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This commit is contained in:
Antoine Drouin
2006-06-30 07:25:51 +00:00
parent d5b68a2481
commit 76a6905386
24 changed files with 381 additions and 179 deletions
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conf/airframes/gorrazoptere_091.xml
+15 -36
View File
@@ -8,7 +8,7 @@
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="5000"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
@@ -36,41 +36,13 @@
<define name="VSUPPLY" value="6"/>
</section>
<section name="PID">
<define name="ROLL_PGAIN" value="23000."/>
<define name="PITCH_OF_ROLL" value="0.0"/>
<define name="PITCH_PGAIN" value="23000."/>
<define name="MAX_ROLL" value="0.35"/>
<define name="MAX_PITCH" value="0.35"/>
<define name="MIN_PITCH" value="-0.35"/>
<define name="AILERON_OF_GAZ" value="-0.13"/>
</section>
<section name="ALT" prefix="CLIMB_">
<define name="PITCH_PGAIN" value="-0.1"/>
<define name="PITCH_IGAIN" value="0.025"/>
<define name="PGAIN" value="-0.03"/>
<define name="IGAIN" value="0.1"/>
<define name="MAX" value="1."/>
<define name="LEVEL_GAZ" value="0.31"/>
<define name="PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
</section>
<section name="NAV">
<define name="COURSE_PGAIN" value="-0.2"/>
<define name="ALTITUDE_PGAIN" value="-0.025"/>
<define name="NAV_PITCH" value="0."/>
</section>
<section name="BAT">
<define name="MILLIAMP_PER_PERCENT" value="2.16"/>
<define name="VOLTAGE_ADC_A" value="0.0175"/>
<define name="VOLTAGE_ADC_B" value="0.088"/>
<section name="BAT">
<define name="VOLTAGE_ADC_A" value="0.01"/>
<define name="VOLTAGE_ADC_B" value="0."/>
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<define name="LOW_BATTERY" value="93" unit="1e-1V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
</section>
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/gorrazoptere_091.makefile
@@ -88,10 +60,17 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DUART0_BAUD=B38400
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DUART1_BAUD=B2400
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DUART0_BAUD=B9600
#ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0
ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DLINK_IMU -DSPI_MASTER -DUSE_SPI
ap.srcs += link_imu.c spi.c $(SRC_ARCH)/spi_hw.c
#ap.CFLAGS += -DAP
#ap.srcs += main_ap_heli.c
</makefile>
conf/airframes/imu.xml
+3 -1
View File
@@ -14,7 +14,7 @@ LPC21ISP_XTAL = 12000
FLASH_MODE = IAP
#FLASH_MODE = ISP
imu.CFLAGS += -DCONFIG=\"pprz_imu.h\"
imu.CFLAGS += -DIMU -DCONFIG=\"pprz_imu.h\"
imu.srcs = main_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#imu.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
@@ -33,6 +33,8 @@ imu.srcs += imu_v3.c
imu.srcs += ahrs_new.c
imu.srcs += link_imu.c
</makefile>
</airframe>
