[actuators] converting more actuators drivers

- heli looks obsolete and should be replaced by one of the pwm driver - pwm_supervion is merged into pwm (direct) - maybe supervision should have its own subsystem
2026-06-06 07:53:43 +08:00 · 2012-10-16 17:54:34 +02:00
parent d7a80cce92
commit 76f01ceae5
19 changed files with 66 additions and 170 deletions
@@ -1,3 +0,0 @@
-
-ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c
-ap.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
@@ -1,9 +0,0 @@
-
-ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
-ap.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
-
-# Simulator
-nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c
-nps.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
@@ -1,4 +1,5 @@
 # asctec controllers
+$(TARGET).CFLAGS += -DACTUATORS
 ap.srcs += subsystems/actuators/actuators_asctec.c

 ifeq ($(ARCH), lpc21)
@@ -1,8 +1,6 @@
 # asctec controllers v2
 #
 #  <section name="SUPERVISION" prefix="SUPERVISION_">
-#    <define name="MIN_MOTOR" value="2"/>
-#    <define name="MAX_MOTOR" value="210"/>
 #    <define name="TRIM_A" value="2"/>
 #    <define name="TRIM_E" value="-1"/>
 #    <define name="TRIM_R" value="3"/>
@@ -16,9 +14,10 @@
 #
 #

-ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+$(TARGET).CFLAGS += -DACTUATORS
+ap.srcs += subsystems/actuators/supervision.c
 ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+ap.srcs += subsystems/actuators/actuators_asctec.c

 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
@@ -31,6 +30,6 @@ ap.CFLAGS += -DUSE_I2C1
 endif

 # Simulator
-nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+nps.srcs += subsystems/actuators/supervision.c
+nps.srcs += subsystems/actuators/actuators_asctec.c
 nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_ASCTEC_DEVICE=i2c0
@@ -18,8 +18,6 @@
 #  </section>
 #
 #  <section name="SUPERVISION" prefix="SUPERVISION_">
-#    <define name="MIN_MOTOR" value="2"/>
-#    <define name="MAX_MOTOR" value="210"/>
 #    <define name="TRIM_A" value="2"/>
 #    <define name="TRIM_E" value="-1"/>
 #    <define name="TRIM_R" value="3"/>
@@ -33,8 +31,9 @@
 #
 #

-ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+$(TARGET).CFLAGS += -DACTUATORS
+ap.srcs += subsystems/actuators/supervision.c
+ap.srcs += subsystems/actuators/actuators_mkk.c

 ifeq ($(ARCH), lpc21)

@@ -52,6 +51,6 @@ ap.CFLAGS += -DUSE_I2C1
 endif

 # Simulator
-nps.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
-nps.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+nps.srcs += subsystems/actuators/supervision.c
+nps.srcs += subsystems/actuators/actuators_mkk.c
 nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_DEVICE=i2c0
@@ -0,0 +1,6 @@
+
+$(TARGET).CFLAGS += -DACTUATORS -DUSE_SUPERVISION
+$(TARGET).srcs   += subsystems/actuators/supervision.c
+$(TARGET).srcs   += subsystems/actuators/actuators_pwm.c
+$(TARGET).srcs   += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
+
@@ -34,6 +34,7 @@ ifeq ($(SKIRON_I2C_SCL_TIME), )
 SKIRON_I2C_SCL_TIME=150
 endif

+$(TARGET).CFLAGS += -DACTUATORS
 ap.srcs += subsystems/actuators/supervision.c
 ap.srcs += subsystems/actuators/actuators_skiron.c

@@ -49,7 +49,7 @@ const uint8_t pwm_latch_value = 0
 #endif
  ;

-void actuators_pwm_init ( void ) {
+void actuators_pwm_arch_init ( void ) {

  /* configure pins for PWM */
 #if defined PWM_SERVO_0
@@ -40,6 +40,7 @@ PWM6        PWM2  SSEL0  EINT2   P0.7
 #endif

 #define COMMAND_(i) SERVO_REG_ ## i
+/** Actuator set macro */
 #define ActuatorPwmSet(_i, _v) { COMMAND_(_i) = SERVOS_TICS_OF_USEC(_v); }

 #define PWM_PINSEL_MASK_VAL 3
@@ -88,11 +89,11 @@ PWM6        PWM2  SSEL0  EINT2   P0.7

 extern const uint8_t pwm_latch_value;

+/** Actuator commit macro */
 #define ActuatorsPwmCommit() { \
    PWMLER = pwm_latch_value;   \
  }

-extern void actuators_pwm_init(void);
-#define ActuatorsPwmInit() actuators_pwm_init()
+extern void actuators_pwm_arch_init(void);

 #endif /* ACTUATORS_PWM_ARCH_H */
@@ -30,6 +30,8 @@
 #include <libopencm3/stm32/f1/rcc.h>
 #include <libopencm3/stm32/timer.h>

+int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
+
 #define PCLK 72000000
 #define ONE_MHZ_CLK 1000000
 #ifndef SERVO_HZ
@@ -38,15 +38,19 @@
 #define ACTUATORS_PWM_NB 6
 #endif

