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Merge remote-tracking branch 'paparazzi/master' into telemetry

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This commit is contained in:
Gautier Hattenberger
2013-11-05 18:00:16 +01:00
parent be993f6b64 a0350247b3
commit c37d31a390
125 changed files with 2041 additions and 5641 deletions
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.gitignore
+2
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@@ -34,6 +34,8 @@
# JetBrains (PyCharm, etc) IDE project files
.idea
# Vagrant VM files
/.vagrant
/var
/dox
Vagrantfile
Vendored
+34
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@@ -0,0 +1,34 @@
# -*- mode: ruby -*-
# vi: set ft=ruby :
# Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
VAGRANTFILE_API_VERSION = "2"
Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
config.vm.box = "precise32"
config.vm.box_url = "http://files.vagrantup.com/precise32.box"
config.ssh.forward_agent = true
config.ssh.forward_x11 = true
# Share an additional folder to the guest VM. The first argument is
# the path on the host to the actual folder. The second argument is
# the path on the guest to mount the folder. And the optional third
# argument is a set of non-required options.
config.vm.synced_folder ".", "/home/vagrant/paparazzi"
# disable the default /vagrant share
config.vm.synced_folder ".", "/vagrant", disabled: true
config.vm.provider :virtualbox do |vb|
# Uncomment to boot with gui instead of headless mode
#vb.gui = true
# Use VBoxManage to customize the VM. For example to change memory:
vb.customize ["modifyvm", :id, "--memory", "2048"]
end
# install paparazzi packages in VM
config.vm.provision :shell, :path => "sw/extras/bootstrap_vm.sh"
end
conf/Makefile.geode
+8 -7
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@@ -58,7 +58,11 @@ COBJGEODE = $(SRCGEODE:%.c=$(OBJDIR)/%.o)
all: build
build: elf
build: $(OBJDIR) elf
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
elf: $(OBJDIR)/$(TARGET).elf
@@ -77,7 +81,7 @@ load upload program: $(OBJDIR)/$(TARGET).elf
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(CFLAGS) $< -o $@
$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
# Listing of phony targets.
.PHONY : all build elf clean clean_list
@@ -86,11 +90,8 @@ $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
# Dependencies
#
$(OBJDIR)/.depend:
@echo DEPEND $@
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
-include $(OBJDIR)/.depend
-include $(DEPS)
endif
conf/Makefile.jsbsim
+10 -8
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@@ -49,12 +49,15 @@ $(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
all compile: check_jsbsim $(OBJDIR)/simsitl
all compile: check_jsbsim $(OBJDIR) $(OBJDIR)/simsitl
check_jsbsim:
@echo Paparazzi jsbsim package found: $(JSBSIM_PKG)
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(OBJDIR)/simsitl : $($(TARGET).objs)
@echo LD $@
@@ -80,23 +83,22 @@ $(OBJDIR)/%.s: %.cpp
$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) $(CFLAGS) -c -o $@ $<
$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) $(CFLAGS) -c -o $@ $<
$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
.PHONY: all compile check_jsbsim
#
# Dependencies
#
$(OBJDIR)/.depend:
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
@echo DEPEND $@
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
-include $(OBJDIR)/.depend
-include $(DEPS)
endif
conf/Makefile.lpc21
+9 -8
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@@ -169,7 +169,11 @@ ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)
# Default target.
all: printcommands sizebefore build sizeafter
build: elf hex lss sym
build: $(OBJDIR) elf hex lss sym
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
elf: $(OBJDIR)/$(TARGET).elf
hex: $(OBJDIR)/$(TARGET).hex
@@ -228,11 +232,11 @@ endif
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
$(Q)$(CC) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
$(OBJDIR)/%.o : $(SRC_ARCH)/lpcusb/%.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
$(Q)$(CC) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
# grab files in var/$(AIRCRAFT)/$(TARGET) aka $(OBJDIR)
@@ -260,11 +264,8 @@ $(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
# Dependencies
#
$(OBJDIR)/.depend:
@echo DEPEND $@
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
-include $(OBJDIR)/.depend
-include $(DEPS)
endif
conf/Makefile.omap
+10 -11
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@@ -42,7 +42,7 @@ CFLAGS += -fno-short-enums
# CFLAGS += -malignment-traps
CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
CFLAGS += -Wpointer-arith -Wswitch
CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
#-Wno-unused-result
#CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
#CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@@ -71,7 +71,11 @@ OBJ_CPP_OMAP = $(SRC_CPP_OMAP:%.cpp=$(OBJDIR)/%.o)
all: build
build: elf
build: $(OBJDIR) elf
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
elf: $(OBJDIR)/$(TARGET).elf
@@ -166,13 +170,13 @@ endif
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(CFLAGS) $< -o $@
$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
# Compile: create object files from C++ source files
$(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
@echo CXX $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CXX) -c $(CXXFLAGS) $< -o $@
$(Q)$(CXX) -MMD -c $(CXXFLAGS) $< -o $@
# Listing of phony targets.
@@ -182,13 +186,8 @@ $(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
# Dependencies
#
$(OBJDIR)/.depend:
@echo DEPEND $@
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),erase)
-include $(OBJDIR)/.depend
endif
-include $(DEPS)
endif
conf/Makefile.pentium-m
+8 -7
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@@ -67,7 +67,11 @@ COBJGEODE = $(SRCGEODE:%.c=$(OBJDIR)/%.o)
all: build
build: elf
build: $(OBJDIR) elf
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
elf: $(OBJDIR)/$(TARGET).elf
@@ -92,7 +96,7 @@ endif
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(CFLAGS) $< -o $@
$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
# Listing of phony targets.
.PHONY : all build elf clean clean_list
@@ -101,11 +105,8 @@ $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
# Dependencies
#
$(OBJDIR)/.depend:
@echo DEPEND $@
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
-include $(OBJDIR)/.depend
-include $(DEPS)
endif
conf/Makefile.sim
+10 -8
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@@ -83,7 +83,11 @@ $(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
all compile: $(OBJDIR)/simsitl
all compile: $(OBJDIR) $(OBJDIR)/simsitl
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
# shared library of the C autopilot part
autopilot.so : $($(TARGET).objs)
@@ -125,23 +129,21 @@ $(OBJDIR)/%.s: %.cpp
$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) $(CFLAGS) -c -o $@ $<
$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) $(CFLAGS) -c -o $@ $<
$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
.PHONY: all compile
#
# Dependencies
#
$(OBJDIR)/.depend:
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
@echo DEPEND $@
$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
-include $(OBJDIR)/.depend
-include $(DEPS)
endif
conf/Makefile.stm32
+8 -7
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@@ -178,9 +178,13 @@ ODFLAGS = -S
# Default target.
all: printcommands sizebefore build sizeafter
build: elf bin hex
build: $(OBJDIR) elf bin hex
# lss sym
$(OBJDIR):
@echo CREATING object dir $(OBJDIR)
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
elf: $(OBJDIR)/$(TARGET).elf
bin: $(OBJDIR)/$(TARGET).bin
hex: $(OBJDIR)/$(TARGET).hex
@@ -219,7 +223,7 @@ sym: $(OBJDIR)/$(TARGET).sym
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(CFLAGS) $< -o $@
$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
# Assemble: create object files from assembler source files. ARM/Thumb
$(AOBJ) : $(OBJDIR)/%.o : %.S
@@ -237,11 +241,8 @@ include $(PAPARAZZI_SRC)/conf/Makefile.stm32-upload
# Dependencies
#
$(OBJDIR)/.depend:
@echo DEPEND $@
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(THUMB) $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
ifneq ($(MAKECMDGOALS),clean)
-include $(OBJDIR)/.depend
-include $(DEPS)
endif
conf/airframes/examples/stm32f4_discovery_test.xml
+6
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@@ -29,6 +29,12 @@
<subsystem name="ins"/>
</firmware>
<firmware name="test_progs">
<target name="test_lis302dl" board="stm32f4_discovery">
<define name="STM32F4_DISCOVERY_SPI1_FOR_LIS302"/>
</target>
</firmware>
<modules main_freq="512">
<load name="baro_ets.xml">
<define name="BARO_ETS_SCALE" value="40.0"/>
conf/firmwares/booz2_common.makefile
-12
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@@ -1,12 +0,0 @@
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_BOOZ_TEST=$(SRC_BOOZ)/test
SRC_BOOZ_PRIV=booz_priv
CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
conf/firmwares/booz2_test_progs.makefile
-485
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@@ -1,485 +0,0 @@
#
# $id$
#
# Copyright (C) 2008 Antoine Drouin (poinix@gmail.com)
#
# 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.
#
#
include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
#
# test_led : blinks all leds
#
test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_led.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_led.srcs += $(SRC_BOOZ_TEST)/booz2_test_led.c
test_led.CFLAGS += -DUSE_LED
test_led.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_led.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
#
# test_downlink : sends a TIME message
#
test_downlink.ARCHDIR = $(ARCH)
test_downlink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_downlink.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_downlink.srcs += $(SRC_BOOZ_TEST)/booz2_test_subsystems/datalink/downlink.c
test_downlink.CFLAGS += -DUSE_LED
test_downlink.CFLAGS += -DPERIODIC_FREQUENCY='10.' -DSYS_TIME_LED=1
test_downlink.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_downlink.srcs += mcu_periph/uart.c
test_downlink.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_downlink.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
#
# test_max1168 : samples gyros and mags, sends values
#
test_max1168.ARCHDIR = $(ARCH)
test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_max1168.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_max1168.srcs += $(SRC_BOOZ_TEST)/booz2_test_max1168.c
test_max1168.CFLAGS += -DUSE_LED
test_max1168.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_max1168.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_max1168.srcs += mcu_periph/uart.c
test_max1168.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_max1168.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
test_max1168.srcs += peripherals/max1168.c \
$(SRC_ARCH)/peripherals/max1168_arch.c
#
# tunnel hw
#
tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
tunnel.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel.c
tunnel.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
tunnel.srcs += mcu_periph/uart.c
tunnel.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#
# tunnel bit banging
#
tunnel_bb.ARCHDIR = $(ARCH)
tunnel_bb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
tunnel_bb.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel_bb.c
tunnel_bb.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
tunnel_bb.CFLAGS += -DUSE_LED
tunnel_bb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
#
# usb tunnels
#
usb_tunnel_0.ARCHDIR = $(ARCH)
usb_tunnel_0.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
usb_tunnel_1.ARCHDIR = $(ARCH)
usb_tunnel_1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
#
# test GPS
#
test_gps.ARCHDIR = $(ARCH)
test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c
test_gps.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_gps.CFLAGS += -DUSE_LED
test_gps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_gps.srcs += mcu_periph/uart.c
test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_gps.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
test_gps.CFLAGS += -DGPS_LINK=UART0 -DGPS_LED=2
test_gps.srcs += $(SRC_BOOZ)/booz2_gps.c
#
# test modem
#
test_modem.ARCHDIR = $(ARCH)
test_modem.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_modem.srcs += $(SRC_BOOZ_TEST)/booz2_test_modem.c
test_modem.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_modem.CFLAGS += -DUSE_LED
test_modem.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_modem.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_modem.srcs += mcu_periph/uart.c
test_modem.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_modem.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
#test_modem.CFLAGS += -DBOOZ_ANALOG_BARO_LED=2 -DBOOZ_ANALOG_BARO_PERIOD='CPU_TICKS_OF_SEC((1./100.))'
