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rotorcraft uses electrical subsystem like fixedwing - both for lpc21 and stm32

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This commit is contained in:
Antoine Drouin
2011-03-22 16:14:34 +01:00
parent 2c3e0a3892
commit 4c804a1dca
17 changed files with 119 additions and 520 deletions
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conf/autopilot/rotorcraft.makefile
+15 -6
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@@ -134,7 +134,7 @@ ap.srcs += $(SRC_BOOZ)/booz2_commands.c
# #
ap.srcs += $(SRC_BOARD)/baro_board.c ap.srcs += $(SRC_BOARD)/baro_board.c
ifeq ($(BOARD), booz) ifeq ($(BOARD), booz)
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED) -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))' ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
else ifeq ($(BOARD), lisa_l) else ifeq ($(BOARD), lisa_l)
ap.CFLAGS += -DUSE_I2C2 ap.CFLAGS += -DUSE_I2C2
endif endif
@@ -142,18 +142,27 @@ endif
# #
# Analog Backend # Analog Backend
# #
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
ap.srcs += $(SRC_FIRMWARE)/battery.c
ap.CFLAGS += -DADC0_VIC_SLOT=2 ap.CFLAGS += -DADC0_VIC_SLOT=2
ap.CFLAGS += -DADC1_VIC_SLOT=3 ap.CFLAGS += -DADC1_VIC_SLOT=3
ap.srcs += $(SRC_BOOZ)/booz2_analog.c \ ap.CFLAGS += -DUSE_ADC
$(SRC_BOOZ_ARCH)/booz2_analog_hw.c ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ap.srcs += subsystems/electrical.c
# baro has variable offset amplifier on booz board
ap.CFLAGS += -DUSE_DAC
ap.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
else ifeq ($(ARCH), stm32) else ifeq ($(ARCH), stm32)
ap.srcs += lisa/lisa_analog_plug.c #ap.srcs += lisa/lisa_analog_plug.c
ap.CFLAGS += -DUSE_ADC
ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
ap.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ap.srcs += subsystems/electrical.c
endif endif
# #
# GPS choice # GPS choice
# #
sw/airborne/arch/lpc21/mcu_periph/dac_arch.c
+6
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@@ -0,0 +1,6 @@
#include "mcu_periph/dac.h"
/* turn on DAC pins */
void dac_init(void) {
PINSEL1 |= 2 << 18;
}
sw/airborne/arch/lpc21/mcu_periph/dac_arch.h
+12
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@@ -0,0 +1,12 @@
#ifndef LPC21_MCU_PERIPH_DAC_ARCH_H
#define LPC21_MCU_PERIPH_DAC_ARCH_H
#include "std.h"
#include "LPC21xx.h"
static inline void DACSet(uint16_t x) {
DACR = x << 6;
}
#endif /* LPC21_MCU_PERIPH_DAC_ARCH_H */
sw/airborne/boards/booz/baro_board.c
+13 -1
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@@ -37,7 +37,10 @@
struct Baro baro; struct Baro baro;
struct BaroBoard baro_board; struct BaroBoard baro_board;
void baro_init( void ) { void baro_init( void ) {
adc_buf_channel(ADC_CHANNEL_BARO, &baro_board.buf, DEFAULT_AV_NB_SAMPLE);
baro.status = BS_UNINITIALIZED; baro.status = BS_UNINITIALIZED;
baro.absolute = 0; baro.absolute = 0;
@@ -53,7 +56,16 @@ void baro_init( void ) {
