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This commit is contained in:
Antoine Drouin
2010-08-20 16:47:24 +00:00
parent 2d37c7453d
commit c15f1f796f
52 changed files with 329 additions and 337 deletions
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conf/Makefile.stm32
+1
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@@ -33,6 +33,7 @@ MCU = cortex-m3
#DEBUG = dwarf-2
#OPT = s
OPT = 2
#OPT = 0
# Programs location
TOOLCHAIN_DIR=/opt/paparazzi/stm32
conf/airframes/Poine/booz2_a7.xml
+8 -6
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@@ -163,18 +163,21 @@
</section>
<firmware name="baloo">
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0"/>
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="radio_control" type="spektrum">
<param name="RADIO_CONTROL_SPEKTRUM_MODEL"
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
</subsystem>
<subsystem name="actuators" type="asctec"/>
<subsystem name="imu" type="b2v1_1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
</firmware>
<firmware name="baloo">
<target name="test_led" board="lisa_l_1.0" />
<target name="test_float" board="lisa_l_1.0" />
<firmware name="rotorcraft">
<target name="test_led" board="lisa_l_1.0" />
<target name="test_float" board="lisa_l_1.0" />
<target name="test_periodic" board="lisa_l_1.0" />
</firmware>
@@ -194,7 +197,6 @@ SRC_FMS=fms
ap.CFLAGS += -DMODEM_BAUD=B57600
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
conf/airframes/Poine/easy_glider1.xml
+1 -1
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@@ -1,4 +1,4 @@
<!DOCTYPE airframe SYSTEM "airframe.dtd">
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="Easy Glider Tiny 0.99">
conf/airframes/UofAdelaide/lisa_a1000.xml
+1 -17
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@@ -1,4 +1,4 @@
<!-- this is an asctec frame equiped with Lisa/L#3 and asctec V2 controllers -->
<!-- this is a variable pitch quadrotor -->
<airframe name="lisa_asctec">
@@ -168,17 +168,6 @@
<makefile>
USER = root
HOST = 192.168.1.3
#HOST = overo
#HOST = beth
#HOST = asctec_lisa
TARGET_DIR = ~
SRC_FMS=fms
ARCH=stm32
ARCHI=stm32
BOARD_CFG=\"boards/lisa_0.99.h\"
@@ -202,11 +191,6 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
#
#
#
#include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile
</makefile>
conf/autopilot/baloo.makefile
-209
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@@ -1,209 +0,0 @@
#
# $Id$
#
# Copyright (C) 2010 The Paparazzi Team
#
# This file is part of Paparazzi.
#
# Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
#
CFG_BALOO=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/baloo
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_BOOZ_TEST=$(SRC_BOOZ)/test
SRC_BOOZ_PRIV=booz_priv
CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
ap.ARCHDIR = $(ARCHI)
# this is supposedly ignored by the stm32 makefile
ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
ap.CFLAGS += $(BOOZ_INC)
ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
ap.srcs = $(SRC_BOOZ)/booz2_main.c
ifeq ($(ARCHI), stm32)
ap.srcs += lisa/plug_sys.c
endif
#
# Interrupts
#
ifeq ($(ARCHI), arm7)
ap.srcs += $(SRC_ARCH)/armVIC.c
else ifeq ($(ARCHI), stm32)
ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
endif
#
# LEDs
#
ap.CFLAGS += -DUSE_LED
ifeq ($(ARCHI), stm32)
ap.srcs += $(SRC_ARCH)/led_hw.c
endif
#
# Systime
#
ap.CFLAGS += -DUSE_SYS_TIME
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DSYS_TIME_LED=1
endif
#
# Telemetry/Datalink
#
ap.srcs += $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
ap.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
downlink.c \
pprz_transport.c
ap.CFLAGS += -DDATALINK=PPRZ
ap.srcs += $(SRC_BOOZ)/booz2_datalink.c
ifeq ($(ARCHI), arm7)
ap.CFLAGS += -DUSE_UART1 -DUART1_VIC_SLOT=6 -DUART1_BAUD=MODEM_BAUD
ap.CFLAGS += -DDOWNLINK_DEVICE=Uart1
