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This commit is contained in:
Antoine Drouin
2007-11-06 06:38:18 +00:00
parent 9425da8b64
commit c92c5cb1ca
11 changed files with 70 additions and 104 deletions
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Makefile
+10
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@@ -113,6 +113,16 @@ include Makefile.ac
sim : sim_static
ac_h ac1 ac2 ac3 ac fbw ap: static conf
###
#
# temporary hack for quadrotor simulator
#
booz_sim:
make AIRCRAFT=BOOZ flt.compile
make AIRCRAFT=BOOZ ctl.compile
cd sw/simulator; make clean booz_sim
##### preliminary hard wired arm7 bootloader rules
#
#
conf/Makefile.sim
+29 -3
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@@ -22,9 +22,14 @@
#
ifeq ($(SIM_TYPE),BOOZ)
sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
endif
#
# This is the common Makefile for the avr-target.
# Edit the configuration part to suit your local install
# This is the common Makefile for the sim target.
#
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/sim
@@ -48,13 +53,21 @@ INCLUDES += -I `ocamlc -where`
CFLAGS = \
-W -Wall \
$(INCLUDES) \
-Wstrict-prototypes \
$($(TARGET).CFLAGS) \
$(LOCAL_CFLAGS) \
-O2 \
# meschach prototypes trigger numerous warnings
ifneq ($(SIM_TYPE),BOOZ)
CFLAGS += -Wstrict-prototypes
endif
LDFLAGS = -lm \
ifeq ($(SIM_TYPE),BOOZ)
LDFLAGS += $($(TARGET).LDFLAGS)
endif
#
# General rules
#
@@ -66,9 +79,17 @@ $(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
all compile: $(OBJDIR)/simsitl
ifeq ($(SIM_TYPE),BOOZ)
$(OBJDIR)/simsitl : $($(TARGET).objs)
@echo LD $@
$(Q)$(CC) -o $@ $($(TARGET).objs) $(LDFLAGS)
else
$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
@echo LD $@
$(Q)$(OCAMLC) -custom $(CAMLINCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma $($(TARGET).objs) gtkInit.cmo $(SITLCMA) $(SIMSITLML)
endif
# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
@@ -93,6 +114,11 @@ $(OBJDIR)/%.o: $(SRC_ARCH)/%.c
$(OBJDIR)/%.o: $(SRC_ARCH)/%.S
$(CC) $(CFLAGS) -c -o $@ $<
ifeq ($(SIM_TYPE),BOOZ)
$(OBJDIR)/%.o: $(SIMDIR)/%.c
@echo CC $@
$(Q)$(CC) $(CFLAGS) -c -o $@ $<
endif
avr_clean:
rm -rf $(OBJDIR)
conf/autopilot/conf_booz.makefile
+8 -8
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@@ -4,7 +4,7 @@ FLASH_MODE = IAP
#
# FILTER CPU
# filter CPU
#
flt.ARCHDIR = $(ARCHI)
@@ -96,7 +96,7 @@ ctl.srcs += booz_estimator.c \
booz_autopilot.c
#
# Simulator
# SITL Simulator
#
SIM_TYPE = BOOZ
@@ -106,12 +106,12 @@ sim.ARCH = sitl
sim.TARGET = main
sim.TARGETDIR = main
#sim.srcs = $(SIMDIR)/main_booz_sim.c \
# $(SIMDIR)/booz_flight_model.c \
# $(SIMDIR)/booz_flight_model_utils.c \
# $(SIMDIR)/booz_sensors_model.c \
# $(SIMDIR)/booz_flightgear.c \
# $(SIMDIR)/booz_joystick.c \
sim.srcs = $(SIMDIR)/main_booz_sim.c \
$(SIMDIR)/booz_flight_model.c \
$(SIMDIR)/booz_flight_model_utils.c \
$(SIMDIR)/booz_sensors_model.c \
$(SIMDIR)/booz_flightgear.c \
$(SIMDIR)/booz_joystick.c \
sim.CFLAGS += -DSITL
sim.CFLAGS += -DBOOZ_CONTROLLER_MCU
sw/airborne/Makefile
+4
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@@ -25,6 +25,10 @@ OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