#endif #endif
} }
void baro_periodic(void) {} void baro_periodic(void) {
baro.absolute = baro_board.buf.sum/baro_board.buf.av_nb_sample;
baro_board.value_filtered = (3*baro_board.value_filtered + baro.absolute)/4;
if (baro.status == BS_UNINITIALIZED) {
RunOnceEvery(10, { baro_board_calibrate();});
}
/* else */
baro_board.data_available = TRUE;
}
/* decrement offset until adc reading is over a threshold */ /* decrement offset until adc reading is over a threshold */
void baro_board_calibrate(void) { void baro_board_calibrate(void) {
sw/airborne/boards/booz/baro_board.h
+3 -14
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@@ -4,14 +4,15 @@
#include "std.h" #include "std.h"
#include "subsystems/sensors/baro.h" #include "subsystems/sensors/baro.h"
#include "booz/booz2_analog.h" #include "mcu_periph/adc.h"
#include "booz/booz2_analog.h" // le DAC
/* we don't need that on this board */
struct BaroBoard { struct BaroBoard {
uint16_t offset; uint16_t offset;
uint16_t value_filtered; uint16_t value_filtered;
bool_t data_available; bool_t data_available;
struct adc_buf buf;
}; };
extern struct BaroBoard baro_board; extern struct BaroBoard baro_board;
@@ -30,17 +31,5 @@ static inline void baro_board_SetOffset(uint16_t _o) {
Booz2AnalogSetDAC(_o); Booz2AnalogSetDAC(_o);
} }
static inline void BoozBaroISRHandler(uint16_t _val) {
baro.absolute = _val;
baro_board.value_filtered = (3*baro_board.value_filtered + baro.absolute)/4;
if (baro.status == BS_UNINITIALIZED) {
RunOnceEvery(10, { baro_board_calibrate();});
}
/* else */
baro_board.data_available = TRUE;
}
#endif /* BOARDS_BOOZ_BARO_H */ #endif /* BOARDS_BOOZ_BARO_H */
sw/airborne/boards/booz_1.0.h
+18
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@@ -61,6 +61,24 @@
#define ANALOG_BARO_ADC 1 #define ANALOG_BARO_ADC 1
/* battery */
#define ADC_CHANNEL_VSUPPLY AdcBank0(2)
#ifndef USE_AD0
#define USE_AD0
#endif
#define USE_AD0_2
#define DefaultVoltageOfAdc(adc) (0.0183*adc)
/* baro */
#define ADC_CHANNEL_BARO AdcBank1(2)
#ifndef USE_AD1
#define USE_AD1
#endif
#define USE_AD1_2
/* MS2100 on SSP, IMU connector */ /* MS2100 on SSP, IMU connector */
#define MS2100_SS_PIN 28 #define MS2100_SS_PIN 28
sw/airborne/booz/arch/lpc21/booz2_analog_hw.c
-229
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@@ -1,229 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "booz2_analog.h"
/* analog_arch includes baro ??? naaaa we don't want double references */
#include "subsystems/sensors/baro.h"
#include "firmwares/rotorcraft/battery.h"
#ifndef USE_EXTRA_ADC
/* Default mode
* Bust OFF
* Only one ADC can be read on each bank
* Baro and Bat are read on interrupt
*/
#include "armVIC.h"
#include "sys_time.h"
void ADC0_ISR ( void ) __attribute__((naked));
void ADC1_ISR ( void ) __attribute__((naked));
void booz2_analog_init_hw( void ) {
/* start ADC0 */
/* select P0.29 as AD0.2 for bat meas*/
PINSEL1 |= 0x01 << 26;
