Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-04 22:05:14 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

Merge branch 'master' into dev

Browse Source 
* merged the baro board stuff for navgo
* still needs to be fixed for the new spi transactions
This commit is contained in:
Felix Ruess
2012-03-01 16:52:29 +01:00
parent 3e8d174486 00f6cd6fed
commit cc4e2f4d61
18 changed files with 442 additions and 492 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README
-98
View File
@@ -1,98 +0,0 @@
# Copyright (C) 2003-2011 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.
Intro
-----
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available from the wiki website
http://paparazzi.enac.fr
and from the mailing list (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi).
Directories quick and dirty description:
---------------------------------------
conf: the configuration directory (airframe, radio, ... descriptions).
data: where to put read-only data (e.g. maps, terrain elevation files, icons)
sw: software (onboard, ground station, simulation, ...)
var: products of compilation, cache for the map tiles, ...
debian: Debian packaging control files
Required Software
-----------------
Installation is described in the wiki (paparazzi.enac.fr/wiki/Installation).
Main requirements include
- OCaml (ocaml.org), xml-light library (http://tech.motion-twin.com/xmllight)
- gcc, GTK2, Glib2, libgnomecanvas, libxml2
- ARM7 micro-controller development environnment (gcc, loader, libc, binutils)
- ...
For Debian or Ubuntu users, required packages are available at
http://paparazzi.enac.fr/debian
- "paparazzi-dev" will provide everything needed to compile and run the ground segment and the simulator. If something is missing, please report it.
- "paparazzi-arm-multilib" is required to compile the code for LPC21 and STM32 based boards
- "paparazzi-omap" is needed for building code for the optional Gumstix Overo module available on lisa/L
- "paparazzi-jsbsim" is needed for using jsbsim as flight dynamic model for the simulator.
Compilation and demo simulation
-------------------------------
1) type "make" in the top directory to compile all the libraries and tools.
2) "./paparazzi" to run the Paparazzi Center
3) Select the "Microjet" aircraft in the upper-left A/C
combo box. Select "sim" from upper-middle "target" combo box. Click
"Build". When the compilation is finished, select "Simulation" from
the upper-right session combo box and click "Execute".
4) In the GCS, wait about 10s for the aircraft to be in the "Holding
point" navigation block. Switch to the "Takeoff" block (lower-left
blue airway button in the strip). Takeoff with the green launch button.
Uploading of the embedded software
----------------------------------
1) Power the flight controller board while it is connected to the PC with
the USB cable.
2) From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
-------------------------------------
1) From the Paparazzi Center, select the flight session and ... do
the same than in simulation !
README.md
+69
View File
@@ -0,0 +1,69 @@
Paparazzi UAS
=============
Paparazzi is an attempt to develop a free software Unmanned (Air) Vehicle System.
As of today the system is being used successfuly by a number of hobyists, universities and companies all over the world, on vehicle of various size ( 100g to 25Kg ) and of various nature ( fixed wing, rotorcrafts, boats and surface vehicles).
Up to date information is available in the wiki http://paparazzi.enac.fr
and from the mailing list [paparazzi-devel@nongnu.org] (http://savannah.nongnu.org/mail/?group=paparazzi)
and the IRC channel (freenode, #paparazzi).
Required Software
-----------------
Installation is described in the wiki (http://paparazzi.enac.fr/wiki/Installation).
For Ubuntu users, required packages are available in the [paparazzi-uav PPA] (https://launchpad.net/~paparazzi-uav/+archive/ppa),
Debian users can use http://paparazzi.enac.fr/debian
- **paparazzi-dev** is the meta-package that depends on everything needed to compile and run the ground segment and the simulator.
- **paparazzi-arm-multilib** ARM cross-compiling toolchain for LPC21 and STM32 based boards.
- **paparazzi-omap** toolchain for the optional Gumstix Overo module available on lisa/L.
- **paparazzi-jsbsim** is needed for using JSBSim as flight dynamic model for the simulator.
Directories quick and dirty description:
----------------------------------------
_conf_: the configuration directory (airframe, radio, ... descriptions).
_data_: where to put read-only data (e.g. maps, terrain elevation files, icons)
_doc_: documentation (diagrams, manual source files, ...)
_sw_: software (onboard, ground station, simulation, ...)
_var_: products of compilation, cache for the map tiles, ...
Compilation and demo simulation
-------------------------------
1. type "make" in the top directory to compile all the libraries and tools.
2. "./paparazzi" to run the Paparazzi Center
3. Select the "Microjet" aircraft in the upper-left A/C combo box.
Select "sim" from upper-middle "target" combo box. Click "Build".
When the compilation is finished, select "Simulation" from
the upper-right session combo box and click "Execute".
4. In the GCS, wait about 10s for the aircraft to be in the "Holding point" navigation block.
Switch to the "Takeoff" block (lower-left blue airway button in the strip).
Takeoff with the green launch button.
