mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
*** empty log message ***
This commit is contained in:
Antoine Drouin
@@ -166,3 +166,17 @@ clean:
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find . -name '*~' -exec rm -f {} \;
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dist_clean : clean
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test_all_example_airframes:
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make AIRCRAFT=Tux clean_ac hard_ac
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make AIRCRAFT=Plaster clean_ac hard_ac
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make AIRCRAFT=Twin1 clean_ac hard_ac
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make AIRCRAFT=Twin2 clean_ac hard_ac
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make AIRCRAFT=MJ1 clean_ac hard_ac
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make AIRCRAFT=TS5 clean_ac fbw
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make AIRCRAFT=TJ1 clean_ac ap
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make AIRCRAFT=MJ4 clean_ac ap
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make AIRCRAFT=GRZE3 clean_ac ap
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make AIRCRAFT=Twin4 clean_ac hard_ac
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@@ -76,7 +76,7 @@
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<define name="VOLTAGE_ADC_A" value="0.0178771"/>
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<define name="VOLTAGE_ADC_B" value="-0.556983"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="LOW_BATTERY" value="90" unit="1e-1V"/>
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<define name="LOW_BATTERY" value="9.0" unit="V"/>
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</section>
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<section name="SERVOS" channel="6">
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<define name="SERVOS_FALLING_EDGE" value="1"/>
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@@ -104,11 +104,28 @@
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<define name="THETA0" value="45" unit="deg"/>
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<define name="PHI0" value="45" unit="deg"/>
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</section>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/v1_2.makefile
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fbw.srcs += commands.c
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fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\"
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fbw.srcs += $(SRC_ARCH)/servos_4017.c
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fbw.CFLAGS += -DRADIO_CONTROL
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fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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fbw.CFLAGS += -DDOWNLINK -DUART0
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fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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ap.CFLAGS += -DINFRARED -DGPS -DUBX
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# -DRADIO_CONTROL_CALIB
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# ap.EXTRA_SRCS += if_calib.c
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</makefile>
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</airframe>
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@@ -133,9 +133,25 @@
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<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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</section>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/disc_board.makefile
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_esc_hw.h\" -DTIMER3 -DTIMER1_TOP=0x400
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ap.srcs += $(SRC_ARCH)/servos_esc_hw.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUART0
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ap.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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# ap.CFLAGS += -DDEBUG_RC
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# LOCAL_CFLAGS += -DIMU_3DMG
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@@ -1,13 +1,6 @@
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<airframe name="Microjet one">
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="1"/>
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<define name="IR2" value="0"/>
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<define name="AIRSPEED" value="2"/>
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<define name="CURRENT " value="3"/>
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<define name="BAT" value="4"/>
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</section>
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<servos min="1000" neutral="1500" max="2000">
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<servos>
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<servo name="GAZ" no="3" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="0" min="1800" neutral="1492" max="1179"/>
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<servo name="AILEVON_RIGHT" no="2" min="1990" neutral="1662" max="1389"/>
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@@ -25,6 +18,11 @@