#test_modem.srcs += $(BOOZ_PRIV)/booz_analog_baro.c
#
# test USB telemetry
#
test_usb.ARCHDIR = $(ARCH)
test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c
test_usb.CFLAGS += -DPERIODIC_FREQUENCY='512.'
# -DSYS_TIME_LED=1
test_usb.CFLAGS += -DUSE_LED
test_usb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_usb.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
#test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_usb.srcs += mcu_periph/uart.c
#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
#test_usb.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
test_usb.srcs += subsystems/datalink/downlink.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c
# $(SRC_FIRMWARE)/datalink.c
test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
#
# test AMI
#
test_ami.ARCHDIR = $(ARCH)
test_ami.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_ami.srcs += $(SRC_BOOZ_TEST)/booz2_test_ami.c
test_ami.CFLAGS += -DPERIODIC_FREQUENCY='50.' -DSYS_TIME_LED=1
test_ami.CFLAGS += -DUSE_LED
test_ami.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_ami.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_ami.srcs += mcu_periph/uart.c
test_ami.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_ami.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_ami.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_BUF_LEN=16
test_ami.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_ami.CFLAGS += -DUSE_AMI601
test_ami.srcs += AMI601.c
#
# test crista
#
test_crista.ARCHDIR = $(ARCH)
test_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_crista.c
test_crista.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_crista.CFLAGS += -DUSE_LED
test_crista.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
test_crista.srcs += mcu_periph/uart.c
test_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART0
test_crista.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_crista.CFLAGS += -DFLOAT_T=float -DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
test_crista.srcs += $(SRC_BOOZ)/booz2_imu.c
test_crista.srcs += $(SRC_BOOZ)/booz2_imu_crista.c $(SRC_BOOZ_ARCH)/booz2_imu_crista_hw.c
#
# test IMU b2
#
test_imu_b2.ARCHDIR = $(ARCH)
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c
test_imu_b2.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_imu_b2.CFLAGS += -DUSE_LED
test_imu_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_imu_b2.srcs += mcu_periph/uart.c
test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_imu_b2.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_imu_b2.srcs += $(SRC_BOOZ)/booz_trig_int.c
test_imu_b2.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
test_imu_b2.srcs += $(SRC_BOOZ)/booz2_imu_b2.c $(SRC_BOOZ_ARCH)/booz2_imu_b2_hw.c
test_imu_b2.CFLAGS += -DMAX1168_EOC_VIC_SLOT=11
test_imu_b2.srcs += $(SRC_BOOZ)/booz2_max1168.c $(SRC_BOOZ_ARCH)/booz2_max1168_hw.c
test_imu_b2.CFLAGS += -DFLOAT_T=float
test_imu_b2.srcs += $(SRC_BOOZ)/booz2_imu.c
#
# test rc spektrum
#
test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
test_rc_spektrum.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c
test_rc_spektrum.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
#test_rc_spektrum.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_rc_spektrum.srcs += mcu_periph/uart.c
#test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
#test_rc_spektrum.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
test_rc_spektrum.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
test_rc_spektrum.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c
test_rc_spektrum.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
test_rc_spektrum.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=1
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz_radio_control_spektrum.h\"
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"booz_radio_control_spektrum_dx7se.h\"
test_rc_spektrum.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=UART0
test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control_spektrum.c \
mcu_periph/uart.c \
$(SRC_ARCH)/mcu_periph/uart_arch.c
#
# test rc ppm
#
test_rc_ppm.ARCHDIR = $(ARCH)
test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) $(BOOZ_CFLAGS)
test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_rc_ppm.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c
test_rc_ppm.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_rc_ppm.CFLAGS += -DUSE_LED
test_rc_ppm.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
#test_rc_ppm.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
#test_rc_ppm.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
test_rc_ppm.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
test_rc_ppm.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/usb_ser_hw.c subsystems/datalink/pprz_transport.c
test_rc_ppm.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
test_rc_ppm.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=1
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/$(IMPL)/booz_radio_control_ppm.c \
$(SRC_BOOZ)/$(IMPL)/$(ARCH)/booz_radio_control_ppm_arch.c \
#
# test MC
#
test_mc.ARCHDIR = $(ARCH)
test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_mc.srcs += $(SRC_BOOZ_TEST)/booz2_test_mc.c
test_mc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_mc.CFLAGS += -DUSE_LED
test_mc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_mc.srcs += mcu_periph/uart.c
test_mc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_mc.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_mc.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
test_mc.srcs += $(SRC_BOOZ_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test BUSS BLDC
#
test_buss_bldc.ARCHDIR = $(ARCH)
test_buss_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_buss_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_buss_bldc.srcs += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc.c
test_buss_bldc.CFLAGS += -DUSE_LED
test_buss_bldc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_buss_bldc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_buss_bldc.srcs += mcu_periph/uart.c
test_buss_bldc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_buss_bldc.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_buss_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
test_buss_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test asctec BLMC
#
test_amc.ARCHDIR = $(ARCH)
test_amc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_amc.srcs += $(SRC_BOOZ_TEST)/booz2_test_amc.c
test_amc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_amc.CFLAGS += -DUSE_LED
test_amc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_amc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_amc.srcs += mcu_periph/uart.c
test_amc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_amc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_amc.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_amc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=UART1
test_amc.srcs += $(SRC_FIRMWARE)/datalink.c
test_amc.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
test_amc.srcs += $(SRC_BOOZ_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
test_amc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
test_amc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_amc.CFLAGS += -DFLOAT_T=float
#-DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
#
# test_mkk_bldc :
#
test_mkk_bldc.ARCHDIR = $(ARCH)
test_mkk_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_mkk_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_mkk_bldc.srcs += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc_hexa.c
test_mkk_bldc.CFLAGS += -DUSE_LED
test_mkk_bldc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_mkk_bldc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_mkk_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
test_mkk_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test 24 bits baro
#
test_baro_24.ARCHDIR = $(ARCH)
test_baro_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
test_baro_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_baro_24.c
test_baro_24.CFLAGS += -DPERIODIC_FREQUENCY='5.' -DSYS_TIME_LED=1
test_baro_24.CFLAGS += -DUSE_LED
test_baro_24.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
test_baro_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_baro_24.srcs += mcu_periph/uart.c
test_baro_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_baro_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UART1
test_baro_24.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
test_baro_24.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_BUF_LEN=16
test_baro_24.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_baro_24.srcs += $(SRC_BOOZ)/booz2_baro_24.c
#
# test_coders : blinks all leds
#
test_coder.ARCHDIR = $(ARCH)
test_coder.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" $(BOOZ_CFLAGS)
test_coder.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_coder.srcs += $(SRC_BOOZ_TEST)/booz2_test_coder.c
test_coder.CFLAGS += -DUSE_LED
test_coder.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
test_coder.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
conf/firmwares/lisa_passthrough.makefile
+1 -3
View File
@@ -5,8 +5,6 @@
#
SRC_ARCH=arch/$(ARCH)
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_CSC=csc
@@ -20,7 +18,7 @@ CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/firmwares/subsystems/lisa_passthrou
stm_passthrough.ARCHDIR = stm32
stm_passthrough.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD) -I$(SRC_ROTOR_ARCH) -I$(SRC_IMU_ARCH)
stm_passthrough.CFLAGS += -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOARD) -I$(SRC_ROTOR_ARCH) -I$(SRC_IMU_ARCH)
stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c
conf/firmwares/rotorcraft.makefile
-5
View File
@@ -24,17 +24,12 @@
CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/rotorcraft
SRC_BOOZ_TEST=$(SRC_BOOZ)/test
SRC_BOOZ_PRIV=booz_priv
SRC_BOARD=boards/$(BOARD)
SRC_FIRMWARE=firmwares/rotorcraft
SRC_SUBSYSTEMS=subsystems
SRC_ARCH=arch/$(ARCH)
CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
conf/firmwares/subsystems/lisa_passthrough/radio_control_joby.makefile
-13
View File
@@ -1,13 +0,0 @@
# Radio control
stm_passthrough.CFLAGS += -DRADIO_CONTROL
stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
stm_passthrough.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_joby.c
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=6
stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=UART3
conf/firmwares/test_progs.makefile
+153
View File
@@ -0,0 +1,153 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2013 The Paparazzi Team
