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GRZE3 compilation succeeded !

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This commit is contained in:
Pascal Brisset
2006-03-23 16:04:42 +00:00
parent 5eda293997
commit 6d0c37bb9a
21 changed files with 91 additions and 105 deletions
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conf/airframes/gorrazoptere_esc_3DMG.xml
+3
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@@ -62,6 +62,9 @@
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="PHI_DOT" failsafe_value="0"/>
<axis name="THETA_DOT" failsafe_value="0"/>
<axis name="PSI_DOT" failsafe_value="0"/>
<axis name="PHI" failsafe_value="0"/>
<axis name="THETA" failsafe_value="0"/>
<axis name="PSI" failsafe_value="0"/>
conf/autopilot/disc_board.makefile
+1 -1
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@@ -10,4 +10,4 @@ ap.EXT_FUSE = ff
ap.LOCK_FUSE = ff
ap.CFLAGS += -DAP -DFBW -DCONFIG=\"config_discboard.h\"
# ap.srcs = sys_time.c main_fbw_2.c main_ap_2.c main.c
ap.srcs = $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/adc_ap.c $(SRC_ARCH)/uart_ap.c $(SRC_ARCH)/servos_esc_hw.c main_fbw.c inter_mcu.c pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
ap.srcs = $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/adc_ap.c $(SRC_ARCH)/uart_ap.c $(SRC_ARCH)/servos_esc_hw.c sys_time.c main_fbw.c inter_mcu.c pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
sw/airborne/3dmg.c
-6
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@@ -24,10 +24,6 @@
#include "airframe.h"
#ifdef IMU_3DMG
#warning "Compiling 3dmg.c"
#include "std.h"
#include "3dmg.h"
#include "uart_fbw.h"
@@ -167,5 +163,3 @@ static inline void on_3dmg_receive(uint8_t c) {
ReceiveUart(on_3dmg_receive);
#endif /* AVR_ARCH */
#endif // IMU_3DMG
sw/airborne/adc_ap.h
+1 -1
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@@ -25,7 +25,7 @@
*
*/
/** \file adc.h
/** \file adc_ap.h
* \brief Analog to Digital Converter API
*
* Facility to store last values in a circular buffer for a specific
sw/airborne/avr/i2c_ap.c
+1 -1
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@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*
*/
/** \file i2c.c
/** \file i2c_ap.c
* \brief Basic library for I2C
*
*/
sw/airborne/avr/i2c_ap.h
+1 -1
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@@ -21,7 +21,7 @@
* Boston, MA 02111-1307, USA.
*
*/
/** \file i2c.h
/** \file i2c_ap.h
* \brief Basic library for I2C
*
*/
sw/airborne/avr/ppm_hw.c
+1
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@@ -22,6 +22,7 @@
* Boston, MA 02111-1307, USA.
*
*/
#include <avr/signal.h>
#include "ppm.h"
#include "sys_time.h"
sw/airborne/avr/servos_esc_hw.c
+13
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@@ -51,6 +51,19 @@
const pprz_t failsafe_values[COMMANDS_NB] = COMMANDS_FAILSAFE;
void command_init ( void ) {
/* OC1A output */
DDRB |= _BV(5);
/* fast PWM, 10 bits */
TCCR1A |= _BV(WGM10) | _BV(WGM11) | _BV(COM1A1);
TCCR1B |= _BV(WGM12);
/* OC3A, OC3B, OC3C outputs */
DDRE |= _BV(3) | _BV(4) | _BV(5);
/* fast PWM : 10 bits */
TCCR3A |= _BV(WGM30) | _BV(WGM31) | _BV(COM3A1) | _BV(COM3B1) | _BV(COM3C1);
TCCR3B |= _BV(WGM32);
}
void command_set(const pprz_t values[]) {
CommandsSet(values); /*Generated from airframe.xml */
}
sw/airborne/avr/servos_esc_hw.h
-13
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@@ -36,17 +36,4 @@
#include <avr/io.h>
static inline void command_init ( void ) {
/* OC1A output */
DDRB |= _BV(5);
/* fast PWM, 10 bits */
TCCR1A |= _BV(WGM10) | _BV(WGM11) | _BV(COM1A1);
TCCR1B |= _BV(WGM12);
/* OC3A, OC3B, OC3C outputs */
DDRE |= _BV(3) | _BV(4) | _BV(5);
/* fast PWM : 10 bits */
TCCR3A |= _BV(WGM30) | _BV(WGM31) | _BV(COM3A1) | _BV(COM3B1) | _BV(COM3C1);
TCCR3B |= _BV(WGM32);
}
#endif /* SERVOS_ESC_HW_H */
sw/airborne/command.h
+24 -2
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@@ -1,8 +1,30 @@
/* $Id$
*
* Copied from autopilot (autopilot.sf.net) thanx alot Trammell
* (c) 2003-2005 Pascal Brisset, 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 COMMAND_H
#define COMMAND_H
//#include "inter_mcu.h"
#include "paparazzi.h"
extern void command_init( void );
sw/airborne/control_grz.c
+24 -36
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@@ -22,92 +22,80 @@
*
*/
#include "std.h"
#include "airframe.h"
#include "control_grz.h"
#include "estimator.h"
#include "radio.h"
#include "imu.h"
#include "main_fbw.h"
int16_t setpoint_roll = 0;
float roll_pgain = -0.8;
#define NORMALIZE(n, lower, uper) { \
while ( n > uper) { n -= (uper - lower);} \
while ( n < lower) { n += (uper - lower);} \
}
float fbw_roll_pgain = -0.8;
#define MAX_ROLL_DOT (1. * 32768000. / 8500.)