conf/airframes/twinjet1.xml
+10 -4
View File
@@ -148,16 +148,19 @@
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<!--
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-->
<makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
FLASH_MODE = ISP
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
@@ -172,7 +175,7 @@ fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI
fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
fbw.CFLAGS += -DADC -DUSE_AD0
@@ -182,8 +185,11 @@ fbw.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DAP -DCONFIG=\"classix.h\" -DLED -DTIME_LED=2
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c xbee.c
#ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
#ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c xbee.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DDATALINK=Pprz -DUART0_BAUD=B9600
ap.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c datalink.c traffic_info.c
ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK
ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
conf/autopilot/gorrazoptere_091.h
+14 -24
View File
@@ -1,30 +1,6 @@
#ifndef CONFIG_GORRAZOPTERE_091_H
#define CONFIG_GORRAZOPTERE_091_H
#define LED_1_BANK A
#define LED_1_PIN 7
#define LED_2_BANK A
#define LED_2_PIN 6
#define LED_3_BANK A
#define LED_3_PIN 5
#define LED_4_BANK A
#define LED_4_PIN 4
#define LED_5_BANK A
#define LED_5_PIN 3
#define LED_6_BANK A
#define LED_6_PIN 2
#define LED_7_BANK A
#define LED_7_PIN 1
#define LED_8_BANK A
#define LED_8_PIN 0
/* clock in MHz */
#define CLOCK 8
@@ -33,4 +9,18 @@
#define PPM_PORT PORTD
#define PPM_PIN PD4
#define MASTER_SPI_SS0_PIN 0
#define MASTER_SPI_SS0_PORT PORTB
#define MASTER_SPI_SS0_DDR DDRB
#define MASTER_SPI_IT0_PIN 6
#define MASTER_SPI_IT0_PORT PORTE
#define MASTER_SPI_IT0_DDR DDRE
/** EINT6 */
#define MASTER_SPI_SCK_PIN 1
#define MASTER_SPI_MOSI_PIN 2
#define MASTER_SPI_MISO_PIN 3
#define MASTER_SPI_PORT PORTB
#define MASTER_SPI_DDR DDRB
#endif /* CONFIG_GORRAZOPTERE_091_H */
conf/autopilot/twin_avr.h
+36
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@@ -0,0 +1,36 @@
#define SLAVE_SPI_PORT PORTB
#define SLAVE_SPI_PIN PINB
#define SLAVE_SPI_SS_PIN 2
#define SLAVE_SPI_DDR DDRB
#define SLAVE_SPI_MOSI_PIN 3
#define SLAVE_SPI_MISO_PIN 4
#define SLAVE_SPI_SCK_PIN 5
#define MASTER_SPI_SS0_PIN 0
#define MASTER_SPI_SS0_PORT PORTB
#define MASTER_SPI_SS0_DDR DDRB
#define MASTER_SPI_IT0_PIN 7
#define MASTER_SPI_IT0_PORT PORTE
#define MASTER_SPI_IT0_DDR DDRE
#define MASTER_SPI_SS1_PIN 3
#define MASTER_SPI_SS1_PORT PORTE
#define MASTER_SPI_SS1_DDR DDRE
#define MASTER_SPI_IT1_PIN 6
#define MASTER_SPI_IT1_PORT PORTE
#define MASTER_SPI_IT1_DDR DDRE
#define MASTER_SPI_SS2_PIN 2
#define MASTER_SPI_SS2_PORT PORTE
#define MASTER_SPI_SS2_DDR DDRE
#define MASTER_SPI_IT2_PIN 5