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.55"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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</section>
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<command_laws>
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<set servo="GAZ" value="@THROTTLE"/>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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@@ -33,12 +31,16 @@
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<set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
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</command_laws>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.55"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="1"/>
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<define name="IR2" value="0"/>
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<define name="AIRSPEED" value="2"/>
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<define name="CURRENT " value="3"/>
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<define name="BAT" value="4"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_ROLL_NEUTRAL" value="0"/>
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<define name="ADC_PITCH_NEUTRAL" value="1040"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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@@ -77,7 +79,7 @@
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<define name="VOLTAGE_ADC_A" value="0.016768"/>
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<define name="VOLTAGE_ADC_B" value="0.089803"/>
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<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
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<define name="LOW_BATTERY" value="90" unit="1e-1V"/>
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<define name="LOW_BATTERY" value="9.0" unit="1V"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15."/>
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@@ -95,8 +97,23 @@
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="50" unit="m"/>
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</section>
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<makefile>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/v1_2.makefile
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fbw.srcs += commands.c
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fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\"
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fbw.srcs += $(SRC_ARCH)/servos_4017.c
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fbw.CFLAGS += -DRADIO_CONTROL
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fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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fbw.CFLAGS += -DDOWNLINK -DUART0
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fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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ap.CFLAGS += -DGPS -DUBX -DINFRARED
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@@ -14,6 +14,12 @@
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.55"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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@@ -27,17 +33,12 @@
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<control>
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<mode name="MANUAL">
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<input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
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<input input="rc_values[RADIO_ROLL]" output="control_commands[COMMAND_ROLL]" range="1"/>
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<input input="rc_values[RADIO_PITCH]" output="control_commands[COMMAND_PITCH]" range="1"/>
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</mode>
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</control>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny_test.makefile
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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#ap.CFLAGS += -DTRACES=uart0
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#ap.EXTRA_SRCS += $(SRC_ARCH)/traces.c $(SRC_ARCH)/uart.c
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#ap.CFLAGS += -DRADIO_CONTROL
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@@ -55,13 +56,18 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny_test.makefile
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#ap.EXTRA_SRCS += $(SRC_ARCH)/modem_hw.c
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#ap.CFLAGS += -DDOWNLINK
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ap.srcs += commands.c inter_mcu.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\"
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ap.srcs += $(SRC_ARCH)/servos_4017_hw.c
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ap.CFLAGS += -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015
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ap.srcs += $(SRC_ARCH)/servos_4015_hw.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += $(SRC_ARCH)/ppm_hw.c
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART0
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ap.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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ap.srcs += inter_mcu.c $(SRC_ARCH)/adc_hw.c