/* sample AD0.2 - PCLK/4 ( 3.75MHz) - ON */
AD0CR = 1 << 2 | 0x03 << 8 | 1 << 21;
/* AD0 selected as IRQ */
VICIntSelect &= ~VIC_BIT(VIC_AD0);
/* AD0 interrupt enabled */
VICIntEnable = VIC_BIT(VIC_AD0);
/* AD0 interrupt as VIC2 */
_VIC_CNTL(ADC0_VIC_SLOT) = VIC_ENABLE | VIC_AD0;
_VIC_ADDR(ADC0_VIC_SLOT) = (uint32_t)ADC0_ISR;
/* start convertion on T0M1 match */
AD0CR |= 4 << 24;
/* clear match 1 */
T0EMR &= ~TEMR_EM1;
/* set high on match 1 */
T0EMR |= TEMR_EMC1_2;
/* first match in a while */
T0MR1 = 1024;
/* start ADC1 */
/* select P0.10 as AD1.2 for baro*/
ANALOG_BARO_PINSEL |= ANALOG_BARO_PINSEL_VAL << ANALOG_BARO_PINSEL_BIT;
/* sample AD1.2 - PCLK/4 ( 3.75MHz) - ON */
AD1CR = 1 << 2 | 0x03 << 8 | 1 << 21;
/* AD0 selected as IRQ */
VICIntSelect &= ~VIC_BIT(VIC_AD1);
/* AD0 interrupt enabled */
VICIntEnable = VIC_BIT(VIC_AD1);
/* AD0 interrupt as VIC2 */
_VIC_CNTL(ADC1_VIC_SLOT) = VIC_ENABLE | VIC_AD1;
_VIC_ADDR(ADC1_VIC_SLOT) = (uint32_t)ADC1_ISR;
/* start convertion on T0M3 match */
AD1CR |= 5 << 24;
/* clear match 2 */
T0EMR &= ~TEMR_EM3;
/* set high on match 2 */
T0EMR |= TEMR_EMC3_2;
/* first match in a while */
T0MR3 = 512;
/* turn on DAC pins */
PINSEL1 |= 2 << 18;
}
void ADC0_ISR ( void ) {
ISR_ENTRY();
uint32_t tmp = AD0GDR;
uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
BatteryISRHandler(tmp2);
/* trigger next convertion */
T0MR1 += BOOZ2_ANALOG_BATTERY_PERIOD;
/* lower clock */
T0EMR &= ~TEMR_EM1;
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
void ADC1_ISR ( void ) {
ISR_ENTRY();
uint32_t tmp = AD1GDR;
uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
BoozBaroISRHandler(tmp2);
/* trigger next convertion */
T0MR3 += BOOZ2_ANALOG_BARO_PERIOD;
/* lower clock */
T0EMR &= ~TEMR_EM3;
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
#else // USE_EXTRA_ADC
/* Extra ADCs are read
* Bust ON
* Baro and Bat values are updated by hand
* Four ADCs can be configured
* ADC_1 is available on the cam connector
*/
#include "LPC21xx.h"
#include "sys_time.h"
uint16_t booz2_adc_1;
uint16_t booz2_adc_2;
uint16_t booz2_adc_3;
uint16_t booz2_adc_4;
void booz2_analog_init_hw( void ) {
/* AD0 */
/* PCLK/4 ( 3.75MHz) - BURST - ON */
AD0CR = 0x03 << 8 | 1 << 16 | 1 << 21;
/* disable global interrupt */
ClearBit(AD0INTEN,8);
/* AD1 */
/* PCLK/4 ( 3.75MHz) - BURST - ON */
AD1CR = 0x03 << 8 | 1 << 16 | 1 << 21;
/* disable global interrupt */
ClearBit(AD1INTEN,8);
/* select P0.29 as AD0.2 for bat meas*/
PINSEL1 |= 0x01 << 26;
/* sample AD0.2 */
AD0CR |= 1 << 2;
/* select P0.10 as AD1.2 for baro*/
ANALOG_BARO_PINSEL |= ANALOG_BARO_PINSEL_VAL << ANALOG_BARO_PINSEL_BIT;
/* sample AD1.2 */
AD1CR |= 1 << 2;
/* turn on DAC pins */
PINSEL1 |= 2 << 18;
#ifdef USE_ADC_1
/* select P0.13 (ADC_SPARE) as AD1.4 adc 1 */
PINSEL0 |= 0x03 << 26;
AD1CR |= 1 << 4;
#endif
#ifdef USE_ADC_2
/* select P0.4 (SCK_0) as AD0.6 adc 2 */
PINSEL0 |= 0x03 << 8;
AD0CR |= 1 << 6;
#endif