Uploading of the embedded software
----------------------------------
1. Power the flight controller board while it is connected to the PC with the USB cable.
2. From the Paparazzi center, select the "ap" target, and click "Upload".
Flight
------
1. From the Paparazzi Center, select the flight session and ... do the same than in simulation !
conf/airframes/ENAC/fixed-wing/twinjet2.xml
+3 -102
View File
@@ -14,10 +14,10 @@
<!--load name="infrared_i2c.xml"/--> <!--load name="infrared_i2c.xml"/-->
<!--load name="max3100.xml"/> <!--load name="max3100.xml"/>
<load name="gsm.xml"/--> <load name="gsm.xml"/-->
<load name="demo_module.xml"> <!--load name="demo_module.xml">
<define name="TEST" value="1"/> <define name="TEST" value="1"/>
<define name="TEST_FLAG"/> <define name="TEST_FLAG"/>
</load> </load-->
<!--load name="enose.xml"/--> <!--load name="enose.xml"/-->
<load name="light.xml"/> <load name="light.xml"/>
<load name="infrared_adc.xml"/> <load name="infrared_adc.xml"/>
@@ -33,7 +33,7 @@
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api"/> <subsystem name="telemetry" type="xbee_api"/>
<subsystem name="control" type="new"/> <subsystem name="control" type="adaptive"/>
<subsystem name="ahrs" type="infrared"/> <subsystem name="ahrs" type="infrared"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox"/>
<subsystem name="navigation"/> <subsystem name="navigation"/>
@@ -217,103 +217,4 @@
<define name="YAW_RESPONSE_FACTOR" value="1."/> <define name="YAW_RESPONSE_FACTOR" value="1."/>
</section> </section>
<!--
<makefile>
CONFIG = \"tiny_2_1_1.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
FLASH_MODE=IAP
ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DSYS_TIME_LED=1
ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += commands.c
########## RC actuators + radio
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
########## Modems
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/xbee.c
#TRANSPARENT
#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
#ap.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/datalink/pprz_transport.c
########## ADC
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
ap.srcs += $(SRC_ARCH)/adc_hw.c
########## GPS
ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
# -DGPS_LED=2
ap.srcs += gps_ubx.c gps.c latlong.c
########## IR sensors
ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN
ap.srcs += infrared.c estimator.c
########## Gyro
#ap.CFLAGS += -DUSE_GYRO -DADXRS150
#ap.srcs += gyro.c
########## Nav
ap.CFLAGS += -DNAV -DAGR_CLIMB -DPITCH_TRIM
ap.srcs += subsystems/nav.c fw_h_ctl_a.c fw_v_ctl_n.c
ap.srcs += subsystems/navigation/nav_survey_rectangle.c
ap.srcs += subsystems/navigation/nav_line.c
########## SPI Master use slave0
ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c
########## Barometer (SPI)
#ap.CFLAGS += -DUSE_BARO_MS5534A
#ap.srcs += $(SRC_ARCH)/baro_MS5534A.c
########## I2C0
ap.CFLAGS += -DUSE_I2C0
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
########## Lights
ap.CFLAGS += -DUSE_LIGHT
ap.srcs += light.c
########## Max3100
ap.CFLAGS += -DMAX3100_BAUD_RATE=MAX3100_B9600
ap.CFLAGS += -DGCS_NUMBER=\"+33640286530\"
ap.CFLAGS += -DUSE_MODULES
# Config for SITL simulation
#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
sim.srcs = latlong.c radio_control.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c mcu_periph/sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
sim.CFLAGS += -DUSE_LIGHT
sim.srcs += light.c
sim.CFLAGS += -DUSE_I2C0
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DUSE_MODULES
</makefile>
-->
</airframe> </airframe>
conf/airframes/ENAC/quadrotor/blender.xml
+15 -27
View File
@@ -1,11 +1,11 @@
<airframe name="Blender"> <airframe name="Blender">
<modules main_freq="512"> <modules main_freq="512">
<load name="booz_pwm.xml"> <!--load name="booz_pwm.xml">
<define name="USE_PWM1"/> <define name="USE_PWM1"/>
</load> </load>
<load name="booz_drop.xml"/> <load name="booz_drop.xml"/>
<load name="booz_cam.xml"/> <load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/--> <!--load name="sonar_maxbotix_booz.xml"/-->
</modules> </modules>
@@ -21,13 +21,13 @@
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/> <subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="asctec"/> <subsystem name="actuators" type="skiron">
<!--subsystem name="actuators" type="mkk"/--> <define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem>
<subsystem name="imu" type="b2_v1.1"/> <subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"> <subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/> <configure name="GPS_BAUD" value="B57600"/>
@@ -47,17 +47,11 @@
</firmware> </firmware>
<servos min="0" neutral="0" max="0xff"> <servos min="0" neutral="0" max="0xff">
<servo name="PITCH" no="0" min="0" neutral="0" max="255"/>
<servo name="ROLL" no="1" min="0" neutral="0" max="255"/>
<servo name="YAW" no="2" min="0" neutral="0" max="255"/>
<servo name="THRUST" no="3" min="0" neutral="0" max="255"/>
</servos>
<!--servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/> <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/> <servo name="BACK" no="2" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/> <servo name="RIGHT" no="1" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/> <servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos--> </servos>
<commands> <commands>
<axis name="PITCH" failsafe_value="0"/> <axis name="PITCH" failsafe_value="0"/>
@@ -66,20 +60,15 @@
<axis name="THRUST" failsafe_value="0"/> <axis name="THRUST" failsafe_value="0"/>
</commands> </commands>
<!--section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_"> <section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
<define name="NB" value="4"/> <define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }"/> <define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
</section--> </section>
<section name="SUPERVISION" prefix="SUPERVISION_"> <section name="SUPERVISION" prefix="SUPERVISION_">
<define name="TRIM_A" value="0"/> <define name="MIN_MOTOR" value="20"/>
<define name="TRIM_E" value="0"/> <define name="MAX_MOTOR" value="255"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_A" value="6"/>
</section>
<!--section name="SUPERVISION" prefix="SUPERVISION_">
<define name="MIN_MOTOR" value="25"/>
