mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 04:46:51 +08:00
pni micromag for fixed wing
This commit is contained in:
Martin Mueller
@@ -5,11 +5,11 @@
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PerkinElmer TPS334 IR Sensors
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
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XBee modem
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Payload: Sensirion humidity/temp, VTI pressure/temp
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K66, LEA 4P
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Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
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LEA 4P
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-->
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<airframe name="Funjet FMI 1 K66">
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<airframe name="Funjet FMI 1">
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<!-- commands section -->
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<servos>
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@@ -37,7 +37,7 @@
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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@@ -83,9 +83,9 @@
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- 0.0247311828 -->
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<!-- 0.02432905 -->
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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@@ -97,8 +97,9 @@
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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<define name="MIN_CIRCLE_RADIUS" value="50."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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@@ -164,9 +165,9 @@
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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@@ -174,11 +175,31 @@
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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</section>
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<section name="MICROMAG">
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<define name="MM_SS_PIN" value="20"/>
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<define name="MM_SS_IODIR" value="IO0DIR"/>
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<define name="MM_SS_IOSET" value="IO0SET"/>
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<define name="MM_SS_IOCLR" value="IO0CLR"/>
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<define name="MM_RESET_PIN" value="29"/>
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<define name="MM_RESET_IODIR" value="IO0DIR"/>
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<define name="MM_RESET_IOSET" value="IO0SET"/>
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<define name="MM_RESET_IOCLR" value="IO0CLR"/>
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<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
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<define name="MM_DRDY_PINSEL_BIT" value="0"/>
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<define name="MM_DRDY_PINSEL_VAL" value="1"/>
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<define name="MM_DRDY_EINT" value="0"/>
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<define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
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</section>
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<makefile>
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CONFIG = \"tiny_2_1.h\"
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@@ -195,7 +216,7 @@ ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
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ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.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.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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@@ -206,7 +227,7 @@ ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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@@ -225,22 +246,31 @@ ap.srcs += nav_line.c
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ap.srcs += nav_survey_rectangle.c
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ap.srcs += humid_sht.c
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ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
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ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
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ap.CFLAGS += -DUSE_I2C0
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ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
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ap.CFLAGS += -DUSE_AIRSPEED_ETS
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ap.srcs += airspeed_ets_o.c
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ap.CFLAGS += -DUSE_IR_MLX
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ap.srcs += ir_mlx.c
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ap.srcs += baro_scp.c