#
# This file is part of Paparazzi.
#
# Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
################################################################################
#
#
# Common test programs for the all LPC21 and STM32 boards
#
################################################################################
SRC_ARCH=arch/$(ARCH)
SRC_BOARD=boards/$(BOARD)
SRC_SUBSYSTEMS=subsystems
SRC_MODULES=modules
CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
#
# common test
#
# configuration
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
#
PERIODIC_FREQUENCY ?= 512
COMMON_TEST_CFLAGS = -I$(SRC_BOARD) -DBOARD_CONFIG=$(BOARD_CFG)
COMMON_TEST_CFLAGS += -DPERIPHERALS_AUTO_INIT
COMMON_TEST_SRCS = mcu.c $(SRC_ARCH)/mcu_arch.c
COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
ifneq ($(SYS_TIME_LED),none)
COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
endif
COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
COMMON_TEST_SRCS += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
COMMON_TEST_CFLAGS += -DUSE_LED
COMMON_TEST_SRCS += $(SRC_ARCH)/led_hw.c
COMMON_TELEMETRY_CFLAGS = -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
COMMON_TELEMETRY_SRCS = mcu_periph/uart.c
COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/mcu_periph/uart_arch.c
COMMON_TELEMETRY_SRCS += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
#COMMON_TEST_SRCS += math/pprz_trig_int.c
#
# test sys_time
#
ifeq ($(BOARD), lisa_m)
ifeq ($(BOARD_VERSION), 2.0)
LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
endif
endif
LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
test_sys_time_timer.ARCHDIR = $(ARCH)
test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
test_sys_time_timer.srcs += $(COMMON_TEST_SRCS)
test_sys_time_timer.srcs += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_timer.c
test_sys_time_usleep.ARCHDIR = $(ARCH)
test_sys_time_usleep.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
test_sys_time_usleep.srcs += $(COMMON_TEST_SRCS)
test_sys_time_usleep.srcs += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_usleep.c
#
# test_telemetry : Sends ALIVE telemetry messages
#
# configuration
# MODEM_PORT :
# MODEM_BAUD :
#
test_telemetry.ARCHDIR = $(ARCH)
test_telemetry.CFLAGS += $(COMMON_TEST_CFLAGS)
test_telemetry.srcs += $(COMMON_TEST_SRCS)
test_telemetry.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_telemetry.srcs += $(COMMON_TELEMETRY_SRCS)
test_telemetry.srcs += test/test_telemetry.c
#
# test ms2100 mag
#
test_ms2100.ARCHDIR = $(ARCH)
test_ms2100.CFLAGS += $(COMMON_TEST_CFLAGS)
test_ms2100.srcs += $(COMMON_TEST_SRCS)
test_ms2100.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_ms2100.srcs += $(COMMON_TELEMETRY_SRCS)
test_ms2100.srcs += test/peripherals/test_ms2100.c
test_ms2100.srcs += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
test_ms2100.CFLAGS += -DUSE_SPI -DSPI_MASTER
test_ms2100.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
ifeq ($(ARCH), lpc21)
test_ms2100.CFLAGS += -DUSE_SPI1
test_ms2100.CFLAGS += -DUSE_SPI_SLAVE1
test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=1
test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi1
test_ms2100.CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
else ifeq ($(ARCH), stm32)
test_ms2100.CFLAGS += -DUSE_SPI2
test_ms2100.CFLAGS += -DUSE_SPI_SLAVE4
test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=4
test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi2
endif
#
# test lis302dl accelerometer
#
test_lis302dl.ARCHDIR = $(ARCH)
test_lis302dl.CFLAGS += $(COMMON_TEST_CFLAGS)
test_lis302dl.srcs += $(COMMON_TEST_SRCS)
test_lis302dl.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
test_lis302dl.srcs += $(COMMON_TELEMETRY_SRCS)
test_lis302dl.srcs += test/peripherals/test_lis302dl_spi.c
test_lis302dl.srcs += peripherals/lis302dl_spi.c
test_lis302dl.CFLAGS += -DUSE_SPI -DSPI_MASTER
test_lis302dl.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
test_lis302dl.CFLAGS += -DUSE_SPI1
test_lis302dl.CFLAGS += -DUSE_SPI_SLAVE2
test_lis302dl.CFLAGS += -DLIS302DL_SLAVE_IDX=2
test_lis302dl.CFLAGS += -DLIS302DL_SPI_DEV=spi1
conf/modules/gps_ubx_ucenter.xml
+2 -3
View File
@@ -24,9 +24,8 @@ Warning: you still need to tell the driver
<init fun="gps_ubx_ucenter_init()"/>
<periodic fun="gps_ubx_ucenter_periodic()" start="gps_ubx_ucenter_init()" freq="4." autorun="TRUE"/>
<makefile target="ap">
<raw>
ap.CFLAGS += -DGPS_UBX_UCENTER=\"modules/gps/gps_ubx_ucenter.c\"
</raw>
<file name="gps_ubx_ucenter.c"/>
<define name="GPS_UBX_UCENTER"/>
</makefile>
</module>
conf/settings/estimation/ahrs_float_mlkf.xml
+13
View File
@@ -0,0 +1,13 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="AHRS">
<dl_setting var="ahrs_impl.mag_noise.x" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_x" param="AHRS_MAG_NOISE_X"/>
<dl_setting var="ahrs_impl.mag_noise.y" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_y" param="AHRS_MAG_NOISE_Y"/>
<dl_setting var="ahrs_impl.mag_noise.z" min="0.0" step="0.02" max="1.0" module="subsystems/ahrs/ahrs_float_mlkf" shortname="mag_noise_z" param="AHRS_MAG_NOISE_Z"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/arch/stm32/mcu_periph/gpio_arch.c
+15
View File
@@ -89,6 +89,21 @@ void gpio_enable_clock(uint32_t port) {
case GPIOD:
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPDEN);
break;
case GPIOE:
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPEEN);
break;
case GPIOF:
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPFEN);
break;
case GPIOG:
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPGEN);
break;
case GPIOH:
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPHEN);
break;
case GPIOI:
rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPIEN);
break;
default:
break;
};
sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
+136
View File
@@ -82,6 +82,54 @@ PRINT_CONFIG_MSG("Using TIM2 for PPM input.")
#define PPM_TIMER_CLK (rcc_ppre1_frequency * 2)
#endif
#elif USE_PPM_TIM3
PRINT_CONFIG_MSG("Using TIM3 for PPM input.")
#define PPM_RCC &RCC_APB1ENR
#define PPM_PERIPHERAL RCC_APB1ENR_TIM3EN
#define PPM_TIMER TIM3
#ifdef STM32F4
/* Since APB prescaler != 1 :
* Timer clock frequency (before prescaling) is twice the frequency
* of the APB domain to which the timer is connected.
*/
#define PPM_TIMER_CLK (rcc_ppre1_frequency * 2)
#endif
#elif USE_PPM_TIM4
PRINT_CONFIG_MSG("Using TIM4 for PPM input.")
#define PPM_RCC &RCC_APB1ENR
#define PPM_PERIPHERAL RCC_APB1ENR_TIM4EN
#define PPM_TIMER TIM4
#ifdef STM32F4
/* Since APB prescaler != 1 :
* Timer clock frequency (before prescaling) is twice the frequency
* of the APB domain to which the timer is connected.
*/
#define PPM_TIMER_CLK (rcc_ppre1_frequency * 2)
#endif
#elif USE_PPM_TIM5
PRINT_CONFIG_MSG("Using TIM5 for PPM input.")
#define PPM_RCC &RCC_APB1ENR
#define PPM_PERIPHERAL RCC_APB1ENR_TIM5EN
#define PPM_TIMER TIM5
#ifdef STM32F4
/* Since APB prescaler != 1 :
* Timer clock frequency (before prescaling) is twice the frequency
* of the APB domain to which the timer is connected.
*/
#define PPM_TIMER_CLK (rcc_ppre1_frequency * 2)
#endif
#elif USE_PPM_TIM1
PRINT_CONFIG_MSG("Using TIM1 for PPM input.")
@@ -94,6 +142,19 @@ PRINT_CONFIG_MSG("Using TIM1 for PPM input.")
#define PPM_TIMER_CLK (rcc_ppre2_frequency * 2)
#endif
#elif USE_PPM_TIM8
PRINT_CONFIG_MSG("Using TIM8 for PPM input.")
#define PPM_RCC &RCC_APB2ENR
#define PPM_PERIPHERAL RCC_APB2ENR_TIM8EN
#define PPM_TIMER TIM8
#ifdef STM32F4
#define PPM_TIMER_CLK (rcc_ppre2_frequency * 2)
#endif
#else
#error Unknown PPM input timer configuration.
#endif
@@ -171,6 +232,59 @@ void tim2_isr(void) {
}
#elif USE_PPM_TIM3
void tim3_isr(void) {
if((TIM3_SR & PPM_CC_IF) != 0) {
timer_clear_flag(TIM3, PPM_CC_IF);
uint32_t now = timer_get_counter(TIM3) + timer_rollover_cnt;
DecodePpmFrame(now);
}
else if((TIM3_SR & TIM_SR_UIF) != 0) {
timer_rollover_cnt+=(1<<16);
timer_clear_flag(TIM3, TIM_SR_UIF);
}
}
#elif USE_PPM_TIM4
void tim4_isr(void) {
if((TIM4_SR & PPM_CC_IF) != 0) {
timer_clear_flag(TIM4, PPM_CC_IF);
uint32_t now = timer_get_counter(TIM4) + timer_rollover_cnt;
DecodePpmFrame(now);
}
else if((TIM4_SR & TIM_SR_UIF) != 0) {
timer_rollover_cnt+=(1<<16);
timer_clear_flag(TIM4, TIM_SR_UIF);
}
}
#elif USE_PPM_TIM5
void tim5_isr(void) {
if((TIM5_SR & PPM_CC_IF) != 0) {
timer_clear_flag(TIM5, PPM_CC_IF);
uint32_t now = timer_get_counter(TIM5) + timer_rollover_cnt;
DecodePpmFrame(now);
}
else if((TIM5_SR & TIM_SR_UIF) != 0) {
timer_rollover_cnt+=(1<<16);
timer_clear_flag(TIM5, TIM_SR_UIF);
}
}
#elif USE_PPM_TIM1
#if defined(STM32F1)
@@ -193,5 +307,27 @@ void tim1_cc_isr(void) {
}
}
#elif USE_PPM_TIM8 && defined(STM32F4)
#if defined(STM32F1)
void tim8_up_isr(void) {
#elif defined(STM32F4)
void tim8_up_tim13_isr(void) {
#endif
if((TIM8_SR & TIM_SR_UIF) != 0) {
timer_rollover_cnt+=(1<<16);
timer_clear_flag(TIM8, TIM_SR_UIF);
}
}
void tim8_cc_isr(void) {
if((TIM8_SR & PPM_CC_IF) != 0) {
timer_clear_flag(TIM8, PPM_CC_IF);
uint32_t now = timer_get_counter(TIM8) + timer_rollover_cnt;
DecodePpmFrame(now);
}
}
#endif /* USE_PPM_TIM1 */
sw/airborne/boards/stm32f4_discovery.h
+16 -5
View File
@@ -7,9 +7,9 @@
* PA2 = PWM7
* PA3 = PWM6
* PA4 = ADC_4 (ADC12 IN 4)+CS43L22 DAC out, capacitively coupled+100Kohm, should not interfere.
