Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 15:30:08 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

Start converting planes, turn meteo sensors into modules, adapt to new I2C framework.

Browse Source
This commit is contained in:
Martin Mueller
2010-10-15 19:56:09 +00:00
parent 8076deb439
commit 6e7aa3318d
39 changed files with 1252 additions and 397 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/mm/fixed-wing/funjetmm.xml
+54 -109
View File
@@ -2,16 +2,65 @@
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
XBee modem
/* Payload: Sensirion humidity/temp, VTI pressure/temp */
K66, LEA 5H
LEA 5H
-->
<airframe name="Funjet mm 1 K66">
<airframe name="Funjet mm 1">
<!-- commands section -->
<firmware name="fixedwing">
<target name="sim" board="pc">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
</target>
<target name="ap" board="tiny_2.11">
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="USE_I2C0"/>
</target>
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api">
<param name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h">
<param name="GPS_BAUD" value="B38400"/>
</subsystem>
<subsystem name="navigation"/>
<subsystem name="i2c"/>
</firmware>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="usb_tunnel_0" board="tiny_2.11"/>
<target name="usb_tunnel_1" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<!-- modules -->
<modules>
<load name="humid_dpicco.xml"/>
<load name="humid_sht.xml"/>
<load name="baro_scp_i2c.xml"/>
</modules>
<!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1442" max="1100"/>
@@ -176,108 +225,4 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<section name="MICROMAG">
<define name="MM_SS_PIN" value="20"/>
<define name="MM_SS_IODIR" value="IO0DIR"/>
<define name="MM_SS_IOSET" value="IO0SET"/>
<define name="MM_SS_IOCLR" value="IO0CLR"/>
<define name="MM_RESET_PIN" value="29"/>
<define name="MM_RESET_IODIR" value="IO0DIR"/>
<define name="MM_RESET_IOSET" value="IO0SET"/>
<define name="MM_RESET_IOCLR" value="IO0CLR"/>
<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
<define name="MM_DRDY_PINSEL_BIT" value="0"/>
<define name="MM_DRDY_PINSEL_VAL" value="1"/>
<define name="MM_DRDY_EINT" value="0"/>
<define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#TRANSPARENT
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += nav_line.c
ap.srcs += nav_survey_rectangle.c
ap.srcs += humid_sht.c
ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
#ap.srcs += baro_scp.c
#ap.CFLAGS += -DUSE_BARO_SCP
ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
# EagleTree airspeed sensor
ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_I2C0
ap.srcs += airspeed_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
ap.srcs += bomb.c
ap.srcs += snav.c
# distance sensor
ap.CFLAGS += -DUSE_ADC_3 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_3 -DADC_CHANNEL_GENERIC_NB_SAMPLES=16
ap.srcs += adc_generic.c
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
sim.srcs += bomb.c
</makefile>
</airframe>