-/* Needs to be included after ACTUATORS_PWM_NB is defined!
- * Otherwise ACTUATORS_PWM_NB is not declared in actuators_pwm.h
- */
-#include "subsystems/actuators/actuators_pwm.h"
+///* Needs to be included after ACTUATORS_PWM_NB is defined!
+// * Otherwise ACTUATORS_PWM_NB is not declared in actuators_pwm.h
+// */
+//#include "subsystems/actuators/actuators_pwm.h"
+
+extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];

 extern void actuators_pwm_arch_init(void);
 extern void actuators_pwm_commit(void);

 #define SERVOS_TICS_OF_USEC(_v) (_v)
-#define ActuatorsCommit  actuators_pwm_commit
+
+#define ActuatorPwmSet(_i, _v) { actuators_pwm_values[_i] = _v; }
+#define ActuatorsPwmCommit  actuators_pwm_commit

 #endif /* ACTUATORS_PWM_ARCH_H */
@@ -26,7 +26,6 @@
 #include "subsystems/actuators.h"
 #include "subsystems/actuators/actuators_asctec.h"

-#include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"

@@ -98,10 +97,6 @@ void actuators_asctec_set(bool_t motors_on) {
  actuators_asctec.cmds[YAW]    = 0;
  actuators_asctec.cmds[THRUST] = 0;
 #else /* ! KILL_MOTORS */
-//  actuators_asctec.cmds[PITCH]  = ((commands[COMMAND_PITCH]  + SUPERVISION_TRIM_E) * ASCTEC_MAX_CMD) / MAX_PPRZ;
-//  actuators_asctec.cmds[ROLL]   = ((commands[COMMAND_ROLL]   + SUPERVISION_TRIM_A) * ASCTEC_MAX_CMD) / MAX_PPRZ;
-//  actuators_asctec.cmds[YAW]    = ((commands[COMMAND_YAW]    + SUPERVISION_TRIM_R) * ASCTEC_MAX_CMD) / MAX_PPRZ;
-//  actuators_asctec.cmds[THRUST] = (commands[COMMAND_THRUST] * ASCTEC_MAX_THROTTLE) / MAX_PPRZ;
  Bound(actuators_asctec.cmds[PITCH],ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
  Bound(actuators_asctec.cmds[ROLL], ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
  Bound(actuators_asctec.cmds[YAW],  ASCTEC_MIN_CMD, ASCTEC_MAX_CMD);
@@ -147,7 +142,7 @@ void actuators_asctec_set(bool_t motors_on) {

 }
 #else /* ! ACTUATORS_ASCTEC_V2_PROTOCOL */
-void actuators_set(bool_t motors_on) {
+void actuators_asctec_set(bool_t motors_on) {
 #if defined ACTUATORS_START_DELAY && ! defined SITL
  if (!actuators_delay_done) {
    if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) {
@@ -174,7 +169,6 @@ void actuators_set(bool_t motors_on) {
      return;
  }

-  supervision_run(motors_on, FALSE, commands);
 #ifdef KILL_MOTORS
  actuators_asctec.i2c_trans.buf[0] = 0;
  actuators_asctec.i2c_trans.buf[1] = 0;
@@ -182,10 +176,10 @@ void actuators_set(bool_t motors_on) {
  actuators_asctec.i2c_trans.buf[3] = 0;
  actuators_asctec.i2c_trans.buf[4] = 0xAA;
 #else
-  actuators_asctec.i2c_trans.buf[0] = supervision.commands[SERVO_FRONT];
-  actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK];
-  actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT];
-  actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT];
+  actuators_asctec.i2c_trans.buf[0] = actuators_asctec.cmds[SERVO_FRONT];
+  actuators_asctec.i2c_trans.buf[1] = actuators_asctec.cmds[SERVO_BACK];
+  actuators_asctec.i2c_trans.buf[2] = actuators_asctec.cmds[SERVO_LEFT];
+  actuators_asctec.i2c_trans.buf[3] = actuators_asctec.cmds[SERVO_RIGHT];
  actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] +
                                             actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3];
 #endif
@@ -1,49 +0,0 @@
-/*
- * Copyright (C) 2010 The Paparazzi Team
- *
- * 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.
- */
-
-#include "generated/airframe.h"
-
-#include "firmwares/rotorcraft/actuators.h"
-#include "firmwares/rotorcraft/commands.h"
-#include "subsystems/actuators/actuators_pwm.h"
-
-
-#define ESC_STOPPED SERVOS_TICS_OF_USEC(0)
-
-#ifndef KILL_MOTORS
-#define ESC_HOVER   SERVOS_TICS_OF_USEC(5500)
-#else
-#define ESC_HOVER   SERVOS_TICS_OF_USEC(0)
-#endif
-
-int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
-
-void actuators_init(void)
-{
-  actuators_pwm_arch_init();
-}
-
-
-void actuators_set(bool_t motors_on)
-{
-  SetActuatorsFromCommands(commands);
-}
-
@@ -23,10 +23,9 @@
 *  Actuators driver for Mikrokopter motor controllers.
 */

