diff --git a/.gitignore b/.gitignore index 56f5b760ba..5ea8fce35a 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,5 @@ # ignore html dir for github pages -/doc/html +/doc/generated *.so *.[oa] diff --git a/.gitmodules b/.gitmodules index 6ea3549f82..c75a096d03 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,9 +1,6 @@ [submodule "sw/ext/libopencm3"] path = sw/ext/libopencm3 - url = git://libopencm3.git.sourceforge.net/gitroot/libopencm3/libopencm3 -[submodule "sw/ext/stm32loader"] - path = sw/ext/stm32loader - url = https://github.com/jsnyder/stm32loader.git + url = https://github.com/libopencm3/libopencm3.git [submodule "sw/ext/luftboot"] path = sw/ext/luftboot url = https://github.com/paparazzi/luftboot.git diff --git a/Doxyfile b/Doxyfile index c768dff65d..e0b045a019 100644 --- a/Doxyfile +++ b/Doxyfile @@ -51,7 +51,7 @@ PROJECT_LOGO = data/pictures/penguin_icon.png # If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. -OUTPUT_DIRECTORY = doc/html +OUTPUT_DIRECTORY = doc/generated # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create # 4096 sub-directories (in 2 levels) under the output directory of each output @@ -828,7 +828,7 @@ GENERATE_HTML = YES # If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. -HTML_OUTPUT = docs +HTML_OUTPUT = # The HTML_FILE_EXTENSION tag can be used to specify the file extension for # each generated HTML page (for example: .htm,.php,.asp). If it is left blank diff --git a/Makefile b/Makefile index 7ee5a26a1b..ff963faecf 100644 --- a/Makefile +++ b/Makefile @@ -210,10 +210,6 @@ upload_ms ms.upload: ms ##### ##### -doxygen: - mkdir -p dox - doxygen Doxyfile - run_sitl : $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl @@ -282,4 +278,4 @@ run_tests: test: all replace_current_conf_xml run_tests restore_conf_xml -.PHONY: all print_build_version clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible doxygen run_sitl install uninstall test replace_current_conf_xml run_tests restore_conf_xml +.PHONY: all print_build_version clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible run_sitl install uninstall test replace_current_conf_xml run_tests restore_conf_xml diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32 index 9cdaa60ab6..f82913db43 100644 --- a/conf/Makefile.stm32 +++ b/conf/Makefile.stm32 @@ -51,7 +51,7 @@ ifneq ($(BOARD_SERIAL),) OOCD_OPTIONS = -c "ft2232_serial $(BOARD_SERIAL)" endif -LOADER= $(PAPARAZZI_SRC)/sw/ext/stm32loader/stm32loader.py +LOADER ?= $(PAPARAZZI_SRC)/sw/tools/stm32loader/stm32loader.py ifndef $(TARGET).OOCD_INTERFACE OOCD_INTERFACE = lisa-l @@ -130,7 +130,7 @@ AFLAGS += -mcpu=$(MCU) -mthumb endif AFLAGS += -x assembler-with-cpp -Wa,-adhlns=$(OBJDIR)/$(<:.S=.lst),--g$(DEBUG) -LDFLAGS = -L../ext/libopencm3/lib/stm32/f1 +LDFLAGS = -L../ext/libopencm3/lib ifeq ("$(MULTILIB)","yes") LDFLAGS += -T$(LDSCRIPT) -nostartfiles -O$(OPT) -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float else diff --git a/conf/airframes/CDW/DualBoardApFbw.xml b/conf/airframes/CDW/DualBoardApFbw.xml new file mode 100644 index 0000000000..bd93c11697 --- /dev/null +++ b/conf/airframes/CDW/DualBoardApFbw.xml @@ -0,0 +1,308 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml deleted file mode 100644 index 9bdd852c30..0000000000 --- a/conf/airframes/CDW/debug_i2c.xml +++ /dev/null @@ -1,276 +0,0 @@ - - - - - - - - - - - - - - - - - - - -
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- + @@ -100,7 +98,7 @@ - + @@ -108,21 +106,21 @@
- + - - - + + + - + - - + +
diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/test/ChimuLisaFw.xml similarity index 100% rename from conf/airframes/CDW/ChimuLisaFw.xml rename to conf/airframes/CDW/test/ChimuLisaFw.xml diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/test/ChimuTinyFw.xml similarity index 94% rename from conf/airframes/CDW/ChimuTinyFw.xml rename to conf/airframes/CDW/test/ChimuTinyFw.xml index 099a016e70..54d2b8b0e7 100644 --- a/conf/airframes/CDW/ChimuTinyFw.xml +++ b/conf/airframes/CDW/test/ChimuTinyFw.xml @@ -1,13 +1,14 @@ + - - - - - + + + + + @@ -109,7 +110,7 @@ - + diff --git a/conf/airframes/CDW/yapa3_aspirin2.xml b/conf/airframes/CDW/test/yapa3_aspirin2.xml similarity index 99% rename from conf/airframes/CDW/yapa3_aspirin2.xml rename to conf/airframes/CDW/test/yapa3_aspirin2.xml index 152832dd54..a9fe19f48d 100644 --- a/conf/airframes/CDW/yapa3_aspirin2.xml +++ b/conf/airframes/CDW/test/yapa3_aspirin2.xml @@ -222,7 +222,7 @@ - + diff --git a/conf/airframes/CDW/debug_i2c_lpc.xml b/conf/airframes/CDW/tiny2_chimu_spi_pt.xml similarity index 55% rename from conf/airframes/CDW/debug_i2c_lpc.xml rename to conf/airframes/CDW/tiny2_chimu_spi_pt.xml index 01233bd41d..22778dc457 100644 --- a/conf/airframes/CDW/debug_i2c_lpc.xml +++ b/conf/airframes/CDW/tiny2_chimu_spi_pt.xml @@ -1,95 +1,86 @@ - - - - - + + + + + - + + + + + + + + - -
- - - - - - - - - - - - - -
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- - - + @@ -102,7 +93,7 @@
- + @@ -113,7 +104,7 @@ - + @@ -121,23 +112,21 @@
- + - + - - + + - - - - + +
@@ -168,33 +157,44 @@ - + + + + + + + + + + + + + + - - - - - + + + - + - - - - + + + + diff --git a/conf/airframes/CDW/yapa_xsens.xml b/conf/airframes/CDW/yapa_xsens.xml index 2604ef5156..49e5880351 100644 --- a/conf/airframes/CDW/yapa_xsens.xml +++ b/conf/airframes/CDW/yapa_xsens.xml @@ -43,7 +43,7 @@ - + @@ -207,7 +207,7 @@ - + diff --git a/conf/airframes/ENAC/fixed-wing/eternity1.xml b/conf/airframes/ENAC/fixed-wing/eternity1.xml new file mode 100644 index 0000000000..6a9595967d --- /dev/null +++ b/conf/airframes/ENAC/fixed-wing/eternity1.xml @@ -0,0 +1,195 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml index 4c8cc21882..584e3fb3a9 100644 --- a/conf/airframes/ENAC/fixed-wing/firestorm.xml +++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml @@ -9,7 +9,6 @@ - @@ -36,7 +35,9 @@ - + + + @@ -125,6 +126,7 @@
+
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml new file mode 100644 index 0000000000..bd474733af --- /dev/null +++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml @@ -0,0 +1,227 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + + diff --git a/conf/airframes/ENAC/fixed-wing/mythe.xml b/conf/airframes/ENAC/fixed-wing/mythe.xml new file mode 100644 index 0000000000..9424bb2846 --- /dev/null +++ b/conf/airframes/ENAC/fixed-wing/mythe.xml @@ -0,0 +1,265 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml new file mode 100644 index 0000000000..342dc35415 --- /dev/null +++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml @@ -0,0 +1,219 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml index 25c8678dff..8f6946c8f3 100644 --- a/conf/airframes/ENAC/fixed-wing/weasel.xml +++ b/conf/airframes/ENAC/fixed-wing/weasel.xml @@ -6,11 +6,10 @@ LEA 5H GPS --> - + - - + @@ -18,7 +17,9 @@ + + @@ -49,7 +50,6 @@ - @@ -122,6 +122,7 @@
+
@@ -133,7 +134,6 @@ - diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml index 209b6518e6..55cbf4c8a5 100644 --- a/conf/airframes/ENAC/quadrotor/blender.xml +++ b/conf/airframes/ENAC/quadrotor/blender.xml @@ -1,12 +1,11 @@ + + - - - - - - + + + @@ -30,21 +29,40 @@ + + + + - - - - - - +
+ + + + + + + + + +
+ + + + + + + + + + @@ -54,24 +72,13 @@ -
- - -
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@@ -250,25 +257,18 @@
-
- - - - - +
+ -
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diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml index 743a71c620..d1450b4f65 100644 --- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml +++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml @@ -1,11 +1,8 @@ - - - - - + + @@ -27,28 +24,30 @@ + + + + - + - - - - - - + + + + + + - - - - - + + + @@ -58,12 +57,19 @@ -
- - - +
+ + +
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@@ -158,8 +164,8 @@
- - + +
@@ -208,24 +214,19 @@
-
+
- - - - - - - - - + + +
-
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diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml index 3aed8ead28..557d03acb9 100644 --- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml +++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml @@ -24,6 +24,7 @@ + @@ -70,11 +71,16 @@ --> - - - - - +
+ + +
+ + + + + + @@ -84,17 +90,10 @@ -
- - -
- -
- - - - - +
+ + + @@ -103,6 +102,14 @@
+ + + + + + + +
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml index 38bee2483a..f72a7f9295 100644 --- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml +++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml @@ -23,6 +23,7 @@ + @@ -70,11 +71,16 @@ --> - - - - - +
+ + +
+ + + + + + @@ -84,19 +90,10 @@ - -
- - -
- - -
- - - - - +
+ + + @@ -105,6 +102,14 @@
+ + + + + + + +
diff --git a/conf/airframes/airframe.dtd b/conf/airframes/airframe.dtd index 9a1e5c36b6..5950084218 100644 --- a/conf/airframes/airframe.dtd +++ b/conf/airframes/airframe.dtd @@ -1,21 +1,18 @@ - + - - - - - + + @@ -54,7 +51,6 @@ driver CDATA #IMPLIED> - - - - - - - @@ -87,6 +72,9 @@ value CDATA #REQUIRED command CDATA #IMPLIED servo CDATA #IMPLIED> + + diff --git a/conf/airframes/esden/calib/asp21-026.xml b/conf/airframes/esden/calib/asp21-026.xml new file mode 100644 index 0000000000..10144752af --- /dev/null +++ b/conf/airframes/esden/calib/asp21-026.xml @@ -0,0 +1,32 @@ + + + + +
+ + + + + + + + + + + + + + + + + + + + + +
+ diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml index 69ba7a1173..6ae1d2b368 100644 --- a/conf/airframes/esden/hexy_ll11a2pwm.xml +++ b/conf/airframes/esden/hexy_ll11a2pwm.xml @@ -11,13 +11,13 @@ - - - - - - - + + + + + + + @@ -28,50 +28,33 @@ - - - - - - - - + + + + + + + - -
- - -
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+ + + -
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@@ -229,26 +212,32 @@ + - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml new file mode 100644 index 0000000000..6fea357f2b --- /dev/null +++ b/conf/airframes/esden/hexy_lm2a2pwm.xml @@ -0,0 +1,233 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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- - -
- - -
- - - - - - +
+ + + - - - + + + -
- - - + + +
@@ -229,22 +212,27 @@ - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + @@ -255,7 +243,6 @@ - diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml index a5dbd1736d..3ce579cf50 100644 --- a/conf/airframes/esden/quady_lm1a1pwm.xml +++ b/conf/airframes/esden/quady_lm1a1pwm.xml @@ -11,11 +11,11 @@ - - - - - + + + + + @@ -26,48 +26,31 @@ - - - - - - + + + + + - -
- - -
- - -
- - - - - - +
+ + + - - - + + + -
- - - + + +
@@ -190,21 +173,27 @@ - - - - - - - - + + + + + + + + - + + + + + + + diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml index 579c5550e7..14d64fdc9e 100644 --- a/conf/airframes/esden/quady_lm2a2pwm.xml +++ b/conf/airframes/esden/quady_lm2a2pwm.xml @@ -11,11 +11,11 @@ - - - - - + + + + + @@ -26,48 +26,31 @@ - - - - - - + + + + + - -
- - -
- - -
- - - - - - +
+ + + - - - + + + -
- - - + + +
@@ -186,25 +169,35 @@ + + + + - - - - - - - - + + + + + + + + - + + + + + + + diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml index 553fc34a9d..f9986df8b8 100644 --- a/conf/airframes/examples/booz2.xml +++ b/conf/airframes/examples/booz2.xml @@ -1,10 +1,17 @@ + + - - - - - +
+ + +
+ + + + + + @@ -14,17 +21,10 @@ -
- - -
- -
- - - - - +
+ + + @@ -33,6 +33,14 @@
+ + + + + + + +
@@ -199,6 +207,7 @@ + diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml index 04fcaf4edd..0afc6f9d0a 100644 --- a/conf/airframes/examples/h_hex.xml +++ b/conf/airframes/examples/h_hex.xml @@ -1,13 +1,20 @@ + + - - - - - - - +
+ + +
+ + + + + + + + @@ -17,17 +24,10 @@ -
- - -
- -
- - - - - +
+ + + @@ -36,6 +36,16 @@
+ + + + + + + + + +
@@ -172,6 +182,7 @@ + @@ -200,8 +211,8 @@ - - + diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml index fce3a2180d..0d38e840c1 100644 --- a/conf/airframes/examples/lisa_asctec.xml +++ b/conf/airframes/examples/lisa_asctec.xml @@ -1,12 +1,14 @@ + + - - - - - + + + + + @@ -22,13 +24,10 @@
- -
- - - - - +
+ + + @@ -37,6 +36,14 @@
+ + + + + + + +
@@ -183,6 +190,7 @@ + @@ -192,6 +200,7 @@ + @@ -219,8 +228,8 @@ - - + diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml index 64fa05cb6e..4942450dab 100644 --- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml +++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml @@ -25,7 +25,8 @@ - + + @@ -38,11 +39,11 @@ - - - - - + + + + + @@ -52,18 +53,10 @@ - - - - - -
- - - - - - +
+ + + @@ -73,6 +66,14 @@
+ + + + + + + +
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml old mode 100755 new mode 100644 index c89a281729..dcc9a9c309 --- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml +++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml @@ -25,7 +25,8 @@ - + + @@ -43,11 +44,11 @@ - - - - - + + + + + @@ -62,13 +63,10 @@ -
- - - - - - +
+ + + @@ -78,6 +76,14 @@
+ + + + + + + +
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml index 9a01431aa4..42fcb6b0d0 100644 --- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml +++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml @@ -20,6 +20,7 @@ + @@ -28,6 +29,19 @@ +
+ + + +
+ + + + + + + + @@ -35,18 +49,10 @@ -
- - - -
- -
- - - - - +
+ + + @@ -56,6 +62,14 @@
+ + + + + + + +
diff --git a/conf/airframes/examples/separate_fbw_ap.xml b/conf/airframes/examples/separate_fbw_ap.xml new file mode 100644 index 0000000000..352e060f7c --- /dev/null +++ b/conf/airframes/examples/separate_fbw_ap.xml @@ -0,0 +1,317 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + +
+ +
+ + +
+ + + +
+ + +
+ +
+ + + + + +
+ +
+ + + + + + + + + +
+ +
+ + + + + +
+ +
+ + + +
+ +
+ + + + + + + + + + + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + +
+ + +
+ + + + + + + + +
+ +
+ + + + + + + +
+ +
+ + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/airframes/examples/setup_lisam2.xml b/conf/airframes/examples/setup_lisam2.xml index 640c0e72e5..0d228f0fd9 100644 --- a/conf/airframes/examples/setup_lisam2.xml +++ b/conf/airframes/examples/setup_lisam2.xml @@ -4,7 +4,7 @@ - + diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml index 9442d1e4c1..0c39819c0d 100644 --- a/conf/airframes/obsolete/twinjet1.xml +++ b/conf/airframes/obsolete/twinjet1.xml @@ -186,7 +186,7 @@ fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLI fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE -fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c +fbw.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c fbw.CFLAGS += -DADC -DUSE_AD0 fbw.srcs += $(SRC_ARCH)/adc_hw.c @@ -202,7 +202,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c +ap.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 ap.srcs += gps_ubx.c gps.c latlong.c diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml index 347f357bd1..4bbc84a9f5 100644 --- a/conf/airframes/obsolete/twinstar6.xml +++ b/conf/airframes/obsolete/twinstar6.xml @@ -195,7 +195,7 @@ fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLI fbw.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE -fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c +fbw.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c fbw.CFLAGS += -DADC -DUSE_AD0 fbw.srcs += $(SRC_ARCH)/adc_hw.c @@ -208,7 +208,7 @@ ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLIN ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c subsystems/datalink/pprz_transport.c ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c +ap.srcs += inter_mcu.c link_mcu_spi.c spi.c $(SRC_ARCH)/spi_hw.c ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 ap.srcs += gps_ubx.c gps.c latlong.c diff --git a/conf/boards/classix.makefile b/conf/boards/classix.makefile index efdfbdc3bc..c4dd62e1dc 100644 --- a/conf/boards/classix.makefile +++ b/conf/boards/classix.makefile @@ -55,5 +55,13 @@ ifndef SYS_TIME_LED SYS_TIME_LED = none endif +# +# you can use different actuators by adding a configure option to your firmware section +# e.g. with ) diff --git a/conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile b/conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile deleted file mode 100644 index 34a12e0fa7..0000000000 --- a/conf/firmwares/subsystems/fixedwing/attitude_infrared.makefile +++ /dev/null @@ -1 +0,0 @@ -$(error Attitude estimation via infrared has been implemented as an AHRS subsystem now. Please replace with and add the module in your airframe file.) diff --git a/conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile b/conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile deleted file mode 100644 index af75bb8d7c..0000000000 --- a/conf/firmwares/subsystems/fixedwing/attitude_infrared_i2c.makefile +++ /dev/null @@ -1 +0,0 @@ -$(error Attitude estimation via infrared has been implemented as an AHRS subsystem now. Please replace with and add the module in your airframe file.) diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile index c3db971434..6c762740da 100644 --- a/conf/firmwares/subsystems/fixedwing/autopilot.makefile +++ b/conf/firmwares/subsystems/fixedwing/autopilot.makefile @@ -152,7 +152,8 @@ endif fbw_CFLAGS += -DFBW fbw_srcs += $(SRC_FIRMWARE)/main_fbw.c fbw_srcs += subsystems/electrical.c -fbw_srcs += $(SRC_FIXEDWING)/commands.c +fbw_srcs += subsystems/commands.c +fbw_srcs += subsystems/actuators.c fbw_srcs += $(SRC_FIRMWARE)/fbw_downlink.c ###################################################################### @@ -162,6 +163,7 @@ fbw_srcs += $(SRC_FIRMWARE)/fbw_downlink.c ap_CFLAGS += -DAP ap_srcs += $(SRC_FIRMWARE)/main_ap.c +ap_srcs += $(SRC_FIRMWARE)/autopilot.c ap_srcs += $(SRC_FIRMWARE)/ap_downlink.c ap_srcs += state.c @@ -239,15 +241,16 @@ jsbsim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c # ifeq ($(BOARD),classix) - fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE - fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c - ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c - ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 - ap.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c + include $(CFG_FIXEDWING)/intermcu_spi.makefile else # Single MCU's run both - ap.CFLAGS += $(fbw_CFLAGS) - ap.srcs += $(fbw_srcs) + ifeq ($(SEPARATE_FBW),) + ap.CFLAGS += $(fbw_CFLAGS) + ap.srcs += $(fbw_srcs) + else + # avoid fbw_telemetry_mode error + ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c + endif endif # diff --git a/conf/firmwares/subsystems/fixedwing/control_energyadaptive.makefile b/conf/firmwares/subsystems/fixedwing/control_energyadaptive.makefile new file mode 100644 index 0000000000..7b4f6dc790 --- /dev/null +++ b/conf/firmwares/subsystems/fixedwing/control_energyadaptive.makefile @@ -0,0 +1,8 @@ +# Hey Emacs, this is a -*- makefile -*- + +# Standard fixed wing control loops + + +$(TARGET).srcs += $(SRC_FIRMWARE)/stabilization/stabilization_adaptive.c $(SRC_FIRMWARE)/guidance/energy_ctrl.c + +$(TARGET).CFLAGS += -DCTRL_TYPE_H=\"firmwares/fixedwing/guidance/energy_ctrl.h\" diff --git a/conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile deleted file mode 100644 index da4d84a19d..0000000000 --- a/conf/firmwares/subsystems/fixedwing/gps_ublox_lea4p.makefile +++ /dev/null @@ -1,3 +0,0 @@ -# UBlox LEA 4P - -$(error The gps_ublox_lea4p subsystem has been renamed, please replace with in your airframe file.) diff --git a/conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile b/conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile deleted file mode 100644 index 59e9799be5..0000000000 --- a/conf/firmwares/subsystems/fixedwing/gps_ublox_lea5h.makefile +++ /dev/null @@ -1,4 +0,0 @@ -# UBlox LEA 5H - -$(error The gps_ublox_lea5h subsystem has been renamed, please replace with in your airframe file.) - diff --git a/conf/firmwares/subsystems/fixedwing/imu_booz.makefile b/conf/firmwares/subsystems/fixedwing/imu_booz.makefile deleted file mode 100644 index 8efad96332..0000000000 --- a/conf/firmwares/subsystems/fixedwing/imu_booz.makefile +++ /dev/null @@ -1 +0,0 @@ -$(error The imu_booz subsystem has been removed, please replace with e.g. or "b2_v1.0", "b2_v1.1", "b2_v1.2" as appropriate.) diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile new file mode 100644 index 0000000000..aad941720c --- /dev/null +++ b/conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile @@ -0,0 +1,11 @@ +# Hey Emacs, this is a -*- makefile -*- + +# InterMCU type SPI + + +fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE +fbw.srcs += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c +ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c +ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 +ap.srcs += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c +SEPARATE_FBW = 1 diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile new file mode 100644 index 0000000000..da9ec6967d --- /dev/null +++ b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile @@ -0,0 +1,29 @@ +# Hey Emacs, this is a -*- makefile -*- + +# InterMCU type UART + + +ifeq ($(TARGET),fbw) + ifeq ($(INTERMCU_PORT),none) + INTERMCU_PORT_NR = 2 + endif + fbw.CFLAGS += -DINTERMCU_LINK=Uart$(INTERMCU_PORT_NR) -DUSE_UART$(INTERMCU_PORT_NR) -DUART$(INTERMCU_PORT_NR)_BAUD=B57600 +else + ifeq ($(INTERMCU_PORT),none) + INTERMCU_PORT_NR = 5 + endif + ap.CFLAGS += -DINTERMCU_LINK=Uart$(INTERMCU_PORT_NR) -DUSE_UART$(INTERMCU_PORT_NR) -DUART$(INTERMCU_PORT_NR)_BAUD=B57600 +endif + +ifneq ($(TARGET),sim) +$(TARGET).CFLAGS += -DINTER_MCU -DMCU_UART_LINK +$(TARGET).srcs += ./link_mcu_usart.c +endif + + + +############################# +# CAN: +# fbw.srcs += ./link_mcu_can.c ./mcu_periph/can.c ./arch/stm32/mcu_periph/can_arch.c +# fbw.CFLAGS += -DINTER_MCU -DMCU_CAN_LINK +# $(TARGET).CFLAGS += -DCAN_SJW_TQ=CAN_SJW_1tq -DCAN_BS1_TQ=CAN_BS1_3tq -DCAN_BS2_TQ=CAN_BS2_4tq -DCAN_PRESCALER=12 -DUSE_CAN -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DCAN_ERR_RESUME=DISABLE diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile deleted file mode 100644 index eaa8e486c8..0000000000 --- a/conf/firmwares/subsystems/rotorcraft/actuators_asctec_v2.makefile +++ /dev/null @@ -1,36 +0,0 @@ -# asctec controllers v2 -# -#
-# -# -# -# -# -# -# -# -# -# -# -#
-# -# - -ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c - -ifeq ($(ARCH), lpc21) -ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 -ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11 -endif - -ifeq ($(ARCH), stm32) -ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 -ap.CFLAGS += -DUSE_I2C1 -endif - -# Simulator -nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c -nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0 diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile deleted file mode 100644 index 5c6b93839a..0000000000 --- a/conf/firmwares/subsystems/rotorcraft/actuators_dummy.makefile +++ /dev/null @@ -1,5 +0,0 @@ -# -# empty dummy actuators for testing -# - -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_dummy.c diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile deleted file mode 100644 index e27dc150c5..0000000000 --- a/conf/firmwares/subsystems/rotorcraft/actuators_heli.makefile +++ /dev/null @@ -1,3 +0,0 @@ - -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c -ap.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile deleted file mode 100644 index 04cae36bbd..0000000000 --- a/conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile +++ /dev/null @@ -1,9 +0,0 @@ - -ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c -ap.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c - -# Simulator -nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c -nps.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile b/conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile deleted file mode 100644 index 6365fbbfbb..0000000000 --- a/conf/firmwares/subsystems/rotorcraft/actuators_skiron.makefile +++ /dev/null @@ -1,53 +0,0 @@ -# -# Skiron Actuators -# -# enable the subsystem for your firmware: -# -# ... -# -# -# -# ... -# -# -# -# required xml configuration: -#