#ifdef USE_ADC_3
/* select P0.5 (MISO_0) as AD0.7 adc 3 */
PINSEL0 |= 0x03 << 10;
AD0CR |= 1 << 7;
#endif
#ifdef USE_ADC_4
/* select P0.6 (MOSI_0) as AD1.0 adc 4 */
PINSEL0 |= 0x03 << 12;
AD1CR |= 1 << 0;
#endif
booz2_adc_1 = 0;
booz2_adc_2 = 0;
booz2_adc_3 = 0;
booz2_adc_4 = 0;
}
void booz2_analog_baro_read(void) {
uint32_t tmp = AD1DR2;
uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
BoozBaroISRHandler(tmp2);
}
void booz2_analog_bat_read(void) {
uint32_t tmp = AD0DR2;
uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
BatteryISRHandler(tmp2);
}
void booz2_analog_extra_adc_read(void) {
uint32_t tmp,tmp2;
#ifdef USE_ADC_1
tmp = AD1DR4;
tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
booz2_adc_1 = tmp2;
#endif
#ifdef USE_ADC_2
tmp = AD0DR6;
tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
booz2_adc_2 = tmp2;
#endif
#ifdef USE_ADC_3
tmp = AD0DR7;
tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
booz2_adc_3 = tmp2;
#endif
#ifdef USE_ADC_4
tmp = AD1DR0;
tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
booz2_adc_4 = tmp2;
#endif
}
#endif // USE_EXTRA_ADC
sw/airborne/booz/arch/lpc21/booz2_analog_hw.h
-36
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@@ -1,36 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ2_ANALOG_HW_H
#define BOOZ2_ANALOG_HW_H
#include "LPC21xx.h"
#include "std.h"
static inline void Booz2AnalogSetDAC(uint16_t x) {
DACR = x << 6;
}
extern void booz2_analog_init_hw(void);
#endif /* BOOZ2_ANALOG_HW_H */
sw/airborne/booz/arch/sim/booz2_analog_hw.c
-29
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@@ -1,29 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "booz2_analog.h"
void booz2_analog_init_hw(void) {
}
sw/airborne/booz/arch/sim/booz2_analog_hw.h
-31
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@@ -1,31 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ2_ANALOG_HW_H
#define BOOZ2_ANALOG_HW_H
#define Booz2AnalogSetDAC(x) { }
extern void booz2_analog_init_hw(void);
#endif /* BOOZ2_ANALOG_HW_H */
sw/airborne/booz/arch/stm32/booz2_analog_hw.h
-33
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@@ -1,33 +0,0 @@
/*
* $Id: booz2_analog_hw.h 4172 2009-09-18 11:57:13Z flixr $
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ2_ANALOG_HW_H
#define BOOZ2_ANALOG_HW_H
#include "std.h"
static inline void Booz2AnalogSetDAC(uint16_t x) {}
extern void booz2_analog_init_hw(void);
#endif /* BOOZ2_ANALOG_HW_H */
sw/airborne/booz/booz2_analog.c
-49
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@@ -1,49 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#include "booz2_analog.h"
#include "std.h"
// battery on AD0.3 on P0.30
// baro on AD0.1 on P0.28
#define CHAN_BAT 3
#define CHAN_BARO 1
void booz2_analog_init( void ) {
booz2_analog_init_hw();
}
#ifdef USE_EXTRA_ADC
// Read manually baro (100Hz) and bat (10Hz)
void booz2_analog_periodic( void ) {
// baro
RunOnceEvery(5,booz2_analog_baro_read());