* PA5 = FREE
* PA6 = CANNOT BE USED
* PA7 = FREE
* PA5 = SPI1 SCK if STM32F4_DISCOVERY_SPI1_FOR_LIS302
* PA6 = SPI1 MISO if STM32F4_DISCOVERY_SPI1_FOR_LIS302
* PA7 = SPI1 MOSI if STM32F4_DISCOVERY_SPI1_FOR_LIS302
* PA8 = SPECTRUM BIND
* PA9 = FREE (ONLY if usb is not active during runtime, PC0 must be high or input )
* PA10 = UART2 (Spektrum input)
@@ -73,7 +73,7 @@
* PE0 = CANNOT BE USED (Accel int output)
* PE1 = CANNOT BE USED (Accel int output)
* PE2 = SPI SLAVE 0
* PE3 = FREE (Needs some testing as it is used for the accel spi/i2c select pin)
* PE3 = SPI SLAVE 2 (used for the LIS302DL accel spi/i2c select pin)
* PE4 = FREE
* PE5 = PWM4
* PE6 = PWM5
@@ -214,6 +214,15 @@
/************************************** SPI *************************************************/
/***************************************************************************************************/
#if STM32F4_DISCOVERY_SPI1_FOR_LIS302
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_SCK GPIOA
#define SPI1_GPIO_SCK GPIO5
#define SPI1_GPIO_PORT_MISO GPIOA
#define SPI1_GPIO_MISO GPIO6
#define SPI1_GPIO_PORT_MOSI GPIOA
#define SPI1_GPIO_MOSI GPIO7
#else
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_SCK GPIOB
#define SPI1_GPIO_SCK GPIO3
@@ -221,7 +230,7 @@
#define SPI1_GPIO_MISO GPIO4
#define SPI1_GPIO_PORT_MOSI GPIOB
#define SPI1_GPIO_MOSI GPIO5
#endif
/* CANNOT BE USED IF PWM CHANNELS 10 & 11 ARE ACTIVE !!! */
#define SPI2_GPIO_AF GPIO_AF5
@@ -245,6 +254,8 @@
#define SPI_SELECT_SLAVE0_PIN GPIO2
#define SPI_SELECT_SLAVE1_PORT GPIOE
#define SPI_SELECT_SLAVE1_PIN GPIO7
#define SPI_SELECT_SLAVE2_PORT GPIOE
#define SPI_SELECT_SLAVE2_PIN GPIO3
/***************************************************************************************************/
sw/airborne/booz/test/Makefile
-57
View File
@@ -1,57 +0,0 @@
##
# $Id$
#
# Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
#
# 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.
##
# Quiet compilation
Q=@
CC = gcc
CFLAGS = -std=gnu99 -Wall -I.. -I../.. -I../../test/ -I../../../include -I../../booz_priv
LDFLAGS = -lm
CFLAGS += -I../../../../var/BOOZ2_A1P
test_mlkf: test_mlkf.c ../booz_ahrs.c ../../booz_priv/ahrs/booz_ahrs_mlkf.c ../../booz_priv/ahrs/booz_ahrs_mlkf_opt.c ../booz_imu.c ../../math/pprz_trig_int.c ./imu_dummy.c ../ahrs/booz_ahrs_aligner.c
$(CC) $(CFLAGS) -DBOOZ_IMU_TYPE_H=\"test/imu_dummy.h\" -o $@ $^ $(LDFLAGS)
test_vg_ref: test_vg_ref.c
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
test_vg_adpt: test_vg_adpt.c
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
test_deadband: test_deadband.c
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
test_scaling: test_scaling.c
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
TEST_ATT_CFLAGS = -DSTABILISATION_ATTITUDE_TYPE_INT \
-DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\" \
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_quat_int.h\"
test_att_ref: test_att_ref.c ../stabilization/booz_stabilization_attitude_ref_quat_int.c
$(CC) $(CFLAGS) $(TEST_ATT_CFLAGS) -I/home/poine/work/savannah/paparazzi3/trunk/var/BOOZ2_A1 -o $@ $^ $(LDFLAGS)
clean:
$(Q)rm -f *~ test_att_ref
sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
-76
View File
@@ -1,76 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#include <inttypes.h>
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "interrupt_hw.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/datalink/datalink.h"
#include "booz2_test_buss_bldc_hexa.h"
#define NB_MOTORS 6
static const uint8_t motor_addr[] = {0x52, 0x54, 0x56, 0x58, 0x5A, 0x5C};
uint8_t motor = 0;
uint8_t thrust = 10;
static bool_t i2c_done;
//static uint8_t addr = 0x52; /* 1 : back right */
//static uint8_t addr = 0x54; /* 2 : back left bad balanced */
//static uint8_t addr = 0x56; /* 3 : center right not so well balanced */
//static uint8_t addr = 0x58; /* 4 : center left */
//static uint8_t addr = 0x5A; /* 5 : front right */
//static uint8_t addr = 0x5C; /* 6 : front left */
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
int main( void ) {
main_init();
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
mcu_int_enable();
}
static inline void main_periodic_task( void ) {
i2c0_buf[0] = thrust;
i2c0_transmit(motor_addr[motor], 1, &i2c_done);
RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
}
static inline void main_event_task( void ) {
DatalinkEvent();
}
sw/airborne/booz/test/booz2_test_buss_bldc_hexa.h
-7
View File
@@ -1,7 +0,0 @@
#ifndef BOOZ2_TEST_BUSS_BLDC_HEXA_H
#define BOOZ2_TEST_BUSS_BLDC_HEXA_H
extern uint8_t motor;
extern uint8_t thrust;
#endif /* BOOZ2_TEST_BUSS_BLDC_HEXA_H */
sw/airborne/booz/test/booz2_test_crista.c
-117
View File
@@ -1,117 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#include <inttypes.h>
#include "std.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/imu.h"
#include "interrupt_hw.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static inline void on_imu_event(void);
int main( void ) {
main_init();
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
led_init();
/* LED_ON(4); */
/* LED_ON(5); */
/* LED_ON(6); */
/* LED_ON(7); */
uart0_init();
imu_impl_init();
imu_init();
mcu_int_enable();
}
static inline void main_periodic_task( void ) {
//#if 0
RunOnceEvery(100, {
// LED_TOGGLE(7);
DOWNLINK_SEND_ALIVE(16, MD5SUM);
});
// uint16_t foo = ami601_status;
// DOWNLINK_SEND_BOOT(&foo);
//#endif
// if (sys_time.nb_sec > 2)
imu_periodic();
}
static inline void main_event_task( void ) {
ImuEvent(on_imu_event);
}
static inline void on_imu_event(void) {
ImuScaleGyro();
ImuScaleAccel();
// LED_TOGGLE(6);
static uint8_t cnt;
cnt++;
if (cnt > 15) cnt = 0;
if (cnt == 0) {
DOWNLINK_SEND_IMU_GYRO_RAW(&imu_gyro_unscaled.x,
&imu_gyro_unscaled.y,
&imu_gyro_unscaled.z);
DOWNLINK_SEND_IMU_ACCEL_RAW(&imu_accel_unscaled.x,
&imu_accel_unscaled.y,
&imu_accel_unscaled.z);
}
else if (cnt == 7) {
DOWNLINK_SEND_IMU_GYRO_SCALED(&imu_gyro.x,
&imu_gyro.y,
&imu_gyro.z);
DOWNLINK_SEND_IMU_ACCEL_SCALED(&imu_accel.x,
&imu_accel.y,
&imu_accel.z);
}
}
sw/airborne/booz/test/booz2_test_gps.c
-85
View File
@@ -1,85 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#include <inttypes.h>
#include "std.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/gps.h"
#include "interrupt_hw.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static void on_gps_sol(void);
int main( void ) {
main_init();
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
led_init();
gps_init();
mcu_int_enable();
}
static inline void main_periodic_task( void ) {
RunOnceEvery(128, { DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);});
RunOnceEvery(128, { LED_PERIODIC();});
}
static inline void main_event_task( void ) {
GpsEvent(on_gps_sol);
}
static void on_gps_sol(void) {
DOWNLINK_SEND_GPS_INT( DefaultChannel, DefaultDevice,
&gps.ecef_pos.x,
&gps.ecef_pos.y,
&gps.ecef_pos.z,
&gps.lla_pos.lat,
&gps.lla_pos.lon,
&gps.lla_pos.alt,
&gps.ecef_vel.x,
&gps.ecef_vel.y,
&gps.ecef_vel.z,
&gps.pacc,
&gps.sacc,
&gps.tow,
&gps.pdop,
&gps.num_sv,
&gps.fix);
}
sw/airborne/booz/test/booz2_test_max1168.c
-141
View File
@@ -1,141 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#include <inttypes.h>
#include "std.h"
#include "mcu.h"
#include "mcu_periph/sys_time.h"
#include "interrupt_hw.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
#include "armVIC.h"
#include "LPC21xx.h"
#include "peripherals/max1168.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
static void main_init_ssp(void);
static void SSP_ISR(void) __attribute__((naked));
int main( void ) {
main_init();
while(1) {
if (sys_time_check_and_ack_timer(0))
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
main_init_ssp();
max1168_init();
mcu_int_enable();
}
static inline void main_periodic_task( void ) {
LED_TOGGLE(3);
max1168_read();
}
static inline void main_event_task( void ) {
if (max1168_status == MAX1168_DATA_AVAILABLE) {
RunOnceEvery(10, {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice, &max1168_values[0], &max1168_values[1], &max1168_values[2]);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice, &max1168_values[3], &max1168_values[4], &max1168_values[6]);
DOWNLINK_SEND_BOOT(DefaultChannel, DefaultDevice, &max1168_values[7]); });
max1168_status = MAX1168_IDLE;
}
}
/* SSPCR0 settings */
#define SSP_DDS 0x0F << 0 /* data size : 16 bits */
#define SSP_FRF 0x00 << 4 /* frame format : SPI */
#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first clock transition */
#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
/* SSPCR1 settings */
#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
#define SSP_MS 0x00 << 2 /* master slave mode : master */
#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
#define SSP_PINSEL1_SCK (2<<2)
#define SSP_PINSEL1_MISO (2<<4)
#define SSP_PINSEL1_MOSI (2<<6)
#define SSP_Enable() SetBit(SSPCR1, SSE);
#define SSP_Disable() ClearBit(SSPCR1, SSE);
#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
#define SSP_ClearRti() SetBit(SSPICR, RTIC);
#ifndef SSP_VIC_SLOT
#define SSP_VIC_SLOT 7
#endif
static void main_init_ssp(void) {
/* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
/* setup SSP */
SSPCR0 = SSPCR0_VAL;;
SSPCR1 = SSPCR1_VAL;
SSPCPSR = 0x02;
/* initialize interrupt vector */
VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
_VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
_VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
}
static void SSP_ISR(void) {
ISR_ENTRY();
Max1168OnSpiInt();
VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
ISR_EXIT();
}
sw/airborne/booz/test/plot_scaling.sce
-69
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@@ -1,69 +0,0 @@
///
// $Id$
//
// Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
//
// 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.
///
clear();
M=fscanfMat('traj.out');
value = M(:,1);
raw_sensor_f = M(:,2);
raw_sensor_i = M(:,3);
scaled_sensor_f = M(:,4);
scaled_sensor_i = M(:,5);
time=1:length(value);
//k = find(time > 500 & time < 550);
k = find(value > -0.009 & value < 0.009);
//k = 1:length(time);
scf();
//clf();
drawlater();
subplot(3,1,1);
xtitle('real', 'time (s)','');
plot2d(time(k), value(k), 3);
plot2d2(time(k), scaled_sensor_i(k)/2^10, 2);
legends(["float", "int", "fixed"],[5 3 2], with_box=%f, opt="lr");
subplot(3,1,2);
xtitle('raw', 'time (s)','');
plot2d(time(k), raw_sensor_f(k), 3);
plot2d2(time(k), raw_sensor_i(k), 2);
legends(["float", "int", "fixed"],[5 3 2], with_box=%f, opt="lr");
subplot(3,1,3);
xtitle('scaled', 'time (s)','');
plot2d(value(k), scaled_sensor_f(k), 3);
plot2d2(value(k), scaled_sensor_i(k), 5);
//plot2d(time(k), zeros(1, length(time(k))), 1);
xgrid(1);
drawnow();
sw/airborne/booz/test/plot_test_vg_adpt.sce
-93
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@@ -1,93 +0,0 @@
///
// $Id$
//
// Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
//
// 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.