-# -# -#
-# -#
-# -# -# -# -# -# -# -# -# -# -# -#
-# -# - -# set default i2c timing if not already configured -ifeq ($(SKIRON_I2C_SCL_TIME), ) -SKIRON_I2C_SCL_TIME=150 -endif - -ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_skiron.c - -ifeq ($(ARCH), lpc21) -ap.CFLAGS += -DACTUATORS_SKIRON_DEVICE=i2c0 -ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -endif - -# Simulator -nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_skiron.c -nps.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c0 - diff --git a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile index ccf7d83b07..22b8ee11e6 100644 --- a/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile +++ b/conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile @@ -82,7 +82,8 @@ nps.srcs += $(SRC_FIRMWARE)/telemetry.c \ subsystems/datalink/downlink.c \ $(SRC_ARCH)/ivy_transport.c -nps.srcs += $(SRC_FIRMWARE)/commands.c +nps.srcs += subsystems/actuators.c +nps.srcs += subsystems/commands.c nps.srcs += $(SRC_FIRMWARE)/datalink.c diff --git a/conf/firmwares/subsystems/shared/actuators_4015.makefile b/conf/firmwares/subsystems/shared/actuators_4015.makefile index 6451c757b0..2ae0e976a8 100644 --- a/conf/firmwares/subsystems/shared/actuators_4015.makefile +++ b/conf/firmwares/subsystems/shared/actuators_4015.makefile @@ -1,4 +1,4 @@ # for Tiny v1.1 -$(TARGET).CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT -$(TARGET).srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c +$(TARGET).CFLAGS += -DACTUATORS -DSERVOS_4015_MAT +$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/servos_4015_MAT_hw.c diff --git a/conf/firmwares/subsystems/shared/actuators_4017.makefile b/conf/firmwares/subsystems/shared/actuators_4017.makefile index 471e3c3433..db89c10474 100644 --- a/conf/firmwares/subsystems/shared/actuators_4017.makefile +++ b/conf/firmwares/subsystems/shared/actuators_4017.makefile @@ -1,4 +1,4 @@ # for Tiny v2 or Twog v1 -$(TARGET).CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -$(TARGET).srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c +$(TARGET).CFLAGS += -DACTUATORS -DSERVOS_4017 +$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/servos_4017_hw.c diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile b/conf/firmwares/subsystems/shared/actuators_asctec.makefile similarity index 71% rename from conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile rename to conf/firmwares/subsystems/shared/actuators_asctec.makefile index d1d1c1137d..189d90efb7 100644 --- a/conf/firmwares/subsystems/rotorcraft/actuators_asctec.makefile +++ b/conf/firmwares/subsystems/shared/actuators_asctec.makefile @@ -1,5 +1,6 @@ # asctec controllers -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c +$(TARGET).CFLAGS += -DACTUATORS +ap.srcs += subsystems/actuators/actuators_asctec.c ifeq ($(ARCH), lpc21) ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 @@ -13,6 +14,6 @@ endif # Simulator -nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c +nps.srcs += subsystems/actuators/actuators_asctec.c nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0 diff --git a/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile b/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile new file mode 100644 index 0000000000..1133841086 --- /dev/null +++ b/conf/firmwares/subsystems/shared/actuators_asctec_v2.makefile @@ -0,0 +1,25 @@ +# asctec controllers v2 +# +# required xml configuration: +# +# servo section with driver="Asctec" +# command_laws section to map motor_mixing commands to servos +# + +$(TARGET).CFLAGS += -DACTUATORS +ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL +ap.srcs += subsystems/actuators/actuators_asctec.c + +ifeq ($(ARCH), lpc21) +ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 +ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11 +endif + +ifeq ($(ARCH), stm32) +ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 +ap.CFLAGS += -DUSE_I2C1 +endif + +# Simulator +nps.srcs += subsystems/actuators/actuators_asctec.c +nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0 diff --git a/conf/firmwares/subsystems/shared/actuators_direct.makefile b/conf/firmwares/subsystems/shared/actuators_direct.makefile deleted file mode 100644 index 019bb6fac2..0000000000 --- a/conf/firmwares/subsystems/shared/actuators_direct.makefile +++ /dev/null @@ -1,5 +0,0 @@ - - -$(TARGET).CFLAGS += -DACTUATORS=\"subsystems/actuators/actuators_pwm.h\" -DSERVOS_DIRECT -$(TARGET).srcs += subsystems/actuators/actuators_pwm.c actuators.c -$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c diff --git a/conf/firmwares/subsystems/shared/actuators_dummy.makefile b/conf/firmwares/subsystems/shared/actuators_dummy.makefile new file mode 100644 index 0000000000..b91bfa8834 --- /dev/null +++ b/conf/firmwares/subsystems/shared/actuators_dummy.makefile @@ -0,0 +1 @@ +# for classix and AP only boards diff --git a/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile b/conf/firmwares/subsystems/shared/actuators_mkk.makefile similarity index 56% rename from conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile rename to conf/firmwares/subsystems/shared/actuators_mkk.makefile index 440c947fd8..a9c290a0d2 100644 --- a/conf/firmwares/subsystems/rotorcraft/actuators_mkk.makefile +++ b/conf/firmwares/subsystems/shared/actuators_mkk.makefile @@ -17,24 +17,12 @@ # #
# -#
-# -# -# -# -# -# -# -# -# -# -# -#
-# +# servo section with driver="Mkk" +# command_laws section to map motor_mixing commands to servos # -ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c +$(TARGET).CFLAGS += -DACTUATORS +ap.srcs += subsystems/actuators/actuators_mkk.c ifeq ($(ARCH), lpc21) @@ -52,6 +40,5 @@ ap.CFLAGS += -DUSE_I2C1 endif # Simulator -nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c -nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c +nps.srcs += subsystems/actuators/actuators_mkk.c nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_DEVICE=i2c0 diff --git a/conf/firmwares/subsystems/shared/actuators_ppm.makefile b/conf/firmwares/subsystems/shared/actuators_ppm.makefile index 99171e4448..8509ec1de1 100644 --- a/conf/firmwares/subsystems/shared/actuators_ppm.makefile +++ b/conf/firmwares/subsystems/shared/actuators_ppm.makefile @@ -5,6 +5,6 @@ # The PPM is output on the SERV_CLK pin. The PPM frame rate, pulse width, and number of channels # can be adjusted in the "servos_ppm_hw.h" file to suit your particular receiver. -$(TARGET).CFLAGS += -DACTUATORS=\"servos_ppm_hw.h\" -DSERVOS_PPM_MAT -$(TARGET).srcs += $(SRC_ARCH)/servos_ppm_hw.c actuators.c +$(TARGET).CFLAGS += -DACTUATORS -DSERVOS_PPM_MAT +$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/servos_ppm_hw.c diff --git a/conf/firmwares/subsystems/shared/actuators_pwm.makefile b/conf/firmwares/subsystems/shared/actuators_pwm.makefile new file mode 100644 index 0000000000..c476520918 --- /dev/null +++ b/conf/firmwares/subsystems/shared/actuators_pwm.makefile @@ -0,0 +1,4 @@ + + +$(TARGET).CFLAGS += -DACTUATORS +$(TARGET).srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c diff --git a/conf/firmwares/subsystems/shared/actuators_skiron.makefile b/conf/firmwares/subsystems/shared/actuators_skiron.makefile new file mode 100644 index 0000000000..86375c977d --- /dev/null +++ b/conf/firmwares/subsystems/shared/actuators_skiron.makefile @@ -0,0 +1,36 @@ +# +# Skiron Actuators +# +# enable the subsystem for your firmware: +# +# ... +# +# +# +# ... +# +# +# +# required xml configuration: +# +# servo section with driver="Skiron" +# command_laws section to map motor_mixing commands to servos +# + +# set default i2c timing if not already configured +ifeq ($(SKIRON_I2C_SCL_TIME), ) +SKIRON_I2C_SCL_TIME=150 +endif + +$(TARGET).CFLAGS += -DACTUATORS +ap.srcs += subsystems/actuators/actuators_skiron.c + +ifeq ($(ARCH), lpc21) +ap.CFLAGS += -DACTUATORS_SKIRON_DEVICE=i2c0 +ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 +endif + +# Simulator +nps.srcs += subsystems/actuators/actuators_skiron.c +nps.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(SKIRON_I2C_SCL_TIME) -DI2C0_SCLH=$(SKIRON_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_SKIRON_DEVICE=i2c0 + diff --git a/conf/firmwares/subsystems/shared/motor_mixing.makefile b/conf/firmwares/subsystems/shared/motor_mixing.makefile new file mode 100644 index 0000000000..c621595cb8 --- /dev/null +++ b/conf/firmwares/subsystems/shared/motor_mixing.makefile @@ -0,0 +1,19 @@ +# Motor Mixing +# +#
+# +# +# +# +# +# +# +# +# +#
+# +# + +$(TARGET).CFLAGS += -DUSE_MOTOR_MIXING +$(TARGET).srcs += subsystems/actuators/motor_mixing.c + diff --git a/conf/joystick/xbox_booz_cam.xml b/conf/joystick/xbox_rotorcraft_cam.xml similarity index 80% rename from conf/joystick/xbox_booz_cam.xml rename to conf/joystick/xbox_rotorcraft_cam.xml index 5eecdc472e..5e14acba4d 100644 --- a/conf/joystick/xbox_booz_cam.xml +++ b/conf/joystick/xbox_rotorcraft_cam.xml @@ -4,7 +4,7 @@ - + diff --git a/conf/messages.xml b/conf/messages.xml index 3322b460b5..1b2412b967 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -77,7 +77,7 @@ - + @@ -727,7 +727,7 @@ - + @@ -737,7 +737,7 @@ - + @@ -1394,8 +1394,8 @@ - - + + @@ -1803,7 +1803,7 @@ - + @@ -2177,7 +2177,7 @@ - + diff --git a/conf/modules/baro_ets.xml b/conf/modules/baro_ets.xml index b283978cb2..a202bde455 100644 --- a/conf/modules/baro_ets.xml +++ b/conf/modules/baro_ets.xml @@ -9,6 +9,8 @@ Baro ETS module (I2C) + +
diff --git a/conf/modules/booz_cam.xml b/conf/modules/booz_cam.xml deleted file mode 100644 index 48d9baaa98..0000000000 --- a/conf/modules/booz_cam.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - - - Camera control for BOOZ board - - -
- -
- - - - - - - - - diff --git a/conf/modules/booz_drop.xml b/conf/modules/booz_drop.xml deleted file mode 100644 index 2b3355bb72..0000000000 --- a/conf/modules/booz_drop.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - Drop control for BOOZ board - - - - -
- -
- - - - - - - - diff --git a/conf/modules/booz_pwm.xml b/conf/modules/booz_pwm.xml deleted file mode 100644 index 422c7f0301..0000000000 --- a/conf/modules/booz_pwm.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - Allow to use PWM output on booz boards, PWM0 is activated by default (PWM5 on lpc21 output) - - -
- -
- - - - - - diff --git a/conf/modules/cam_point.xml b/conf/modules/cam_point.xml index 0d6775465b..8a84132269 100644 --- a/conf/modules/cam_point.xml +++ b/conf/modules/cam_point.xml @@ -9,7 +9,7 @@
- + diff --git a/conf/modules/digital_cam.xml b/conf/modules/digital_cam.xml index c84947f986..4bef1874e4 100644 --- a/conf/modules/digital_cam.xml +++ b/conf/modules/digital_cam.xml @@ -4,15 +4,6 @@ // Use (parts of) the following section in airframe file to change -
- - - - - - -
- # ap.CFLAGS += -DGPS_TRIGGERED_FUNCTION="dc_shoot_on_gps" # ap.CFLAGS += -DDC_GPS_TRIGGER_START=1 # ap.CFLAGS += -DDC_GPS_TRIGGER_STOP=3 @@ -24,6 +15,12 @@ Digital camera control (trigger using led) + + + + + +
diff --git a/conf/modules/geo_mag.xml b/conf/modules/geo_mag.xml old mode 100755 new mode 100644 diff --git a/conf/modules/led_safety_status.xml b/conf/modules/led_safety_status.xml new file mode 100644 index 0000000000..6f416755bc --- /dev/null +++ b/conf/modules/led_safety_status.xml @@ -0,0 +1,15 @@ + + + + + LED module that blinks in different patterns in different safety situations + +
+ +
+ + + + + + diff --git a/conf/modules/rotorcraft_cam.xml b/conf/modules/rotorcraft_cam.xml new file mode 100644 index 0000000000..05142e146d --- /dev/null +++ b/conf/modules/rotorcraft_cam.xml @@ -0,0 +1,33 @@ + + + + + + Camera control for rotorcraft. + The camera is controled by the heading of the vehicle for pan and can be controlled by a servo for tilt if defined. + +
+ + + + + + + + + + +
+ +
+ +
+ + + + + + + + + diff --git a/conf/modules/servo_switch.xml b/conf/modules/servo_switch.xml index 175747143c..d5e9b99a0e 100644 --- a/conf/modules/servo_switch.xml +++ b/conf/modules/servo_switch.xml @@ -5,7 +5,7 @@ Servo switch - +
@@ -19,8 +19,10 @@ - + + + The servo will not exceed the min and max positions defined in the servo section --> diff --git a/conf/radios/ezuhf.xml b/conf/radios/ezuhf.xml index 3be98d59f7..cb17af9357 100644 --- a/conf/radios/ezuhf.xml +++ b/conf/radios/ezuhf.xml @@ -6,7 +6,7 @@ - diff --git a/conf/settings/control/ctl_energy.xml b/conf/settings/control/ctl_energy.xml index 4c2e865c52..f5cfc27a55 100644 --- a/conf/settings/control/ctl_energy.xml +++ b/conf/settings/control/ctl_energy.xml @@ -27,8 +27,8 @@ - - + + @@ -46,13 +46,17 @@ - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/settings/modules/booz_cam.xml b/conf/settings/modules/rotorcraft_cam.xml similarity index 54% rename from conf/settings/modules/booz_cam.xml rename to conf/settings/modules/rotorcraft_cam.xml index 4b7c08e05d..17ae9b50b4 100644 --- a/conf/settings/modules/booz_cam.xml +++ b/conf/settings/modules/rotorcraft_cam.xml @@ -2,7 +2,7 @@ - + @@ -10,12 +10,12 @@ - - + + - + diff --git a/conf/settings/modules/servo_switch.xml b/conf/settings/modules/servo_switch.xml index fe29a120c9..687f0c7bb5 100644 --- a/conf/settings/modules/servo_switch.xml +++ b/conf/settings/modules/servo_switch.xml @@ -4,8 +4,8 @@ - - + + diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml index c55ee17611..2376ac8749 100644 --- a/conf/telemetry/default_rotorcraft.xml +++ b/conf/telemetry/default_rotorcraft.xml @@ -13,7 +13,7 @@ - + diff --git a/conf/tests_conf.xml b/conf/tests_conf.xml index 6803587eb8..bf8a59b424 100644 --- a/conf/tests_conf.xml +++ b/conf/tests_conf.xml @@ -165,6 +165,47 @@ settings=" settings/test_fixedwing_actuators.xml" gui_color="blue" /> + + + + + reg_addr))->fcr = UART_FIFO_8; } -void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) { +void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control __attribute__ ((unused))) { uart_disable_interrupts(p); uart_set_baudrate(p, baud); uart_enable_interrupts(p); diff --git a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c b/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c deleted file mode 100644 index 45579d7992..0000000000 --- a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.c +++ /dev/null @@ -1,60 +0,0 @@ -/* - * $Id: $ - * - * Copyright (C) 2011 ENAC - * - * 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 "modules/core/booz_pwm_arch.h" - -#define PWM_PERIOD CPU_TICKS_OF_USEC(20000) -#define PWM_DUTY CPU_TICKS_OF_USEC(1500) - -void booz_pwm_init_arch( void ) { - - /* start PWM5 */ - /* select P0.21 as PWM5 */ - PWM0_PINSEL |= PWM0_PINSEL_VAL << PWM0_PINSEL_BIT; - /* select pwm period */ - PWMMR0 = PWM_PERIOD; - /* select pwm value to 50% at init (1500 us) */ - PWMMR5 = PWM_DUTY; - /* commit values */ - PWMLER = PWMLER_LATCH0 | PWMLER_LATCH5; - /* prescle timer to match TIMER 0 (15MHz) */ - PWMPR = T0_PCLK_DIV - 1; - /* enable counter and pwm mode */ - PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE; - /* enable PWM5 */ - PWMPCR = PWMPCR_ENA5; - -#ifdef USE_PWM1 - /* start PWM2 */ - PWM1_PINSEL |= PWM1_PINSEL_VAL << PWM1_PINSEL_BIT; - /* select pwm value to 50% at init (1500 us) */ - PWMMR2 = PWM_DUTY; - /* commit values */ - PWMLER = PWMLER_LATCH2; - /* enable PWM2 */ - PWMPCR |= PWMPCR_ENA2; -#endif - - -} diff --git a/sw/airborne/arch/lpc21/servos_csc.h b/sw/airborne/arch/lpc21/servos_csc.h deleted file mode 100644 index b7d8acb6b3..0000000000 --- a/sw/airborne/arch/lpc21/servos_csc.h +++ /dev/null @@ -1,20 +0,0 @@ -#ifndef SERVOS_CSC_H -#define SERVOS_CSC_H - -#include "LPC21xx.h" -#include "generated/airframe.h" -#include "actuators.h" -#include "mcu_periph/sys_time.h" - -#define SERVOS_TICS_OF_USEC(s) CPU_TICKS_OF_USEC(s) -#define ChopServo(x,a,b) Chop(x, a, b) -#define SERVO_COUNT 4 - -#define Actuator(i) actuators[i] - -static inline void ActuatorsCommit(void) -{ - -} - -#endif /* SERVOS_CSC_H */ diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c index 2dfd68cdc8..23f49dc6f8 100644 --- a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.c @@ -1,6 +1,29 @@ +/* + * Copyright (C) 2010-2012 The Paparazzi Team + * + * This file is part of Paparazzi. + * + * Paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * Paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + */ + +#include "subsystems/actuators/actuators_pwm_arch.h" +#include "subsystems/actuators/actuators_pwm.h" #include "std.h" -#include "actuators.h" -#include "actuators_pwm_arch.h" +#include BOARD_CONFIG +#include "generated/airframe.h" /* 40 Hz */ #ifndef SERVOS_PERIOD @@ -28,7 +51,7 @@ const uint8_t pwm_latch_value = 0 #endif ; -void actuators_init ( void ) { +void actuators_pwm_arch_init ( void ) { /* configure pins for PWM */ #if defined PWM_SERVO_0 diff --git a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h index 0032b075dc..e54d87a41e 100644 --- a/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h +++ b/sw/airborne/arch/lpc21/subsystems/actuators/actuators_pwm_arch.h @@ -1,22 +1,30 @@ +/* + * Copyright (C) 2010 The Paparazzi Team + * + * This file is part of Paparazzi. + * + * Paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * Paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + */ + #ifndef ACTUATORS_PWM_ARCH_H #define ACTUATORS_PWM_ARCH_H #include "LPC21xx.h" #include "mcu_periph/sys_time.h" -#define SERVOS_TICS_OF_USEC(s) CPU_TICKS_OF_USEC(s) -#define ChopServo(x,a,b) Chop(x, a, b) - -#define SERVO_REG_0 PWMMR5 -#define SERVO_REG_1 PWMMR3 -#define SERVO_REG_2 PWMMR1 -#define SERVO_REG_3 PWMMR6 -#define SERVO_REG_4 PWMMR4 -#define SERVO_REG_5 PWMMR2 - -#define COMMAND_(i) SERVO_REG_ ## i -#define Actuator(i) COMMAND_(i) - /* wiring on classix PWM connector @@ -30,35 +38,54 @@ PWM6 PWM2 SSEL0 EINT2 P0.7 */ -#define PWM_PINSEL_MASK_VAL 3 +#define SERVOS_TICS_OF_USEC(s) CPU_TICKS_OF_USEC(s) -#define PWM_SERVO_0_PINSEL PINSEL1 -#define PWM_SERVO_0_PINSEL_VAL 1 -#define PWM_SERVO_0_PINSEL_BIT 10 -#define PWM_SERVO_0_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_0_PINSEL_BIT) -#define PWM_SERVO_0_ENA PWMPCR_ENA5 -#define PWM_SERVO_0_LATCH PWMLER_LATCH5 +/* default definition of servo (from classix order) */ +#ifndef SERVO_REG_0 +#define SERVO_REG_0 PWMMR5 +#endif +#ifndef SERVO_REG_1 +#define SERVO_REG_1 PWMMR3 +#endif +#ifndef SERVO_REG_2 +#define SERVO_REG_2 PWMMR1 +#endif +#ifndef SERVO_REG_3 +#define SERVO_REG_3 PWMMR6 +#endif +#ifndef SERVO_REG_4 +#define SERVO_REG_4 PWMMR4 +#endif +#ifndef SERVO_REG_5 +#define SERVO_REG_5 PWMMR2 +#endif + +#define COMMAND_(i) SERVO_REG_ ## i +/** Actuator set macro */ +#define ActuatorPwmSet(_i, _v) { COMMAND_(_i) = SERVOS_TICS_OF_USEC(_v); } + +#define PWM_PINSEL_MASK_VAL 3 #define PWM_SERVO_1_PINSEL PINSEL0 #define PWM_SERVO_1_PINSEL_VAL 2 -#define PWM_SERVO_1_PINSEL_BIT 2 +#define PWM_SERVO_1_PINSEL_BIT 0 #define PWM_SERVO_1_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_1_PINSEL_BIT) -#define PWM_SERVO_1_ENA PWMPCR_ENA3 -#define PWM_SERVO_1_LATCH PWMLER_LATCH3 +#define PWM_SERVO_1_ENA PWMPCR_ENA1 +#define PWM_SERVO_1_LATCH PWMLER_LATCH1 #define PWM_SERVO_2_PINSEL PINSEL0 #define PWM_SERVO_2_PINSEL_VAL 2 -#define PWM_SERVO_2_PINSEL_BIT 0 +#define PWM_SERVO_2_PINSEL_BIT 14 #define PWM_SERVO_2_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_2_PINSEL_BIT) -#define PWM_SERVO_2_ENA PWMPCR_ENA1 -#define PWM_SERVO_2_LATCH PWMLER_LATCH1 +#define PWM_SERVO_2_ENA PWMPCR_ENA2 +#define PWM_SERVO_2_LATCH PWMLER_LATCH2 #define PWM_SERVO_3_PINSEL PINSEL0 #define PWM_SERVO_3_PINSEL_VAL 2 -#define PWM_SERVO_3_PINSEL_BIT 18 +#define PWM_SERVO_3_PINSEL_BIT 2 #define PWM_SERVO_3_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_3_PINSEL_BIT) -#define PWM_SERVO_3_ENA PWMPCR_ENA6 -#define PWM_SERVO_3_LATCH PWMLER_LATCH6 +#define PWM_SERVO_3_ENA PWMPCR_ENA3 +#define PWM_SERVO_3_LATCH PWMLER_LATCH3 #define PWM_SERVO_4_PINSEL PINSEL0 #define PWM_SERVO_4_PINSEL_VAL 2 @@ -67,16 +94,24 @@ PWM6 PWM2 SSEL0 EINT2 P0.7 #define PWM_SERVO_4_ENA PWMPCR_ENA4 #define PWM_SERVO_4_LATCH PWMLER_LATCH4 -#define PWM_SERVO_5_PINSEL PINSEL0 -#define PWM_SERVO_5_PINSEL_VAL 2 -#define PWM_SERVO_5_PINSEL_BIT 14 +#define PWM_SERVO_5_PINSEL PINSEL1 +#define PWM_SERVO_5_PINSEL_VAL 1 +#define PWM_SERVO_5_PINSEL_BIT 10 #define PWM_SERVO_5_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_5_PINSEL_BIT) -#define PWM_SERVO_5_ENA PWMPCR_ENA2 -#define PWM_SERVO_5_LATCH PWMLER_LATCH2 +#define PWM_SERVO_5_ENA PWMPCR_ENA5 +#define PWM_SERVO_5_LATCH PWMLER_LATCH5 + +#define PWM_SERVO_6_PINSEL PINSEL0 +#define PWM_SERVO_6_PINSEL_VAL 2 +#define PWM_SERVO_6_PINSEL_BIT 18 +#define PWM_SERVO_6_PINSEL_MASK ~(PWM_PINSEL_MASK_VAL << PWM_SERVO_6_PINSEL_BIT) +#define PWM_SERVO_6_ENA PWMPCR_ENA6 +#define PWM_SERVO_6_LATCH PWMLER_LATCH6 extern const uint8_t pwm_latch_value; -#define ActuatorsCommit() { \ +/** Actuator commit macro */ +#define ActuatorsPwmCommit() { \ PWMLER = pwm_latch_value; \ } diff --git a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.c b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.c similarity index 96% rename from sw/airborne/arch/lpc21/servos_4015_MAT_hw.c rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.c index cf254ffc59..5c777f8235 100644 --- a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.c @@ -1,6 +1,4 @@ /* - * $Id$ - * * Copyright (C) 2006 Antoine Drouin * * This file is part of paparazzi. @@ -27,7 +25,7 @@ */ -#include "actuators.h" +#include "subsystems/actuators.h" #include "paparazzi.h" #include "generated/airframe.h" @@ -36,7 +34,7 @@ uint32_t servos_delay = SERVO_REFRESH_TICS; #define START_TIMEOUT 0xFFFF; -void actuators_init ( void ) { +void actuators_4015_init ( void ) { /* select clock pin as MAT0.1 output */ IO0DIR |= _BV(SERVO_CLOCK_PIN); SERVO_CLOCK_PINSEL |= SERVO_CLOCK_PINSEL_VAL << SERVO_CLOCK_PINSEL_BIT; diff --git a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h similarity index 91% rename from sw/airborne/arch/lpc21/servos_4015_MAT_hw.h rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h index d157e86bda..9e69bb07d5 100644 --- a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_MAT_hw.h @@ -1,6 +1,4 @@ /* - * $Id$ - * * Copyright (C) 2006 Antoine Drouin * * This file is part of paparazzi. @@ -42,9 +40,11 @@ #define _4015_NB_CHANNELS 8 extern uint16_t servos_values[_4015_NB_CHANNELS]; -#define Actuator(i) servos_values[i] +#define Actuator4015Set(_i, _v) { servos_values[_i] = SERVOS_TICS_OF_USEC(_v); } -#define ActuatorsCommit() {} +extern void actuators_4015_init(void); +#define Actuators4015Commit() {} +#define Actuators4015Init() actuators_4015_init() extern uint8_t servos_4015_idx; extern uint32_t servos_delay; diff --git a/sw/airborne/arch/lpc21/servos_4015_hw.c b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.c similarity index 77% rename from sw/airborne/arch/lpc21/servos_4015_hw.c rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.c index 60eeb6af5e..836d37829a 100644 --- a/sw/airborne/arch/lpc21/servos_4015_hw.