ap.CFLAGS += -DPPRZ_UART=Uart1
else ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DUSE_UART2 -DUART2_BAUD=MODEM_BAUD
ap.CFLAGS += -DDOWNLINK_DEVICE=Uart2
ap.CFLAGS += -DPPRZ_UART=Uart2
endif
ap.srcs += $(SRC_BOOZ)/booz2_commands.c
#
# Radio control choice
#
# include booz2_radio_control_ppm.makefile
# or
# include booz2_radio_control_spektrum.makefile
#
#
# Actuator choice
#
# include booz2_actuators_buss.makefile
# or
# include booz2_actuators_asctec.makefile
#
#
# IMU choice
#
# include booz2_imu_b2v1.makefile
# or
# include booz2_imu_b2v1_1.makefile
# or
# include booz2_imu_crista.makefile
#
ifeq ($(ARCHI), arm7)
ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
ap.srcs += $(SRC_BOOZ)/booz2_analog_baro.c
ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
ap.srcs += $(SRC_BOOZ)/booz2_battery.c
ap.CFLAGS += -DADC0_VIC_SLOT=2
ap.CFLAGS += -DADC1_VIC_SLOT=3
ap.srcs += $(SRC_BOOZ)/booz2_analog.c \
$(SRC_BOOZ_ARCH)/booz2_analog_hw.c
else ifeq ($(ARCHI), stm32)
ap.srcs += lisa/lisa_analog_plug.c
endif
#
# GPS choice
#
# include booz2_gps.makefile
# or
# nothing
#
#
# AHRS choice
#
# include booz2_ahrs_cmpl.makefile
# or
# include booz2_ahrs_lkf.makefile
#
ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c
ap.srcs += math/pprz_trig_int.c
ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
ap.CFLAGS += -DUSE_NAVIGATION
ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
ap.srcs += $(SRC_BOOZ)/booz2_ins.c
ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c
#
# INS choice
#
# include booz2_ins_hff.makefile
# or
# nothing
#
# vertical filter float version
ap.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)"
ap.srcs += $(SRC_BOOZ)/booz2_navigation.c
#
# FMS choice
#
# include booz2_fms_test_signal.makefile
# or
# include booz2_fms_datalink.makefile
# or
# nothing
#
conf/autopilot/rotorcraft.makefile
+1 -1
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@@ -22,7 +22,7 @@
#
#
CFG_BALOO=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/baloo
CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
conf/autopilot/subsystems/rotocraft/actuators_asctec.makefile → conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
View File
conf/autopilot/subsystems/rotocraft/actuators_mkk.makefile → conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
View File
conf/autopilot/subsystems/rotocraft/ahrs_cmpl.makefile → conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
View File
conf/autopilot/subsystems/rotocraft/gps_ublox.makefile → conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
View File
conf/autopilot/subsystems/rotocraft/imu_b2v1.makefile → conf/autopilot/subsystems/rotorcraft/imu_b2v1.makefile
View File
conf/autopilot/subsystems/rotocraft/imu_b2v1_1.makefile → conf/autopilot/subsystems/rotorcraft/imu_b2v1_1.makefile
View File
conf/autopilot/subsystems/rotocraft/radio_control_ppm.makefile → conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
View File
conf/autopilot/subsystems/rotocraft/radio_control_spektrum.makefile → conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
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conf/telemetry/telemetry_test_passthrough.xml
+2 -1
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@@ -16,7 +16,8 @@
<message name="IMU_GYRO" period="0.05"/>
<message name="IMU_ACCEL" period="0.05"/>
<message name="IMU_MAG" period="0.05"/>
</mode>
<message name="BOOZ_BARO2_RAW" period="0.05"/>
</mode>
</process>
</telemetry>
doc/buildsystem/buildsystem.dia
BIN
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sw/airborne/adc.h
+5 -5
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@@ -1,22 +1,22 @@
/*
* Paparazzi adc functions
*
* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
* Copyright (C) 2003-2010 Paparazzi team
*
* This file is part of paparazzi.