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</makefile>
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</airframe>
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@@ -106,10 +106,29 @@
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<define name="THETA0" value="45" unit="deg"/>
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<define name="PHI0" value="-45" unit="deg"/>
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</section>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
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fbw.srcs += commands.c
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fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017
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fbw.srcs += $(SRC_ARCH)/servos_4017.c
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fbw.CFLAGS += -DRADIO_CONTROL
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fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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fbw.CFLAGS += -DDOWNLINK -DUART0
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fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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ap.CFLAGS += -DGPS -DUBX -DINFRARED
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fbw.CFLAGS += -DDEBUG
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fbw.CFLAGS += -DDEBUG
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</makefile>
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</airframe>
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@@ -87,15 +87,36 @@
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<define name="VoltageOfAdc(adc)" value="4.2"/>
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<define name="LOW_BATTERY" value="9" unit="V"/>
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</section>
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<section name="DOWNLINK" prefix="DOWNLINK_">
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<define name="FBW_DEVICE" value="uart0"/>
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</section>
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<makefile>
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include $(PAPARAZZI_SRC)/conf/autopilot/robostix.makefile
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
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ap.srcs += $(SRC_ARCH)/servos_direct_hw.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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|
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ap.CFLAGS += -DDOWNLINK -DUART0
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ap.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
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#ap.CFLAGS += -DCONTROL -DAUTOPILOT
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#ap.EXTRA_SRCS += $(ACINCLUDE)/ap/control.c
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#ap.CFLAGS += -DADC
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#ap.EXTRA_SRCS += $(SRC_ARCH)/adc_hw.c
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#ap.CFLAGS += -DDATALINK
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#ap.EXTRA_SRCS += datalink.c nav.c estimator.c
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</makefile>
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</airframe>
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@@ -1,19 +1,11 @@
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<airframe name="Twin1">
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<section name="control board">
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<define name="AVR_ARCH" value="1"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="1"/>
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<define name="IR2" value="2"/>
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</section>
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||||
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<servos min="1000" neutral="1500" max="2000">
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<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
|
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<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
|
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<servos>
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<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
|
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<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
|
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<servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
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<servo name="ELEVATOR" no="7" min="1816" neutral="1586" max="1220"/>
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<servo name="RUDDER" no="3" min="1270" neutral="1546" max="1850"/>
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<servo name="ELEVATOR" no="7" min="1816" neutral="1586" max="1220"/>
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<servo name="RUDDER" no="3" min="1270" neutral="1546" max="1850"/>
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</servos>
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|
