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2026-06-08 11:01:12 +08:00 · 2008-11-14 01:05:44 +00:00
parent 49ab429b8a
commit 7488f6b73d
2 changed files with 400 additions and 0 deletions
@@ -0,0 +1,158 @@
+<airframe name="BOOZ2">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"  no="1" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"  no="2" min="0" neutral="0" max="255"/>
+  </servos>
+
+  <commands>
+    <axis name="FRONT" failsafe_value="0"/>
+    <axis name="BACK"  failsafe_value="0"/>
+    <axis name="RIGHT" failsafe_value="0"/>
+    <axis name="LEFT"  failsafe_value="0"/>
+  </commands>
+
+
+
+ <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="21"/>
+    <define name="MM_RESET_IODIR" value="IO1DIR"/>
+    <define name="MM_RESET_IOSET" value="IO1SET"/>
+    <define name="MM_RESET_IOCLR" value="IO1CLR"/>
+
+    <define name="MM_DRDY_PIN" value="15"/>
+    <define name="MM_DRDY_PINSEL" value="PINSEL0"/>
+    <define name="MM_DRDY_PINSEL_BIT" value="30"/>
+    <define name="MM_DRDY_PINSEL_VAL" value="2"/>
+    <define name="MM_DRDY_EINT" value="2"/>
+    <define name="MM_DRDY_VIC_IT" value="VIC_EINT2"/>
+
+  </section>
+
+
+
+<!-- crista -->
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_X_CHAN" value="4"/>
+    <define name="GYRO_Y_CHAN" value="0"/>
+    <define name="GYRO_Z_CHAN" value="1"/>
+
+    <define name="GYRO_X_NEUTRAL" value="32734"/>
+    <define name="GYRO_Y_NEUTRAL" value="32272"/>
+    <define name="GYRO_Z_NEUTRAL" value="32420"/>
+
+    <define name="GYRO_X_SENS" value="( 4000.)"/>
+    <define name="GYRO_Y_SENS" value="(-4000.)"/>
+    <define name="GYRO_Z_SENS" value="( 4000.)"/>
+  
+    <define name="ACCEL_X_CHAN" value="2"/>
+    <define name="ACCEL_Y_CHAN" value="5"/>
+    <define name="ACCEL_Z_CHAN" value="6"/>    
+
+    <define name="ACCEL_X_NEUTRAL" value="39913"/>
+    <define name="ACCEL_Y_NEUTRAL" value="40135"/>
+    <define name="ACCEL_Z_NEUTRAL" value="39755"/>
+
+    <define name="ACCEL_X_SENS" value="( 171)"/>
+    <define name="ACCEL_Y_SENS" value="( 167)"/>
+    <define name="ACCEL_Z_SENS" value="( 167)"/>
+
+
+    <define name="MAG_X_CHAN" value="4"/>
+    <define name="MAG_Y_CHAN" value="0"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+
+    
+    <define name="MAG_X_NEUTRAL" value="2038"/>
+    <define name="MAG_Y_NEUTRAL" value="1945"/> 
+    <define name="MAG_Z_NEUTRAL" value="1957"/>
+
+    <define name="MAG_X_SENS" value="-401."/>
+    <define name="MAG_Y_SENS" value=" 388."/>
+    <define name="MAG_Z_SENS" value="-414."/>
+
+
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+
+  <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
+
+    <define name="SP_MAX_PHI"     value="3000"/>
+    <define name="SP_MAX_THETA"   value="3000"/>
+    <define name="SP_MAX_R"       value="5500"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <define name="PHI_THETA_PGAIN"  value="-400"/>
+    <define name="PHI_THETA_DGAIN"  value="-300"/>
+    <define name="PHI_THETA_DDGAIN" value="0"/>
+    <define name="PHI_THETA_IGAIN"  value="-100"/>
+
+    <define name="PSI_PGAIN"  value="-380"/>
+    <define name="PSI_DGAIN"  value="-320"/>
+    <define name="PSI_DDGAIN" value="0"/>
+    <define name="PSI_IGAIN"  value="-75"/>
+
+  </section>
+
+  <section name="FILTER" prefix="FILTER_">
+   <define name="ALIGNMENT_DPHI" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(-0.5))"/>
+   <define name="ALIGNMENT_DTHETA" value="BOOZ_ANGLE_I_OF_F(RadOfDeg(2.5))"/>