* This file is part of Paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
sw/airborne/booz/arch/stm32/imu/booz_imu_aspirin_arch.h
+2
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@@ -10,6 +10,7 @@ extern void adxl345_write_to_reg(uint8_t addr, uint8_t val);
extern void adxl345_clear_rx_buf(void);
extern void adxl345_start_reading_data(void);
#if 0
#define OnI2CDone() { \
switch (imu_aspirin.status) { \
case AspirinStatusReadingGyro: \
@@ -26,5 +27,6 @@ extern void adxl345_start_reading_data(void);
break; \
} \
}
#endif
#endif /* BOOZ_IMU_ASPIRIN_ARCH_H */
sw/airborne/booz/booz2_debug.h
+4
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@@ -24,6 +24,10 @@
#ifndef BOOZ2_DEBUG_H
#define BOOZ2_DEBUG_H
#define MY_ASSERT(cond) { \
if (!(cond)) while(1); \
}
#ifdef BOOZ_DEBUG
#include "std.h"
sw/airborne/booz/imu/booz_imu_aspirin.c
+9 -3
View File
@@ -28,8 +28,8 @@ void booz_imu_impl_init(void) {
void booz_imu_periodic(void) {
if (imu_aspirin.status == AspirinStatusUninit) {
configure_gyro();
configure_mag();
// configure_accel();
// configure_mag();
configure_accel();
imu_aspirin.status = AspirinStatusIdle;
}
else
@@ -42,7 +42,12 @@ static void configure_gyro(void) {
/* set gyro range to 2000deg/s and low pass at 256Hz */
i2c2.buf[0] = ITG3200_REG_DLPF_FS;
i2c2.buf[1] = 0x03;
i2c2.buf[1] = (0x03<<3);
i2c2_transmit(ITG3200_ADDR, 2, &imu_aspirin.i2c_done);
while (!imu_aspirin.i2c_done);
/* set sample rate to 533Hz */
i2c2.buf[0] = ITG3200_REG_SMPLRT_DIV;
i2c2.buf[1] = 0x0E;
i2c2_transmit(ITG3200_ADDR, 2, &imu_aspirin.i2c_done);
while (!imu_aspirin.i2c_done);
/* switch to gyroX clock */
@@ -93,4 +98,5 @@ static void configure_accel(void) {
adxl345_clear_rx_buf();
/* reads data once to bring interrupt line up */
adxl345_start_reading_data();
}
sw/airborne/booz/test/booz2_tunnel.c
-1
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@@ -28,7 +28,6 @@
#include "sys_time.h"
#include "led.h"
#include "uart.h"
#include "interrupt_hw.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
sw/airborne/booz/test/booz_test_imu.c
+1 -1
View File
@@ -131,7 +131,7 @@ static inline void on_gyro_accel_event(void) {
static inline void on_mag_event(void) {
BoozImuScaleMag();
BoozImuScaleMag(booz_imu);
static uint8_t cnt;
cnt++;
if (cnt > 1) cnt = 0;
sw/airborne/fms/fms_autopilot_msg.h
+2 -2
View File
@@ -93,8 +93,8 @@ struct __attribute__ ((packed)) AutopilotMessagePTUp
int16_t rc_aux3;
int16_t rc_aux4;
uint8_t rc_status;
float vane_angle1;
float vane_angle2;
float vane_angle1;
float vane_angle2;
struct PTUpValidFlags valid;
uint32_t stm_msg_cnt;
uint32_t stm_crc_err_cnt;
sw/airborne/fms/overo_test_passthrough.c
+3
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@@ -114,6 +114,9 @@ static void dialog_with_io_proc() {
otp.rc_status = in->rc_status;
otp.baro_abs = in->pressure_absolute;
otp.baro_diff = in->pressure_differential;
