVSTIK_1_0_H
/* Navstik has a 12MHz external clock and 168MHz internal. */
#define EXT_CLK 25000000
#define AHB_CLK 168000000
/*
* Onboard LEDs
*/
/* red, on PA8 */
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO GPIOC
#define LED_1_GPIO_PIN GPIO4
#define LED_1_GPIO_ON gpio_set
#define LED_1_GPIO_OFF gpio_clear
#define LED_1_AFIO_REMAP ((void)0)
/* green, shared with JTAG_TRST */
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO GPIOC
#define LED_2_GPIO_PIN GPIO5
#define LED_2_GPIO_ON gpio_set
#define LED_2_GPIO_OFF gpio_clear
#define LED_2_AFIO_REMAP ((void)0)
/*
* not actual LEDS, used as GPIOs
*/
#define GPS_POWER_GPIO GPIOA,GPIO4
#define IMU_POWER_GPIO GPIOC,GPIO15
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
/* UART */
#define UART1_GPIO_AF GPIO_AF7
#define UART1_GPIO_PORT_RX GPIOB
#define UART1_GPIO_RX GPIO7
#define UART1_GPIO_PORT_TX GPIOB
#define UART1_GPIO_TX GPIO6
#define UART2_GPIO_AF GPIO_AF7
#define UART2_GPIO_PORT_RX GPIOA
#define UART2_GPIO_RX GPIO3
#define UART2_GPIO_PORT_TX GPIOA
#define UART2_GPIO_TX GPIO2
#define UART5_GPIO_AF GPIO_AF8
#define UART5_GPIO_PORT_RX GPIOD
#define UART5_GPIO_RX GPIO2
#define UART5_GPIO_PORT_TX GPIOC
#define UART5_GPIO_TX GPIO12
#define UART6_GPIO_AF GPIO_AF8
#define UART6_GPIO_PORT_RX GPIOC
#define UART6_GPIO_RX GPIO7
#define UART6_GPIO_PORT_TX GPIOC
#define UART6_GPIO_TX GPIO6
/*
* Spektrum
*/
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO6
#define SPEKTRUM_BIND_PIN_PORT GPIOC
#define SPEKTRUM_BIND_PIN_HIGH 1
#define SPEKTRUM_UART6_RCC RCC_USART6
#define SPEKTRUM_UART6_BANK GPIOC
#define SPEKTRUM_UART6_PIN GPIO7
#define SPEKTRUM_UART6_AF GPIO_AF8
#define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ
#define SPEKTRUM_UART6_ISR usart6_isr
#define SPEKTRUM_UART6_DEV USART6
/*
* PPM
*/
/* input on PC6 (Spektrum Tx) */
#define USE_PPM_TIM8 8
#define PPM_CHANNEL TIM_IC3
#define PPM_TIMER_INPUT TIM_IC_IN_TI2
#define PPM_IRQ NVIC_TIM3_CC_IRQ
#define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE TIM_DIER_CC2IE
#define PPM_CC_IF TIM_SR_CC2IF
#define PPM_GPIO_PORT GPIOC
#define PPM_GPIO_PIN GPIO7
#define PPM_GPIO_AF GPIO_AF8
/* SPI */
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOA
#define SPI1_GPIO_MISO GPIO6
#define SPI1_GPIO_PORT_MOSI GPIOA
#define SPI1_GPIO_MOSI GPIO7
#define SPI1_GPIO_PORT_SCK GPIOA
#define SPI1_GPIO_SCK GPIO5
#define SPI2_GPIO_AF GPIO_AF5
#define SPI2_GPIO_PORT_MISO GPIOB
#define SPI2_GPIO_MISO GPIO14
#define SPI2_GPIO_PORT_MOSI GPIOB
#define SPI2_GPIO_MOSI GPIO15
#define SPI2_GPIO_PORT_SCK GPIOB
#define SPI2_GPIO_SCK GPIO13
#define SPI_SELECT_SLAVE0_PORT GPIOA
#define SPI_SELECT_SLAVE0_PIN GPIO15
#define SPI_SELECT_SLAVE1_PORT GPIOA
#define SPI_SELECT_SLAVE1_PIN GPIO4
#define SPI_SELECT_SLAVE2_PORT GPIOB
#define SPI_SELECT_SLAVE2_PIN GPIO12