<define name="MAX_MOTOR" value="243"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/> <define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/> <define name="TRIM_R" value="0"/>
<define name="NB_MOTOR" value="4"/> <define name="NB_MOTOR" value="4"/>
@@ -88,8 +77,7 @@
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/> <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/> <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/> <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
</section--> </section>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
conf/airframes/ENAC/quadrotor/navgo.xml
+29 -19
View File
@@ -20,7 +20,6 @@
</target> </target>
<target name="sim" board="pc"> <target name="sim" board="pc">
<subsystem name="fdm" type="nps"/> <subsystem name="fdm" type="nps"/>
<!--define name="NPS_NO_SUPERVISION"/-->
</target> </target>
<subsystem name="radio_control" type="ppm"/> <subsystem name="radio_control" type="ppm"/>
@@ -29,11 +28,11 @@
<define name="SKIRON_I2C_SCL_TIME" value="25"/> <define name="SKIRON_I2C_SCL_TIME" value="25"/>
</subsystem> </subsystem>
<subsystem name="imu" type="navgo"/> <subsystem name="imu" type="navgo"/>
<subsystem name="gps" type="ublox"/> <subsystem name="gps" type="ublox">
<subsystem name="stabilization" type="euler"/> <configure name="GPS_BAUD" value="B57600"/>
<subsystem name="ahrs" type="int_cmpl_euler">
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
</subsystem> </subsystem>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_euler"/>
<subsystem name="ins" type="hff"/> <subsystem name="ins" type="hff"/>
</firmware> </firmware>
@@ -72,31 +71,39 @@
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="GYRO_P_NEUTRAL" value="-126"/> <define name="GYRO_P_NEUTRAL" value="10"/>
<define name="GYRO_Q_NEUTRAL" value="-29"/> <define name="GYRO_Q_NEUTRAL" value="-32"/>
<define name="GYRO_R_NEUTRAL" value="-32"/> <define name="GYRO_R_NEUTRAL" value="11"/>
<!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 --> <!-- SENS ITG3200 1/14.375 (deg/s)/LSB, rate frac 12bit => 1/14.375 * pi / 180 * 2^12 -->
<define name="GYRO_P_SENS" value="4.97312" integer="16"/> <define name="GYRO_P_SENS" value="4.97312" integer="16"/>
<define name="GYRO_Q_SENS" value="4.97312" integer="16"/> <define name="GYRO_Q_SENS" value="4.97312" integer="16"/>
<define name="GYRO_R_SENS" value="4.97312" integer="16"/> <define name="GYRO_R_SENS" value="4.97312" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="4"/> <define name="ACCEL_X_NEUTRAL" value="9"/>
<define name="ACCEL_Y_NEUTRAL" value="-17"/> <define name="ACCEL_Y_NEUTRAL" value="14"/>
<define name="ACCEL_Z_NEUTRAL" value="-22"/> <define name="ACCEL_Z_NEUTRAL" value="-16"/>
<!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488--> <!-- SENS ADXL345 16G 31.2 mg/LSB, accel frac 10bit => 31.2 * 2^10 / 1000 = 31.9488-->
<define name="ACCEL_X_SENS" value="38.2816633245" integer="16"/> <define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
<define name="ACCEL_Y_SENS" value="38.7857058923" integer="16"/> <define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/> <define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
<define name="MAG_X_NEUTRAL" value="85"/> <define name="MAG_X_NEUTRAL" value="80"/>
<define name="MAG_Y_NEUTRAL" value="97"/> <define name="MAG_Y_NEUTRAL" value="-271"/>
<define name="MAG_Z_NEUTRAL" value="-43"/> <define name="MAG_Z_NEUTRAL" value="112"/>
<define name="MAG_X_SENS" value="4.44131219218" integer="16"/>
<define name="MAG_Y_SENS" value="4.56234629213" integer="16"/>
<define name="MAG_Z_SENS" value="5.298653926" integer="16"/>
<!--define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value="5.43371021972" integer="16"/> <define name="MAG_X_SENS" value="5.43371021972" integer="16"/>
<define name="MAG_Y_SENS" value="4.8961742578" integer="16"/> <define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
<define name="MAG_Z_SENS" value="5.31527656902" integer="16"/> <define name="MAG_Z_SENS" value="5.31527656902" integer="16"/-->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <!-- -10 --> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <!-- -10 -->
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <!-- -10 --> <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <!-- -10 -->
@@ -124,6 +131,8 @@
<define name="ACCEL_Y_SENS" value="38.7108" integer="16"/> <define name="ACCEL_Y_SENS" value="38.7108" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.6583" integer="16"/> <define name="ACCEL_Z_SENS" value="39.6583" integer="16"/>
<define name="MAG_X_NEUTRAL" value="55"/> <define name="MAG_X_NEUTRAL" value="55"/>
<define name="MAG_Y_NEUTRAL" value="54"/> <define name="MAG_Y_NEUTRAL" value="54"/>
<define name="MAG_Z_NEUTRAL" value="92"/> <define name="MAG_Z_NEUTRAL" value="92"/>
@@ -148,7 +157,8 @@
</section> </section>
<section name="INS" prefix="INS_"> <section name="INS" prefix="INS_">
<define name="BARO_SENS" value="14" integer="16"/> <!-- 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
<define name="BARO_SENS" value="1.156" integer="16"/>
</section> </section>
conf/autopilot/rotorcraft.makefile
+5 -3
View File
@@ -145,9 +145,11 @@ ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), lisa_m) else ifeq ($(BOARD), lisa_m)
ap.CFLAGS += -DUSE_I2C2 ap.CFLAGS += -DUSE_I2C2
else ifeq ($(BOARD), navgo) else ifeq ($(BOARD), navgo)
ap.CFLAGS += -DUSE_I2C1 include $(CFG_ROTORCRAFT)/spi.makefile
ap.CFLAGS += -DADS1114_I2C_DEVICE=i2c1 ap.CFLAGS += -DUSE_SPI_SLAVE0
ap.srcs += peripherals/ads1114.c ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
ap.CFLAGS += -DSPI_MASTER
ap.srcs += peripherals/mcp355x.c
endif endif
ifneq ($(BARO_LED),none) ifneq ($(BARO_LED),none)
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED) ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
conf/autopilot/subsystems/shared/imu_navgo.makefile
+2
View File
@@ -12,10 +12,12 @@ IMU_NAVGO_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
IMU_NAVGO_CFLAGS += -DITG3200_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE) IMU_NAVGO_CFLAGS += -DITG3200_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
IMU_NAVGO_CFLAGS += -DITG3200_I2C_ADDR=ITG3200_ADDR_ALT IMU_NAVGO_CFLAGS += -DITG3200_I2C_ADDR=ITG3200_ADDR_ALT
IMU_NAVGO_CFLAGS += -DITG3200_SMPLRT_DIV=1 IMU_NAVGO_CFLAGS += -DITG3200_SMPLRT_DIV=1