}
sw/airborne/fms/overo_test_passthrough.h
+3 -1
View File
@@ -10,7 +10,9 @@ struct OveroTestPassthrough {
uint32_t io_proc_err_cnt;
uint16_t servos_outputs_usecs[6]; /* FIXME */
uint8_t rc_status;
};
int16_t baro_abs;
int16_t baro_diff;
};
extern struct OveroTestPassthrough otp;
sw/airborne/fms/overo_test_passthrough_telemetry.h
+2
View File
@@ -24,6 +24,8 @@
#define PERIODIC_SEND_IMU_MAG(_transport) \
DOWNLINK_SEND_IMU_MAG(_transport, &otp.imu.mag.x, &otp.imu.mag.y, &otp.imu.mag.z)
#define PERIODIC_SEND_BOOZ_BARO2_RAW(_transport) \
DOWNLINK_SEND_BOOZ_BARO2_RAW(_transport, &otp.baro_abs, &otp.baro_diff)
#endif /* OVERO_TEST_PASSTHROUGH_TELEMETRY_H */
sw/airborne/fms/overo_test_telemetry2.c
+1 -1
View File
@@ -15,7 +15,7 @@
#include "dl_protocol.h"
#include "fms_network.h"
#define GCS_HOST "10.10.13.32"
#define GCS_HOST "10.31.4.7"
#define GCS_PORT 4242
#define DATALINK_PORT 4243
sw/airborne/fms/test_telemetry_2.c
+3 -1
View File
@@ -11,7 +11,7 @@
#include "udp_transport.h"
#include "fms_network.h"
#define GCS_HOST "192.168.1.100"
#define GCS_HOST "10.31.4.7"
#define GCS_PORT 4242
#define TIMEOUT_DT_SEC 0
@@ -39,6 +39,8 @@ void timeout_cb(int fd, short event, void *arg) {
int main(int argc, char** argv) {
printf("hello world\n");
network = network_new(GCS_HOST, GCS_PORT);
/* Initalize the event library */
sw/airborne/lisa/lisa_baro.c
+1
View File
@@ -39,6 +39,7 @@ void baro_periodic(void) {
case LBS_INITIALIZING_DIFF:
baro_set_current_register(BARO_DIFF_ADDR, 0x00);
baro.status = LBS_INITIALIZING_DIFF_1;
// baro.status = LBS_UNINITIALIZED;
break;
case LBS_INITIALIZING_DIFF_1:
case LBS_READ_DIFF:
sw/airborne/lisa/lisa_stm_passthrough_main.c
+13 -12
View File
@@ -179,24 +179,25 @@ static inline void on_vane_msg(void *data) {
new_vane = TRUE;
int zero = 0;
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
&(csc_vane_msg.vane_angle1),
&zero,
&zero,
&zero,
&zero,
&csc_vane_msg.vane_angle2,
&zero,
&zero,
&zero,
&zero);
&(csc_vane_msg.vane_angle1),
&zero,
&zero,
&zero,
&zero,
&csc_vane_msg.vane_angle2,
&zero,
&zero,
&zero,
&zero);
}
static inline void main_on_baro_diff(void) {
new_baro_diff = TRUE;
new_baro_diff = TRUE;
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
}
static inline void main_on_baro_abs(void) {
new_baro_abs = TRUE;
new_baro_abs = TRUE;
}
static inline void main_event(void) {
sw/airborne/lisa/test/hs_gyro.c
+1 -1
View File
@@ -96,7 +96,7 @@ static inline void on_gyro_accel_event(void) {
cnt++;
if (cnt > NB_SAMPLES) cnt = 0;
samples[cnt] = booz_imu.MEASURED_SENSOR;
if (cnt == 19) {
if (cnt == NB_SAMPLES-1) {
DOWNLINK_SEND_IMU_HS_GYRO(DefaultChannel, &axis, NB_SAMPLES, samples);
}
sw/airborne/lisa/test/lisa_test_hmc5843.c
+4 -2
View File
@@ -116,6 +116,8 @@ static inline void main_periodic_task( void ) {
break;
}
// if (mag_state == 4) mag_state=1;
if (mag_state < INITIALISZED) mag_state++;