// bat
RunOnceEvery(50,booz2_analog_bat_read());
}
#endif
sw/airborne/booz/booz2_analog.h
-47
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@@ -1,47 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ2_ANALOG_H
#define BOOZ2_ANALOG_H
extern void booz2_analog_init( void );
#ifdef USE_EXTRA_ADC
#include "std.h"
extern uint16_t booz2_adc_1;
extern uint16_t booz2_adc_2;
extern uint16_t booz2_adc_3;
extern uint16_t booz2_adc_4;
extern void booz2_analog_periodic( void );
extern void booz2_analog_baro_read(void);
extern void booz2_analog_bat_read(void);
extern void booz2_analog_extra_adc_read(void);
#endif
#include "booz2_analog_hw.h"
#endif /* BOOZ2_ANALOG_H */
sw/airborne/firmwares/rotorcraft/main.c
+4 -12
View File
@@ -41,11 +41,10 @@
#include "subsystems/imu.h" #include "subsystems/imu.h"
#include "booz_gps.h" #include "booz_gps.h"
#include "booz/booz2_analog.h"
#include "subsystems/sensors/baro.h" #include "subsystems/sensors/baro.h"
#include "baro_board.h" #include "baro_board.h"
#include "firmwares/rotorcraft/battery.h" #include "subsystems/electrical.h"
// #include "booz_fms.h" // FIXME // #include "booz_fms.h" // FIXME
#include "firmwares/rotorcraft/autopilot.h" #include "firmwares/rotorcraft/autopilot.h"
@@ -98,6 +97,7 @@ STATIC_INLINE void main_init( void ) {
mcu_init(); mcu_init();
sys_time_init(); sys_time_init();
electrical_init();
actuators_init(); actuators_init();
radio_control_init(); radio_control_init();
@@ -106,12 +106,8 @@ STATIC_INLINE void main_init( void ) {
xbee_init(); xbee_init();
#endif #endif
booz2_analog_init();
baro_init(); baro_init();
battery_init();
imu_init(); imu_init();
// booz_fms_init(); // FIXME // booz_fms_init(); // FIXME
autopilot_init(); autopilot_init();
nav_init(); nav_init();
@@ -156,7 +152,7 @@ STATIC_INLINE void main_periodic( void ) {
/* booz_fms_periodic(); FIXME */ \ /* booz_fms_periodic(); FIXME */ \
}, \ }, \
{ \ { \
/*BoozControlSurfacesSetFromCommands();*/ \ electrical_periodic(); \
}, \ }, \
{ \ { \
LED_PERIODIC(); \ LED_PERIODIC(); \
@@ -172,16 +168,12 @@ STATIC_INLINE void main_periodic( void ) {
} ); } );
#ifdef USE_GPS #ifdef USE_GPS
if (radio_control.status != RC_OK && \ if (radio_control.status != RC_OK && \
autopilot_mode == AP_MODE_NAV && GpsIsLost()) \ autopilot_mode == AP_MODE_NAV && GpsIsLost()) \
autopilot_set_mode(AP_MODE_FAILSAFE); \ autopilot_set_mode(AP_MODE_FAILSAFE); \
booz_gps_periodic(); booz_gps_periodic();
#endif #endif
#ifdef USE_EXTRA_ADC
booz2_analog_periodic();
#endif
modules_periodic_task(); modules_periodic_task();
if (autopilot_in_flight) { if (autopilot_in_flight) {
sw/airborne/firmwares/rotorcraft/telemetry.h
+33 -33
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@@ -45,7 +45,7 @@
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM) #define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM)
#include "firmwares/rotorcraft/battery.h" #include "subsystems/electrical.h"
