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Merge remote branch 'paparazzi/master' into nav

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This commit is contained in:
Felix Ruess
2010-12-05 23:18:18 +01:00
parent 00b8ad0490 d69210f631
commit 7a36cc9194
231 changed files with 931 additions and 855 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/mm/extra/press_t.xml
Executable → Regular
View File
conf/airframes/mm/extra/probe_t.xml
Executable → Regular
View File
conf/airframes/mm/fixed-wing/funjetgfi8.xml
+41 -85
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@@ -1,8 +1,7 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd"> <!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25 <!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2) Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg) Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
XBee modem XBee modem
Payload: Sensirion humidity/temp, VTI pressure/temp Payload: Sensirion humidity/temp, VTI pressure/temp
@@ -11,7 +10,46 @@
<airframe name="Funjet GFI 8 K68"> <airframe name="Funjet GFI 8 K68">
<!-- commands section --> <firmware name="fixedwing">
<target name="ap" board="tiny_2.11"/>
<target name="sim" board="pc"/>
<define name="AGR_CLIMB"/>
<define name="LOITER_TRIM"/>
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
<define name="SENSOR_SYNC_SEND"/>
<!-- RC -->
<subsystem name="radio_control" type="ppm"/>
<!-- Communication -->
<subsystem name="telemetry" type="xbee_api"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="control"/>
<!-- Sensors -->
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h"/>
<!-- Nav -->
<subsystem name="navigation"/>
<!-- Interfaces -->
<subsystem name="spi"/>
</firmware>
<!-- modules -->
<modules>
<load name="baro_scp.xml"/>
<load name="humid_sht.xml"/>
</modules>
<firmware name="setup">
<target name="tunnel" board="tiny_2.11"/>
<target name="usb_tunnel_0" board="tiny_2.11"/>
<target name="usb_tunnel_1" board="tiny_2.11"/>
<target name="setup_actuators" board="tiny_2.11"/>
</firmware>
<!-- commands section -->
<servos> <servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/> <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1563" max="1100"/> <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1563" max="1100"/>
@@ -81,8 +119,6 @@
<section name="BAT"> <section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/> <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 -->
<!-- 0.02432905 -->
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/> <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section> </section>
@@ -91,8 +127,6 @@
<define name="CARROT" value="5." unit="s"/> <define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/> <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/> <define name="CONTROL_RATE" value="60" unit="Hz"/>
<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
<define name="ALT_KALMAN_ENABLED" value="FALSE"/> <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
<define name="TRIGGER_DELAY" value="1."/> <define name="TRIGGER_DELAY" value="1."/>
@@ -125,7 +159,6 @@
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/> <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.1"/> <define name="THROTTLE_SLEW" value="0.1"/>
</section> </section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_"> <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -140,10 +173,6 @@
<define name="PITCH_DGAIN" value="0.4"/> <define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/> <define name="ELEVATOR_OF_ROLL" value="2400"/>
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/-->
</section> </section>
<section name="NAV"> <section name="NAV">
@@ -168,79 +197,6 @@
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/> <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/> <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/> <define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="DATALINK" prefix="DATALINK_">
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section> </section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
<makefile>
CONFIG = \"tiny_2_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.srcs += commands.c
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
#TRANSPARENT
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
ap.srcs += infrared.c estimator.c