int16_t setpoint_pitch = 0;
float pitch_pgain = -0.5;
float fbw_pitch_pgain = -0.5;
#define MAX_PITCH_DOT (1. * 32768000. / 8500.)
int16_t setpoint_yaw = 0;
float yaw_pgain = -2.5;
float fbw_yaw_pgain = -2.5;
#define MAX_YAW_DOT (1. * 32768000. / 8500.)
int16_t setpoint_roll_dot = 0;
float roll_dot_pgain = -1.9;
float roll_dot_igain = 0.0;
float roll_dot_dgain = 0.0;
int16_t roll_dot_sum_err = 0;
int16_t roll_dot_last_err = 0;
pprz_t command_roll = 0;
int16_t setpoint_pitch_dot = 0;
float pitch_dot_pgain = -1.9;
float pitch_dot_igain = 0.0;
float pitch_dot_dgain = 0.0;
int16_t pitch_dot_sum_err = 0;
int16_t pitch_dot_last_err = 0;
pprz_t command_pitch = 0;
int16_t setpoint_yaw_dot = 0;
float yaw_dot_pgain = -4.8;
float yaw_dot_igain = 0.0;
float yaw_dot_dgain = 0.0;
int16_t yaw_dot_sum_err = 0;
int16_t yaw_dot_last_err = 0;
pprz_t command_yaw = 0;
int16_t setpoint_throttle = 0;
pprz_t command_throttle = 0;
pprz_t control_commands[] = {0, 0, 0, 0};
void control_rate_run ( void ) {
int16_t err = e_roll_dot - setpoint_roll_dot;
int16_t err = roll_dot - commands[COMMAND_PHI_DOT];
int16_t d_err = err - roll_dot_last_err;
roll_dot_last_err = err;
// roll_dot_sum_err += err;
// control_commands[RADIO_ROLL] = TRIM_PPRZ((err + d_err * roll_dot_dgain + roll_dot_sum_err * roll_dot_igain)
control_commands[RADIO_ROLL] = TRIM_PPRZ((int16_t)((err + d_err * roll_dot_dgain) * roll_dot_pgain));
commands[COMMAND_ROLL] = TRIM_PPRZ((int16_t)((err + d_err * roll_dot_dgain) * roll_dot_pgain));
err = e_pitch_dot - setpoint_pitch_dot;
err = pitch_dot - commands[COMMAND_THETA_DOT];
d_err = err - pitch_dot_last_err;
pitch_dot_last_err = err;
// pitch_dot_sum_err += err;
// control_commands[RADIO_PITCH] = TRIM_PPRZ((err + d_err * pitch_dot_dgain + pitch_dot_sum_err * pitch_dot_igain) * pitch_dot_pgain);
control_commands[RADIO_PITCH] = TRIM_PPRZ((int16_t)((err + d_err * pitch_dot_dgain) * pitch_dot_pgain));
commands[COMMAND_PITCH] = TRIM_PPRZ((int16_t)((err + d_err * pitch_dot_dgain) * pitch_dot_pgain));
err = e_yaw_dot - setpoint_yaw_dot;
err = yaw_dot - commands[COMMAND_PSI_DOT];
// d_err = err - yaw_dot_last_err;
// yaw_dot_last_err = err;
// yaw_dot_sum_err += err;
// control_commands[RADIO_YAW] = TRIM_PPRZ((err + d_err * yaw_dot_dgain + yaw_dot_sum_err * yaw_dot_igain) * yaw_dot_pgain);
control_commands[RADIO_YAW] = TRIM_PPRZ((int16_t)(err * yaw_dot_pgain));
control_commands[RADIO_THROTTLE] = TRIM_PPRZ(setpoint_throttle);
commands[COMMAND_YAW] = TRIM_PPRZ((int16_t)(err * yaw_dot_pgain));
}
void control_attitude_run ( void ) {
int16_t err = e_roll - setpoint_roll;
setpoint_roll_dot = TRIM(roll_pgain * err, -MAX_ROLL_DOT, MAX_ROLL_DOT);
int16_t err = roll - commands[COMMAND_PHI];
commands[COMMAND_PHI_DOT] = Chop(fbw_roll_pgain * err, -MAX_ROLL_DOT, MAX_ROLL_DOT);
err = e_pitch - setpoint_pitch;
setpoint_pitch_dot = TRIM(pitch_pgain * err, -MAX_PITCH_DOT, MAX_PITCH_DOT);
