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This commit is contained in:
Antoine Drouin
2007-05-28 17:06:53 +00:00
parent 0c9f638092
commit b65abf7a3b
11 changed files with 339 additions and 2 deletions
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conf/airframes/demo.xml
+114
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@@ -0,0 +1,114 @@
<airframe name="DEMO">
<makefile>
ARCHI=arm7
FLASH_MODE = IAP
#
# simple emtpy demo
#
demo1.ARCHDIR = $(ARCHI)
demo1.ARCH = arm7tdmi
demo1.TARGET = demo1
demo1.TARGETDIR = demo1
demo1.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo1.srcs = main_demo1.c
#
# hardware init ( pll ), system time and LEDs
#
demo2.ARCHDIR = $(ARCHI)
demo2.ARCH = arm7tdmi
demo2.TARGET = demo2
demo2.TARGETDIR = demo2
demo2.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo2.srcs = main_demo2.c
demo2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
demo2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
demo2.CFLAGS += -DLED
#
# UART (interrupts) and formated ascii printing
#
demo3.ARCHDIR = $(ARCHI)
demo3.ARCH = arm7tdmi
demo3.TARGET = demo3
demo3.TARGETDIR = demo3
demo3.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo3.srcs = main_demo3.c
demo3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
demo3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
demo3.CFLAGS += -DLED
demo3.srcs += $(SRC_ARCH)/armVIC.c
demo3.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
demo3.srcs += $(SRC_ARCH)/uart_hw.c
#
# DOWNLINK : send formated messages according to messages.xml description
# requires "link" to run on the other side of the serial link
#
demo4.ARCHDIR = $(ARCHI)
demo4.ARCH = arm7tdmi
demo4.TARGET = demo4
demo4.TARGETDIR = demo4
demo4.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo4.srcs = main_demo4.c
demo4.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
demo4.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
demo4.CFLAGS += -DLED
demo4.srcs += $(SRC_ARCH)/armVIC.c
demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
demo4.srcs += $(SRC_ARCH)/uart_hw.c
demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
demo4.srcs += downlink.c pprz_transport.c
#
# DATALINK : receives datalink messages. demonstrates the "settings" service
# which lets you adjust variables described in the settings.xml file
# IvySendMsg("1ME RAW_DATALINK 144 SETTING;0;0;%d", foo_value);
#
demo5.ARCHDIR = $(ARCHI)
demo5.ARCH = arm7tdmi
demo5.TARGET = demo5
demo5.TARGETDIR = demo5
demo5.CFLAGS += -DCONFIG=\"conf_demo.h\"
demo5.srcs = main_demo5.c
demo5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
demo5.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
demo5.CFLAGS += -DLED
demo5.srcs += $(SRC_ARCH)/armVIC.c
demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
demo5.srcs += $(SRC_ARCH)/uart_hw.c
demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
demo5.srcs += downlink.c pprz_transport.c
demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
</makefile>
</airframe>
conf/autopilot/conf_demo.h
+20
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@@ -0,0 +1,20 @@
#ifndef CONFIG_DEMO_H
#define CONFIG_DEMO_H
/* Master oscillator freq. */
#define FOSC (12000000)
/* PLL multiplier */
#define PLL_MUL (5)
/* CPU clock freq. */
#define CCLK (FOSC * PLL_MUL)
/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
#define PBSD_BITS 0x00
#define PBSD_VAL 4
/* Peripheral bus clock freq. */
#define PCLK (CCLK / PBSD_VAL)
#define LED_1_BANK 1
#define LED_1_PIN 24
#endif /* CONFIG_DEMO_H */
conf/conf.xml.example
+11
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@@ -67,4 +67,15 @@
gui_color="#ba6293"
/>
<aircraft
name="DEMO"
ac_id="144"
airframe="airframes/demo.xml"
radio="radios/T9cap.xml"
telemetry="telemetry/default.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/demo5_settings.xml"
/>
</conf>
conf/settings/demo5_settings.xml
+9