#define MASTER_SPI_IT2_PORT PORTE
#define MASTER_SPI_IT2_DDR DDRE
#define MASTER_SPI_SCK_PIN 1
#define MASTER_SPI_MOSI_PIN 2
#define MASTER_SPI_MISO_PIN 3
#define MASTER_SPI_PORT PORTB
#define MASTER_SPI_DDR DDRB
conf/autopilot/twin_mcu.makefile
+2 -2
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@@ -1,6 +1,6 @@
ap.srcs += main_ap.c sys_time.c main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c pid.c nav.c estimator.c cam.c spi.c
ap.CFLAGS += -DMCU_SPI_LINK -DGPS -DUBX -DINFRARED -DRADIO_CONTROL -DINTER_MCU
ap.CFLAGS += -DMCU_SPI_LINK -DGPS -DUBX -DINFRARED -DRADIO_CONTROL -DINTER_MCU -DSPI_MASTER -DUSE_SPI
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 -DRADIO_CONTROL_TYPE=RC_FUTABA -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK -DUART0_BAUD=B38400
fbw.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK -DUART0_BAUD=B38400 -DSPI_SLAVE
conf/autopilot/twin_mcu_avr.makefile
+1 -1
View File
@@ -2,7 +2,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu.makefile
ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c
ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=Uart1
ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017 -DADC
fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c
conf/autopilot/v1_2.h
+2
View File
@@ -1,6 +1,8 @@
#ifndef CONFIG_V1_2_H
#define CONFIG_V1_2_H
#include "twin_avr.h"
/* clock in MHz */
#define CLOCK 16
conf/autopilot/v1_2_1.h
+2
View File
@@ -1,6 +1,8 @@
#ifndef CONFIG_V1_2_1_H
#define CONFIG_V1_2_1_H
#include "twin_avr.h"
/* clock in MHz */
#define CLOCK 16
conf/messages.xml
+6 -9
View File
@@ -240,17 +240,14 @@
<message name="IMU_SENSORS" ID="200">
<field name="accel_x" type="int16"/>
<field name="accel_y" type="int16"/>
<field name="accel_z" type="int16"/>
<field name="gyro_p" type="float" unit="rad/s"/>
<field name="gyro_q" type="float" unit="rad/s"/>
<field name="gyro_r" type="float" unit="rad/s"/>
<field name="mag_x" type="int16"/>
<field name="mag_y" type="int16"/>
<field name="mag_z" type="int16"/>
<field name="rates" type="float[]" unit="rad/s"/>
</message>
<message name="IMU_FOO" ID="201">
<field name="rate" type="float" unit="rad/s"/>
</message>
</class>
sw/airborne/arm7/include/LPC21xx.h
+4
View File
@@ -168,6 +168,10 @@
#define S0SPCCR SPI0->ccr /* Clock Counter Register */
#define S0SPINT SPI0->flag /* Interrupt Flag Register */
/* S0SPINT bits definition */
#define SPI0IF 0
///////////////////////////////////////////////////////////////////////////////
// Serial Peripheral Interface 1 (SPI1)
#define SPI1 ((spiRegs_t *)0xE0030000)
sw/airborne/arm7/servos_direct_hw.c
-8
View File
@@ -74,14 +74,6 @@ void actuators_init ( void ) {
/* commit PWMMRx changes */
PWMLER = PWMLER_LATCH0;
Actuator(0) = SERVOS_TICS_OF_USEC(1500);
Actuator(1) = SERVOS_TICS_OF_USEC(1500);