}
@@ -123,7 +125,7 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) {
if (mag_state == INITIALISZED && mag_ready_for_read) {
if (mag_state == INITIALISZED && mag_ready_for_read && i2c_done) {
/* read mag */
i2c2_receive(HMC5843_ADDR, 7, &i2c_done);
reading_mag = TRUE;
@@ -195,5 +197,5 @@ void exti9_5_irq_handler(void) {
if(EXTI_GetITStatus(EXTI_Line5) != RESET)
EXTI_ClearITPendingBit(EXTI_Line5);
mag_ready_for_read = TRUE;
if (mag_state == INITIALISZED) mag_ready_for_read = TRUE;
}
sw/airborne/lisa/test/lisa_test_itg3200.c
+8 -2
View File
@@ -90,6 +90,11 @@ static inline void main_periodic_task( void ) {
});
switch (gyro_state) {
case 1:
i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c2_transmit(ITG3200_ADDR,1, &i2c_done);
break;
case 2:
/* set gyro range to 2000deg/s and low pass at 256Hz */
i2c2.buf[0] = ITG3200_REG_DLPF_FS;
@@ -123,6 +128,7 @@ static inline void main_periodic_task( void ) {
break;
}
// if (gyro_state == 1) gyro_state = 0;
if (gyro_state < INITIALISZED) gyro_state++;
}
@@ -134,7 +140,7 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) {
if (gyro_state == INITIALISZED && gyro_ready_for_read) {
if (gyro_state == INITIALISZED && gyro_ready_for_read && i2c_done) {
/* reads 8 bytes from address 0x1b */
i2c2.buf[0] = ITG3200_REG_TEMP_OUT_H;
i2c2_transceive(ITG3200_ADDR,1, 8, &i2c_done);
@@ -236,7 +242,7 @@ void exti15_10_irq_handler(void) {
// DEBUG_S4_TOGGLE();
gyro_ready_for_read = TRUE;
if (gyro_state == INITIALISZED) gyro_ready_for_read = TRUE;
// DEBUG_S4_OFF();
sw/airborne/lisa/test/test_board.c
+38 -5
View File
@@ -97,14 +97,16 @@ int main( void ) {
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
led_init();
baro_init();
booz_actuators_pwm_hw_init();
cur_test = TestTypeNone;
booz_actuators_init();
// cur_test = TestTypeNone;
cur_test = TestTypeBldc;
}
@@ -151,7 +153,21 @@ static void test_none_event(void) {}
static inline void test_baro_on_baro_diff(void);
static inline void test_baro_on_baro_abs(void);
static void test_baro_start(void) {all_led_green();}
static void test_baro_periodic(void) { RunOnceEvery(2, {baro_periodic();}); }
static void test_baro_periodic(void) {
RunOnceEvery(2, {baro_periodic();});
RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
});
}
static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);}
static inline void test_baro_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
@@ -160,16 +176,33 @@ static inline void test_baro_on_baro_diff(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
}
/*
*
* Test motor controller
*
*/
static void test_bldc_start(void) {}
static void test_bldc_periodic(void) {
i2c1_buf[0] = 0x04;
i2c1_transmit(0x58, 1, NULL);
RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c1_errors.ack_fail_cnt,
&i2c1_errors.miss_start_stop_cnt,
&i2c1_errors.arb_lost_cnt,
&i2c1_errors.over_under_cnt,