VARINCLUDE=$(PAPARAZZI_HOME)/var/include
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
#
# WTF is that for ? VARINCLUDE=$(PAPARAZZI_HOME)/var/include and -I $(PAPARAZZI_SRC)/var/include in the line below ?
#
INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/var/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(PAPARAZZI_SRC)/conf/autopilot -I $(PAPARAZZI_SRC)/sw/airborne/$($(TARGET).ARCHDIR) -I $(VARINCLUDE) -I $(ACINCLUDE)
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR)
sw/airborne/multitilt.c
+1 -1
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@@ -152,7 +152,7 @@ static inline void multitilt_predict( const float* gyro ) {
}
static void inline mtt_update_axis(float _err, float _P[2][2], float* angle, float* bias) {
static inline void mtt_update_axis(float _err, float _P[2][2], float* angle, float* bias) {
const float Pct_0 = _P[0][0];
const float Pct_1 = _P[1][0];
/* E = C P C' + R */
sw/airborne/sim/adc_hw.c
+3 -1
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@@ -1,3 +1,5 @@
#include "adc.h"
void adc_buf_channel(uint8_t adc_channel, struct adc_buf* s, uint8_t av_nb_sample) {}
void adc_buf_channel(uint8_t adc_channel __attribute__ ((unused)),
struct adc_buf* s __attribute__ ((unused)),
uint8_t av_nb_sample __attribute__ ((unused))) {}
sw/simulator/Makefile
-85
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@@ -92,88 +92,3 @@ clean :
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
AB=../airborne
AB_ARCH=$(AB)/sim
CC = gcc
CFLAGS= -g -Wall `pkg-config glib-2.0 --cflags` -I /usr/include/meschach -I$(AB) -I../include -I../../var/BOOZ -I../../var/include -I../../conf/autopilot -I$(AB_ARCH)
LDFLAGS=`pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre
BOOZ_SIM_SRCS = main_booz_sim.c \
booz_flight_model.c \
booz_flight_model_utils.c \
booz_sensors_model.c \
booz_flightgear.c \
booz_joystick.c \
CFLAGS += -DSITL
CFLAGS += -DBOOZ_CONTROLLER_MCU
CFLAGS += -DCONFIG=\"conf_booz.h\"
BOOZ_AB_SRCS += $(AB)/booz_controller_main.c
BOOZ_AB_SRCS += $(AB)/sys_time.c
CFLAGS += -DRADIO_CONTROL
BOOZ_AB_SRCS += $(AB)/radio_control.c \
$(AB_ARCH)/ppm_hw.c
CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\"
BOOZ_AB_SRCS += $(AB)/actuators.c \
$(AB_ARCH)/actuators_buss_twi_blmc_hw.c \
$(AB)/i2c.c $(AB_ARCH)/i2c_hw.c
CFLAGS += -DDOWNLINK
BOOZ_AB_SRCS += $(AB)/booz_controller_telemetry.c \
$(AB)/downlink.c
#CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=SimUart -DDOWNLINK_DEVICE=SimUart -DSIM_UART
#BOOZ_AB_SRCS += ../airborne/pprz_transport.c ../airborne/sim/sim_uart.c
CFLAGS += -DDOWNLINK_TRANSPORT=IvyTransport
BOOZ_AB_SRCS += $(AB_ARCH)/ivy_transport.c
LDFLAGS += -lglibivy
BOOZ_AB_SRCS += $(AB)/booz_inter_mcu.c
CFLAGS += -DUSE_SPI
BOOZ_AB_SRCS += $(AB)/booz_link_mcu.c $(AB_ARCH)/booz_link_mcu_hw.c
BOOZ_AB_SRCS += $(AB)/spi.c $(AB_ARCH)/spi_hw.c
#CFLAGS += -DDATALINK=PPRZ
#BOOZ_AB_SRCS += ../airborne/datalink.c
BOOZ_AB_SRCS += $(AB)/booz_estimator.c
BOOZ_AB_SRCS += $(AB)/booz_control.c
BOOZ_AB_SRCS += $(AB)/booz_nav.c
BOOZ_AB_SRCS += $(AB)/booz_nav_hover.c
BOOZ_AB_SRCS += $(AB)/booz_autopilot.c
BOOZ_AB_SRCS += $(AB)/commands.c
CFLAGS += -DBOOZ_FILTER_MCU
BOOZ_AB_SRCS += $(AB)/booz_filter_main.c
CFLAGS += -DADC_CHANNEL_AX=1 -DADC_CHANNEL_AY=2 -DADC_CHANNEL_AZ=3 -DADC_CHANNEL_BAT=4
BOOZ_AB_SRCS += $(AB_ARCH)/adc_hw.c
