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This commit is contained in:
Antoine Drouin
2006-05-01 20:00:56 +00:00
parent 011489ff17
commit 71c4c9f0cf
19 changed files with 72 additions and 71 deletions
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conf/Makefile.arm7
+2 -2
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@@ -181,8 +181,8 @@ endif
# Settings and variables:
LPC21ISP = lpc21isp
LPC21ISP_PORT = /dev/ttyUSB0
#LPC21ISP_PORT = /dev/ttyS0
#LPC21ISP_PORT = /dev/ttyUSB0
LPC21ISP_PORT = /dev/ttyS0
LPC21ISP_FLASHFILE = $(OBJDIR)/$(TARGET).hex
# verbose output:
#LPC21ISP_DEBUG = -debug
conf/airframes/twinstar5.xml
+1 -1
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@@ -118,7 +118,7 @@ fbw.srcs += commands.c
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
fbw.CFLAGS += -DRADIO_CONTROL
fbw.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0
conf/autopilot/classix.h
+2 -2
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@@ -42,8 +42,8 @@
/* reset on P1.25 */
#define SERVO_RESET_PIN 25
#define SERVO_RESET_PINSEL PINSEL2
#define SERVO_RESET_PINSEL_VAL 0
#define SERVO_RESET_PINSEL_BIT 3
//#define SERVO_RESET_PINSEL_VAL 0
//#define SERVO_RESET_PINSEL_BIT 3
/* ADCs : supply on AD0.6 ( P0.4 ) */
#define USE_AD0_6
conf/autopilot/classix.makefile
-4
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@@ -6,16 +6,12 @@ ap.ARCHDIR = $(ARCHI)
ap.ARCH = arm7tdmi
ap.TARGET = autopilot
ap.TARGETDIR = autopilot
ap.CFLAGS += -DAP -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap_2.c main.c
fbw.ARCHDIR = $(ARCHI)
fbw.ARCH = arm7tdmi
fbw.TARGET = fbw
fbw.TARGETDIR = fbw
fbw.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
LPC21ISP_BAUD = 38400
LPC21ISP_XTAL = 12000
conf/autopilot/twin_mcu.makefile
+1 -1
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@@ -2,5 +2,5 @@ ap.srcs += main_ap.c sys_time.c main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c in
ap.CFLAGS += -DMCU_SPI_LINK -DGPS -DUBX -DINFRARED -DRADIO_CONTROL -DINTER_MCU
fbw.srcs += sys_time.c main_fbw.c main.c commands.c radio_control.c pprz_transport.c downlink.c inter_mcu.c spi.c link_mcu.c
fbw.CFLAGS += -DRADIO_CONTROL -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK
fbw.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK
conf/telemetry/default.xml
+5 -3
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@@ -28,14 +28,16 @@
</process>
<process name="Fbw">
<mode name="default">
<message name="COMMANDS" period="5"/>
<message name="FBW_STATUS" period="2"/>
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="COMMANDS" period="1"/>
<message name="FBW_STATUS" period="1"/>
<message name="ADC" period="1"/>
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="COMMANDS" period="0.5"/>
<message name="COMMANDS" period="0.5"/>
<message name="FBW_STATUS" period="1"/>
</mode>
</process>
sw/airborne/arm7/ppm_hw.h
+8 -3
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@@ -7,18 +7,23 @@
static inline void ppm_init ( void ) {
/* select pin for capture */
PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
/* enable capture 0.2 on rising edge + trigger interrupt */
/* enable capture 0.2 on falling edge + trigger interrupt */
#if defined RADIO_CONTROL_TYPE && RADIO_CONTROL_TYPE == RC_FUTABA
T0CCR = TCCR_CR2_F | TCCR_CR2_I;
#elif defined RADIO_CONTROL_TYPE && RADIO_CONTROL_TYPE == RC_JR
T0CCR = TCCR_CR2_R | TCCR_CR2_I;
#else
#error "ppm_hw.h: Unknown RADIO_CONTROL_TYPE"
#endif
ppm_valid = FALSE;