+   <define name="ALIGNMENT_DPSI" value="BOOZ_ANGLE_I_OF_F(0)"/>
+  </section>
+
+
+  <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
+   <define name="HOVER_POWER" value="65"/>
+   <define name="HOVER_KP"    value="-200"/>
+   <define name="HOVER_KD"    value="-100"/>
+   <define name="HOVER_KI"    value="-50"/>
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="BOOZ2_GUIDANCE_H_">
+   <define name="PGAIN" value="-100"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-0"/>
+ </section>
+
+ <section name="JOYSTICK" prefix="BOOZ2_JOYSTICK_">
+   <define name="SP_PHI_COEF" value="2860"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
+   <define name="SP_THETA_COEF" value="2860"/> <!-- MAX SP = 20 deg ( RadOfDeg(20 / 128) << 20 ) -->
+ </section>
+
+ <section name="BAT">
+   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </section>
+
+
+
+  <makefile>
+
+include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz2.makefile
+
+
+  </makefile>
+
+</airframe>
@@ -0,0 +1,242 @@
+#
+# $Id$
+#  
+# Copyright (C) 2008 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. 
+#
+#
+
+ARCHI=arm7
+
+FLASH_MODE = IAP
+
+BOOZ=booz
+BOOZ_PRIV=booz_priv
+BOOZ_PRIV_ARCH=booz_priv/arm7
+BOOZ_PRIV_TEST=booz_priv/test
+BOOZ_ARCH=booz/arm7
+
+
+ap.ARCHDIR = $(ARCHI)
+ap.ARCH = arm7tdmi
+ap.TARGET = ap
+ap.TARGETDIR = ap
+
+#ap.CFLAGS += -DKILL_MOTORS
+
+ap.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
+ap.srcs += $(BOOZ_PRIV)/booz2_main.c
+ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
+ap.CFLAGS += -DLED
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
+ap.srcs += $(SRC_ARCH)/uart_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+ap.srcs += $(BOOZ_PRIV)/booz2_telemetry.c downlink.c pprz_transport.c
+
+ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+ap.srcs += $(BOOZ)/booz_datalink.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=4
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
+ap.srcs += $(BOOZ_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+#ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
+ap.srcs += $(BOOZ_PRIV)/booz2_imu_crista.c $(BOOZ_PRIV_ARCH)/booz2_imu_crista_hw.c
+ap.CFLAGS += -DFLOAT_T=float
+ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
+
+ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=5 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
+
+
+ap.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.CFLAGS += -DUSE_AMI601
+ap.srcs += AMI601.c
+
+
+ap.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
+
+ap.CFLAGS += -DFILTER_ALIGNER_LED=6
+ap.srcs += $(BOOZ_PRIV)/booz2_filter_aligner2.c
+ap.srcs += $(BOOZ_PRIV)/booz2_filter_attitude_cmpl_euler.c
+ap.srcs += $(BOOZ_PRIV)/booz_trig_int.c
+
+ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DUART1_VIC_SLOT=6
+ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
+ap.srcs += $(BOOZ_PRIV)/booz2_gps.c
+ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c
+ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c
+
+#ap.CFLAGS += -DNAV_ENAC
+ap.srcs += $(BOOZ_PRIV)/booz2_navigation.c
+
+
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c
+ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c
+ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
+
+# Joystick
+ap.CFLAGS += -DBOOZ2_STICK
+
+
+
+# test leds
+test_led.ARCHDIR = $(ARCHI)
+test_led.ARCH = arm7tdmi
+test_led.TARGET = test_led
+test_led.TARGETDIR = test_led
+
+test_led.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV_ARCH)
+test_led.srcs += $(BOOZ_PRIV)/test_led.c