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<commands>
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@@ -30,6 +22,11 @@
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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|
||||
<section name="MIXER">
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<define name="AILERON_DIFF" value="0.66"/>
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<define name="COMBI_SWITCH" value="1.0"/>
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</section>
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||||
|
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<command_laws>
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<set servo="GAZ" value="2 * @THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
|
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@@ -39,10 +36,11 @@
|
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="MIXER">
|
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<define name="AILERON_DIFF" value="0.66"/>
|
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<define name="COMBI_SWITCH" value="1.0"/>
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="1"/>
|
||||
<define name="IR2" value="2"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
@@ -104,9 +102,25 @@
|
||||
<define name="THETA0" value="0" unit="deg"/>
|
||||
<define name="PHI0" value="30" unit="deg"/>
|
||||
</section>
|
||||
<makefile>
|
||||
|
||||
<section name="DOWNLINK" prefix="DOWNLINK_">
|
||||
<define name="FBW_DEVICE" value="uart0"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
|
||||
|
||||
fbw.srcs += commands.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017
|
||||
fbw.srcs += $(SRC_ARCH)/servos_4017.c
|
||||
|
||||
fbw.CFLAGS += -DRADIO_CONTROL
|
||||
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
fbw.CFLAGS += -DDOWNLINK -DUART0
|
||||
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DINFRARED
|
||||
ap.CFLAGS += -Werror
|
||||
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
<airframe name="Twin2">
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="1"/>
|
||||
<define name="IR2" value="2"/>
|
||||
</section>
|
||||
<servos min="1000" neutral="1500" max="2000">
|
||||
|
||||
<servos>
|
||||
<servo name="GAZ" no="9" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="2" min="1100" neutral="1492" max="2000"/>
|
||||
<servo name="AILERON_RIGHT" no="6" min="1000" neutral="1385" max="1833"/>
|
||||
@@ -29,6 +26,11 @@
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="GAZ" value="2 * @THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
@@ -37,10 +39,12 @@
|
||||
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
|
||||
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
|
||||
</command_laws>
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="1"/>
|
||||
<define name="IR2" value="2"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
|
||||
@@ -102,9 +106,27 @@
|
||||
<define name="THETA0" value="15" unit="deg"/>
|
||||
<define name="PHI0" value="-30" unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="DOWNLINK" prefix="DOWNLINK_">
|
||||
<define name="FBW_DEVICE" value="uart0"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
|
||||
|
||||
fbw.srcs += commands.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017
|
||||
fbw.srcs += $(SRC_ARCH)/servos_4017.c
|
||||
|
||||
fbw.CFLAGS += -DRADIO_CONTROL
|
||||
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
fbw.CFLAGS += -DDOWNLINK -DUART0
|
||||
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
fbw.CFLAGS += -Werror
|
||||
|
||||
ap.CFLAGS += -DGPS -DUBX -DINFRARED
|
||||
ap.CFLAGS += -DDATALINK
|
||||
ap.EXTRA_SRCS += traffic_info.c datalink.c
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
<airframe name="Twinstar four">
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="1"/>
|
||||
<define name="IR2" value="2"/>
|
||||
</section>
|
||||
<servos min="1000" neutral="1500" max="2000">
|
||||
|
||||
<servos>
|
||||
<servo name="GAZ" no="3" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILERON_LEFT" no="0" max="1190" neutral="1530" min="1850"/>
|
||||
<servo name="AILERON_RIGHT" no="2" max="1375" neutral="1580" min="2000"/>
|
||||
@@ -25,6 +22,17 @@
|
||||
<axis name="CALIB" 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="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="GAZ" value="2 * @THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
@@ -36,10 +44,12 @@
|
||||
<set servo="CAM_PITCH" value="@CALIB"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="1"/>
|
||||
<define name="IR2" value="2"/>
|
||||
</section>
|
||||
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
<define name="PITCH_NEUTRAL_DEFAULT" value="5" unit="deg"/>
|
||||
@@ -81,7 +91,7 @@
|
||||
<define name="VOLTAGE_ADC_A" value="0.0175"/>
|
||||
<define name="VOLTAGE_ADC_B" value="0.088"/>
|
||||
<define name="VoltageOfAdc(adc)" value="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
|
||||
<define name="LOW_BATTERY" value="93" unit="1e-1V"/>
|
||||
<define name="LOW_BATTERY" value="9.3" unit="V"/>
|
||||
</section>
|
||||
<section name="MISC">
|
||||
<define name="NOMINAL_AIRSPEED" value="10." unit="m/s"/>
|
||||
@@ -99,9 +109,27 @@
|
||||
<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="50" unit="m"/>
|
||||
</section>
|
||||
<makefile>
|
||||
|
||||
<section name="DOWNLINK" prefix="DOWNLINK_">
|
||||
<define name="FBW_DEVICE" value="uart0"/>
