Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-08 02:15:53 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

*** empty log message ***

Browse Source
This commit is contained in:
Pascal Brisset
2006-04-13 13:04:17 +00:00
parent 884026c12a
commit 7c31a60df9
14 changed files with 96 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/airframes/plaster1.xml
+1 -1
View File
@@ -14,7 +14,7 @@
</servos>
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="100"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
conf/autopilot/twin_avr.makefile
+1 -1
View File
@@ -20,4 +20,4 @@ fbw.HIGH_FUSE = cb
fbw.EXT_FUSE = ff
fbw.LOCK_FUSE = ff
fbw.CFLAGS += -DFBW -DMCU_SPI_LINK -DACTUATORS=\"servos_4017.h\"
fbw.srcs = $(SRC_ARCH)/ppm_hw.c inter_mcu.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/spi_fbw.c $(SRC_ARCH)/uart_fbw.c $(SRC_ARCH)/adc_fbw.c sys_time.c main_fbw.c main.c
fbw.srcs = $(SRC_ARCH)/ppm_hw.c commands.c inter_mcu.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/spi_fbw.c $(SRC_ARCH)/uart_fbw.c $(SRC_ARCH)/adc_fbw.c sys_time.c main_fbw.c main.c
conf/conf.xml.example
+9 -9
View File
@@ -19,12 +19,12 @@
gui_color="#800080"
/>
<aircraft
name="Twin3"
<aircraft
name="MJ1"
ac_id="3"
airframe="airframes/twinstar1.xml"
airframe="airframes/microjet1.xml"
radio="radios/cockpitMM.xml"
flight_plan="flight_plans/muret_mini.xml"
flight_plan="flight_plans/dummy.xml"
/>
<aircraft
@@ -36,11 +36,11 @@
/>
<aircraft
name="GRZBA"
name="Tux"
ac_id="5"
airframe="airframes/gorazoptere_brushless_ANALOG.xml"
airframe="airframes/flyingtux.xml"
radio="radios/cockpitMM.xml"
flight_plan="flight_plans/muret_mini.xml"
flight_plan="flight_plans/dummy.xml"
/>
<aircraft
@@ -52,9 +52,9 @@
/>
<aircraft
name="Dragon"
name="Plaster"
ac_id="7"
airframe="airframes/dragon.xml"
airframe="airframes/plaster1.xml"
radio="radios/cockpitMM.xml"
flight_plan="flight_plans/dummy.xml"
/>
sw/airborne/actuators.h
+7 -4
View File
@@ -26,11 +26,14 @@
#if defined ACTUATORS
#include "paparazzi.h"
extern const pprz_t failsafe_values[];
#include "airframe.h"
/** Defines SetActuatorsFromCommands() macro */
extern void actuators_init( void );
extern void actuators_set(const pprz_t values[]);
#include ACTUATORS /* ACTUATORS */
#include ACTUATORS
#endif /* ACTUATORS */
#endif ACTUATORS_H
#endif /* ACTUATORS_H */
sw/airborne/arm7/servos_4015_hw.c
-4
View File
@@ -61,7 +61,3 @@ void PWM_ISR ( void ) {
VICVectAddr = 0x00000000;
ISR_EXIT();
}
void command_set(const pprz_t values[]) {
CommandsSet(values); /*Generated from airframe.xml */
}
sw/airborne/avr/adc_fbw.c
+1 -1
View File
@@ -98,7 +98,7 @@ SIGNAL( SIG_ADC )
if (buf) {
uint8_t new_head = buf->head + 1;
if (new_head >= AV_NB_SAMPLE) new_head = 0;
if (new_head >= buf->av_nb_sample) new_head = 0;
buf->sum -= buf->values[new_head];
buf->values[new_head] = adc_value;
buf->sum += adc_value;
sw/airborne/avr/ppm_hw.c
+2 -2
View File
@@ -77,7 +77,7 @@ SIGNAL( SIG_INPUT_CAPTURE1 )
last = this;
if( state == 0 ) {
uint8_t end = TCNT2;
uint8_t end = TCNT2;
uint8_t diff = (end - sync_start);
sync_start = end;
@@ -99,7 +99,7 @@ SIGNAL( SIG_INPUT_CAPTURE1 )
ppm_pulses[state - 1] = width;
if (state >= PPM_NB_PULSES) {
ppm_valid = 1;
ppm_valid = TRUE;
RestartPpmCycle();
} else
state++;
sw/airborne/avr/servos_4017.c
+4 -15
View File
@@ -26,20 +26,15 @@
#include <avr/io.h>
#include <avr/signal.h>
#include "command.h"
#include "servos_4017.h"
#include "actuators.h"
#include "sys_time.h"
#include "airframe.h"
#include CONFIG
#define _4017_NB_CHANNELS 10
/* holds the servo pulses width in clock ticks */
static uint16_t servo_widths[_4017_NB_CHANNELS];
static const pprz_t failsafe_values[COMMANDS_NB] = COMMANDS_FAILSAFE;
uint16_t servo_widths[_4017_NB_CHANNELS];
#define ChopServo(x,a,b) Chop(x, a, b)
#define COMMAND(i) servo_widths[i]
/*
* We use the output compare registers to generate our servo pulses.