Actuator(2) = SERVOS_TICS_OF_USEC(1500);
Actuator(3) = SERVOS_TICS_OF_USEC(1500);
Actuator(4) = SERVOS_TICS_OF_USEC(1500);
Actuator(5) = SERVOS_TICS_OF_USEC(1500);
/* enable PWM timer in PWM mode */
PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
sw/airborne/avr/spi_hw.c
+27 -32
View File
@@ -26,6 +26,7 @@
* \brief handling of hardware dependant SPI on AVR architecture
*/
#include CONFIG
#include "spi.h"
#include <inttypes.h>
@@ -39,29 +40,20 @@
volatile uint8_t spi_idx_buf;
#define HandleOneSpiByte() { \
spi_idx_buf++; \
if (spi_idx_buf < spi_buffer_length) { \
SPDR = spi_buffer_output[spi_idx_buf]; \
spi_buffer_input[spi_idx_buf-1] = SPDR; \
} else if (spi_idx_buf == spi_buffer_length) { \
spi_buffer_input[spi_idx_buf-1] = SPDR; \
spi_message_received = TRUE; \
SpiStop(); \
} \
}
#define HandleOneSpiByte() { \
spi_idx_buf++; \
if (spi_idx_buf < spi_buffer_length) { \
SPDR = spi_buffer_output[spi_idx_buf]; \
spi_buffer_input[spi_idx_buf-1] = SPDR; \
} else if (spi_idx_buf == spi_buffer_length) { \
spi_buffer_input[spi_idx_buf-1] = SPDR; \
spi_message_received = TRUE; \
SpiStop(); \
} \
}
#ifdef FBW
#define IT_PORT PORTD
#define IT_DDR DDRD
#define IT_PIN 7
#define SPI_DDR DDRB
#define SPI_MOSI_PIN 3
#define SPI_MISO_PIN 4
#define SPI_SCK_PIN 5
#ifdef SPI_SLAVE
volatile bool_t spi_was_interrupted = FALSE;
@@ -70,7 +62,7 @@ void spi_init(void) {
// IT_DDR |= _BV(IT_PIN);
/* set MISO pin output */
SPI_DDR |= _BV(SPI_MISO_PIN);
SLAVE_SPI_DDR |= _BV(SLAVE_SPI_MISO_PIN);
/* enable SPI, slave, MSB first, sck idle low */
SPCR = _BV(SPE);
/* enable interrupt */
@@ -84,11 +76,11 @@ SIGNAL(SIG_SPI) {
HandleOneSpiByte();
}
#endif /** FBW */
#endif /** SPI_SLAVE */
/****************************************************************************/
#ifdef AP
#ifdef SPI_MASTER
#include "autopilot.h"
@@ -103,22 +95,24 @@ uint8_t spi_nb_ovrn;
void spi_init( void) {
/* Set MOSI and SCK output, all others input */
SPI_DDR |= _BV(SPI_MOSI_PIN)| _BV(SPI_SCK_PIN);
MASTER_SPI_DDR |= _BV(MASTER_SPI_MOSI_PIN)| _BV(MASTER_SPI_SCK_PIN);
/* enable pull up for miso */
// SPI_PORT |= _BV(SPI_MISO_PIN);
// SPI_PORT |= _BV(MASTER_SPI_MISO_PIN);
/* Set SS0 output */
SetBit( SPI_SS0_DDR, SPI_SS0_PIN);
SetBit( MASTER_SPI_SS0_DDR, MASTER_SPI_SS0_PIN);
/* SS0 idles high (don't select slave yet)*/
#if 0
/* Set SS1 output */
SetBit( SPI_SS1_DDR, SPI_SS1_PIN);
SetBit( MASTER_SPI_SS1_DDR, MASTER_SPI_SS1_PIN);
/* SS1 idles high (don't select slave yet)*/
/* Set SS2 output */
SetBit( SPI_SS2_DDR, SPI_SS2_PIN);
SetBit( MASTER_SPI_SS2_DDR, MASTER_SPI_SS2_PIN);
/* SS2 idles high (don't select slave yet)*/
#endif
SpiUnselectAllSlaves();
@@ -128,7 +122,7 @@ void spi_init( void) {
/** SPI interrupt: starts a delay */
SIGNAL(SIG_SPI) {
if (spi_cur_slave == SPI_SLAVE0) {
/* if (spi_cur_slave == SPI_SLAVE0) { */