BOOZ_AB_SRCS += $(AB)/booz_filter_telemetry.c
BOOZ_AB_SRCS += $(AB)/max1167.c $(AB_ARCH)/max1167_hw.c
BOOZ_AB_SRCS += $(AB)/micromag.c $(AB_ARCH)/micromag_hw.c
BOOZ_AB_SRCS += $(AB)/imu_v3.c $(AB_ARCH)/imu_v3_hw.c
BOOZ_AB_SRCS += $(AB)/booz_ahrs.c
CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_MULTITILT
BOOZ_AB_SRCS += $(AB)/multitilt.c
#CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_QUATERNION -DEKF_UPDATE_DISCRETE
#BOOZ_AB_SRCS += $(AB)/ahrs_quat_fast_ekf.c
#$(OBJDIR)/%.c: %.o
# $(CC) $(CFLAGS) -c -o $@ $<
booz_sim: $(BOOZ_SIM_SRCS) $(BOOZ_AB_SRCS)
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
sw/simulator/booz_flight_model.c
+1 -1
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@@ -157,7 +157,7 @@ static VEC* booz_get_forces_body_frame( VEC* X, VEC* F , MAT* dcm, VEC* omega_sq
compute the sum of external moments.
assumes that omega_square is already precomputed from X
*/
static VEC* booz_get_moments_body_frame( VEC* X, VEC* M, VEC* omega_square ) {
static VEC* booz_get_moments_body_frame( VEC* X __attribute__ ((unused)), VEC* M, VEC* omega_square ) {
M = mv_mlt(bfm.props_moment_matrix, omega_square, M);
return M;
}
sw/simulator/booz_joystick.c
+3 -1
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@@ -41,7 +41,9 @@ void booz_joystick_init(const char* device) {
}
static gboolean on_data_received(GIOChannel *source, GIOCondition condition, gpointer data) {
static gboolean on_data_received(GIOChannel *source,
GIOCondition condition __attribute__ ((unused)),
gpointer data __attribute__ ((unused))) {
struct js_event js;
gsize len;
sw/simulator/booz_sensors_model.c
+1 -1
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@@ -392,6 +392,6 @@ static VEC* v_add_gaussian_noise(VEC* in, VEC* std_dev, VEC* out) {
one = v_ones(one);
tmp = v_mltadd(one, tmp, -2., tmp);
tmp = v_star(tmp, std_dev, tmp);
out = v_add(out, tmp, out);
out = v_add(in, tmp, out);
return out;
}
sw/simulator/main_booz_sim.c
+10 -3
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@@ -52,7 +52,7 @@ static void on_DL_SETTING(IvyClientPtr app, void *user_data, int argc, char *arg
volatile bool_t ppm_valid;
static gboolean booz_sim_periodic(gpointer data) {
static gboolean booz_sim_periodic(gpointer data __attribute__ ((unused))) {
/* read actuators positions */
booz_sim_read_actuators();
@@ -80,7 +80,7 @@ static gboolean booz_sim_periodic(gpointer data) {
/* this will update the controller estimator */
booz_controller_main_event_task();
/* cheat in simulation : psi not available from filter yet */
booz_estimator_set_psi(bfm.state->ve[BFMS_PSI]);
// booz_estimator_set_psi(bfm.state->ve[BFMS_PSI]);
/* in simulation compute dcm as a helper for for nav */
booz_estimator_compute_dcm();
/* in simulation feed speed and pos estimations ( with a pos sensor :( ) */
@@ -360,7 +360,9 @@ static void ivy_transport_init(void) {
#include "std.h"
#include "settings.h"
#include "booz_controller_telemetry.h"
static void on_DL_SETTING(IvyClientPtr app, void *user_data, int argc, char *argv[]){
static void on_DL_SETTING(IvyClientPtr app __attribute__ ((unused)),
void *user_data __attribute__ ((unused)),
int argc __attribute__ ((unused)), char *argv[]){
uint8_t index = atoi(argv[2]);
float value = atof(argv[3]);
DlSetting(index, value);
@@ -404,3 +406,8 @@ static void sim_uart_init(void) {