-#include "firmwares/rotorcraft/actuators.h"
-#include "firmwares/rotorcraft/actuators/actuators_mkk.h"
+#include "subsystems/actuators.h"
+#include "subsystems/actuators/actuators_mkk.h"

-#include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"

@@ -37,7 +36,7 @@ struct ActuatorsMkk actuators_mkk;
 uint32_t actuators_delay_time;
 bool_t   actuators_delay_done;

-void actuators_init(void) {
+void actuators_mkk_init(void) {

  supervision_init();
  const uint8_t actuators_addr[ACTUATORS_MKK_NB] = ACTUATORS_MKK_ADDR;
@@ -59,7 +58,7 @@ void actuators_init(void) {
 }


-void actuators_set(bool_t motors_on) {
+void actuators_mkk_set(void) {
 #if defined ACTUATORS_START_DELAY && ! defined SITL
  if (!actuators_delay_done) {
    if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) return;
@@ -67,12 +66,9 @@ void actuators_set(bool_t motors_on) {
  }
 #endif

-  supervision_run(motors_on, FALSE, commands);
  for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++) {
 #ifdef KILL_MOTORS
    actuators_mkk.trans[i].buf[0] = 0;
-#else
-    actuators_mkk.trans[i].buf[0] = supervision.commands[i];
 #endif
    i2c_submit(&ACTUATORS_MKK_DEVICE, &actuators_mkk.trans[i]);
  }
@@ -30,6 +30,7 @@
 #include "mcu_periph/i2c.h"

 #include "generated/airframe.h"
+#include "subsystems/actuators/supervision.h"


 struct ActuatorsMkk {
@@ -38,9 +39,11 @@ struct ActuatorsMkk {

 extern struct ActuatorsMkk actuators_mkk;

+extern void actuators_mkk_init(void);
+extern void actuators_mkk_set(void);

-
-#include "firmwares/rotorcraft/actuators/supervision.h"
-
+#define ActuatorMkkSet(_i, _v) { actuators_mkk.trans[i].buf[0] = _v; }
+#define ActuatorsMkkInit() actuators_mkk_init()
+#define ActuatorsMkkCommit() actuators_mkk_set()

 #endif /* ACTUATORS_MKK_H */
@@ -19,7 +19,14 @@
 * Boston, MA 02111-1307, USA.
 */

-#include "actuators_pwm.h"
+#include "subsystems/actuators/actuators_pwm.h"

-int32_t actuators_pwm_values[SERVOS_PWM_NB];
+void actuators_pwm_init(void)
+{
+#if USE_SUPERVISION
+  supervision_init();
+#endif
+  // implemented in arch files
+  actuators_pwm_arch_init();
+}

@@ -28,6 +28,14 @@
 #include BOARD_CONFIG
 #include "subsystems/actuators/actuators_pwm_arch.h"

-extern int32_t actuators_pwm_values[SERVOS_PWM_NB];
+#if USE_SUPERVISION
+#include "subsystems/actuators/supervision.h"
+#endif
+
+extern void actuators_pwm_init(void);
+
+#define ActuatorsPwmInit() actuators_pwm_init()
+/* ActuatorSet and ActuatorsPwmCommit are implemented in arch files
+ */

 #endif /* ACTUATORS_PWM_H */
@@ -1,63 +0,0 @@
-/*
- * Copyright (C) 2010-2012 The Paparazzi Team
- *
- * 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.
- */
-
-/** @file actuators_pwm_supervision.h
- *  PWM actuators with supervision.
- */
-
-#include "generated/airframe.h"
-
-/* warn if SUPERVISION_STOP_MOTOR is not defined in the airframe file */
-#ifndef SUPERVISION_STOP_MOTOR
-#warning "STOP_MOTOR is not defined in the SUPERVISION section, are you sure you want to use the default of 0?"
-#endif
-
-#include "firmwares/rotorcraft/actuators/supervision.h"
-#include "firmwares/rotorcraft/commands.h"
-#include "subsystems/radio_control.h"
-
-#include "firmwares/rotorcraft/actuators.h"
-#include "subsystems/actuators/actuators_pwm.h"
-
-
-/** actuator PWM values in usec. */
-int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
-
-void actuators_init(void)
-{
-  supervision_init();
-  actuators_pwm_arch_init();
-}
-
-void actuators_set(bool_t motors_on)
-{
-  /* set normal control surface actuators, i.e. servos */
-  SetActuatorsFromCommands(commands);
-
-  /* run supervision for actuators (motor controllers) that need mixing */
-  supervision_run(motors_on, FALSE, commands);
-
-  for (int i = 0; i < SUPERVISION_NB_MOTOR; i++) {
-    actuators_pwm_values[i] = supervision.commands[i];
-  }
-  ActuatorsCommit();
-}
-
@@ -38,7 +38,6 @@

 struct ActuatorsSkiron {
  struct i2c_transaction trans;
-  //uint8_t actuators_idx[ACTUATORS_SKIRON_NB];
 };

 extern struct ActuatorsSkiron actuators_skiron;