/* setup OCR1A to pop in 200 clock cycles */
/* this leaves time for the slave (fbw) */
/* to process the byte we've sent and to */
@@ -138,8 +132,9 @@ SIGNAL(SIG_SPI) {
SetBit(TIFR, OCF1A);
/* enable OC1A interrupt */
SetBit(TIMSK, OCIE1A);
} else
/* } else
fatal_error_nb++;
*/
}
/** Send a byte */
@@ -150,4 +145,4 @@ SIGNAL(SIG_OUTPUT_COMPARE1A) {
HandleOneSpiByte();
}
#endif /* AP */
#endif /* SPI_MASTER */
sw/airborne/avr/spi_hw.h
+13 -42
View File
@@ -33,49 +33,18 @@ extern volatile uint8_t spi_idx_buf;
SPDR = spi_buffer_output[0]; \
spi_message_received = FALSE; \
}
#define SPI_IT1_PIN 6
#define SPI_IT1_PORT PORTE
#define SPI_IT1_DDR DDRE
#ifdef FBW
#define SPI_PORT PORTB
#define SPI_PIN PINB
#define SPI_SS_PIN 2
#ifdef SPI_SLAVE
#define SpiStart() SpiInitBuf()
#endif /* FBW */
#endif /* SPI_SLAVE */
#ifdef AP
#define SPI_SS0_PIN 0
#define SPI_SS0_PORT PORTB
#define SPI_SS0_DDR DDRB
#define SPI_IT0_PIN 7
#define SPI_IT0_PORT PORTE
#define SPI_IT0_DDR DDRE
#define SPI_SS1_PIN 3
#define SPI_SS1_PORT PORTE
#define SPI_SS1_DDR DDRE
#define SPI_IT1_PIN 6
#define SPI_IT1_PORT PORTE
#define SPI_IT1_DDR DDRE
#define SPI_SS2_PIN 2
#define SPI_SS2_PORT PORTE
#define SPI_SS2_DDR DDRE
#define SPI_IT2_PIN 5
#define SPI_IT2_PORT PORTE
#define SPI_IT2_DDR DDRE
#define SPI_SCK_PIN 1
#define SPI_MOSI_PIN 2
#define SPI_MISO_PIN 3
#define SPI_PORT PORTB
#define SPI_DDR DDRB
#ifdef SPI_MASTER
/* Enable SPI, Master, clock fck/16, interrupt */
#define SpiStart() { \
@@ -89,27 +58,29 @@ extern volatile uint8_t spi_idx_buf;
#define SpiUnselectAllSlaves() { \
spi_cur_slave = SPI_NONE; \
SetBit( SPI_SS0_PORT, SPI_SS0_PIN );\
SetBit( SPI_SS1_PORT, SPI_SS1_PIN );\
SetBit( SPI_SS2_PORT, SPI_SS2_PIN );\
SetBit( MASTER_SPI_SS0_PORT, MASTER_SPI_SS0_PIN );\
/* \
SetBit( MASTER_SPI_SS1_PORT, MASTER_SPI_SS1_PIN ); \
SetBit( MASTER_SPI_SS2_PORT, MASTER_SPI_SS2_PIN );\
*/ \
}
#define SpiSelectSlave0() { \
spi_cur_slave = SPI_SLAVE0; \
ClearBit( SPI_SS0_PORT, SPI_SS0_PIN );\
ClearBit( MASTER_SPI_SS0_PORT, MASTER_SPI_SS0_PIN );\
}
#define SpiSelectSlave1() { \
spi_cur_slave = SPI_SLAVE1; \
ClearBit( SPI_SS1_PORT, SPI_SS1_PIN );\
ClearBit( MASTER_SPI_SS1_PORT, MASTER_SPI_SS1_PIN );\
}
#define SpiSelectSlave2() { \
spi_cur_slave = SPI_SLAVE2; \
ClearBit( SPI_SS2_PORT, SPI_SS2_PIN );\
ClearBit( MASTER_SPI_SS2_PORT, MASTER_SPI_SS2_PIN );\
}
#endif /* AP */
#endif /* SPI_MASTER */
#endif /* SPI_HW_H */
sw/airborne/avr/uart_hw.c
+22 -4
View File
@@ -29,7 +29,8 @@
#include "uart.h"
#include "sys_time.h"
#define B9600 9600UL
#define B2400 2400UL
#define B9600 9600UL
#define B38400 38400UL
#if defined (__AVR_ATmega8__)
@@ -178,21 +179,26 @@ SIGNAL( SIG_UART0_RECV ) {
#endif /** USE_UART0 */
#ifdef USE_UART1
static uint8_t tx_head1; /* next free in buf */
