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sim builds with all supported IMUs

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This commit is contained in:
Antoine Drouin
2010-08-24 22:45:58 +00:00
parent 464fce3644
commit bf27695dcd
5 changed files with 39 additions and 9 deletions
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conf/airframes/Poine/booz2_a7.xml
+27 -4
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@@ -16,6 +16,12 @@
<axis name="THRUST" failsafe_value="0"/> <axis name="THRUST" failsafe_value="0"/>
</commands> </commands>
<!-- for the sim -->
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
</section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="3"/> <define name="MIN_MOTOR" value="3"/>
@@ -64,8 +70,8 @@
<section name="AUTOPILOT"> <section name="AUTOPILOT">
<define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/> <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
<define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/> <define name="BOOZ2_MODE_AUTO1" value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/> <define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
</section> </section>
<section name="BAT"> <section name="BAT">
@@ -132,7 +138,8 @@
</section> </section>
<section name="INS" prefix="BOOZ_INS_"> <section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="15." integer="16"/> <!-- <define name="BARO_SENS" value="15." integer="16"/> -->
<define name="BARO_SENS" value="10." integer="16"/>
</section> </section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_"> <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
@@ -162,17 +169,33 @@
<define name="BOOZ2_FACE_REINJ_1" value="1024"/> <define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section> </section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!-- -->
<modules main_freq="512"> <modules main_freq="512">
<load name="vehicle_interface_datalink.xml"/> <load name="vehicle_interface_datalink.xml"/>
</modules> </modules>
<!-- -->
<firmware name="rotorcraft"> <firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"/> <target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<subsystem name="radio_control" type="spektrum"> <subsystem name="radio_control" type="spektrum">
<param name="RADIO_CONTROL_SPEKTRUM_MODEL" <param name="RADIO_CONTROL_SPEKTRUM_MODEL"
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/> value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
</subsystem> </subsystem>
<subsystem name="actuators" type="asctec"/> <subsystem name="actuators" type="asctec"/>
</target>
<target name="sim" board="pc">
<subsystem name="simulator" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
</target>
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/> <subsystem name="ahrs" type="cmpl"/>
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+1
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@@ -57,6 +57,7 @@ ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2
# #
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\" sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
sim.CFLAGS += -DIMU_B2_VERSION_1_0
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.srcs += $(SRC_BOOZ)/booz_imu.c \ sim.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_b2.c \ $(SRC_BOOZ)/imu/booz_imu_b2.c \
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+1
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@@ -63,6 +63,7 @@ endif
# #
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\" sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.srcs += $(SRC_BOOZ)/booz_imu.c \ sim.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_b2.c \ $(SRC_BOOZ)/imu/booz_imu_b2.c \
sw/airborne/booz/actuators/booz_actuators_asctec.c
+5
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@@ -14,6 +14,11 @@
#define ACTUATORS_ASCTEC_DEVICE i2c0 #define ACTUATORS_ASCTEC_DEVICE i2c0
#endif #endif
/*
* Macros to generate i2cx_buf and i2cx_transmit from
* ACTUATORS_ASCTEC_DEVICE
*
*/
#define __Device(dev, _z) dev##_##_z #define __Device(dev, _z) dev##_##_z
#define _Device(dev, _z) __Device(dev, _z) #define _Device(dev, _z) __Device(dev, _z)
#define Device( _z) _Device(ACTUATORS_ASCTEC_DEVICE, _z) #define Device( _z) _Device(ACTUATORS_ASCTEC_DEVICE, _z)
sw/airborne/firmwares/rotorcraft/main.c
+1 -1
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@@ -90,7 +90,7 @@ STATIC_INLINE void booz2_main_init( void ) {
#ifndef RADIO_CONTROL_LINK #ifndef RADIO_CONTROL_LINK
/* read the comment below the bind function needs to start as close to powerup as possible /* read the comment below the bind function needs to start as close to powerup as possible
it also blocks for 73ms which is longer than this loop could thhis be moved elsewhere */ it also blocks for 73ms which is longer than this loop could this be moved elsewhere */
for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){ for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
__asm("nop"); __asm("nop");
} }