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[conf] fix navgo board to use spi

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- i2c message disable to prevent warnings: it was fixed so it is not any
  more ?
This commit is contained in:
Gautier Hattenberger
2012-05-14 10:53:49 +02:00
parent 9fd6c34316
commit 7bb5fb5841
3 changed files with 70 additions and 81 deletions
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conf/airframes/ENAC/quadrotor/blender.xml
+67 -79
View File
@@ -3,17 +3,16 @@
<modules main_freq="512">
<!--load name="booz_pwm.xml">
<define name="USE_PWM1"/>
</load>
<load name="booz_drop.xml"/>
</load-->
<!--load name="booz_drop.xml"/>
<load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
</modules>
<firmware name="rotorcraft">
<define name="USE_INS_NAV_INIT"/>
<!--define name="GUIDANCE_H_USE_REF"/-->
<target name="ap" board="booz_1.0">
<target name="ap" board="navgo_1.0">
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<define name="ACTUATORS_START_DELAY" value="3"/>
@@ -27,29 +26,20 @@
<subsystem name="actuators" type="skiron">
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler">
<define name="USE_NOISE_FILTER"/>
</subsystem>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_rc_spektrum" board="booz_1.0"/>
<target name="test_rc_ppm" board="booz_1.0"/>
</firmware>
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
@@ -67,8 +57,8 @@
<section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="20"/>
<define name="MAX_MOTOR" value="255"/>
<define name="TRIM_A" value="6"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_A" value="-3"/>
<define name="TRIM_E" value="-3"/>
<define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
@@ -80,49 +70,54 @@
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_NEUTRAL" value="11"/>
<define name="GYRO_P_NEUTRAL" value="33100"/>
<define name="GYRO_Q_NEUTRAL" value="32440"/>
<define name="GYRO_R_NEUTRAL" value="33033"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="GYRO_P_SENS" value="1.00" integer="16"/>
<define name="GYRO_Q_SENS" value="1.00" integer="16"/>
<define name="GYRO_R_SENS" value="1.00" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32932"/>
<define name="ACCEL_Y_NEUTRAL" value="32251"/>
<define name="ACCEL_Z_NEUTRAL" value="32463"/>
<define name="MAG_X_NEUTRAL" value="80"/>
<define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="MAG_Z_NEUTRAL" value="112"/>
<define name="ACCEL_X_SENS" value="2.59502439625" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.57636806334" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.59680479039" integer="16"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-75"/>
<define name="MAG_Y_NEUTRAL" value="17"/>
<define name="MAG_Z_NEUTRAL" value="7"/>
<define name="MAG_X_SENS" value="5.50726991669" integer="16"/>
<define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
<define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<!--define name="BODY_TO_IMU_PSI" value="45." unit="deg"/-->
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<!-- Magnetic field for Toulouse (declination -16°) -->
<section name="AHRS" prefix="AHRS_">
<define name="MAG_UPDATE_YAW_ONLY" value="1"/>
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.513081"/>
<define name="H_Y" value="-0.00242783"/>
<define name="H_Z" value=" 0.858336"/>
</section>
<section name="INS" prefix="INS_">
<!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<!-- calibration SENS = 1.156 :( -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
@@ -160,30 +155,25 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="160"/>
<define name="PHI_IGAIN" value="40"/>
<define name="PHI_PGAIN" value="450"/>
<define name="PHI_DGAIN" value="190"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="160"/>
<define name="THETA_IGAIN" value="40"/>
<define name="THETA_PGAIN" value="450"/>
<define name="THETA_DGAIN" value="190"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="1000"/>
<define name="PSI_DGAIN" value="350"/>
<define name="PSI_IGAIN" value="10"/>
<define name="PSI_PGAIN" value="700"/>
<define name="PSI_DGAIN" value="250"/>
<define name="PSI_IGAIN" value="20"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PHI_DDGAIN" value=" 100"/>
<define name="THETA_DDGAIN" value=" 100"/>
<define name="PSI_DDGAIN" value=" 100"/>
</section>
<section name="INS" prefix="INS_">
<define name="BARO_SENS" value="16.5" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
@@ -195,8 +185,8 @@
<define name="REF_MAX_ZDD" value=" 0.8*9.81"/>
<define name="REF_MIN_ZD" value="-1.5"/>
<define name="REF_MAX_ZD" value=" 1.5"/>
<define name="HOVER_KP" value="400"/>
<define name="HOVER_KD" value="200"/>
<define name="HOVER_KP" value="300"/>
<define name="HOVER_KD" value="160"/>
<define name="HOVER_KI" value="0"/>
<!-- SPEED_BFP_OF_REAL(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
@@ -215,13 +205,13 @@
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="VoltageOfAdc(adc)" value="(0.025*adc)"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<!--define name="MODE_AUTO2" value="AP_MODE_NAV"/-->
</section>
<section name="FMS">
@@ -238,16 +228,14 @@
<define name="PAN_MIN" value="0"/>
<define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
<define name="DEFAULT_MODE" value="BOOZ_CAM_MODE_MANUAL"/>
<define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
<!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
</section>
<section name="MISC">
<define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
<define name="FACE_REINJ_1" value="1024"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
<define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
<define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
<!--define name="IMU_MAG_OFFSET" value="-9."/-->
</section>
<section name="GCS">
conf/firmwares/rotorcraft.makefile
+2 -1
View File
@@ -145,10 +145,11 @@ ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), lisa_m)
ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), navgo)
include $(CFG_ROTORCRAFT)/spi.makefile
ap.CFLAGS += -DUSE_SPI
ap.CFLAGS += -DUSE_SPI_SLAVE0
ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
ap.CFLAGS += -DSPI_MASTER
ap.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
ap.srcs += peripherals/mcp355x.c
endif
ifneq ($(BARO_LED),none)
conf/telemetry/default_rotorcraft.xml
+1 -1
View File
@@ -16,7 +16,7 @@
<message name="BOOZ2_CAM" period="1."/>
<message name="GPS_INT" period=".25"/>
<message name="INS" period=".25"/>
<message name="I2C_ERRORS" period="6."/>
<!--message name="I2C_ERRORS" period="6."/-->
</mode>
<mode name="ppm">