|
||||
</section>
|
||||
|
||||
<makefile>
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/v1_2_1.makefile
|
||||
|
||||
fbw.srcs += commands.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017
|
||||
fbw.srcs += $(SRC_ARCH)/servos_4017.c
|
||||
|
||||
fbw.CFLAGS += -DRADIO_CONTROL
|
||||
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
fbw.CFLAGS += -DDOWNLINK -DUART0
|
||||
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
fbw.CFLAGS += -DDEBUG
|
||||
|
||||
ap.CFLAGS += -DINFRARED -DGPS -DUBX -DRADIO_CONTROL_CALIB
|
||||
ap.CFLAGS += -DLED -DLED_1_BANK=D -DLED_1_PIN=0 -DLED_2_BANK=D -DLED_2_PIN=1
|
||||
ap.EXTRA_SRCS += if_calib.c
|
||||
|
||||
@@ -26,6 +26,11 @@
|
||||
<set command="YAW" value="@YAW"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<set servo="GAZ" value="@THROTTLE"/>
|
||||
<set servo="ELEVATOR" value="@PITCH"/>
|
||||
@@ -37,10 +42,6 @@
|
||||
<set servo="CAM_PITCH" value="@CAM_PITCH"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILERON_DIFF" value="0.66"/>
|
||||
<define name="COMBI_SWITCH" value="1.0"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ROLL_NEUTRAL_DEFAULT" value="6" unit="deg"/>
|
||||
@@ -109,6 +110,11 @@
|
||||
<define name="HOME_RADIUS" value="50" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="DOWNLINK" prefix="DOWNLINK_">
|
||||
<define name="FBW_DEVICE" value="uart0"/>
|
||||
</section>
|
||||
|
||||
|
||||
<makefile>
|
||||
ap.CFLAGS += -DTIME_LED=2
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
|
||||
@@ -123,13 +129,16 @@ ap.srcs += $(SRC_ARCH)/modem_hw.c
|
||||
|
||||
fbw.srcs += commands.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\"
|
||||
fbw.CFLAGS += -DDOWNLINK -DUSE_UART0
|
||||
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
|
||||
|
||||
fbw.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING
|
||||
fbw.srcs += $(SRC_ARCH)/servos_4017_hw.c
|
||||
|
||||
fbw.CFLAGS += -DRADIO_CONTROL
|
||||
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
|
||||
|
||||
fbw.srcs += inter_mcu.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/adc_hw.c
|
||||
fbw.srcs += inter_mcu.c $(SRC_ARCH)/adc_hw.c
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
|
||||
@@ -8,6 +8,6 @@ ap.LOW_FUSE = a0
|
||||
ap.HIGH_FUSE = 99
|
||||
ap.EXT_FUSE = ff
|
||||
ap.LOCK_FUSE = ff
|
||||
ap.CFLAGS += -DFBW -DCONFIG=\"config_discboard.h\" -DTIMER3 -DTIMER1_TOP=0x400 -DRADIO_CONTROL -DACTUATORS=\"servos_esc_hw.h\" -DUART0 -DDOWNLINK
|
||||
ap.srcs = sys_time.c radio_control.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_esc_hw.c commands.c main_fbw.c main.c
|
||||
# inter_mcu.c pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
|
||||
ap.CFLAGS += -DFBW -DCONFIG=\"config_discboard.h\"
|
||||
ap.srcs = inter_mcu.c $(SRC_ARCH)/adc_hw.c sys_time.c main_fbw.c main.c
|
||||
# pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
|
||||
|
||||
@@ -10,6 +10,6 @@ ap.LOW_FUSE = 0xbf
|
||||
ap.HIGH_FUSE = 0xc9
|
||||
ap.EXT_FUSE = ff
|
||||
ap.LOCK_FUSE = ff
|
||||
ap.CFLAGS += -DFBW -DCONFIG=\"config_robostix.h\" -DLED -DRADIO_CONTROL -DACTUATORS=\"servos_direct_hw.h\" -DUART0
|
||||
ap.srcs = sys_time.c radio_control.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_direct_hw.c commands.c main_fbw.c main.c
|
||||
ap.CFLAGS += -DFBW -DCONFIG=\"config_robostix.h\" -DLED
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/adc_hw.c main_fbw.c main.c
|
||||
# ap.srcs += main_ap.c
|
||||
|
||||
@@ -6,6 +6,8 @@ ap.ARCHDIR = $(ARCHI)
|
||||
ap.ARCH = arm7tdmi
|
||||
ap.TARGET = autopilot
|
||||
ap.TARGETDIR = autopilot
|
||||
ap.CFLAGS += -DAP -DFBW -DCONFIG=\"config_tiny.h\" -DLED -DRADIO_CONTROL -DACTUATORS -DGPS -DUBX
|
||||
ap.srcs = estimator.c gps_ubx.c gps.c $(SRC_ARCH)/uart.c radio_control.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/servos_hw.c $(SRC_ARCH)/armVIC.c sys_time.c main_fbw_2.c main_ap_2.c main.c
|
||||
|
||||
ap.CFLAGS += -DFBW -DCONFIG=\"config_tiny.h\"
|
||||
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
|
||||
#ap.CFLAGS += -DAP -DLED -DGPS -DUBX
|
||||
#ap.srcs = main_ap_2.c
|
||||
# estimator.c gps_ubx.c gps.c
|
||||
|
||||
@@ -19,5 +19,5 @@ fbw.LOW_FUSE = 2e
|
||||
fbw.HIGH_FUSE = cb
|
||||
fbw.EXT_FUSE = ff
|
||||
fbw.LOCK_FUSE = ff
|
||||
fbw.CFLAGS += -DFBW -DRADIO_CONTROL -DINTER_MCU -DMCU_SPI_LINK -DACTUATORS=\"servos_4017.h\" -DUART0 -DDOWNLINK
|
||||
fbw.srcs = $(SRC_ARCH)/ppm_hw.c commands.c radio_control.c inter_mcu.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/spi_fbw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/adc_hw.c sys_time.c main_fbw.c main.c
|
||||
fbw.CFLAGS += -DFBW -DINTER_MCU -DMCU_SPI_LINK
|
||||
fbw.srcs = inter_mcu.c $(SRC_ARCH)/spi_fbw.c $(SRC_ARCH)/adc_hw.c sys_time.c main_fbw.c main.c
|
||||
|
||||
@@ -275,8 +275,6 @@
|
||||
</class>
|
||||
|
||||
|
||||
|
||||
|
||||
<class name="ground" ID="0x42">
|
||||
<message name="NEW_AIRCRAFT" ID="1">
|
||||
<field name="ac_id" type="string"/>
|
||||
|
||||
@@ -26,9 +26,8 @@
|
||||
#if defined ACTUATORS
|
||||
|
||||
#include "paparazzi.h"
|
||||
|
||||
#include "airframe.h"
|
||||
/** Defines SetActuatorsFromCommands() macro */
|
||||
#include "airframe.h"
|
||||
|
||||
extern void actuators_init( void );
|
||||
|
||||
|
||||
@@ -1,16 +1,48 @@
|
||||
#include "servos_4015_hw.h"
|
||||
#include "command.h"
|
||||
#include "actuators.h"
|
||||
#include "armVIC.h"
|
||||
|
||||