#define SPI_SELECT_SLAVE3_PORT GPIOC
#define SPI_SELECT_SLAVE3_PIN GPIO13
#define SPI_SELECT_SLAVE4_PORT GPIOC
#define SPI_SELECT_SLAVE4_PIN GPIO12
#define SPI_SELECT_SLAVE5_PORT GPIOC
#define SPI_SELECT_SLAVE5_PIN GPIO4
/* I2C mapping */
#define I2C1_GPIO_PORT GPIOB
#define I2C1_GPIO_SCL GPIO8
#define I2C1_GPIO_SDA GPIO9
#define I2C3_GPIO_PORT_SCL GPIOA
#define I2C3_GPIO_SCL GPIO8
#define I2C3_GPIO_PORT_SDA GPIOC
#define I2C3_GPIO_SDA GPIO9
/*
* ADC
*/
/* Onboard ADCs */
/*
BATT_volt PC1/ADC123 (ADC123_IN11)
BATT_current PA1/ADC123 (ADC123_IN1)
*/
// Internal ADC for battery enabled by default
#ifndef USE_ADC_1
#define USE_ADC_1 1
#endif
#if USE_ADC_1
#define AD1_1_CHANNEL 11
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOC
#define ADC_1_GPIO_PIN GPIO1
#endif
#ifndef USE_ADC_2
#define USE_ADC_2 1
#endif
#if USE_ADC_2
#define AD1_2_CHANNEL 1
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT GPIOA
#define ADC_2_GPIO_PIN GPIO1
#endif
/* allow to define ADC_CHANNEL_VSUPPLY and ADC_CHANNEL_CURRENT in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
#endif
#ifndef ADC_CHANNEL_CURRENT
#define ADC_CHANNEL_CURRENT ADC_2
#endif
#define DefaultVoltageOfAdc(adc) (0.00382*adc)
#define DefaultMilliAmpereOfAdc(adc) (0.42497*adc)
/*
* PWM
*
*/
#define PWM_USE_TIM1 1
#define PWM_USE_TIM2 2
#define PWM_USE_TIM3 3
#define PWM_USE_TIM8 8
#define USE_PWM1 1
#define USE_PWM2 1
#define USE_PWM3 1
#define USE_PWM4 1
#define USE_PWM5 1
#define USE_PWM6 1
// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_GPIO GPIOB
#define PWM_SERVO_1_PIN GPIO5
#define PWM_SERVO_1_AF GPIO_AF2
#define PWM_SERVO_1_OC TIM_OC2
#define PWM_SERVO_1_OC_BIT (1<<1)
#else
#define PWM_SERVO_1_OC_BIT 0
#endif
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM1
#define PWM_SERVO_2_GPIO GPIOA
#define PWM_SERVO_2_PIN GPIO10
#define PWM_SERVO_2_AF GPIO_AF1
#define PWM_SERVO_2_OC TIM_OC3
#define PWM_SERVO_2_OC_BIT (1<<2)
#else
#define PWM_SERVO_2_OC_BIT 0
#endif
#if USE_PWM3
#define PWM_SERVO_3 2
#define PWM_SERVO_3_TIMER TIM8
#define PWM_SERVO_3_GPIO GPIOC
#define PWM_SERVO_3_PIN GPIO8
#define PWM_SERVO_3_AF GPIO_AF3
#define PWM_SERVO_3_OC TIM_OC3
#define PWM_SERVO_3_OC_BIT (1<<2)
#else
#define PWM_SERVO_3_OC_BIT 0
#endif
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM2
#define PWM_SERVO_4_GPIO GPIOB
#define PWM_SERVO_4_PIN GPIO11
#define PWM_SERVO_4_AF GPIO_AF1
#define PWM_SERVO_4_OC TIM_OC4
#define PWM_SERVO_4_OC_BIT (1<<3)
#else
#define PWM_SERVO_4_OC_BIT 0
#endif
#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_TIMER TIM3
#define PWM_SERVO_5_GPIO GPIOB
#define PWM_SERVO_5_PIN GPIO1
#define PWM_SERVO_5_AF GPIO_AF2
#define PWM_SERVO_5_OC TIM_OC4
#define PWM_SERVO_5_OC_BIT (1<<3)
#else
#define PWM_SERVO_5_OC_BIT 0
#endif
#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_TIMER TIM3