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ap.CFLAGS += -DUSE_BARO_SCP
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ap.srcs += baro_scp_i2c.c
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ap.srcs += joystick.c
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ap.CFLAGS += -DUSE_JOYSTICK
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#ap.CFLAGS += -DUSE_MAG_HMC
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#ap.srcs += mag_hmc5843.c
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ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
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ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
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sim.srcs += nav_line.c nav_survey_rectangle.c
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sim.srcs += joystick.c
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sim.CFLAGS += -DUSE_JOYSTICK
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</makefile>
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</airframe>
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@@ -0,0 +1,272 @@
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<!DOCTYPE airframe SYSTEM "airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
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XBee modem
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Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
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LEA 5H
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-->
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<airframe name="Funjet FMI 2">
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
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<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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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="0.45"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.85"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<section name="adc" prefix="ADC_CHANNEL_">
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<define name="IR1" value="ADC_1"/>
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<define name="IR2" value="ADC_2"/>
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<define name="IR_TOP" value="ADC_0"/>
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<define name="IR_NB_SAMPLES" value="16"/>
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</section>
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<section name="INFRARED" prefix="IR_">
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<define name="ADC_IR1_NEUTRAL" value="512"/>
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<define name="ADC_IR2_NEUTRAL" value="512"/>
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<define name="ADC_TOP_NEUTRAL" value="512"/>
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<define name="CORRECTION_UP" value="1."/>
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<define name="CORRECTION_DOWN" value="1."/>
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<define name="CORRECTION_LEFT" value="1."/>
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<define name="CORRECTION_RIGHT" value="1."/>
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<define name="LATERAL_CORRECTION" value="1"/>
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<define name="LONGITUDINAL_CORRECTION" value="1"/>
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<define name="VERTICAL_CORRECTION" value="1.5"/>
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<define name="HORIZ_SENSOR_TILTED" value="1"/>
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<define name="IR1_SIGN" value="-1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- 0.0247311828 -->
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<!-- 0.02432905 -->
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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<define name="MIN_CIRCLE_RADIUS" value="50."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="6600."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-5500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
|
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|
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<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
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</section>
|
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|
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<section name="NAV">
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<define name="NAV_PITCH" value="0."/>
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<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
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</section>
|
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|
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<section name="AGGRESSIVE" prefix="AGR_">
|
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