}
#define PPM_NB_CHANNEL PPM_NB_PULSES
#define PPM_ISR() { \
static uint8_t state = PPM_NB_CHANNEL; \
static uint32_t last; \
static uint32_t last; \
\
uint32_t now = T0CR2; \
uint32_t length = now - last; \
sw/airborne/arm7/servos_4017_hw.c
+1
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@@ -14,6 +14,7 @@ void actuators_init ( void ) {
/* select reset pin as GPIO output */
IO1DIR |= _BV(SERVO_RESET_PIN);
PINSEL2 &= ~(_BV(3)); /* P1.25-16 are used as GPIO */
// SERVO_RESET_PINSEL |= SERVO_RESET_PINSEL_VAL << SERVO_RESET_PINSEL_BIT;
/* assert RESET */
IO1SET = _BV(SERVO_RESET_PIN);
sw/airborne/arm7/servos_4017_hw.h
+6 -6
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@@ -22,9 +22,9 @@ extern uint8_t servos_4017_idx;
#ifndef SERVOS_4017_CLOCK_FALLING
#define SERVOS_4017_ISR() { \
if (servos_4017_idx >= _4017_NB_CHANNELS) { \
IO1SET = _BV(SERVO_RESET_PIN); \
SetBit(IO1SET, SERVO_RESET_PIN); \
servos_4017_idx = 0; \
IO1CLR = _BV(SERVO_RESET_PIN); \
SetBit(IO1CLR, SERVO_RESET_PIN); \
} \
\
/* request clock high on next match */ \
@@ -33,19 +33,19 @@ extern uint8_t servos_4017_idx;
T0EMR &= ~TEMR_EM1; \
servos_4017_idx++; \
}
#else /* SERVOS_4017_CLOCK_ON_RESET */
#else /* SERVOS_4017_CLOCK_FALLING */
#define SERVOS_4017_RESET_WIDTH SERVOS_TICS_OF_USEC(1000)
#define SERVOS_4017_FIRST_PULSE_WIDTH SERVOS_TICS_OF_USEC(100)
#define SERVOS_4017_ISR() { \
if (servos_4017_idx == _4017_NB_CHANNELS) { \
IO1SET = _BV(SERVO_RESET_PIN); \
if (servos_4017_idx == _4017_NB_CHANNELS) { \
SetBit(IO1SET, SERVO_RESET_PIN); \
/* Start a long 1ms reset, keep clock low */ \
T0MR1 += SERVOS_4017_RESET_WIDTH; \
servos_4017_idx++; \
} \
else if (servos_4017_idx > _4017_NB_CHANNELS) { \
/* Clear the reset*/ \
IO1CLR = _BV(SERVO_RESET_PIN); \
SetBit(IO1CLR,SERVO_RESET_PIN); \
/* assert clock */ \
T0EMR |= TEMR_EM1; \
/* Starts a short pulse-like period */ \
sw/airborne/arm7/sys_time_hw.c
+12 -10
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@@ -12,20 +12,22 @@
void TIMER0_ISR ( void ) {
ISR_ENTRY();
while (T0IR & TIMER0_IT_MASK) {
#ifdef RADIO_CONTROL
if (T0IR&TIR_CR2I) {
PPM_ISR();
/* clear interrupt */
T0IR = TIR_CR2I;
}
if (T0IR&TIR_CR2I) {
PPM_ISR();
/* clear interrupt */
T0IR = TIR_CR2I;
}
#endif
#ifdef SERVOS_4017
if (T0IR&TIR_MR1I) {
SERVOS_4017_ISR();
/* clear interrupt */
T0IR = TIR_MR1I;
}
if (T0IR&TIR_MR1I) {
SERVOS_4017_ISR();
/* clear interrupt */
T0IR = TIR_MR1I;
}
#endif
}
VICVectAddr = 0x00000000;
ISR_EXIT();
}
sw/airborne/arm7/sys_time_hw.h
+3 -3
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@@ -64,10 +64,10 @@ static inline void sys_time_init( void ) {
VICIntSelect &= ~VIC_BIT(VIC_TIMER0);
/* enable TIMER0 interrupt */
VICIntEnable = VIC_BIT(VIC_TIMER0);
/* on slot vic slot 4 */
VICVectCntl4 = VIC_ENABLE | VIC_TIMER0;
/* on slot vic slot 1 */
VICVectCntl1 = VIC_ENABLE | VIC_TIMER0;
/* address of the ISR */
VICVectAddr4 = (uint32_t)TIMER0_ISR;
VICVectAddr1 = (uint32_t)TIMER0_ISR;
}
sw/airborne/avr/ppm_hw.h
+3 -12
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@@ -36,15 +36,6 @@
#ifndef PPM_HW_H
#define PPM_HW_H
/**
* Receiver types
*/
#define RXFUTABA 0
#define RXJR 1
#define PPM_RX_TYPE RXFUTABA
#include <inttypes.h>
#include <avr/io.h>
@@ -60,12 +51,12 @@
static inline void
ppm_init( void )
{
#if PPM_RX_TYPE == RXFUTABA
#if defined RADIO_CONTROL_TYPE && RADIO_CONTROL_TYPE == RC_FUTABA
cbi( TCCR1B, ICES1 );
#elif PPM_RX_TYPE == RXJR
#elif defined RADIO_CONTROL_TYPE && RADIO_CONTROL_TYPE == RC_JR