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c
ap.srcs += subsystems/navigation/nav_line.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.srcs += humid_sht.c
ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
ap.srcs += baro_scp.c
ap.CFLAGS += -DUSE_BARO_SCP
ap.srcs += joystick.c
ap.CFLAGS += -DUSE_JOYSTICK
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.srcs += joystick.c
sim.CFLAGS += -DUSE_JOYSTICK
</makefile>
</airframe> </airframe>
conf/airframes/mm/fixed-wing/funjetlisa.xml
+173
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@@ -0,0 +1,173 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
Lisa/L board (http://paparazzi.enac.fr/wiki/Lisa)
XBee modem
LEA 5H GPS
robbe R6107SP mk
-->
<airframe name="Funjet Lisa/L">
<firmware name="fixedwing">
<target name="sim" board="pc"/>
<target name="ap" board="lisa_l_1.0"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="control"/>
<subsystem name="attitude" type="infrared"/>
<subsystem name="gps" type="ublox_lea5h">
<param name="GPS_UART_NR" value="3"/>
</subsystem>
<subsystem name="navigation"/>
</firmware>
<firmware name="lisa_l_test_progs">
<target name="tunnel" board="lisa_l_1.0"/>
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
</firmware>
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1534" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>
<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</section>
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="RadOfDeg(50)"/>
<define name="MAX_PITCH" value="RadOfDeg(35)"/>
</section>
<section name="INFRARED" prefix="IR_">
<define name="ADC_IR1_NEUTRAL" value="2048"/>
<define name="ADC_IR2_NEUTRAL" value="2048"/>
<define name="ADC_TOP_NEUTRAL" value="2048"/>
<define name="LATERAL_CORRECTION" value="-1"/>
<define name="LONGITUDINAL_CORRECTION" value="1"/>
<define name="VERTICAL_CORRECTION" value="1.5"/>
<define name="HORIZ_SENSOR_TILTED" value="1"/>
<define name="IR1_SIGN" value="1"/>
<define name="IR2_SIGN" value="-1"/>
<define name="TOP_SIGN" value="1"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
<define name="AUTO_PITCH_IGAIN" value="0.0"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
<define name="THROTTLE_SLEW" value="0.1"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-0.9"/>
<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_PGAIN" value="6600."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_PGAIN" value="-5500."/>
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="2400"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
</airframe>
conf/airframes/mm/fixed-wing/funjetmm.xml
Executable → Regular
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conf/airframes/mm/rotor/qmk1.xml
Executable → Regular
+2 -1
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@@ -189,8 +189,9 @@
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"> <target name="ap" board="lisa_l_1.0">
<define name="GPS_UART_NR" value="3"/>
<!-- <define name="BOOZ_START_DELAY" value="1"/> --> <!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/> <subsystem name="actuators" type="mkk"/>
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
conf/autopilot/csc_baro.makefile
+1 -1
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@@ -1,4 +1,4 @@
# baro scp bits # baro scp bits
ap.CFLAGS += -DUSE_BARO_SCP -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 ap.CFLAGS += -DUSE_BARO_SCP -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += $(SRC_CSC)/csc_baro.c spi.c $(SRC_ARCH)/spi_hw.c ap.srcs += $(SRC_CSC)/csc_baro.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
conf/autopilot/lisa_l_test_progs.makefile
+1 -1
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@@ -280,7 +280,7 @@ test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT) test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_adc.srcs += downlink.c pprz_transport.c test_adc.srcs += downlink.c pprz_transport.c
test_adc.srcs += $(SRC_ARCH)/adc_hw.c test_adc.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1
# -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 # -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
conf/autopilot/lisa_passthrough.makefile
+2 -2
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@@ -103,12 +103,12 @@ stm_passthrough.CFLAGS += -DUSE_CAN1 \
-DCAN_BS1_TQ=CAN_BS1_3tq \ -DCAN_BS1_TQ=CAN_BS1_3tq \