&i2c1_errors.pec_recep_cnt,
&i2c1_errors.timeout_tlow_cnt,
&i2c1_errors.smbus_alert_cnt,
&i2c1_errors.unexpected_event_cnt,
&i2c1_errors.last_unexpected_event);
});
}
static void test_bldc_event(void) {}
sw/airborne/lisa/test/test_bswap.c
+4 -1
View File
@@ -1,6 +1,6 @@
#include <inttypes.h>
//#include <byteswap.h>
#include "init_hw.h"
#define MyByteSwap16(n) \
@@ -44,6 +44,9 @@ int main(void) {
uint16_t foo = 12345;
uint16_t bar = MyByteSwap16(foo);
MyByteSwap16_1(foo,bar);
bar = __REV16(foo);
uint32_t a = 23456;
uint32_t b = MyByteSwap32(a);
sw/airborne/lisa/test_baro2.c
+19 -11
View File
@@ -35,6 +35,7 @@
#include "downlink.h"
#include "lisa/lisa_baro.h"
//#include "my_debug_servo.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -60,6 +61,11 @@ static inline void main_init( void ) {
hw_init();
sys_time_init();
baro_init();
// DEBUG_SERVO1_INIT();
// DEBUG_SERVO2_INIT();
}
@@ -69,18 +75,20 @@ static inline void main_periodic_task( void ) {
RunOnceEvery(2, {baro_periodic();});
LED_PERIODIC();
RunOnceEvery(256, {DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
RunOnceEvery(256, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
RunOnceEvery(256,
{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
});
}
sw/airborne/lisa/test_float.c
+2 -2
View File
@@ -55,8 +55,8 @@ static inline void main_periodic( void ) {
d += 0.0025;
double d1 = sin(d);
// float i = sqrt(f); // nok
float i = powf(f1, f1); // nok
float i = sqrt(f); // ok
//float i = powf(f1, f1); // nok
//float i = atan2(f, f); // ok
RunOnceEvery(10, {DOWNLINK_SEND_TEST_FORMAT(DefaultChannel, &d1, &i);});
sw/airborne/lisa/test_mc.c
+4 -4
View File
@@ -57,13 +57,13 @@ int main(void) {
static inline void main_init( void ) {
hw_init();
sys_time_init();
//main_i2c_init();
test_gpios();
main_i2c_init();
test_gpios();
}
static inline void main_periodic_task( void ) {
// main_test_send();
main_test_send();
LED_PERIODIC();
}
@@ -146,7 +146,7 @@ static inline void main_test_send( void ) {
// return;
/* Snd data */
I2C_SendData(I2C1, 0x00);
I2C_SendData(I2C1, 0x06);
/* Test on EV8 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
sw/airborne/lisa/test_mc2.c
+2 -9
View File
@@ -53,15 +53,8 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) {
// LED_ON(4);
// static uint16_t i = 1000;
// if (i) i--;
// else {
// LED_OFF(4);
LED_ON(5);
i2c1_buf[0] = 0x04;
i2c1_transmit(0x58, 1, &i2c_done);
// }
i2c1_buf[0] = 0x04;
i2c1_transmit(0x58, 1, &i2c_done);
LED_PERIODIC();
sw/airborne/lisa/test_periodic.c
+1 -1
View File
@@ -48,9 +48,9 @@ static inline void main_init( void ) {
}
static inline void main_periodic( void ) {
// LED_TOGGLE(1);
LED_PERIODIC();
}
sw/airborne/main_ap.c
+1 -1
View File
@@ -1,7 +1,7 @@
/*
* $Id$
*
* Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
* Copyright (C) 2003-2010 Paparazzi team
*
* This file is part of paparazzi.