* These should be connected to a decade counter that routes the
@@ -54,7 +49,7 @@ static const pprz_t failsafe_values[COMMANDS_NB] = COMMANDS_FAILSAFE;
*
* Ideally, you can use two decade counters to drive 20 servos.
*/
void command_init( void ) {
void actuators_init( void ) {
uint8_t i;
/* Configure the reset and clock lines as output */
_4017_RESET_DDR |= _BV(_4017_RESET_PIN);
@@ -66,8 +61,6 @@ void command_init( void ) {
/* Set all servos at their midpoints */
for( i=0 ; i < _4017_NB_CHANNELS ; i++ )
servo_widths[i] = SYS_TICS_OF_USEC(1500);
/* Load the failsafe defaults */
command_set(failsafe_values);
/* Set servos to go off some long time from now */
SERVO_OCR = 32768ul;
/* Set output compare to toggle the output bits */
@@ -140,7 +133,3 @@ the sequence:
servo++;
}
void command_set(const pprz_t values[]) {
CommandsSet(values); /*Generated from airframe.xml */
}
sw/airborne/avr/servos_4017.h
+35
View File
@@ -1 +1,36 @@
/* $Id$
*
* (c) 2003-2005 Pascal Brisset, Antoine Drouin
*
* 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 SERVO_4017_H
#define SERVO_4017_H
#define SERVOS_TICS_OF_USEC(_us) SYS_TICS_OF_USEC(_us)
#define ChopServo(x,a,b) Chop(x, a, b)
#define _4017_NB_CHANNELS 10
extern uint16_t servo_widths[_4017_NB_CHANNELS];
#define Actuator(i) servo_widths[i]
#endif /* SERVO_4017_H */
sw/airborne/avr/sys_time_hw.h
+11 -4
View File
@@ -46,11 +46,18 @@ static inline void sys_time_init( void ) {
/* Timer0: Modem clock is started in modem.h in ctc mode*/
/* Timer1 @ Clk/1: System clock */
TCCR1A = 0x00;
TCCR1B = 0x01;
TCCR1A = 0x00;
TCCR1B = _BV(CS10);
/* Timer2 @ Clk/1024: Periodic clock */
TCCR2 = 0x05;
#if defined (__AVR_ATmega8__)
TCCR2 = _BV(CS20) | _BV(CS21) | _BV(CS22);
#elif defined (__AVR_ATmega128__)
TCCR2 = _BV(CS20) | _BV(CS22);
#else
#warning "Unknown arch"
#endif
cpu_time = 0;
}
@@ -68,7 +75,7 @@ static inline void sys_time_init( void ) {
static inline bool_t sys_time_periodic( void ) {
if( !bit_is_set( TIFR, TOV2 ) )
return FALSE;
TIFR = 1 << TOV2;
TIFR = _BV(TOV2);
return TRUE;
}
sw/airborne/infrared.c
-2
View File
@@ -64,8 +64,6 @@ static struct adc_buf buf_ir2;
#ifndef ADC_CHANNEL_IR_NB_SAMPLES
#define ADC_CHANNEL_IR_NB_SAMPLES DEFAULT_AV_NB_SAMPLE
#else
#warning " ADC_CHANNEL_IR_NB_SAMPLES";
#endif
/** \brief Initialisation of \a ir */
/** Initialize \a ir with the \a IR_DEFAULT_CONTRAST \n
sw/airborne/main_fbw.c
+20 -19
View File
@@ -26,10 +26,11 @@
#include "int.h"
#include "sys_time.h"
#include "actuators.h"
#include "commands.h"
#include "ppm.h"
#include "inter_mcu.h"
#define RC_AVG_PERIOD 8
#include "led.h"
#include "uart_fbw.h"
@@ -61,25 +62,12 @@ static pprz_t rc_values[ PPM_NB_PULSES ];
static pprz_t avg_rc_values[ PPM_NB_PULSES ];
static bool_t rc_values_contains_avg_channels = FALSE;
static const pprz_t failsafe[] = {0, 0, 0, 0, 0, 0, 0, 0, 0};
static uint8_t ppm_cpt, last_ppm_cpt;
#define STALLED_TIME 30 // 500ms with a 60Hz timer
#define REALLY_STALLED_TIME 300 // 5s with a 60Hz timer
pprz_t commands[COMMANDS_NB];
/** Storage of intermediate command values: these values come from
the RC (MANUAL mode), from the autopilot (AUTO mode) or from control loops.