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</section>
|
||||
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
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<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="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<section name="MICROMAG">
|
||||
|
||||
<define name="MM_SS_PIN" value="20"/>
|
||||
<define name="MM_SS_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_SS_IOSET" value="IO0SET"/>
|
||||
<define name="MM_SS_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_RESET_PIN" value="29"/>
|
||||
<define name="MM_RESET_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_RESET_IOSET" value="IO0SET"/>
|
||||
<define name="MM_RESET_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
|
||||
<define name="MM_DRDY_PINSEL_BIT" value="0"/>
|
||||
<define name="MM_DRDY_PINSEL_VAL" value="1"/>
|
||||
<define name="MM_DRDY_EINT" value="0"/>
|
||||
<define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
|
||||
|
||||
</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 += -DGPS -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 += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
|
||||
|
||||
ap.CFLAGS += -DUSE_I2C0
|
||||
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_AIRSPEED_ETS
|
||||
ap.srcs += airspeed_ets_o.c
|
||||
|
||||
ap.CFLAGS += -DUSE_IR_MLX
|
||||
ap.srcs += ir_mlx.c
|
||||
|
||||
ap.CFLAGS += -DUSE_BARO_SCP
|
||||
ap.srcs += baro_scp_i2c.c
|
||||
|
||||
ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
|
||||
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
|
||||
|
||||
# Config for SITL simulation
|
||||
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
|
||||
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
|
||||
sim.srcs += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -0,0 +1,272 @@
|
||||
<!DOCTYPE airframe SYSTEM "airframe.dtd">
|
||||
|
||||
<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
|
||||
Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
|
||||
Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
|
||||
XBee modem
|
||||
Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
|
||||
LEA 5H
|
||||
-->
|
||||
|
||||
<airframe name="Funjet FMI 3">
|
||||
|
||||
<!-- commands section -->
|
||||
<servos>
|
||||
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
|
||||
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1515" max="1100"/>
|
||||
<servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1502" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="THROTTLE" failsafe_value="0"/>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<rc_commands>
|
||||
<set command="THROTTLE" value="@THROTTLE"/>
|
||||
<set command="ROLL" value="@ROLL"/>
|
||||
<set command="PITCH" value="@PITCH"/>
|
||||
</rc_commands>
|
||||
|
||||
<section name="MIXER">
|
||||
<define name="AILEVON_AILERON_RATE" value="0.45"/>
|
||||
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
|
||||
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
|
||||
<set servo="MOTOR" value="@THROTTLE"/>
|
||||
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
|
||||
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="AUTO1" prefix="AUTO1_">
|
||||
<define name="MAX_ROLL" value="0.85"/>
|
||||
<define name="MAX_PITCH" value="0.6"/>
|
||||
</section>
|
||||
|
||||
<section name="adc" prefix="ADC_CHANNEL_">
|
||||
<define name="IR1" value="ADC_1"/>
|
||||
<define name="IR2" value="ADC_2"/>
|
||||
<define name="IR_TOP" value="ADC_0"/>
|
||||
<define name="IR_NB_SAMPLES" value="16"/>
|
||||
</section>
|
||||
|
||||
<section name="INFRARED" prefix="IR_">
|
||||
<define name="ADC_IR1_NEUTRAL" value="512"/>
|
||||
<define name="ADC_IR2_NEUTRAL" value="512"/>
|
||||
<define name="ADC_TOP_NEUTRAL" value="512"/>
|
||||
|
||||
<define name="CORRECTION_UP" value="1."/>
|
||||
<define name="CORRECTION_DOWN" value="1."/>
|
||||
<define name="CORRECTION_LEFT" value="1."/>
|
||||
<define name="CORRECTION_RIGHT" value="1."/>
|
||||
|
||||
<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="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<!-- 0.0247311828 -->
|
||||
<!-- 0.02432905 -->
|
||||
<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
|
||||
</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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
|
||||
<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
|
||||
<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
|
||||
|
||||
<define name="TRIGGER_DELAY" value="1."/>
|
||||
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
|
||||
<define name="MIN_CIRCLE_RADIUS" value="50."/>
|
||||
</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_LOITER_TRIM" value="1000"/>
|
||||
<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
|
||||
<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"/>
|
||||
|
||||
<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
|
||||
<define name="ROLL_RATE_GAIN" value="-1500"/-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="NAV">
|
||||
<define name="NAV_PITCH" value="0."/>