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.c @@ -1,4 +1,25 @@ -#include "actuators.h" +/* + * Copyright (C) 2006 Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ +#include "subsystems/actuators.h" #include "armVIC.h" #include "generated/airframe.h" @@ -19,7 +40,7 @@ uint16_t servos_values[_4015_NB_CHANNELS]; #define PWMIR_MRI_SERV1 PWMIR_MR2I -void actuators_init ( void ) { +void actuators_4015_init ( void ) { /* PWM selected as IRQ */ VICIntSelect &= ~VIC_BIT(VIC_PWM); /* PWM interrupt enabled */ diff --git a/sw/airborne/arch/lpc21/servos_4015_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h similarity index 79% rename from sw/airborne/arch/lpc21/servos_4015_hw.h rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h index 60fe1593a0..cf5574ae39 100644 --- a/sw/airborne/arch/lpc21/servos_4015_hw.h +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw.h @@ -35,9 +35,11 @@ #define _4015_NB_CHANNELS 8 extern uint16_t servos_values[_4015_NB_CHANNELS]; -#define Actuator(i) servos_values[i] +#define Actuator4015Set(_i, _v) { servos_values[_i] = SERVOS_TICS_OF_USEC(_v); } -#define ActuatorsCommit() {} +extern void actuators_4015_init(void); +#define Actuators4015Commit() {} +#define Actuators4015Init() actuators_4015_init() void PWM_ISR ( void ) __attribute__((naked)); diff --git a/sw/airborne/arch/lpc21/servos_4015_hw_new.c b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw_new.c similarity index 82% rename from sw/airborne/arch/lpc21/servos_4015_hw_new.c rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw_new.c index 8a31b359b5..fdbc695682 100644 --- a/sw/airborne/arch/lpc21/servos_4015_hw_new.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4015_hw_new.c @@ -1,4 +1,25 @@ -#include "actuators.h" +/* + * Copyright (C) 2006 Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ +#include "subsystems/actuators.h" #include "armVIC.h" #include "generated/airframe.h" @@ -19,7 +40,7 @@ uint16_t servos_values[_4015_NB_CHANNELS]; #define PWMIR_MRI_SERV1 PWMIR_MR2I -void actuators_init ( void ) { +void actuators_4015_init ( void ) { /* PWM selected as IRQ */ VICIntSelect &= ~VIC_BIT(VIC_PWM); /* PWM interrupt enabled */ diff --git a/sw/airborne/arch/lpc21/servos_4017_hw.c b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.c similarity index 64% rename from sw/airborne/arch/lpc21/servos_4017_hw.c rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.c index 72022c414e..20a7d63b16 100644 --- a/sw/airborne/arch/lpc21/servos_4017_hw.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.c @@ -1,4 +1,25 @@ -#include "actuators.h" +/* + * Copyright (C) 2006 Antoine Drouin + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ +#include "subsystems/actuators.h" #include "paparazzi.h" #include "generated/airframe.h" @@ -7,7 +28,7 @@ uint8_t servos_4017_idx; #define START_TIMEOUT 0xFFFF; -void actuators_init ( void ) { +void actuators_4017_init ( void ) { /* select clock pin as MAT0.1 output */ IO0DIR |= _BV(SERVO_CLOCK_PIN); SERVO_CLOCK_PINSEL |= SERVO_CLOCK_PINSEL_VAL << SERVO_CLOCK_PINSEL_BIT; diff --git a/sw/airborne/arch/lpc21/servos_4017_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h similarity index 69% rename from sw/airborne/arch/lpc21/servos_4017_hw.h rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h index 9f2989c791..e131ad18e5 100644 --- a/sw/airborne/arch/lpc21/servos_4017_hw.h +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_4017_hw.h @@ -1,3 +1,25 @@ +/* + * Copyright (C) 2012 ENAC + * + * 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 SERVOS_4017_HW_H #define SERVOS_4017_HW_H @@ -19,9 +41,11 @@ #endif extern uint16_t servos_values[_4017_NB_CHANNELS]; -#define Actuator(i) servos_values[i] +#define Actuator4017Set(_i, _v) { servos_values[_i] = SERVOS_TICS_OF_USEC(_v); } -#define ActuatorsCommit() {} +extern void actuators_4017_init(void); +#define Actuators4017Commit() {} +#define Actuators4017Init() actuators_4017_init() extern uint8_t servos_4017_idx; diff --git a/sw/airborne/arch/lpc21/servos_ppm_hw.c b/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.c similarity index 96% rename from sw/airborne/arch/lpc21/servos_ppm_hw.c rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.c index 6162f48f9f..5a5271e504 100644 --- a/sw/airborne/arch/lpc21/servos_ppm_hw.c +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.c @@ -26,7 +26,7 @@ * \ for a R/C receiver which has a microcontroller to drive the servos * \(not a 4015 or 4017 decade counter chip). */ -#include "actuators.h" +#include "subsystems/actuators.h" #include "paparazzi.h" #include "generated/airframe.h" @@ -36,7 +36,7 @@ uint32_t servos_delay = SERVO_REFRESH_TICS; #define START_TIMEOUT 0xFFFF; -void actuators_init ( void ) { +void actuators_ppm_init ( void ) { /* select ppm output pin as MAT0.1 output */ SERVO_CLOCK_PINSEL |= SERVO_CLOCK_PINSEL_VAL << SERVO_CLOCK_PINSEL_BIT; diff --git a/sw/airborne/arch/lpc21/servos_ppm_hw.h b/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h similarity index 93% rename from sw/airborne/arch/lpc21/servos_ppm_hw.h rename to sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h index eb40c18d25..2396622395 100644 --- a/sw/airborne/arch/lpc21/servos_ppm_hw.h +++ b/sw/airborne/arch/lpc21/subsystems/actuators/servos_ppm_hw.h @@ -40,9 +40,11 @@ #define _PPM_NB_CHANNELS 8 extern uint16_t servos_values[_PPM_NB_CHANNELS]; -#define Actuator(i) servos_values[i] +#define ActuatorPpmSet(_i, _v) { servos_values[_i] = SERVOS_TICS_OF_USEC(_v); } -#define ActuatorsCommit() {} +extern void actuators_ppm_init(void); +#define ActuatorsPpmCommit() {} +#define ActuatorsPpmInit() actuators_ppm_init() extern uint8_t servos_PPM_idx; extern uint32_t servos_delay; extern uint8_t ppm_pulse; /* 1=start of pulse, 0=end of pulse */ diff --git a/sw/airborne/arch/omap/mcu_periph/uart_arch.c b/sw/airborne/arch/omap/mcu_periph/uart_arch.c index ff5f49445e..ebbce01fa4 100644 --- a/sw/airborne/arch/omap/mcu_periph/uart_arch.c +++ b/sw/airborne/arch/omap/mcu_periph/uart_arch.c @@ -32,7 +32,7 @@ #include "fms/fms_serial_port.h" -void uart_periph_set_baudrate(struct uart_periph* p, uint16_t baud) { +void uart_periph_set_baudrate(struct uart_periph* p, uint16_t baud, bool_t hw_flow_control __attribute__ ((unused))) { struct FmsSerialPort* fmssp; // close serial port if already open if (p->reg_addr != NULL) { diff --git a/sw/airborne/arch/sim/jsbsim_hw.h b/sw/airborne/arch/sim/jsbsim_hw.h index fa32784663..27406b89a6 100644 --- a/sw/airborne/arch/sim/jsbsim_hw.h +++ b/sw/airborne/arch/sim/jsbsim_hw.h @@ -40,7 +40,7 @@ #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" #include "subsystems/sensors/infrared.h" -#include "commands.h" +#include "subsystems/commands.h" #include "firmwares/fixedwing/main_ap.h" #include "ap_downlink.h" #include "sim_uart.h" diff --git a/sw/airborne/arch/sim/sim_ap.c b/sw/airborne/arch/sim/sim_ap.c index 7eaffac836..4a9a2ec3c4 100644 --- a/sw/airborne/arch/sim/sim_ap.c +++ b/sw/airborne/arch/sim/sim_ap.c @@ -18,7 +18,7 @@ #include "subsystems/nav.h" #include "firmwares/fixedwing/stabilization/stabilization_attitude.h" #include "firmwares/fixedwing/guidance/guidance_v.h" -#include "commands.h" +#include "subsystems/commands.h" #include "firmwares/fixedwing/main_ap.h" #include "ap_downlink.h" #include "sim_uart.h" diff --git a/sw/airborne/arch/sim/sim_gps.c b/sw/airborne/arch/sim/sim_gps.c index 4c8d0cfa93..75ded9ea8b 100644 --- a/sw/airborne/arch/sim/sim_gps.c +++ b/sw/airborne/arch/sim/sim_gps.c @@ -7,7 +7,6 @@ /** From airborne/autopilot/ */ #include "generated/airframe.h" #include "generated/flight_plan.h" -#include "autopilot.h" #include "subsystems/gps.h" #include "math/pprz_geodetic_float.h" #include "math/pprz_geodetic_int.h" diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c index cb0f4faf31..ad6b754f91 100644 --- a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c +++ b/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.c @@ -23,12 +23,9 @@ * dummy servos handling for sim */ -#include "subsystems/actuators/actuators_pwm.h" +#include "subsystems/actuators/actuators_pwm_arch.h" void actuators_pwm_arch_init(void) { } -void actuators_pwm_commit(void) { - -} diff --git a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h index 1c2f9ea167..02c159b6b0 100644 --- a/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h +++ b/sw/airborne/arch/sim/subsystems/actuators/actuators_pwm_arch.h @@ -26,17 +26,11 @@ #ifndef ACTUATORS_PWM_ARCH_H #define ACTUATORS_PWM_ARCH_H -#define ACTUATORS_PWM_NB 8 +#define SERVOS_TICS_OF_USEC(_v) (_v) -/* Needs to be included after ACTUATORS_PWM_NB is defined! - * Otherwise ACTUATORS_PWM_NB is not declared in actuators_pwm.h - */ -#include "subsystems/actuators/actuators_pwm.h" +#define ActuatorPwmSet(_i, _v) {} +#define ActuatorsPwmCommit() {} extern void actuators_pwm_arch_init(void); -extern void actuators_pwm_commit(void); - -#define SERVOS_TICS_OF_USEC(_v) (_v) -#define ActuatorsCommit() {} #endif /* ACTUATORS_PWM_ARCH_H */ diff --git a/sw/airborne/modules/drop/booz_drop.h b/sw/airborne/arch/sim/subsystems/actuators/servos_4015_MAT_hw.h similarity index 69% rename from sw/airborne/modules/drop/booz_drop.h rename to sw/airborne/arch/sim/subsystems/actuators/servos_4015_MAT_hw.h index c1b0182305..f3e00e1822 100644 --- a/sw/airborne/modules/drop/booz_drop.h +++ b/sw/airborne/arch/sim/subsystems/actuators/servos_4015_MAT_hw.h @@ -1,7 +1,5 @@ /* - * $Id: $ - * - * Copyright (C) 2009 Flixr + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -19,20 +17,17 @@ * 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 SERVOS_4015_HW_H +#define SERVOS_4015_HW_H -#ifndef BOOZ_DROP_H -#define BOOZ_DROP_H +#define SERVOS_TICS_OF_USEC(_v) (_v) -#include "std.h" +#define Actuator4015Set(_i, _v) {} +#define Actuators4015Init() {} +#define Actuators4015Commit() {} -extern bool_t booz_drop_ball; +#endif -extern void booz_drop_init(void); -extern void booz_drop_periodic(void); - -#define NavDropNow() ({ booz_drop_ball = TRUE; FALSE; }) -#define NavDropClose() ({ booz_drop_ball = FALSE; FALSE; }) - -#endif /* BOOZ_DROP_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators.h b/sw/airborne/arch/sim/subsystems/actuators/servos_4017_hw.h similarity index 73% rename from sw/airborne/firmwares/rotorcraft/actuators.h rename to sw/airborne/arch/sim/subsystems/actuators/servos_4017_hw.h index e8d0c056d1..fad3ed1c7f 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators.h +++ b/sw/airborne/arch/sim/subsystems/actuators/servos_4017_hw.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2010-2012 The Paparazzi Team + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -17,20 +17,18 @@ * 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 actuators.h - * Generic Actuators API. - */ +#ifndef SERVOS_4017_HW_H +#define SERVOS_4017_HW_H -#ifndef ACTUATORS_H -#define ACTUATORS_H +#define SERVOS_TICS_OF_USEC(_v) (_v) -//#include ACTUATORS +#define Actuator4017Set(_i, _v) {} +#define Actuators4017Init() {} +#define Actuators4017Commit() {} -#include "std.h" +#endif -extern void actuators_init(void); -extern void actuators_set(bool_t motors_on); -#endif /* ACTUATORS_H */ diff --git a/sw/airborne/firmwares/rotorcraft/commands.c b/sw/airborne/arch/sim/subsystems/actuators/servos_ppm_hw.h similarity index 76% rename from sw/airborne/firmwares/rotorcraft/commands.c rename to sw/airborne/arch/sim/subsystems/actuators/servos_ppm_hw.h index a07e5fe486..63f8d5eeda 100644 --- a/sw/airborne/firmwares/rotorcraft/commands.c +++ b/sw/airborne/arch/sim/subsystems/actuators/servos_ppm_hw.h @@ -1,6 +1,5 @@ -/* $Id$ - * - * (c) 2009 Antoine Drouin +/* + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -18,9 +17,18 @@ * 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 "firmwares/rotorcraft/commands.h" +#ifndef SERVOS_PPM_HW_H +#define SERVOS_PPM_HW_H + +#define SERVOS_TICS_OF_USEC(_v) (_v) + +#define ActuatorPpmSet(_i, _v) {} +#define ActuatorsPpmInit() {} +#define ActuatorsPpmCommit() {} + +#endif + -int32_t commands[COMMANDS_NB]; -const int32_t commands_failsafe[COMMANDS_NB] = COMMANDS_FAILSAFE; diff --git a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c index 147fe0da47..84bcf37315 100644 --- a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c @@ -96,7 +96,7 @@ void adc1_2_isr(void); -uint8_t adc_new_data_trigger; +volatile uint8_t adc_new_data_trigger; /* Static functions */ @@ -312,80 +312,62 @@ static inline void adc_init_single(uint32_t adc, } /* Configure ADC */ - //adc_reset(adc); - /* XXX: This register fiddeling code should be moved to libopencm3! */ + /* Explicitly setting most registers, reset/default values are correct for most */ + /* Set CR1 register. */ - { - uint32_t tmpreg = ADC_CR1(adc); - /* Clear DUALMOD and SCAN. */ - tmpreg &= ~(ADC_CR1_DUALMOD_MASK | ADC_CR1_SCAN); - - /* Set correct DUALMOD and SCAN. */ - tmpreg |= ADC_CR1_DUALMOD_IND | ADC_CR1_SCAN; - - ADC_CR1(adc) = tmpreg; - } + /* Clear AWDEN */ + adc_disable_analog_watchdog_regular(adc); + /* Clear JAWDEN */ + adc_disable_analog_watchdog_injected(adc); + /* Clear DISCEN */ + adc_disable_discontinuous_mode_regular(adc); + /* Clear JDISCEN */ + adc_disable_discontinuous_mode_injected(adc); + /* Clear JAUTO */ + adc_disable_automatic_injected_group_conversion(adc); + /* Set SCAN */ + adc_enable_scan_mode(adc); + /* Enable ADC JEOC interrupt (Set JEOCIE) */ + adc_enable_eoc_interrupt_injected(adc); + /* Clear AWDIE */ + adc_disable_awd_interrupt(adc); + /* Clear EOCIE */ + adc_disable_eoc_interrupt(adc); /* Set CR2 register. */ - { - uint32_t tmpreg = ADC_CR2(adc); - /* Clear CONT, ALIGN and EXTSEL. */ - tmpreg &= ~(ADC_CR2_CONT | ADC_CR2_ALIGN | ADC_CR2_EXTSEL_MASK); - - /* Set correct CONT, ALIGN and EXTSEL. */ - tmpreg |= ADC_CR2_EXTSEL_SWSTART; - - ADC_CR2(adc) = tmpreg; - } - - /* Set SQR1 register. */ - { - uint32_t tmpreg = ADC_SQR1(adc); - - /* Clear regular channel sequence length. */ - tmpreg &= ~(0xF); //~(ADC_SQR1_L_MSK); - - /* Set regular channel sequence length. */ - tmpreg |= 0; - - ADC_SQR1(adc) = tmpreg; - } - - /* Set JSQR1 injected sequence length. */ - { - uint32_t tmpreg = ADC_JSQR(adc); - - /* Clear injected channel sequence length. */ - tmpreg &= ~(0x2 << 20); //~(ADC_JSQR_JL_MSK); - - /* Set injected channel sequence length. */ - tmpreg |= (num_channels << ADC_JSQR_JL_LSB); - - ADC_JSQR(adc) = tmpreg; - } + /* Clear TSVREFE */ + adc_disable_temperature_sensor(adc); + /* Clear EXTTRIG */ + adc_disable_external_trigger_regular(adc); + /* Clear ALIGN */ + adc_set_right_aligned(adc); + /* Clear DMA */ + adc_disable_dma(adc); + /* Clear CONT */ + adc_set_single_conversion_mode(adc); rank = 0; if (chan1) { - adc_set_conversion_time(adc, adc_channel_map[0], ADC_SMPR1_SMP_41DOT5CYC); - channels[rank] = adc_channel_map[0]; + adc_set_sample_time(adc, adc_channel_map[0], ADC_SMPR1_SMP_41DOT5CYC); + channels[rank] = adc_channel_map[0]; rank++; } if (chan2) { - adc_set_conversion_time(adc, adc_channel_map[1], ADC_SMPR1_SMP_41DOT5CYC); - channels[rank] = adc_channel_map[1]; + adc_set_sample_time(adc, adc_channel_map[1], ADC_SMPR1_SMP_41DOT5CYC); + channels[rank] = adc_channel_map[1]; rank++; } if (chan3) { - adc_set_conversion_time(adc, adc_channel_map[2], ADC_SMPR1_SMP_41DOT5CYC); - channels[rank] = adc_channel_map[2]; + adc_set_sample_time(adc, adc_channel_map[2], ADC_SMPR1_SMP_41DOT5CYC); + channels[rank] = adc_channel_map[2]; rank++; } if (chan4) { - adc_set_conversion_time(adc, adc_channel_map[3], ADC_SMPR1_SMP_41DOT5CYC); - channels[rank] = adc_channel_map[3]; + adc_set_sample_time(adc, adc_channel_map[3], ADC_SMPR1_SMP_41DOT5CYC); + channels[rank] = adc_channel_map[3]; } adc_set_injected_sequence(adc, num_channels, channels); @@ -398,15 +380,11 @@ static inline void adc_init_single(uint32_t adc, adc_enable_external_trigger_injected(adc, ADC_CR2_JEXTSEL_TIM2_TRGO); #endif - /* Enable ADC JEOC interrupt */ - adc_enable_jeoc_interrupt(adc); - /* Enable ADC */ - adc_on(adc); + adc_power_on(adc); /* Enable ADC reset calibaration register */ adc_reset_calibration(adc); - /* Check the end of ADC reset calibration */ while ((ADC_CR2(adc) & ADC_CR2_RSTCAL) != 0); /* Start ADC calibaration */ diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c index 130601e581..75eddfd531 100644 --- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c @@ -29,15 +29,22 @@ #include #include "std.h" -void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) { +void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control) { /* Configure USART */ usart_set_baudrate((u32)p->reg_addr, baud); usart_set_databits((u32)p->reg_addr, 8); usart_set_stopbits((u32)p->reg_addr, USART_STOPBITS_1); usart_set_parity((u32)p->reg_addr, USART_PARITY_NONE); - usart_set_flow_control((u32)p->reg_addr, USART_FLOWCONTROL_NONE); usart_set_mode((u32)p->reg_addr, USART_MODE_TX_RX); + + if (hw_flow_control) { + usart_set_flow_control((u32)p->reg_addr, USART_FLOWCONTROL_RTS_CTS); + } + else { + usart_set_flow_control((u32)p->reg_addr, USART_FLOWCONTROL_NONE); + } + /* Enable USART1 Receive interrupts */ USART_CR1((u32)p->reg_addr) |= USART_CR1_RXNEIE; @@ -126,8 +133,19 @@ void uart1_init( void ) { gpio_set_mode(GPIO_BANK_USART1_RX, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_USART1_RX); - /* Configure USART */ - uart_periph_set_baudrate(&uart1, UART1_BAUD); +#if UART1_HW_FLOW_CONTROL +#warning "USING UART1 FLOW CONTROL. Make sure to pull down CTS if you are not connecting any flow-control-capable hardware." + gpio_set_mode(GPIO_BANK_USART1_RTS, GPIO_MODE_OUTPUT_50_MHZ, + GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_USART1_RTS); + gpio_set_mode(GPIO_BANK_USART1_CTS, GPIO_MODE_INPUT, + GPIO_CNF_INPUT_FLOAT, GPIO_USART1_CTS); + + /* Configure USART1, enable hardware flow control*/ + uart_periph_set_baudrate(&uart1, UART1_BAUD, TRUE); +#else + /* Configure USART1, no flow control */ + uart_periph_set_baudrate(&uart1, UART1_BAUD, FALSE); +#endif } void usart1_isr(void) { usart_isr(&uart1); } @@ -155,7 +173,7 @@ void uart2_init( void ) { GPIO_CNF_INPUT_FLOAT, GPIO_USART2_RX); /* Configure USART */ - uart_periph_set_baudrate(&uart2, UART2_BAUD); + uart_periph_set_baudrate(&uart2, UART2_BAUD, FALSE); } void usart2_isr(void) { usart_isr(&uart2); } @@ -185,7 +203,7 @@ void uart3_init( void ) { GPIO_CNF_INPUT_FLOAT, GPIO_USART3_PR_RX); /* Configure USART */ - uart_periph_set_baudrate(&uart3, UART3_BAUD); + uart_periph_set_baudrate(&uart3, UART3_BAUD, FALSE); } void usart3_isr(void) { usart_isr(&uart3); } @@ -214,7 +232,7 @@ void uart5_init( void ) { GPIO_CNF_INPUT_FLOAT, GPIO_UART5_RX); /* Configure USART */ - uart_periph_set_baudrate(&uart5, UART5_BAUD); + uart_periph_set_baudrate(&uart5, UART5_BAUD, FALSE); } void uart5_isr(void) { usart_isr(&uart5); } diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c index 0af66ccff6..c8c8b0b1e2 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c @@ -23,13 +23,15 @@ * STM32 PWM servos handling. */ -#include "actuators.h" #include "subsystems/actuators/actuators_pwm_arch.h" +#include "subsystems/actuators/actuators_pwm.h" #include #include #include +int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; + #define PCLK 72000000 #define ONE_MHZ_CLK 1000000 #ifndef SERVO_HZ diff --git a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h index c2f0e4227e..e81fd46c41 100644 --- a/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h +++ b/sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.h @@ -38,15 +38,13 @@ #define ACTUATORS_PWM_NB 6 #endif -/* Needs to be included after ACTUATORS_PWM_NB is defined! - * Otherwise ACTUATORS_PWM_NB is not declared in actuators_pwm.h - */ -#include "subsystems/actuators/actuators_pwm.h" +extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; -extern void actuators_pwm_arch_init(void); extern void actuators_pwm_commit(void); #define SERVOS_TICS_OF_USEC(_v) (_v) -#define ActuatorsCommit actuators_pwm_commit + +#define ActuatorPwmSet(_i, _v) { actuators_pwm_values[_i] = _v; } +#define ActuatorsPwmCommit actuators_pwm_commit #endif /* ACTUATORS_PWM_ARCH_H */ diff --git a/sw/airborne/boards/booz_1.0.h b/sw/airborne/boards/booz_1.0.h index 0c110c2f7d..350d870054 100644 --- a/sw/airborne/boards/booz_1.0.h +++ b/sw/airborne/boards/booz_1.0.h @@ -163,26 +163,24 @@ #define MS2100_DRDY_EINT 3 #define MS2100_DRDY_VIC_IT VIC_EINT3 -/* PWM5 on CAM connector */ -/* P0.21 */ -#define PWM0_PINSEL PINSEL1 -#define PWM0_PINSEL_VAL 0x01 -#define PWM0_PINSEL_BIT 10 -/* PWM2 on SPI connector */ -/* P0.7 */ -#define PWM1_PINSEL PINSEL0 -#define PWM1_PINSEL_VAL 0x02 -#define PWM1_PINSEL_BIT 14 +/* Servo definition for actruators_pwm driver */ + +/* BOOZ PWM0 = PWM_SERVO_5 (driver) = PWM5 (lpc) + * on CAM connector */ +#if USE_PWM0 +#define PWM_SERVO_5 1 +#define SERVO_REG_0 PWMMR5 +#endif + +/* BOOZ PWM1 = PWM_SERVO_2 (driver) = PWM2 (lpc) + * on SPI connector */ +#if USE_PWM1 +#define PWM_SERVO_2 1 +#define SERVO_REG_1 PWMMR2 +#endif #define BOARD_HAS_BARO 1 -/* - * Modem - */ -//#define MODEM_DEVICE Uart1 -//#define MODEM_UART_FLAG - - #endif /* CONFIG_BOOZ2_V1_0_H */ diff --git a/sw/airborne/boards/classix_1.0.h b/sw/airborne/boards/classix_1.0.h index fd21440500..ee7d102c04 100644 --- a/sw/airborne/boards/classix_1.0.h +++ b/sw/airborne/boards/classix_1.0.h @@ -46,7 +46,13 @@ #define PPM_CCR_CRI TCCR_CR2_I #define PPM_CR T0CR2 -/* SERVOS : 4017 on FBW_RC0 connector */ +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + +/* SERVOS : 4017 on FBW_RC0 connector (ppm driver) */ /* MAT0.1 on P0.5 */ #define SERVO_CLOCK_PIN 5 diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h index 0bfed3a280..b324f421f8 100644 --- a/sw/airborne/boards/lisa_l_1.0.h +++ b/sw/airborne/boards/lisa_l_1.0.h @@ -21,6 +21,12 @@ #define IMU_ACC_DRDY_GPIO GPIOD #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOD +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + /* PA0 - ADC0 */ /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h index add01752b1..b48dc45b0a 100644 --- a/sw/airborne/boards/lisa_m_1.0.h +++ b/sw/airborne/boards/lisa_m_1.0.h @@ -59,6 +59,12 @@ #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + #define DefaultVoltageOfAdc(adc) (0.00485*adc) diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h index 2d411960cd..a43720622d 100644 --- a/sw/airborne/boards/lisa_m_2.0.h +++ b/sw/airborne/boards/lisa_m_2.0.h @@ -95,6 +95,12 @@ #define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOB +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + #define DefaultVoltageOfAdc(adc) (0.0045*adc) diff --git a/sw/airborne/boards/navgo_1.0.h b/sw/airborne/boards/navgo_1.0.h index 95d7f17914..015b51d428 100644 --- a/sw/airborne/boards/navgo_1.0.h +++ b/sw/airborne/boards/navgo_1.0.h @@ -54,7 +54,7 @@ /* ADC */ -/* not compatible with PWM0 */ +/* not compatible with PWM1 */ #define ADC_0 AdcBank1(6) #ifdef USE_ADC_0 #ifndef USE_AD1 @@ -91,18 +91,19 @@ #define SPI1_DRDY_EINT 0 #define SPI1_DRDY_VIC_IT VIC_EINT0 -/* PWM0 (internal PWM2) */ -/* P0.7 */ -#define PWM0_PINSEL PINSEL0 -#define PWM0_PINSEL_VAL 0x02 -#define PWM0_PINSEL_BIT 14 +/* Servo definition for actruators_pwm driver */ -/* PWM1 (internal PWM5) */ -/* not compatible with ADC_0 */ -/* P0.21 */ -#define PWM1_PINSEL PINSEL1 -#define PWM1_PINSEL_VAL 0x01 -#define PWM1_PINSEL_BIT 10 +/* NAVGO PWM0 = PWM_SERVO_2 (driver) = PWM2 (lpc) */ +#if