They are asyncronisly used to set the servos */
#define SetCommands(t) { \
int i; \
for(i = 0; i < COMMANDS_NB; i++) commands[i] = t[i]; \
}
/* Prepare data to be sent to mcu0 */
static inline void to_autopilot_from_rc_values (void) {
struct from_fbw_msg *msg = &(from_fbw.from_fbw);
@@ -113,6 +101,8 @@ static inline void to_autopilot_from_rc_values (void) {
#endif
}
#define RC_AVG_PERIOD 8
/* Copy from the ppm receiving buffer to the buffer sent to mcu0 */
static void rc_values_from_ppm( void ) {
NormalizePpm();
@@ -143,7 +133,7 @@ static inline void radio_control_task(void) {
pitch_dot_dgain = roll_dot_dgain;
#endif
CommandsOfRC(commands);
SetCommandsFromRC(commands);
}
}
@@ -173,7 +163,11 @@ void init_fbw( void ) {
#endif
sys_time_init();
command_init();
actuators_init();
/* Load the failsafe defaults */
SetCommands(commands_failsafe);
ppm_init();
#ifdef MCU_SPI_LINK
@@ -234,7 +228,7 @@ void event_task_fbw( void) {
if ((mode == FBW_MODE_MANUAL && !radio_ok) ||
(mode == FBW_MODE_AUTO && !ap_ok)) {
failsafe_mode = TRUE;
SetCommands(failsafe);
SetCommands(commands_failsafe);
}
}
@@ -258,6 +252,14 @@ void periodic_task_fbw( void ) {
_1Hz = 0;
last_ppm_cpt = ppm_cpt;
ppm_cpt = 0;
#ifdef DEBUG
uint8_t i;
for(i = 0; i < 4; i++) {
uart0_print_hex16(commands[i]);
uart0_print_string(" ");
}
uart0_print_string("\n");
#endif
}
if (time_since_last_ap < STALLED_TIME)
@@ -266,6 +268,5 @@ void periodic_task_fbw( void ) {
if (time_since_last_ppm < REALLY_STALLED_TIME)
time_since_last_ppm++;
/** Set servo values */
command_set(commands);
// SetActuatorsFromCommands(commands);
}
sw/airborne/main_fbw.h
-1
View File
@@ -28,7 +28,6 @@
#include "paparazzi.h"
#include "airframe.h"
extern pprz_t commands[COMMANDS_NB];
extern void init_fbw( void );
extern void periodic_task_fbw( void );
extern void event_task_fbw( void );
sw/tools/gen_airframe.ml
+5 -5
View File
@@ -96,7 +96,7 @@ let parse_command_laws = fun command ->
printf " command_value = %s;\\\n" v;
printf " command_value *= command_value>0 ? SERVO_%s_TRAVEL_UP : SERVO_%s_TRAVEL_DOWN;\\\n" servo servo;
printf " servo_value = SERVO_%s_NEUTRAL + (int16_t)(command_value);\\\n" servo;
printf " COMMAND(SERVO_%s) = SERVOS_TICS_OF_USEC(ChopServo(servo_value, SERVO_%s_MIN, SERVO_%s_MAX));\\\n\\\n" servo servo servo
printf " Actuator(SERVO_%s) = SERVOS_TICS_OF_USEC(ChopServo(servo_value, SERVO_%s_MIN, SERVO_%s_MAX));\\\n\\\n" servo servo servo
| "let" ->
let var = a "var"
and value = a "value" in
@@ -140,8 +140,8 @@ let parse_section = fun s ->
nl ()
| "servos" ->
let servos = Xml.children s in
let nb_servos = List.fold_right (fun s m -> Pervasives.max (int_of_string (ExtXml.attrib s "no")) m) servos min_int in
define "LAST_SERVO_CHANNEL" (string_of_int nb_servos);
let nb_servos = List.fold_right (fun s m -> Pervasives.max (int_of_string (ExtXml.attrib s "no")) m) servos min_int + 1 in
define "SERVOS_NB" (string_of_int nb_servos);
nl ();
List.iter parse_servo servos;
nl ()
@@ -152,11 +152,11 @@ let parse_section = fun s ->
define "COMMANDS_FAILSAFE" (sprint_float_array (List.map (fun x -> string_of_int x.failsafe_value) (Array.to_list commands_params)));
nl (); nl ()
| "rc_commands" ->
printf "#define CommandsOfRC(commands) { \\\n";
printf "#define SetCommandsFromRC(commands) { \\\n";
List.iter parse_rc_commands (Xml.children s);
printf "}\n\n"
| "command_laws" ->
printf "#define ActuatorsSet(values) { \\\n";
printf "#define SetActuatorsFromCommands(values) { \\\n";
printf " uint16_t servo_value;\\\n";
printf " float command_value;\\\n";
List.iter parse_command_laws (Xml.children s);