err = pitch - commands[COMMAND_THETA];
commands[COMMAND_THETA_DOT] = Chop(fbw_pitch_pgain * err, -MAX_PITCH_DOT, MAX_PITCH_DOT);
}
void control_heading_run ( void ) {
int16_t err = - (e_yaw/4 - setpoint_yaw/4);
int16_t err = - (yaw/4 - commands[COMMAND_PSI]/4);
NORMALIZE(err, -8192, 8192);
setpoint_yaw_dot = TRIM(yaw_pgain * err, -MAX_YAW_DOT, MAX_YAW_DOT);
commands[COMMAND_PSI_DOT] = Chop(fbw_yaw_pgain * err, -MAX_YAW_DOT, MAX_YAW_DOT);
}
#endif
sw/airborne/control_grz.h
+3 -15
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@@ -27,31 +27,19 @@
#include <inttypes.h>
extern int16_t setpoint_roll;
extern float roll_pgain;
extern float fbw_roll_pgain;
extern float fbw_pitch_pgain;
extern float fbw_yaw_pgain;
extern int16_t setpoint_pitch;
extern float pitch_pgain;
extern int16_t setpoint_yaw;
extern float yaw_pgain;
extern int16_t setpoint_roll_dot;
extern float roll_dot_pgain;
extern float roll_dot_dgain;
extern int16_t setpoint_pitch_dot;
extern float pitch_dot_pgain;
extern float pitch_dot_dgain;
extern int16_t setpoint_yaw_dot;
extern float yaw_dot_dgain;
extern float yaw_dot_pgain;
extern int16_t setpoint_throttle;
extern pprz_t control_commands[];
void control_rate_run ( void );
void control_attitude_run ( void );
void control_heading_run ( void );
sw/airborne/estimator.c
+3 -3
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@@ -94,9 +94,9 @@ void estimator_init( void ) {
#ifdef IMU_3DMG
#include "inter_mcu.h"
void estimator_update_state_3DMG( void ) {
estimator_phi = from_fbw.euler[0];
estimator_psi = from_fbw.euler[1];
estimator_theta = from_fbw.euler[2];
estimator_phi = from_fbw.from_fbw.euler[0];
estimator_psi = from_fbw.from_fbw.euler[1];
estimator_theta = from_fbw.from_fbw.euler[2];
}
#elif defined IMU_ANALOG && defined AHRS
#include "ahrs.h"
sw/airborne/if_calib.c
+2
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@@ -43,5 +43,7 @@
#include "estimator.h"
#define RcChannel(x) (from_fbw.from_fbw.channels[x])
/** Includes generated code from airframe.xml */
#include "inflight_calib.h"
sw/airborne/imu.c
-2
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@@ -33,7 +33,6 @@
int16_t roll_dot, pitch_dot, yaw_dot;
#ifdef IMU_3DMG
#warning "Compiling imu.c for 3DMG"
#include "3dmg.h"
int16_t roll, pitch, yaw;
@@ -58,7 +57,6 @@ void imu_capture_neutral ( void ) {
#endif // 3DMG
#ifdef IMU_ANALOG
#warning "Compiling imu.c for ANALOG"
#include "adc_fbw.h"
struct adc_buf buf_roll_dot;
sw/airborne/inter_mcu.h
-7
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@@ -46,13 +46,6 @@
/* !!!!!!!!!!!!!!!!!!! Value used in gen_airframe.ml !!!!!!!!!!!!!!!!! */
#define TRIM_PPRZ(pprz) (pprz < MIN_PPRZ ? MIN_PPRZ : \
(pprz > MAX_PPRZ ? MAX_PPRZ : \
pprz))
#define TRIM_UPPRZ(pprz) (pprz < 0 ? 0 : \
(pprz > MAX_PPRZ ? MAX_PPRZ : \
pprz))
/** Data structure shared by fbw and ap sub-mofules */
struct from_fbw_msg {
pprz_t channels[RADIO_CTL_NB];
sw/airborne/main_fbw.c
+2 -12