USE_PWM0 +#define PWM_SERVO_2 1 +#define SERVO_REG_0 PWMMR2 +#endif + +/* NAVGO PWM1 = PWM_SERVO_5 (driver) = PWM5 (lpc) */ +#if USE_PWM1 +#define PWM_SERVO_5 1 +#define SERVO_REG_1 PWMMR5 +#endif #define BOARD_HAS_BARO 1 diff --git a/sw/airborne/boards/tiny_0.99.h b/sw/airborne/boards/tiny_0.99.h index b6915b33eb..6aed88d605 100644 --- a/sw/airborne/boards/tiny_0.99.h +++ b/sw/airborne/boards/tiny_0.99.h @@ -35,6 +35,12 @@ #define LED_2_BANK 1 #define LED_2_PIN 19 +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4015.h" +#define ActuatorDefaultSet(_x,_y) Actuator4015Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4015Init() +#define ActuatorsDefaultCommit() Actuators4015Commit() + /* P0.5 aka MAT0.1 */ #define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PINSEL PINSEL0 diff --git a/sw/airborne/boards/tiny_1.1.h b/sw/airborne/boards/tiny_1.1.h index d76d4aa61e..a589957443 100644 --- a/sw/airborne/boards/tiny_1.1.h +++ b/sw/airborne/boards/tiny_1.1.h @@ -46,6 +46,12 @@ #define POWER_SWITCH_LED 3 +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4015.h" +#define ActuatorDefaultSet(_x,_y) Actuator4015Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4015Init() +#define ActuatorsDefaultCommit() Actuators4015Commit() + /* P0.5 aka MAT0.1 */ #define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PINSEL PINSEL0 diff --git a/sw/airborne/boards/tiny_2.0.h b/sw/airborne/boards/tiny_2.0.h index ac512c8ea9..f828e60a83 100644 --- a/sw/airborne/boards/tiny_2.0.h +++ b/sw/airborne/boards/tiny_2.0.h @@ -49,6 +49,12 @@ #define POWER_SWITCH_LED 4 +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h" +#define ActuatorDefaultSet(_x,_y) Actuator4017Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4017Init() +#define ActuatorsDefaultCommit() Actuators4017Commit() + /* P0.5 aka MAT0.1 */ #define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PINSEL PINSEL0 diff --git a/sw/airborne/boards/tiny_2.1.h b/sw/airborne/boards/tiny_2.1.h index 572f2b6cf0..bef470ba3a 100644 --- a/sw/airborne/boards/tiny_2.1.h +++ b/sw/airborne/boards/tiny_2.1.h @@ -86,6 +86,12 @@ #define Set_GPS_RESET_Pin_LOW() LED_ON(GPS_RESET) #define Open_GPS_RESET_Pin() ClearBit(LED_DIR(GPS_RESET), LED_PIN(GPS_RESET)) +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h" +#define ActuatorDefaultSet(_x,_y) Actuator4017Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4017Init() +#define ActuatorsDefaultCommit() Actuators4017Commit() + /* P0.5 aka MAT0.1 */ #define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PINSEL PINSEL0 diff --git a/sw/airborne/boards/tiny_sim.h b/sw/airborne/boards/tiny_sim.h index c3cb2f3b91..229028bfe3 100644 --- a/sw/airborne/boards/tiny_sim.h +++ b/sw/airborne/boards/tiny_sim.h @@ -29,6 +29,12 @@ #define LED_2_BANK 1 #define LED_2_PIN 19 +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h" +#define ActuatorDefaultSet(_x,_y) Actuator4017Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4017Init() +#define ActuatorsDefaultCommit() Actuators4017Commit() + /* p0.21 aka PWM5 */ #define SERV0_CLOCK_PIN 21 #define SERV0_CLOCK_PINSEL PINSEL1 diff --git a/sw/airborne/boards/umarim_1.0.h b/sw/airborne/boards/umarim_1.0.h index f17d5df75d..c69e27da97 100644 --- a/sw/airborne/boards/umarim_1.0.h +++ b/sw/airborne/boards/umarim_1.0.h @@ -30,6 +30,12 @@ #define LED_2_BANK 1 #define LED_2_PIN 24 +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h" +#define ActuatorDefaultSet(_x,_y) Actuator4017Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4017Init() +#define ActuatorsDefaultCommit() Actuators4017Commit() + /* P0.5 aka MAT0.1 */ #define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PINSEL PINSEL0 diff --git a/sw/airborne/boards/umarim_lite_2.0.h b/sw/airborne/boards/umarim_lite_2.0.h index 2690f73c0c..6f023e5548 100644 --- a/sw/airborne/boards/umarim_lite_2.0.h +++ b/sw/airborne/boards/umarim_lite_2.0.h @@ -30,6 +30,12 @@ #define LED_2_BANK 1 #define LED_2_PIN 24 +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_4017.h" +#define ActuatorDefaultSet(_x,_y) Actuator4017Set(_x,_y) +#define ActuatorsDefaultInit() Actuators4017Init() +#define ActuatorsDefaultCommit() Actuators4017Commit() + /* P0.5 aka MAT0.1 */ #define SERVO_CLOCK_PIN 5 #define SERVO_CLOCK_PINSEL PINSEL0 diff --git a/sw/airborne/boards/yapa_2.0.h b/sw/airborne/boards/yapa_2.0.h new file mode 100644 index 0000000000..9fc0a0163c --- /dev/null +++ b/sw/airborne/boards/yapa_2.0.h @@ -0,0 +1,6 @@ +#include "boards/tiny_2.1.h" + + +// ADC / 1023 * 3.3V * (10k + 1k5) / 1k5 +#undef DefaultVoltageOfAdc +#define DefaultVoltageOfAdc(adc) (0.0247311828*adc) diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c index af702db5ee..a1e1b7c8c8 100644 --- a/sw/airborne/firmwares/beth/main_stm32.c +++ b/sw/airborne/firmwares/beth/main_stm32.c @@ -28,7 +28,7 @@ #include "mcu_periph/can.h" #include "mcu_periph/sys_time.h" #include "subsystems/datalink/downlink.h" -#include "firmwares/rotorcraft/commands.h" +#include "subsystems/commands.h" #include "firmwares/rotorcraft/actuators.h" //#include "booz/booz_radio_control.h" #include "subsystems/imu.h" diff --git a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h b/sw/airborne/firmwares/fixedwing/autopilot.c similarity index 57% rename from sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h rename to sw/airborne/firmwares/fixedwing/autopilot.c index 567b5793fa..347cc80dbf 100644 --- a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h +++ b/sw/airborne/firmwares/fixedwing/autopilot.c @@ -1,7 +1,5 @@ /* - * $Id: $ - * - * Copyright (C) 2011 ENAC + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -22,25 +20,41 @@ * */ -#ifndef BOOZ_PWM_ARCH_H -#define BOOZ_PWM_ARCH_H +/** \file autopilot.c + * \brief Autopilot inititalization + * + */ -#include "std.h" -#include "mcu_periph/sys_time.h" +#include "firmwares/fixedwing/autopilot.h" -extern void booz_pwm_init_arch(void); +uint8_t pprz_mode; +bool_t kill_throttle; -// Default PWM is PWM0 -#define BoozSetPwmValue(_v) BoozSetPwm0Value(_v) +bool_t launch; + +/** flight time in seconds. */ +uint16_t autopilot_flight_time; + +uint8_t lateral_mode; + +uint16_t vsupply; +float energy; + +bool_t gps_lost; + +bool_t power_switch; + +void autopilot_init(void) { + pprz_mode = PPRZ_MODE_AUTO2; + kill_throttle = FALSE; + launch = FALSE; + autopilot_flight_time = 0; + + lateral_mode = LATERAL_MODE_MANUAL; + + gps_lost = FALSE; + + power_switch = FALSE; -#define BoozSetPwm0Value(_v) { \ - PWMMR5 = CPU_TICKS_OF_USEC(_v); \ - PWMLER = PWMLER_LATCH5; \ } -#define BoozSetPwm1Value(_v) { \ - PWMMR2 = CPU_TICKS_OF_USEC(_v); \ - PWMLER = PWMLER_LATCH2; \ -} - -#endif /* BOOZ_PWM_ARCH_H */ diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h index bd8f20c1dd..65c9b3495b 100644 --- a/sw/airborne/firmwares/fixedwing/autopilot.h +++ b/sw/airborne/firmwares/fixedwing/autopilot.h @@ -1,6 +1,4 @@ /* - * $Id$ - * * Copyright (C) 2003 Pascal Brisset, Antoine Drouin * * This file is part of paparazzi. @@ -32,14 +30,23 @@ #include #include "std.h" +#include "paparazzi.h" #include "mcu_periph/sys_time.h" +#include "generated/airframe.h" + +/** Autopilot inititalization. + */ +extern void autopilot_init(void); + +/** Threshold for RC mode detection. + */ #define THRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2) - #define THRESHOLD1 THRESHOLD_MANUAL_PPRZ #define THRESHOLD2 (MAX_PPRZ/2) - +/** AP modes. + */ #define PPRZ_MODE_MANUAL 0 #define PPRZ_MODE_AUTO1 1 #define PPRZ_MODE_AUTO2 2 @@ -57,6 +64,10 @@ extern bool_t kill_throttle; /** flight time in seconds. */ extern uint16_t autopilot_flight_time; +#define autopilot_ResetFlightTimeAndLaunch(_) { \ + autopilot_flight_time = 0; launch = FALSE; \ +} + // FIXME, move to control #define LATERAL_MODE_MANUAL 0 @@ -71,7 +82,14 @@ extern uint8_t lateral_mode; #define THROTTLE_THRESHOLD_TAKEOFF (pprz_t)(MAX_PPRZ * 0.9) -extern uint8_t vsupply; +/** Supply voltage in deciVolt. + * This the ap copy of the measurement from fbw + */ +extern uint16_t vsupply; + +/** Fuel consumption (mAh) + * TODO: move to electrical subsystem + */ extern float energy; extern bool_t launch; @@ -85,6 +103,9 @@ extern bool_t gps_lost; (_mode != new_mode ? _mode = new_mode, TRUE : FALSE); \ }) + +/** Power switch control. + */ extern bool_t power_switch; #ifdef POWER_SWITCH_LED @@ -96,9 +117,6 @@ extern bool_t power_switch; #define autopilot_SetPowerSwitch(_x) { power_switch = _x; } #endif // POWER_SWITCH_LED -#define autopilot_ResetFlightTimeAndLaunch(_) { \ - autopilot_flight_time = 0; launch = FALSE; \ -} /* CONTROL_RATE will be removed in the next release * please use CONTROL_FREQUENCY instead diff --git a/sw/airborne/firmwares/fixedwing/fbw_downlink.h b/sw/airborne/firmwares/fixedwing/fbw_downlink.h index 38609e9082..19947da37e 100644 --- a/sw/airborne/firmwares/fixedwing/fbw_downlink.h +++ b/sw/airborne/firmwares/fixedwing/fbw_downlink.h @@ -39,8 +39,8 @@ #include "messages.h" #include "generated/periodic_telemetry.h" #include "generated/airframe.h" -#include "commands.h" -#include "actuators.h" +#include "subsystems/commands.h" +#include "subsystems/actuators.h" #include "mcu_periph/uart.h" #include "firmwares/fixedwing/main_fbw.h" @@ -78,7 +78,7 @@ #endif // RADIO_CONTROL #ifdef ACTUATORS -#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, SERVOS_NB, actuators) +#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, ACTUATORS_NB, actuators) #else #define PERIODIC_SEND_ACTUATORS(_trans, _dev) {} #endif diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c index b3b68b6375..1373c0954b 100644 --- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c +++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c @@ -1,5 +1,5 @@ /* - * Copyright (C) 2006 Pascal Brisset, Antoine Drouin, Michel Gorraz + * Copyright (C) 2012 TUDelft, Tobias Muench * * This file is part of paparazzi. * @@ -20,34 +20,45 @@ */ /** - * @file firmwares/fixedwing/guidance/guidance_v.c - * Vertical control using total energy control for fixed wing vehicles. + * @file firmwares/fixedwing/guidance/energy_ctrl.c + * Total Energy (speed + height) control for fixed wing vehicles. + * + * Energy: + * @f{eqnarray*}{ + * E &=& mgh + \frac{1}{2}mV^2 \\ + * \frac{\dot{E}}{V} &=& \left(\gamma + \frac{\dot{V}}{g}\right) W + * @f} + * + * Equilibrium: + * @f[ + * \frac{\dot{V}}{g} = \frac{\mbox{Thrust}}{W} - \frac{\mbox{Drag}}{W} - \sin(\gamma) + * @f] + * with: + * @f[ + * \frac{\mbox{Drag}}{\mbox{Weight}} = \left(\frac{C_l}{C_d}\right)^{-1} + * @f] + * + * - glide angle: @f$\dot{V}=0, T=0 \rightarrow \gamma = \frac{C_d}{C_l}@f$ + * - level flight: @f$\dot{V}=0, \gamma=0 \rightarrow \frac{W}{T} = \frac{C_l}{C_d}@f$ + * + * Strategy: + * - thrust = path + acceleration[g] (total energy) + * - pitch = path - acceleration[g] (energy balance) + * + * Pseudo-Control Unit = dimensionless acceleration [g] + * + * - pitch <-> pseudocontrol: sin(Theta) steers Vdot in [g] + * - throttle <-> pseudocontrol: motor characteristic as function of V x throttle steeds VDot + * + * @dot + * digraph total_energy_control { + * node [shape=record]; + * b [label="attitude loop" URL="\ref attitude_loop"]; + * c [label="climb loop" URL="\ref v_ctl_climb_loop"]; + * b -> c [ arrowhead="open", style="dashed" ]; + * } + * @enddot * - - - ================================================= - Energy: - ------ - E = mgh + 1/2mV^2 - Edot / V = (gamma + Vdot/g) * W - - equilibrium - - Vdot / g = Thrust/W - Drag/W - sin(gamma) - with: Drag/Weight = (Cl/Cd)^-1 - - -glide angle: Vdot = 0, T=0 ==> gamma = Cd/Cl - -level flight: Vdot = 0, gamma=0 ==> W/T = Cl/Cd - ================================================= - - Strategy: thrust = path + acceleration[g] (total energy) - pitch = path - acceleration[g] (energy balance) - - Pseudo-Control Unit = dimensionless acceleration [g] - - - pitch <-> pseudocontrol: sin(Theta) steers Vdot in [g] - - throttle <-> pseudocontrol: motor characteristic as function of V x throttle steeds VDot - */ #pragma message "CAUTION! Using TOTAL ENERGY CONTROLLER: Experimental!" @@ -67,8 +78,6 @@ uint8_t v_ctl_mode = V_CTL_MODE_MANUAL; uint8_t v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE; uint8_t v_ctl_auto_throttle_submode = V_CTL_CLIMB_MODE_AUTO_THROTTLE; float v_ctl_auto_throttle_sum_err = 0; -float v_ctl_auto_airspeed_controlled = 0; -float v_ctl_auto_groundspeed_setpoint = 0; #ifdef LOITER_TRIM #error "Energy Controller can not accep Loiter Trim" @@ -85,9 +94,7 @@ float v_ctl_altitude_pgain; float v_ctl_airspeed_pgain; float v_ctl_altitude_error; ///< in meters, (setpoint - alt) -> positive = too low -float v_ctl_auto_airspeed_setpoint; ///< in meters per second - -float v_ctl_max_climb = 2; +float v_ctl_max_climb; float v_ctl_max_acceleration = 0.5; /* inner loop */ @@ -114,6 +121,19 @@ float v_ctl_energy_total_igain; float v_ctl_energy_diff_pgain; float v_ctl_energy_diff_igain; +float v_ctl_auto_airspeed_setpoint; ///< in meters per second +float v_ctl_auto_airspeed_setpoint_slew; +#ifndef AIRSPEED_SETPOINT_SLEW +#define AIRSPEED_SETPOINT_SLEW 1 +#endif +float v_ctl_auto_airspeed_controlled; +#ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT +float v_ctl_auto_groundspeed_setpoint; ///< in meters per second +float v_ctl_auto_groundspeed_pgain; +float v_ctl_auto_groundspeed_igain; +float v_ctl_auto_groundspeed_sum_err; +#define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100 +#endif pprz_t v_ctl_throttle_setpoint; pprz_t v_ctl_throttle_slewed; @@ -170,16 +190,65 @@ void v_ctl_init( void ) { /* outer loop */ v_ctl_altitude_setpoint = 0.; + +#ifdef V_CTL_ALTITUDE_PGAIN v_ctl_altitude_pgain = V_CTL_ALTITUDE_PGAIN; +#endif +#ifdef V_CTL_AIRSPEED_PGAIN + v_ctl_airspeed_pgain = V_CTL_AIRSPEED_PGAIN; +#endif + v_ctl_auto_airspeed_setpoint = NOMINAL_AIRSPEED; + v_ctl_auto_airspeed_setpoint_slew = v_ctl_auto_airspeed_setpoint; + /* inner loops */ v_ctl_climb_setpoint = 0.; /* "auto throttle" inner loop parameters */ v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE; + +#ifdef V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT; v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN; +#endif + +#ifdef V_CTL_AUTO_THROTTLE_OF_AIRSPEED_PGAIN + v_ctl_auto_throttle_of_airspeed_pgain = V_CTL_AUTO_THROTTLE_OF_AIRSPEED_PGAIN; + v_ctl_auto_throttle_of_airspeed_igain = V_CTL_AUTO_THROTTLE_OF_AIRSPEED_IGAIN; +#endif + +#ifdef V_CTL_AUTO_PITCH_OF_AIRSPEED_PGAIN + v_ctl_auto_pitch_of_airspeed_pgain = V_CTL_AUTO_PITCH_OF_AIRSPEED_PGAIN; + v_ctl_auto_pitch_of_airspeed_igain = V_CTL_AUTO_PITCH_OF_AIRSPEED_IGAIN; + v_ctl_auto_pitch_of_airspeed_dgain = V_CTL_AUTO_PITCH_OF_AIRSPEED_DGAIN; +#endif + + +#ifdef V_CTL_ENERGY_TOT_PGAIN + v_ctl_energy_total_pgain = V_CTL_ENERGY_TOT_PGAIN; + v_ctl_energy_total_igain = V_CTL_ENERGY_TOT_IGAIN; + v_ctl_energy_diff_pgain = V_CTL_ENERGY_DIFF_PGAIN; + v_ctl_energy_diff_igain = V_CTL_ENERGY_DIFF_IGAIN; +#endif + +#ifdef V_CTL_ALTITUDE_MAX_CLIMB + v_ctl_max_climb = V_CTL_ALTITUDE_MAX_CLIMB; +#else + v_ctl_max_climb = 2; +#warning "V_CTL_ALTITUDE_MAX_CLIMB not defined - default is 2m/s" +#endif + +#ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT + v_ctl_auto_groundspeed_setpoint = V_CTL_AUTO_GROUNDSPEED_SETPOINT; + v_ctl_auto_groundspeed_pgain = V_CTL_AUTO_GROUNDSPEED_PGAIN; + v_ctl_auto_groundspeed_igain = V_CTL_AUTO_GROUNDSPEED_IGAIN; + v_ctl_auto_groundspeed_sum_err = 0.; +#endif + +#ifndef STALL_AIRSPEED +#define STALL_AIRSPEED NOMINAL_AIRSPEED +#endif v_ctl_throttle_setpoint = 0; } @@ -192,7 +261,7 @@ void v_ctl_init( void ) { void v_ctl_altitude_loop( void ) { // Imput Checks - if (v_ctl_auto_airspeed_setpoint <= 0.0f) v_ctl_auto_airspeed_setpoint = NOMINAL_AIRSPEED; + if (v_ctl_auto_airspeed_setpoint <= STALL_AIRSPEED * 1.23) v_ctl_auto_airspeed_setpoint = STALL_AIRSPEED * 1.23; // Altitude Controller v_ctl_altitude_error = v_ctl_altitude_setpoint - stateGetPositionUtm_f()->alt; @@ -228,8 +297,32 @@ static float low_pass_vdot(float v) void v_ctl_climb_loop( void ) { +#ifdef AIRSPEED_SETPOINT_SLEW + // airspeed_setpoint ratelimiter: + float airspeed_incr = v_ctl_auto_airspeed_setpoint - v_ctl_auto_airspeed_setpoint_slew; // FIXME + BoundAbs(airspeed_incr, AIRSPEED_SETPOINT_SLEW * NOMINAL_AIRSPEED); + v_ctl_auto_airspeed_setpoint_slew += airspeed_incr; +#endif + +#ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT + // Ground speed control loop (input: groundspeed error, output: airspeed controlled) + float err_groundspeed = (v_ctl_auto_groundspeed_setpoint - (*stateGetHorizontalSpeedNorm_f())); + v_ctl_auto_groundspeed_sum_err += err_groundspeed; + BoundAbs(v_ctl_auto_groundspeed_sum_err, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR); + v_ctl_auto_airspeed_controlled = (err_groundspeed + v_ctl_auto_groundspeed_sum_err * v_ctl_auto_groundspeed_igain) * v_ctl_auto_groundspeed_pgain; + + // Do not allow controlled airspeed below the setpoint + if (v_ctl_auto_airspeed_controlled < v_ctl_auto_airspeed_setpoint) { + v_ctl_auto_airspeed_controlled = v_ctl_auto_airspeed_setpoint; + // reset integrator of ground speed loop + v_ctl_auto_groundspeed_sum_err = v_ctl_auto_airspeed_controlled/(v_ctl_auto_groundspeed_pgain*v_ctl_auto_groundspeed_igain); + } +#else + v_ctl_auto_airspeed_controlled = v_ctl_auto_airspeed_setpoint_slew; +#endif + // Airspeed outerloop: positive means we need to accelerate - float speed_error = v_ctl_auto_airspeed_setpoint - (*stateGetAirspeed_f()); + float speed_error = v_ctl_auto_airspeed_controlled - (*stateGetAirspeed_f()); // Speed Controller to PseudoControl: gain 1 -> 5m/s error = 0.5g acceleration v_ctl_desired_acceleration = speed_error * v_ctl_airspeed_pgain / 9.81f; @@ -260,10 +353,9 @@ void v_ctl_climb_loop( void ) if (launch && (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB)) { v_ctl_auto_throttle_nominal_cruise_throttle += - v_ctl_auto_throttle_of_airspeed_igain * speed_error * dt - + en_tot_err * v_ctl_energy_total_igain * dt; - if (v_ctl_auto_throttle_nominal_cruise_throttle < 0.0f) v_ctl_auto_throttle_nominal_cruise_throttle = 0.0f; - else if (v_ctl_auto_throttle_nominal_cruise_throttle > 1.0f) v_ctl_auto_throttle_nominal_cruise_throttle = 1.0f; + v_ctl_auto_throttle_of_airspeed_igain * speed_error * dt + + en_tot_err * v_ctl_energy_total_igain * dt; + Bound(v_ctl_auto_throttle_nominal_cruise_throttle,0.0f,1.0f); } // Total Controller @@ -287,13 +379,14 @@ void v_ctl_climb_loop( void ) Bound(v_ctl_auto_throttle_nominal_cruise_pitch,H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT); } float v_ctl_pitch_of_vz = - + (v_ctl_climb_setpoint /*+ d_err * v_ctl_auto_throttle_pitch_of_vz_dgain*/) * v_ctl_auto_throttle_pitch_of_vz_pgain - - v_ctl_auto_pitch_of_airspeed_pgain * speed_error + + (v_ctl_climb_setpoint /*+ d_err * v_ctl_auto_throttle_pitch_of_vz_dgain*/) * v_ctl_auto_throttle_pitch_of_vz_pgain + - v_ctl_auto_pitch_of_airspeed_pgain * speed_error + v_ctl_auto_pitch_of_airspeed_dgain * vdot + v_ctl_energy_diff_pgain * en_dis_err + v_ctl_auto_throttle_nominal_cruise_pitch; - v_ctl_pitch_setpoint = v_ctl_pitch_of_vz; + nav_pitch = v_ctl_pitch_of_vz; + Bound(nav_pitch,H_CTL_PITCH_MIN_SETPOINT,H_CTL_PITCH_MAX_SETPOINT) ac_char_update(controlled_throttle, v_ctl_pitch_of_vz, v_ctl_climb_setpoint, v_ctl_desired_acceleration); diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.h b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.h index c3bb8b49a6..18bb371888 100644 --- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.h +++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2012 TUDelft + * Copyright (C) 2012 TUDelft, Tobias Muench * * This file is part of paparazzi. * @@ -62,6 +62,10 @@ extern float v_ctl_energy_total_igain; extern float v_ctl_energy_diff_pgain; extern float v_ctl_energy_diff_igain; +extern float v_ctl_auto_groundspeed_pgain; +extern float v_ctl_auto_groundspeed_igain; +extern float v_ctl_auto_groundspeed_sum_err; + ///////////////////////////////////////////////// // Automatically found airplane characteristics diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index aa174d3363..6dfedc62ad 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -38,7 +38,7 @@ #include "mcu.h" #include "mcu_periph/sys_time.h" -#include "link_mcu.h" +#include "link_mcu_spi.h" // Sensors #if USE_GPS @@ -105,45 +105,20 @@ static inline void on_baro_abs_event( void ); static inline void on_baro_dif_event( void ); #endif -bool_t power_switch; - // what version is this ???? static const uint16_t version = 1; -uint8_t pprz_mode = PPRZ_MODE_AUTO2; -uint8_t lateral_mode = LATERAL_MODE_MANUAL; - static uint8_t mcu1_status; #if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1 static uint8_t mcu1_ppm_cpt; #endif -bool_t kill_throttle = FALSE; - -bool_t launch = FALSE; - -/* flight time in seconds */ -uint16_t autopilot_flight_time = 0; - - -/** Supply voltage in deciVolt. - * This the ap copy of the measurement from fbw - */ -uint8_t vsupply; - /** Supply current in milliAmpere. * This the ap copy of the measurement from fbw */ static int32_t current; // milliAmpere -/** Fuel consumption (mAh) - * TODO: move to electrical subsystem - */ -float energy; - -bool_t gps_lost = FALSE; - tid_t modules_tid; ///< id for modules_periodic_task() timer tid_t telemetry_tid; ///< id for telemetry_periodic() timer @@ -188,7 +163,7 @@ void init_ap( void ) { stateInit(); /************* Links initialization ***************/ -#if defined MCU_SPI_LINK +#if defined MCU_SPI_LINK || defined MCU_UART_LINK link_mcu_init(); #endif #if USE_AUDIO_TELEMETRY @@ -196,6 +171,7 @@ void init_ap( void ) { #endif /************ Internal status ***************/ + autopilot_init(); h_ctl_init(); v_ctl_init(); nav_init(); @@ -226,8 +202,6 @@ void init_ap( void ) { IO0SET = _BV(AEROCOMM_DATA_PIN); #endif - power_switch = FALSE; - /************ Multi-uavs status ***************/ #ifdef TRAFFIC_INFO @@ -533,7 +507,7 @@ void attitude_loop( void ) { ap_state->commands[COMMAND_PITCH] = h_ctl_elevator_setpoint; -#if defined MCU_SPI_LINK +#if defined MCU_SPI_LINK || defined MCU_UART_LINK link_mcu_send(); #elif defined INTER_MCU && defined SINGLE_MCU /**Directly set the flag indicating to FBW that shared buffer is available*/ @@ -639,7 +613,7 @@ void event_task_ap( void ) { DatalinkEvent(); -#ifdef MCU_SPI_LINK +#if defined MCU_SPI_LINK || defined MCU_UART_LINK link_mcu_event_task(); #endif diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c index 0c7b22060a..31b5b9812e 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.c +++ b/sw/airborne/firmwares/fixedwing/main_fbw.c @@ -36,8 +36,8 @@ #include "firmwares/fixedwing/main_fbw.h" #include "mcu.h" #include "mcu_periph/sys_time.h" -#include "commands.h" -#include "firmwares/fixedwing/actuators.h" +#include "subsystems/commands.h" +#include "subsystems/actuators.h" #include "subsystems/electrical.h" #include "subsystems/radio_control.h" #include "firmwares/fixedwing/autopilot.h" @@ -46,7 +46,11 @@ #include "mcu_periph/i2c.h" #ifdef MCU_SPI_LINK -#include "link_mcu.h" +#include "link_mcu_spi.h" +#endif + +#ifdef MCU_UART_LINK +#include "link_mcu_usart.h" #endif uint8_t fbw_mode; @@ -54,6 +58,20 @@ uint8_t fbw_mode; #include "inter_mcu.h" +/** Trim commands for roll and pitch/ + */ +#ifndef COMMAND_ROLL_TRIM +#define COMMAND_ROLL_TRIM 0 +#endif + +#ifndef COMMAND_PITCH_TRIM +#define COMMAND_PITCH_TRIM 0 +#endif + +pprz_t command_roll_trim; +pprz_t