Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-23 21:36:28 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

some temporary fix for booz_fms removal

Browse Source
This commit is contained in:
Antoine Drouin
2010-09-30 22:43:32 +00:00
parent c49e7baf2d
commit a769a5ab7d
13 changed files with 97 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/Makefile.stm32
+1
View File
@@ -203,6 +203,7 @@ endif
start_gdb:
xterm -e "$(OOCD) -f interface/$(OOCD_INTERFACE).cfg -f target/$(OOCD_TARGET).cfg" &
xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/lisa-l.cfg -f board/lisa-l.cfg"&
xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/flossjtag.cfg -f board/lisa-l.cfg"&
start_telnet:
xterm -e "telnet localhost 4444" &
conf/airframes/Poine/booz2_a7.xml
+2 -2
View File
@@ -175,11 +175,11 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!-- -->
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
<!-- -->
-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
conf/airframes/Poine/swift_1.xml
+9 -1
View File
@@ -4,8 +4,16 @@
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_m_1.0"/>
<target name="test_uart" board="lisa_m_1.0"/>
<target name="test_servos" board="lisa_m_1.0"/>
<target name="test_telemetry" board="lisa_m_1.0"/>
<target name="test_telemetry" board="lisa_m_1.0">
<param name="MODEM_PORT" value="UART2"/>
</target>
<target name="test_bmp085" board="lisa_m_1.0">
<param name="MODEM_PORT" value="UART2"/>
</target>
<target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
<target name="test_rc_spektrum" board="lisa_m_1.0"/>
</firmware>
</airframe>
conf/autopilot/lisa_l_test_progs.makefile
+62 -11
View File
@@ -63,11 +63,31 @@ SRC_FIRMWARE=firmwares/rotorcraft
test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_led.srcs += $(SRC_LISA)/test_led.c \
test_led.srcs += $(SRC_LISA)/test_led2.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_led.CFLAGS += -DUSE_LED
#
# test uart
#
test_uart.ARCHDIR = $(ARCH)
test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_uart.srcs = $(SRC_LISA)/test_uart.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_uart.CFLAGS += -DUSE_LED
test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_uart.srcs += $(SRC_ARCH)/uart_hw.c
#
# test servos
#
@@ -83,7 +103,7 @@ test_servos.srcs += $(SRC_LISA)/test_servos.c \
$(SRC_ARCH)/stm32_vector_table.c
test_servos.CFLAGS += -DUSE_LED
test_servos.srcs += $(SRC_ARCH)/led_hw.c
test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -101,8 +121,8 @@ test_telemetry.ARCHDIR = $(ARCH)
test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry.srcs = test/test_telemetry.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_telemetry.CFLAGS += -DUSE_LED
test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
test_telemetry.CFLAGS += -DUSE_SYS_TIME
@@ -153,15 +173,15 @@ test_baro.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# MODEM_PORT
# MODEM_BAUD
# RADIO_CONTROL_LED
# RADIO_CONROL_LINK
# RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
#
test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
@@ -174,13 +194,16 @@ test_rc_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_spektrum.srcs += downlink.c pprz_transport.c
test_rc_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
ifdef RADIO_CONTROL_LED
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM1_UP_IRQ
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
#
@@ -437,11 +460,12 @@ test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
$(SRC_ARCH)/stm32_vector_table.c
test_esc_mkk_simple.CFLAGS += -DUSE_LED
test_esc_mkk_simple.srcs += $(SRC_ARCH)/led_hw.c
test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_esc_mkk_simple.CFLAGS += -DUSE_I2C1
test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c1
#
@@ -520,3 +544,30 @@ test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test bmp085
#
test_bmp085.ARCHDIR = $(ARCH)
test_bmp085.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_bmp085.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_bmp085.srcs = lisa/test/lisa_test_bmp085.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_bmp085.CFLAGS += -DUSE_LED