#define PWM_SERVO_6_GPIO GPIOB
#define PWM_SERVO_6_PIN GPIO0
#define PWM_SERVO_6_AF GPIO_AF2
#define PWM_SERVO_6_OC TIM_OC3
#define PWM_SERVO_6_OC_BIT (1<<2)
#else
#define PWM_SERVO_6_OC_BIT 0
#endif
/* servo 2 on TIM1 */
#define PWM_TIM1_CHAN_MASK (PWM_SERVO_2_OC_BIT)
/* servo 4 on TIM2 */
#define PWM_TIM2_CHAN_MASK (PWM_SERVO_4_OC_BIT)
/* servos 1,5,6 on TIM3 */
#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
/* servo 3 on TIM8 */
#define PWM_TIM8_CHAN_MASK (PWM_SERVO_3_OC_BIT)
/* by default activate onboard baro */
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#endif
#endif /* CONFIG_NAVSTIK_1_0_H */
sw/airborne/boards/px4fmu_1.7.h
-4
View File
@@ -226,7 +226,6 @@
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM2
#define PWM_SERVO_1_RCC RCC_GPIOA
#define PWM_SERVO_1_GPIO GPIOA
#define PWM_SERVO_1_PIN GPIO0
#define PWM_SERVO_1_AF GPIO_AF1
@@ -240,7 +239,6 @@
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM2
#define PWM_SERVO_2_RCC RCC_GPIOA
#define PWM_SERVO_2_GPIO GPIOA
#define PWM_SERVO_2_PIN GPIO1
#define PWM_SERVO_2_AF GPIO_AF1
@@ -254,7 +252,6 @@
#if USE_PWM3
#define PWM_SERVO_3_IDX 2
#define PWM_SERVO_3_TIMER TIM2
#define PWM_SERVO_3_RCC RCC_GPIOA
#define PWM_SERVO_3_GPIO GPIOA
#define PWM_SERVO_3_PIN GPIO2
#define PWM_SERVO_3_AF GPIO_AF1
@@ -268,7 +265,6 @@
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM2
#define PWM_SERVO_4_RCC RCC_GPIOA
#define PWM_SERVO_4_GPIO GPIOA
#define PWM_SERVO_4_PIN GPIO3
#define PWM_SERVO_4_AF GPIO_AF1
sw/airborne/boards/stm32f4_discovery.h
-12
View File
@@ -393,7 +393,6 @@
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_TIMER TIM1
#define PWM_SERVO_0_RCC RCC_GPIOE
#define PWM_SERVO_0_GPIO GPIOE
#define PWM_SERVO_0_PIN GPIO9
#define PWM_SERVO_0_AF GPIO_AF1
@@ -406,7 +405,6 @@
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_TIMER TIM1
#define PWM_SERVO_1_RCC RCC_GPIOE
#define PWM_SERVO_1_GPIO GPIOE
#define PWM_SERVO_1_PIN GPIO11
#define PWM_SERVO_1_AF GPIO_AF1
@@ -419,7 +417,6 @@
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_TIMER TIM1
#define PWM_SERVO_2_RCC RCC_GPIOE
#define PWM_SERVO_2_GPIO GPIOE
#define PWM_SERVO_2_PIN GPIO13
#define PWM_SERVO_2_AF GPIO_AF1
@@ -432,7 +429,6 @@
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_TIMER TIM1
#define PWM_SERVO_3_RCC RCC_GPIOE
#define PWM_SERVO_3_GPIO GPIOE
#define PWM_SERVO_3_PIN GPIO14
#define PWM_SERVO_3_AF GPIO_AF1
@@ -445,7 +441,6 @@
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_TIMER TIM9
#define PWM_SERVO_4_RCC RCC_GPIOE
#define PWM_SERVO_4_GPIO GPIOE
#define PWM_SERVO_4_PIN GPIO5
#define PWM_SERVO_4_AF GPIO_AF3
@@ -458,7 +453,6 @@
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_TIMER TIM9
#define PWM_SERVO_5_RCC RCC_GPIOE
#define PWM_SERVO_5_GPIO GPIOE