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<section name="AGGRESSIVE" prefix="AGR_">
|
||||
<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
|
||||
<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
|
||||
<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
|
||||
</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="DATALINK" prefix="DATALINK_">
|
||||
<define name="DEVICE_TYPE" value="XBEE"/>
|
||||
<define name="DEVICE_ADDRESS" value="...."/>
|
||||
</section>
|
||||
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
|
||||
</section>
|
||||
|
||||
<section name="MICROMAG">
|
||||
|
||||
<define name="MM_SS_PIN" value="20"/>
|
||||
<define name="MM_SS_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_SS_IOSET" value="IO0SET"/>
|
||||
<define name="MM_SS_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_RESET_PIN" value="29"/>
|
||||
<define name="MM_RESET_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_RESET_IOSET" value="IO0SET"/>
|
||||
<define name="MM_RESET_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
|
||||
<define name="MM_DRDY_PINSEL_BIT" value="0"/>
|
||||
<define name="MM_DRDY_PINSEL_VAL" value="1"/>
|
||||
<define name="MM_DRDY_EINT" value="0"/>
|
||||
<define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
|
||||
|
||||
</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 += -DGPS -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 += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
|
||||
ap.srcs += infrared.c estimator.c
|
||||
|
||||
ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
|
||||
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
|
||||
|
||||
ap.srcs += nav_line.c
|
||||
ap.srcs += nav_survey_rectangle.c
|
||||
|
||||
ap.srcs += humid_sht.c
|
||||
ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
|
||||
|
||||
ap.CFLAGS += -DUSE_I2C0
|
||||
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
|
||||
|
||||
ap.CFLAGS += -DUSE_AIRSPEED_ETS
|
||||
ap.srcs += airspeed_ets_o.c
|
||||
|
||||
ap.CFLAGS += -DUSE_IR_MLX
|
||||
ap.srcs += ir_mlx.c
|
||||
|
||||
ap.CFLAGS += -DUSE_BARO_SCP
|
||||
ap.srcs += baro_scp_i2c.c
|
||||
|
||||
ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
|
||||
ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
|
||||
|
||||
# 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 += nav_line.c nav_survey_rectangle.c
|
||||
|
||||
|
||||
</makefile>
|
||||
</airframe>
|
||||
@@ -24,7 +24,10 @@
|
||||
<define name="ALT_KALMAN"/>
|
||||
<define name="WIND_INFO"/>
|
||||
<define name="WIND_INFO_RET"/>
|
||||
<define name="USE_I2C0"/>
|
||||
<define name="SPI_MASTER"/>
|
||||
<define name="USE_MICROMAG_FW"/>
|
||||
<define name="MICROMAG_DRDY_VIC_SLOT" value="12"/>
|
||||
<define name="SSP_VIC_SLOT" value="11"/>
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
@@ -43,6 +46,7 @@
|
||||
</subsystem>
|
||||
<subsystem name="navigation"/>
|
||||
<subsystem name="i2c"/>
|
||||
<subsystem name="spi"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="setup">
|
||||
@@ -55,8 +59,9 @@
|
||||
|
||||
<!-- modules -->
|
||||
<modules>
|
||||
<load name="alt_srf08.xml"/>
|
||||
<!--load name="baro_MS5534A.xml"/>
|
||||
<load name="mag_micromag_fw.xml"/>
|
||||
<!--load name="alt_srf08.xml"/>
|
||||
<load name="baro_MS5534A.xml"/>
|
||||
<load name="baro_bmp.xml"/>
|
||||
<load name="baro_scp_i2c.xml"/>
|
||||
<load name="light_temt.xml"/>
|
||||
@@ -234,4 +239,23 @@
|
||||
<define name="HOME_RADIUS" value="100" unit="m"/>
|
||||
</section>
|
||||
|
||||
<section name="MICROMAG">
|
||||
|
||||
<define name="MM_SS_PIN" value="20"/>
|
||||
<define name="MM_SS_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_SS_IOSET" value="IO0SET"/>
|
||||
<define name="MM_SS_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_RESET_PIN" value="29"/>
|
||||
<define name="MM_RESET_IODIR" value="IO0DIR"/>
|
||||
<define name="MM_RESET_IOSET" value="IO0SET"/>
|
||||
<define name="MM_RESET_IOCLR" value="IO0CLR"/>
|
||||
|
||||
<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
|
||||
<define name="MM_DRDY_PINSEL_BIT" value="0"/>
|
||||
<define name="MM_DRDY_PINSEL_VAL" value="1"/>
|
||||
<define name="MM_DRDY_EINT" value="0"/>
|
||||
<define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
|
||||
|
||||
</section>
|
||||
</airframe>
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="mag_micromag_fw" dir="meteo">
|
||||
<header>
|
||||
<file name="micromag_fw_hw.h"/>
|
||||
<file name="micromag_fw.h"/>
|
||||
</header>
|
||||
<init fun="micromag_init()"/>
|
||||
<periodic fun="micromag_periodic()" freq="60"/>
|
||||
<event fun="micromag_event()"/>
|
||||
<makefile>
|
||||
<file_hw name="micromag_fw_hw.c"/>
|
||||
<file name="micromag_fw.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
+39
-13
@@ -7,13 +7,51 @@
|
||||
*/
|
||||
|
||||
#include "led.h"
|
||||
#include "micromag_fw.h"
|
||||
#include "micromag_fw_hw.h"
|
||||
#include "meteo/micromag_fw.h"
|
||||
|
||||
volatile uint8_t micromag_cur_axe;
|
||||
|
||||
static void SSP_ISR(void) __attribute__((naked));
|
||||