IMU_NAVGO_CFLAGS += -DITG3200_DLFP_CFG=5
IMU_NAVGO_SRCS += peripherals/itg3200.c IMU_NAVGO_SRCS += peripherals/itg3200.c
IMU_NAVGO_CFLAGS += -DADXL345_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE) IMU_NAVGO_CFLAGS += -DADXL345_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
IMU_NAVGO_CFLAGS += -DADXL345_I2C_ADDR=ADXL345_ADDR_ALT IMU_NAVGO_CFLAGS += -DADXL345_I2C_ADDR=ADXL345_ADDR_ALT
IMU_NAVGO_CFLAGS += -DADXL345_BW_RATE=0x8
IMU_NAVGO_SRCS += peripherals/adxl345.i2c.c IMU_NAVGO_SRCS += peripherals/adxl345.i2c.c
IMU_NAVGO_CFLAGS += -DHMC58XX_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE) IMU_NAVGO_CFLAGS += -DHMC58XX_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
sw/airborne/arch/lpc21/mcu_periph/spi_arch.c
+2
View File
@@ -193,7 +193,9 @@ void SPI1_ISR(void) {
} }
if (bit_is_set(SSPMIS, RTMIS)) { /* Rx fifo is not empty and no receive took place in the last 32 bits period */ if (bit_is_set(SSPMIS, RTMIS)) { /* Rx fifo is not empty and no receive took place in the last 32 bits period */
#if !SPI_NO_UNSELECT_SLAVE
SpiUnselectCurrentSlave(); SpiUnselectCurrentSlave();
#endif
SpiReceive(); SpiReceive();
SpiDisableRti(); SpiDisableRti();
SpiClearRti(); /* clear interrupt */ SpiClearRti(); /* clear interrupt */
sw/airborne/boards/navgo/baro_board.c
+12 -26
View File
@@ -27,57 +27,43 @@
#include "subsystems/sensors/baro.h" #include "subsystems/sensors/baro.h"
#include "led.h" #include "led.h"
#include "mcu_periph/spi.h"
/* Common Baro struct */ /* Common Baro struct */
struct Baro baro; struct Baro baro;
/* Number of values to compute an offset at startup */ /* Counter to init mcp355x at startup */
#define OFFSET_NBSAMPLES_AVRG 300 #define STARTUP_COUNTER 200
uint16_t offset_cnt; uint16_t startup_cnt;
#if USE_BARO_AS_ALTIMETER
/* Weight for offset IIR filter */
#define OFFSET_FILTER 7
float baro_alt;
float baro_alt_offset;
#endif
void baro_init( void ) { void baro_init( void ) {
ads1114_init(); mcp355x_init();
SpiSelectSlave0(); // never unselect this slave (continious conversion mode)
baro.status = BS_UNINITIALIZED; baro.status = BS_UNINITIALIZED;
baro.absolute = 0; baro.absolute = 0;
baro.differential = 0; /* not handled on this board */ baro.differential = 0; /* not handled on this board */
#ifdef ROTORCRAFT_BARO_LED #ifdef ROTORCRAFT_BARO_LED
LED_OFF(ROTORCRAFT_BARO_LED); LED_OFF(ROTORCRAFT_BARO_LED);
#endif #endif
offset_cnt = OFFSET_NBSAMPLES_AVRG; startup_cnt = STARTUP_COUNTER;
#if USE_BARO_AS_ALTIMETER
baro_alt = 0.;
baro_alt_offset = 0.;
#endif
} }
void baro_periodic( void ) { void baro_periodic( void ) {
if (baro.status == BS_UNINITIALIZED) { if (baro.status == BS_UNINITIALIZED) {
#if USE_BARO_AS_ALTIMETER // Run some loops to get correct readings from the adc
// IIR filter to compute an initial offset --startup_cnt;
baro_alt_offset = (OFFSET_FILTER * baro_alt_offset + (float)baro.absolute) / (OFFSET_FILTER + 1);
#endif
// decrease init counter
--offset_cnt;
#ifdef ROTORCRAFT_BARO_LED #ifdef ROTORCRAFT_BARO_LED
LED_TOGGLE(ROTORCRAFT_BARO_LED); LED_TOGGLE(ROTORCRAFT_BARO_LED);
#endif #endif
if (offset_cnt == 0) { if (startup_cnt == 0) {
baro.status = BS_RUNNING; baro.status = BS_RUNNING;
#ifdef ROTORCRAFT_BARO_LED #ifdef ROTORCRAFT_BARO_LED
LED_ON(ROTORCRAFT_BARO_LED); LED_ON(ROTORCRAFT_BARO_LED);
#endif #endif
} }
} }
// Read the ADC // Read the ADC (at 50/4 Hz, conversion time is 68 ms)
ads1114_read(); RunOnceEvery(4,mcp355x_read());
} }
sw/airborne/boards/navgo/baro_board.h
+5 -11
View File
@@ -31,22 +31,16 @@
#include "std.h" #include "std.h"
#include "peripherals/ads1114.h" #include "peripherals/mcp355x.h"
#if USE_BARO_AS_ALTIMETER
extern float baro_alt;
extern float baro_alt_offset;
#define BaroAltHandler() { baro_alt = BARO_SENS*(baro_alt_offset - (float)baro.absolute); }
#endif
#define BARO_FILTER_GAIN 5 #define BARO_FILTER_GAIN 5
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \ #define BaroEvent(_b_abs_handler, _b_diff_handler) { \
Ads1114Event(); \ mcp355x_event(); \
if (ads1114_data_available) { \ if (mcp355x_data_available) { \
baro.absolute = (baro.absolute + BARO_FILTER_GAIN*Ads1114GetValue()) / (BARO_FILTER_GAIN+1); \ baro.absolute = (baro.absolute + BARO_FILTER_GAIN*mcp355x_data) / (BARO_FILTER_GAIN+1); \
_b_abs_handler(); \ _b_abs_handler(); \
ads1114_data_available = FALSE; \ mcp355x_data_available = FALSE; \
} \ } \
} }
sw/airborne/boards/navgo/imu_navgo.c
+2 -2
View File
@@ -103,7 +103,7 @@ void imu_navgo_event( void )
// If the itg3200 I2C transaction has succeeded: convert the data // If the itg3200 I2C transaction has succeeded: convert the data
itg3200_event(); itg3200_event();
if (itg3200_data_available) { if (itg3200_data_available) {
RATES_COPY(imu.gyro_unscaled, itg3200_data); RATES_ASSIGN(imu.gyro_unscaled, -itg3200_data.q, itg3200_data.p, itg3200_data.r);
itg3200_data_available = FALSE; itg3200_data_available = FALSE;
gyr_valid = TRUE; gyr_valid = TRUE;
} }
@@ -119,7 +119,7 @@ void imu_navgo_event( void )
// HMC58XX event task // HMC58XX event task
hmc58xx_event(); hmc58xx_event();
if (hmc58xx_data_available) { if (hmc58xx_data_available) {
VECT3_ASSIGN(imu.mag_unscaled, -hmc58xx_data.x, -hmc58xx_data.y, hmc58xx_data.z); VECT3_ASSIGN(imu.mag_unscaled, hmc58xx_data.x, hmc58xx_data.y, hmc58xx_data.z);
hmc58xx_data_available = FALSE; hmc58xx_data_available = FALSE;
mag_valid = TRUE; mag_valid = TRUE;
} }
sw/airborne/boards/navgo_1.0.h
+13 -10
View File
@@ -18,17 +18,17 @@
#define PCLK (CCLK / PBSD_VAL) #define PCLK (CCLK / PBSD_VAL)
/* Onboard LEDs */ /* Onboard LEDs */
#define LED_1_BANK 1 #define LED_1_BANK 0
#define LED_1_PIN 25 #define LED_1_PIN 22
#define LED_2_BANK 1 #define LED_2_BANK 1
#define LED_2_PIN 24 #define LED_2_PIN 28
#define LED_3_BANK 1 #define LED_3_BANK 1
#define LED_3_PIN 23 #define LED_3_PIN 29
#define LED_4_BANK 1 #define LED_4_BANK 1
#define LED_4_PIN 31 #define LED_4_PIN 30
/* PPM : rc rx on P0.28 ( CAP0.2 ) */ /* PPM : rc rx on P0.28 ( CAP0.2 ) */
#define PPM_PINSEL PINSEL1 #define PPM_PINSEL PINSEL1
@@ -45,19 +45,22 @@
/* battery */ /* battery */
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY #ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY AdcBank1(3) #define ADC_CHANNEL_VSUPPLY AdcBank0(2)
#ifndef USE_AD1 #ifndef USE_AD0
#define USE_AD1 #define USE_AD0
#endif #endif