command_pitch_trim; + + volatile uint8_t fbw_new_actuators = 0; tid_t fbw_periodic_tid; ///< id for periodic_task_fbw() timer @@ -86,6 +104,10 @@ void init_fbw( void ) { fbw_mode = FBW_MODE_FAILSAFE; + command_roll_trim = COMMAND_ROLL_TRIM; + command_pitch_trim = COMMAND_PITCH_TRIM; + + /**** start timers for periodic functions *****/ fbw_periodic_tid = sys_time_register_timer((1./60.), NULL); electrical_tid = sys_time_register_timer(0.1, NULL); @@ -125,7 +147,7 @@ void event_task_fbw( void) { i2c_event(); #ifdef INTER_MCU -#ifdef MCU_SPI_LINK +#if defined MCU_SPI_LINK | defined MCU_UART_LINK link_mcu_event_task(); #endif /* MCU_SPI_LINK */ @@ -135,9 +157,11 @@ void event_task_fbw( void) { inter_mcu_event_task(); command_roll_trim = ap_state->command_roll_trim; command_pitch_trim = ap_state->command_pitch_trim; +#ifndef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP if (ap_ok && fbw_mode == FBW_MODE_FAILSAFE) { fbw_mode = FBW_MODE_AUTO; } +#endif if (fbw_mode == FBW_MODE_AUTO) { SetCommands(ap_state->commands); } @@ -154,6 +178,17 @@ void event_task_fbw( void) { #endif /**Else the buffer is filled even if the last receive was not correct */ } +#if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE +#warning DANGER DANGER DANGER DANGER: Outback Challenge Rule FORCE-CRASH-RULE: DANGER DANGER: AP is now capable to FORCE your FBW in failsafe mode EVEN IF RC IS NOT LOST: Consider the consequences. + + int crash = 0; + if (commands[COMMAND_FORCECRASH] >= 8000) + { + set_failsafe_mode(); + crash = 1; + } + +#endif #ifdef ACTUATORS if (fbw_new_actuators > 0) { @@ -170,6 +205,13 @@ void event_task_fbw( void) { SetActuatorsFromCommands(trimmed_commands); fbw_new_actuators = 0; + #if OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE + if (crash == 1) + { + for (;;) {} + } + #endif + } #endif @@ -192,7 +234,12 @@ void periodic_task_fbw( void ) { #ifdef RADIO_CONTROL radio_control_periodic_task(); if (fbw_mode == FBW_MODE_MANUAL && radio_control.status == RC_REALLY_LOST) { +#ifdef OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP +#warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!! +set_failsafe_mode(); +#else fbw_mode = FBW_MODE_AUTO; +#endif } #endif @@ -204,6 +251,11 @@ void periodic_task_fbw( void ) { } #endif +#ifdef MCU_UART_LINK + inter_mcu_fill_fbw_state(); + link_mcu_periodic_task(); +#endif + #ifdef DOWNLINK fbw_downlink_periodic_task(); #endif diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c deleted file mode 100644 index 8350a36de3..0000000000 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm_supervision.c +++ /dev/null @@ -1,63 +0,0 @@ -/* - * Copyright (C) 2010-2012 The Paparazzi Team - * - * This file is part of paparazzi. - * - * paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - */ - -/** @file actuators_pwm_supervision.h - * PWM actuators with supervision. - */ - -#include "generated/airframe.h" - -/* warn if SUPERVISION_STOP_MOTOR is not defined in the airframe file */ -#ifndef SUPERVISION_STOP_MOTOR -#warning "STOP_MOTOR is not defined in the SUPERVISION section, are you sure you want to use the default of 0?" -#endif - -#include "firmwares/rotorcraft/actuators/supervision.h" -#include "firmwares/rotorcraft/commands.h" -#include "subsystems/radio_control.h" - -#include "firmwares/rotorcraft/actuators.h" -#include "subsystems/actuators/actuators_pwm.h" - - -/** actuator PWM values in usec. */ -int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; - -void actuators_init(void) -{ - supervision_init(); - actuators_pwm_arch_init(); -} - -void actuators_set(bool_t motors_on) -{ - /* set normal control surface actuators, i.e. servos */ - SetActuatorsFromCommands(commands); - - /* run supervision for actuators (motor controllers) that need mixing */ - supervision_run(motors_on, FALSE, commands); - - for (int i = 0; i < SUPERVISION_NB_MOTOR; i++) { - actuators_pwm_values[i] = supervision.commands[i]; - } - ActuatorsCommit(); -} - diff --git a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c b/sw/airborne/firmwares/rotorcraft/actuators/supervision.c deleted file mode 100644 index 6a020617ec..0000000000 --- a/sw/airborne/firmwares/rotorcraft/actuators/supervision.c +++ /dev/null @@ -1,183 +0,0 @@ -/* - * Copyright (C) 2008-2012 The Paparazzi Team - * - * This file is part of Paparazzi. - * - * Paparazzi is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2, or (at your option) - * any later version. - * - * Paparazzi is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with Paparazzi; see the file COPYING. If not, write to - * the Free Software Foundation, 59 Temple Place - Suite 330, - * Boston, MA 02111-1307, USA. - */ - -/** @file supervision.c - * Supervision. - * Handles the mapping of roll/pitch/yaw commands - * to actual motor commands. - */ - -#include "firmwares/rotorcraft/actuators/supervision.h" -#include "paparazzi.h" - -//#include -#ifndef INT32_MIN -#define INT32_MIN (-2147483647-1) -#endif - -#ifndef INT32_MAX -#define INT32_MAX (2147483647) -#endif - -#ifndef SUPERVISION_STOP_MOTOR -#define SUPERVISION_STOP_MOTOR 0 -#endif - -#ifndef SUPERVISION_MIN_MOTOR_STARTUP -#define SUPERVISION_MIN_MOTOR_STARTUP SUPERVISION_MIN_MOTOR -#endif - -#if defined (SUPERVISION_MAX_NEGATIVE_MOTOR_STEP) || defined (SUPERVISION_MAX_POSITIVE_MOTOR_STEP) -#define SUPERVISION_USE_MAX_MOTOR_STEP_BINDING - -#ifndef SUPERVISION_MAX_NEGATIVE_MOTOR_STEP -#define SUPERVISION_MAX_NEGATIVE_MOTOR_STEP INT32_MIN -#endif -/* -#ifndef SUPERVISION_MAX_POSITIVE_MOTOR_STEP -#define SUPERVISION_MAX_POSITIVE_MOTOR_STEP INT32_MAX -#endif -*/ -#endif - -static const int32_t roll_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF; -static const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF; -static const int32_t yaw_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_YAW_COEF; -static const int32_t thrust_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_THRUST_COEF; - -struct Supervision supervision; - -void supervision_init(void) { - uint8_t i; - for (i=0; i i * max_counter / (SUPERVISION_NB_MOTOR + SUPERVISION_STARTUP_DELAY)) { - if (counter > SUPERVISION_NB_MOTOR * max_counter / (SUPERVISION_NB_MOTOR + SUPERVISION_STARTUP_DELAY)) { - supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP + (SUPERVISION_MIN_MOTOR - SUPERVISION_MIN_MOTOR_STARTUP) * counter / max_counter; - } else { - supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP; - } - } else { - supervision.commands[i] = 0; - } -#else - if (counter < i * max_counter / SUPERVISION_NB_MOTOR) { - supervision.commands[i] = SUPERVISION_MIN_MOTOR_STARTUP; - } -#endif - } -} - -void supervision_run(bool_t motors_on, bool_t override_on, int32_t in_cmd[] ) { - uint8_t i; - if (motors_on) { - int32_t min_cmd = INT32_MAX; - int32_t max_cmd = INT32_MIN; - /* do the mixing in float to avoid overflows, implicitly casted back to int32_t */ - for (i=0; i max_cmd) - max_cmd = supervision.commands[i]; - } - if (min_cmd < SUPERVISION_MIN_MOTOR && max_cmd > SUPERVISION_MAX_MOTOR) - supervision.nb_failure++; - if (min_cmd < SUPERVISION_MIN_MOTOR) - offset_commands(-(min_cmd - SUPERVISION_MIN_MOTOR)); - if (max_cmd > SUPERVISION_MAX_MOTOR) - offset_commands(-(max_cmd - SUPERVISION_MAX_MOTOR)); - - /* For testing motor failure */ - if (motors_on && override_on) { - for (i = 0; i < SUPERVISION_NB_MOTOR; i++) { - if (supervision.override_enabled[i]) - supervision.commands[i] = supervision.override_value[i]; - } - } - bound_commands(); - bound_commands_step(); - } - else { - for (i=0; i - * - * 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 COMMANDS_H -#define COMMANDS_H - -#include "paparazzi.h" -#include "generated/airframe.h" - -extern int32_t commands[COMMANDS_NB]; -extern const int32_t commands_failsafe[COMMANDS_NB]; - -#ifndef ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED -#define SetCommands(_in_cmd, _in_flight, _motors_on) { \ - commands[COMMAND_PITCH] = _in_cmd[COMMAND_PITCH]; \ - commands[COMMAND_ROLL] = _in_cmd[COMMAND_ROLL]; \ - commands[COMMAND_YAW] = (_in_flight) ? _in_cmd[COMMAND_YAW] : 0; \ - commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \ - } -#else -#define SetCommands(_in_cmd, _in_flight, _motors_on) { \ - commands[COMMAND_PITCH] = _in_cmd[COMMAND_PITCH]; \ - commands[COMMAND_ROLL] = _in_cmd[COMMAND_ROLL]; \ - commands[COMMAND_YAW] = _in_cmd[COMMAND_YAW]; \ - commands[COMMAND_THRUST] = (_motors_on) ? _in_cmd[COMMAND_THRUST] : 0; \ - } -#endif - -#endif /* COMMANDS_H */ diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h index 28b887eb9b..56c2437215 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h @@ -32,17 +32,6 @@ #include "generated/airframe.h" #include "firmwares/rotorcraft/guidance/guidance_v_ref.h" -/** Supervision default bounds - * In case Asctec controllers are used without supervision - * Used in control and adaptation filter - * */ -#ifndef SUPERVISION_MIN_MOTOR -#define SUPERVISION_MIN_MOTOR 1 -#endif -#ifndef SUPERVISION_MAX_MOTOR -#define SUPERVISION_MAX_MOTOR 200 -#endif - #include "firmwares/rotorcraft/guidance/guidance_v_adpt.h" #define GUIDANCE_V_MODE_KILL 0 diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c index 9d7e2a37c4..3218dec115 100644 --- a/sw/airborne/firmwares/rotorcraft/main.c +++ b/sw/airborne/firmwares/rotorcraft/main.c @@ -35,8 +35,11 @@ #include "subsystems/settings.h" #include "subsystems/datalink/xbee.h" -#include "firmwares/rotorcraft/commands.h" -#include "firmwares/rotorcraft/actuators.h" +#include "subsystems/commands.h" +#include "subsystems/actuators.h" +#if USE_MOTOR_MIXING +#include "subsystems/actuators/motor_mixing.h" +#endif #include "subsystems/imu.h" #include "subsystems/gps.h" @@ -100,6 +103,10 @@ STATIC_INLINE void main_init( void ) { stateInit(); actuators_init(); +#if USE_MOTOR_MIXING + motor_mixing_init(); +#endif + radio_control_init(); #if DATALINK == XBEE @@ -160,7 +167,8 @@ STATIC_INLINE void main_periodic( void ) { /* run control loops */ autopilot_periodic(); /* set actuators */ - actuators_set(autopilot_motors_on); + //actuators_set(autopilot_motors_on); + SetActuatorsFromCommands(commands); modules_periodic_task(); diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h index 92cb440a01..9e92c56234 100644 --- a/sw/airborne/firmwares/rotorcraft/telemetry.h +++ b/sw/airborne/firmwares/rotorcraft/telemetry.h @@ -40,7 +40,7 @@ #include "firmwares/rotorcraft/autopilot.h" #include "firmwares/rotorcraft/guidance.h" -#include "firmwares/rotorcraft/actuators.h" +#include "subsystems/actuators.h" #include "mcu_periph/sys_time.h" #include "subsystems/electrical.h" @@ -136,6 +136,12 @@ #define PERIODIC_SEND_PPM(_trans, _dev) {} #endif +#ifdef ACTUATORS +#define PERIODIC_SEND_ACTUATORS(_trans, _dev) DOWNLINK_SEND_ACTUATORS(_trans, _dev, ACTUATORS_NB, actuators) +#else +#define PERIODIC_SEND_ACTUATORS(_trans, _dev) {} +#endif + #define PERIODIC_SEND_IMU_GYRO_SCALED(_trans, _dev) { \ DOWNLINK_SEND_IMU_GYRO_SCALED(_trans, _dev, \ &imu.gyro.p, \ @@ -731,9 +737,9 @@ } #if USE_CAM -#define PERIODIC_SEND_BOOZ2_CAM(_trans, _dev) DOWNLINK_SEND_BOOZ2_CAM(_trans, _dev,&booz_cam_tilt,&booz_cam_pan); +#define PERIODIC_SEND_ROTORCRAFT_CAM(_trans, _dev) DOWNLINK_SEND_ROTORCRAFT_CAM(_trans, _dev,&rotorcraft_cam_tilt,&rotorcraft_cam_pan); #else -#define PERIODIC_SEND_BOOZ2_CAM(_trans, _dev) {} +#define PERIODIC_SEND_ROTORCRAFT_CAM(_trans, _dev) {} #endif #define PERIODIC_SEND_ROTORCRAFT_TUNE_HOVER(_trans, _dev) { \ diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c index 875e9dc2fb..d55e6815ce 100644 --- a/sw/airborne/firmwares/setup/setup_actuators.c +++ b/sw/airborne/firmwares/setup/setup_actuators.c @@ -4,8 +4,7 @@ #include "mcu.h" #include "mcu_periph/sys_time.h" #include "led.h" -#include "firmwares/fixedwing/actuators.h" -//#include "actuators.h" +#include "subsystems/actuators.h" #include "firmwares/fixedwing/main_fbw.h" @@ -30,8 +29,8 @@ void dl_parse_msg( void ) { uint8_t servo_no = DL_SET_ACTUATOR_no(dl_buffer); uint16_t servo_value = DL_SET_ACTUATOR_value(dl_buffer); LED_TOGGLE(2); - if (servo_no < SERVOS_NB) - SetServo(servo_no, servo_value); + if (servo_no < ACTUATORS_NB) + //SetServo(servo_no, servo_value); } #ifdef DlSetting else if (msg_id == DL_SETTING && DL_SETTING_ac_id(dl_buffer) == AC_ID) { @@ -40,7 +39,7 @@ void dl_parse_msg( void ) { DlSetting(i, val); LED_TOGGLE(2); for (int j=0 ; j<8 ; j++) { - SetServo(j,actuators[j]); + //SetServo(j,actuators[j]); } DOWNLINK_SEND_DL_VALUE(DefaultChannel, DefaultDevice, &i, &val); } else if (msg_id == DL_GET_SETTING && DL_GET_SETTING_ac_id(dl_buffer) == AC_ID) { @@ -58,8 +57,8 @@ void init_fbw( void ) { actuators_init(); uint8_t i; - for(i = 0; i < SERVOS_NB; i++) { - SetServo(i, 1500); + for(i = 0; i < ACTUATORS_NB; i++) { + //SetServo(i, 1500); } // SetServo(SERVO_GAZ, SERVO_GAZ_MIN); @@ -83,7 +82,7 @@ void periodic_task_fbw(void) { /* SetServo(SERVO_THROTTLE, servo_value); */ RunOnceEvery(300, DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM)); - RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, SERVOS_NB, actuators )); + RunOnceEvery(300, DOWNLINK_SEND_ACTUATORS(DefaultChannel, DefaultDevice, ACTUATORS_NB, actuators )); } void event_task_fbw(void) { diff --git a/sw/airborne/inter_mcu.c b/sw/airborne/inter_mcu.c index bc8217ce5f..4ede605ef9 100644 --- a/sw/airborne/inter_mcu.c +++ b/sw/airborne/inter_mcu.c @@ -30,7 +30,7 @@ static struct ap_state _ap_state; struct fbw_state* fbw_state = &_fbw_state; struct ap_state* ap_state = &_ap_state; #else /* SINGLE_MCU */ -#include "link_mcu.h" +#include "link_mcu_spi.h" struct fbw_state* fbw_state = &link_mcu_from_fbw_msg.payload.from_fbw; struct ap_state* ap_state = &link_mcu_from_ap_msg.payload.from_ap; #endif /* ! SINGLE_MCU */ diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h index 9361dfe0fd..e7d0847f6f 100644 --- a/sw/airborne/inter_mcu.h +++ b/sw/airborne/inter_mcu.h @@ -58,8 +58,8 @@ struct fbw_state { #endif uint8_t status; uint8_t nb_err; - uint8_t vsupply; /* 1e-1 V */ - int32_t current; /* milliAmps */ + uint16_t vsupply; ///< 1e-1 V + int32_t current; ///< milliAmps }; struct ap_state { diff --git a/sw/airborne/link_mcu.c b/sw/airborne/link_mcu_spi.c similarity index 99% rename from sw/airborne/link_mcu.c rename to sw/airborne/link_mcu_spi.c index ae3122f758..2e66490068 100644 --- a/sw/airborne/link_mcu.c +++ b/sw/airborne/link_mcu_spi.c @@ -22,7 +22,7 @@ * */ -#include "link_mcu.h" +#include "link_mcu_spi.h" #include "mcu_periph/spi.h" struct link_mcu_msg link_mcu_from_ap_msg; diff --git a/sw/airborne/link_mcu.h b/sw/airborne/link_mcu_spi.h similarity index 100% rename from sw/airborne/link_mcu.h rename to sw/airborne/link_mcu_spi.h diff --git a/sw/airborne/link_mcu_usart.c b/sw/airborne/link_mcu_usart.c new file mode 100644 index 0000000000..ebbf2201ae --- /dev/null +++ b/sw/airborne/link_mcu_usart.c @@ -0,0 +1,353 @@ +/* + * Copyright (C) 2010-2012 The Paparazzi Team + * + * This file is part of paparazzi. + * + * paparazzi is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2, or (at your option) + * any later version. + * + * paparazzi is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with paparazzi; see the file COPYING. If not, write to + * the Free Software Foundation, 59 Temple Place - Suite 330, + * Boston, MA 02111-1307, USA. + * + */ + +#include "link_mcu_usart.h" +#include "mcu_periph/uart.h" +#include "led.h" + +#include "subsystems/commands.h" + +////////////////////////////////////////////////////////////////////////////////////////////// +// LINK + +#define __InterMcuLink(dev, _x) dev##_x +#define _InterMcuLink(dev, _x) __InterMcuLink(dev, _x) +#define InterMcuLink(_x) _InterMcuLink(INTERMCU_LINK, _x) + +#define InterMcuBuffer() InterMcuLink(ChAvailable()) + +#define InterMcuUartSend1(c) InterMcuLink(Transmit(c)) +#define InterMcuUartSetBaudrate(_a) InterMcuLink(SetBaudrate(_a)) +#define InterMcuUartRunning InterMcuLink(TxRunning) +#define InterMcuUartSendMessage InterMcuLink(SendMessage) + +////////////////////////////////////////////////////////////////////////////////////////////// +// PROTOCOL + +#define INTERMCU_SYNC1 0xB5 +#define INTERMCU_SYNC2 0x62 + +#define InterMcuInitCheksum() { intermcu_data.send_ck_a = intermcu_data.send_ck_b = 0; } +#define UpdateChecksum(c) { intermcu_data.send_ck_a += c; intermcu_data.send_ck_b += intermcu_data.send_ck_a; } +#define InterMcuTrailer() { InterMcuUartSend1(intermcu_data.send_ck_a); InterMcuUartSend1(intermcu_data.send_ck_b); InterMcuUartSendMessage(); } + +#define InterMcuSend1(c) { uint8_t i8=c; InterMcuUartSend1(i8); UpdateChecksum(i8); } +#define InterMcuSend2(c) { uint16_t i16=c; InterMcuSend1(i16&0xff); InterMcuSend1(i16 >> 8); } +#define InterMcuSend1ByAddr(x) { InterMcuSend1(*x); } +#define InterMcuSend2ByAddr(x) { InterMcuSend1(*x); InterMcuSend1(*(x+1)); } +#define InterMcuSend4ByAddr(x) { InterMcuSend1(*x); InterMcuSend1(*(x+1)); InterMcuSend1(*(x+2)); InterMcuSend1(*(x+3)); } + +#define InterMcuHeader(nav_id, msg_id, len) { \ + InterMcuUartSend1(INTERMCU_SYNC1); \ + InterMcuUartSend1(INTERMCU_SYNC2); \ + InterMcuInitCheksum(); \ + InterMcuSend1(nav_id); \ + InterMcuSend1(msg_id); \ + InterMcuSend2(len); \ + } + +////////////////////////////////////////////////////////////////////////////////////////////// +// MESSAGES + +// class +#define MSG_INTERMCU_ID 100 + + +#define MSG_INTERMCU_COMMAND_ID 0x05 +#define MSG_INTERMCU_COMMAND_LENGTH (2*(COMMANDS_NB)) +#define MSG_INTERMCU_COMMAND(_intermcu_payload, nr) (uint16_t)(*((uint8_t*)_intermcu_payload+0)|*((uint8_t*)_intermcu_payload+1+(2*(nr)))<<8) + +#define InterMcuSend_INTERMCU_COMMAND(cmd) { \ + InterMcuHeader(MSG_INTERMCU_ID, MSG_INTERMCU_COMMAND_ID, MSG_INTERMCU_COMMAND_LENGTH);\ + for (int i=0;i INTERMCU_MAX_PAYLOAD) { + goto error; + } + intermcu_data.msg_idx = 0; + intermcu_data.status++; + break; + case GOT_LEN2: + intermcu_data.msg_buf[intermcu_data.msg_idx] = c; + intermcu_data.msg_idx++; + if (intermcu_data.msg_idx >= intermcu_data.len) { + intermcu_data.status++; + } + break; + case GOT_PAYLOAD: + if (c != intermcu_data.ck_a) { + goto error; + } + intermcu_data.status++; + break; + case GOT_CHECKSUM1: + if (c != intermcu_data.ck_b) { + goto error; + } + intermcu_data.msg_available = TRUE; + goto restart; + break; + default: + goto error; + } + return; + error: + intermcu_data.error_cnt++; + restart: + intermcu_data.status = UNINIT; + return; +} + + + +////////////////////////////////////////////////////////////////////////////////////////////// +// USER + + +struct link_mcu_msg link_mcu_from_ap_msg; +struct link_mcu_msg link_mcu_from_fbw_msg; + +inline void parse_mavpilot_msg( void ); + +void link_mcu_init( void ) +{ + intermcu_data.status = UNINIT; + intermcu_data.msg_available = FALSE; + intermcu_data.error_cnt = 0; +} + +void parse_mavpilot_msg( void ) +{ + if (intermcu_data.msg_class == MSG_INTERMCU_ID) + { + if (intermcu_data.msg_id == MSG_INTERMCU_COMMAND_ID) + { +#if COMMANDS_NB > 8 +#error "INTERMCU UART CAN ONLY SEND 8 COMMANDS OR THE UART WILL BE OVERFILLED" +#endif + + for (int i=0; i< COMMANDS_NB; i++) + { + ap_state->commands[i] = ((pprz_t)MSG_INTERMCU_COMMAND(intermcu_data.msg_buf, i)); + } + +#ifdef LINK_MCU_LED + LED_TOGGLE(LINK_MCU_LED); +#endif + inter_mcu_received_ap = TRUE; + } + else if (intermcu_data.msg_id == MSG_INTERMCU_RADIO_ID) + { +#if RADIO_CONTROL_NB_CHANNEL > 10 +#error "INTERMCU UART CAN ONLY SEND 10 RADIO CHANNELS OR THE UART WILL BE OVERFILLED" +#endif + + for (int i=0; i< RADIO_CONTROL_NB_CHANNEL; i++) + { + fbw_state->channels[i] = ((pprz_t)MSG_INTERMCU_RADIO(intermcu_data.msg_buf, i)); + } + } + else if (intermcu_data.msg_id == MSG_INTERMCU_TRIM_ID) + { + ap_state->command_roll_trim = ((pprz_t) MSG_INTERMCU_TRIM_ROLL(intermcu_data.msg_buf)); + ap_state->command_pitch_trim = ((pprz_t) MSG_INTERMCU_TRIM_PITCH(intermcu_data.msg_buf)); + } + else if (intermcu_data.msg_id == MSG_INTERMCU_FBW_ID) + { + fbw_state->ppm_cpt = MSG_INTERMCU_FBW_MOD(intermcu_data.msg_buf); + fbw_state->status = MSG_INTERMCU_FBW_STAT(intermcu_data.msg_buf); + fbw_state->nb_err = MSG_INTERMCU_FBW_ERR(intermcu_data.msg_buf); + fbw_state->vsupply = MSG_INTERMCU_FBW_VOLT(intermcu_data.msg_buf); + fbw_state->current = MSG_INTERMCU_FBW_CURRENT(intermcu_data.msg_buf); + + inter_mcu_received_fbw = TRUE; + } + } +} + + +#ifdef AP +void link_mcu_send( void ) +{ +#ifdef LINK_MCU_LED + LED_TOGGLE(LINK_MCU_LED); +#endif + InterMcuSend_INTERMCU_COMMAND( ap_state->commands ); + InterMcuSend_INTERMCU_TRIM( ap_state->command_roll_trim, ap_state->command_pitch_trim ); +} +#endif + +#ifdef FBW +// 60 Hz +static uint8_t SixtyHzCounter = 0; + +void link_mcu_periodic_task( void ) +{ + SixtyHzCounter++; + if (SixtyHzCounter >= 3) + { + // 20 Hz + SixtyHzCounter = 0; + inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */ + + InterMcuSend_INTERMCU_FBW( + fbw_state->ppm_cpt, + fbw_state->status, + fbw_state->nb_err, + fbw_state->vsupply, + fbw_state->current); +#if defined RADIO_CONTROL || RADIO_CONTROL_AUTO1 + InterMcuSend_INTERMCU_RADIO( fbw_state->channels ); +#endif + + } +} +#endif + +void link_mcu_event_task( void ) { + /* A message has been received */ + if (InterMcuBuffer()) { + while (InterMcuLink(ChAvailable())&&!intermcu_data.msg_available) + intermcu_parse(InterMcuLink(Getch())); + } + + if (intermcu_data.msg_available) { + parse_mavpilot_msg(); + intermcu_data.msg_available = FALSE; + } +} diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c b/sw/airborne/link_mcu_usart.h similarity index 56% rename from sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c rename to sw/airborne/link_mcu_usart.h index 32a200b0d3..775ef90008 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c +++ b/sw/airborne/link_mcu_usart.