sbi( TCCR1B, ICES1 );
#else
# error "ppm.h: Unknown receiver type in PPM_RX_TYPE"
#error "ppm_hw.h: Unknown RADIO_CONTROL_TYPE"
#endif
/* No noise cancelation */
sbi( TCCR1B, ICNC1 );
sw/airborne/fbw_downlink.h
+2 -2
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@@ -33,6 +33,7 @@
#include "uart.h"
#include "main_fbw.h"
#include "radio_control.h"
#include "inter_mcu.h"
#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
extern uint8_t telemetry_mode_Fbw;
@@ -41,8 +42,7 @@ extern uint8_t telemetry_mode_Fbw;
#define PERIODIC_SEND_PPM() DOWNLINK_SEND_PPM(PPM_NB_PULSES, ppm_pulses)
#define PERIODIC_SEND_RC() DOWNLINK_SEND_RC(PPM_NB_PULSES, rc_values)
#define PERIODIC_SEND_COMMANDS() DOWNLINK_SEND_COMMANDS(COMMANDS_NB, commands)
#define PERIODIC_SEND_FBW_STATUS() DOWNLINK_SEND_FBW_STATUS(&fbw_mode, &rc_status, &fbw_mode)
#define PERIODIC_SEND_FBW_STATUS() DOWNLINK_SEND_FBW_STATUS(&fbw_state->nb_err, &rc_status, &fbw_mode)
#ifdef BRICOLAGE_ADC
extern uint16_t adc0_val[];
sw/airborne/inter_mcu.h
+3 -5
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@@ -93,6 +93,8 @@ static inline void inter_mcu_fill_fbw_state (void) {
for(i = 0; i < RADIO_CTL_NB; i++)
fbw_state->channels[i] = rc_values[i];
fbw_state->ppm_cpt = last_ppm_cpt;
uint8_t status;
status = (rc_status == RC_OK ? _BV(STATUS_RADIO_OK) : 0);
status |= (rc_status == RC_REALLY_LOST ? _BV(RADIO_REALLY_LOST) : 0);
@@ -104,12 +106,8 @@ static inline void inter_mcu_fill_fbw_state (void) {
fbw_state->status |= _BV(AVERAGED_CHANNELS_SENT);
rc_values_contains_avg_channels = FALSE;
}
fbw_state->ppm_cpt = last_ppm_cpt;
fbw_state->vsupply = fbw_vsupply_decivolt;
/***
for(i = 0; i < 10; i++)
((uint8_t*)fbw_state)[i] = i+42;
***/
}
/** Prepares date for next comm with AP. Set ::ap_ok to TRUE */
sw/airborne/link_mcu.c
+2 -2
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@@ -66,7 +66,7 @@ void link_mcu_event_task( void ) {
if (link_mcu_from_ap_msg.checksum == crc)
inter_mcu_received_ap = TRUE;
else
link_mcu_from_fbw_msg.payload.from_fbw.nb_err++;
fbw_state->nb_err++;
}
#endif /* FBW */
@@ -76,7 +76,7 @@ void link_mcu_event_task( void ) {
/*****************************************************************************/
#ifdef AP
volatile uint8_t link_mcu_nb_err;
uint8_t link_mcu_nb_err;
uint8_t link_mcu_fbw_nb_err;
void link_mcu_init(void) {
sw/airborne/link_mcu.h
+3 -3
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@@ -30,8 +30,8 @@
#define LINK_MCU_H
#include <inttypes.h>
#include "link_mcu_hw.h"
#include "inter_mcu.h"
#include "link_mcu_hw.h"
struct link_mcu_msg {
union {
@@ -46,14 +46,14 @@ extern struct link_mcu_msg link_mcu_from_fbw_msg;
extern bool_t link_mcu_received;
void link_mcu_event_task( void );
extern void link_mcu_event_task( void );
#ifdef FBW
extern void link_mcu_restart(void);
#endif /* FBW */
#ifdef AP
extern volatile uint8_t link_mcu_nb_err;
extern uint8_t link_mcu_nb_err;
extern uint8_t link_mcu_fbw_nb_err;
extern void link_mcu_init(void);
sw/airborne/main_ap.c
+4 -4
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@@ -31,6 +31,8 @@
#include <math.h>
#include "main_ap.h"
#include "interrupt_hw.h"
#include "init_hw.h"
#include "adc.h"
@@ -230,9 +232,7 @@ static inline void reporting_task( void ) {
}
/** then report periodicly */
else {
// IO1CLR = LED_2_BIT;
PeriodicSendAp();
// IO1SET = LED_2_BIT;
}
}
@@ -355,7 +355,7 @@ static void navigation_task( void ) {
}
#define PERIOD (256. * 1024. / CLOCK / 1000000.)
