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This commit is contained in:
Pascal Brisset
2006-10-28 05:13:40 +00:00
parent 91f20022ba
commit 8c05e2fc29
12 changed files with 91 additions and 8 deletions
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conf/airframes/microjet7.xml
+7 -3
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@@ -5,8 +5,8 @@
<!-- commands section -->
<servos>
<servo name="GAZ" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="3" max="1150" neutral="1525" min="1950"/>
<servo name="AILEVON_RIGHT" no="6" max="1900" neutral="1480" min="1050"/>
<servo name="AILEVON_LEFT" no="3" min="1075" neutral="1525" max="2025"/>
<servo name="AILEVON_RIGHT" no="6" min="1975" neutral="1480" max="975"/>
<servo name="HATCH" no="2" max="2000" neutral="1000" min="1000"/>
</servos>
@@ -102,7 +102,8 @@
<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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1."/>
@@ -247,6 +248,9 @@ ap.srcs += gyro.c
ap.srcs += bomb.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += gpio.c
# Harware In The Loop
conf/airframes/slayer1.xml
+5 -2
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@@ -97,7 +97,8 @@
<define name="CARROT" value="3." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATWR\r\""/>
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="TRIGGER_DELAY" value="1.1"/>
@@ -235,7 +236,9 @@ ap.CFLAGS += -DGYRO -DIDG300
ap.srcs += gyro.c bomb.c
# Video switch
ap.CFLAGS += -DLIGHT_PIN_1=3
ap.CFLAGS += -DLIGHT_PIN_1=3 -DUSE_GPIO
ap.srcs += $(SRC_ARCH)/gpio.c
# Harware In The Loop
conf/airframes/slayer2.xml
+5 -1
View File
@@ -95,7 +95,8 @@
<define name="CARROT" value="3." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATWR\r\""/> -->
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
@@ -232,6 +233,9 @@ ap.CFLAGS += -DGYRO -DIDG300
ap.srcs += gyro.c
ap.srcs += bomb.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += gpio.c
# Harware In The Loop
conf/airframes/slayer3.xml
+7 -1
View File
@@ -97,7 +97,8 @@
<define name="CARROT" value="3." 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="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
<define name="NO_XBEE_API_INIT" value="TRUE"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
@@ -233,6 +234,11 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
ap.CFLAGS += -DGYRO -DADXRS150
ap.srcs += gyro.c bomb.c
# Hack to use the same tuning file than slayer1
ap.CFLAGS += -DUSE_GPIO
ap.srcs += gpio.c
# Harware In The Loop
#ap.CFLAGS += -DHITL
conf/settings/tuning.xml
+1
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@@ -7,6 +7,7 @@
<dl_settings NAME="flight params">
<dl_setting MAX="2000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="light_mode"/>
<dl_setting MAX="1" MIN="0" STEP="1" VAR="gpio1_status"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
<dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
</dl_settings>
sw/airborne/arm7/gpio.c
+3
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@@ -0,0 +1,3 @@
#include "gpio.h"
bool_t gpio1_status;
sw/airborne/arm7/gpio.h
+39
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@@ -0,0 +1,39 @@
#ifndef GPIO_H
#define GPIO_H
#include "std.h"
#include "LPC21xx.h"
extern bool_t gpio1_status;
#define GPIO_1_BANK 0
#define GPIO_1_PIN 7
#define GPIO_1_PINSEL PINSEL0
#define GPIO_1_PINSEL_BIT 14
#define GPIO_1_PINSEL_VAL 0
#define GPIO_1_DIR IO0DIR
#define GpioOn1() { \
gpio1_status = TRUE; \
IO0SET = _BV(GPIO_1_PIN); \
}
#define GpioOff1() { \
gpio1_status = FALSE; \
IO0CLR = _BV(GPIO_1_PIN); \
}
#define GpioUpdate1() { \
if (gpio1_status) \
IO0SET = _BV(GPIO_1_PIN); \
else \
IO0CLR = _BV(GPIO_1_PIN); \
}
#define GpioInit() { \
GPIO_1_PINSEL |= GPIO_1_PINSEL_VAL << GPIO_1_PINSEL_BIT; \
GPIO_1_DIR |= _BV(GPIO_1_PIN); \
GpioOff1(); \
}
#endif /* GPIO_H */
sw/airborne/datalink.c
+1
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@@ -44,6 +44,7 @@
#include "infrared.h"
#include "gps.h"
#include "uart.h"
#include "gpio.h"
#include "control_grz.h"
#include "settings.h"
sw/airborne/main_ap.c
+13 -1
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@@ -55,6 +55,7 @@
#include "datalink.h"
#include "wavecard.h"
#include "xbee.h"
#include "gpio.h"
#ifdef LED
#include "led.h"
@@ -106,7 +107,7 @@ bool_t gps_lost = FALSE;
#define LIGHT_MODE_ON 1
#define LIGHT_MODE_FLASH 2
uint8_t light_mode = 0;
uint8_t light_mode = 1;
#define Min(x, y) (x < y ? x : y)
@@ -464,8 +465,15 @@ void periodic_task_ap( void ) {
LED_OFF(LIGHT_PIN_1)
else
LED_TOGGLE(LIGHT_PIN_1)
break;
#endif /* LIGHT_PIN_1 */
#ifdef USE_GPIO
case 3:
GpioUpdate1();
break;
#endif
/* default: */
}
@@ -545,6 +553,10 @@ void init_ap( void ) {
#ifdef USE_UART1
Uart1Init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
/************* Links initialization ***************/
sw/airborne/sim/gpio.h
+7
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@@ -0,0 +1,7 @@
#ifndef GPIO_H
#define GPIO_H
extern bool_t gpio1_status;
#endif /* GPIO_H */
sw/airborne/sim/sim_ap.c
+1
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@@ -38,6 +38,7 @@ bool_t launch;
uint8_t gps_nb_ovrn, modem_nb_ovrn, link_fbw_fbw_nb_err, link_fbw_nb_err;
float alt_roll_pgain;
float roll_rate_pgain;
bool_t gpio1_status;
sw/airborne/xbee.c
+2
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@@ -46,6 +46,7 @@ uint8_t xbee_ovrn, xbee_error;
void xbee_init( void ) {
#ifndef NO_XBEE_API_INIT
/** Switching to AT mode (FIXME: busy waiting) */
XBeePrintString(AT_COMMAND_SEQUENCE);
@@ -71,4 +72,5 @@ void xbee_init( void ) {
/** Switching back to normal mode */
XBeePrintString(AT_EXIT);
#endif
}