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[mkk_v2] Rename subsystem and its internal structures from mkk2 -> mkk_v2

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This commit is contained in:
Christophe De Wagter
2013-03-01 08:36:03 +01:00
parent 45e07b1a94
commit 5b6984c8e9
4 changed files with 53 additions and 53 deletions
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conf/firmwares/subsystems/shared/actuators_mkk2.makefile → conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile
+12 -12
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@@ -5,40 +5,40 @@
# <firmware name="rotorcraft"> # <firmware name="rotorcraft">
# ... # ...
# <subsystem name="actuators" type="mkk"> # <subsystem name="actuators" type="mkk">
# <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors--> # <configure name="MKK_V2_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
# </subsystem> # </subsystem>
# <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors--> # <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
# </firmware> # </firmware>
# #
# #
# required xml configuration: # required xml configuration:
# <section name="ACTUATORS_MKK2" prefix="ACTUATORS_MKK2_"> # <section name="ACTUATORS_MKK_V2" prefix="ACTUATORS_MKK_V2_">
# <define name="NB" value="4"/> # <define name="NB" value="4"/>
# <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/> # <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
# </section> # </section>
# #
# servo section with driver="Mkk" # servo section with driver="Mkk_v2"
# command_laws section to map motor_mixing commands to servos # command_laws section to map motor_mixing commands to servos
# max command = 2047 # max command = 2047
$(TARGET).CFLAGS += -DACTUATORS $(TARGET).CFLAGS += -DACTUATORS
ap.srcs += subsystems/actuators/actuators_mkk2.c ap.srcs += subsystems/actuators/actuators_mkk_v2.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
# set default i2c timing if not already configured # set default i2c timing if not already configured
ifeq ($(MKK2_I2C_SCL_TIME), ) ifeq ($(MKK_V2_I2C_SCL_TIME), )
MKK_I2C2_SCL_TIME=150 MKK_V2_I2C2_SCL_TIME=150
endif endif
ap.CFLAGS += -DACTUATORS_MKK2_DEVICE=i2c0 ap.CFLAGS += -DACTUATORS_MKK_V2_DEVICE=i2c0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK2_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK2_I2C_SCL_TIME) ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_V2_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_V2_I2C_SCL_TIME)
else ifeq ($(ARCH), stm32) else ifeq ($(ARCH), stm32)
ap.CFLAGS += -DACTUATORS_MKK2_DEVICE=i2c1 ap.CFLAGS += -DACTUATORS_MKK_V2_DEVICE=i2c1
ap.CFLAGS += -DUSE_I2C1 ap.CFLAGS += -DUSE_I2C1
endif endif
# Simulator # Simulator:
nps.srcs += subsystems/actuators/actuators_mkk.c nps.srcs += subsystems/actuators/actuators_mkk_v2.c
nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_DEVICE=i2c0 nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_V2_DEVICE=i2c0
sw/airborne/modules/config/config_mkk.c
+6 -6
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@@ -35,7 +35,7 @@ uint8_t config_mkk_crc(uint8_t offset);
struct config_mkk_struct config_mkk; struct config_mkk_struct config_mkk;
#define MAX_MOTORS ACTUATORS_MKK2_NB #define MAX_MOTORS ACTUATORS_MKK_V2_NB
typedef struct typedef struct