-DCAN_BS2_TQ=CAN_BS2_4tq \ -DCAN_BS2_TQ=CAN_BS2_4tq \
-DCAN_ERR_RESUME=DISABLE -DCAN_ERR_RESUME=DISABLE
stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c stm_passthrough.srcs += mcu_periph/can.c $(SRC_ARCH)/mcu_periph/can_arch.c
stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c
# ADC # ADC
stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c stm_passthrough.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
stm_passthrough.CFLAGS += -DUSE_AD1 \ stm_passthrough.CFLAGS += -DUSE_AD1 \
-DUSE_AD1_1 \ -DUSE_AD1_1 \
-DUSE_AD1_2 \ -DUSE_AD1_2 \
conf/autopilot/rotorcraft.makefile
+3 -1
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@@ -55,6 +55,8 @@ ap.ARCHDIR = $(ARCH)
ap.CFLAGS += $(ROTORCRAFT_INC) ap.CFLAGS += $(ROTORCRAFT_INC)
ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
ap.srcs = $(SRC_FIRMWARE)/main.c ap.srcs = $(SRC_FIRMWARE)/main.c
ap.srcs += mcu.c
ap.srcs += $(SRC_ARCH)/mcu_arch.c
ifeq ($(ARCH), stm32) ifeq ($(ARCH), stm32)
ap.srcs += lisa/plug_sys.c ap.srcs += lisa/plug_sys.c
@@ -90,7 +92,7 @@ endif
# #
# Telemetry/Datalink # Telemetry/Datalink
# #
ap.srcs += $(SRC_ARCH)/uart_hw.c ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT) ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT)
ap.srcs += $(SRC_FIRMWARE)/telemetry.c \ ap.srcs += $(SRC_FIRMWARE)/telemetry.c \
conf/autopilot/sitl.makefile
+1 -1
View File
@@ -6,7 +6,7 @@ sim.srcs += latlong.c\
commands.c\ commands.c\
gps.c\ gps.c\
inter_mcu.c\ inter_mcu.c\
infrared.c\ subsystems/sensors/infrared.c\
$(SRC_FIRMWARE)/stabilization/stabilization_attitude.c\ $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c\
$(SRC_FIRMWARE)/guidance/guidance_v.c \ $(SRC_FIRMWARE)/guidance/guidance_v.c \
subsystems/nav.c\ subsystems/nav.c\
conf/autopilot/sitl_jsbsim.makefile
+1 -1
View File
@@ -26,7 +26,7 @@ endif
jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO -Ifirmwares/fixedwing jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO -Ifirmwares/fixedwing
jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c
jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c \ jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c \
$(SRC_FIXEDWING)/stabilization/stabilization_attitude.c \ $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c \
$(SRC_FIXEDWING)/guidance/guidance_v.c\ $(SRC_FIXEDWING)/guidance/guidance_v.c\
subsystems/nav.c estimator.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c datalink.c subsystems/nav.c estimator.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c datalink.c
conf/autopilot/sitl_link_pprz.makefile
+1 -1
View File
@@ -1,3 +1,3 @@
sim.ARCHDIR = $(ARCH) sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DDOWNLINK_AP_DEVICE=SimUart -DDOWNLINK_FBW_DEVICE=SimUart -DDATALINK=PPRZ sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DDOWNLINK_AP_DEVICE=SimUart -DDOWNLINK_FBW_DEVICE=SimUart -DDATALINK=PPRZ
sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c infrared.c $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c subsystems/nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c datalink.c sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c datalink.c
conf/autopilot/sitl_link_xbee.makefile
+1 -1
View File
@@ -1,3 +1,3 @@
sim.ARCHDIR = $(ARCH) sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DSIM_XBEE -DXBEE_UART=SimUart sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DSIM_XBEE -DXBEE_UART=SimUart
sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c infrared.c $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c $(SRC_FIXEDWING)/guidance/guidance_v.c subsystems/nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c $(SRC_FIXEDWING)/guidance/guidance_v.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c
conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
+1 -1
View File
@@ -32,7 +32,7 @@ endif
ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES) ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
$(TARGET).CFLAGS += -DUSE_INFRARED $(TARGET).CFLAGS += -DUSE_INFRARED
$(TARGET).srcs += $(SRC_FIXEDWING)/infrared.c $(TARGET).srcs += subsystems/sensors/infrared.c
sim.srcs += $(SRC_ARCH)/sim_ir.c sim.srcs += $(SRC_ARCH)/sim_ir.c
jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c
conf/autopilot/subsystems/fixedwing/autopilot.makefile
+10 -9
View File
@@ -29,7 +29,7 @@
# temporary hack for ADCs # temporary hack for ADCs
ifeq ($(ARCH), stm32) ifeq ($(ARCH), stm32)