#define PWM_SERVO_5_PIN GPIO6
#define PWM_SERVO_5_AF GPIO_AF3
@@ -472,7 +466,6 @@
#if USE_PWM6
#define PWM_SERVO_6 6
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_RCC RCC_GPIOA
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO3
#define PWM_SERVO_6_AF GPIO_AF2
@@ -485,7 +478,6 @@
#if USE_PWM7
#define PWM_SERVO_7 7
#define PWM_SERVO_7_TIMER TIM5
#define PWM_SERVO_7_RCC RCC_GPIOA
#define PWM_SERVO_7_GPIO GPIOA
#define PWM_SERVO_7_PIN GPIO2
#define PWM_SERVO_7_AF GPIO_AF2
@@ -498,7 +490,6 @@
#if USE_PWM8
#define PWM_SERVO_8 8
#define PWM_SERVO_8_TIMER TIM5
#define PWM_SERVO_8_RCC RCC_GPIOA
#define PWM_SERVO_8_GPIO GPIOA
#define PWM_SERVO_8_PIN GPIO1
#define PWM_SERVO_8_AF GPIO_AF2
@@ -511,7 +502,6 @@
#if USE_PWM9
#define PWM_SERVO_9 9
#define PWM_SERVO_9_TIMER TIM5
#define PWM_SERVO_9_RCC RCC_GPIOA
#define PWM_SERVO_9_GPIO GPIOA
#define PWM_SERVO_9_PIN GPIO0
#define PWM_SERVO_9_AF GPIO_AF2
@@ -525,7 +515,6 @@
#if USE_PWM10
#define PWM_SERVO_10 10
#define PWM_SERVO_10_TIMER TIM12
#define PWM_SERVO_10_RCC RCC_GPIOB
#define PWM_SERVO_10_GPIO GPIOB
#define PWM_SERVO_10_PIN GPIO14
#define PWM_SERVO_10_AF GPIO_AF9
@@ -538,7 +527,6 @@
#if USE_PWM11
#define PWM_SERVO_11 11
#define PWM_SERVO_11_TIMER TIM12
#define PWM_SERVO_11_RCC RCC_GPIOB
#define PWM_SERVO_11_GPIO GPIOB
#define PWM_SERVO_11_PIN GPIO15
#define PWM_SERVO_11_AF GPIO_AF9
sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.h
-10
View File
@@ -57,16 +57,6 @@ extern float h_ctl_pitch_of_roll;
h_ctl_pitch_igain = _gain; \
}
/* inner roll loop parameters */
extern float h_ctl_ref_roll_angle;
extern float h_ctl_ref_roll_rate;
extern float h_ctl_ref_roll_accel;
/* inner pitch loop parameters */
extern float h_ctl_ref_pitch_angle;
extern float h_ctl_ref_pitch_rate;
extern float h_ctl_ref_pitch_accel;
extern bool_t use_airspeed_ratio;
#endif /* FW_H_CTL_A_H */
sw/airborne/firmwares/rotorcraft/autopilot.c
+1 -1
View File
@@ -460,7 +460,7 @@ void autopilot_check_in_flight(bool_t motors_on) {
void autopilot_set_motors_on(bool_t motors_on) {
if (ahrs_is_aligned() && motors_on)
if (autopilot_mode != AP_MODE_KILL && ahrs_is_aligned() && motors_on)
autopilot_motors_on = TRUE;
else
autopilot_motors_on = FALSE;
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+1 -1
View File
@@ -446,7 +446,7 @@ static void guidance_h_traj_run(bool_t in_flight) {
((guidance_h_again * guidance_h_accel_ref.x) >> 8); /* acceleration feedforward gain */
guidance_h_cmd_earth.y =
pd_y +
((guidance_h_vgain * guidance_h_speed_ref.x) >> 17) + /* speed feedforward gain */
((guidance_h_vgain * guidance_h_speed_ref.y) >> 17) + /* speed feedforward gain */
((guidance_h_again * guidance_h_accel_ref.y) >> 8); /* acceleration feedforward gain */
/* trim max bank angle from PD */

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