mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Merge branch 'master' into dev
* merged the baro board stuff for navgo * still needs to be fixed for the new spi transactions
This commit is contained in:
Felix Ruess
@@ -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 !
|
||||
@@ -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 !
|
||||
@@ -14,10 +14,10 @@
|
||||
<!--load name="infrared_i2c.xml"/-->
|
||||
<!--load name="max3100.xml"/>
|
||||
<load name="gsm.xml"/-->
|
||||
<load name="demo_module.xml">
|
||||
<!--load name="demo_module.xml">
|
||||
<define name="TEST" value="1"/>
|
||||
<define name="TEST_FLAG"/>
|
||||
</load>
|
||||
</load-->
|
||||
<!--load name="enose.xml"/-->
|
||||
<load name="light.xml"/>
|
||||
<load name="infrared_adc.xml"/>
|
||||
@@ -33,7 +33,7 @@
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="xbee_api"/>
|
||||
<subsystem name="control" type="new"/>
|
||||
<subsystem name="control" type="adaptive"/>
|
||||
<subsystem name="ahrs" type="infrared"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="navigation"/>
|
||||
@@ -217,103 +217,4 @@
|
||||
<define name="YAW_RESPONSE_FACTOR" value="1."/>
|
||||
</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>
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
<airframe name="Blender">
|
||||
|
||||
<modules main_freq="512">
|
||||
<load name="booz_pwm.xml">
|
||||
<!--load name="booz_pwm.xml">
|
||||
<define name="USE_PWM1"/>
|
||||
</load>
|
||||
<load name="booz_drop.xml"/>
|
||||
<load name="booz_cam.xml"/>
|
||||
<load name="booz_cam.xml"/-->
|
||||
<!--load name="sonar_maxbotix_booz.xml"/-->
|
||||
</modules>
|
||||
|
||||
@@ -21,13 +21,13 @@
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
<!--define name="NPS_NO_SUPERVISION"/-->
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
<subsystem name="telemetry" type="transparent"/>
|
||||
<subsystem name="actuators" type="asctec"/>
|
||||
<!--subsystem name="actuators" type="mkk"/-->
|
||||
<subsystem name="actuators" type="skiron">
|
||||
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
|
||||
</subsystem>
|
||||
<subsystem name="imu" type="b2_v1.1"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
@@ -47,17 +47,11 @@
|
||||
</firmware>
|
||||
|
||||
<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="BACK" no="1" min="0" neutral="0" max="255"/>
|
||||
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
|
||||
<servo name="BACK" 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"/>
|
||||
</servos-->
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
@@ -66,20 +60,15 @@
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<!--section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
|
||||
<section name="ACTUATORS_SKIRON" prefix="ACTUATORS_SKIRON_">
|
||||
<define name="NB" value="4"/>
|
||||
<define name="ADDR" value="{ 0x52, 0x56, 0x54, 0x58 }"/>
|
||||
</section-->
|
||||
<define name="IDX" value="{ SERVO_FRONT, SERVO_BACK, SERVO_RIGHT, SERVO_LEFT }"/>
|
||||
</section>
|
||||
|
||||
<section name="SUPERVISION" prefix="SUPERVISION_">
|
||||
<define name="TRIM_A" value="0"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
</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="MIN_MOTOR" value="20"/>
|
||||
<define name="MAX_MOTOR" value="255"/>
|
||||
<define name="TRIM_A" value="6"/>
|
||||
<define name="TRIM_E" value="0"/>
|
||||
<define name="TRIM_R" value="0"/>
|
||||
<define name="NB_MOTOR" value="4"/>
|
||||
@@ -88,8 +77,7 @@
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
|
||||
</section-->
|
||||
|
||||
</section>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
</target>
|
||||
<target name="sim" board="pc">
|
||||
<subsystem name="fdm" type="nps"/>
|