static void EXTINT_ISR(void) __attribute__((naked));
|
||||
|
||||
|
||||
static void SSP_ISR(void) {
|
||||
ISR_ENTRY();
|
||||
|
||||
MmOnSpiIt();
|
||||
|
||||
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
|
||||
ISR_EXIT();
|
||||
}
|
||||
|
||||
void EXTINT_ISR(void) {
|
||||
ISR_ENTRY();
|
||||
//LED_TOGGLE(3);
|
||||
|
||||
/* no, we won't do anything asynchronously, so just notify */
|
||||
micromag_status = MM_GOT_EOC;
|
||||
/* clear EINT */
|
||||
SetBit(EXTINT,MM_DRDY_EINT);
|
||||
// EXTINT = (1<<MM_DRDY_EINT);
|
||||
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
|
||||
ISR_EXIT();
|
||||
}
|
||||
|
||||
void micromag_hw_init( void ) {
|
||||
/* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
|
||||
PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
|
||||
|
||||
/* setup SSP */
|
||||
SSPCR0 = SSPCR0_VAL;;
|
||||
SSPCR1 = SSPCR1_VAL;
|
||||
SSPCPSR = 0x02;
|
||||
|
||||
/* initialize interrupt vector */
|
||||
VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
|
||||
VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
|
||||
_VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
|
||||
_VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
|
||||
|
||||
MmUnselect(); /* pin idles high */
|
||||
/* configure SS pin */
|
||||
@@ -37,16 +75,4 @@ void micromag_hw_init( void ) {
|
||||
_VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address of the ISR
|
||||
}
|
||||
|
||||
void EXTINT_ISR(void) {
|
||||
ISR_ENTRY();
|
||||
//LED_TOGGLE(3);
|
||||
|
||||
/* no, we won't do anything asynchronously, so just notify */
|
||||
micromag_status = MM_GOT_EOC;
|
||||
/* clear EINT */
|
||||
SetBit(EXTINT,MM_DRDY_EINT);
|
||||
// EXTINT = (1<<MM_DRDY_EINT);
|
||||
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
|
||||
ISR_EXIT();
|
||||
}
|
||||
|
||||
+1
-1
@@ -88,6 +88,6 @@ extern volatile uint8_t micromag_cur_axe;
|
||||
SpiEnableRti(); \
|
||||
}
|
||||
|
||||
|
||||
extern void micromag_hw_init( void );
|
||||
|
||||
#endif /* MICROMAG_HW_H */
|
||||
@@ -95,10 +95,6 @@
|
||||
#include "usb_serial.h"
|
||||
#endif
|
||||
|
||||
#ifdef USE_MICROMAG_FW
|
||||
#include "micromag_fw.h"
|
||||
#endif
|
||||
|
||||
#ifdef USE_AIRSPEED_ETS
|
||||
#include "airspeed_ets.h"
|
||||
#endif // USE_AIRSPEED_ETS
|
||||
@@ -497,10 +493,6 @@ void periodic_task_ap( void ) {
|
||||
/* default: */
|
||||
}
|
||||
|
||||
#ifdef USE_MICROMAG_FW
|
||||
micromag_periodic();
|
||||
#endif
|
||||
|
||||
#ifndef CONTROL_RATE
|
||||
#define CONTROL_RATE 20
|
||||
#endif
|
||||
@@ -650,11 +642,6 @@ void init_ap( void ) {
|
||||
#endif
|
||||
nav_init();
|
||||
|
||||
#ifdef USE_MICROMAG_FW
|
||||
micromag_init_ssp();
|
||||
micromag_init();
|
||||
#endif
|
||||
|
||||
modules_init();
|
||||
|
||||
/** - start interrupt task */
|
||||
@@ -806,16 +793,6 @@ void event_task_ap( void ) {
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_MICROMAG_FW
|
||||
if (micromag_status == MM_DATA_AVAILABLE) {
|
||||
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
|
||||
µmag_values[0],
|
||||
µmag_values[1],
|
||||
µmag_values[2] );
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (inter_mcu_received_fbw) {
|
||||
/* receive radio control task from fbw */
|
||||
inter_mcu_received_fbw = FALSE;
|
||||
|
||||
@@ -1,110 +0,0 @@
|
||||
#include "micromag_fw.h"
|
||||
#include "led.h"
|
||||
|
||||
|
||||
/* SSPCR0 settings */
|
||||
#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
|
||||
#define SSP_FRF 0x00 << 4 /* frame format : SPI */
|
||||
#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first clock transition */
|
||||
#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
|
||||
#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
|
||||
|
||||
/* SSPCR1 settings */
|
||||
#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
|
||||
#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
|
||||
#define SSP_MS 0x00 << 2 /* master slave mode : master */
|
||||
#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
|
||||
|
||||
#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
|
||||
#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
|
||||
|
||||
#define SSP_PINSEL1_SCK (2<<2)
|
||||
#define SSP_PINSEL1_MISO (2<<4)
|
||||
#define SSP_PINSEL1_MOSI (2<<6)
|
||||
|
||||
#define SSP_Enable() SetBit(SSPCR1, SSE);
|
||||
#define SSP_Disable() ClearBit(SSPCR1, SSE);
|
||||
#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
|
||||
#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
|
||||
#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
|
||||
#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
|
||||
#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
|
||||
#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
|
||||
#define SSP_ClearRti() SetBit(SSPICR, RTIC);
|
||||
|
||||
volatile uint8_t micromag_status;
|
||||
volatile int16_t micromag_values[MM_NB_AXIS];
|
||||
|
||||
static void SSP_ISR(void) __attribute__((naked));
|
||||
|
||||
void micromag_periodic( void ) {
|
||||
|
||||
static uint8_t cnt = 0;
|
||||
|
||||
if (micromag_status == MM_IDLE) {
|
||||
// uint8_t * tab = &cnt;