test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_bmp085.srcs += $(SRC_ARCH)/uart_hw.c
test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_bmp085.srcs += downlink.c pprz_transport.c
test_bmp085.CFLAGS += -DUSE_I2C2
test_bmp085.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#test_bmp085.CFLAGS += -DIMU_OVERRIDE_CHANNELS
#test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
+2
View File
@@ -10,7 +10,9 @@ ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spek
ifeq ($(BOARD), booz)
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif
ifdef RADIO_CONTROL_LED
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
conf/boards/lisa_m_1.0.makefile
+8 -4
View File
@@ -25,20 +25,24 @@ endif
#
#
SYS_TIME_LED = 1
SYS_TIME_LED = 2
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART3
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
RADIO_CONTROL_LED = 5
#RADIO_CONTROL_LED = 5
ifndef MODEM_PORT
MODEM_PORT=UART2
endif
ifndef MODEM_BAUD
MODEM_BAUD=B57600
endif
AHRS_ALIGNER_LED = 7
#AHRS_ALIGNER_LED = 7
GPS_PORT=UART1
GPS_BAUD=B38400
GPS_LED = 3
#GPS_LED = 3
#
# this is the DRDY pin of a max1168 on a booz IMU
sw/airborne/arch/stm32/uart_hw.c
-2
View File
@@ -241,9 +241,7 @@ bool_t uart2_check_free_space( uint8_t len) {
return (uint16_t)(space - 1) >= len;
}
void usart2_irq_handler(void) {
if(USART_GetITStatus(USART2, USART_IT_TXE) != RESET){
// check if more data to send
if (uart2_tx_insert_idx != uart2_tx_extract_idx) {
sw/airborne/boards/lisa_m_1.0.h
-6
View File
@@ -16,10 +16,4 @@
#define LED_2_GPIO_PIN GPIO_Pin_13
// FIXME, this is just to make it compile
#define POWER_SWITCH_LED 5
#endif /* CONFIG_LISA_M_1_0_H */
sw/airborne/booz/test/booz2_test_radio_control.c
+6 -2
View File
@@ -29,7 +29,7 @@
#include "downlink.h"
#include "booz_radio_control.h"
#include "booz/booz_radio_control.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -58,7 +58,11 @@ extern uint32_t debug_len;
static inline void main_periodic_task( void ) {
RunOnceEvery(51, {/*LED_TOGGLE(2);*/ DOWNLINK_SEND_TIME(DefaultChannel, &cpu_time_sec);});
RunOnceEvery(51, {
/*LED_TOGGLE(2);*/
uint32_t blaaa= cpu_time_sec;
DOWNLINK_SEND_TIME(DefaultChannel, &blaaa);
});
RunOnceEvery(10, {radio_control_periodic();});
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+1 -1
View File
@@ -27,7 +27,7 @@
#include <firmwares/rotorcraft/ahrs.h>
#include <firmwares/rotorcraft/stabilization.h>
#include "booz_fms.h"
// #include "booz_fms.h" FIXME
#include <firmwares/rotorcraft/ins.h>
#include <firmwares/rotorcraft/navigation.h>
sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+1 -1
View File
@@ -29,7 +29,7 @@
#include "booz_radio_control.h"
#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/ahrs.h>
#include "booz_fms.h"
// #include "booz_fms.h" FIXME
#include <firmwares/rotorcraft/navigation.h>
#include <firmwares/rotorcraft/ins.h>
sw/airborne/firmwares/rotorcraft/main.c
+3 -3
View File
@@ -46,7 +46,7 @@
#include <firmwares/rotorcraft/battery.h>
#include "booz_fms.h"
// #include "booz_fms.h" // FIXME
#include <firmwares/rotorcraft/autopilot.h>
#include <firmwares/rotorcraft/stabilization.h>
@@ -112,7 +112,7 @@ STATIC_INLINE void main_init( void ) {
battery_init();
imu_init();
booz_fms_init();
// booz_fms_init(); // FIXME
autopilot_init();
nav_init();
guidance_h_init();
@@ -153,7 +153,7 @@ STATIC_INLINE void main_periodic( void ) {
autopilot_set_mode(AP_MODE_FAILSAFE); \
}, \
{ \
booz_fms_periodic(); \
/* booz_fms_periodic(); FIXME */ \
}, \
{ \
/*BoozControlSurfacesSetFromCommands();*/ \
sw/airborne/firmwares/rotorcraft/navigation.c
+2 -2
View File
@@ -25,7 +25,7 @@
#include <firmwares/rotorcraft/navigation.h>
#include "booz/booz2_debug.h"
// #include "booz/booz2_debug.h" FIXME
#include "booz_gps.h"
#include <firmwares/rotorcraft/ins.h>
@@ -315,7 +315,7 @@ void nav_move_waypoint(uint8_t wp_id, struct EnuCoor_i * new_pos) {
}
void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int16_t heading_rate_sp ) {
MY_ASSERT(wp < nb_waypoint);
// MY_ASSERT(wp < nb_waypoint); FIXME
int32_t s_heading, c_heading;
PPRZ_ITRIG_SIN(s_heading, nav_heading);
PPRZ_ITRIG_COS(c_heading, nav_heading);