$(TARGET).CFLAGS += -DSTM32 # FIXME : this is for the battery
$(TARGET).CFLAGS += -DUSE_AD1_3 $(TARGET).CFLAGS += -DUSE_AD1_3
endif endif
# #
@@ -37,8 +37,12 @@ endif
# #
$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
$(TARGET).CFLAGS += -DPERIPHERALS_AUTO_INIT
$(TARGET).CFLAGS += $(FIXEDWING_INC) $(TARGET).CFLAGS += $(FIXEDWING_INC)
$(TARGET).srcs += mcu.c
$(TARGET).srcs += $(SRC_ARCH)/mcu_arch.c
# #
# Common Options # Common Options
# #
@@ -54,7 +58,7 @@ $(TARGET).CFLAGS += -DTRAFFIC_INFO
# LEDs # LEDs
# #
$(TARGET).CFLAGS += -DLED $(TARGET).CFLAGS += -DUSE_LED
ifneq ($(ARCH), lpc21) ifneq ($(ARCH), lpc21)
ifneq ($(ARCH), jsbsim) ifneq ($(ARCH), jsbsim)
$(TARGET).srcs += $(SRC_ARCH)/led_hw.c $(TARGET).srcs += $(SRC_ARCH)/led_hw.c
@@ -126,7 +130,7 @@ ns_srcs += $(SRC_ARCH)/sys_time_hw.c
# UARTS # UARTS
# #
ns_srcs += $(SRC_ARCH)/uart_hw.c ns_srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
# #
# ANALOG # ANALOG
@@ -134,10 +138,7 @@ ns_srcs += $(SRC_ARCH)/uart_hw.c
ns_CFLAGS += -DADC ns_CFLAGS += -DADC
#ifeq ($(ARCH), lpc21) #ifeq ($(ARCH), lpc21)
ns_srcs += $(SRC_ARCH)/adc_hw.c ns_srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
#else ifeq ($(ARCH), stm32)
# ns_srcs += lisa/lisa_analog_plug.c
#endif
ifeq ($(ARCH), stm32) ifeq ($(ARCH), stm32)
ns_CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER ns_CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
endif endif
@@ -207,9 +208,9 @@ jsbsim.srcs += downlink.c datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsi
ifeq ($(BOARD),classix) ifeq ($(BOARD),classix)
fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c $(SRC_ARCH)/spi_hw.c fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c $(SRC_ARCH)/spi_hw.c ap.srcs += $(SRC_FIXEDWING)/link_mcu.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
else else
# Single MCU's run both # Single MCU's run both
ap.CFLAGS += $(fbw_CFLAGS) ap.CFLAGS += $(fbw_CFLAGS)
conf/autopilot/subsystems/fixedwing/i2c.makefile
+4 -2
View File
@@ -1,3 +1,5 @@
#generic i2c driver #generic i2c driver
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += mcu_periph/i2c.c
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
sim.srcs += mcu_periph/i2c.c
sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
conf/autopilot/subsystems/fixedwing/spi.makefile
+2 -2
View File
@@ -1,5 +1,5 @@
#generic spi driver #generic spi driver
$(TARGET).CFLAGS += -DUSE_SPI $(TARGET).CFLAGS += -DUSE_SPI
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c ap.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
sim.srcs += spi.c $(SRC_ARCH)/spi_hw.c sim.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
conf/autopilot/subsystems/fixedwing/testing.makefile
+1 -1
View File
@@ -21,7 +21,7 @@ test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_
test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c
# pprz_transport.c # pprz_transport.c
conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
+4 -2
View File
@@ -1,6 +1,7 @@
# asctec controllers # asctec controllers
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += mcu_periph/i2c.c
ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
@@ -16,5 +17,6 @@ endif
# Simulator # Simulator
sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c sim.srcs += mcu_periph/i2c.c
sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
+2 -1
View File
@@ -19,7 +19,8 @@
ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += mcu_periph/i2c.c
ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0 ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
+1 -1
View File
@@ -7,4 +7,4 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c
ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
# fixme : this is needed by baro and usualy added by actuators_mkk or actuators_asctec # fixme : this is needed by baro and usualy added by actuators_mkk or actuators_asctec
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+4 -2
View File
@@ -28,7 +28,8 @@
# #
ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ap.srcs += mcu_periph/i2c.c
ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
@@ -42,4 +43,5 @@ endif
sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c sim.srcs += mcu_periph/i2c.c
sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
conf/autopilot/subsystems/shared/radio_control_spektrum.makefile
+1 -1
View File