+test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1024.))' -DTIME_LED=1
+test_led.CFLAGS += -DLED
+test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+
+
+#
+# tunnel
+#
+
+tunnel.ARCHDIR = $(ARCHI)
+tunnel.ARCH = arm7tdmi
+tunnel.TARGET = tunnel
+tunnel.TARGETDIR = tunnel
+
+tunnel.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV_ARCH)
+tunnel.srcs += $(BOOZ_PRIV_TEST)/booz2_tunnel.c
+tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
+tunnel.CFLAGS += -DLED
+tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
+tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
+tunnel.srcs += $(SRC_ARCH)/uart_hw.c
+
+#
+# test GPS
+#
+test_gps.ARCHDIR = $(ARCHI)
+test_gps.ARCH = arm7tdmi
+test_gps.TARGET = test_gps
+test_gps.TARGETDIR = test_gps
+
+test_gps.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
+test_gps.srcs += $(BOOZ_PRIV_TEST)/booz2_test_gps.c
+test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
+test_gps.CFLAGS += -DLED
+test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
+test_gps.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
+test_gps.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
+test_gps.srcs += $(BOOZ_PRIV)/booz2_gps.c
+
+
+
+
+
+#
+# test modem
+#
+test_modem.ARCHDIR = $(ARCHI)
+test_modem.ARCH = arm7tdmi
+test_modem.TARGET = test_modem
+test_modem.TARGETDIR = test_modem
+
+test_modem.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -I$(BOOZ_PRIV_ARCH)
+test_modem.srcs += $(BOOZ_PRIV)/test_modem.c
+test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1024.))' -DTIME_LED=1
+test_modem.CFLAGS += -DLED
+test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_modem.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600
+test_modem.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+test_modem.srcs += downlink.c pprz_transport.c
+
+test_modem.CFLAGS += -DBOOZ_ANALOG_BARO_LED=2 -DBOOZ_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
+test_modem.srcs += $(BOOZ_PRIV)/booz_analog_baro.c
+
+
+#
+# test AMI
+#
+test_ami.ARCHDIR = $(ARCHI)
+test_ami.ARCH = arm7tdmi
+test_ami.TARGET = test_ami
+test_ami.TARGETDIR = test_ami
+
+test_ami.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV_ARCH)
+test_ami.srcs += $(BOOZ_PRIV_TEST)/booz2_test_ami.c
+test_ami.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1
+test_ami.CFLAGS += -DLED
+test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_ami.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
+test_ami.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+test_ami.srcs += downlink.c pprz_transport.c
+
+test_ami.CFLAGS += -DUSE_I2C1  -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
+test_ami.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_ami.CFLAGS += -DUSE_AMI601
+test_ami.srcs += AMI601.c
+
+
+#
+# test crista
+#
+test_crista.ARCHDIR = $(ARCHI)
+test_crista.ARCH = arm7tdmi
+test_crista.TARGET = test_crista
+test_crista.TARGETDIR = test_crista
+
+test_crista.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
+test_crista.srcs += $(BOOZ_PRIV_TEST)/booz2_test_crista.c
+test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
+test_crista.CFLAGS += -DLED
+test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
+test_crista.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+test_crista.srcs += downlink.c pprz_transport.c
+
+test_crista.CFLAGS += -DFLOAT_T=float
+test_crista.srcs += $(BOOZ_PRIV)/booz2_imu.c
+test_crista.srcs += $(BOOZ_PRIV)/booz2_imu_crista.c $(BOOZ_PRIV_ARCH)/booz2_imu_crista_hw.c
+
+