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Gorazoptere anlog continued : tested gyros and 8->128 com with real IMU

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This commit is contained in:
Antoine Drouin
2005-08-23 00:39:29 +00:00
parent 2240220e89
commit 75d033e9be
6 changed files with 50 additions and 22 deletions
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conf/airframes/gorazoptere_brushless_ANALOG.xml
+1 -1
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@@ -1,4 +1,4 @@
<airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2_1" gps="SAM_LS">
<airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2" gps="SAM_LS">
<section name="IMU_ANALOG" prefix="IMU_">
<define name="TYPE_ANALOG" value="1"/>
<define name="ADC_ROLL_DOT" value="1"/>
sw/airborne/autopilot/mainloop.c
+12
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@@ -65,6 +65,8 @@ int main( void ) {
ir_init();
estimator_init();
uart0_init();
/** - start interrupt task */
sei();
@@ -101,6 +103,16 @@ int main( void ) {
#ifdef IMU_TYPE_3DMG
DOWNLINK_SEND_IMU_3DMG(&from_fbw.euler_dot[0], &from_fbw.euler_dot[1], &from_fbw.euler_dot[2], &from_fbw.euler[0], &from_fbw.euler[1], &from_fbw.euler[2]);
estimator_update_state_3DMG();
#endif
#ifdef SECTION_IMU_ANALOG
uart0_transmit('G');
uart0_transmit(' ');
uart0_print_hex16(from_fbw.euler_dot[0]);
uart0_transmit(',');
uart0_print_hex16(from_fbw.euler_dot[1]);
uart0_transmit(',');
uart0_print_hex16(from_fbw.euler_dot[2]);
uart0_transmit('\n');
#endif
}
}
sw/airborne/fly_by_wire/imu.c
+1 -1
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@@ -25,7 +25,7 @@
#include "airframe.h"
#if defined(SECTION_IMU_3DMG) && defined(SECTION_IMU_ANALOG)
#error "IMU_3DMG and IMU_ANALOG cannot be defined simultaneously
#error "IMU_3DMG and IMU_ANALOG cannot be defined simultaneously"
#endif
#include "imu.h"
sw/airborne/fly_by_wire/imu.h
+1 -1
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@@ -3,7 +3,7 @@
#include <inttypes.h>
#ifdef IMU_TYPE_3DMG
#ifdef SECTION_IMU_3DMG
extern int16_t roll, pitch, yaw;
#endif
extern int16_t roll_dot, pitch_dot, yaw_dot;
sw/airborne/fly_by_wire/link_autopilot.h
+2 -2
View File
@@ -54,10 +54,10 @@ struct inter_mcu_msg {
uint8_t status;
uint8_t nb_err;
uint8_t vsupply; /* 1e-1 V */
#if defined IMU_TYPE_3DMG || defined IMU_TYPE_ANALOG
#if defined SECTION_IMU_ANALOG || defined SECTION_IMU_3DMG
int16_t euler_dot[3];
#endif
#ifdef IMU_TYPE_3DMG
#ifdef SECTION_IMU_3DMG
int16_t euler[3];
#endif
};
sw/airborne/fly_by_wire/main.c
+33 -17
View File
@@ -44,11 +44,11 @@
#include "uart.h"
#ifdef IMU_TYPE_3DMG
#ifdef SECTION_IMU_3DMG
#include "3dmg.h"
#endif
#if defined IMU_TYPE_ANALOG || defined IMU_TYPE_3DMG
#if defined SECTION_IMU_ANALOG || defined SECTION_IMU_3DMG
#include "imu.h"
#include "control.h"
#endif
@@ -85,14 +85,14 @@ static inline void to_autopilot_from_last_radio (void) {
}
to_mega128.ppm_cpt = last_ppm_cpt;
to_mega128.vsupply = VoltageOfAdc(vsupply_adc_buf.sum/AV_NB_SAMPLE) * 10;
#if defined IMU_TYPE_3DMG || defined IMU_TYPE_ANALOG
#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG
to_mega128.euler_dot[0] = roll_dot;
to_mega128.euler_dot[1] = pitch_dot;
to_mega128.euler_dot[2] = yaw_dot;
#endif
#ifdef IMU_TYPE_3DMG
#ifdef SECTION_IMU_3DMG
to_mega128.euler[0] = roll;
to_mega128.euler[1] = 777; //pitch;
to_mega128.euler[1] = pitch;
to_mega128.euler[2] = yaw;
#endif
}
@@ -107,9 +107,7 @@ inline void radio_control_task(void) {
mode = MODE_OF_PPRZ(last_radio[RADIO_MODE]);
}
if (mode == MODE_MANUAL) {
#if defined IMU_TYPE_3DMG
// control_set_desired(last_radio);
#elif defined IMU_TYPE_ANALOG
#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG
control_set_desired(last_radio);
#else
servo_set(last_radio);
@@ -121,12 +119,13 @@ inline void spi_task(void) {
if (mega128_receive_valid) {
time_since_last_mega128 = 0;
mega128_ok = TRUE;
if (mode == MODE_AUTO)
#if defined IMU_TYPE_ANALOG || defined IMU_TYPE_3DMG
if (mode == MODE_AUTO) {
#if defined SECTION_IMU_ANALOG || defined SECTION_IMU_3DMG
control_set_desired(from_mega128.channels);
#else
servo_set(from_mega128.channels);
#endif
}
}
to_autopilot_from_last_radio();
spi_reset();
@@ -135,7 +134,7 @@ inline void spi_task(void) {
int main( void )
{
uart_init_tx();
#if defined IMU_TYPE_3DMG
#if defined SECTION_IMU_3DMG
uart_init_rx();
#else
uart_print_string("FBW Booting $Id$\n");
@@ -143,7 +142,7 @@ int main( void )
adc_init();
adc_buf_channel(3, &vsupply_adc_buf);
adc_buf_channel(6, &vservos_adc_buf);
#if defined IMU_TYPE_3DMG || defined IMU_TYPE_ANALOG
#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG
imu_init();
#endif
timer_init();
@@ -170,7 +169,7 @@ int main( void )
spi_was_interrupted = FALSE;
spi_task();
}
#ifdef IMU_TYPE_3DMG
#ifdef SECTION_IMU_3DMG
if (_3dmg_data_ready) {
imu_update();
RED_LED_TOGGLE();
@@ -202,8 +201,25 @@ int main( void )
static uint8_t _20Hz;
_1Hz++;
_20Hz++;
#ifdef IMU_TYPE_3DMG
// control_run();
#if defined SECTION_IMU_ANALOG
imu_update();
#if 0
{
static uint8_t foo = 0;
foo++;
if (!(foo%10)) {
uart_print_hex16(roll_dot);
uart_transmit(',');
uart_print_hex16(pitch_dot);
uart_transmit(',');
uart_print_hex16(yaw_dot);
uart_transmit('\n');
}
}
#endif /* 0 */
#endif
#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG
control_run();
#endif
if (_1Hz >= 60) {
_1Hz = 0;
@@ -212,8 +228,8 @@ int main( void )
}
if (_20Hz >= 3) {
_20Hz = 0;
#ifndef IMU_TYPE_3DMG
servo_transmit();
#ifndef SECTION_IMU_3DMG
// servo_transmit();
#endif
}
if (time_since_last_mega128 < STALLED_TIME)