@@ -7,7 +7,7 @@ endif
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\" ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
ifeq ($(BOARD), booz) ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL) ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif endif
ifdef RADIO_CONTROL_LED ifdef RADIO_CONTROL_LED
conf/boards/lisa_l_1.0.makefile
+2 -2
View File
@@ -78,8 +78,8 @@ ADC_IR2 = 2
ADC_IR2_CHAN = 1 ADC_IR2_CHAN = 1
endif endif
ifndef ADC_IR3 ifndef ADC_IR3
ADC_IR_TOP = 3 ADC_IR_TOP = 4
ADC_IR_TOP_CHAN = 2 ADC_IR_TOP_CHAN = 3
endif endif
ifndef ADC_IR_NB_SAMPLES ifndef ADC_IR_NB_SAMPLES
ADC_IR_NB_SAMPLES = 16 ADC_IR_NB_SAMPLES = 16
conf/flight_plans/basic_booz.xml
-12
View File
@@ -1,9 +1,6 @@
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd"> <!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Test Enac" security_height="2"> <flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Test Enac" security_height="2">
<header>
#include "booz_fms.h"
</header>
<waypoints> <waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/> <waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/> <waypoint name="CLIMB" x="0.0" y="5.0"/>
@@ -63,15 +60,6 @@
<block name="circle"> <block name="circle">
<circle radius="nav_radius" wp="p1"/> <circle radius="nav_radius" wp="p1"/>
</block> </block>
<!--
<block name="Joystick" pre_call="NavUpdateWPFromFms(WP_p1)" strip_button="Joystick" strip_icon="joystick.png">
<set var="fms.enabled" value="TRUE"/>
<call fun="NavSetWaypointHere(WP_p1)"/>
<stay wp="p1"/>
</block>
-->
<block name="land here" strip_button="Land Here" strip_icon="land-right.png"> <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<call fun="NavSetWaypointHere(WP_TD)"/> <call fun="NavSetWaypointHere(WP_TD)"/>
</block> </block>
conf/modules/baro_scp.xml
+2
View File
@@ -14,6 +14,8 @@
<event fun="baro_scp_event()"/> <event fun="baro_scp_event()"/>
<makefile target="ap"> <makefile target="ap">
<file name="baro_scp.c"/> <file name="baro_scp.c"/>
<flag name="SPI_MASTER"/>
<flag name="USE_SPI"/>
</makefile> </makefile>
</module> </module>
conf/settings/basic.xml
+2 -2
View File
@@ -29,8 +29,8 @@
</dl_settings> </dl_settings>
<dl_settings NAME="Infrared"> <dl_settings NAME="Infrared">
<dl_setting MAX="15" MIN="-15" STEP="1" VAR="ir_roll_neutral" shortname="roll neutral" module="infrared" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/> <dl_setting MAX="15" MIN="-15" STEP="1" VAR="ir_roll_neutral" shortname="roll neutral" module="subsystems/sensors/infrared" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch neutral" module="infrared" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch neutral" module="subsystems/sensors/infrared" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
</settings> </settings>
conf/settings/tuning.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
conf/settings/tuningJH.xml
+1 -1
View File
@@ -26,7 +26,7 @@
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral"/> <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral"/> <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr"/> <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr"/>
conf/settings/tuning_ctl_new.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
conf/settings/tuning_loiter.xml
+1 -1
View File
@@ -34,7 +34,7 @@
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/> <dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="infrared" param="IR_LATERAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
<dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="ir_longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
<dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/> <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="ir_vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
sw/airborne/6dof.h
-31
View File
@@ -1,31 +0,0 @@
#ifndef _6DOF_H
#define _6DOF_H
#define AXIS_X 0
#define AXIS_Y 1
#define AXIS_Z 2
#define AXIS_NB 3
#define AXIS_P 0
#define AXIS_Q 1
#define AXIS_R 2
#define AXIS_U 0
#define AXIS_V 1
#define AXIS_W 2
#define EULER_PHI 0
#define EULER_THETA 1
#define EULER_PSI 2
#define EULER_NB 3
#define QUAT_QI 0
#define QUAT_QX 1
#define QUAT_QY 2
#define QUAT_QZ 3
#define QUAT_NB 4
#endif /* _6DOF_H */
sw/airborne/agl_vfilter.h
+1 -1
View File
@@ -1,7 +1,7 @@
#ifndef AGL_VFILTER_H #ifndef AGL_VFILTER_H
#define AGL_VFILTER_H #define AGL_VFILTER_H