#define USE_AD1_3 #define USE_AD0_2
#endif #endif
#define DefaultVoltageOfAdc(adc) (0.01837*adc) #define DefaultVoltageOfAdc(adc) (0.017889*adc)
/* SPI (SSP) */ /* SPI (SSP) */
#define SPI_SELECT_SLAVE0_PORT 0 #define SPI_SELECT_SLAVE0_PORT 0
#define SPI_SELECT_SLAVE0_PIN 20 #define SPI_SELECT_SLAVE0_PIN 20
//#define SPI_SELECT_SLAVE1_PORT 1
//#define SPI_SELECT_SLAVE1_PIN 19
#define SPI1_DRDY_PINSEL PINSEL1 #define SPI1_DRDY_PINSEL PINSEL1
#define SPI1_DRDY_PINSEL_BIT 0 #define SPI1_DRDY_PINSEL_BIT 0
#define SPI1_DRDY_PINSEL_VAL 1 #define SPI1_DRDY_PINSEL_VAL 1
sw/airborne/math/Makefile
+47
View File
@@ -0,0 +1,47 @@
# Build shared pprz math library
#
CC= gcc
CFLAGS= -fpic
INCLUDES= -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/sw/airborne
# build in ../../../var/build/math
ifndef BUILDDIR
BUILDDIR=../../../var/build/math
endif
ifndef PREFIX
PREFIX=/usr
endif
LIB_INSTALLDIR=${PREFIX}/lib
INCLUDE_INSTALLDIR=${PREFIX}/include/pprz
PKGCONFIG_INSTALLDIR=${PREFIX}/lib/pkgconfig
PKGCONFIG_FILE=pprzmath.pc
SRC= $(wildcard *.c)
OBJ= $(addprefix $(BUILDDIR)/,$(SRC:.c=.o))
LIBNAME=libpprzmath
all:
@cat README
shared_lib: $(OBJ)
$(CC) -shared -o $(BUILDDIR)/$(LIBNAME).so $(OBJ)
install_shared_lib: shared_lib
test -d $(LIB_INSTALLDIR) || mkdir -p $(LIB_INSTALLDIR)
cp $(BUILDDIR)/$(LIBNAME).so $(LIB_INSTALLDIR)
test -d $(INCLUDE_INSTALLDIR)/math || mkdir -p $(INCLUDE_INSTALLDIR)/math
cp *.h $(INCLUDE_INSTALLDIR)/math
cp ../../include/std.h $(INCLUDE_INSTALLDIR)
test -d $(PKGCONFIG_INSTALLDIR) || mkdir -p $(PKGCONFIG_INSTALLDIR)
sed -e 's#PREFIX#$(PREFIX)#g' $(PKGCONFIG_FILE).in > $(PKGCONFIG_INSTALLDIR)/$(PKGCONFIG_FILE)
$(BUILDDIR)/%.o: %.c
test -d $(BUILDDIR) || mkdir -p $(BUILDDIR)
$(CC) -c $< $(CFLAGS) $(INCLUDES) -o $@
clean:
rm -f $(BUILDDIR)/*.o $(BUILDDIR)/$(LIBNAME).so
sw/airborne/math/README
+34
View File
@@ -0,0 +1,34 @@
Math lib used in all airborne code of paparazzi
HOWTO install a shared library to use in other projects
1. Build library: in this folder, type
make shared_lib
the default build directory is var/build/math
to change it: BUILDDIR=<your_build_dir> make shared_lib
2. Install library: in this folder, type
make install_shared_lib
the default install dir is /usr
and will install files in
/usr/lib
/usr/lib/pkgconfig
/usr/include/pprz
to change the install dir: PREFIX=<your_install_dir> make install_shared_lib
note that the default install dir needs root privilege
HOWTO use the shared library
1. with pkg-config --cflags --libs
2. by hand:
LIBS: -L<prefix>/lib -lpprzmath
CFLAGS: -I<prefix>/include/pprz
"make clean" will only clean the build directory
sw/airborne/math/pprzmath.pc.in
+9
View File
@@ -0,0 +1,9 @@
prefix=PREFIX
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${exec_prefix}/include
Name: pprzmath
Description: math library used in Paparazzi project (http://paparazzi.enac.fr)
Version:0.1
Libs: -L${libdir} -lpprzmath
Cflags: -I${includedir}/pprz
sw/airborne/peripherals/mcp355x.c
+2 -14
View File
@@ -41,32 +41,20 @@ void mcp355x_init(void) {
void mcp355x_read(void) { void mcp355x_read(void) {
spi_buffer_length = 4; spi_buffer_length = 4;
spi_buffer_input = mcp355x_spi_buf; spi_buffer_input = mcp355x_spi_buf;
SpiSelectSlave0(); //SpiSelectSlave0();
SpiStart(); SpiStart();
} }
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
void mcp355x_event(void) { void mcp355x_event(void) {
static uint32_t filtered = 0;
if (spi_message_received) { if (spi_message_received) {
spi_message_received = FALSE; spi_message_received = FALSE;
if ((mcp355x_spi_buf[0]>>4) == 0) { if ((mcp355x_spi_buf[0]>>4) == 0) {
//mcp355x_data = (int32_t)(((uint32_t)mcp355x_spi_buf[0]<<16) | ((uint32_t)mcp355x_spi_buf[1]<<8) | (mcp355x_spi_buf[2]));
mcp355x_data = (int32_t)( mcp355x_data = (int32_t)(
((uint32_t)mcp355x_spi_buf[0]<<17) | ((uint32_t)mcp355x_spi_buf[0]<<17) |
((uint32_t)mcp355x_spi_buf[1]<<9) | ((uint32_t)mcp355x_spi_buf[1]<<9) |
((uint32_t)mcp355x_spi_buf[2]<<1) | ((uint32_t)mcp355x_spi_buf[2]<<1) |
(mcp355x_spi_buf[3]>>7)); (mcp355x_spi_buf[3]>>7));
filtered = (5*filtered + mcp355x_data) / (6); mcp355x_data_available = TRUE;
DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,4,mcp355x_spi_buf);
DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice,&mcp355x_data,&filtered);
} }
} }
} }
sw/lib/ocaml/mapTrack.ml
+6 -3
View File
@@ -75,13 +75,14 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
(** rectangle representing the field covered by the cam *) (** rectangle representing the field covered by the cam *)
let _ac_cam_targeted = let _ac_cam_targeted =
ignore ( GnoCanvas.ellipse ~x1: (-. 2.5) ~y1: (-. 2.5 ) ~x2: 2.5 ~y2: 2.5 ~fill_color:color ~props:[`WIDTH_UNITS 1.; `OUTLINE_COLOR color; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] cam) in ignore ( GnoCanvas.ellipse ~x1: (-. 2.5) ~y1: (-. 2.5 ) ~x2: 2.5 ~y2: 2.5 ~fill_color:color ~props:[`WIDTH_UNITS 1.; `OUTLINE_COLOR color; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] cam) in
let _ = cam#hide () in
let mission_target = GnoCanvas.group group in let mission_target = GnoCanvas.group group in
(** red circle : target of the mission *) (** red circle : target of the mission *)
let ac_mission_target = let _ac_mission_target =
GnoCanvas.ellipse ~x1: (-5.) ~y1: (-5.) ~x2: 5. ~y2: 5. ~fill_color:"red" ~props:[`WIDTH_UNITS 1.; `OUTLINE_COLOR "red"; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] mission_target in ignore ( GnoCanvas.ellipse ~x1: (-5.) ~y1: (-5.) ~x2: 5. ~y2: 5. ~fill_color:"red" ~props:[`WIDTH_UNITS 1.; `OUTLINE_COLOR "red"; `FILL_STIPPLE (Gdk.Bitmap.create_from_data ~width:2 ~height:2 "\002\001")] mission_target) in
let _ = ac_mission_target#hide () in let _ = mission_target#hide () in
(** data at map scale *) (** data at map scale *)
let max_cam_half_height_scaled = 10000.0 in let max_cam_half_height_scaled = 10000.0 in
@@ -92,6 +93,8 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
let _desired_circle = GnoCanvas.ellipse group let _desired_circle = GnoCanvas.ellipse group
and _desired_segment = GnoCanvas.line group in and _desired_segment = GnoCanvas.line group in
let _ = aircraft#raise_to_top () in
object (self) object (self)
val mutable top = 0 val mutable top = 0
val mutable color = color val mutable color = color
sw/logalizer/plotter.ml
+187 -177
View File
@@ -80,6 +80,7 @@ type status =