//#define PERIOD (256. * 1024. / CLOCK / 1000000.)
/** Maximum time allowed for low battery level */
#define LOW_BATTERY_DELAY 5
@@ -385,7 +385,7 @@ inline void periodic_task_ap( void ) {
static uint8_t _4Hz = 0;
static uint8_t _1Hz = 0;
estimator_t += PERIOD;
// estimator_t += PERIOD;
_20Hz++;
if (_20Hz>=3) _20Hz=0;
sw/airborne/ppm.h
+6
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@@ -24,6 +24,12 @@
#ifndef PPM_H
#define PPM_H
/**
* Radio control type : futaba is falling edge clocked whereas JR is rising edge
*/
#define RC_FUTABA 0
#define RC_JR 1
#if defined RADIO_CONTROL
#include "std.h"
sw/airborne/pprz_transport.h
+8 -8
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@@ -73,22 +73,22 @@ extern uint8_t ck_a, ck_b;
#define PprzTransportPut2ByteByAddr(_byte) { \
PprzTransportPut1ByteByAddr(_byte); \
PprzTransportPut1ByteByAddr((uint8_t*)_byte+1); \
PprzTransportPut1ByteByAddr((const uint8_t*)_byte+1); \
}
#define PprzTransportPut4ByteByAddr(_byte) { \
PprzTransportPut2ByteByAddr(_byte); \
PprzTransportPut2ByteByAddr((uint8_t*)_byte+2); \
PprzTransportPut2ByteByAddr((const uint8_t*)_byte+2); \
}
#define PprzTransportPutInt8ByAddr(_x) PprzTransportPut1ByteByAddr(_x)
#define PprzTransportPutUint8ByAddr(_x) PprzTransportPut1ByteByAddr((uint8_t*)_x)
#define PprzTransportPutInt16ByAddr(_x) PprzTransportPut2ByteByAddr((uint8_t*)_x)
#define PprzTransportPutUint16ByAddr(_x) PprzTransportPut2ByteByAddr((uint8_t*)_x)
#define PprzTransportPutInt32ByAddr(_x) PprzTransportPut4ByteByAddr((uint8_t*)_x)
#define PprzTransportPutUint32ByAddr(_x) PprzTransportPut4ByteByAddr((uint8_t*)_x)
#define PprzTransportPutFloatByAddr(_x) PprzTransportPut4ByteByAddr((uint8_t*)_x)
#define PprzTransportPutUint8ByAddr(_x) PprzTransportPut1ByteByAddr((const uint8_t*)_x)
#define PprzTransportPutInt16ByAddr(_x) PprzTransportPut2ByteByAddr((const uint8_t*)_x)
#define PprzTransportPutUint16ByAddr(_x) PprzTransportPut2ByteByAddr((const uint8_t*)_x)
#define PprzTransportPutInt32ByAddr(_x) PprzTransportPut4ByteByAddr((const uint8_t*)_x)
#define PprzTransportPutUint32ByAddr(_x) PprzTransportPut4ByteByAddr((const uint8_t*)_x)
#define PprzTransportPutFloatByAddr(_x) PprzTransportPut4ByteByAddr((const uint8_t*)_x)
#define PprzTransportPutArray(_put, _n, _x) { \
uint8_t i; \