#include "subsystems/imu.h" #include "subsystems/imu.h"
#include "booz_gps.h" #include "booz_gps.h"
#include "subsystems/ins.h" #include "subsystems/ins.h"
@@ -56,43 +56,43 @@
extern uint8_t telemetry_mode_Main_DefaultChannel; extern uint8_t telemetry_mode_Main_DefaultChannel;
#ifdef USE_GPS #ifdef USE_GPS
#define PERIODIC_SEND_ROTORCRAFT_STATUS(_chan) { \ #define PERIODIC_SEND_ROTORCRAFT_STATUS(_chan) { \
uint32_t imu_nb_err = 0; \ uint32_t imu_nb_err = 0; \
uint8_t _twi_blmc_nb_err = 0; \ uint8_t _twi_blmc_nb_err = 0; \
DOWNLINK_SEND_ROTORCRAFT_STATUS(_chan, \ DOWNLINK_SEND_ROTORCRAFT_STATUS(_chan, \
&imu_nb_err, \ &imu_nb_err, \
&_twi_blmc_nb_err, \ &_twi_blmc_nb_err, \
&radio_control.status, \ &radio_control.status, \
&radio_control.frame_rate, \ &radio_control.frame_rate, \
&booz_gps_state.fix, \ &booz_gps_state.fix, \
&autopilot_mode, \ &autopilot_mode, \
&autopilot_in_flight, \ &autopilot_in_flight, \
&autopilot_motors_on, \ &autopilot_motors_on, \
&guidance_h_mode, \ &guidance_h_mode, \
&guidance_v_mode, \ &guidance_v_mode, \
&battery_voltage, \ &electrical.vsupply, \
&cpu_time_sec \ &cpu_time_sec \
); \ ); \
} }
#else /* !USE_GPS */ #else /* !USE_GPS */
#define PERIODIC_SEND_ROTORCRAFT_STATUS(_chan) { \ #define PERIODIC_SEND_ROTORCRAFT_STATUS(_chan) { \
uint32_t imu_nb_err = 0; \ uint32_t imu_nb_err = 0; \
uint8_t twi_blmc_nb_err = 0; \ uint8_t twi_blmc_nb_err = 0; \
uint8_t fix = BOOZ2_GPS_FIX_NONE; \ uint8_t fix = BOOZ2_GPS_FIX_NONE; \
DOWNLINK_SEND_ROTORCRAFT_STATUS(_chan, \ DOWNLINK_SEND_ROTORCRAFT_STATUS(_chan, \
&imu_nb_err, \ &imu_nb_err, \
&twi_blmc_nb_err, \ &twi_blmc_nb_err, \
&radio_control.status, \ &radio_control.status, \
&radio_control.frame_rate, \ &radio_control.frame_rate, \
&fix, \ &fix, \
&autopilot_mode, \ &autopilot_mode, \
&autopilot_in_flight, \ &autopilot_in_flight, \
&autopilot_motors_on, \ &autopilot_motors_on, \
&guidance_h_mode, \ &guidance_h_mode, \
&guidance_v_mode, \ &guidance_v_mode, \
&battery_voltage, \ &electrical.vsupply, \
&cpu_time_sec \ &cpu_time_sec \
); \ ); \
} }
#endif /* USE_GPS */ #endif /* USE_GPS */
sw/airborne/mcu.c
+6
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@@ -48,6 +48,9 @@
#ifdef USE_SPI #ifdef USE_SPI
#include "mcu_periph/spi.h" #include "mcu_periph/spi.h"
#endif #endif
#ifdef USE_DAC
#include "mcu_periph/dac.h"
#endif
#endif /* PERIPHERALS_AUTO_INIT */ #endif /* PERIPHERALS_AUTO_INIT */
void mcu_init(void) { void mcu_init(void) {
@@ -98,6 +101,9 @@ void mcu_init(void) {
#ifdef USE_SPI #ifdef USE_SPI
spi_init(); spi_init();
#endif #endif
#ifdef USE_DAC
dac_init();
#endif
#endif /* PERIPHERALS_AUTO_INIT */ #endif /* PERIPHERALS_AUTO_INIT */
} }
sw/airborne/mcu_periph/dac.h
+9
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@@ -0,0 +1,9 @@
#ifndef MCU_PERIPH_DAC_H
#define MCU_PERIPH_DAC_H
#include "mcu_periph/dac_arch.h"
extern void dac_init(void);
#endif /* MCU_PERIPH_DAC_H */