#include "adc.h" #include "mcu_periph/adc.h"
#define STATE_SIZE 3 #define STATE_SIZE 3
sw/airborne/arch/avr/adc_hw.c → sw/airborne/arch/avr/mcu_periph/adc_arch.c
+1 -1
View File
@@ -31,7 +31,7 @@
#endif #endif
#include <avr/interrupt.h> #include <avr/interrupt.h>
#include <avr/io.h> #include <avr/io.h>
#include "adc.h" #include "mcu_periph/adc.h"
#include "std.h" #include "std.h"
sw/airborne/arch/avr/adc_hw.h → sw/airborne/arch/avr/mcu_periph/adc_arch.h
View File
sw/airborne/arch/avr/i2c_ap.c → sw/airborne/arch/avr/mcu_periph/i2c_arch.c
View File
sw/airborne/arch/avr/i2c_ap.h → sw/airborne/arch/avr/mcu_periph/i2c_arch.h
View File
sw/airborne/arch/avr/spi_hw.c → sw/airborne/arch/avr/mcu_periph/spi_arch.c
+1 -1
View File
@@ -27,7 +27,7 @@
*/ */
#include CONFIG #include CONFIG
#include "spi.h" #include "mcu_periph/spi.h"
#include <inttypes.h> #include <inttypes.h>
#include <avr/io.h> #include <avr/io.h>
sw/airborne/arch/avr/spi_hw.h → sw/airborne/arch/avr/mcu_periph/spi_arch.h
View File
sw/airborne/arch/avr/uart_hw.c → sw/airborne/arch/avr/mcu_periph/uart_arch.c
+1 -1
View File
@@ -26,7 +26,7 @@
* \brief avr uart low level functions * \brief avr uart low level functions
* *
*/ */
#include "uart.h" #include "mcu_periph/uart.h"
#include "sys_time.h" #include "sys_time.h"
#define B2400 2400UL #define B2400 2400UL
sw/airborne/arch/avr/uart_hw.h → sw/airborne/arch/avr/mcu_periph/uart_arch.h
View File
sw/airborne/arch/lpc21/ADS8344.c
+1 -1
View File
@@ -27,7 +27,7 @@
#include "armVIC.h" #include "armVIC.h"
#include BOARD_CONFIG #include BOARD_CONFIG
#include "led.h" #include "led.h"
#include "spi_hw.h" #include "mcu_periph/spi.h"
#define ADS8344_SS_IODIR IO0DIR #define ADS8344_SS_IODIR IO0DIR
#define ADS8344_SS_IOSET IO0SET #define ADS8344_SS_IOSET IO0SET
sw/airborne/arch/lpc21/init_hw.h → sw/airborne/arch/lpc21/mcu_arch.c
+9 -70
View File
@@ -1,64 +1,40 @@
/* /*
* Paparazzi $Id$ * Paparazzi lpc21 arch dependant microcontroller initialisation function
* *
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin * Copyright (C) 2010 The Paparazzi team
* *
* This file is part of paparazzi. * This file is part of Paparazzi.
* *
* paparazzi is free software; you can redistribute it and/or modify * Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option) * the Free Software Foundation; either version 2, or (at your option)
* any later version. * any later version.
* *
* paparazzi is distributed in the hope that it will be useful, * Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
* *
*/ */
/* #include "mcu.h"
*\brief ARM7 low level hardware initialisation
* PLL, MAM, VIC
*
*/
#ifndef INIT_HW_H
#define INIT_HW_H
#include <inttypes.h> #include <inttypes.h>
#include BOARD_CONFIG #include BOARD_CONFIG
#include "LPC21xx.h" #include "LPC21xx.h"
#ifdef PERIPHERALS_AUTO_INIT
#if defined LED || defined USE_LED
#include "led.h"
#endif
#if defined USE_UART0 || defined USE_UART1
#include "uart.h"
#endif
#ifdef USE_USB_SERIAL
#include "usb_serial.h"
#endif
#if defined USE_I2C0 || defined USE_I2C1
#include "i2c.h"
#endif
#endif /* PERIPHERALS_AUTO_INIT */
/* declare functions and values from crt0.S & the linker control file */ /* declare functions and values from crt0.S & the linker control file */
extern void reset(void); extern void reset(void);
/* extern void exit(void); */
extern void abort(void);
void mcu_arch_init(void) {
static inline void hw_init(void) {
/* set PLL multiplier & divisor. */ /* set PLL multiplier & divisor. */
/* values computed from config.h */ /* values computed from config.h */
PLLCFG = PLLCFG_MSEL | PLLCFG_PSEL; PLLCFG = PLLCFG_MSEL | PLLCFG_PSEL;
@@ -82,24 +58,12 @@ static inline void hw_init(void) {
MAMTIM = MAMTIM_CYCLES; MAMTIM = MAMTIM_CYCLES;
MAMCR = MAMCR_FULL; MAMCR = MAMCR_FULL;
/* setup & enable the MAM */
MAMTIM = MAMTIM_CYCLES;
MAMCR = MAMCR_FULL;
/* set the peripheral bus speed */ /* set the peripheral bus speed */
/* value computed from config.h */ /* value computed from config.h */
VPBDIV = VPBDIV_VALUE; VPBDIV = VPBDIV_VALUE;
/* set the interrupt controller defaults */ /* set the interrupt controller to flash */
//#if defined(RAM_RUN)
/* map interrupt vectors space into SRAM */
// MEMMAP = MEMMAP_SRAM;
//#elif defined(ROM_RUN)
/* map interrupt vectors space into FLASH */
MEMMAP = MEMMAP_FLASH; MEMMAP = MEMMAP_FLASH;
//#else
//#error RUN_MODE not defined!