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@@ -22,10 +22,6 @@
*
*/
#include <inttypes.h>
#include "main_fbw.h"
#include "int.h"
//#include "timer_fbw.h"
@@ -35,7 +31,6 @@
#include "inter_mcu.h"
#define RC_AVG_PERIOD 8
#include "radio.h"
#include "led.h"
#include "uart_fbw.h"
@@ -75,7 +70,7 @@ static uint8_t ppm_cpt, last_ppm_cpt;
#define REALLY_STALLED_TIME 300 // 5s with a 60Hz timer
static pprz_t commands[COMMANDS_NB];
pprz_t commands[COMMANDS_NB];
/** Storage of intermediate command values: these values come from
the RC (MANUAL mode), from the autopilot (AUTO mode) or from control loops.
They are asyncronisly used to set the servos */
@@ -189,7 +184,6 @@ void init_fbw( void ) {
int_enable();
#if IMU_RESET_ON_BOOT
#warning IMU_RESET_ON_BOOT
imu_capture_neutral();
#endif
}
@@ -214,11 +208,7 @@ void event_task_fbw( void) {
time_since_last_ap = 0;
ap_ok = TRUE;
if (mode == FBW_MODE_AUTO) {
#if defined IMU_ANALOG || defined IMU_3DMG
control_set_desired(from_ap.from_ap.channels);
#else
SetCommands(from_ap.from_ap.channels);
#endif
}
to_autopilot_from_rc_values();
}
@@ -257,7 +247,7 @@ void periodic_task_fbw( void ) {
imu_update();
#endif
#if defined IMU_3DMG || defined IMU_ANALOG
control_run(commands);
control_rate_run();
if (radio_ok) {
if (rc_values[RADIO_THROTTLE] < 0.1*MAX_PPRZ) {
SetCommands(failsafe);
sw/airborne/main_fbw.h
+4
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@@ -25,6 +25,10 @@
#ifndef FBW_H
#define FBW_H
#include "paparazzi.h"
#include "airframe.h"
extern pprz_t commands[COMMANDS_NB];
extern void init_fbw( void );
extern void periodic_task_fbw( void );
extern void event_task_fbw( void );
sw/airborne/paparazzi.h
+6 -2
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@@ -8,7 +8,11 @@ typedef int16_t pprz_t; /* type of commands */
#define MAX_PPRZ 9600
#define MIN_PPRZ -MAX_PPRZ
#define TRIM_PPRZ(pprz) (pprz < MIN_PPRZ ? MIN_PPRZ : \
(pprz > MAX_PPRZ ? MAX_PPRZ : \
pprz))
#define TRIM_UPPRZ(pprz) (pprz < 0 ? 0 : \
(pprz > MAX_PPRZ ? MAX_PPRZ : \
pprz))
#endif /* PAPARAZZI_H */
sw/airborne/ppm.h
-1
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@@ -24,7 +24,6 @@
#ifndef PPM_H
#define PPM_H
#include <inttypes.h>
#include "std.h"
#include "radio.h"
sw/tools/gen_calib.ml
+2 -2
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@@ -67,9 +67,9 @@ let parse_setting = fun xml ->
lprintf "if (mode_changed) {\n";
right ();
lprintf "%s = %s;\n" var_init var;
lprintf "slider%d_init = from_fbw.channels[RADIO_GAIN%d];\n" cursor cursor;
lprintf "slider%d_init = RcChannel(RADIO_GAIN%d);\n" cursor cursor;
left (); lprintf "}\n";
lprintf "%s = %s(%s, %f, from_fbw.channels[RADIO_GAIN%d], slider%d_init);\n" var param_macro var_init range cursor cursor;
lprintf "%s = %s(%s, %f, RcChannel(RADIO_GAIN%d), slider%d_init);\n" var param_macro var_init range cursor cursor;
lprintf "slider_%d_val = (float)%s;\n" cursor var;
left (); lprintf "}\n"