@@ -111,13 +111,13 @@ void init_config_mkk(void)
} }
} }
#include "subsystems/actuators/actuators_mkk2.h" #include "subsystems/actuators/actuators_mkk_v2.h"
void periodic_config_mkk_read_status(void) void periodic_config_mkk_read_status(void)
{ {
static int read_nr = 0; static int read_nr = 0;
if (!actuators_mkk2.actuators_delay_done) if (!actuators_mkk_v2.actuators_delay_done)
return; return;
switch (config_mkk.trans.status) { switch (config_mkk.trans.status) {
@@ -149,7 +149,7 @@ void periodic_config_mkk_read_status(void)
config_mkk_read_eeprom(); config_mkk_read_eeprom();
i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans); i2c_submit(&ACTUATORS_MKK_V2_DEVICE, &config_mkk.trans);
} }
// Read Status // Read Status
else else
@@ -157,7 +157,7 @@ void periodic_config_mkk_read_status(void)
read_nr++; read_nr++;
if (read_nr >= MAX_MOTORS) if (read_nr >= MAX_MOTORS)
read_nr = 0; read_nr = 0;
const uint8_t actuators_addr[ACTUATORS_MKK2_NB] = ACTUATORS_MKK2_ADDR; const uint8_t actuators_addr[ACTUATORS_MKK_V2_NB] = ACTUATORS_MKK_V2_ADDR;
config_mkk.trans.type = I2CTransRx; config_mkk.trans.type = I2CTransRx;
config_mkk.trans.len_r = 3; config_mkk.trans.len_r = 3;
config_mkk.trans.slave_addr = actuators_addr[read_nr]; config_mkk.trans.slave_addr = actuators_addr[read_nr];
@@ -246,7 +246,7 @@ void config_mkk_send_eeprom(void)
config_mkk.trans.buf[8] = config_mkk_eeprom.BitConfig; config_mkk.trans.buf[8] = config_mkk_eeprom.BitConfig;
config_mkk.trans.buf[9] = config_mkk_crc(2); config_mkk.trans.buf[9] = config_mkk_crc(2);
i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans); i2c_submit(&ACTUATORS_MKK_V2_DEVICE, &config_mkk.trans);
} }
sw/airborne/subsystems/actuators/actuators_mkk2.c → sw/airborne/subsystems/actuators/actuators_mkk_v2.c
+21 -21
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@@ -19,60 +19,60 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
/** @file actuators_mkk.c /** @file actuators_mkk_v2.c
* Actuators driver for Mikrokopter motor controllers. * Actuators driver for Mikrokopter motor controllers.
*/ */
#include "subsystems/actuators.h" #include "subsystems/actuators.h"
#include "subsystems/actuators/actuators_mkk2.h" #include "subsystems/actuators/actuators_mkk_v2.h"
#include "mcu_periph/i2c.h" #include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
struct ActuatorsMkk2 actuators_mkk2; struct actuators_mkk_v2_struct actuators_mkk_v2;
static uint32_t actuators_delay_time; static uint32_t actuators_delay_time;
void actuators_mkk2_init(void) { void actuators_mkk_v2_init(void) {
const uint8_t actuators_addr[ACTUATORS_MKK2_NB] = ACTUATORS_MKK2_ADDR; const uint8_t actuators_addr[ACTUATORS_MKK_V2_NB] = ACTUATORS_MKK_V2_ADDR;
for (uint8_t i=0; i<ACTUATORS_MKK2_NB; i++) { for (uint8_t i=0; i<ACTUATORS_MKK_V2_NB; i++) {
actuators_mkk2.trans[i].type = I2CTransTx; actuators_mkk_v2.trans[i].type = I2CTransTx;
actuators_mkk2.trans[i].len_w = 2; actuators_mkk_v2.trans[i].len_w = 2;
actuators_mkk2.trans[i].slave_addr = actuators_addr[i]; actuators_mkk_v2.trans[i].slave_addr = actuators_addr[i];
actuators_mkk2.trans[i].status = I2CTransSuccess; actuators_mkk_v2.trans[i].status = I2CTransSuccess;
} }
#if defined ACTUATORS_START_DELAY && ! defined SITL #if defined ACTUATORS_START_DELAY && ! defined SITL