///
clear();
M=fscanfMat('traj.out');
time = M(:,1);
meas = M(:,2);
thrust = M(:,3);
zdd_ref = M(:,4);
ffX = M(:,5);
ffP = M(:,6);
ffm = M(:,7);
ifX = M(:,8);
ifP = M(:,9);
//k = find(time > 500 & time < 550);
//k = find(time > 1110 & time < 1168);
k = 1:length(time);
clf();
drawlater();
subplot(3,2,1);
xtitle('X', 'time (s)','');
plot2d(time(k), ffm(k), 4);
plot2d(time(k), ffX(k), 3);
plot2d(time(k), ifX(k)/2^18, 5);
legends(["float", "int", "meas"],[3 5 4], with_box=%f, opt="lr");
subplot(3,2,2);
xtitle('P', 'time (s)','');
plot2d(time(k), ffP(k), 3);
plot2d(time(k), ifP(k)/2^18, 5);
legends(["float", "int"],[3 5], with_box=%f, opt="lr");
subplot(3,2,3);
xtitle('X', 'time (s)','');
plot2d(time(k), ffX(k)*2^18, 3);
plot2d(time(k), ifX(k), 5);
legends(["float", "int"],[3 5], with_box=%f, opt="lr");
subplot(3,2,4);
xtitle('P', 'time (s)','');
plot2d(time(k), ffP(k)*2^18, 3);
plot2d(time(k), ifP(k), 5);
legends(["float", "int"],[3 5], with_box=%f, opt="lr");
subplot(3,2,5);
xtitle('Zdd', 'time (s)','');
plot2d(time(k), meas(k)/2^10, 1);
subplot(3,2,6);
xtitle('Thrust', 'time (s)','');
fmg = 9.81./ffX(k);
img = 9.81./ifX(k)*2^18;
plot2d(time(k), fmg, 3);
plot2d(time(k), img, 5);
fmzdd = zdd_ref(k)./ffX(k)./2^10;
imzdd = zdd_ref(k)./ifX(k)./2^10*2^18;
//plot2d(time(k), fmg - fmzdd, 3);
//plot2d(time(k), img - imzdd, 5);
//plot2d(time(k), thrust(k), 2);
legends(["float", "int"],[3 5], with_box=%f, opt="lr");
drawnow();
sw/airborne/booz/test/plot_test_vg_ref.sce
-63
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@@ -1,63 +0,0 @@
///
// $Id$
//
// Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
//
// 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.
///
clear();
M=fscanfMat('traj.out');
time = M(:,1);
fzsp = M(:,2);
fzdsp = M(:,3);
fz = M(:,4);
fzd = M(:,5);
fzdd = M(:,6);
iz = M(:,7);
izd = M(:,8);
izdd = M(:,9);
clf();
drawlater();
subplot(3,1,1);
xtitle('z', 'time (s)','');
plot2d(time, fzsp, 1);
plot2d(time, fz, 2);
plot2d(time, iz, 3);
legends(["sp", "float", "int"],[1 2 3], with_box=%f, opt="ur");
subplot(3,1,2);
xtitle('zd', 'time (s)','');
plot2d(time, fzdsp, 1);
plot2d(time, fzd, 2);
plot2d(time, izd, 3);
legends(["float", "int"],[2 3], with_box=%f, opt="lr");
subplot(3,1,3);
xtitle('zdd', 'time (s)','');
plot2d(time, fzdd, 2);
plot2d(time, izdd, 3);
legends(["float", "int"],[2 3], with_box=%f, opt="lr");
drawnow();
sw/airborne/booz/test/test_mlkf.c
-116
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@@ -1,116 +0,0 @@
#include <stdio.h>
#include <string.h>
#include "math/pprz_algebra_double.h"
#include "subsystems/imu.h"
#include "subsystems/ahrs.h"
#include "ahrs/ahrs_mlkf.h"
static void read_data(const char* filename);
static void feed_imu(int i);
static void store_filter_output(int i);
static void dump_output(const char* filename);
#define IN_FILE "../../../simulator/scilab/q6d/data/stop_stop_state_sensors.txt"
#define OUT_FILE "./out.txt"
#define MAX_SAMPLE 15000
struct test_sample {
double time;
struct DoubleQuat quat_true;
struct DoubleRates omega_true;
struct DoubleRates gyro;
struct DoubleVect3 accel;
struct DoubleVect3 mag;
};
static struct test_sample samples[MAX_SAMPLE];
static int nb_samples;
struct test_output {
struct FloatQuat quat_est;
struct FloatRates bias_est;
struct FloatRates rate_est;
float P[6][6];
};
static struct test_output output[MAX_SAMPLE];
int main(int argc, char** argv) {
read_data(IN_FILE);
imu_init();
ahrs_init();
for (int i=0; i<nb_samples; i++) {
feed_imu(i);
ahrs_propagate();
ahrs_update_accel();
ahrs_update_mag();
store_filter_output(i);
}
dump_output(OUT_FILE);
return 0;
}
static void read_data(const char* filename) {
FILE* fd = fopen(filename, "r");
nb_samples = 0;
int ret = 0;
do {
struct test_sample* s = &samples[nb_samples];
ret = fscanf(fd, "%lf [%lf %lf %lf %lf] [%lf %lf %lf] [%lf %lf %lf] [%lf %lf %lf] [%lf %lf %lf]",
&s->time,
&s->quat_true.qi, &s->quat_true.qx, &s->quat_true.qy, &s->quat_true.qz,
&s->omega_true.p, &s->omega_true.q, &s->omega_true.r,
&s->gyro.p, &s->gyro.q, &s->gyro.r,
&s->accel.x, &s->accel.y, &s->accel.z,
&s->mag.x, &s->mag.y, &s->mag.z );
nb_samples++;
}
while (ret == 17 && nb_samples < MAX_SAMPLE);
nb_samples--;
fclose(fd);
printf("read %d points in file %s\n", nb_samples, filename);
}
static void feed_imu(int i) {
if (i>0) {
RATES_COPY(imu.gyro_prev, imu.gyro);
}
else {
RATES_BFP_OF_REAL(imu.gyro_prev, samples[0].gyro);
}
RATES_BFP_OF_REAL(imu.gyro, samples[i].gyro);
ACCELS_BFP_OF_REAL(imu.accel, samples[i].accel);
MAGS_BFP_OF_REAL(imu.mag, samples[i].mag);
}
static void store_filter_output(int i) {
QUAT_COPY(output[i].quat_est, ahrs_float.ltp_to_imu_quat);
RATES_COPY(output[i].bias_est, ahrs_mlkf.gyro_bias);
RATES_COPY(output[i].rate_est, ahrs_float.imu_rate);
memcpy(output[i].P, ahrs_mlkf.P, sizeof(ahrs_mlkf.P));
}
static void dump_output(const char* filename) {
FILE* fd = fopen(filename, "w");
int i;
for (i=0; i<nb_samples; i++) {
fprintf(fd, "%.16f [%.16f %.16f %.16f %.16f] [%.16f %.16f %.16f] [%.16f %.16f %.16f] [%.16f %.16f %.16f %.16f %.16f %.16f]\n",
samples[i].time,
output[i].quat_est.qi, output[i].quat_est.qx, output[i].quat_est.qy, output[i].quat_est.qz, // quaternion
output[i].rate_est.p, output[i].rate_est.q, output[i].rate_est.r, // omega
output[i].bias_est.p, output[i].bias_est.q, output[i].bias_est.r, // bias
output[i].P[0][0], output[i].P[1][1], output[i].P[2][2], // covariance
output[i].P[3][3], output[i].P[4][4], output[i].P[5][5] );
}
fclose(fd);
printf("wrote %d points in file %s\n", nb_samples, filename);
}
sw/airborne/booz/test/test_mlkf.sce
-121
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@@ -1,121 +0,0 @@
clear();
clearglobal();
exec('../../../simulator/scilab/q6d/q6d_fdm.sci');
exec('../../../simulator/scilab/q6d/q6d_algebra.sci');
global ahrs_quat;
global ahrs_omega;
global ahrs_bias;
global ahrs_cov;
function read_ahrs_output(filename)
global ahrs_quat;
global ahrs_omega;
global ahrs_bias;
global ahrs_cov;
ahrs_quat = zeros(4,length(time));
ahrs_omega = zeros(3,length(time));
ahrs_bias = zeros(3,length(time));
ahrs_cov = zeros(6,length(time));
i=1;
u=mopen(filename, 'r');
while meof(u) == 0 & i <= length(time)
line = mgetl(u, 1);
if line ~= []
[nb_scan, t, qi, qx, qy, qz, p, q, r, bp, bq, br, c11, c22, c33, c44, c55, c66] = ...