#include "airframe.h"
|
||||
#include "sys_time.h"
|
||||
//#include "led.h"
|
||||
const pprz_t failsafe_values[COMMANDS_NB] = COMMANDS_FAILSAFE;
|
||||
|
||||
|
||||
|
||||
#define COMMAND(i) servos_values[i]
|
||||
#define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
|
||||
|
||||
void actuators_init ( void ) {
|
||||
/* PWM selected as IRQ */
|
||||
VICIntSelect &= ~VIC_BIT(VIC_PWM);
|
||||
/* PWM interrupt enabled */
|
||||
VICIntEnable = VIC_BIT(VIC_PWM);
|
||||
VICVectCntl3 = VIC_ENABLE | VIC_PWM;
|
||||
/* address of the ISR */
|
||||
VICVectAddr3 = (uint32_t)PWM_ISR;
|
||||
/* PW5 pin (P0.21) used for PWM */
|
||||
IO0DIR |= _BV(SERV0_CLOCK_PIN);
|
||||
IO1DIR |= _BV(SERV0_DATA_PIN) | _BV(SERV0_RESET_PIN);
|
||||
SERV0_CLOCK_PINSEL |= SERV0_CLOCK_PINSEL_VAL << SERV0_CLOCK_PINSEL_BIT;
|
||||
|
||||
/* set match5 to go of a long time from now */
|
||||
PWMMR0 = 0XFFFFFF;
|
||||
//PWMMR0 = CLOCK_OF_US(1500);
|
||||
PWMMR5 = 0XFFF;
|
||||
/* commit above change */
|
||||
PWMLER = PWMLER_LATCH0 | PWMLER_LATCH5;
|
||||
/* interrupt on PWMMR5 match */
|
||||
PWMMCR = PWMMCR_MR0R | PWMMCR_MR5I;
|
||||
/* enable PWM5 ouptput */
|
||||
PWMPCR = PWMPCR_ENA5;
|
||||
/* enable PWM timer counter and PWM mode */
|
||||
PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
|
||||
/* Load failsafe values */
|
||||
/* Set all servos at their midpoints */
|
||||
/* compulsory for unaffected servos */
|
||||
uint8_t i;
|
||||
for( i=0 ; i < _4015_NB_CHANNELS ; i++ )
|
||||
servos_values[i] = SERVOS_TICS_OF_USEC(1500);
|
||||
}
|
||||
|
||||
uint16_t servos_values[_4015_NB_CHANNELS];
|
||||
|
||||
#define CLOCK_OF_US(us) ((us)*(PCLK/1000000))
|
||||
|
||||
@@ -20,14 +52,7 @@ const pprz_t failsafe_values[COMMANDS_NB] = COMMANDS_FAILSAFE;
|
||||
#define SERV7_START_POS 1600
|
||||
|
||||
|
||||
#define NB_SERVOS 4
|
||||
#define SERVO_REFRESH_US 25000
|
||||
uint32_t servos_values[NB_SERVOS] =
|
||||
{ CLOCK_OF_US(SERV4_START_POS),
|
||||
CLOCK_OF_US(SERV5_START_POS),
|
||||
CLOCK_OF_US(SERV6_START_POS),
|
||||
CLOCK_OF_US(SERV7_START_POS)
|
||||
};
|
||||
uint32_t servos_delay = CLOCK_OF_US(SERVO_REFRESH_US - SERV4_START_POS - SERV5_START_POS - SERV6_START_POS - SERV7_START_POS) / 2;
|
||||
uint8_t servos_idx = 0;
|
||||
|
||||
@@ -44,7 +69,7 @@ void PWM_ISR ( void ) {
|
||||
PWMLER = PWMLER_LATCH0;
|
||||
servos_idx++;
|
||||
}
|
||||
else if (servos_idx < NB_SERVOS) {
|
||||
else if (servos_idx < _4015_NB_CHANNELS) {
|
||||
IO1CLR = _BV(SERV0_DATA_PIN);
|
||||
PWMMR0 = servos_values[servos_idx];
|
||||
PWMLER = PWMLER_LATCH0;
|
||||
|
||||
@@ -1,41 +1,22 @@
|
||||
#ifndef SERVOS_4015_HW_H
|
||||
#define SERVOS_4015_HW_H
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "std.h"
|
||||
|
||||
#include "LPC21xx.h"
|
||||
#include "sys_time.h"
|
||||
|
||||
#include CONFIG
|
||||
|
||||
#define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
|
||||
#define ChopServo(x,a,b) Chop(x, a, b)
|
||||
|
||||
#define _4015_NB_CHANNELS 8
|
||||
extern uint16_t servos_values[_4015_NB_CHANNELS];
|
||||
#define Actuator(i) servos_values[i]
|
||||
|
||||
void PWM_ISR ( void ) __attribute__((naked));
|
||||
|
||||
static inline void command_init ( void ) {
|
||||
/* PWM selected as IRQ */
|
||||
VICIntSelect &= ~VIC_BIT(VIC_PWM);
|
||||
/* PWM interrupt enabled */
|
||||
VICIntEnable = VIC_BIT(VIC_PWM);
|
||||
VICVectCntl3 = VIC_ENABLE | VIC_PWM;
|
||||
/* address of the ISR */
|
||||
VICVectAddr3 = (uint32_t)PWM_ISR;
|
||||
/* PW5 pin (P0.21) used for PWM */
|
||||
IO0DIR |= _BV(SERV0_CLOCK_PIN);
|
||||
IO1DIR |= _BV(SERV0_DATA_PIN) | _BV(SERV0_RESET_PIN);
|
||||
SERV0_CLOCK_PINSEL |= SERV0_CLOCK_PINSEL_VAL << SERV0_CLOCK_PINSEL_BIT;
|
||||
|
||||
/* set match5 to go of a long time from now */
|
||||
PWMMR0 = 0XFFFFFF;
|
||||
//PWMMR0 = CLOCK_OF_US(1500);
|
||||
PWMMR5 = 0XFFF;
|
||||
/* commit above change */
|
||||
PWMLER = PWMLER_LATCH0 | PWMLER_LATCH5;
|
||||
/* interrupt on PWMMR5 match */
|
||||
PWMMCR = PWMMCR_MR0R | PWMMCR_MR5I;
|
||||
/* enable PWM5 ouptput */
|
||||
PWMPCR = PWMPCR_ENA5;
|
||||
/* enable PWM timer counter and PWM mode */
|
||||
PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
|
||||
/* Load failsafe values */
|
||||
command_set(failsafe_values);
|
||||
}
|
||||
|
||||
#endif /* SERVOS_4015_HW_H */
|
||||
|
||||
@@ -1,13 +1,7 @@
|
||||
#include "actuators.h"
|
||||
|
||||
#include "LPC21xx.h"
|
||||
#include CONFIG
|
||||
|
||||
#include "std.h"
|
||||
#include "paparazzi.h"
|
||||
#include "airframe.h"
|
||||
#include "actuators.h"
|
||||
|
||||
|
||||
uint8_t servos_4017_idx;
|
||||
|
||||
|
||||
@@ -2,12 +2,13 @@
|
||||
#define SERVOS_4017_HW_H
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "std.h"
|
||||
|
||||
#include "LPC21xx.h"
|
||||
#include "sys_time.h"
|
||||
|
||||
#include "led.h"
|
||||
|
||||
#define SERVOS_4017_CLOCK_FALLING 1
|
||||
|
||||
#include CONFIG
|
||||
|
||||
#define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
|
||||
|
||||
@@ -7,19 +7,24 @@
|
||||
|
||||
#warning "FIXMEEE - i fear that if two T0IR flags are up together I might discard an IT"
|
||||
#warning "And I've seen crashes: don't fly with that"
|
||||
|
||||
#define TIMER0_IT_MASK (TIR_CR2I | TIR_MR1I)
|
||||
|
||||
void TIMER0_ISR ( void ) {
|
||||
ISR_ENTRY();
|
||||
|
||||
if (T0IR&TIR_CR2I) {
|
||||
PPM_ISR();
|
||||
/* clear interrupt */
|
||||
T0IR = TIR_CR2I;
|
||||
}
|
||||
#ifdef SERVOS_4017