actuators_mkk2.actuators_delay_done = FALSE; actuators_mkk_v2.actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time); SysTimeTimerStart(actuators_delay_time);
#else #else
actuators_mkk2.actuators_delay_done = TRUE; actuators_mkk_v2.actuators_delay_done = TRUE;
actuators_delay_time = 0; actuators_delay_time = 0;
#endif #endif
} }
void actuators_mkk2_set(void) { void actuators_mkk_v2_set(void) {
#if defined ACTUATORS_START_DELAY && ! defined SITL #if defined ACTUATORS_START_DELAY && ! defined SITL
if (!actuators_mkk2.actuators_delay_done) { if (!actuators_mkk_v2.actuators_delay_done) {
if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) return; if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) return;
else actuators_mkk2.actuators_delay_done = TRUE; else actuators_mkk_v2.actuators_delay_done = TRUE;
} }
#endif #endif
for (uint8_t i=0; i<ACTUATORS_MKK2_NB; i++) { for (uint8_t i=0; i<ACTUATORS_MKK_V2_NB; i++) {
#ifdef KILL_MOTORS #ifdef KILL_MOTORS
actuators_mkk2.trans[i].buf[0] = 0; actuators_mkk_v2.trans[i].buf[0] = 0;
actuators_mkk2.trans[i].buf[1] = 0; actuators_mkk_v2.trans[i].buf[1] = 0;
#else #else
actuators_mkk2.trans[i].buf[0] = (actuators_mkk2.setpoint[i] >> 3); actuators_mkk_v2.trans[i].buf[0] = (actuators_mkk_v2.setpoint[i] >> 3);
actuators_mkk2.trans[i].buf[1] = actuators_mkk2.setpoint[i] & 0x07; actuators_mkk_v2.trans[i].buf[1] = actuators_mkk_v2.setpoint[i] & 0x07;
#endif #endif
i2c_submit(&ACTUATORS_MKK2_DEVICE, &actuators_mkk2.trans[i]); i2c_submit(&ACTUATORS_MKK_V2_DEVICE, &actuators_mkk_v2.trans[i]);
} }
} }
sw/airborne/subsystems/actuators/actuators_mkk2.h → sw/airborne/subsystems/actuators/actuators_mkk_v2.h
+14 -14
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@@ -19,12 +19,12 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
/** @file actuators_mkk.h /** @file actuators_mkk_v2.h
* Actuators driver for Mikrokopter motor controllers. * Actuators driver for Mikrokopter motor controllers.
*/ */
#ifndef ACTUATORS_MKK_H #ifndef ACTUATORS_MKK_V2_H
#define ACTUATORS_MKK_H #define ACTUATORS_MKK_V2_H
#include "std.h" #include "std.h"
#include "mcu_periph/i2c.h" #include "mcu_periph/i2c.h"
@@ -32,19 +32,19 @@
#include "generated/airframe.h" #include "generated/airframe.h"
struct ActuatorsMkk2 { struct actuators_mkk_v2_struct {
bool_t actuators_delay_done; // mkk_config module wants to know state bool_t actuators_delay_done; // config_mkk module wants to know state
uint16_t setpoint[ACTUATORS_MKK2_NB]; uint16_t setpoint[ACTUATORS_MKK_V2_NB];
struct i2c_transaction trans[ACTUATORS_MKK2_NB]; struct i2c_transaction trans[ACTUATORS_MKK_V2_NB];
}; };
extern struct ActuatorsMkk2 actuators_mkk2; extern struct actuators_mkk_v2_struct actuators_mkk_v2;
extern void actuators_mkk2_init(void); extern void actuators_mkk_v2_init(void);
extern void actuators_mkk2_set(void); extern void actuators_mkk_v2_set(void);
#define ActuatorMkk2Set(_i, _v) { actuators_mkk2.setpoint[_i] = _v; } #define ActuatorMkk_v2Set(_i, _v) { actuators_mkk_v2.setpoint[_i] = _v; }
#define ActuatorsMkk2Init() actuators_mkk2_init() #define ActuatorsMkk_v2Init() actuators_mkk_v2_init()
#define ActuatorsMkk2Commit() actuators_mkk2_set() #define ActuatorsMkk_v2Commit() actuators_mkk_v2_set()
#endif /* ACTUATORS_MKK_H */ #endif /* ACTUATORS_MKK_V2_H */