static volatile uint8_t tx_tail1; /* next char to send */
static uint8_t tx_buf1[ TX_BUF_SIZE ];
void uart1_init_tx( void ) {
/* Baudrate is 38.4k */
/* set baud rate */
UBRR1H = 0;
UBRR1L = 25; // 38.4
UBRR1L = F_CPU/(16*UART1_BAUD)-1;
/* single speed */
UCSR1A = 0;
/* Enable receiver and transmitter */
/* Enable transmitter */
UCSR1B = _BV(TXEN);
/* Set frame format: 8data, 1stop bit */
UCSR1C = _BV(UCSZ1) | _BV(UCSZ0);
tx_head1 = 0;
tx_tail1 = 0;
}
void uart1_init_rx( void ) {
@@ -202,6 +208,14 @@ void uart1_init_rx( void ) {
sbi(UCSR1B, RXCIE );
}
bool_t uart1_check_free_space( uint8_t len) {
int8_t space;
if ((space = (tx_tail1 - tx_head1)) <= 0)
space += TX_BUF_SIZE;
return (uint16_t)(space - 1) >= len;
}
void uart1_transmit( unsigned char data ) {
if (UCSR1B & _BV(TXCIE)) {
/* we are waiting for the last char to be sent : buffering */
@@ -236,4 +250,8 @@ SIGNAL( SIG_UART1_RECV ) {
uart1_char_available = TRUE;
}
#endif /* USE_UART1 */
#endif /* (__AVR_ATmega128__) */
sw/airborne/downlink.h
+1
View File
@@ -74,6 +74,7 @@ extern uint8_t downlink_nb_ovrn;
#define DownlinkPutUint32ByAddr(_x) Transport(PutUint32ByAddr(_x))
#define DownlinkPutFloatByAddr(_x) Transport(PutFloatByAddr(_x))
#define DownlinkPutFloatArray(_n, _x) Transport(PutFloatArray(_n, _x))
#define DownlinkPutInt16Array(_n, _x) Transport(PutInt16Array(_n, _x))
#define DownlinkPutUint16Array(_n, _x) Transport(PutUint16Array(_n, _x))
#define DownlinkPutUint8Array(_n, _x) Transport(PutUint8Array(_n, _x))
sw/airborne/fbw_downlink.h
+2
View File
@@ -39,6 +39,8 @@
#include "messages.h"
#include "periodic.h"
#include "airframe.h"
#include "commands.h"
#include "actuators.h"
#include "uart.h"
#include "main_fbw.h"
sw/airborne/link_imu.c
+153
View File
@@ -0,0 +1,153 @@
#include "link_imu.h"
#include "std.h"
struct imu_state link_imu_state;
struct imu_state link_imu_state_foo;
#ifdef IMU /* IMU LPC code */
#include "LPC21xx.h"
#include "armVIC.h"
volatile uint8_t spi0_data_available;
volatile uint8_t spi0_idx_buf;
uint8_t* spi0_buffer_output = (uint8_t*)&link_imu_state;
uint8_t* spi0_buffer_input = (uint8_t*)&link_imu_state_foo;
void SPI0_ISR(void) __attribute__((naked));
#define Spi0InitBuf() { \
spi0_idx_buf = 0; \
IO1SET = _BV(SPI0_DRDY); \
/* FIXME : test if last read done */ \
S0SPDR = spi0_buffer_output[0]; \
IO1CLR = _BV(SPI0_DRDY); \
}
#define Spi0OneByte() { \
/* FIXME : do something usefull with the status register reading */ \
uint8_t foo __attribute__((unused)) = S0SPSR; \
spi0_buffer_input[spi0_idx_buf] = S0SPDR; \
spi0_idx_buf++; \
if (spi0_idx_buf < sizeof(link_imu_state)) { \
S0SPDR = spi0_buffer_output[spi0_idx_buf]; \
} \
else { \
spi0_data_available = TRUE; \
IO1SET = _BV(SPI0_DRDY); \
} \
}
/*
wiring on IMU_V3
P0_4 SCK0
P0_5 MISO0
P0_6 MOSI0
P0_7 SSEL0
P1_24 DRDY
*/
#define SPI0_DRDY 24
