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Merge pull request #1310 from braiins/master

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IMU testing + test airframe for apogee
This commit is contained in:
Felix Ruess
2015-08-31 23:40:10 +02:00
parent 7c695ea39d 58950b5421
commit 87c25f0c87
5 changed files with 193 additions and 0 deletions
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conf/airframes/examples/setup_apogee.xml
+76
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@@ -0,0 +1,76 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
<airframe name="setup_apogee">
<firmware name="setup">
<target name="tunnel" board="apogee_1.0"/>
<target name="usb_tunnel" board="apogee_1.0">
<configure name="TUNNEL_PORT" value="UART6"/>
</target>
<target name="setup_actuators" board="apogee_1.0">
<subsystem name="actuators" type="pwm"/>
</target>
</firmware>
<firmware name="test_progs">
<target name="test_manual" board="apogee_1.0"/>
<target name="test_sys_time_timer" board="apogee_1.0"/>
<target name="test_sys_time_usleep" board="apogee_1.0"/>
<target name="test_telemetry" board="apogee_1.0"/>
<target name="test_actuators_pwm" board="apogee_1.0">
</target>
<target name="test_actuators_pwm_sin" board="apogee_1.0">
</target>
<target name="test_baro_board" board="apogee_1.0">
<subsystem name="imu" type="apogee"/>
<configure name="IMU_INIT" value="1"/>
</target>
<target name="test_imu" board="apogee_1.0">
<subsystem name="imu" type="apogee"/>
</target>
<target name="test_adc" board="apogee_1.0"/>
<target name="test_uart" board="apogee_1.0">
<define name="USE_UART4"/>
<define name="UART4_BAUD" value="B57600"/>
<define name="USE_UART6"/>
<define name="UART6_BAUD" value="B57600"/>
</target>
<!-- Communication -->
<subsystem name="radio_control" type="ppm">
</subsystem>
</firmware>
<servos>
<servo name="1" no="0" min="950" neutral="1500" max="2050"/>
<servo name="2" no="1" min="950" neutral="1500" max="2050"/>
<servo name="3" no="2" min="950" neutral="1500" max="2050"/>
<servo name="4" no="3" min="950" neutral="1500" max="2050"/>
<servo name="5" no="4" min="950" neutral="1500" max="2050"/>
<servo name="6" no="5" min="950" neutral="1500" max="2050"/>
<servo name="7" no="6" min="950" neutral="1500" max="2050"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="AUX5" failsafe_value="0"/>
<axis name="AUX6" failsafe_value="0"/>
</commands>
<command_laws>
<set servo="1" value="@ROLL"/>
<set servo="2" value="@PITCH"/>
<set servo="3" value="@YAW"/>
<set servo="4" value="@THRUST"/>
<set servo="5" value="@AUX5"/>
<set servo="6" value="@AUX6"/>
<set servo="7" value="@AUX7"/>
</command_laws>
</airframe>
conf/firmwares/test_progs.makefile
+3
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@@ -378,6 +378,9 @@ include $(CFG_SHARED)/baro_board.makefile
endif
test_baro_board.CFLAGS += $(BARO_BOARD_CFLAGS)
test_baro_board.srcs += $(BARO_BOARD_SRCS)
ifeq ($(IMU_INIT),1)
test_baro_board.srcs += test/test_baro_board_imu.c
endif
#
sw/airborne/test/test_baro_board.c
+25
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@@ -39,10 +39,32 @@
#define ABI_C
#include "subsystems/abi.h"
#include "test_baro_board_imu.h"
static inline void main_init(void);
static inline void main_periodic_task(void);
static inline void main_event_task(void);
__attribute__((weak)) void test_baro_board_imu_init(void)
{
/* Optionally, to be overriden by board specific code */
}
__attribute__((weak)) void test_baro_board_imu_periodic_task(void)
{
/* Optionally, to be overriden by board specific code */
}
__attribute__((weak)) void test_baro_board_imu_event_task(void)
{
/* Optionally, to be overriden by board specific code */
}
#ifndef BARO_PERIODIC_FREQUENCY
#define BARO_PERIODIC_FREQUENCY 50
#endif
@@ -90,6 +112,7 @@ static inline void main_init(void)
mcu_init();
sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
downlink_init();
test_baro_board_imu_init();
baro_init();
baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
@@ -101,10 +124,12 @@ static inline void main_periodic_task(void)
{
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
test_baro_board_imu_periodic_task();
}
static inline void main_event_task(void)
{
mcu_event();
test_baro_board_imu_event_task();
BaroEvent();
}
sw/airborne/test/test_baro_board_imu.c
+53
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@@ -0,0 +1,53 @@
/*
* Copyright (C) 2015 Braiins Systems <jan.capek@braiins.cz>
*
* 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.
*/
/*
*
* IMU initialization functions for boards where barometer is an I2C
* slave of IMU chip.
*
*/
#include BOARD_CONFIG
#include "mcu_periph/sys_time.h"
#include "subsystems/imu.h"
#include "test_baro_board_imu.h"
void test_baro_board_imu_init(void)
{
imu_init();
}
void test_baro_board_imu_periodic_task(void)
{
if (sys_time.nb_sec > 1) {
imu_periodic();
}
}
void test_baro_board_imu_event_task(void)
{
ImuEvent();
}
sw/airborne/test/test_baro_board_imu.h
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@@ -0,0 +1,36 @@
/*
* Copyright (C) 2015 Braiins Systems <jan.capek@braiins.cz>
*
* 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.
*/
/**
* Initializes the IMU when baro board is IMU slave
*/
void test_baro_board_imu_init(void);
/**
* Periodic task for IMU subsystem
*/
void test_baro_board_imu_periodic_task(void);
/**
* Event task for IMU subsystem
*/
void test_baro_board_imu_event_task(void);