class plot = fun ~size ~width ~height ~packing () -> class plot = fun ~size ~width ~height ~packing () ->
let curves = Hashtbl.create 3 in let curves = Hashtbl.create 3 in
let bindings = Hashtbl.create 3 in
object (self) object (self)
inherit Gtk_tools.pixmap_in_drawin_area ~width ~height ~packing () as pm inherit Gtk_tools.pixmap_in_drawin_area ~width ~height ~packing () as pm
@@ -119,184 +120,189 @@ class plot = fun ~size ~width ~height ~packing () ->
method reset () = method reset () =
if auto_scale then begin if auto_scale then begin
min <- max_float; min <- max_float;
max <- -. max_float max <- -. max_float
end; end;
Hashtbl.iter (fun _ a -> Hashtbl.iter (fun _ a ->
a.index <- 0; a.index <- 0;
a.average#set_value 0.; a.average#set_value 0.;
a.stdev#set_value 0.; a.stdev#set_value 0.;
for i = 0 to Array.length a.array - 1 do a.array.(i) <- None done) for i = 0 to Array.length a.array - 1 do a.array.(i) <- None done)
curves curves
method set_size = fun new_size -> method set_size = fun new_size ->
if new_size <> size && new_size > 0 then begin if new_size <> size && new_size > 0 then begin
Hashtbl.iter (fun _ a -> Hashtbl.iter (fun _ a ->
let new_array = Array.create new_size None in let new_array = Array.create new_size None in
for i = 0 to Pervasives.min size new_size - 1 do for i = 0 to Pervasives.min size new_size - 1 do
new_array.(new_size - 1 - i) <- a.array.((a.index-i+size) mod size) new_array.(new_size - 1 - i) <- a.array.((a.index-i+size) mod size)
done; done;
a.array <- new_array; a.array <- new_array;
a.index <- new_size - 1) a.index <- new_size - 1)
curves; curves;
size <- new_size size <- new_size
end end
method create_curve = fun (name:string) -> method create_curve = fun (name:string) binding ->
let color = colors.(color_index) in let color = colors.(color_index) in
let values = create_values size color in let values = create_values size color in
color_index <- (color_index+1) mod Array.length colors; color_index <- (color_index+1) mod Array.length colors;
Hashtbl.add curves name values; Hashtbl.add curves name values;
Hashtbl.add bindings name binding;
values values
method delete_curve = fun name -> method delete_curve = fun name ->
Hashtbl.remove curves name Hashtbl.remove curves name;
try (* this try should not be needed *)
let binding = Hashtbl.find bindings name in
Ivy.unbind binding;
Hashtbl.remove bindings name
with _ -> ()
method add_value = fun name v -> method add_value = fun name v ->
if status <> Stop then if status <> Stop then
let a = Hashtbl.find curves name in let a = Hashtbl.find curves name in
a.array.(a.index) <- Some v; a.array.(a.index) <- Some v;
if auto_scale then begin if auto_scale then begin
min <- Pervasives.min min v; min <- Pervasives.min min v;
max <- Pervasives.max max v max <- Pervasives.max max v
end end
method reset_scale = fun () -> method reset_scale = fun () ->
min <- max_float; min <- max_float;
max <- -. max_float; max <- -. max_float;
Hashtbl.iter (* for all curves *) Hashtbl.iter (* for all curves *)
(fun name a -> (fun name a ->
Array.iter (* for all values *) Array.iter (* for all values *)
(function (function
None -> () None -> ()
| Some v -> | Some v ->
min <- Pervasives.min min v; min <- Pervasives.min min v;
max <- Pervasives.max max v) max <- Pervasives.max max v)
a.array) a.array)
curves curves
method shift = fun () -> method shift = fun () ->
Hashtbl.iter Hashtbl.iter
(fun _ a -> (fun _ a ->
(* Shift *) (* Shift *)
a.index <- (a.index + 1) mod (Array.length a.array); a.index <- (a.index + 1) mod (Array.length a.array);
a.array.(a.index) <- None) a.array.(a.index) <- None)
curves curves
method update_curves = fun () -> method update_curves = fun () ->
if Hashtbl.length curves > 0 then if Hashtbl.length curves > 0 then
try try
if status <> Stop then if status <> Stop then
self#shift (); self#shift ();
if status <> Suspend then if status <> Suspend then
let da = pm#drawing_area in let da = pm#drawing_area in
let {Gtk.width=width; height=height} = da#misc#allocation in let {Gtk.width=width; height=height} = da#misc#allocation in
let dr = pm#get_pixmap () in let dr = pm#get_pixmap () in
dr#set_foreground (`NAME "white"); dr#set_foreground (`NAME "white");
dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true (); dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
let margin = Pervasives.min (height / 10) 20 in let margin = Pervasives.min (height / 10) 20 in
(* Time Graduations *) (* Time Graduations *)
let context = da#misc#create_pango_context in let context = da#misc#create_pango_context in
context#set_font_by_name ("sans " ^ string_of_int (margin/2)); context#set_font_by_name ("sans " ^ string_of_int (margin/2));
let layout = context#create_layout in let layout = context#create_layout in
Pango.Layout.set_text layout "X"; Pango.Layout.set_text layout "X";
let (_, h) = Pango.Layout.get_pixel_size layout in let (_, h) = Pango.Layout.get_pixel_size layout in
let f = fun x y s -> let f = fun x y s ->
Pango.Layout.set_text layout s; Pango.Layout.set_text layout s;
let (w, h) = Pango.Layout.get_pixel_size layout in let (w, h) = Pango.Layout.get_pixel_size layout in
dr#put_layout ~x ~y:(y-h/2) ~fore:`BLACK layout in dr#put_layout ~x ~y:(y-h/2) ~fore:`BLACK layout in
let t = dt *. float size in let t = dt *. float size in
f (width-width/size) (height-h/2) "0"; f (width-width/size) (height-h/2) "0";
f (width/2) (height-h/2) (Printf.sprintf "-%.1fs" (t/.2.)); f (width/2) (height-h/2) (Printf.sprintf "-%.1fs" (t/.2.));
f 0 (height-h/2) (Printf.sprintf "-%.1fs" t); f 0 (height-h/2) (Printf.sprintf "-%.1fs" t);
(* Y graduations *) (* Y graduations *)
let (min, max) = let (min, max) =
if max > min then (min, max) if max > min then (min, max)
else let d = abs_float max /. 10. in (max -. d, max +. d) in else let d = abs_float max /. 10. in (max -. d, max +. d) in
let delta = max -. min in let delta = max -. min in
let dy = float (height-2*margin) /. delta in let dy = float (height-2*margin) /. delta in
let y = fun v -> let y = fun v ->
height - margin - truncate ((v-.min)*.dy) in height - margin - truncate ((v-.min)*.dy) in
let scale = log delta /. log 10. in let scale = log delta /. log 10. in
let d = 10. ** floor scale in let d = 10. ** floor scale in
let u = let u =
if delta < 2.*.d then d/.5. if delta < 2.*.d then d/.5.