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2010 The Paparazzi Team + * Copyright (C) 2010-2012 The Paparazzi Team * * This file is part of paparazzi. * @@ -17,33 +17,34 @@ * 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 "generated/airframe.h" +/** \brief Transport for the communication between FBW and AP via UART. + */ -#include "firmwares/rotorcraft/actuators.h" -#include "firmwares/rotorcraft/commands.h" -#include "subsystems/actuators/actuators_pwm.h" +#ifndef LINK_MCU_H +#define LINK_MCU_H + +#include +#include "inter_mcu.h" + +struct link_mcu_msg { + union { + struct fbw_state from_fbw; + struct ap_state from_ap; + } payload; +}; + +extern struct link_mcu_msg link_mcu_from_ap_msg; +extern struct link_mcu_msg link_mcu_from_fbw_msg; + +extern bool_t link_mcu_received; + +extern void link_mcu_send( void ); +extern void link_mcu_init( void ); +extern void link_mcu_event_task( void ); +extern void link_mcu_periodic_task( void ); -#define ESC_STOPPED SERVOS_TICS_OF_USEC(0) - -#ifndef KILL_MOTORS -#define ESC_HOVER SERVOS_TICS_OF_USEC(5500) -#else -#define ESC_HOVER SERVOS_TICS_OF_USEC(0) #endif - -int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; - -void actuators_init(void) -{ - actuators_pwm_arch_init(); -} - - -void actuators_set(bool_t motors_on) -{ - SetActuatorsFromCommands(commands); -} - diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c index 0d95029419..c2b61689b9 100644 --- a/sw/airborne/lisa/lisa_stm_passthrough_main.c +++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c @@ -26,9 +26,9 @@ #include "mcu_periph/uart.h" #include "mcu_periph/sys_time.h" #include "subsystems/datalink/downlink.h" -#include "firmwares/rotorcraft/commands.h" -#include "actuators.h" -#include "actuators/actuators_pwm.h" +#include "subsystems/commands.h" +#include "subsystems/actuators.h" +#include "subsystems/actuators/actuators_pwm.h" #include "subsystems/imu.h" #include "subsystems/radio_control.h" #include "autopilot.h" diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c index 04a5679034..25ab7e7e6f 100644 --- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c +++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c @@ -24,8 +24,8 @@ #include "mcu.h" #include "mcu_periph/sys_time.h" -#include "firmwares/rotorcraft/commands.h" -#include "actuators.h" +#include "subsystems/commands.h" +#include "subsystems/actuators.h" #include "subsystems/datalink/downlink.h" #include "led.h" @@ -95,7 +95,7 @@ static inline void main_periodic_task( void ) { commands[COMMAND_YAW] = 20; commands[COMMAND_THRUST] = 0; // actuators_set(TRUE); - actuators_set(FALSE); + //actuators_set(FALSE); } LED_PERIODIC(); diff --git a/sw/airborne/lisa/test_servos.c b/sw/airborne/lisa/test_servos.c index 30fe68c776..3270f8bb70 100644 --- a/sw/airborne/lisa/test_servos.c +++ b/sw/airborne/lisa/test_servos.c @@ -42,7 +42,7 @@ int main(void) { static inline void main_init( void ) { mcu_init(); sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL); - actuators_init(); + ActuatorsPwmInit(); } static inline void main_periodic( void ) { @@ -50,9 +50,9 @@ static inline void main_periodic( void ) { foo += 0.0025; int32_t bar = 1500 + 500. * sin(foo); for (int i = 0; i < ACTUATORS_PWM_NB; i++) { - actuators_pwm_values[i] = bar; + ActuatorPwmSet(i, bar); } - actuators_pwm_commit(); + ActuatorsPwmCommit(); LED_PERIODIC(); } diff --git a/sw/airborne/math/pprz_geodetic_wmm2010.c b/sw/airborne/math/pprz_geodetic_wmm2010.c old mode 100755 new mode 100644 diff --git a/sw/airborne/math/pprz_geodetic_wmm2010.h b/sw/airborne/math/pprz_geodetic_wmm2010.h old mode 100755 new mode 100644 diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h index 1a4f487cbc..a8107ab99e 100644 --- a/sw/airborne/mcu_periph/uart.h +++ b/sw/airborne/mcu_periph/uart.h @@ -57,7 +57,7 @@ struct uart_periph { }; extern void uart_periph_init(struct uart_periph* p); -extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud); +extern void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud, bool_t hw_flow_control); //extern void uart_periph_init_param(struct uart_periph* p, uint32_t baud, uint8_t mode, uint8_t fmode, char * dev); extern void uart_transmit(struct uart_periph* p, uint8_t data); extern bool_t uart_check_free_space(struct uart_periph* p, uint8_t len); @@ -82,7 +82,7 @@ extern void uart0_init(void); #define Uart0ChAvailable() UartChAvailable(uart0) #define Uart0Getch() UartGetch(uart0) #define Uart0TxRunning uart0.tx_running -#define Uart0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b) +#define Uart0SetBaudrate(_b) uart_periph_set_baudrate(&uart0, _b, FALSE) //#define Uart0InitParam(_b, _m, _fm) uart_periph_init_param(&uart0, _b, _m, _fm, "") #define UART0Init Uart0Init @@ -107,7 +107,11 @@ extern void uart1_init(void); #define Uart1ChAvailable() UartChAvailable(uart1) #define Uart1Getch() UartGetch(uart1) #define Uart1TxRunning uart1.tx_running -#define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b) +#if UART1_HW_FLOW_CONTROL +#define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b, TRUE) +#else +#define Uart1SetBaudrate(_b) uart_periph_set_baudrate(&uart1, _b, FALSE) +#endif //#define Uart1InitParam(_b, _m, _fm) uart_periph_init_param(&uart1, _b, _m, _fm, "") #define UART1Init Uart1Init @@ -132,7 +136,7 @@ extern void uart2_init(void); #define Uart2ChAvailable() UartChAvailable(uart2) #define Uart2Getch() UartGetch(uart2) #define Uart2TxRunning uart2.tx_running -#define Uart2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b) +#define Uart2SetBaudrate(_b) uart_periph_set_baudrate(&uart2, _b, FALSE) //#define Uart2InitParam(_b, _m, _fm) uart_periph_init_param(&uart2, _b, _m, _fm, "") #define UART2Init Uart2Init @@ -157,7 +161,7 @@ extern void uart3_init(void); #define Uart3ChAvailable() UartChAvailable(uart3) #define Uart3Getch() UartGetch(uart3) #define Uart3TxRunning uart3.tx_running -#define Uart3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b) +#define Uart3SetBaudrate(_b) uart_periph_set_baudrate(&uart3, _b, FALSE) //#define Uart3InitParam(_b, _m, _fm) uart_periph_init_param(&uart3, _b, _m, _fm, "") #define UART3Init Uart3Init @@ -182,7 +186,7 @@ extern void uart5_init(void); #define Uart5ChAvailable() UartChAvailable(uart5) #define Uart5Getch() UartGetch(uart5) #define Uart5TxRunning uart5.tx_running -#define Uart5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b) +#define Uart5SetBaudrate(_b) uart_periph_set_baudrate(&uart5, _b, FALSE) //#define Uart5InitParam(_b, _m, _fm) uart_periph_init_param(&uart5, _b, _m, _fm, "") #define UART5Init Uart5Init diff --git a/sw/airborne/modules/cam_control/booz_cam.c b/sw/airborne/modules/cam_control/booz_cam.c deleted file mode 100644 index ddd5dd3451..0000000000 --- a/sw/airborne/modules/cam_control/booz_cam.c +++ /dev/null @@ -1,149 +0,0 @@ -/* - * $Id: $ - * - * Copyright (C) 2009 Gautier Hattenberger , - * Antoine Drouin - * - * 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 "cam_control/booz_cam.h" -#include "modules/core/booz_pwm_arch.h" -#include "state.h" -#include "firmwares/rotorcraft/navigation.h" -#include "generated/flight_plan.h" -#include "std.h" - -uint8_t booz_cam_mode; - -// Tilt definition -int16_t booz_cam_tilt; -int16_t booz_cam_tilt_pwm; -#ifdef BOOZ_CAM_TILT_NEUTRAL -#ifndef BOOZ_CAM_TILT_MIN -#define BOOZ_CAM_TILT_MIN BOOZ_CAM_TILT_NEUTRAL -#endif -#ifndef BOOZ_CAM_TILT_MAX -#define BOOZ_CAM_TILT_MAX BOOZ_CAM_TILT_NEUTRAL -#endif -#define BOOZ_CAM_USE_TILT 1 -#endif - -// Pan definition -int16_t booz_cam_pan; -#ifdef BOOZ_CAM_PAN_NEUTRAL -#ifndef BOOZ_CAM_PAN_MIN -#define BOOZ_CAM_PAN_MIN BOOZ_CAM_PAN_NEUTRAL -#endif -#ifndef BOOZ_CAM_PAN_MAX -#define BOOZ_CAM_PAN_MAX BOOZ_CAM_PAN_NEUTRAL -#endif -#define BOOZ_CAM_USE_PAN 1 -#endif - -#if defined BOOZ_CAM_TILT_ANGLE_MIN && defined BOOZ_CAM_TILT_ANGLE_MAX && defined BOOZ_CAM_USE_TILT -#define CAM_TA_MIN ANGLE_BFP_OF_REAL(BOOZ_CAM_TILT_ANGLE_MIN) -#define CAM_TA_MAX ANGLE_BFP_OF_REAL(BOOZ_CAM_TILT_ANGLE_MAX) -#define BOOZ_CAM_USE_TILT_ANGLES 1 -#endif - -// PWM definition -#ifndef BOOZ_CAM_SetPwm -#define BOOZ_CAM_SetPwm(_v) BoozSetPwmValue(_v) -#endif - -#ifndef BOOZ_CAM_DEFAULT_MODE -#define BOOZ_CAM_DEFAULT_MODE BOOZ_CAM_MODE_NONE -#endif - -void booz_cam_init(void) { - booz_cam_SetCamMode(BOOZ_CAM_DEFAULT_MODE); -#ifdef BOOZ_CAM_USE_TILT - booz_cam_tilt_pwm = BOOZ_CAM_TILT_NEUTRAL; - BOOZ_CAM_SetPwm(booz_cam_tilt_pwm); - booz_cam_tilt = 0; -#else - booz_cam_tilt_pwm = 1500; - booz_cam_tilt = 0; -#endif -#ifdef BOOZ_CAM_USE_PAN - booz_cam_pan = BOOZ_CAM_PAN_NEUTRAL; -#else - booz_cam_pan = 0; -#endif -} - -#define D_TILT (BOOZ_CAM_TILT_MAX - BOOZ_CAM_TILT_MIN) -#define CT_MIN Min(BOOZ_CAM_TILT_MIN,BOOZ_CAM_TILT_MAX) -#define CT_MAX Max(BOOZ_CAM_TILT_MIN,BOOZ_CAM_TILT_MAX) -#define CP_MIN Min(BOOZ_CAM_PAN_MIN,BOOZ_CAM_PAN_MAX) -#define CP_MAX Max(BOOZ_CAM_PAN_MIN,BOOZ_CAM_PAN_MAX) - -void booz_cam_periodic(void) { - - switch (booz_cam_mode) { - case BOOZ_CAM_MODE_NONE: -#ifdef BOOZ_CAM_USE_TILT - booz_cam_tilt_pwm = BOOZ_CAM_TILT_NEUTRAL; -#endif -#ifdef BOOZ_CAM_USE_PAN - booz_cam_pan = stateGetNedToBodyEulers_i()->psi; -#endif - break; - case BOOZ_CAM_MODE_MANUAL: -#ifdef BOOZ_CAM_USE_TILT - Bound(booz_cam_tilt_pwm, CT_MIN, CT_MAX); -#endif - break; - case BOOZ_CAM_MODE_HEADING: -#ifdef BOOZ_CAM_USE_TILT_ANGLES - Bound(booz_cam_tilt,CAM_TA_MIN,CAM_TA_MAX); - booz_cam_tilt_pwm = BOOZ_CAM_TILT_MIN + D_TILT * (booz_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN); - Bound(booz_cam_tilt_pwm, CT_MIN, CT_MAX); -#endif -#ifdef BOOZ_CAM_USE_PAN - Bound(booz_cam_pan, CP_MIN, CP_MAX); - nav_heading = booz_cam_pan; -#endif - break; - case BOOZ_CAM_MODE_WP: -#ifdef WP_CAM - { - struct Int32Vect2 diff; - VECT2_DIFF(diff, waypoints[WP_CAM], *stateGetPositionEnu_i()); - INT32_VECT2_RSHIFT(diff,diff,INT32_POS_FRAC); - INT32_ATAN2(booz_cam_pan,diff.x,diff.y); - nav_heading = booz_cam_pan; -#ifdef BOOZ_CAM_USE_TILT_ANGLES - int32_t dist, height; - INT32_VECT2_NORM(dist, diff); - height = (waypoints[WP_CAM].z - stateGetPositionEnu_i()->z) >> INT32_POS_FRAC; - INT32_ATAN2(booz_cam_tilt, height, dist); - Bound(booz_cam_tilt, CAM_TA_MIN, CAM_TA_MAX); - booz_cam_tilt_pwm = BOOZ_CAM_TILT_MIN + D_TILT * (booz_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN); - Bound(booz_cam_tilt_pwm, CT_MIN, CT_MAX); -#endif - } -#endif - break; - } -#ifdef BOOZ_CAM_USE_TILT - BOOZ_CAM_SetPwm(booz_cam_tilt_pwm); -#endif -} - diff --git a/sw/airborne/modules/cam_control/booz_cam.h b/sw/airborne/modules/cam_control/booz_cam.h deleted file mode 100644 index 2a1fbfb0d8..0000000000 --- a/sw/airborne/modules/cam_control/booz_cam.h +++ /dev/null @@ -1,73 +0,0 @@ -/* - * $Id: $ - * - * Copyright (C) 2009 Gautier Hattenberger , - * Antoine Drouin - * - * 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 BOOZ_CAM_H -#define BOOZ_CAM_H - -#include "generated/airframe.h" -#include "math/pprz_algebra_int.h" -#include "std.h" -#include "led.h" - -#define BOOZ_CAM_MODE_NONE 0 -#define BOOZ_CAM_MODE_MANUAL 1 -#define BOOZ_CAM_MODE_HEADING 2 -#define BOOZ_CAM_MODE_WP 3 - -// Warning: -// LED_ON set GPIO low -// LED_OFF set GPIO high -#ifndef BOOZ_CAM_ON -#define BOOZ_CAM_ON LED_OFF(CAM_SWITCH_LED) -#endif -#ifndef BOOZ_CAM_OFF -#define BOOZ_CAM_OFF LED_ON(CAM_SWITCH_LED) -#endif - -extern uint8_t booz_cam_mode; - -extern int16_t booz_cam_tilt; -extern int16_t booz_cam_pan; -extern int16_t booz_cam_tilt_pwm; - -extern void booz_cam_init(void); -extern void booz_cam_periodic(void); - -#define booz_cam_SetCamMode(_v) { \ - booz_cam_mode = _v; \ - if (booz_cam_mode == BOOZ_CAM_MODE_NONE) { BOOZ_CAM_OFF; } \ - else { BOOZ_CAM_ON; } \ -} - -#define BOOZ_CAM_STICK_TILT_INC (ANGLE_BFP_OF_REAL(RadOfDeg(10.))/127.) -#define BOOZ_CAM_STICK_PAN_INC (ANGLE_BFP_OF_REAL(RadOfDeg(20.))/127.) - -#define BOOZ_CAM_STICK_PARSE(_dl_buffer) { \ - booz_cam_tilt += (int16_t)(BOOZ_CAM_STICK_TILT_INC*(float)DL_BOOZ_CAM_STICK_tilt(_dl_buffer)); \ - booz_cam_pan += (int16_t)(BOOZ_CAM_STICK_PAN_INC*(float)DL_BOOZ_CAM_STICK_pan(dl_buffer)); \ - INT32_COURSE_NORMALIZE(booz_cam_pan); \ -} - -#endif /* BOOZ2_CAM_H */ - diff --git a/sw/airborne/modules/cam_control/rotorcraft_cam.c b/sw/airborne/modules/cam_control/rotorcraft_cam.c new file mode 100644 index 0000000000..0df7e0ba3f --- /dev/null +++ b/sw/airborne/modules/cam_control/rotorcraft_cam.c @@ -0,0 +1,112 @@ +/* + * Copyright (C) 2009-2012 Gautier Hattenberger , + * Antoine Drouin + * + * 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 "modules/cam_control/rotorcraft_cam.h" + +#include "subsystems/actuators.h" +#include "state.h" +#include "firmwares/rotorcraft/navigation.h" +#include "std.h" + +uint8_t rotorcraft_cam_mode; + +#define _SERVO_PARAM(_s,_p) SERVO_ ## _s ## _ ## _p +#define SERVO_PARAM(_s,_p) _SERVO_PARAM(_s,_p) + +// Tilt definition +int16_t rotorcraft_cam_tilt; +int16_t rotorcraft_cam_tilt_pwm; +#if ROTORCRAFT_CAM_USE_TILT +#define ROTORCRAFT_CAM_TILT_NEUTRAL SERVO_PARAM(ROTORCRAFT_CAM_TILT_SERVO, NEUTRAL) +#define ROTORCRAFT_CAM_TILT_MIN SERVO_PARAM(ROTORCRAFT_CAM_TILT_SERVO, MIN) +#define ROTORCRAFT_CAM_TILT_MAX SERVO_PARAM(ROTORCRAFT_CAM_TILT_SERVO, MAX) +#define D_TILT (ROTORCRAFT_CAM_TILT_MAX - ROTORCRAFT_CAM_TILT_MIN) +#define CT_MIN Min(CAM_TA_MIN, CAM_TA_MAX) +#define CT_MAX Max(CAM_TA_MIN, CAM_TA_MAX) +#endif + +// Pan definition +int16_t rotorcraft_cam_pan; +#define ROTORCRAFT_CAM_PAN_MIN 0 +#define ROTORCRAFT_CAM_PAN_MAX INT32_ANGLE_2_PI + +void rotorcraft_cam_init(void) { + rotorcraft_cam_SetCamMode(ROTORCRAFT_CAM_DEFAULT_MODE); +#if ROTORCRAFT_CAM_USE_TILT + rotorcraft_cam_tilt_pwm = ROTORCRAFT_CAM_TILT_NEUTRAL; + ActuatorSet(ROTORCRAFT_CAM_TILT_SERVO, rotorcraft_cam_tilt_pwm); +#else + rotorcraft_cam_tilt_pwm = 1500; +#endif + rotorcraft_cam_tilt = 0; + rotorcraft_cam_pan = 0; +} + +void rotorcraft_cam_periodic(void) { + + switch (rotorcraft_cam_mode) { + case ROTORCRAFT_CAM_MODE_NONE: +#if ROTORCRAFT_CAM_USE_TILT + rotorcraft_cam_tilt_pwm = ROTORCRAFT_CAM_TILT_NEUTRAL; +#endif +#if ROTORCRAFT_CAM_USE_PAN + rotorcraft_cam_pan = stateGetNedToBodyEulers_i()->psi; +#endif + break; + case ROTORCRAFT_CAM_MODE_MANUAL: + // nothing to do here, just apply tilt pwm at the end + break; + case ROTORCRAFT_CAM_MODE_HEADING: +#if ROTORCRAFT_CAM_USE_TILT_ANGLES + Bound(rotorcraft_cam_tilt,CT_MIN,CT_MAX); + rotorcraft_cam_tilt_pwm = ROTORCRAFT_CAM_TILT_MIN + D_TILT * (rotorcraft_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN); +#endif +#if ROTORCRAFT_CAM_USE_PAN + INT32_COURSE_NORMALIZE(rotorcraft_cam_pan); + nav_heading = rotorcraft_cam_pan; +#endif + break; + case ROTORCRAFT_CAM_MODE_WP: +#ifdef ROTORCRAFT_CAM_TRACK_WP + { + struct Int32Vect2 diff; + VECT2_DIFF(diff, waypoints[ROTORCRAFT_CAM_TRACK_WP], *stateGetPositionEnu_i()); + INT32_VECT2_RSHIFT(diff,diff,INT32_POS_FRAC); + INT32_ATAN2(rotorcraft_cam_pan,diff.x,diff.y); + nav_heading = rotorcraft_cam_pan; +#if ROTORCRAFT_CAM_USE_TILT_ANGLES + int32_t dist, height; + INT32_VECT2_NORM(dist, diff); + height = (waypoints[ROTORCRAFT_CAM_TRACK_WP].z - stateGetPositionEnu_i()->z) >> INT32_POS_FRAC; + INT32_ATAN2(rotorcraft_cam_tilt, height, dist); + Bound(rotorcraft_cam_tilt, CAM_TA_MIN, CAM_TA_MAX); + rotorcraft_cam_tilt_pwm = ROTORCRAFT_CAM_TILT_MIN + D_TILT * (rotorcraft_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN); +#endif + } +#endif + break; + } +#if ROTORCRAFT_CAM_USE_TILT + ActuatorSet(ROTORCRAFT_CAM_TILT_SERVO, rotorcraft_cam_tilt_pwm); +#endif +} + diff --git a/sw/airborne/modules/cam_control/rotorcraft_cam.h b/sw/airborne/modules/cam_control/rotorcraft_cam.h new file mode 100644 index 0000000000..1b2babfe80 --- /dev/null +++ b/sw/airborne/modules/cam_control/rotorcraft_cam.h @@ -0,0 +1,139 @@ +/* + * Copyright (C) 2009-2012 Gautier Hattenberger , + * Antoine Drouin + * + * 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. + */ + +/** Camera control module for rotorcraft. + * + * The camera is controled by the heading of the vehicle for pan + * and can be controlled by a servo for tilt if defined. + * + * Four modes: + * - NONE: no control + * - MANUAL: the servo position is set with PWM + * - HEADING: the servo position and the heading of the rotorcraft are set with angles + * - WP: the camera is tracking a waypoint (Default: CAM) + * + * The CAM_SWITCH can be used to power the camera in normal modes + * and disable it when in NONE mode + */ + +#ifndef ROTORCRAFT_CAM_H +#define ROTORCRAFT_CAM_H + +#include "generated/airframe.h" +#include "generated/flight_plan.h" +#include "math/pprz_algebra_int.h" +#include "std.h" +#include "led.h" + +#define ROTORCRAFT_CAM_MODE_NONE 0 +#define ROTORCRAFT_CAM_MODE_MANUAL 1 +#define ROTORCRAFT_CAM_MODE_HEADING 2 +#define ROTORCRAFT_CAM_MODE_WP 3 + +/** Default mode is NONE. */ +#ifndef ROTORCRAFT_CAM_DEFAULT_MODE +#define ROTORCRAFT_CAM_DEFAULT_MODE ROTORCRAFT_CAM_MODE_NONE +#endif + +/** Cam power control. + * By default CAM_SWITCH is used + * Warning: + * LED_ON set GPIO low on some boards (lpc) + * LED_OFF set GPIO high on some boards (lpc) + */ +#ifndef ROTORCRAFT_CAM_ON +#define ROTORCRAFT_CAM_ON LED_OFF(CAM_SWITCH_LED) +#endif +#ifndef ROTORCRAFT_CAM_OFF +#define ROTORCRAFT_CAM_OFF LED_ON(CAM_SWITCH_LED) +#endif + +/** Cam tilt control. + * By default use tilt control if a servo is assigned + */ +#ifdef ROTORCRAFT_CAM_TILT_SERVO +#define ROTORCRAFT_CAM_USE_TILT 1 +#else +#define ROTORCRAFT_CAM_USE_TILT 0 +#endif + +/** Use angles for tilt in HEADING and WP modes. + */ +#if defined ROTORCRAFT_CAM_TILT_ANGLE_MIN && defined ROTORCRAFT_CAM_TILT_ANGLE_MAX && defined ROTORCRAFT_CAM_USE_TILT +#define CAM_TA_MIN ANGLE_BFP_OF_REAL(ROTORCRAFT_CAM_TILT_ANGLE_MIN) +#define CAM_TA_MAX ANGLE_BFP_OF_REAL(ROTORCRAFT_CAM_TILT_ANGLE_MAX) +#define ROTORCRAFT_CAM_USE_TILT_ANGLES 1 +#endif + +/** Cam pan control. + * By default use pan control (heading) + */ +#ifndef ROTORCRAFT_CAM_USE_PAN +#define ROTORCRAFT_CAM_USE_PAN 1 +#endif + +/** WP control. + * By default use WP_CAM waypoint if defined + */ +#ifndef ROTORCRAFT_CAM_TRACK_WP +#ifdef WP_CAM +#define ROTORCRAFT_CAM_TRACK_WP WP_CAM +#endif +#endif + +extern uint8_t rotorcraft_cam_mode; + +extern int16_t rotorcraft_cam_tilt; +extern int16_t rotorcraft_cam_pan; +extern int16_t rotorcraft_cam_tilt_pwm; + +extern void rotorcraft_cam_init(void); +extern void rotorcraft_cam_periodic(void); + +/** Set camera mode. + * Camera is powered down in NONE mode if CAM_{ON|OFF} are defined + */ +#define rotorcraft_cam_SetCamMode(_v) { \ + rotorcraft_cam_mode = _v; \ + if (rotorcraft_cam_mode == ROTORCRAFT_CAM_MODE_NONE) { ROTORCRAFT_CAM_OFF; } \ + else { ROTORCRAFT_CAM_ON; } \ +} + +/** Cam control from datalink message. + * camera tilt and pan are incremented by STICK_TILT_INC and STICK_PAN_INC + * when maximum command is received from the stick + */ +#ifndef ROTORCRAFT_CAM_STICK_TILT_INC +#define ROTORCRAFT_CAM_STICK_TILT_INC RadOfDeg(10.) +#endif +#ifndef ROTORCRAFT_CAM_STICK_PAN_INC +#define ROTORCRAFT_CAM_STICK_PAN_INC RadOfDeg(20.) +#endif + +#define ROTORCRAFT_CAM_STICK_PARSE(_dl_buffer) { \ + rotorcraft_cam_tilt += (int16_t)((ANGLE_BFP_OF_REAL(ROTORCRAFT_CAM_STICK_TILT_INC)/127.)*(float)DL_ROTORCRAFT_CAM_STICK_tilt(_dl_buffer)); \ + rotorcraft_cam_pan += (int16_t)((ANGLE_BFP_OF_REAL(ROTORCRAFT_CAM_STICK_PAN_INC)/127.)*(float)DL_ROTORCRAFT_CAM_STICK_pan(dl_buffer)); \ + INT32_COURSE_NORMALIZE(rotorcraft_cam_pan); \ +} + +#endif /* ROTORCRAFT_CAM_H */ + diff --git a/sw/airborne/modules/digital_cam/led_cam_ctrl.h b/sw/airborne/modules/digital_cam/led_cam_ctrl.h index 421d44b962..0283e6261c 100644 --- a/sw/airborne/modules/digital_cam/led_cam_ctrl.h +++ b/sw/airborne/modules/digital_cam/led_cam_ctrl.h @@ -52,15 +52,6 @@ extern uint8_t dc_timer; -static inline void led_cam_ctrl_init(void) -{ - // Call common DC init - dc_init(); - - // Do LED specific DC init - dc_timer = 0; -} - #ifndef DC_PUSH #define DC_PUSH LED_ON #endif @@ -77,6 +68,26 @@ static inline void led_cam_ctrl_init(void) #error DC: Please specify at least a SHUTTER LED #endif +static inline void led_cam_ctrl_init(void) +{ + // Call common DC init + dc_init(); + + // Do LED specific DC init + dc_timer = 0; + + DC_RELEASE(DC_SHUTTER_LED); +#ifdef DC_ZOOM_IN_LED + DC_RELEASE(DC_ZOOM_IN_LED); +#endif +#ifdef DC_ZOOM_OUT_LED + DC_RELEASE(DC_ZOOM_OUT_LED); +#endif +#ifdef DC_POWER_LED + DC_RELEASE(DC_POWER_LED); +#endif +} + /* 4Hz Periodic */ static inline void led_cam_ctrl_periodic( void ) diff --git a/sw/airborne/modules/drop/booz_drop.c b/sw/airborne/modules/drop/booz_drop.c deleted file mode 100644 index 206c8a09f3..0000000000 --- a/sw/airborne/modules/drop/booz_drop.c +++ /dev/null @@ -1,54 +0,0 @@ -/* - * $Id: $ - * - * Copyright (C) 2009 Flixr - * - * 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 "modules/drop/booz_drop.h" -#include "modules/core/booz_pwm_arch.h" -#include "generated/airframe.h" - -bool_t booz_drop_ball; -int16_t booz_drop_servo; - -#ifndef DROP_SERVO_OPEN -#define DROP_SERVO_OPEN 1700 -#endif -#ifndef DROP_SERVO_CLOSED -#define DROP_SERVO_CLOSED 900 -#endif - -// PWM definition -#ifndef BoozDropPwm -#define BoozDropPwm(_v) BoozSetPwmValue(_v) -#endif - -void booz_drop_init(void) { - booz_drop_ball = FALSE; - booz_drop_periodic(); -} - -void booz_drop_periodic(void) { - if (booz_drop_ball == TRUE) - booz_drop_servo = DROP_SERVO_OPEN; - else - booz_drop_servo = DROP_SERVO_CLOSED; - BoozDropPwm(booz_drop_servo); -} diff --git a/sw/airborne/modules/geo_mag/geo_mag.c b/sw/airborne/modules/geo_mag/geo_mag.c old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/geo_mag/geo_mag.h b/sw/airborne/modules/geo_mag/geo_mag.h old mode 100755 new mode 100644 diff --git a/sw/airborne/modules/led_safety_status/led_safety_status.c b/sw/airborne/modules/led_safety_status/led_safety_status.c new file mode 100644 index 0000000000..3e7f65ea81 --- /dev/null +++ b/sw/airborne/modules/led_safety_status/led_safety_status.c @@ -0,0 +1,80 @@ +/* + * $Id: $ + * + * Copyright (C) 2012 Pranay Sinha + * + * 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 "led.h" +#include "generated/airframe.h" +#include "subsystems/electrical.h" +#include "subsystems/radio_control.h" +#include "autopilot.h" +#include "subsystems/ahrs/ahrs_aligner.h" +#include "autopilot_rc_helpers.h" + +#include "led_safety_status.h" + +#ifndef SAFETY_WARNING_LED +#error You must define SAFETY_WARNING_LED to use this module! +#else + +void led_safety_status_init(void) { + LED_ON(SAFETY_WARNING_LED); + led_safety_status_periodic(); +} + +void led_safety_status_periodic(void) { + if (radio_control.status == RC_LOST || radio_control.status == RC_REALLY_LOST){ + RunXTimesEvery(0, 60, 5, 7, {LED_TOGGLE(SAFETY_WARNING_LED);}); + RunXTimesEvery(130, 130, 10, 6, {LED_TOGGLE(SAFETY_WARNING_LED);}); + } + else if (!