||||
<!--define name="NPS_NO_SUPERVISION"/-->
|
||||
</target>
|
||||
|
||||
<subsystem name="radio_control" type="ppm"/>
|
||||
@@ -29,11 +28,11 @@
|
||||
<define name="SKIRON_I2C_SCL_TIME" value="25"/>
|
||||
</subsystem>
|
||||
<subsystem name="imu" type="navgo"/>
|
||||
<subsystem name="gps" type="ublox"/>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler">
|
||||
<define name="LOW_NOISE_THRESHOLD" value="50000"/>
|
||||
<subsystem name="gps" type="ublox">
|
||||
<configure name="GPS_BAUD" value="B57600"/>
|
||||
</subsystem>
|
||||
<subsystem name="stabilization" type="euler"/>
|
||||
<subsystem name="ahrs" type="int_cmpl_euler"/>
|
||||
<subsystem name="ins" type="hff"/>
|
||||
</firmware>
|
||||
|
||||
@@ -72,31 +71,39 @@
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<define name="GYRO_P_NEUTRAL" value="-126"/>
|
||||
<define name="GYRO_Q_NEUTRAL" value="-29"/>
|
||||
<define name="GYRO_R_NEUTRAL" value="-32"/>
|
||||
<define name="GYRO_P_NEUTRAL" value="10"/>
|
||||
<define name="GYRO_Q_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 -->
|
||||
<define name="GYRO_P_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="ACCEL_X_NEUTRAL" value="4"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="-17"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-22"/>
|
||||
<define name="ACCEL_X_NEUTRAL" value="9"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="14"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-16"/>
|
||||
|
||||
<!-- 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_Y_SENS" value="38.7857058923" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.7459254023" integer="16"/>
|
||||
<define name="ACCEL_X_SENS" value="38.5866088465" integer="16"/>
|
||||
<define name="ACCEL_Y_SENS" value="38.7212932023" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.403098907" integer="16"/>
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="85"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="97"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="-43"/>
|
||||
<define name="MAG_X_NEUTRAL" value="80"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-271"/>
|
||||
<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_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_THETA" value="0." unit="deg"/> <!-- -10 -->
|
||||
@@ -124,6 +131,8 @@
|
||||
<define name="ACCEL_Y_SENS" value="38.7108" integer="16"/>
|
||||
<define name="ACCEL_Z_SENS" value="39.6583" integer="16"/>
|
||||
|
||||
|
||||
|
||||
<define name="MAG_X_NEUTRAL" value="55"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="54"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="92"/>
|
||||
@@ -148,7 +157,8 @@
|
||||
</section>
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
|
||||
@@ -145,9 +145,11 @@ ap.CFLAGS += -DUSE_I2C2
|
||||
else ifeq ($(BOARD), lisa_m)
|
||||
ap.CFLAGS += -DUSE_I2C2
|
||||
else ifeq ($(BOARD), navgo)
|
||||
ap.CFLAGS += -DUSE_I2C1
|
||||
ap.CFLAGS += -DADS1114_I2C_DEVICE=i2c1
|
||||
ap.srcs += peripherals/ads1114.c
|
||||
include $(CFG_ROTORCRAFT)/spi.makefile
|
||||
ap.CFLAGS += -DUSE_SPI_SLAVE0
|
||||
ap.CFLAGS += -DSPI_NO_UNSELECT_SLAVE
|
||||
ap.CFLAGS += -DSPI_MASTER
|
||||
ap.srcs += peripherals/mcp355x.c
|
||||
endif
|
||||
ifneq ($(BARO_LED),none)
|
||||
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
|
||||
|
||||
@@ -12,10 +12,12 @@ IMU_NAVGO_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=25 -DI2C1_SCLH=25
|
||||
IMU_NAVGO_CFLAGS += -DITG3200_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
|
||||
IMU_NAVGO_CFLAGS += -DITG3200_I2C_ADDR=ITG3200_ADDR_ALT
|
||||
IMU_NAVGO_CFLAGS += -DITG3200_SMPLRT_DIV=1
|
||||
IMU_NAVGO_CFLAGS += -DITG3200_DLFP_CFG=5
|
||||
IMU_NAVGO_SRCS += peripherals/itg3200.c