//#endif
/* clear all interrupts */ /* clear all interrupts */
VICIntEnClear = 0xFFFFFFFF; VICIntEnClear = 0xFFFFFFFF;
@@ -108,29 +72,4 @@ static inline void hw_init(void) {
/* point unvectored IRQs to reset() */ /* point unvectored IRQs to reset() */
VICDefVectAddr = (uint32_t)reset; VICDefVectAddr = (uint32_t)reset;
#ifdef PERIPHERALS_AUTO_INIT
#if defined LED || defined USE_LED
led_init();
#endif
#ifdef USE_UART0
uart0_init();
#endif
#ifdef USE_UART1
uart1_init();
#endif
#ifdef USE_USB_SERIAL
VCOM_init();
#endif
#ifdef USE_I2C0
i2c0_init();
#endif
#ifdef USE_I2C1
i2c1_init();
#endif
#endif /* PERIPHERALS_AUTO_INIT */
} }
#endif /* INIT_HW_H */
sw/airborne/arch/lpc21/mcu_arch.h
+35
View File
@@ -0,0 +1,35 @@
/*
* Paparazzi lpc21 arch dependant microcontroller initialisation functions
*
* 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.
*
*/
#ifndef LPC21_MCU_ARCH_H
#define LPC21_MCU_ARCH_H
extern void mcu_arch_init(void);
#include "armVIC.h"
#define mcu_int_enable() enableIRQ()
#define mcu_int_disable() disableIRQ()
#endif /* LPC21_MCU_ARCH_H */
sw/airborne/arch/lpc21/adc_hw.c → sw/airborne/arch/lpc21/mcu_periph/adc_arch.c
+1 -1
View File
@@ -22,7 +22,7 @@
* *
*/ */
#include "adc.h" #include "mcu_periph/adc.h"
#include "LPC21xx.h" #include "LPC21xx.h"
#include "armVIC.h" #include "armVIC.h"
sw/airborne/arch/lpc21/adc_hw.h → sw/airborne/arch/lpc21/mcu_periph/adc_arch.h
View File
sw/airborne/arch/lpc21/i2c_hw.c → sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
+1 -1
View File
@@ -22,7 +22,7 @@
* *
*/ */
#include "i2c.h" #include "mcu_periph/i2c.h"
#include "std.h" #include "std.h"
#include "interrupt_hw.h" #include "interrupt_hw.h"
sw/airborne/arch/lpc21/i2c_hw.h → sw/airborne/arch/lpc21/mcu_periph/i2c_arch.h
View File
sw/airborne/arch/lpc21/spi_hw.c → sw/airborne/arch/lpc21/mcu_periph/spi_arch.c
+1 -1
View File
@@ -25,7 +25,7 @@
* for now only SPI1 ( aka SSP ) * for now only SPI1 ( aka SSP )
*/ */
#include "spi.h" #include "mcu_periph/spi.h"
#include "std.h" #include "std.h"
#include "LPC21xx.h" #include "LPC21xx.h"

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