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[actuators] default actuators for lisa and classix

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- actuators_direct is now actuators_pwm (consistency with file names)
This commit is contained in:
Gautier Hattenberger
2012-10-19 13:28:35 +02:00
parent ee6b776090
commit 4c3fb47be4
18 changed files with 101 additions and 40 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+1 -1
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@@ -30,7 +30,7 @@
<define name="SKIRON_I2C_SCL_TIME" value="25"/> <define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem> </subsystem>
<subsystem name="motor_mixing"/> <subsystem name="motor_mixing"/>
<subsystem name="actuators" type="direct"> <subsystem name="actuators" type="pwm">
<define name="USE_PWM0"/> <define name="USE_PWM0"/>
</subsystem> </subsystem>
<subsystem name="imu" type="navgo"/> <subsystem name="imu" type="navgo"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+1 -1
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@@ -24,7 +24,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="asctec"/> <subsystem name="actuators" type="asctec"/>
<subsystem name="actuators" type="direct"> <subsystem name="actuators" type="pwm">
<define name="USE_PWM0"/> <define name="USE_PWM0"/>
<define name="USE_PWM1"/> <define name="USE_PWM1"/>
</subsystem> </subsystem>
conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+10 -11
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@@ -24,6 +24,7 @@
<subsystem name="telemetry" type="xbee_api"> <subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_BAUD" value="B38400"/> <configure name="MODEM_BAUD" value="B38400"/>
</subsystem> </subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="aspirin_v1.5"/> <subsystem name="imu" type="aspirin_v1.5"/>
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
@@ -70,11 +71,11 @@
</firmware> </firmware>
--> -->
<servos> <servos driver="Mkk">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="2" max="210"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/> <servo name="BACK" no="1" min="0" neutral="2" max="210"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="2" min="0" neutral="2" max="210"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/> <servo name="LEFT" no="3" min="0" neutral="2" max="210"/>
</servos> </servos>
<commands> <commands>
@@ -89,12 +90,10 @@
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/> <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="MIXING" prefix="MOTOR_MIXING_">
<define name="MIN_MOTOR" value="2"/> <define name="TRIM_ROLL" value="0"/>
<define name="MAX_MOTOR" value="210"/> <define name="TRIM_PITCH" value="0"/>
<define name="TRIM_A" value="0"/> <define name="TRIM_YAW" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/> <define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/> <define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+10 -11
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@@ -23,6 +23,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
</target> </target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="b2_v1.2"/> <subsystem name="imu" type="b2_v1.2"/>
@@ -70,11 +71,11 @@
</firmware> </firmware>
--> -->
<servos> <servos driver="Mkk">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="2" max="210"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/> <servo name="BACK" no="1" min="0" neutral="2" max="210"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="2" min="0" neutral="2" max="210"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/> <servo name="LEFT" no="3" min="0" neutral="2" max="210"/>
</servos> </servos>
<commands> <commands>
@@ -91,12 +92,10 @@
</section> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="MIXING" prefix="MOTOR_MIXING_">
<define name="MIN_MOTOR" value="2"/> <define name="TRIM_ROLL" value="0"/>
<define name="MAX_MOTOR" value="210"/> <define name="TRIM_PITCH" value="0"/>
<define name="TRIM_A" value="0"/> <define name="TRIM_YAW" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/> <define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/> <define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+1 -1
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@@ -26,7 +26,7 @@
</target> </target>
<subsystem name="motor_mixing"/> <subsystem name="motor_mixing"/>
<subsystem name="actuators" type="direct"> <subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/> <define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </subsystem>
conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+1 -1
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@@ -26,7 +26,7 @@
</target> </target>
<subsystem name="motor_mixing"/> <subsystem name="motor_mixing"/>