|
||||
else if (T0IR&TIR_MR1I) {
|
||||
SERVOS_4017_ISR();
|
||||
/* clear interrupt */
|
||||
T0IR = TIR_MR1I;
|
||||
}
|
||||
|
||||
#endif
|
||||
VICVectAddr = 0x00000000;
|
||||
ISR_EXIT();
|
||||
}
|
||||
|
||||
@@ -35,6 +35,13 @@ void uart0_init_rx( void ) {
|
||||
|
||||
}
|
||||
|
||||
bool_t uart0_check_free_space( uint8_t len) {
|
||||
int16_t space;
|
||||
if ((space = (uart0_tx_extract_idx - uart0_tx_insert_idx)) <= 0)
|
||||
space += UART0_TX_BUFFER_SIZE;
|
||||
|
||||
return (uint16_t)(space - 1) >= len;
|
||||
}
|
||||
|
||||
void uart0_transmit( unsigned char data ) {
|
||||
#ifdef UART0_TX_INT_MODE
|
||||
|
||||
@@ -26,7 +26,6 @@
|
||||
//// ADC6 MVSERVO
|
||||
|
||||
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
#include "adc.h"
|
||||
|
||||
@@ -23,9 +23,8 @@
|
||||
*/
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/crc16.h>
|
||||
#include <util/crc16.h>
|
||||
|
||||
#include "inter_mcu.h"
|
||||
#include "link_mcu_ap.h"
|
||||
|
||||
@@ -28,7 +28,6 @@
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <stdlib.h>
|
||||
#include "modem.h"
|
||||
|
||||
@@ -23,7 +23,7 @@
|
||||
*
|
||||
*/
|
||||
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "ppm.h"
|
||||
#include "sys_time.h"
|
||||
|
||||
@@ -67,8 +67,6 @@ SIGNAL( SIG_INPUT_CAPTURE1 )
|
||||
static uint8_t state = 0;
|
||||
static uint8_t sync_start;
|
||||
|
||||
#include "led.h"
|
||||
|
||||
this = ICR1;
|
||||
#ifdef TIMER1_TOP
|
||||
this += tmr1_ov_cnt;
|
||||
|
||||
@@ -25,7 +25,7 @@
|
||||
/** Implementation of actuators.h */
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "servos_4017.h"
|
||||
#include "actuators.h"
|
||||
#include "sys_time.h"
|
||||
|
||||
@@ -24,7 +24,6 @@
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
|
||||
|
||||
|
||||
@@ -26,9 +26,8 @@
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/crc16.h>
|
||||
#include <util/crc16.h>
|
||||
|
||||
#include "inter_mcu.h"
|
||||
#include "spi_fbw.h"
|
||||
|
||||
+67
-52
@@ -22,7 +22,6 @@
|
||||
*
|
||||
*/
|
||||
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include <avr/io.h>
|
||||
|
||||
@@ -62,6 +61,14 @@ void uart0_init_rx( void ) {
|
||||
sbi( UCSRB, RXCIE );
|
||||
}
|
||||
|
||||
bool_t uart0_check_free_space( uint8_t len) {
|
||||
int8_t space;
|
||||
if ((space = (tx_tail - tx_head)) <= 0)
|
||||
space += TX_BUF_SIZE;
|
||||
|
||||
return (uint8_t)(space - 1) >= len;
|
||||
}
|
||||
|
||||
void uart0_transmit( unsigned char data ) {
|
||||
if (UCSRB & _BV(TXCIE)) {
|
||||
/* we are waiting for the last char to be sent : buffering */
|
||||
@@ -101,57 +108,6 @@ 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 uart0_transmit( unsigned char data ) {
|
||||
if (UCSR0B & _BV(TXCIE)) {
|
||||
/* we are waiting for the last char to be sent : buffering */
|
||||
if (tx_tail0 == tx_head0 + 1) { /* BUF_SIZE = 256 */
|
||||
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
|
||||
return;
|
||||
}
|
||||
tx_buf0[tx_head0] = data;
|
||||
tx_head0++; /* BUF_SIZE = 256 */
|
||||
} else { /* Channel is free: just send */
|
||||
UDR0 = data;
|
||||
sbi(UCSR0B, TXCIE);
|
||||
}
|
||||
}
|
||||
|
||||
void uart1_transmit( unsigned char data ) {
|
||||
if (UCSR1B & _BV(TXCIE)) {
|
||||
/* we are waiting for the last char to be sent : buffering */
|
||||
if (tx_tail1 == tx_head1 + 1) { /* BUF_SIZE = 256 */
|
||||
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
|
||||
return;
|
||||
}
|
||||
tx_buf1[tx_head1] = data;
|
||||
tx_head1++; /* BUF_SIZE = 256 */
|
||||
} else { /* Channel is free: just send */
|
||||
UDR1 = data;
|
||||
sbi(UCSR1B, TXCIE);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SIGNAL(SIG_UART0_TRANS) {
|
||||
if (tx_head0 == tx_tail0) {
|
||||
/* Nothing more to send */
|
||||
cbi(UCSR0B, TXCIE); /* disable interrupt */
|
||||
} else {
|
||||
UDR0 = tx_buf0[tx_tail0];
|
||||
tx_tail0++; /* warning tx_buf_len is 256 */
|
||||
}
|
||||
}
|
||||
|
||||
SIGNAL(SIG_UART1_TRANS) {
|
||||
if (tx_head1 == tx_tail1) {
|
||||
/* Nothing more to send */
|
||||
cbi(UCSR1B, TXCIE); /* disable interrupt */
|
||||
} else {
|
||||
UDR1 = tx_buf1[tx_tail1];
|
||||
tx_tail1++; /* warning tx_buf_len is 256 */
|
||||
}
|
||||
}
|
||||
|
||||
void uart0_init_tx( void ) {
|
||||
/* Baudrate is 38.4k */
|
||||
UBRR0H = 0;
|
||||
@@ -177,6 +133,40 @@ void uart0_init_rx( void ) {
|
||||
sbi(UCSR0B, RXCIE );
|
||||
}
|
||||
|
||||
bool_t uart0_check_free_space( uint8_t len) {
|
||||
int8_t space;
|
||||
if ((space = (tx_tail0 - tx_head0)) <= 0)
|
||||
space += TX_BUF_SIZE;
|
||||
|
||||
return (uint16_t)(space - 1) >= len;
|
||||
}
|
||||
|
||||
void uart0_transmit( unsigned char data ) {
|
||||
if (UCSR0B & _BV(TXCIE)) {
|
||||
/* we are waiting for the last char to be sent : buffering */
|
||||
if (tx_tail0 == tx_head0 + 1) { /* BUF_SIZE = 256 */
|
||||
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
|
||||
return;
|
||||
}
|
||||
tx_buf0[tx_head0] = data;
|
||||
tx_head0++; /* BUF_SIZE = 256 */
|
||||
} else { /* Channel is free: just send */
|
||||
UDR0 = data;
|
||||
sbi(UCSR0B, TXCIE);
|
||||
}
|
||||
}
|
||||
|
||||
SIGNAL(SIG_UART0_TRANS) {
|
||||
if (tx_head0 == tx_tail0) {
|
||||
/* Nothing more to send */
|
||||
cbi(UCSR0B, TXCIE); /* disable interrupt */
|
||||
} else {
|
||||
UDR0 = tx_buf0[tx_tail0];
|
||||
tx_tail0++; /* warning tx_buf_len is 256 */
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void uart1_init_tx( void ) {