(autopilot_mode == MODE_MANUAL) && !autopilot_motors_on){ + RunXTimesEvery(20, 240, 40, 1, {LED_ON(SAFETY_WARNING_LED);}); + RunXTimesEvery(0, 240, 40, 1, {LED_OFF(SAFETY_WARNING_LED);}); + } + else if (!THROTTLE_STICK_DOWN() && !autopilot_motors_on){ + RunXTimesEvery(20, 240, 40, 2, {LED_ON(SAFETY_WARNING_LED);}); + RunXTimesEvery(0, 240, 40, 2, {LED_OFF(SAFETY_WARNING_LED);}); + } + else if (!ROLL_STICK_CENTERED() && !autopilot_motors_on){ + RunXTimesEvery(20, 240, 40, 3, {LED_ON(SAFETY_WARNING_LED);}); + RunXTimesEvery(0, 240, 40, 3, {LED_OFF(SAFETY_WARNING_LED);}); + } + else if (!PITCH_STICK_CENTERED() && !autopilot_motors_on){ + RunXTimesEvery(20, 240, 40, 4, {LED_ON(SAFETY_WARNING_LED);}); + RunXTimesEvery(0, 240, 40, 4, {LED_OFF(SAFETY_WARNING_LED);}); + } + else if (!YAW_STICK_CENTERED() && !autopilot_motors_on){ + RunXTimesEvery(20, 240, 40, 5, {LED_ON(SAFETY_WARNING_LED);}); + RunXTimesEvery(0, 240, 40, 5, {LED_OFF(SAFETY_WARNING_LED);}); + } +#ifdef MIN_BAT_LEVEL + else if (electrical.vsupply < (MIN_BAT_LEVEL * 10)){ + RunOnceEvery(20, {LED_TOGGLE(SAFETY_WARNING_LED);}); + } + else if (electrical.vsupply < ((MIN_BAT_LEVEL + 0.5) * 10)){ + RunXTimesEvery(0, 300, 10, 10, {LED_TOGGLE(SAFETY_WARNING_LED);}); + } +#endif + else { + LED_ON(SAFETY_WARNING_LED); + } +} +#endif diff --git a/sw/airborne/modules/led_safety_status/led_safety_status.h b/sw/airborne/modules/led_safety_status/led_safety_status.h new file mode 100644 index 0000000000..e49681644e --- /dev/null +++ b/sw/airborne/modules/led_safety_status/led_safety_status.h @@ -0,0 +1,49 @@ + +/* + * $Id: $ + * + * Copyright (C) 2012 Pranay Sinha + * + * 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 led_safety_status.h + * + * Simple module to blink LEDs when battery voltage drops below a certain + * level, radio control is lost or when takeoff safety conditions are not met. + */ + +#ifndef LED_SAFETY_STATUS_H +#define LED_SAFETY_STATUS_H + +#include "std.h" + +/** + * Initialises periodic loop; place more init functions here if expanding driver + */ +extern void led_safety_status_init(void); + +/** + * Periodic function that makes the leds blink in the right pattern for + * each situation. + */ +extern void led_safety_status_periodic(void); + +#endif /* LED_SAFETY_STATUS_H */ + diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c index aadc702abe..1649552454 100644 --- a/sw/airborne/modules/sensors/baro_ets.c +++ b/sw/airborne/modules/sensors/baro_ets.c @@ -62,7 +62,9 @@ #define BARO_ETS_ADDR 0xE8 #define BARO_ETS_REG 0x07 +#ifndef BARO_ETS_SCALE #define BARO_ETS_SCALE 0.32 +#endif #define BARO_ETS_OFFSET_MAX 30000 #define BARO_ETS_OFFSET_MIN 10 #define BARO_ETS_OFFSET_NBSAMPLES_INIT 20 diff --git a/sw/airborne/modules/sensors/ezcurrent.c b/sw/airborne/modules/sensors/ezcurrent.c index 5e9db17cf9..af024d37ce 100644 --- a/sw/airborne/modules/sensors/ezcurrent.c +++ b/sw/airborne/modules/sensors/ezcurrent.c @@ -66,7 +66,7 @@ void ezcurrent_read_periodic( void ) { void ezcurrent_read_event( void ) { if (ezcurrent_i2c_trans.status == I2CTransSuccess) { // Get electrical information from buffer - electrical.vsupply = ((uint8_t)( (((ezcurrent_i2c_trans.buf[3]) << 8) + (ezcurrent_i2c_trans.buf[2])) * 0.01f) ); + electrical.vsupply = ((uint16_t)( (((ezcurrent_i2c_trans.buf[3]) << 8) + ezcurrent_i2c_trans.buf[2]) * 0.01f) ); electrical.current = ((int32_t)(ezcurrent_i2c_trans.buf[9]) << 8) + (int32_t)(ezcurrent_i2c_trans.buf[8]); electrical.consumed = ((int32_t)(ezcurrent_i2c_trans.buf[7]) << 8) + (int32_t)(ezcurrent_i2c_trans.buf[6]); // Transaction has been read diff --git a/sw/airborne/modules/servo_switch/servo_switch.c b/sw/airborne/modules/servo_switch/servo_switch.c index 2d90ae53e6..d4a37adec7 100644 --- a/sw/airborne/modules/servo_switch/servo_switch.c +++ b/sw/airborne/modules/servo_switch/servo_switch.c @@ -1,6 +1,4 @@ /* - * $Id: $ - * * Copyright (C) 2010 Flixr * * This file is part of paparazzi. @@ -23,10 +21,13 @@ #include "servo_switch/servo_switch.h" #include "generated/airframe.h" -#include "actuators.h" +#include "subsystems/actuators.h" bool_t servo_switch_on; -int16_t servo_switch_value; + +// One level of macro stack to allow redefinition of the default servo +#define _ServoSwitch(_n, _v) ActuatorSet(_n, _v) +#define ServoSwitch(_n, _v) _ServoSwitch(_n, _v) void servo_switch_init(void) { servo_switch_on = FALSE; @@ -34,8 +35,10 @@ void servo_switch_init(void) { } void servo_switch_periodic(void) { - if (servo_switch_on == TRUE) - SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_ON_VALUE) - else - SetServo(SERVO_SWITCH_SERVO, SERVO_SWITCH_OFF_VALUE) + if (servo_switch_on == TRUE) { + ServoSwitch(SERVO_SWITCH_SERVO, SERVO_SWITCH_ON_VALUE); + } + else { + ServoSwitch(SERVO_SWITCH_SERVO, SERVO_SWITCH_OFF_VALUE); + } } diff --git a/sw/airborne/modules/servo_switch/servo_switch.h b/sw/airborne/modules/servo_switch/servo_switch.h index 24a5a60da2..b2fbfc2476 100644 --- a/sw/airborne/modules/servo_switch/servo_switch.h +++ b/sw/airborne/modules/servo_switch/servo_switch.h @@ -26,6 +26,7 @@ #include "std.h" #include "paparazzi.h" +#include "generated/airframe.h" extern bool_t servo_switch_on; extern int16_t servo_switch_value; @@ -37,7 +38,7 @@ extern int16_t servo_switch_value; #define SERVO_SWITCH_OFF_VALUE 1000 #endif #ifndef SERVO_SWITCH_SERVO -#define SERVO_SWITCH_SERVO SERVO_SWITCH +#define SERVO_SWITCH_SERVO SWITCH #endif diff --git a/sw/airborne/actuators.c b/sw/airborne/subsystems/actuators.c similarity index 79% rename from sw/airborne/actuators.c rename to sw/airborne/subsystems/actuators.c index 0d2a660b22..a2789ca768 100644 --- a/sw/airborne/actuators.c +++ b/sw/airborne/subsystems/actuators.c @@ -1,5 +1,6 @@ /* * Copyright (C) 2006 Pascal Brisset, Antoine Drouin + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -24,6 +25,17 @@ * */ -#include "firmwares/fixedwing/actuators.h" +#include "subsystems/actuators.h" -uint16_t actuators[SERVOS_NB]; +#if ACTUATORS_NB + +int16_t actuators[ACTUATORS_NB]; + +void actuators_init(void) { + + // Init macro from generated airframe.h + AllActuatorsInit(); + +} + +#endif diff --git a/sw/airborne/firmwares/fixedwing/actuators.h b/sw/airborne/subsystems/actuators.h similarity index 62% rename from sw/airborne/firmwares/fixedwing/actuators.h rename to sw/airborne/subsystems/actuators.h index 5f310f7a3c..04d90811b6 100644 --- a/sw/airborne/firmwares/fixedwing/actuators.h +++ b/sw/airborne/subsystems/actuators.h @@ -1,5 +1,6 @@ /* * (c) 2003-2005 Pascal Brisset, Antoine Drouin + * (c) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -26,32 +27,32 @@ #ifndef ACTUATORS_H #define ACTUATORS_H -#if defined ACTUATORS - #include "paparazzi.h" -/** Defines SetActuatorsFromCommands() macro */ +/* + * Defines SetActuatorsFromCommands() macro + * Defines ACTUATORS_NB to 0 if no servo + * Include servos drivers + */ #include "generated/airframe.h" -/** Must be defined by specific hardware implementation */ -extern void actuators_init( void ); +#if ACTUATORS_NB -/** Temporary storage (for debugging purpose, downlinked via telemetry) */ -extern uint16_t actuators[SERVOS_NB]; +extern void actuators_init(void); -#include ACTUATORS +/** Actuators array. + * Temporary storage (for debugging purpose, downlinked via telemetry) + * */ +extern int16_t actuators[ACTUATORS_NB]; -#define SetServo(x, v) { \ - Actuator(x) = SERVOS_TICS_OF_USEC(ChopServo(v,700,2400)); \ - actuators[x] = v; \ - } +/** Set actuators. + * @param _n actuators name as given in airframe file, servos section + * @param _v new actuator's value + */ +#define _ActuatorSet(_n, _v) Set_ ## _n ## _Servo(_v) +#define ActuatorSet(_n, _v) _ActuatorSet(_n, _v) -#else /* ACTUATORS */ - -// define empty SetServo makro for sim -#define SetServo(x, v) {} - -#endif /* ACTUATORS */ +#endif /* ACTUATORS_NB */ #endif /* ACTUATORS_H */ diff --git a/sw/airborne/subsystems/actuators/actuators_4015.h b/sw/airborne/subsystems/actuators/actuators_4015.h new file mode 100644 index 0000000000..07cd56875d --- /dev/null +++ b/sw/airborne/subsystems/actuators/actuators_4015.h @@ -0,0 +1,27 @@ +/* + * Copyright (C) 2012 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. + */ + +#ifndef ACTUATORS_4015_H +#define ACTUATORS_4015_H + +#include "subsystems/actuators/servos_4015_MAT_hw.h" + +#endif /* ACTUATORS_4015_H */ diff --git a/sw/airborne/subsystems/actuators/actuators_pwm.c b/sw/airborne/subsystems/actuators/actuators_4017.h similarity index 81% rename from sw/airborne/subsystems/actuators/actuators_pwm.c rename to sw/airborne/subsystems/actuators/actuators_4017.h index 8bde49ea92..315382d628 100644 --- a/sw/airborne/subsystems/actuators/actuators_pwm.c +++ b/sw/airborne/subsystems/actuators/actuators_4017.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2010 The Paparazzi Team + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of Paparazzi. * @@ -19,10 +19,9 @@ * Boston, MA 02111-1307, USA. */ -#include "actuators_pwm.h" +#ifndef ACTUATORS_4017_H +#define ACTUATORS_4017_H -int32_t actuators_pwm_values[ACTUATORS_PWM_NB]; +#include "subsystems/actuators/servos_4017_hw.h" -void actuators_init(void) { - actuators_pwm_arch_init(); -} +#endif /* ACTUATORS_4017_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/subsystems/actuators/actuators_asctec.c similarity index 82% rename from sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c rename to sw/airborne/subsystems/actuators/actuators_asctec.c index e49eba07d5..d8ed2ce1c5 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c +++ b/sw/airborne/subsystems/actuators/actuators_asctec.c @@ -23,14 +23,9 @@ * Actuators driver for Asctec motor controllers. */ -#include "firmwares/rotorcraft/actuators.h" -#include "firmwares/rotorcraft/actuators/actuators_asctec.h" +#include "subsystems/actuators.h" +#include "subsystems/actuators/actuators_asctec.h" -#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL -#include "firmwares/rotorcraft/actuators/supervision.h" -#endif - -#include "firmwares/rotorcraft/commands.h" #include "mcu_periph/i2c.h" #include "mcu_periph/sys_time.h" @@ -45,7 +40,7 @@ struct ActuatorsAsctec actuators_asctec; uint32_t actuators_delay_time; bool_t actuators_delay_done; -void actuators_init(void) { +void actuators_asctec_init(void) { actuators_asctec.cmd = NONE; actuators_asctec.cur_addr = FRONT; actuators_asctec.new_addr = FRONT; @@ -67,14 +62,10 @@ void actuators_init(void) { actuators_delay_time = 0; #endif -#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL - supervision_init(); -#endif - } #ifndef ACTUATORS_ASCTEC_V2_PROTOCOL -void actuators_set(bool_t motors_on) { +void actuators_asctec_set(bool_t motors_on) { #if defined ACTUATORS_START_DELAY && ! defined SITL if (!actuators_delay_done) { if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) return; @@ -102,10 +93,6 @@ void actuators_set(bool_t motors_on) { actuators_asctec.cmds[YAW] = 0; actuators_asctec.cmds[THRUST] = 0; #else /* ! KILL_MOTORS */ - actuators_asctec.cmds[PITCH] = ((commands[COMMAND_PITCH] + SUPERVISION_TRIM_E) * ASCTEC_MAX_CMD) / MAX_PPRZ; - actuators_asctec.cmds[ROLL] = ((commands[COMMAND_ROLL] + SUPERVISION_TRIM_A) * ASCTEC_MAX_CMD) / MAX_PPRZ; - actuators_asctec.cmds[YAW] = ((commands[COMMAND_YAW] + SUPERVISION_TRIM_R) * ASCTEC_MAX_CMD) / MAX_PPRZ; - actuators_asctec.cmds[THRUST] = (commands[COMMAND_THRUST] * ASCTEC_MAX_THROTTLE) / MAX_PPRZ; Bound(actuators_asctec.cmds[PITCH],ASCTEC_MIN_CMD, ASCTEC_MAX_CMD); Bound(actuators_asctec.cmds[ROLL], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD); Bound(actuators_asctec.cmds[YAW], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD); @@ -151,7 +138,7 @@ void actuators_set(bool_t motors_on) { } #else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */ -void actuators_set(bool_t motors_on) { +void actuators_asctec_set(bool_t motors_on) { #if defined ACTUATORS_START_DELAY && ! defined SITL if (!actuators_delay_done) { if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) { @@ -178,7 +165,6 @@ void actuators_set(bool_t motors_on) { return; } - supervision_run(motors_on, FALSE, commands); #ifdef KILL_MOTORS actuators_asctec.i2c_trans.buf[0] = 0; actuators_asctec.i2c_trans.buf[1] = 0; @@ -186,10 +172,10 @@ void actuators_set(bool_t motors_on) { actuators_asctec.i2c_trans.buf[3] = 0; actuators_asctec.i2c_trans.buf[4] = 0xAA; #else - actuators_asctec.i2c_trans.buf[0] = supervision.commands[SERVO_FRONT]; - actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK]; - actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT]; - actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT]; + actuators_asctec.i2c_trans.buf[0] = actuators_asctec.cmds[SERVO_FRONT]; + actuators_asctec.i2c_trans.buf[1] = actuators_asctec.cmds[SERVO_BACK]; + actuators_asctec.i2c_trans.buf[2] = actuators_asctec.cmds[SERVO_LEFT]; + actuators_asctec.i2c_trans.buf[3] = actuators_asctec.cmds[SERVO_RIGHT]; actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] + actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3]; #endif diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h b/sw/airborne/subsystems/actuators/actuators_asctec.h similarity index 77% rename from sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h rename to sw/airborne/subsystems/actuators/actuators_asctec.h index 8a7ddddeef..1c4fa3dffd 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h +++ b/sw/airborne/subsystems/actuators/actuators_asctec.h @@ -28,27 +28,29 @@ #include "mcu_periph/i2c.h" -enum actuators_astec_cmd { NONE, +#include "generated/airframe.h" + +enum actuators_asctec_cmd { NONE, TEST, REVERSE, SET_ADDR }; -enum actuators_astec_addr { FRONT, +enum actuators_asctec_addr { FRONT, BACK, LEFT, RIGHT }; /* this is for the v1 protocol which does its own mixing */ -enum actuators_astec_cmds { PITCH, +enum actuators_asctec_cmds { PITCH, ROLL, YAW, THRUST, CMD_NB }; struct ActuatorsAsctec { - enum actuators_astec_cmd cmd; - enum actuators_astec_addr cur_addr; - enum actuators_astec_addr new_addr; + enum actuators_asctec_cmd cmd; + enum actuators_asctec_addr cur_addr; + enum actuators_asctec_addr new_addr; int32_t cmds[CMD_NB]; struct i2c_transaction i2c_trans; volatile uint32_t nb_err; @@ -69,5 +71,12 @@ extern struct ActuatorsAsctec actuators_asctec; actuators_asctec.cur_addr = _v; \ } +extern void actuators_asctec_init(void); +extern void actuators_asctec_set(bool_t motors_on); + +#define ActuatorAsctecSet(_i, _v) { actuators_asctec.cmds[_i] = _v; } +#define ActuatorsAsctecInit() actuators_asctec_init() +#define ActuatorsAsctecCommit() actuators_asctec_set(autopilot_motors_on) + #endif /* ACTUATORS_ASCTEC_H */ diff --git a/sw/airborne/subsystems/actuators/actuators_default.h b/sw/airborne/subsystems/actuators/actuators_default.h new file mode 100644 index 0000000000..f3a0e750f0 --- /dev/null +++ b/sw/airborne/subsystems/actuators/actuators_default.h @@ -0,0 +1,30 @@ +/* + * Copyright (C) 2012 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. + */ + +#ifndef ACTUATORS_DEFAULT_H +#define ACTUATORS_DEFAULT_H + +/** Dummy include of default actuators header + */ +#include BOARD_CONFIG +#include DEFAULT_ACTUATORS + +#endif /* ACTUATORS_DEFAULT_H */ diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_dummy.c b/sw/airborne/subsystems/actuators/actuators_dummy.h similarity index 78% rename from sw/airborne/firmwares/rotorcraft/actuators/actuators_dummy.c rename to sw/airborne/subsystems/actuators/actuators_dummy.h index d8cbc1e706..5148c7b7b7 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_dummy.c +++ b/sw/airborne/subsystems/actuators/actuators_dummy.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2008-2009 Antoine Drouin + * Copyright (C) 2012 Gautier Hattenberger * * This file is part of paparazzi. * @@ -19,11 +19,11 @@ * Boston, MA 02111-1307, USA. */ -#include "firmwares/rotorcraft/actuators.h" +#ifndef ACTUATORS_DUMMY_H +#define ACTUATORS_DUMMY_H +#define ActuatorDummySet(_i, _v) {} +#define ActuatorsDummyInit() {} +#define ActuatorsDummyCommit() {} -void actuators_init(void) { -} - -void actuators_set(bool_t motors_on) { -} +#endif diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/subsystems/actuators/actuators_mkk.c similarity index 85% rename from sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c rename to sw/airborne/subsystems/actuators/actuators_mkk.c index 3a037eba0d..23f8c0c0e8 100644 --- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c +++ b/sw/airborne/subsystems/actuators/actuators_mkk.c @@ -23,10 +23,9 @@ * Actuators driver for Mikrokopter motor controllers. */ -#include "firmwares/rotorcraft/actuators.h" -#include "firmwares/rotorcraft/actuators/actuators_mkk.h" +#include "subsystems/actuators.h" +#include "subsystems/actuators/actuators_mkk.h" -#include "firmwares/rotorcraft/commands.h" #include "mcu_periph/i2c.h" #include "mcu_periph/sys_time.h" @@ -37,9 +36,8 @@ struct ActuatorsMkk actuators_mkk; uint32_t actuators_delay_time; bool_t actuators_delay_done; -void actuators_init(void) { +void actuators_mkk_init(void) { - supervision_init(); const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR; for (uint8_t i=0; i +#ifndef INT32_MIN +#define INT32_MIN (-2147483647-1) +#endif + +#ifndef INT32_MAX +#define INT32_MAX (2147483647) +#endif + +#define MOTOR_MIXING_MIN_MOTOR 0 +#define MOTOR_MIXING_MAX_MOTOR MAX_PPRZ + +#ifndef MOTOR_MIXING_STOP_MOTOR +#define MOTOR_MIXING_STOP_MOTOR -MAX_PPRZ +#endif + +#ifndef MOTOR_MIXING_MIN_MOTOR_STARTUP +#define MOTOR_MIXING_MIN_MOTOR_STARTUP MOTOR_MIXING_MIN_MOTOR +#endif + +#if defined (MOTOR_MIXING_MAX_NEGATIVE_MOTOR_STEP) || defined (MOTOR_MIXING_MAX_POSITIVE_MOTOR_STEP) +#define MOTOR_MIXING_USE_MAX_MOTOR_STEP_BINDING + +#ifndef MOTOR_MIXING_MAX_NEGATIVE_MOTOR_STEP +#define MOTOR_MIXING_MAX_NEGATIVE_MOTOR_STEP INT32_MIN +#endif +/* +#ifndef MOTOR_MIXING_MAX_POSITIVE_MOTOR_STEP +#define MOTOR_MIXING_MAX_POSITIVE_MOTOR_STEP INT32_MAX +#endif +*/ +#endif + +static const int32_t roll_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_ROLL_COEF; +static const int32_t pitch_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_PITCH_COEF; +static const int32_t yaw_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_YAW_COEF; +static const int32_t thrust_coef[MOTOR_MIXING_NB_MOTOR] = MOTOR_MIXING_THRUST_COEF; + +struct MotorMixing motor_mixing; + +void motor_mixing_init(void) { + uint8_t i; + for (i=0; i i * max_counter / (MOTOR_MIXING_NB_MOTOR + MOTOR_MIXING_STARTUP_DELAY)) { + if (counter > MOTOR_MIXING_NB_MOTOR * max_counter / (MOTOR_MIXING_NB_MOTOR + MOTOR_MIXING_STARTUP_DELAY)) { + motor_mixing.commands[i] = MOTOR_MIXING_MIN_MOTOR_STARTUP + (MOTOR_MIXING_MIN_MOTOR - MOTOR_MIXING_MIN_MOTOR_STARTUP) * counter / max_counter; + } else { + motor_mixing.commands[i] = MOTOR_MIXING_MIN_MOTOR_STARTUP; + } + } else { + motor_mixing.commands[i] = 0; + } +#else + if (counter < i * max_counter / MOTOR_MIXING_NB_MOTOR) { + motor_mixing.commands[i] = MOTOR_MIXING_MIN_MOTOR_STARTUP; + } +#endif + } +} + +void motor_mixing_run(bool_t motors_on, bool_t override_on, pprz_t in_cmd[] ) { + uint8_t i; + if (motors_on) { + int32_t min_cmd = INT32_MAX; + int32_t max_cmd = INT32_MIN; + /* do the mixing in float to avoid overflows, implicitly casted back to int32_t */ + for (i=0; i max_cmd) + max_cmd = motor_mixing.commands[i]; + } + if (min_cmd < MOTOR_MIXING_MIN_MOTOR && max_cmd > MOTOR_MIXING_MAX_MOTOR) + motor_mixing.nb_failure++; + if (min_cmd < MOTOR_MIXING_MIN_MOTOR) + offset_commands(-(min_cmd - MOTOR_MIXING_MIN_MOTOR)); + if (max_cmd > MOTOR_MIXING_MAX_MOTOR) + offset_commands(-(max_cmd - MOTOR_MIXING_MAX_MOTOR)); + + /* For testing motor failure */ + if (motors_on && override_on) { + for (i = 0; i < MOTOR_MIXING_NB_MOTOR; i++) { + if (motor_mixing.override_enabled[i]) + motor_mixing.commands[i] = motor_mixing.override_value[i]; + } + } + bound_commands(); + bound_commands_step(); + } + else { + for (i=0; ix - ecef_pos->x); + if ( xdiff > MAX_DISTANCE ) return TRUE; + int32_t ydiff = abs(ecef_ref->y - ecef_pos->y); + if ( ydiff > MAX_DISTANCE ) return TRUE; + int32_t zdiff = abs(ecef_ref->z - ecef_pos->z); + if ( zdiff > MAX_DISTANCE ) return TRUE; + + return FALSE; +} diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c index f82ebc1143..4e927a31e1 100644 --- a/sw/airborne/subsystems/ins/ins_alt_float.c +++ b/sw/airborne/subsystems/ins/ins_alt_float.c @@ -32,6 +32,8 @@ #include "subsystems/gps.h" #include "subsystems/nav.h" +#include "generated/airframe.h" + #ifdef DEBUG_ALT_KALMAN #include "mcu_periph/uart.h" #include "ap_downlink.h" diff --git a/sw/airborne/subsystems/navigation/gls.c b/sw/airborne/subsystems/navigation/gls.c index b7e7806d58..33ea256b38 100644 --- a/sw/airborne/subsystems/navigation/gls.c +++ b/sw/airborne/subsystems/navigation/gls.c @@ -148,7 +148,7 @@ bool_t gls(uint8_t _af, uint8_t _tod, uint8_t _td) { float start_alt = WaypointAlt(_tod); float diff_alt = WaypointAlt(_td) - start_alt; float alt = start_alt + nav_final_progress * diff_alt; - Bound(alt, WaypointAlt(_td), start_alt +(pre_climb/(v_ctl_altitude_pgain))) // to prevent climbing before intercept + Bound(alt, WaypointAlt(_td), start_alt +(pre_climb/(-v_ctl_altitude_pgain))) // to prevent climbing before intercept diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c index c7380336d0..d6e6c66a71 100644 --- a/sw/airborne/test/test_actuators.c +++ b/sw/airborne/test/test_actuators.c @@ -27,8 +27,8 @@ #include "led.h" #include "mcu_periph/i2c.h" -#include "firmwares/rotorcraft/commands.h" -#include "firmwares/rotorcraft/actuators.h" +#include "subsystems/commands.h" +#include "subsystems/actuators.h" static inline void main_init( void ); static inline void main_periodic_task( void ); @@ -61,7 +61,7 @@ static inline void main_periodic_task( void ) { commands[COMMAND_YAW]=0; commands[COMMAND_THRUST]=1; - actuators_set(TRUE); + //actuators_set(TRUE); LED_PERIODIC(); diff --git a/sw/ext/libopencm3 b/sw/ext/libopencm3 index 7011d47c70..4e4496f70d 160000 --- a/sw/ext/libopencm3 +++ b/sw/ext/libopencm3 @@ -1 +1 @@ -Subproject commit 7011d47c70076f995e8470c59eeaa8f3efcc9f05 +Subproject commit 4e4496f70d00fe24b2c5d594d6500f537eeb6478 diff --git a/sw/ext/luftboot b/sw/ext/luftboot index 805d290c28..bac7a50720 160000 --- a/sw/ext/luftboot +++ b/sw/ext/luftboot @@ -1 +1 @@ -Subproject commit 805d290c28bb74e7cfb1a6daccc18c5646423f80 +Subproject commit bac7a50720a5ac111660baa6afa2cec4f36651fd diff --git a/sw/ext/stm32loader b/sw/ext/stm32loader deleted file mode 160000 index eca6b5a43a..0000000000 --- a/sw/ext/stm32loader +++ /dev/null @@ -1 +0,0 @@ -Subproject commit eca6b5a43a6898c798d36dbdbdaf84ffbb587e34 diff --git a/sw/ground_segment/tmtc/ivy_serial_bridge.c b/sw/ground_segment/tmtc/ivy_serial_bridge.c index c31a6c990a..27486b9f82 100644 --- a/sw/ground_segment/tmtc/ivy_serial_bridge.c +++ b/sw/ground_segment/tmtc/ivy_serial_bridge.c @@ -231,7 +231,7 @@ void send_ivy(void) - + */ @@ -273,7 +273,7 @@ void send_ivy(void) /* - + diff --git a/sw/ground_segment/tmtc/link.ml b/sw/ground_segment/tmtc/link.ml index f99f70f5a7..f16ddf08c9 100644 --- a/sw/ground_segment/tmtc/link.ml +++ b/sw/ground_segment/tmtc/link.ml @@ -426,6 +426,7 @@ let () = let ivy_bus = ref Defivybus.default_ivy_bus and port = ref "/dev/ttyUSB0" and baudrate = ref "9600" + and hw_flow_control = ref false and transport = ref "pprz" and uplink = ref true and audio = ref false @@ -443,6 +444,7 @@ let () = "-noac_info", Arg.Clear ac_info, (sprintf "Disables AC traffic info (uplink)."); "-nouplink", Arg.Clear uplink, (sprintf "Disables the uplink (from the ground to the aircraft)."); "-s", Arg.Set_string baudrate, (sprintf " Default is %s" !baudrate); + "-hfc", Arg.Set hw_flow_control, "Enable UART hardware flow control (CTS/RTS)"; "-local_timestamp", Arg.Unit (fun () -> add_timestamp := Some (Unix.gettimeofday ())), "Add local timestamp to messages sent over ivy"; "-transport", Arg.Set_string transport, (sprintf " Available protocols are modem,pprz,pprz2 and xbee. Default is %s" !transport); "-udp", Arg.Set udp, "Listen a UDP connection on "; @@ -475,7 +477,7 @@ let () = end else if !audio then Demod.init !port else if on_serial_device then - Serial.opendev !port (Serial.speed_of_baudrate !baudrate) + Serial.opendev !port (Serial.speed_of_baudrate !baudrate) !hw_flow_control else Unix.openfile !port [Unix.O_RDWR] 0o640 in diff --git a/sw/in_progress/rctx/main_rctx.c b/sw/in_progress/rctx/main_rctx.c index 96f2e6e910..9ad792c5b3 100644 --- a/sw/in_progress/rctx/main_rctx.c +++ b/sw/in_progress/rctx/main_rctx.c @@ -95,7 +95,7 @@ struct adc_buf vsupply_adc_buf; #define LOW_BATTERY_DECIVOLT (CATASTROPHIC_BAT_LEVEL*10) -uint8_t rctx_vsupply_decivolt; +uint16_t rctx_vsupply_decivolt; uint8_t rctx_under_voltage; uint8_t rctx_mode; diff --git a/sw/in_progress/satcom/tcp2ivy.c b/sw/in_progress/satcom/tcp2ivy.c index 8a03082ce7..f8f1635e04 100644 --- a/sw/in_progress/satcom/tcp2ivy.c +++ b/sw/in_progress/satcom/tcp2ivy.c @@ -71,7 +71,7 @@ unsigned char gps_utm_zone; int gps_lat, gps_lon; /* 1e7 deg */ int gps_hmsl; short estimator_airspeed; -unsigned char electrical_vsupply; +unsigned short electrical_vsupply; unsigned char nav_block; unsigned char energy; unsigned char throttle; diff --git a/sw/in_progress/satcom/tcp2ivy_generic.c b/sw/in_progress/satcom/tcp2ivy_generic.c index d93fa127f6..5f6a389b2a 100644 --- a/sw/in_progress/satcom/tcp2ivy_generic.c +++ b/sw/in_progress/satcom/tcp2ivy_generic.c @@ -74,7 +74,7 @@ unsigned char gps_utm_zone; int gps_lat, gps_lon; /* 1e7 deg */ int gps_hmsl; short estimator_airspeed; -unsigned char electrical_vsupply; +unsigned short