msscanf(1, line, '%f [%f %f %f %f] [%f %f %f] [%f %f %f] [%f %f %f %f %f %f]');
if nb_scan == 17
ahrs_quat(:,i) = [qi qx qy qz]';
ahrs_omega(:,i) = [p q r]';
ahrs_bias(:,i) = [bp bq br]';
ahrs_cov(:,i) = [c11 c22 c33 c44 c55 c66]';
i = i+1;
end
end
end
mclose(u);
endfunction
function display_ahrs_state()
clf();
f=get("current_figure");
f.figure_name="AHRS state";
eul_fdm = zeros(3,length(time));
eul_ahrs = zeros(3,length(time));
for i=1:length(time)
eul_fdm(:,i) = euler_of_quat(fdm_state(FDM_SQI:FDM_SQZ,i));
eul_ahrs(:,i) = euler_of_quat(ahrs_quat(:,i));
end
subplot(4,3,1);
plot2d(time, deg_of_rad(eul_ahrs(1,:)), 3);
plot2d(time, deg_of_rad(eul_fdm(1,:)), 2);
legends(["fdm", "ahrs_c"],[2 3], with_box=%f, opt="ul");
xtitle('Phi');
subplot(4,3,2);
plot2d(time, deg_of_rad(eul_ahrs(2,:)), 3);
plot2d(time, deg_of_rad(eul_fdm(2,:)), 2);
legends(["fdm", "ahrs_c"],[2 3], with_box=%f, opt="ul");
xtitle('Theta');
subplot(4,3,3);
plot2d(time, deg_of_rad(eul_ahrs(3,:)), 3);
plot2d(time, deg_of_rad(eul_fdm(3,:)), 2);
legends(["fdm", "ahrs_c"],[2 3], with_box=%f, opt="ul");
xtitle('Psi');
subplot(4,3,4);
plot2d(time, deg_of_rad(ahrs_omega(1,:)), 3);
plot2d(time, deg_of_rad(fdm_state(FDM_SP,:)), 2);
xtitle('p');
subplot(4,3,5);
plot2d(time, deg_of_rad(ahrs_omega(2,:)), 3);
plot2d(time, deg_of_rad(fdm_state(FDM_SQ,:)), 2);
xtitle('q');
subplot(4,3,6);
plot2d(time, deg_of_rad(ahrs_omega(3,:)), 3);
plot2d(time, deg_of_rad(fdm_state(FDM_SR,:)), 2);
xtitle('r');
subplot(4,3,7);
plot2d(time, deg_of_rad(ahrs_bias(1,:)), 3);
xtitle('bp');
subplot(4,3,8);
plot2d(time, deg_of_rad(ahrs_bias(2,:)), 3);
xtitle('bq');
subplot(4,3,9);
plot2d(time, deg_of_rad(ahrs_bias(3,:)), 3);
xtitle('br');
subplot(4,3,10);
subplot(4,3,11);
plot2d(time, ahrs_cov(1,:),3);
plot2d(time, ahrs_cov(2,:),3);
plot2d(time, ahrs_cov(3,:),3);
legends(["ahrs_c", "ahrs_s"],[3 4], with_box=%f, opt="ul");
xtitle('cov angles');
subplot(4,3,12);
plot2d(time, ahrs_cov(4,:),3);
plot2d(time, ahrs_cov(5,:),3);
plot2d(time, ahrs_cov(6,:),3);
xtitle('cov bias');
endfunction
load('../../../simulator/scilab/q6d/data/stop_stop_state_sensors.dat', 'time', 'fdm_state', 'sensor_gyro', 'sensor_accel', 'sensor_mag');
read_ahrs_output('out.txt');
display_ahrs_state();
sw/airborne/booz/test/test_scaling.c
-117
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@@ -1,117 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#include <stdio.h>
#include <math.h>
#include <inttypes.h>
#include "math/pprz_algebra_int.h"
#define IMU_ACCEL_X_NEUTRAL 32081
#define IMU_ACCEL_X_SENS -2.50411474
#define IMU_ACCEL_X_SENS_NUM -10650
#define IMU_ACCEL_X_SENS_DEN 4253
void test_1(void);
void test_2(void);
void test_3(void);
int main(int argc, char** argv){
// test_2();
test_3();
return 0;
}
void test_1(void) {
double value_f;
for (value_f=-9.81; value_f<9.81; value_f += 0.001) {
double neutral_f = (double)IMU_ACCEL_X_NEUTRAL;
double sensitivity_f = 1./IMU_ACCEL_X_SENS;
double sensor_raw_f = ACCEL_BFP_OF_REAL(value_f) * sensitivity_f + neutral_f;
int32_t sensor_raw_i = rint(sensor_raw_f);
double scaled_sensor_f = ACCEL_BFP_OF_REAL(value_f);
#if 1
int32_t scaled_sensor_i = ((sensor_raw_i - IMU_ACCEL_X_NEUTRAL) * IMU_ACCEL_X_SENS_NUM) / IMU_ACCEL_X_SENS_DEN;
#endif
#if 0
int32_t scaled_sensor_i = (sensor_raw_i * IMU_ACCEL_X_SENS_NUM / IMU_ACCEL_X_SENS_DEN) -
(IMU_ACCEL_X_NEUTRAL * IMU_ACCEL_X_SENS_NUM / IMU_ACCEL_X_SENS_DEN);
#endif
#if 0
const int32_t delta = (sensor_raw_i - IMU_ACCEL_X_NEUTRAL);
int32_t scaled_sensor_i;
if (delta > 0)
scaled_sensor_i = ( delta * IMU_ACCEL_X_SENS_NUM ) / IMU_ACCEL_X_SENS_DEN;
else
scaled_sensor_i = ( delta * IMU_ACCEL_X_SENS_NUM + (IMU_ACCEL_X_SENS_DEN>>1)) / IMU_ACCEL_X_SENS_DEN;
#endif
printf("%f %f %d %f %d\n", value_f, sensor_raw_f, sensor_raw_i, scaled_sensor_f, scaled_sensor_i);
}
}
void test_2(void) {
int a;
for (a=-7; a<7; a++) {
int b = a/-2;
int c = (a>0 ? a+1 : a-1)/-2;
double d = rint((double)a/-2.);
printf("%- d %- d %- d %- .1f\n", a, b, c, d);
}
}
#define OFFSET_AND_ROUND(_a, _b) (((_a)+(1<<((_b)-1)))>>(_b))
#define OFFSET_AND_ROUND2(_a, _b) (((_a)+(1<<((_b)-1))-((_a)<0?1:0))>>(_b))
#define N_OFFSET 2
void test_3(void) {
int a;
for (a=-(1<<N_OFFSET); a<=(1<<N_OFFSET); a++) {
int32_t b = (a>>N_OFFSET);
int32_t c;
// if ( a>=0 )
// c = (a+(1<<(N_OFFSET-1)))>>N_OFFSET;
// else
// c = (a+(1<<(N_OFFSET-1))-1)>>N_OFFSET;
c = OFFSET_AND_ROUND(a, N_OFFSET);
int32_t d;
d = OFFSET_AND_ROUND2(a, N_OFFSET);
double e;
e = (double)a/(double)(1<<N_OFFSET);
printf("%- d %- d %- d %- d %.1f\n", a, b, c, d, e);
}
}
sw/airborne/booz/test/test_vg_adpt.c
-173
View File
@@ -1,173 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include "std.h"
#include "booz_geometry_mixed.h"
#define GUIDANCE_V_C
#include "firmwares/rotorcraft/guidance/guidance_v_adpt.h"
#define NB_STEP 20000
int n_dat;
double time[NB_STEP];
int32_t z_sp[NB_STEP];
int32_t zd_sp[NB_STEP];
int32_t est_z[NB_STEP];
int32_t est_zd[NB_STEP];
int32_t est_zdd[NB_STEP];
int32_t ref_z[NB_STEP];
int32_t ref_zd[NB_STEP];
int32_t ref_zdd[NB_STEP];
int32_t adp_inv_m[NB_STEP];
int32_t adp_cov[NB_STEP];
int32_t sum_err[NB_STEP];
int32_t ff_cmd[NB_STEP];
int32_t fb_cmd[NB_STEP];
int32_t delta_t[NB_STEP];
int32_t ifX[NB_STEP];
int32_t ifP[NB_STEP];
double ffX[NB_STEP];
double ffm[NB_STEP];
double ffP[NB_STEP];
static void float_filter_init(void) {
ffX[0] = GV_ADAPT_X0_F;
ffP[0] = GV_ADAPT_P0_F;
}
static void float_filter_run( int i) {
int prev = i>0 ? i-1 : i;
ffX[i] = ffX[prev];
ffP[i] = ffP[prev];
if (delta_t[prev] == 0) return;
ffP[i] = ffP[i] + GV_ADAPT_SYS_NOISE_F;
ffm[i] = (9.81 - (double)est_zdd[i]/(double)(1<<10)) / (double)delta_t[prev];
double residual = ffm[i] - ffX[i];
double E = ffP[i] + GV_ADAPT_MEAS_NOISE_F;
double K = ffP[i] / E;
ffP[i] = ffP[i] - K * ffP[i];
ffX[i] = ffX[i] + K * residual;
}
static int read_data(const char* filename) {
FILE *fp = NULL;
fp = fopen(filename, "r");
if (fp == NULL)
return -1;
char * line = NULL;
size_t len = 0;
size_t read;
n_dat = 0;
while ((read = getline(&line, &len, fp)) != -1 && n_dat< NB_STEP) {
if (sscanf(line, "%lf %*d VERT_LOOP %d %d %d %d %d %d %d %d %d %d %d %d %d %d",
&time[n_dat],
&z_sp[n_dat], &zd_sp[n_dat],
&est_z[n_dat], &est_zd[n_dat], &est_zdd[n_dat],
&ref_z[n_dat], &ref_zd[n_dat], &ref_zdd[n_dat],
&adp_inv_m[n_dat], &adp_cov[n_dat], &sum_err[n_dat],
&ff_cmd[n_dat], &fb_cmd[n_dat], &delta_t[n_dat]) == 15) n_dat++;
}
if (line)
free(line);
fclose(fp);
return 0;
}
void gen_data(void) {
int i = 0;
n_dat = NB_STEP;
while (i<n_dat) {
long int r = random();
double noise = 2. * 2. * ((double)r / (double)RAND_MAX - 0.5);
// printf("%ld %f\n", r, noise);
est_zdd[i] = 0 + noise;
delta_t[i] = 85;
i++;
}
}
void dump_res(void) {
int i = 0;
while (i<n_dat) {
printf("%f %d %d %d %f %f %f %d %d\n", time[i], est_zdd[i], delta_t[i], ref_zdd[i], ffX[i], ffP[i], ffm[i], ifX[i], ifP[i]);
i++;
}
}
#define FF_CMD_FRAC 18
void test_command(int i) {
const int32_t inv_m_i = gv_adapt_X>>(GV_ADAPT_X_FRAC - FF_CMD_FRAC);
int32_t cmd_i = (BOOZ_INT_OF_FLOAT(9.81, FF_CMD_FRAC) - (ref_zdd[i]<<(FF_CMD_FRAC - IACCEL_RES))) / inv_m_i;
double inv_m_f = (double)BOOZ_FLOAT_OF_INT(gv_adapt_X, GV_ADAPT_X_FRAC);
double cmd_f = (9.81 - (double)BOOZ_FLOAT_OF_INT(ref_zdd[i], IACCEL_RES)) / inv_m_f;
int32_t cmd_i_fixed;
// = ((int32_t)BOOZ_INT_OF_FLOAT(9.81, IACCEL_RES) - ref_zdd[i] + (inv_m_i_fixed>>1)) / inv_m_i_fixed;
if (ref_zdd[i] < BOOZ_INT_OF_FLOAT(9.81, IACCEL_RES))
cmd_i_fixed = (BOOZ_INT_OF_FLOAT(9.81, FF_CMD_FRAC) - (ref_zdd[i]<<(FF_CMD_FRAC - IACCEL_RES)) + (inv_m_i>>1) ) / inv_m_i;
else
cmd_i_fixed = (BOOZ_INT_OF_FLOAT(9.81, FF_CMD_FRAC) - (ref_zdd[i]<<(FF_CMD_FRAC - IACCEL_RES)) - (inv_m_i>>1) ) / inv_m_i;
printf("%d %f %d\n",cmd_i, cmd_f, cmd_i_fixed);
}
int main(int argc, char** argv) {
// gen_data();
read_data("09_02_15__20_45_58.data");
printf("read %d\n", n_dat);
gv_adapt_init();
float_filter_init();
int i = 0;
while (i<n_dat) {
Bound(delta_t[i], 1, 200);
gv_adapt_run(est_zdd[i], delta_t[i]);
ifX[i] = gv_adapt_X;
ifP[i] = gv_adapt_P;
float_filter_run(i);
// test_command(i);
i++;
}
dump_res();
return 0;
}
sw/airborne/booz/test/test_vg_ref.c
-116
View File
@@ -1,116 +0,0 @@
/*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* 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.