|
||||
/* Baudrate is 38.4k */
|
||||
UBRR1H = 0;
|
||||
@@ -197,6 +187,31 @@ void uart1_init_rx( void ) {
|
||||
sbi(UCSR1B, RXCIE );
|
||||
}
|
||||
|
||||
void uart1_transmit( unsigned char data ) {
|
||||
if (UCSR1B & _BV(TXCIE)) {
|
||||
/* we are waiting for the last char to be sent : buffering */
|
||||
if (tx_tail1 == tx_head1 + 1) { /* BUF_SIZE = 256 */
|
||||
/* Buffer is full (almost, but tx_head = tx_tail means "empty" */
|
||||
return;
|
||||
}
|
||||
tx_buf1[tx_head1] = data;
|
||||
tx_head1++; /* BUF_SIZE = 256 */
|
||||
} else { /* Channel is free: just send */
|
||||
UDR1 = data;
|
||||
sbi(UCSR1B, TXCIE);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SIGNAL(SIG_UART1_TRANS) {
|
||||
if (tx_head1 == tx_tail1) {
|
||||
/* Nothing more to send */
|
||||
cbi(UCSR1B, TXCIE); /* disable interrupt */
|
||||
} else {
|
||||
UDR1 = tx_buf1[tx_tail1];
|
||||
tx_tail1++; /* warning tx_buf_len is 256 */
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t uart1_char;
|
||||
bool_t uart1_char_available;
|
||||
|
||||
@@ -31,7 +31,6 @@
|
||||
#define UART_HW_H
|
||||
|
||||
#include <avr/io.h>
|
||||
#include <avr/signal.h>
|
||||
#include <avr/interrupt.h>
|
||||
#include "std.h"
|
||||
|
||||
|
||||
@@ -25,15 +25,57 @@
|
||||
#ifndef FBW_DOWNLINK_H
|
||||
#define FBW_DOWNLINK_H
|
||||
|
||||
#include "inttypes.h"
|
||||
#include "messages_fbw.h"
|
||||
#include "airframe.h"
|
||||
|
||||
#define PERIODIC_SEND_PPM() { Uart0PrintString("SEND_PPM\n"); }
|
||||
#include "uart.h"
|
||||
#include "main_fbw.h"
|
||||
#include "radio_control.h"
|
||||
|
||||
extern uint8_t ck_a, ck_b;
|
||||
extern uint8_t downlink_nb_ovrn;
|
||||
#define STX 0x05
|
||||
|
||||
#define __DownlinkCheckFreeSpace(dev, _x) dev ##_check_free_space(_x)
|
||||
#define _DownlinkCheckFreeSpace(dev, _x) __DownlinkCheckFreeSpace(dev, _x)
|
||||
#define DownlinkCheckFreeSpace(_x) _DownlinkCheckFreeSpace(DOWNLINK_FBW_DEVICE, _x)
|
||||
|
||||
#define __DownlinkPut1Byte(dev, _x) dev ##_transmit(_x)
|
||||
#define _DownlinkPut1Byte(dev, _x) __DownlinkPut1Byte(dev, _x)
|
||||
#define DownlinkPut1Byte(_x) _DownlinkPut1Byte(DOWNLINK_FBW_DEVICE, _x)
|
||||
|
||||
#define PERIODIC_SEND_PPM() {}
|
||||
//#define PERIODIC_SEND_SERVOS() { Uart0PrintString("SERVOS\n");}
|
||||
#define PERIODIC_SEND_SERVOS() {}
|
||||
#define PERIODIC_SEND_FBW_STATUS() {}
|
||||
#define PERIODIC_SEND_FBW_STATUS() {DOWNLINK_SEND_FBW_STATUS(&fbw_mode, &rc_status, &fbw_mode)}
|
||||
#define PERIODIC_SEND_RC() {}
|
||||
|
||||
|
||||
/** 5 = STX + ac_id + msg_id + ck_a + ck_b */
|
||||
#define DownlinkSizeOf(_payload) (_payload+5)
|
||||
|
||||
#define DownlinkPut1ByteUpdateCs(_byte) { \
|
||||
ck_a += _byte; \
|
||||
ck_b += ck_a; \
|
||||
DownlinkPut1Byte(_byte); \
|
||||
}
|
||||
|
||||
#define DownlinkPut1ByteByAddr(_byte) { \
|
||||
uint8_t _x = *(_byte); \
|
||||
DownlinkPut1ByteUpdateCs(_x); \
|
||||
}
|
||||
|
||||
#define DownlinkStartMessage(id) \
|
||||
{ DownlinkPut1Byte(STX); DownlinkPut1Byte(id); ck_a = id; ck_b = id; DownlinkPut1ByteUpdateCs(AC_ID);}
|
||||
|
||||
#define DownlinkEndMessage() \
|
||||
{ DownlinkPut1Byte(ck_a); DownlinkPut1Byte(ck_b); }
|
||||
|
||||
|
||||
static inline void fbw_downlink_periodic_task(void) {
|
||||
PeriodicSend()
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#endif /* FBW_DOWNLINK_H */
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#include "main_ap.h"
|
||||
#include "low_level_hw.h"
|
||||
#include "sys_time.h"
|
||||
#include "init_hw.h"
|
||||
#include "int.h"
|
||||
#include "sys_time.h"
|
||||
#include "led.h"
|
||||
#include "modem.h"
|
||||
#include "gps.h"
|
||||
|
||||
@@ -87,8 +87,9 @@ void init_fbw( void ) {
|
||||
#endif
|
||||
sys_time_init();
|
||||
|
||||
#ifdef ACTUATORS
|
||||
actuators_init();
|
||||
|
||||
#endif
|
||||
/* Load the failsafe defaults */
|
||||
SetCommands(commands_failsafe);
|
||||
|
||||
@@ -134,7 +135,6 @@ void event_task_fbw( void) {
|
||||
if (ap_ok && fbw_mode == FBW_MODE_AUTO) {
|
||||
SetCommands(from_ap.from_ap.channels);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef IMU_3DMG
|
||||
|
||||
+2
-1
@@ -26,7 +26,7 @@
|
||||
#define UART_H
|
||||
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "std.h"
|
||||
#include "uart_hw.h"
|
||||
|
||||
void uart0_init_tx( void );
|
||||
@@ -35,6 +35,7 @@ void uart0_init_rx( void );
|
||||
/** uart0_init_tx() must be called BEFORE */
|
||||
|
||||
void uart0_transmit( unsigned char data );
|
||||
bool_t uart0_check_free_space( uint8_t len);
|
||||
|
||||
/** Not necessarily defined */
|
||||
void uart1_init_tx( void );
|
||||
|
||||
@@ -25,7 +25,7 @@
|
||||
open Latlong
|
||||
open Printf
|
||||
module W = Wavecard
|
||||
module Tm_Pprz = Pprz.Protocol(struct let name = "telemetry_ap" end)
|
||||
module Tm_Pprz = Pprz.Protocol(struct let name = "telemetry_fbw" end)
|
||||
module Ground_Pprz = Pprz.Protocol(struct let name = "ground" end)
|
||||
module Dl_Pprz = Pprz.Protocol(struct let name = "datalink" end)
|
||||
module PprzTransport = Serial.Transport(Tm_Pprz)
|
||||
@@ -182,7 +182,7 @@ let _ =
|
||||
Ivy.start !ivy_bus;
|
||||
|
||||
try
|
||||
let fd = Serial.opendev !port Serial.B9600 in
|
||||
let fd = Serial.opendev !port Serial.B38400 in
|
||||
let ac = { fd=fd; } in
|
||||
(* Listening on wavecard *)
|
||||
let cb = fun _ ->
|
||||
|
||||
Reference in New Issue
Block a user