electrical_vsupply; unsigned char nav_block; unsigned short energy; unsigned char throttle; @@ -124,6 +124,7 @@ static gboolean read_data(GIOChannel *chan, GIOCondition cond, gpointer data) { // FillBufWith16bit(com_trans.buf, 15, (uint16_t)(estimator_airspeed*100)); // TAS (cm/s) estimator_airspeed = buf2ushort(&buf[14]); // com_trans.buf[17] = electrical.vsupply; // decivolt + //FIXME: electrical.vsupply is now a uint16 electrical_vsupply = buf[16]; // com_trans.buf[18] = (uint8_t)(energy / 100); // deciAh energy = buf[17]; diff --git a/sw/include/std.h b/sw/include/std.h index e99084da02..c3a258dc51 100644 --- a/sw/include/std.h +++ b/sw/include/std.h @@ -118,6 +118,20 @@ typedef uint8_t unit_t; } \ } +#define RunXTimesEvery(_jumpstart, _prescaler, _interval, _xtimes, _code) { \ + static uint16_t prescaler = _jumpstart; \ + static uint16_t xtimes = 0; \ + prescaler++; \ + if (prescaler >= _prescaler + _interval*xtimes && xtimes < _xtimes) { \ + _code; \ + xtimes++; \ + } \ + if (xtimes >= _xtimes) { \ + xtimes = 0; \ + prescaler = 0; \ + } \ +} + #define PeriodicPrescaleBy5( _code_0, _code_1, _code_2, _code_3, _code_4) { \ static uint8_t _50hz = 0; \ diff --git a/sw/lib/ocaml/cserial.c b/sw/lib/ocaml/cserial.c index a2c639d531..d6b9a66cb9 100644 --- a/sw/lib/ocaml/cserial.c +++ b/sw/lib/ocaml/cserial.c @@ -40,7 +40,7 @@ static int baudrates[] = { B0, B50, B75, B110, B134, B150, B200, B300, B600, B12 /****************************************************************************/ /* Open serial device for requested protocoll */ /****************************************************************************/ -value c_init_serial(value device, value speed) +value c_init_serial(value device, value speed, value hw_flow_control) { struct termios orig_termios, cur_termios; @@ -63,8 +63,14 @@ value c_init_serial(value device, value speed) cur_termios.c_oflag &=~(OPOST|ONLCR|OCRNL|ONOCR|ONLRET); /* control modes */ - cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS); - cur_termios.c_cflag |= CREAD|CS8|CLOCAL; + if (Bool_val(hw_flow_control)) { + cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL); + cur_termios.c_cflag |= CREAD|CS8|CLOCAL|CRTSCTS; + } + else { + cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS); + cur_termios.c_cflag |= CREAD|CS8|CLOCAL; + } /* local modes */ cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN); diff --git a/sw/lib/ocaml/serial.ml b/sw/lib/ocaml/serial.ml index 6e11af4988..a7e0e87233 100644 --- a/sw/lib/ocaml/serial.ml +++ b/sw/lib/ocaml/serial.ml @@ -77,13 +77,13 @@ let string_of_payload = fun x -> x let payload_of_string = fun x -> x -external init_serial : string -> speed -> Unix.file_descr = "c_init_serial" +external init_serial : string -> speed -> bool -> Unix.file_descr = "c_init_serial" external set_dtr : Unix.file_descr -> bool -> unit = "c_set_dtr" external set_speed : Unix.file_descr -> speed -> unit = "c_serial_set_baudrate" -let opendev device speed = +let opendev device speed hw_flow_control = try - init_serial device speed + init_serial device speed hw_flow_control with Failure x -> failwith (Printf.sprintf "Error %s (%s)" x device) diff --git a/sw/lib/ocaml/serial.mli b/sw/lib/ocaml/serial.mli index 375559631d..9173d4b5df 100644 --- a/sw/lib/ocaml/serial.mli +++ b/sw/lib/ocaml/serial.mli @@ -49,7 +49,7 @@ type speed = val speed_of_baudrate : string -> speed -val opendev : string -> speed -> Unix.file_descr +val opendev : string -> speed -> bool -> Unix.file_descr val close : Unix.file_descr -> unit val set_dtr : Unix.file_descr -> bool -> unit val set_speed : Unix.file_descr -> speed -> unit diff --git a/sw/logalizer/matlab_log/messages.xml b/sw/logalizer/matlab_log/messages.xml index c749615108..8c8f23751b 100644 --- a/sw/logalizer/matlab_log/messages.xml +++ b/sw/logalizer/matlab_log/messages.xml @@ -62,7 +62,7 @@ - + @@ -241,7 +241,7 @@ - + diff --git a/sw/logalizer/play_core.ml b/sw/logalizer/play_core.ml index d910eda6eb..86d7d871c0 100644 --- a/sw/logalizer/play_core.ml +++ b/sw/logalizer/play_core.ml @@ -122,6 +122,7 @@ let was_running = ref false let bus = ref Defivybus.default_ivy_bus let port = ref "/dev/ttyUSB0" let baudrate = ref "9600" +let hw_flow_control = ref false let file_to_load = ref "" let output_on_serial = ref false @@ -177,7 +178,8 @@ let init = fun () -> [ "-b", Arg.String (fun x -> bus := x), (sprintf " Default is %s" !bus); "-d", Arg.Set_string port, (sprintf " Default is %s" !port); "-o", Arg.Set output_on_serial, "Output binary messages on serial port"; - "-s", Arg.Set_string baudrate, (sprintf " Default is %s" !baudrate)] + "-s", Arg.Set_string baudrate, (sprintf " Default is %s" !baudrate); + "-shfc", Arg.Set hw_flow_control, "Enable UART hardware flow control (CTS/RTS)";] (fun x -> file_to_load := x) "Usage: "; @@ -187,7 +189,7 @@ let init = fun () -> let serial_port = if !output_on_serial then - Some (Unix.out_channel_of_descr (Serial.opendev !port (Serial.speed_of_baudrate !baudrate))) + Some (Unix.out_channel_of_descr (Serial.opendev !port (Serial.speed_of_baudrate !baudrate) !hw_flow_control)) else None in diff --git a/sw/simulator/nps/nps_autopilot_rotorcraft.c b/sw/simulator/nps/nps_autopilot_rotorcraft.c index 08d5d19dd2..51ae195d95 100644 --- a/sw/simulator/nps/nps_autopilot_rotorcraft.c +++ b/sw/simulator/nps/nps_autopilot_rotorcraft.c @@ -32,7 +32,7 @@ #include "mcu_periph/sys_time.h" #include "state.h" -#include "actuators/supervision.h" +#include "subsystems/actuators/motor_mixing.h" struct NpsAutopilot autopilot; @@ -100,8 +100,8 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) { /* scale final motor commands to 0-1 for feeding the fdm */ /* FIXME: autopilot.commands is of length NB_COMMANDS instead of number of motors */ - for (uint8_t i=0; i define (name^"_NEUTRAL") (sof neutral); define (name^"_TRAVEL_UP") (sof travel_up); + define_integer (name^"_TRAVEL_UP") travel_up 16; define (name^"_TRAVEL_DOWN") (sof travel_down); + define_integer (name^"_TRAVEL_DOWN") travel_down 16; let min = Pervasives.min min max and max = Pervasives.max min max in @@ -150,7 +152,18 @@ let preprocess_value = fun s v prefix -> let s = Str.global_replace pprz_value (sprintf "%s[%s_\\1]" v prefix) s in Str.global_replace var_value "_var_\\1" s - +let print_actuators_idx = fun () -> + let nb = Hashtbl.fold (fun s d i -> + printf "#define SERVO_%s_IDX %d\n" s i; + (* Set servo macro *) + printf "#define Set_%s_Servo(_v) { \\\n" s; + printf " actuators[SERVO_%s_IDX] = Chop(_v, SERVO_%s_MIN, SERVO_%s_MAX); \\\n" s s s; + printf " Actuator%sSet(SERVO_%s, actuators[SERVO_%s_IDX]); \\\n" d s s; + printf "}\n\n"; + i+1 + ) servos_drivers 0 in + define "ACTUATORS_NB" (string_of_int nb); + nl () let parse_command_laws = fun command -> let a = fun s -> ExtXml.attrib command s in @@ -159,63 +172,30 @@ let parse_command_laws = fun command -> let servo = a "servo" and value = a "value" in let v = preprocess_value value "values" "COMMAND" in - printf " command_value = %s;\\\n" v; - printf " command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP : SERVO_%s_TRAVEL_DOWN;\\\n" servo servo; - printf " servo_value = SERVO_%s_NEUTRAL + (int32_t)(command_value);\\\n" servo; - printf " actuators[SERVO_%s] = ChopServo(servo_value, SERVO_%s_MIN, SERVO_%s_MAX);\\\n\\\n" servo servo servo; - - let driver = get_servo_driver servo in - printf " Actuator%s(SERVO_%s) = SERVOS_TICS_OF_USEC(actuators[SERVO_%s]);\\\n\\\n" driver servo servo + printf " command_value = %s; \\\n" v; + printf " command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP_NUM : SERVO_%s_TRAVEL_DOWN_NUM; \\\n" servo servo; + printf " command_value /= command_value>0 ? SERVO_%s_TRAVEL_UP_DEN : SERVO_%s_TRAVEL_DOWN_DEN; \\\n" servo servo; + printf " servo_value = SERVO_%s_NEUTRAL + command_value; \\\n" servo; + printf " Set_%s_Servo(servo_value); \\\n\\\n" servo | "let" -> let var = a "var" and value = a "value" in let v = preprocess_value value "values" "COMMAND" in - printf " int16_t _var_%s = %s;\\\n" var v + printf " int16_t _var_%s = %s; \\\n" var v + | "call" -> + let f = a "fun" in + printf " %s; \\\n\\\n" f | "ratelimit" -> let var = a "var" and value = a "value" and rate_min = a "rate_min" and rate_max = a "rate_max" in let v = preprocess_value value "values" "COMMAND" in - printf " static int16_t _var_%s = 0; _var_%s += Chop((%s) - (_var_%s), (%s), (%s));\\\n" var var v var rate_min rate_max + printf " static int16_t _var_%s = 0; _var_%s += Chop((%s) - (_var_%s), (%s), (%s)); \\\n" var var v var rate_min rate_max | "define" -> parse_element "" command | _ -> xml_error "set|let" -let parse_csc_fields = fun csc_fields -> - let a = fun s -> ExtXml.attrib csc_fields s in - match Xml.tag csc_fields with - "field_map" -> - let servo_id = a "servo_id" - and field = a "field" in - printf " temp.%s = actuators[%s]; \\\n" field servo_id; - | _ -> xml_error "field_map" - -let parse_csc_messages = (let msg_index_ref = ref 0 in fun csc_id csc_messages -> - let a = fun s -> ExtXml.attrib csc_messages s in - match Xml.tag csc_messages with - "msg" -> - let msg_id = a "id" - and msg_type = a "type" - and msg_index = msg_index_ref.contents in - msg_index_ref.contents <- msg_index + 1; - printf "{\\\n struct Csc%s temp; \\\n" msg_type; - List.iter parse_csc_fields (Xml.children csc_messages); - printf " can_write_csc(%s, CSC_%s, (uint8_t *)&temp, sizeof(struct Csc%s)); \\\n" csc_id msg_id msg_type; - printf "} \\\n" - | _ -> xml_error "msg" - ) - -let parse_csc_boards = fun csc_board -> - let a = fun s -> ExtXml.attrib csc_board s in - match Xml.tag csc_board with - "board" -> - let csc_id = a "id" in - List.iter (parse_csc_messages csc_id) (Xml.children csc_board); - | "define" -> - parse_element "" csc_board - | _ -> xml_error "board" - let parse_rc_commands = fun rc -> let a = fun s -> ExtXml.attrib rc s in match Xml.tag rc with @@ -255,11 +235,12 @@ let rec parse_section = fun s -> List.iter (parse_element prefix) (Xml.children s); nl () | "servos" -> - let driver = ExtXml.attrib_or_default s "driver" "" in + let driver = ExtXml.attrib_or_default s "driver" "Default" in let servos = Xml.children s in let nb_servos = List.fold_right (fun s m -> Pervasives.max (int_of_string (ExtXml.attrib s "no")) m) servos min_int + 1 in - define "SERVOS_NB" (string_of_int nb_servos); + define (sprintf "SERVOS_%s_NB" (String.uppercase driver)) (string_of_int nb_servos); + printf "#include \"subsystems/actuators/actuators_%s.h\"\n" (String.lowercase driver); nl (); List.iter (parse_servo driver) servos; nl () @@ -282,9 +263,11 @@ let rec parse_section = fun s -> List.iter parse_ap_only_commands (Xml.children s); printf "}\n\n" | "command_laws" -> + print_actuators_idx (); + printf "#define SetActuatorsFromCommands(values) { \\\n"; - printf " uint32_t servo_value;\\\n"; - printf " float command_value;\\\n"; + printf " int32_t servo_value;\\\n"; + printf " int32_t command_value;\\\n\\\n"; List.iter parse_command_laws (Xml.children s); @@ -295,12 +278,6 @@ let rec parse_section = fun s -> printf "#define AllActuatorsInit() { \\\n"; List.iter (fun d -> printf " Actuators%sInit();\\\n" d) drivers; printf "}\n\n"; - | "csc_boards" -> - let boards = Array.of_list (Xml.children s) in - define "CSC_BOARD_NB" (string_of_int (Array.length boards)); - printf "#define SendCscFromActuators() { \\\n"; - List.iter parse_csc_boards (Xml.children s); - printf "}\n" | "include" -> let filename = ExtXml.attrib s "href" in let subxml = Xml.parse_file filename in diff --git a/sw/tools/stm32loader/COPYING3 b/sw/tools/stm32loader/COPYING3 new file mode 100644 index 0000000000..20d40b6bce --- /dev/null +++ b/sw/tools/stm32loader/COPYING3 @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. \ No newline at end of file diff --git a/sw/tools/stm32loader/README b/sw/tools/stm32loader/README new file mode 100644 index 0000000000..ac096dc88c --- /dev/null +++ b/sw/tools/stm32loader/README @@ -0,0 +1,29 @@ +STM32Loader +=========== + +Python script which will talk to the STM32 bootloader to upload and download firmware. + +Original Version by: Ivan A-R + + +Usage: ./stm32loader.py [-hqVewvr] [-l length] [-p port] [-b baud] [-a addr] [file.bin] + -h This help + -q Quiet + -V Verbose + -e Erase + -w Write + -v Verify + -r Read + -l length Length of read + -p port Serial port (default: /dev/tty.usbserial-ftCYPMYJ) + -b baud Baud speed (default: 115200) + -a addr Target address + + ./stm32loader.py -e -w -v example/main.bin + + +Example: +stm32loader.py -e -w -v somefile.bin + +This will pre-erase flash, write somefile.bin to the flash on the device, and then perform a verification after writing is finished. + diff --git a/sw/tools/stm32loader/stm32loader.py b/sw/tools/stm32loader/stm32loader.py new file mode 100755 index 0000000000..67e3b6f625 --- /dev/null +++ b/sw/tools/stm32loader/stm32loader.py @@ -0,0 +1,431 @@ +#!/usr/bin/env python + +# -*- coding: utf-8 -*- +# vim: sw=4:ts=4:si:et:enc=utf-8 + +# Author: Ivan A-R +# Project page: http://tuxotronic.org/wiki/projects/stm32loader +# +# This file is part of stm32loader. +# +# stm32loader 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 3, or (at your option) any later +# version. +# +# stm32loader 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 stm32loader; see the file COPYING3. If not see +# . + +import sys, getopt +import serial +import time + +try: + from progressbar import * + usepbar = 1 +except: + usepbar = 0 + +# Verbose level +QUIET = 20 + +def mdebug(level, message): + if(QUIET >= level): + print >> sys.stderr , message + + +class CmdException(Exception): + pass + +class CommandInterface: + def open(self, aport='/dev/tty.usbserial-ftCYPMYJ', abaudrate=115200) : + self.sp = serial.Serial( + port=aport, + baudrate=abaudrate, # baudrate + bytesize=8, # number of databits + parity=serial.PARITY_EVEN, + stopbits=1, + xonxoff=0, # enable software flow control + rtscts=0, # disable RTS/CTS flow control + timeout=5 # set a timeout value, None for waiting forever + ) + + + def _wait_for_ask(self, info = ""): + # wait for ask + try: + ask = ord(self.sp.read()) + except: + raise CmdException("Can't read port or timeout") + else: + if ask == 0x79: + # ACK + return 1 + else: + if ask == 0x1F: + # NACK + raise CmdException("NACK "+info) + else: + # Unknow responce + raise CmdException("Unknow response. "+info+": "+hex(ask)) + + + def reset(self): + self.sp.setDTR(0) + time.sleep(0.1) + self.sp.setDTR(1) + time.sleep(0.5) + + def initChip(self): + # Set boot + self.sp.setRTS(0) + self.reset() + + self.sp.write("\x7F") # Syncro + return self._wait_for_ask("Syncro") + + def releaseChip(self): + self.sp.setRTS(1) + self.reset() + + def cmdGeneric(self, cmd): + self.sp.write(chr(cmd)) + self.sp.write(chr(cmd ^ 0xFF)) # Control byte + return self._wait_for_ask(hex(cmd)) + + def cmdGet(self): + if self.cmdGeneric(0x00): + mdebug(10, "*** Get command"); + len = ord(self.sp.read()) + version = ord(self.sp.read()) + mdebug(10, " Bootloader version: "+hex(version)) + dat = map(lambda c: hex(ord(c)), self.sp.read(len)) + mdebug(10, " Available commands: "+str(dat)) + self._wait_for_ask("0x00 end") + return version + else: + raise CmdException("Get (0x00) failed") + + def cmdGetVersion(self): + if self.cmdGeneric(0x01): + mdebug(10, "*** GetVersion command") + version = ord(self.sp.read()) + self.sp.read(2) + self._wait_for_ask("0x01 end") + mdebug(10, " Bootloader version: "+hex(version)) + return version + else: + raise CmdException("GetVersion (0x01) failed") + + def cmdGetID(self): + if self.cmdGeneric(0x02): + mdebug(10, "*** GetID command") + len = ord(self.sp.read()) + id = self.sp.read(len+1) + self._wait_for_ask("0x02 end") + return id + else: + raise CmdException("GetID (0x02) failed") + + + def _encode_addr(self, addr): + byte3 = (addr >> 0) & 0xFF + byte2 = (addr >> 8) & 0xFF + byte1 = (addr >> 16) & 0xFF + byte0 = (addr >> 24) & 0xFF + crc = byte0 ^ byte1 ^ byte2 ^ byte3 + return (chr(byte0) + chr(byte1) + chr(byte2) + chr(byte3) + chr(crc)) + + + def cmdReadMemory(self, addr, lng): + assert(lng <= 256) + if self.cmdGeneric(0x11): + mdebug(10, "*** ReadMemory command") + self.sp.write(self._encode_addr(addr)) + self._wait_for_ask("0x11 address failed") + N = (lng - 1) & 0xFF + crc = N ^ 0xFF + self.sp.write(chr(N) + chr(crc)) + self._wait_for_ask("0x11 length failed") + return map(lambda c: ord(c), self.sp.read(lng)) + else: + raise CmdException("ReadMemory (0x11) failed") + + + def cmdGo(self, addr): + if self.cmdGeneric(0x21): + mdebug(10, "*** Go command") + self.sp.write(self._encode_addr(addr)) + self._wait_for_ask("0x21 go failed") + else: + raise CmdException("Go (0x21) failed") + + + def cmdWriteMemory(self, addr, data): + assert(len(data) <= 256) + if self.cmdGeneric(0x31): + mdebug(10, "*** Write memory command") + self.sp.write(self._encode_addr(addr)) + self._wait_for_ask("0x31 address failed") + #map(lambda c: hex(ord(c)), data) + lng = (len(data)-1) & 0xFF + mdebug(10, " %s bytes to write" % [lng+1]); + self.sp.write(chr(lng)) # len really + crc = 0xFF + for c in data: + crc = crc ^ c + self.sp.write(chr(c)) + self.sp.write(chr(crc)) + self._wait_for_ask("0x31 programming failed") + mdebug(10, " Write memory done") + else: + raise CmdException("Write memory (0x31) failed") + + + def cmdEraseMemory(self, sectors = None): + if self.cmdGeneric(0x43): + mdebug(10, "*** Erase memory command") + if sectors is None: + # Global erase + self.sp.write(chr(0xFF)) + self.sp.write(chr(0x00)) + else: + # Sectors erase + self.sp.write(chr((len(sectors)-1) & 0xFF)) + crc = 0xFF + for c in sectors: + crc = crc ^ c + self.sp.write(chr(c)) + self.sp.write(chr(crc)) + self._wait_for_ask("0x43 erasing failed") + mdebug(10, " Erase memory done") + else: + raise CmdException("Erase memory (0x43) failed") + + def cmdWriteProtect(self, sectors): + if self.cmdGeneric(0x63): + mdebug(10, "*** Write protect command") + self.sp.write(chr((len(sectors)-1) & 0xFF)) + crc = 0xFF + for c in sectors: + crc = crc ^ c + self.sp.write(chr(c)) + self.sp.write(chr(crc)) + self._wait_for_ask("0x63 write protect failed") + mdebug(10, " Write protect done") + else: + raise CmdException("Write Protect memory (0x63) failed") + + def cmdWriteUnprotect(self): + if self.cmdGeneric(0x73): + mdebug(10, "*** Write Unprotect command") + self._wait_for_ask("0x73 write unprotect failed") + self._wait_for_ask("0x73 write unprotect 2 failed") + mdebug(10, " Write Unprotect done") + else: + raise CmdException("Write Unprotect (0x73) failed") + + def cmdReadoutProtect(self): + if self.cmdGeneric(0x82): + mdebug(10, "*** Readout protect command") + self._wait_for_ask("0x82 readout protect failed") + self._wait_for_ask("0x82 readout protect 2 failed") + mdebug(10, " Read protect done") + else: + raise CmdException("Readout protect (0x82) failed") + + def cmdReadoutUnprotect(self): + if self.cmdGeneric(0x92): + mdebug(10, "*** Readout Unprotect command") + self._wait_for_ask("0x92 readout unprotect failed") + self._wait_for_ask("0x92 readout unprotect 2 failed") + mdebug(10, " Read Unprotect done") + else: + raise CmdException("Readout unprotect (0x92) failed") + + +# Complex commands section + + def readMemory(self, addr, lng): + data = [] + if usepbar: + widgets = ['Reading: ', Percentage(),', ', ETA(), ' ', Bar()] + pbar = ProgressBar(widgets=widgets,maxval=lng, term_width=79).start() + + while lng > 256: + if usepbar: + pbar.update(pbar.maxval-lng) + else: + mdebug(5, "Read %(len)d bytes at 0x%(addr)X" % {'addr': addr, 'len': 256}) + data = data + self.cmdReadMemory(addr, 256) + addr = addr + 256 + lng = lng - 256 + if usepbar: + pbar.update(pbar.maxval-lng) + pbar.finish() + else: + mdebug(5, "Read %(len)d bytes at 0x%(addr)X" % {'addr': addr, 'len': 256}) + data = data + self.cmdReadMemory(addr, lng) + return data + + def writeMemory(self, addr, data): + lng = len(data) + if usepbar: + widgets = ['Writing: ', Percentage(),' ', ETA(), ' ', Bar()] + pbar = ProgressBar(widgets=widgets, maxval=lng, term_width=79).start() + + offs = 0 + while lng > 256: + if usepbar: + pbar.update(pbar.maxval-lng) + else: + mdebug(5, "Write %(len)d bytes at 0x%(addr)X" % {'addr': addr, 'len': 256}) + self.cmdWriteMemory(addr, data[offs:offs+256]) + offs = offs + 256 + addr = addr + 256 + lng = lng - 256 + if usepbar: + pbar.update(pbar.maxval-lng) + pbar.finish() + else: + mdebug(5, "Write %(len)d bytes at 0x%(addr)X" % {'addr': addr, 'len': 256}) + self.cmdWriteMemory(addr, data[offs:offs+lng] + ([0xFF] * (256-lng)) ) + + + + + def __init__(self) : + pass + + +def usage(): + print """Usage: %s [-hqVewvr] [-l length] [-p port] [-b baud] [-a addr] [file.bin] + -h This help + -q Quiet + -V Verbose + -e Erase + -w Write + -v Verify + -r Read + -l length Length of read + -p port Serial port (default: /dev/tty.usbserial-ftCYPMYJ) + -b baud Baud speed (default: 115200) + -a addr Target address + + ./stm32loader.py -e -w -v example/main.bin + + """ % sys.argv[0] + + +if __name__ == "__main__": + + # Import Psyco if available + try: + import psyco + psyco.full() + print "Using Psyco..." + except ImportError: + pass + + conf = { + 'port': '/dev/tty.usbserial-ftCYPMYJ', + 'baud': 115200, + 'address': 0x08000000, + 'erase': 0, + 'write': 0, + 'verify': 0, + 'read': 0, + } + +# http://www.python.org/doc/2.5.2/lib/module-getopt.html + + try: + opts, args = getopt.getopt(sys.argv[1:], "hqVewvrp:b:a:l:") + except getopt.GetoptError, err: + # print help information and exit: + print str(err) # will print something like "option -a not recognized" + usage() + sys.exit(2) + + QUIET = 5 + + for o, a in opts: + if o == '-V': + QUIET = 10 + elif o == '-q': + QUIET = 0 + elif o == '-h': + usage() + sys.exit(0) + elif o == '-e': + conf['erase'] = 1 + elif o == '-w': + conf['write'] = 1 + elif o == '-v': + conf['verify'] = 1 + elif o == '-r': + conf['read'] = 1 + elif o == '-p': + conf['port'] = a + elif o == '-b': + conf['baud'] = eval(a) + elif o == '-a': + conf['address'] = eval(a) + elif o == '-l': + conf['len'] = eval(a) + else: + assert False, "unhandled option" + + cmd = CommandInterface() + cmd.open(conf['port'], conf['baud']) + mdebug(10, "Open port %(port)s, baud %(baud)d" % {'port':conf['port'], 'baud':conf['baud']}) + try: + try: + cmd.initChip() + except: + print "Can't init. Ensure that BOOT0 is enabled and reset device" + + + bootversion = cmd.cmdGet() + mdebug(0, "Bootloader version %X" % bootversion) + mdebug(0, "Chip id `%s'" % str(map(lambda c: hex(ord(c)), cmd.cmdGetID()))) +# cmd.cmdGetVersion() +# cmd.cmdGetID() +# cmd.cmdReadoutUnprotect() +# cmd.cmdWriteUnprotect() +# cmd.cmdWriteProtect([0, 1]) + + if (conf['write'] or conf['verify']): + data = map(lambda c: ord(c), file(args[0]).read()) + + if conf['erase']: + cmd.cmdEraseMemory() + + if conf['write']: + cmd.writeMemory(conf['address'], data) + + if conf['verify']: + verify = cmd.readMemory(conf['address'], len(data)) + if(data == verify): + print "Verification OK" + else: + print "Verification FAILED" + print str(len(data)) + ' vs ' + str(len(verify)) + for i in xrange(0, len(data)): + if data[i] != verify[i]: + print hex(i) + ': ' + hex(data[i]) + ' vs ' + hex(verify[i]) + + if not conf['write'] and conf['read']: + rdata = cmd.readMemory(conf['address'], conf['len']) + file(args[0], 'wb').write(''.join(map(chr,rdata))) + +# cmd.cmdGo(addr + 0x04) + finally: + cmd.releaseChip() +