<subsystem name="actuators" type="direct"> <subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/> <define name="SERVO_HZ" value="400"/>
<define name="USE_SERVOS_7AND8"/> <define name="USE_SERVOS_7AND8"/>
</subsystem> </subsystem>
conf/boards/classix.makefile
+8
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@@ -55,5 +55,13 @@ ifndef SYS_TIME_LED
SYS_TIME_LED = none SYS_TIME_LED = none
endif endif
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
#
ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
conf/boards/lisa_l_1.0.makefile
+10
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@@ -86,6 +86,16 @@ ifndef GPS_BAUD
GPS_BAUD=B38400 GPS_BAUD=B38400
endif endif
#
# 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/>
#
ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
# #
# this is the DRDY pin of a max1168 on a booz IMU # this is the DRDY pin of a max1168 on a booz IMU
# #
conf/boards/lisa_l_1.1.makefile
+10
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@@ -89,6 +89,16 @@ ifndef GPS_BAUD
GPS_BAUD=B38400 GPS_BAUD=B38400
endif endif
#
# 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/>
#
ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
# #
# this is the DRDY pin of a max1168 on a booz IMU # this is the DRDY pin of a max1168 on a booz IMU
# #
conf/boards/lisa_m_1.0.makefile
+10
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@@ -83,6 +83,16 @@ GPS_BAUD=B38400
endif endif
#
# 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/>
#
ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
ifndef ADC_IR1 ifndef ADC_IR1
ADC_IR1 = 1 ADC_IR1 = 1
conf/boards/lisa_m_2.0.makefile
+10
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@@ -86,6 +86,16 @@ GPS_BAUD=B38400
endif endif
#
# 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/>
#
ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
ifndef ADC_IR1 ifndef ADC_IR1
ADC_IR1 = 1 ADC_IR1 = 1
conf/firmwares/fixedwing.makefile
+1 -10
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@@ -34,16 +34,7 @@ endif
ifeq ($(TARGET),$(ACTUATOR_TARGET)) ifeq ($(TARGET),$(ACTUATOR_TARGET))
ifeq ($(ACTUATORS),) ifneq ($(ACTUATORS),)
ifeq ($(BOARD),lisa_l)
include $(CFG_SHARED)/actuators_direct.makefile
endif
ifeq ($(BOARD),lisa_m)
include $(CFG_SHARED)/actuators_direct.makefile
endif
else
include $(CFG_SHARED)/$(ACTUATORS).makefile include $(CFG_SHARED)/$(ACTUATORS).makefile
endif endif
conf/firmwares/setup.makefile
+3 -3
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@@ -84,10 +84,10 @@ ifeq ($(TARGET), setup_actuators)
endif endif
ifeq ($(BOARD),lisa_l) ifeq ($(BOARD),lisa_l)
include $(CFG_SHARED)/actuators_direct.makefile include $(CFG_SHARED)/actuators_pwm.makefile
endif endif
ifeq ($(BOARD),lisa_m) ifeq ($(BOARD),lisa_m)
include $(CFG_SHARED)/actuators_direct.makefile include $(CFG_SHARED)/actuators_pwm.makefile
endif endif
else else
conf/firmwares/subsystems/shared/actuators_direct.makefile → conf/firmwares/subsystems/shared/actuators_pwm.makefile
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sw/airborne/boards/classix_1.0.h
+7 -1
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@@ -46,7 +46,13 @@
#define PPM_CCR_CRI TCCR_CR2_I #define PPM_CCR_CRI TCCR_CR2_I
#define PPM_CR T0CR2 #define PPM_CR T0CR2
/* SERVOS : 4017 on FBW_RC0 connector */ /* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefault(_x) ActuatorPwm(_x)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
/* SERVOS : 4017 on FBW_RC0 connector (ppm driver) */
/* MAT0.1 on P0.5 */ /* MAT0.1 on P0.5 */
#define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PIN 5
sw/airborne/boards/lisa_l_1.0.h
+6
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@@ -21,6 +21,12 @@
#define IMU_ACC_DRDY_GPIO GPIOD #define IMU_ACC_DRDY_GPIO GPIOD
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOD #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOD
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefault(_x) ActuatorPwm(_x)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
/* PA0 - ADC0 */ /* PA0 - ADC0 */
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
sw/airborne/boards/lisa_m_1.0.h
+6
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@@ -59,6 +59,12 @@
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefault(_x) ActuatorPwm(_x)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
#define DefaultVoltageOfAdc(adc) (0.00485*adc) #define DefaultVoltageOfAdc(adc) (0.00485*adc)
sw/airborne/boards/lisa_m_2.0.h
+6
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@@ -95,6 +95,12 @@
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefault(_x) ActuatorPwm(_x)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
#define DefaultVoltageOfAdc(adc) (0.0045*adc) #define DefaultVoltageOfAdc(adc) (0.0045*adc)