/* */
#define S0SPCR_SPIE 7 /* SPI enable */
void link_imu_init ( void ) {
/* init SPI0 */
/* setup pins for sck, miso, mosi, SSEL */
PINSEL0 |= 1<<8 | 1<<10| 1<<12 | 1<< 14;
/* setup P1_16 to P1_25 as GPIO */
PINSEL2 &= ~(1<<3);
/* P1_24 is output */
SetBit(IO1DIR, SPI0_DRDY);
/* DRDY idles high */
SetBit(IO1SET, SPI0_DRDY);
/* configure SPI : 8 bits CPOL=0 CPHA=0 MSB_first slave */
S0SPCR = 0;
/* setup SPI clock rate */
S0SPCCR = 0x20;
/* initialize interrupt vector */
VICIntSelect &= ~VIC_BIT(VIC_SPI0); // SPI0 selected as IRQ
VICIntEnable = VIC_BIT(VIC_SPI0); // SPI0 interrupt enabled
VICVectCntl10 = VIC_ENABLE | VIC_SPI0;
VICVectAddr10 = (uint32_t)SPI0_ISR; // address of the ISR
/* clear pending interrupt */
SetBit(S0SPINT, SPI0IF);
/* enable SPI interrupt */
SetBit(S0SPCR, S0SPCR_SPIE);
}
void link_imu_send ( void ) {
Spi0InitBuf();
}
void SPI0_ISR(void) {
ISR_ENTRY();
Spi0OneByte();
/* clear the interrupt */
S0SPINT = _BV(SPI0IF);
/* clear this interrupt from the VIC */
VICVectAddr = 0x00000000;
ISR_EXIT();
}
#endif /* IMU */
#ifdef FBW /* mega128 control board code */
#include <avr/io.h>
#if (__GNUC__ == 3)
#include <avr/signal.h>
#endif
#include <avr/interrupt.h>
#include CONFIG
#include "spi.h"
#include "fbw_downlink.h"
void link_imu_init ( void ) {
spi_init();
spi_buffer_input = (uint8_t*)&link_imu_state;
spi_buffer_output = (uint8_t*)&link_imu_state_foo;
spi_buffer_length = sizeof(link_imu_state);
/** Falling edge */
SetBit(EICRB, ISC61);
/** Clr pending interrupt */
SetBit(EIFR, INTF6);
/** Enable DTRDY interrupt */
SetBit(EIMSK, INT6);
}
static inline void link_imu_read( void ) {
SpiSelectSlave0();
SpiStart();
}
SIGNAL( SIG_INTERRUPT6 ) {
link_imu_read();
}
void link_imu_event_task( void ) {
DOWNLINK_SEND_IMU_SENSORS(3, link_imu_state.rates);
}
#endif /* FBW */
sw/airborne/link_imu.h
+32
View File
@@ -0,0 +1,32 @@
#ifndef LINK_IMU_H
#define LINK_IMU_H
#include <inttypes.h>
#include "frames.h"
struct imu_state {
float rates[AXIS_NB];
float eulers[AXIS_NB];
};
extern struct imu_state link_imu_state;
extern void link_imu_init ( void );
#ifdef IMU
extern volatile uint8_t spi0_data_available;
extern void link_imu_send( void );
#endif /* IMU */
#ifdef FBW
void link_imu_event_task( void );
#endif /* FBW */
#endif /* LINK_IMU_H */
sw/airborne/main_ap.c
+1 -8
View File
@@ -486,10 +486,6 @@ inline void periodic_task_ap( void ) {
void init_ap( void ) {
#ifdef LED
led_init();
IO0DIR |= 1<<2;
IO0SET = 1<<2;
#endif
#ifndef SINGLE_MCU /** Dual mcus : init done in main_fbw */
hw_init();
@@ -497,7 +493,7 @@ void init_ap( void ) {
#ifdef ADC
adc_init();
#endif
#endif
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#ifdef INFRARED
@@ -565,9 +561,6 @@ void init_ap( void ) {
}
wc_configure();
#endif
// LED_ON(3);
}
sw/airborne/main_fbw.c