|
||||
// DOWNLINK_SEND_DEBUG(1,tab);
|
||||
cnt = 0;
|
||||
MmSendReq();
|
||||
}
|
||||
else if (micromag_status == MM_GOT_EOC) {
|
||||
MmReadRes();
|
||||
}
|
||||
else if (micromag_status == MM_WAITING_EOC) {
|
||||
cnt++;
|
||||
if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
|
||||
}
|
||||
}
|
||||
|
||||
static void SSP_ISR(void) {
|
||||
ISR_ENTRY();
|
||||
|
||||
MmOnSpiIt();
|
||||
|
||||
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
|
||||
ISR_EXIT();
|
||||
}
|
||||
|
||||
void micromag_init_ssp(void) {
|
||||
|
||||
/* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
|
||||
PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
|
||||
|
||||
/* setup SSP */
|
||||
SSPCR0 = SSPCR0_VAL;;
|
||||
SSPCR1 = SSPCR1_VAL;
|
||||
SSPCPSR = 0x02;
|
||||
|
||||
/* initialize interrupt vector */
|
||||
VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
|
||||
VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
|
||||
_VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
|
||||
_VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
|
||||
}
|
||||
|
||||
void micromag_init( void ) {
|
||||
|
||||
micromag_hw_init();
|
||||
|
||||
uint8_t i;
|
||||
for (i=0; i<MM_NB_AXIS; i++)
|
||||
micromag_values[i] = 0;
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
|
||||
void micromag_reset() {
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
|
||||
void micromag_read() {
|
||||
if (micromag_status == MM_IDLE) {
|
||||
MmSendReq();
|
||||
}
|
||||
else if (micromag_status == MM_GOT_EOC) {
|
||||
MmReadRes();
|
||||
}
|
||||
else if (micromag_status == MM_DATA_AVAILABLE) {
|
||||
micromag_status == MM_IDLE;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,71 @@
|
||||
#include "micromag_fw.h"
|
||||
#include "meteo/micromag_fw_hw.h"
|
||||
#include "led.h"
|
||||
#include "uart.h"
|
||||
#include "messages.h"
|
||||
#include "downlink.h"
|
||||
|
||||
volatile uint8_t micromag_status;
|
||||
volatile int16_t micromag_values[MM_NB_AXIS];
|
||||
|
||||
|
||||
void micromag_periodic( void ) {
|
||||
|
||||
static uint8_t cnt = 0;
|
||||
|
||||
if (micromag_status == MM_IDLE) {
|
||||
// uint8_t * tab = &cnt;
|
||||
// DOWNLINK_SEND_DEBUG(1,tab);
|
||||
cnt = 0;
|
||||
MmSendReq();
|
||||
}
|
||||
else if (micromag_status == MM_GOT_EOC) {
|
||||
MmReadRes();
|
||||
}
|
||||
else if (micromag_status == MM_WAITING_EOC) {
|
||||
cnt++;
|
||||
if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
|
||||
}
|
||||
}
|
||||
|
||||
void micromag_event( void ) {
|
||||
|
||||
int32_t mx=micromag_values[0];
|
||||
int32_t my=micromag_values[1];
|
||||
int32_t mz=micromag_values[2];
|
||||
|
||||
if (micromag_status == MM_DATA_AVAILABLE) {
|
||||
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
|
||||
&mx,
|
||||
&my,
|
||||
&mz );
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
}
|
||||
|
||||
void micromag_init( void ) {
|
||||
|
||||
micromag_hw_init();
|
||||
|
||||
uint8_t i;
|
||||
for (i=0; i<MM_NB_AXIS; i++)
|
||||
micromag_values[i] = 0;
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
|
||||
void micromag_reset() {
|
||||
micromag_status = MM_IDLE;
|
||||
}
|
||||
|
||||
void micromag_read() {
|
||||
if (micromag_status == MM_IDLE) {
|
||||
MmSendReq();
|
||||
}
|
||||
else if (micromag_status == MM_GOT_EOC) {
|
||||
MmReadRes();
|
||||
}
|
||||
else if (micromag_status == MM_DATA_AVAILABLE) {
|
||||
micromag_status == MM_IDLE;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -5,12 +5,12 @@
|
||||
#include "std.h"
|
||||
#define MM_NB_AXIS 3
|
||||
|
||||
extern void micromag_init_ssp(void);
|
||||
extern void micromag_init( void );
|
||||
extern void micromag_read( void );
|
||||
|
||||
extern void micromag_reset( void);
|
||||
extern void micromag_periodic( void );
|
||||
extern void micromag_event( void );
|
||||
|
||||
#define MM_IDLE 0
|
||||
#define MM_BUSY 1
|
||||
@@ -41,13 +41,24 @@ extern void micromag_periodic( void );
|
||||
#define SS_IOSET IO0SET
|
||||
#define SS_IOCLR IO0CLR
|
||||
|
||||
#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
|
||||
#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
|
||||
|
||||
#define SSP_PINSEL1_SCK (2<<2)
|
||||
#define SSP_PINSEL1_MISO (2<<4)
|
||||
#define SSP_PINSEL1_MOSI (2<<6)
|
||||
|
||||
#define SSP_Enable() SetBit(SSPCR1, SSE);
|
||||
#define SSP_Disable() ClearBit(SSPCR1, SSE);
|
||||
#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
|
||||
#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
|
||||
#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
|
||||
#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
|
||||
#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
|
||||
#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
|
||||
#define SSP_ClearRti() SetBit(SSPICR, RTIC);
|
||||
|
||||
extern volatile uint8_t micromag_status;
|
||||
extern volatile int16_t micromag_values[MM_NB_AXIS];
|
||||
|
||||
extern void micromag_hw_init( void );
|
||||
|
||||
#include "micromag_fw_hw.h"
|
||||
|
||||
|
||||
#endif /* MICROMAG_H */
|
||||
Reference in New Issue
Block a user