else if delta < 5.*.d then d/.2. else if delta < 5.*.d then d/.2.
else d in else d in
let tick_min = min -. mod_float min u in let tick_min = min -. mod_float min u in
for i = 0 to truncate (delta/.u) + 1 do for i = 0 to truncate (delta/.u) + 1 do
let tick = tick_min +. float i *. u in let tick = tick_min +. float i *. u in
f 0 (y tick) (Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick) f 0 (y tick) (Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick)
done; done;
(* Constants *) (* Constants *)
List.iter (fun v -> List.iter (fun v ->
dr#set_foreground (`NAME "black"); dr#set_foreground (`NAME "black");
dr#lines [(0, y v); (width-width/size, y v)]) dr#lines [(0, y v); (width-width/size, y v)])
csts; csts;
let margin = 3 in let margin = 3 in
let title_y = ref margin in let title_y = ref margin in
Hashtbl.iter Hashtbl.iter (fun title a ->
(fun title a -> (* Draw and compute average and stdev*)
(* Draw and compute average and stdev*) let curve = ref []
let curve = ref [] and sum = ref 0. and sum_squares = ref 0.
and sum = ref 0. and sum_squares = ref 0. and n = ref 0 in
and n = ref 0 in assert (size = Array.length a.array);
assert (size = Array.length a.array); let last_value = ref None in
let last_value = ref None in for i = 0 to size - 1 do
for i = 0 to size - 1 do let i' = (i+a.index) mod size in
let i' = (i+a.index) mod size in match a.array.(i') with
match a.array.(i') with None -> ()
None -> () | Some v ->
| Some v -> incr n;
incr n; sum := !sum +. v;
sum := !sum +. v; sum_squares := !sum_squares +. v *. v;
sum_squares := !sum_squares +. v *. v; let x = (i * width) / size in
let x = (i * width) / size in begin
begin match !last_value with
match !last_value with Some lv when a.discrete ->
Some lv when a.discrete -> curve := (x, y lv) :: !curve
curve := (x, y lv) :: !curve | _ -> ()
| _ -> () end;
end; curve := (x, y v) :: !curve;
curve := (x, y v) :: !curve; last_value := Some v
last_value := Some v done;
done; if !curve <> [] then begin
if !curve <> [] then begin dr#set_foreground (`NAME a.color);
dr#set_foreground (`NAME a.color); dr#lines !curve;
dr#lines !curve; end;
end; let fn = float !n in
let fn = float !n in let avg = !sum /. fn in
let avg = !sum /. fn in let stdev = sqrt ((!sum_squares -. fn *. avg *. avg) /. fn) in
let stdev = sqrt ((!sum_squares -. fn *. avg *. avg) /. fn) in set_float_value a.average avg;
set_float_value a.average avg; set_float_value a.stdev stdev;
set_float_value a.stdev stdev;
(* Title *) (* Title *)
Pango.Layout.set_text layout title; Pango.Layout.set_text layout title;
let (w, h) = Pango.Layout.get_pixel_size layout in let (w, h) = Pango.Layout.get_pixel_size layout in
dr#rectangle ~x:(width-h-margin) ~y:!title_y ~width:h ~height:h ~filled:true (); dr#rectangle ~x:(width-h-margin) ~y:!title_y ~width:h ~height:h ~filled:true ();
dr#set_foreground `BLACK; dr#set_foreground `BLACK;
dr#put_layout ~x:(width-2*margin-w-h) ~y:(!title_y) layout; dr#put_layout ~x:(width-2*margin-w-h) ~y:(!title_y) layout;
title_y := !title_y + h + margin) title_y := !title_y + h + margin)
curves; curves;
pm#redraw () pm#redraw ()
with with
exc -> exc ->
prerr_endline (Printexc.to_string exc) prerr_endline (Printexc.to_string exc)
method stop_timer = fun () -> method stop_timer = fun () ->
match timer with match timer with
None -> () None -> ()
| Some t -> GMain.Timeout.remove t | Some t -> GMain.Timeout.remove t
method set_update_time = fun delay -> method set_update_time = fun delay ->
@@ -306,7 +312,7 @@ class plot = fun ~size ~width ~height ~packing () ->
method button_press = fun ev -> method button_press = fun ev ->
match GdkEvent.Button.button ev with match GdkEvent.Button.button ev with
3 -> self#reset_scale (); true 3 -> self#reset_scale (); true
| _ -> false | _ -> false
initializer ignore (self#drawing_area#event#add [`BUTTON_PRESS]) initializer ignore (self#drawing_area#event#add [`BUTTON_PRESS])
@@ -327,7 +333,7 @@ let base_and_index =
fun field_descr -> fun field_descr ->
if Str.string_match field_regexp field_descr 0 then if Str.string_match field_regexp field_descr 0 then
( Str.matched_group 1 field_descr, ( Str.matched_group 1 field_descr,
int_of_string (Str.matched_group 2 field_descr)) int_of_string (Str.matched_group 2 field_descr))
else else
(field_descr, 0) (field_descr, 0)
@@ -339,26 +345,32 @@ let rec plot_window = fun window ->
(* Register the window *) (* Register the window *)
let oid = plotter#get_oid in let oid = plotter#get_oid in
Hashtbl.add windows oid (); Hashtbl.add windows oid [];
ignore (plotter#parse_geometry window.geometry); ignore (plotter#parse_geometry window.geometry);
plotter#set_icon (Some (GdkPixbuf.from_file Env.icon_file)); plotter#set_icon (Some (GdkPixbuf.from_file Env.icon_file));
let vbox = GPack.vbox ~packing:plotter#add () in let vbox = GPack.vbox ~packing:plotter#add () in
let quit = fun () -> GMain.Main.quit (); exit 0 in
let close = fun () ->
plotter#destroy ();
Hashtbl.remove windows oid;
if Hashtbl.length windows = 0 then
quit () in
let tooltips = GData.tooltips () in
let menubar = GMenu.menu_bar ~packing:vbox#pack () in let menubar = GMenu.menu_bar ~packing:vbox#pack () in
let factory = new GMenu.factory menubar in let factory = new GMenu.factory menubar in
let accel_group = factory#accel_group in let accel_group = factory#accel_group in
let file_menu = factory#add_submenu "Plot" in let file_menu = factory#add_submenu "Plot" in
let file_menu_fact = new GMenu.factory file_menu ~accel_group in let file_menu_fact = new GMenu.factory file_menu ~accel_group in
let h = GPack.hbox ~packing:vbox#pack () in
let curves_menu = factory#add_submenu "Curves" in
let curves_menu_fact = new GMenu.factory curves_menu in
let tooltips = GData.tooltips () in
let width = 900 and height = 200 in
let plot = new plot ~size: !size ~width ~height ~packing:(vbox#pack ~expand:true) () in