+20 -1
View File
@@ -50,6 +50,8 @@
#ifdef MCU_SPI_LINK
#include "link_mcu.h"
#endif
#include "link_imu.h"
#ifdef ADC
struct adc_buf vsupply_adc_buf;
#endif
@@ -70,6 +72,9 @@ void init_fbw( void ) {
#ifdef USE_UART0
uart0_init_tx();
#endif
#ifdef USE_UART1
uart1_init_tx();
#endif
#ifdef ADC
adc_init();
adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
@@ -89,8 +94,13 @@ void init_fbw( void ) {
spi_init();
link_mcu_restart();
#endif
#ifdef LINK_IMU
spi_init();
link_imu_init();
#endif
#ifndef SINGLE_MCU
int_enable();
#endif
}
@@ -146,6 +156,15 @@ void event_task_fbw( void) {
}
#endif /* MCU_SPI_LINK */
#endif /* INTER_MCU */
#ifdef LINK_IMU
if (spi_message_received) {
/* Got a message on SPI. */
spi_message_received = FALSE;
link_imu_event_task();
}
#endif /* LINK_IMU */
}
/************* PERIODIC ******************************************************/
sw/airborne/main_imu.c
+10 -3
View File
@@ -12,10 +12,11 @@
#include "micromag.h"
#include "imu_v3.h"
#include "ahrs_new.h"
#include "link_imu.h"
#include "airframe.h"
#include "messages.h"
#include "downlink.h"
//#include "airframe.h"
//#include "messages.h"
//#include "downlink.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -62,6 +63,8 @@ static inline void main_init( void ) {
main_init_spi1();
max1167_init();
micromag_init();
// spi0_init();
link_imu_init();
int_enable();
}
@@ -81,6 +84,10 @@ static inline void main_event_task( void ) {
imu_print_gyro();
ImuUpdateAccels();
imu_print_accel();
link_imu_state.rates[AXIS_X] = imu_gyro[AXIS_X];
link_imu_state.rates[AXIS_Y] = imu_gyro[AXIS_Y];
link_imu_state.rates[AXIS_Z] = imu_gyro[AXIS_Z];
link_imu_send();
// DOWNLINK_SEND_IMU_SENSORS(&imu_accel[AXIS_X], &imu_accel[AXIS_Y], &imu_accel[AXIS_Z],
// &imu_gyro[AXIS_X], &imu_gyro[AXIS_Y], &imu_gyro[AXIS_Z],
// &imu_mag[AXIS_X], &imu_mag[AXIS_Y], &imu_mag[AXIS_Z]);
sw/airborne/pprz_transport.h
+1
View File
@@ -98,6 +98,7 @@ extern uint8_t ck_a, ck_b;
} \
}
#define PprzTransportPutFloatArray(_n, _x) PprzTransportPutArray(PprzTransportPutFloatByAddr, _n, _x)
#define PprzTransportPutInt16Array(_n, _x) PprzTransportPutArray(PprzTransportPutInt16ByAddr, _n, _x)
#define PprzTransportPutUint16Array(_n, _x) PprzTransportPutArray(PprzTransportPutUint16ByAddr, _n, _x)
sw/airborne/spi.h
+4 -4
View File
@@ -29,7 +29,7 @@
#ifndef SPI_H
#define SPI_H
#ifdef MCU_SPI_LINK
#ifdef USE_SPI
#include "std.h"
#include "spi_hw.h"
@@ -42,7 +42,7 @@ extern volatile bool_t spi_message_received;
void spi_init(void);
#ifdef AP
#ifdef SPI_MASTER
#define SPI_NONE 0
#define SPI_SLAVE0 1
@@ -55,9 +55,9 @@ extern uint8_t spi_nb_ovrn;
#define SpiCheckAvailable() (spi_cur_slave == SPI_NONE)
#define SpiOverRun() {spi_nb_ovrn++;}
#endif /* AP */
#endif /* SPI_MASTER */
#endif /* MCU_SPI_LINK */
#endif /* USE_SPI */
#endif /* SPI_H */