|
||||
|
||||
IMU_NAVGO_CFLAGS += -DADXL345_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
|
||||
IMU_NAVGO_CFLAGS += -DADXL345_I2C_ADDR=ADXL345_ADDR_ALT
|
||||
IMU_NAVGO_CFLAGS += -DADXL345_BW_RATE=0x8
|
||||
IMU_NAVGO_SRCS += peripherals/adxl345.i2c.c
|
||||
|
||||
IMU_NAVGO_CFLAGS += -DHMC58XX_I2C_DEVICE=$(IMU_NAVGO_I2C_DEVICE)
|
||||
|
||||
@@ -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 !SPI_NO_UNSELECT_SLAVE
|
||||
SpiUnselectCurrentSlave();
|
||||
#endif
|
||||
SpiReceive();
|
||||
SpiDisableRti();
|
||||
SpiClearRti(); /* clear interrupt */
|
||||
|
||||
@@ -27,57 +27,43 @@
|
||||
|
||||
#include "subsystems/sensors/baro.h"
|
||||
#include "led.h"
|
||||
#include "mcu_periph/spi.h"
|
||||
|
||||
/* Common Baro struct */
|
||||
struct Baro baro;
|
||||
|
||||
/* Number of values to compute an offset at startup */
|
||||
#define OFFSET_NBSAMPLES_AVRG 300
|
||||
uint16_t offset_cnt;
|
||||
|
||||
#if USE_BARO_AS_ALTIMETER
|
||||
/* Weight for offset IIR filter */
|
||||
#define OFFSET_FILTER 7
|
||||
|
||||
float baro_alt;
|
||||
float baro_alt_offset;
|
||||
#endif
|
||||
/* Counter to init mcp355x at startup */
|
||||
#define STARTUP_COUNTER 200
|
||||
uint16_t startup_cnt;
|
||||
|
||||
void baro_init( void ) {
|
||||
ads1114_init();
|
||||
mcp355x_init();
|
||||
SpiSelectSlave0(); // never unselect this slave (continious conversion mode)
|
||||
baro.status = BS_UNINITIALIZED;
|
||||
baro.absolute = 0;
|
||||
baro.differential = 0; /* not handled on this board */
|
||||
#ifdef ROTORCRAFT_BARO_LED
|
||||
LED_OFF(ROTORCRAFT_BARO_LED);
|
||||
#endif
|
||||
offset_cnt = OFFSET_NBSAMPLES_AVRG;
|
||||
#if USE_BARO_AS_ALTIMETER
|
||||
baro_alt = 0.;
|
||||
baro_alt_offset = 0.;
|
||||
#endif
|
||||
startup_cnt = STARTUP_COUNTER;
|
||||
}
|
||||
|
||||
void baro_periodic( void ) {
|
||||
|
||||
if (baro.status == BS_UNINITIALIZED) {
|
||||
#if USE_BARO_AS_ALTIMETER
|
||||
// IIR filter to compute an initial offset
|
||||
baro_alt_offset = (OFFSET_FILTER * baro_alt_offset + (float)baro.absolute) / (OFFSET_FILTER + 1);
|
||||
#endif
|
||||
// decrease init counter
|
||||
--offset_cnt;
|
||||
// Run some loops to get correct readings from the adc
|
||||
--startup_cnt;
|
||||
#ifdef ROTORCRAFT_BARO_LED
|
||||
LED_TOGGLE(ROTORCRAFT_BARO_LED);
|
||||
#endif
|
||||
if (offset_cnt == 0) {
|
||||
if (startup_cnt == 0) {
|
||||
baro.status = BS_RUNNING;
|
||||
#ifdef ROTORCRAFT_BARO_LED
|
||||
LED_ON(ROTORCRAFT_BARO_LED);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
// Read the ADC
|
||||
ads1114_read();
|
||||
// Read the ADC (at 50/4 Hz, conversion time is 68 ms)
|
||||
RunOnceEvery(4,mcp355x_read());
|
||||
}
|
||||
|
||||
|
||||
@@ -31,22 +31,16 @@
|
||||
|
||||
|
||||
#include "std.h"
|
||||
#include "peripherals/ads1114.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
|
||||
#include "peripherals/mcp355x.h"
|
||||
|
||||
#define BARO_FILTER_GAIN 5
|
||||
|
||||
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
|
||||
Ads1114Event(); \
|
||||
if (ads1114_data_available) { \
|
||||
baro.absolute = (baro.absolute + BARO_FILTER_GAIN*Ads1114GetValue()) / (BARO_FILTER_GAIN+1); \
|
||||
mcp355x_event(); \
|
||||
if (mcp355x_data_available) { \
|
||||
baro.absolute = (baro.absolute + BARO_FILTER_GAIN*mcp355x_data) / (BARO_FILTER_GAIN+1); \
|
||||
_b_abs_handler(); \
|
||||
ads1114_data_available = FALSE; \
|
||||
mcp355x_data_available = FALSE; \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
@@ -103,7 +103,7 @@ void imu_navgo_event( void )
|
||||
// If the itg3200 I2C transaction has succeeded: convert the data
|
||||
itg3200_event();
|
||||
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;
|
||||
gyr_valid = TRUE;
|
||||