*/
#include <stdio.h>
#include "booz_geometry_mixed.h"
#define GUIDANCE_V_C
#include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
#define NB_STEP 10000
#define DT (1./GV_FREQ)
double z_sp, zd_sp, z_ref, zd_ref, zdd_ref;
void set_ref(double z, double zd, double zdd) {
z_ref = z;
zd_ref = zd;
zdd_ref = zdd;
}
void update_ref_from_z(void) {
z_ref += (zd_ref * DT);
zd_ref += (zdd_ref * DT);
zdd_ref = -2.*GV_ZETA*GV_OMEGA*zd_ref - GV_OMEGA*GV_OMEGA*(z_ref - z_sp);
Bound(zdd_ref, GV_MIN_ZDD_F, GV_MAX_ZDD_F);
if (zd_ref <= GV_MIN_ZD_F) {
zd_ref = GV_MIN_ZD_F;
if (zdd_ref < 0)
zdd_ref = 0;
}
else if (zd_ref >= GV_MAX_ZD_F) {
zd_ref = GV_MAX_ZD_F;
if (zdd_ref > 0)
zdd_ref = 0;
}
}
void update_ref_from_zd(void) {
z_ref += (zd_ref * DT);
zd_ref += (zdd_ref * DT);
zdd_ref = -1/GV_REF_THAU_F*(zd_ref - zd_sp);
Bound(zdd_ref, GV_MIN_ZDD_F, GV_MAX_ZDD_F);
if (zd_ref <= GV_MIN_ZD_F) {
zd_ref = GV_MIN_ZD_F;
if (zdd_ref < 0)
zdd_ref = 0;
}
else if (zd_ref >= GV_MAX_ZD_F) {
zd_ref = GV_MAX_ZD_F;
if (zdd_ref > 0)
zdd_ref = 0;
}
}
void print_ref(int i) {
double i2f_z = BOOZ_FLOAT_OF_INT( gv_z_ref, GV_Z_REF_FRAC);
double i2f_zd = BOOZ_FLOAT_OF_INT( gv_zd_ref, GV_ZD_REF_FRAC);
double i2f_zdd = BOOZ_FLOAT_OF_INT( gv_zdd_ref, GV_ZDD_REF_FRAC);
printf("%f %f %f %f %f %f %f %f %f\n",
(double)i*DT, z_sp, zd_sp,
z_ref, zd_ref, zdd_ref,
i2f_z, i2f_zd, i2f_zdd );
}
int32_t get_sp (int i) {
// return BOOZ_INT_OF_FLOAT(i>512 ? -50.0 : 0, IPOS_FRAC);
return BOOZ_INT_OF_FLOAT((i>512&&i<3072) ? -1.0 : 0, ISPEED_RES);
}
int main(int argc, char** argv) {
gv_set_ref(0, 0, 0);
set_ref(0., 0., 0.);
int i = 0;
while (i<NB_STEP) {
int32_t sp_i = get_sp(i);
// gv_update_ref_from_z_sp(sp_i);
gv_update_ref_from_zd_sp(sp_i);
// z_sp = BOOZ_FLOAT_OF_INT(sp_i, IPOS_FRAC);
// update_ref_from_z();
zd_sp = BOOZ_FLOAT_OF_INT(sp_i, ISPEED_RES);
update_ref_from_zd();
print_ref(i);
i++;
}
return 0;
}
sw/airborne/booz/test/vert_loop.dat.bz2
BIN
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Binary file not shown.
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_common_int.h
-3
View File
@@ -45,9 +45,6 @@ extern struct Int32Eulers stabilization_att_sum_err;
extern int32_t stabilization_att_fb_cmd[COMMANDS_NB];
extern int32_t stabilization_att_ff_cmd[COMMANDS_NB];
// common so it can be used for downlink/debug
extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
#define stabilization_attitude_common_int_SetKiPhi(_val) { \
stabilization_gains.i.x = _val; \
stabilization_att_sum_err.phi = 0; \
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.h
-2
View File
@@ -27,6 +27,4 @@
#include "math/pprz_algebra_int.h"
extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC
#endif /* STABILIZATION_ATTITUDE_QUAT_INT_H */
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
+1 -1
View File
@@ -29,8 +29,8 @@
#include "math/pprz_algebra_int.h"
extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
extern struct Int32Eulers stab_att_ref_euler; ///< with #REF_ANGLE_FRAC
extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC
extern struct Int32Rates stab_att_ref_rate; ///< with #REF_RATE_FRAC
extern struct Int32Rates stab_att_ref_accel; ///< with #REF_ACCEL_FRAC
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
+3
View File
@@ -32,6 +32,9 @@
#include "stabilization_attitude_ref_int.h"
extern struct Int32Quat stab_att_sp_quat; ///< with #INT32_QUAT_FRAC
extern struct Int32Quat stab_att_ref_quat; ///< with #INT32_QUAT_FRAC
void stabilization_attitude_ref_enter(void);
#endif /* STABILIZATION_ATTITUDE_INT_REF_QUAT_INT_H */
sw/airborne/math/Makefile
+8 -6
View File
@@ -8,14 +8,15 @@ CC= gcc
CFLAGS= -fpic
INCLUDES= -I$(PAPARAZZI_SRC)/sw/include -I$(PAPARAZZI_SRC)/sw/airborne
# build in ../../../var/build/math
ifndef BUILDDIR
BUILDDIR=../../../var/build/math
ifeq ($(PAPARAZZI_HOME),)
PAPARAZZI_HOME=$(PAPARAZZI_SRC)
endif
ifndef PREFIX
PREFIX=/usr
endif
# build in $(PAPARAZZI_HOME)/var/build/math
BUILDDIR ?= $(PAPARAZZI_HOME)/var/build/math
PREFIX ?= /usr/local
LIB_INSTALLDIR=${PREFIX}/lib
INCLUDE_INSTALLDIR=${PREFIX}/include/pprz
PKGCONFIG_INSTALLDIR=${PREFIX}/lib/pkgconfig
@@ -48,3 +49,4 @@ $(BUILDDIR)/%.o: %.c
clean:
$(Q)rm -f $(BUILDDIR)/*.o $(BUILDDIR)/$(LIBNAME).so
.PHONY: all clean shared_lib install_shared_lib
sw/airborne/math/README
+4 -4
View File
@@ -11,11 +11,11 @@ HOWTO install a shared library to use in other projects
2. Install library: in this folder, type
make install_shared_lib
the default install dir is /usr
the default install dir is /usr/local
and will install files in
/usr/lib
/usr/lib/pkgconfig
/usr/include/pprz
/usr/local/lib
/usr/local/lib/pkgconfig
/usr/local/include/pprz
to change the install dir: PREFIX=<your_install_dir> make install_shared_lib
sw/airborne/math/pprz_algebra_int.h
+13
View File
@@ -36,6 +36,19 @@
#include "math/pprz_trig_int.h"
#include <stdlib.h>
struct Uint8Vect3 {
uint8_t x;
uint8_t y;
uint8_t z;
};
struct Int8Vect3 {
int8_t x;
int8_t y;
int8_t z;
};
struct Uint16Vect3 {
uint16_t x;
uint16_t y;
sw/airborne/modules/gps/gps_ubx_ucenter.c
+1
View File
@@ -28,6 +28,7 @@
*/
#include "gps_ubx_ucenter.h"
#include "subsystems/gps/gps_ubx.h"
//////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////
sw/airborne/modules/gps/gps_ubx_ucenter.h
+2
View File
@@ -28,6 +28,8 @@
#ifndef GPS_UBX_UCENTER_H
#define GPS_UBX_UCENTER_H
#include "std.h"
/** U-Center Variables */
#define GPS_UBX_UCENTER_CONFIG_STEPS 17
sw/airborne/peripherals/lis302dl.h
+66
View File
@@ -0,0 +1,66 @@
/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.
*/
/**
* @file peripherals/lis302dl.h
*
* ST LIS302DL 3-axis accelerometer driver common interface (I2C and SPI).
*/
#ifndef LIS302DL_H
#define LIS302DL_H
/* Include address and register definition */
#include "peripherals/lis302dl_regs.h"
enum Lis302dlConfStatus {
LIS_CONF_UNINIT = 0,
LIS_CONF_WHO_AM_I = 1,
LIS_CONF_WHO_AM_I_OK = 2,
LIS_CONF_REG2 = 3,
LIS_CONF_REG3 = 4,
LIS_CONF_ENABLE = 5,
LIS_CONF_DONE = 6
};
struct Lis302dlConfig {
bool_t int_invert; ///< Invert Interrupt FALSE: active high, TRUE: active low
bool_t spi_3_wire; ///< Set 3-wire SPI mode, if FALSE: 4-wire SPI mode
/** Filtered Data Selection.
* FALSE: internal filter bypassed;
* TRUE: data from internal filter sent to output register */
bool_t filt_data;
enum Lis302dlRanges range; ///< g Range
enum Lis302dlRates rate; ///< Data Output Rate
};
static inline void lis302dl_set_default_config(struct Lis302dlConfig *c)
{
c->int_invert = TRUE;
c->filt_data = FALSE;
c->spi_3_wire = FALSE;
c->rate = LIS302DL_RATE_100HZ;
c->range = LIS302DL_RANGE_2G;
}
#endif /* LIS302DL_H */
sw/airborne/peripherals/lis302dl_regs.h
+55
View File
@@ -0,0 +1,55 @@
/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.
*/
/**
* @file peripherals/lis302dl_regs.h
*
* ST LIS302DL 3-axis accelerometer register definitions.
*/
#ifndef LIS302DL_REGS_H
#define LIS302DL_REGS_H
/* Registers */
#define LIS302DL_REG_WHO_AM_I 0x0F
#define LIS302DL_REG_CTRL_REG1 0x20
#define LIS302DL_REG_CTRL_REG2 0x21
#define LIS302DL_REG_CTRL_REG3 0x22
#define LIS302DL_REG_STATUS 0x27
#define LIS302DL_REG_OUTX 0x29
#define LIS302DL_REG_OUTY 0x2B
#define LIS302DL_REG_OUTZ 0x2D
/** LIS302DL device identifier contained in LIS302DL_REG_WHO_AM_I */
#define LIS302DL_WHO_AM_I 0x3B
enum Lis302dlRates {
LIS302DL_RATE_100HZ = 0,
LIS302DL_RATE_400HZ = 1
};
enum Lis302dlRanges {
LIS302DL_RANGE_2G = 0,
LIS302DL_RANGE_8G = 1
};
#endif /* LIS302DL_REGS_H */
sw/airborne/peripherals/lis302dl_spi.c
+174
View File
@@ -0,0 +1,174 @@
/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.