let quit = fun () -> GMain.Main.quit (); exit 0 in
let close = fun () ->
List.iter (fun c -> plot#delete_curve c) (Hashtbl.find windows oid);
plotter#destroy ();
Hashtbl.remove windows oid;
if Hashtbl.length windows = 0 then
quit () in
ignore (file_menu_fact#add_item "New" ~key:GdkKeysyms._N ~callback:(fun () -> plot_window {window with curves=[]})); ignore (file_menu_fact#add_item "New" ~key:GdkKeysyms._N ~callback:(fun () -> plot_window {window with curves=[]}));
@@ -369,18 +381,12 @@ let rec plot_window = fun window ->
ignore (file_menu_fact#add_separator ()); ignore (file_menu_fact#add_separator ());
ignore (file_menu_fact#add_item "Close" ~key:GdkKeysyms._W ~callback:close); ignore (file_menu_fact#add_item "Close" ~key:GdkKeysyms._W ~callback:close);
ignore (file_menu_fact#add_item "Quit" ~key:GdkKeysyms._Q ~callback:quit); ignore (file_menu_fact#add_item "Quit" ~key:GdkKeysyms._Q ~callback:quit);
let curves_menu = factory#add_submenu "Curves" in
let curves_menu_fact = new GMenu.factory curves_menu in
tooltips#set_tip reset_item#coerce ~text:"Reset the current display and the current data"; tooltips#set_tip reset_item#coerce ~text:"Reset the current display and the current data";
tooltips#set_tip curves_menu#coerce ~text:"Delete the curve"; tooltips#set_tip curves_menu#coerce ~text:"Delete the curve";
tooltips#set_tip suspend_item#coerce ~text:"Freeze the display while the data are still updated"; tooltips#set_tip suspend_item#coerce ~text:"Freeze the display while the data are still updated";
tooltips#set_tip stop_item#coerce ~text:"Freeze the data update while the display is active (e.g. resizable)"; tooltips#set_tip stop_item#coerce ~text:"Freeze the data update while the display is active (e.g. resizable)";
tooltips#set_tip start_item#coerce ~text:"UnFreeze"; tooltips#set_tip start_item#coerce ~text:"UnFreeze";
let h = GPack.hbox ~packing:vbox#pack () in
let width = 900 and height = 200 in
let plot = new plot ~size: !size ~width ~height ~packing:(vbox#pack ~expand:true) () in
tooltips#set_tip plot#drawing_area#coerce ~text:"Drop a messages field here to draw it"; tooltips#set_tip plot#drawing_area#coerce ~text:"Drop a messages field here to draw it";
ignore (plotter#connect#destroy ~callback:close); ignore (plotter#connect#destroy ~callback:close);
@@ -448,8 +454,7 @@ let rec plot_window = fun window ->
(* Delete *) (* Delete *)
let delete_item = submenu_fact#add_item "Delete" in let delete_item = submenu_fact#add_item "Delete" in
let delete = fun () -> let delete = fun () ->
plot#delete_curve name; plot#delete_curve name;
Ivy.unbind binding;
curves_menu#remove (curve_item :> GMenu.menu_item) in curves_menu#remove (curve_item :> GMenu.menu_item) in
ignore (delete_item#connect#activate ~callback:delete); ignore (delete_item#connect#activate ~callback:delete);
@@ -471,7 +476,8 @@ let rec plot_window = fun window ->
let _item = submenu_fact#add_image_item ~image:stdev_value#coerce ~label:"Stdev" () in let _item = submenu_fact#add_image_item ~image:stdev_value#coerce ~label:"Stdev" () in
let update_stdev_value = fun () -> let update_stdev_value = fun () ->
stdev_value#set_text (sprintf "%.6f" curve.stdev#value) in stdev_value#set_text (sprintf "%.6f" curve.stdev#value) in
ignore (curve.stdev#connect#value_changed update_stdev_value) in ignore (curve.stdev#connect#value_changed update_stdev_value)
in
let add_curve = fun ?(factor=(1.,0.)) name -> let add_curve = fun ?(factor=(1.,0.)) name ->
let (a, b) = factor in let (a, b) = factor in
@@ -482,10 +488,9 @@ let rec plot_window = fun window ->
let cb = fun _sender values -> let cb = fun _sender values ->
let (field_name, index) = base_and_index field_descr in let (field_name, index) = base_and_index field_descr in
let value = let value =
match Pprz.assoc field_name values with match Pprz.assoc field_name values with
Pprz.Array array -> Pprz.Array array -> array.(index)
array.(index) | scalar -> scalar in
| scalar -> scalar in
let float = pprz_float value in let float = pprz_float value in
let v = float *. a +. b in let v = float *. a +. b in
plot#add_value name v in plot#add_value name v in
@@ -493,30 +498,35 @@ let rec plot_window = fun window ->
let module P = Pprz.Messages (struct let name = class_name end) in let module P = Pprz.Messages (struct let name = class_name end) in
let binding = let binding =
if sender = "*" then if sender = "*" then
P.message_bind msg_name cb P.message_bind msg_name cb
else else
P.message_bind ~sender msg_name cb in P.message_bind ~sender msg_name cb in
let curve = plot#create_curve name in let curve = plot#create_curve name binding in
insert_in_menu curve name binding in insert_in_menu curve name binding;
(* store name of the curves associated to a window correct closing *)
let curves_name = Hashtbl.find windows oid in
Hashtbl.replace windows oid (curves_name @ [name])
in
(* Drag and drop handler *) (* Drag and drop handler *)
let data_received = fun context ~x ~y data ~info ~time -> let data_received = fun context ~x ~y data ~info ~time ->
let factor = Ocaml_tools.affine_transform factor#text in let factor = Ocaml_tools.affine_transform factor#text in
try try
let name = data#data in let name = data#data in
add_curve ~factor name add_curve ~factor name
with with
exc -> prerr_endline (Printexc.to_string exc) exc -> prerr_endline (Printexc.to_string exc)
in in
plotter#drag#dest_set dnd_targets ~actions:[`COPY]; plotter#drag#dest_set dnd_targets ~actions:[`COPY];
ignore (plotter#drag#connect#data_received ~callback:(data_received)); ignore (plotter#drag#connect#data_received ~callback:(data_received));
(* Init curves *) (* Init curves *)
List.iter add_curve window.curves; List.iter add_curve window.curves;
plotter#add_accel_group accel_group; plotter#add_accel_group accel_group;
plotter#show () plotter#show ()