*
sw/airborne/modules/ins/ins.h
+11 -11
View File
@@ -85,17 +85,17 @@ void parse_ins_buffer( uint8_t );
#endif /** !SITL */
#define InsEventCheckAndHandle(handler) { \
if (InsBuffer()) { \
ReadInsBuffer(); \
} \
if (ins_msg_received) { \
LED_TOGGLE(2); \
parse_ins_msg(); \
handler; \
ins_msg_received = FALSE; \
} \
}
#define InsEventCheckAndHandle(handler) { \
if (InsBuffer()) { \
ReadInsBuffer(); \
} \
if (ins_msg_received) { \
LED_TOGGLE(2); \
parse_ins_msg(); \
handler; \
ins_msg_received = FALSE; \
} \
}
#endif /* INS_H */
sw/airborne/stm32/adc_hw.h
+20 -6
View File
@@ -1,22 +1,22 @@
/*
* $Id: adc_hw.h 2638 2008-08-18 01:30:27Z poine $
* $Id$
*
* Copyright (C) 2008 Antoine Drouin
* Copyright (C) 2010 Paparazzi team
*
* This file is part of paparazzi.
* This file is part of Paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
@@ -25,6 +25,20 @@
#ifndef ADC_HW_H
#define ADC_HW_H
/*
* Architecture dependant ADC functions for STM32
* For now only hard coded for Lisa/L
*
* Logic STM32
* ADC1 PC3 ADC13
* ADC2 PC5 ADC15
* ADC3 PB0 ADC8
* ADC4 PB1 ADC9
* ADC5 PB2 BOOT1
* PA0 ADC0 bat monitor
*/
#define AdcBank0(x) (x)
#define AdcBank1(x) (x+NB_ADC)
sw/airborne/stm32/stm32_vector_table.c
+4 -4
View File
@@ -308,9 +308,9 @@ void null_handler(void){
*
*/
void assert_param(void);
//void assert_param(void);
void assert_param(void){
}
//void assert_param(void){
//
//}
sw/lib/ocaml/cserial.c
+1 -1
View File
@@ -46,7 +46,7 @@ value c_init_serial(value device, value speed)
int br = baudrates[Int_val(speed)];
int fd = open(String_val(device), O_RDWR);
int fd = open(String_val(device), O_RDWR|O_NONBLOCK);
if (fd == -1) failwith("opening modem serial device : fd < 0");
sw/simulator/nps/nps_autopilot_booz.c
+4 -4
View File
@@ -62,10 +62,10 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
if (time < 8) { /* start with a little bit of hovering */
int32_t init_cmd[4];
init_cmd[COMMAND_THRUST] = 0.2493*SUPERVISION_MAX_MOTOR;
init_cmd[COMMAND_ROLL] = 0;
init_cmd[COMMAND_PITCH] = 0;
init_cmd[COMMAND_YAW] = 0;
init_cmd[COMMAND_THRUST] = 0.253*SUPERVISION_MAX_MOTOR;
init_cmd[COMMAND_ROLL] = 0;
init_cmd[COMMAND_PITCH] = 0;
init_cmd[COMMAND_YAW] = 0;
supervision_run(TRUE, FALSE, init_cmd);
}
for (uint8_t i=0; i<ACTUATORS_MKK_NB; i++)
sw/simulator/scilab/q1d/q1d_ins.sci
+8 -2
View File
@@ -18,8 +18,14 @@ function [Xi1, Pi1] = ins_run(Xi, Pi, sensors_i, sensors_i1, dt)
0 0 1 ];
B = [ dt^2/2 dt 0]';
Qz = 0.01*dt;
Qzd = 0.01 * dt^2/2;
Qz = 0.01*dt^2/2;
Qzd = 0.01*dt;
// FIXME: Qz and Qzd noise mismatch with dt
//Qz = 0.01*dt;
//Qzd = 0.01*dt^2/2;