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@@ -0,0 +1,9 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<!-- -->
<settings>
<dl_settings>
<dl_setting MAX="1000" MIN="0" STEP="5" VAR="foo"/>
</dl_settings>
</settings>
sw/airborne/Makefile
+2 -2
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@@ -25,7 +25,7 @@ OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
VARINCLUDE=$(PAPARAZZI_HOME)/var/include
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(PAPARAZZI_SRC)/conf/autopilot -I $(PAPARAZZI_SRC)/sw/airborne/$(ARCHI) -I $(VARINCLUDE) -I $(ACINCLUDE)
INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(PAPARAZZI_SRC)/conf/autopilot -I $(PAPARAZZI_SRC)/sw/airborne/$($(TARGET).ARCHDIR) -I $(VARINCLUDE) -I $(ACINCLUDE)
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR)
@@ -33,7 +33,7 @@ ifneq ($(MAKECMDGOALS),clean)
include $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/Makefile.ac
$(TARGET).srcs += $($(TARGET).EXTRA_SRCS)
include ../../conf/Makefile.local
include ../../conf/Makefile.$(ARCHI)
include ../../conf/Makefile.$($(TARGET).ARCHDIR)
endif
$(TARGET).install : warn_conf
sw/airborne/i2c.h
+3
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@@ -25,7 +25,10 @@ extern void i2c_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finis
extern volatile uint8_t i2c_status;
#ifndef I2C_BUF_LEN
#define I2C_BUF_LEN 8
#endif
extern volatile uint8_t i2c_buf[I2C_BUF_LEN];
extern volatile uint8_t i2c_len;
extern volatile uint8_t i2c_index;
sw/airborne/main_demo1.c
+10
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@@ -0,0 +1,10 @@
#include "std.h"
int main( void ) {
while(1) {
}
return 0;
}
sw/airborne/main_demo2.c
+27
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@@ -0,0 +1,27 @@
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(1);
}
sw/airborne/main_demo3.c
+35
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@@ -0,0 +1,35 @@
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#include "interrupt_hw.h"
#include "uart.h"
#include "print.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
uart0_init_tx();
int_enable();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(1);
Uart0PrintString("demo3 running since ");
Uart0PrintHex16(cpu_time_sec);
uart0_transmit(' seconds\n');
}
sw/airborne/main_demo4.c
+34
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@@ -0,0 +1,34 @@
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#include "interrupt_hw.h"
#include "uart.h"
#include "messages.h"
#include "downlink.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
uart0_init_tx();
int_enable();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(1);
DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
}
sw/airborne/main_demo5.c
+74
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@@ -0,0 +1,74 @@
#include "std.h"
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#include "interrupt_hw.h"
#include "uart.h"
#include "messages.h"
#include "downlink.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static inline void main_dl_parse_msg( void );
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
uart0_init_tx();
int_enable();
}
static inline void main_periodic_task( void ) {
// LED_TOGGLE(1);
DOWNLINK_SEND_TAKEOFF(&cpu_time_sec);
}
static inline void main_event_task( void ) {
if (PprzBuffer()) {
ReadPprzBuffer();
if (pprz_msg_received) {
pprz_parse_payload();
pprz_msg_received = FALSE;
}
}
if (dl_msg_available) {
main_dl_parse_msg();
dl_msg_available = FALSE;
LED_TOGGLE(1);
}
}
uint16_t foo;
bool_t dl_msg_available;
#define MSG_SIZE 128
uint8_t dl_buffer[MSG_SIZE] __attribute__ ((aligned));
#include "settings.h"
#define IdOfMsg(x) (x[1])
static inline void main_dl_parse_msg(void) {
uint8_t msg_id = IdOfMsg(dl_buffer);
if (msg_id == DL_SETTING) {
uint8_t i = DL_SETTING_index(dl_buffer);
float var = DL_SETTING_value(dl_buffer);
DlSetting(i, var);
DOWNLINK_SEND_DL_VALUE(&i, &var);
}
}