*/
/**
* @file peripherals/lis302dl_spi.c
*
* Driver for LIS302DL 3-axis accelerometer from ST using SPI.
*/
#include "peripherals/lis302dl_spi.h"
void lis302dl_spi_init(struct Lis302dl_Spi *lis, struct spi_periph *spi_p, uint8_t slave_idx)
{
/* set spi_peripheral */
lis->spi_p = spi_p;
/* configure spi transaction */
lis->spi_trans.cpol = SPICpolIdleHigh;
lis->spi_trans.cpha = SPICphaEdge2;
lis->spi_trans.dss = SPIDss8bit;
lis->spi_trans.bitorder = SPIMSBFirst;
lis->spi_trans.cdiv = SPIDiv64;
lis->spi_trans.select = SPISelectUnselect;
lis->spi_trans.slave_idx = slave_idx;
lis->spi_trans.output_length = 2;
lis->spi_trans.input_length = 8;
// callback currently unused
lis->spi_trans.before_cb = NULL;
lis->spi_trans.after_cb = NULL;
lis->spi_trans.input_buf = &(lis->rx_buf[0]);
lis->spi_trans.output_buf = &(lis->tx_buf[0]);
/* set inital status: Success or Done */
lis->spi_trans.status = SPITransDone;
/* set default LIS302DL config options */
lis302dl_set_default_config(&(lis->config));
lis->initialized = FALSE;
lis->data_available = FALSE;
lis->init_status = LIS_CONF_UNINIT;
}
static void lis302dl_spi_write_to_reg(struct Lis302dl_Spi *lis, uint8_t _reg, uint8_t _val) {
lis->spi_trans.output_length = 2;
lis->spi_trans.input_length = 0;
lis->tx_buf[0] = _reg;
lis->tx_buf[1] = _val;
spi_submit(lis->spi_p, &(lis->spi_trans));
}
// Configuration function called once before normal use
static void lis302dl_spi_send_config(struct Lis302dl_Spi *lis)
{
uint8_t reg_val = 0;
switch (lis->init_status) {
case LIS_CONF_WHO_AM_I:
/* query device id */
lis->spi_trans.output_length = 1;
lis->spi_trans.input_length = 2;
/* set read bit then reg address */
lis->tx_buf[0] = (1<<7 | LIS302DL_REG_WHO_AM_I);
if (spi_submit(lis->spi_p, &(lis->spi_trans)))
lis->init_status++;
break;
case LIS_CONF_REG2:
/* set SPI mode, Filtered Data Selection */
reg_val = (lis->config.spi_3_wire << 7) | (lis->config.filt_data << 4);
lis302dl_spi_write_to_reg(lis, LIS302DL_REG_CTRL_REG2, reg_val);
lis->init_status++;
break;
case LIS_CONF_REG3:
/* Interrupt active high/low */
lis302dl_spi_write_to_reg(lis, LIS302DL_REG_CTRL_REG3, (lis->config.int_invert << 7));
lis->init_status++;
break;
case LIS_CONF_ENABLE:
/* set data rate, range, enable measurement, is in standby after power up */
reg_val = (lis->config.rate << 7) |
(1 << 6) | // Power Down Control to active mode
(lis->config.range << 5) |
0x5; // enable z,y,x axes
lis302dl_spi_write_to_reg(lis, LIS302DL_REG_CTRL_REG1, reg_val);
lis->init_status++;
break;
case LIS_CONF_DONE:
lis->initialized = TRUE;
lis->spi_trans.status = SPITransDone;
break;
default:
break;
}
}
void lis302dl_spi_start_configure(struct Lis302dl_Spi *lis)
{
if (lis->init_status == LIS_CONF_UNINIT) {
lis->init_status++;
if (lis->spi_trans.status == SPITransSuccess || lis->spi_trans.status == SPITransDone) {
lis302dl_spi_send_config(lis);
}
}
}
void lis302dl_spi_read(struct Lis302dl_Spi *lis)
{
if (lis->initialized && lis->spi_trans.status == SPITransDone) {
lis->spi_trans.output_length = 1;
lis->spi_trans.input_length = 8;
/* set read bit and multiple byte bit, then address */
lis->tx_buf[0] = (1<<7|1<<6|LIS302DL_REG_STATUS);
spi_submit(lis->spi_p, &(lis->spi_trans));
}
}
void lis302dl_spi_event(struct Lis302dl_Spi *lis)
{
if (lis->initialized) {
if (lis->spi_trans.status == SPITransFailed) {
lis->spi_trans.status = SPITransDone;
}
else if (lis->spi_trans.status == SPITransSuccess) {
// Successfull reading
if (bit_is_set(lis->rx_buf[1], 3)) {
// new xyz data available
lis->data.vect.x = lis->rx_buf[3];
lis->data.vect.y = lis->rx_buf[5];
lis->data.vect.z = lis->rx_buf[7];
lis->data_available = TRUE;
}
lis->spi_trans.status = SPITransDone;
}
}
else if (lis->init_status != LIS_CONF_UNINIT) { // Configuring but not yet initialized
switch (lis->spi_trans.status) {
case SPITransFailed:
lis->init_status--; // Retry config (TODO max retry)
case SPITransSuccess:
if (lis->init_status == LIS_CONF_WHO_AM_I_OK) {
if (lis->rx_buf[1] == LIS302DL_WHO_AM_I)
lis->init_status++;
else
lis->init_status = LIS_CONF_WHO_AM_I;
}
case SPITransDone:
lis->spi_trans.status = SPITransDone;
lis302dl_spi_send_config(lis);
break;
default:
break;
}
}
}
sw/airborne/peripherals/lis302dl_spi.h
+68
View File
@@ -0,0 +1,68 @@
/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.
*/
/**
* @file peripherals/lis302dl_spi.h
*
* Driver for LIS302DL 3-axis accelerometer from ST using SPI.
*/
#ifndef LIS302DL_SPI_H
#define LIS302DL_SPI_H
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
/* Include common LIS302DL options and definitions */
#include "peripherals/lis302dl.h"
struct Lis302dl_Spi {
struct spi_periph *spi_p;
struct spi_transaction spi_trans;
volatile uint8_t tx_buf[2];
volatile uint8_t rx_buf[8];
enum Lis302dlConfStatus init_status; ///< init status
bool_t initialized; ///< config done flag
volatile bool_t data_available; ///< data ready flag
union {
struct Int8Vect3 vect; ///< data vector in accel coordinate system
int8_t value[3]; ///< data values accessible by channel index
} data;
struct Lis302dlConfig config;
};
// Functions
extern void lis302dl_spi_init(struct Lis302dl_Spi *lis, struct spi_periph *spi_p, uint8_t addr);
extern void lis302dl_spi_start_configure(struct Lis302dl_Spi *lis);
extern void lis302dl_spi_read(struct Lis302dl_Spi *lis);
extern void lis302dl_spi_event(struct Lis302dl_Spi *lis);
/// convenience function: read or start configuration if not already initialized
static inline void lis302dl_spi_periodic(struct Lis302dl_Spi *lis) {
if (lis->initialized)
lis302dl_spi_read(lis);
else
lis302dl_spi_start_configure(lis);
}
#endif // LIS302DL_SPI_H
sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
+19 -9
View File
@@ -50,9 +50,15 @@
#define AHRS_PROPAGATE_FREQUENCY PERIODIC_FREQUENCY
#endif
#ifndef AHRS_MAG_NOISE_X
#define AHRS_MAG_NOISE_X 0.2
#define AHRS_MAG_NOISE_Y 0.2
#define AHRS_MAG_NOISE_Z 0.2
#endif
static inline void propagate_ref(void);
static inline void propagate_state(void);
static inline void update_state(const struct FloatVect3 *i_expected, struct FloatVect3* b_measured, const float noise[]);
static inline void update_state(const struct FloatVect3 *i_expected, struct FloatVect3* b_measured, struct FloatVect3* noise);
static inline void reset_state(void);
static inline void set_body_state_from_quat(void);
@@ -93,6 +99,8 @@ void ahrs_init(void) {
{ 0., 0., 0., 0., 0., P0_b}};
memcpy(ahrs_impl.P, P0, sizeof(P0));
VECT3_ASSIGN(ahrs_impl.mag_noise, AHRS_MAG_NOISE_X, AHRS_MAG_NOISE_Y, AHRS_MAG_NOISE_Z);
}
void ahrs_align(void) {
@@ -128,9 +136,8 @@ void ahrs_update_accel(void) {
(1. - alpha) *(FLOAT_VECT3_NORM(imu_g) - 9.81);
const struct FloatVect3 earth_g = {0., 0., -9.81 };
const float dn = 250*fabs( ahrs_impl.lp_accel );
const float g_noise[] = {1.+dn, 1.+dn, 1.+dn};
// const float g_noise[] = {150., 150., 150.};
update_state(&earth_g, &imu_g, g_noise);
struct FloatVect3 g_noise = {1.+dn, 1.+dn, 1.+dn};
update_state(&earth_g, &imu_g, &g_noise);
reset_state();
}
@@ -138,8 +145,7 @@ void ahrs_update_accel(void) {
void ahrs_update_mag(void) {
struct FloatVect3 imu_h;
MAGS_FLOAT_OF_BFP(imu_h, imu.mag);
const float h_noise[] = { 0.1610, 0.1771, 0.2659};
update_state(&ahrs_impl.mag_h, &imu_h, h_noise);
update_state(&ahrs_impl.mag_h, &imu_h, &ahrs_impl.mag_noise);
reset_state();
}
@@ -200,7 +206,7 @@ static inline void propagate_state(void) {
/**
* Incorporate one 3D vector measurement
*/
static inline void update_state(const struct FloatVect3 *i_expected, struct FloatVect3* b_measured, const float noise[]) {
static inline void update_state(const struct FloatVect3 *i_expected, struct FloatVect3* b_measured, struct FloatVect3* noise) {
/* converted expected measurement from inertial to body frame */
struct FloatVect3 b_expected;
@@ -214,8 +220,12 @@ static inline void update_state(const struct FloatVect3 *i_expected, struct Floa
MAT_MUL(3,6,6, tmp, H, ahrs_impl.P);
float S[3][3];
MAT_MUL_T(3,6,3, S, tmp, H);
for (int i=0;i<3;i++)
S[i][i] += noise[i];
/* add the measurement noise */
S[0][0] += noise->x;
S[1][1] += noise->y;
S[2][2] += noise->z;
float invS[3][3];
MAT_INV33(invS, S);

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