Qbias = 0.0001 * dt;
Q = [ Qz 0 0
0 Qzd 0
sw/simulator/scilab/q1d/q1d_run.sce
+81 -1
View File
@@ -61,7 +61,7 @@ if 0
end
if 1
k = find(time >= 5);
fdm_param(k) = 0.5*fdm_mass;
fdm_param(k) = 0.75*fdm_mass;
end
@@ -213,3 +213,83 @@ ctl_display_ref(ctl_sp, ctl_ref_state, time);
drawnow();
end
//
// big filter play
//
exec("q1d_big_filter.sci");
bfl_init(time);
for i = 2:length(time)
bfl_predict(i, ctl_command(i-1), dt);
if modulo(i,5) == 0
bfl_update_baro(i, sensors_state(SENSORS_BARO,i));
end
bfl_update_accel(i, sensors_state(SENSORS_ACCEL,i), ctl_command(i-1));
end
set("current_figure",5);
clf();
f=get("current_figure");
f.figure_name="Big Filter";
drawlater();
subplot(4, 2, 1);
plot2d(time, sensors_state(SENSORS_BARO,:),3);
plot2d(time, bflt_state(BF_Z, :), 5);
plot2d(time, fdm_state(FDM_Z,:),2);
legends(["Estimation", "Truth", "Measurement"],[5 2 3], with_box=%f, opt="ur");
xtitle('Z');
subplot(4, 2, 3);
plot2d(time, bflt_state(BF_ZD, :),5);
plot2d(time, fdm_state(FDM_ZD,:),2);
legends(["Estimation", "Truth"],[5 2], with_box=%f, opt="ur");
xtitle('ZD');
subplot(4, 2, 5);
plot2d(time, sensors_state(SENSORS_ACCEL_BIAS,:),2);
plot2d(time, bflt_state(BF_BIAS, :), 5);
legends(["Estimation", "Truth"],[5 2], with_box=%f, opt="ur");
xtitle('BIAS');
subplot(4, 2, 7);
plot2d(time, bflt_state(BF_C, :));
xtitle('C');
subplot(4, 2, 2);
foo=[];
for i=1:length(time)
foo = [foo bflt_cov(BF_Z, BF_Z, i)];
end
plot2d(time, foo);
xtitle('COV ZZ');
subplot(4, 2, 4);
foo=[];
for i=1:length(time)
foo = [foo bflt_cov(BF_ZD, BF_ZD, i)];
end
plot2d(time, foo);
xtitle('COV ZDZD');
subplot(4, 2, 6);
foo=[];
for i=1:length(time)
foo = [foo bflt_cov(BF_BIAS, BF_BIAS, i)];
end
plot2d(time, foo);
xtitle('COV BIASBIAS');
subplot(4, 2, 8);
foo=[];
for i=1:length(time)
foo = [foo bflt_cov(BF_C, BF_C, i)];
end
plot2d(time, foo);
xtitle('COV CC');
drawnow();
sw/simulator/scilab/q3d/test_adapt.sce
+3 -2
View File
@@ -17,7 +17,7 @@ exec('q3d_display.sci');
t0 = 0;
t1 = 4.;
t2 = 8.;
t2 = 10.;
dt = 1/512;
time1 = t0:dt:t1;
time2 = t1:dt:t2;
@@ -48,11 +48,12 @@ if 0
end
ctl_init(time);
adp_init(time, [19.5 157]', []);
adp_init(time, [16.5 110]', []);
sensors_init(time)
for i=2:length(time)
ctl_run(i-1, adp_est(1,i-1), adp_est(2,i-1));
// ctl_run(i-1, 16, 100);
fdm_run(i, ctl_motor_cmd(:,i-1));
sensors_run(i);
adp_run(i);
sw/simulator/scilab/q6d/povray/test.pov
+12
View File
@@ -0,0 +1,12 @@
#include "q6d.inc"
object { Q6D(0,0,0,0,0,0)}
object { AXIS_POVRAY(0,-1000,0,0,0,0) }
object { AXIS_NED() }

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