}
|
||||
@@ -119,7 +119,7 @@ void imu_navgo_event( void )
|
||||
// HMC58XX event task
|
||||
hmc58xx_event();
|
||||
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;
|
||||
mag_valid = TRUE;
|
||||
}
|
||||
|
||||
@@ -18,17 +18,17 @@
|
||||
#define PCLK (CCLK / PBSD_VAL)
|
||||
|
||||
/* Onboard LEDs */
|
||||
#define LED_1_BANK 1
|
||||
#define LED_1_PIN 25
|
||||
#define LED_1_BANK 0
|
||||
#define LED_1_PIN 22
|
||||
|
||||
#define LED_2_BANK 1
|
||||
#define LED_2_PIN 24
|
||||
#define LED_2_PIN 28
|
||||
|
||||
#define LED_3_BANK 1
|
||||
#define LED_3_PIN 23
|
||||
#define LED_3_PIN 29
|
||||
|
||||
#define LED_4_BANK 1
|
||||
#define LED_4_PIN 31
|
||||
#define LED_4_PIN 30
|
||||
|
||||
/* PPM : rc rx on P0.28 ( CAP0.2 ) */
|
||||
#define PPM_PINSEL PINSEL1
|
||||
@@ -45,19 +45,22 @@
|
||||
/* battery */
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY AdcBank1(3)
|
||||
#ifndef USE_AD1
|
||||
#define USE_AD1
|
||||
#define ADC_CHANNEL_VSUPPLY AdcBank0(2)
|
||||
#ifndef USE_AD0
|
||||
#define USE_AD0
|
||||
#endif
|
||||
#define USE_AD1_3
|
||||
#define USE_AD0_2
|
||||
#endif
|
||||
|
||||
#define DefaultVoltageOfAdc(adc) (0.01837*adc)
|
||||
#define DefaultVoltageOfAdc(adc) (0.017889*adc)
|
||||
|
||||
/* SPI (SSP) */
|
||||
#define SPI_SELECT_SLAVE0_PORT 0
|
||||
#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_BIT 0
|
||||
#define SPI1_DRDY_PINSEL_VAL 1
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
@@ -41,32 +41,20 @@ void mcp355x_init(void) {
|
||||
void mcp355x_read(void) {
|
||||
spi_buffer_length = 4;
|
||||
spi_buffer_input = mcp355x_spi_buf;
|
||||
SpiSelectSlave0();
|
||||
//SpiSelectSlave0();
|
||||
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) {
|
||||
static uint32_t filtered = 0;
|
||||
if (spi_message_received) {
|
||||
spi_message_received = FALSE;
|
||||
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)(
|
||||
((uint32_t)mcp355x_spi_buf[0]<<17) |
|
||||
((uint32_t)mcp355x_spi_buf[1]<<9) |
|
||||
((uint32_t)mcp355x_spi_buf[2]<<1) |
|
||||
(mcp355x_spi_buf[3]>>7));
|
||||
filtered = (5*filtered + mcp355x_data) / (6);
|
||||
DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,4,mcp355x_spi_buf);
|
||||
DOWNLINK_SEND_BARO_RAW(DefaultChannel, DefaultDevice,&mcp355x_data,&filtered);
|
||||
mcp355x_data_available = TRUE;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -75,13 +75,14 @@ class track = fun ?(name="Noname") ?(size = 500) ?(color="red") (geomap:MapCanva
|
||||
(** rectangle representing the field covered by the cam *)
|
||||
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
|
||||
let _ = cam#hide () in
|
||||
|
||||
let mission_target = GnoCanvas.group group in
|
||||
|
||||
(** red circle : target of the mission *)
|
||||
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
|
||||
let _ = ac_mission_target#hide () in
|
||||
let _ac_mission_target =
|
||||
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 _ = mission_target#hide () in
|
||||
|
||||
(** data at map scale *)
|
||||
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
|
||||
and _desired_segment = GnoCanvas.line group in
|
||||
|
||||
let _ = aircraft#raise_to_top () in
|
||||
|
||||
object (self)
|
||||
val mutable top = 0
|
||||
val mutable color = color
|
||||
|
||||
+187
-177
@@ -80,6 +80,7 @@ type status =
|
||||
|
||||
class plot = fun ~size ~width ~height ~packing () ->
|
||||
let curves = Hashtbl.create 3 in
|
||||
let bindings = Hashtbl.create 3 in
|
||||
object (self)
|
||||
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 () =
|
||||
if auto_scale then begin
|
||||
min <- max_float;
|
||||
max <- -. max_float
|
||||
min <- max_float;
|
||||
max <- -. max_float
|
||||
end;
|
||||
Hashtbl.iter (fun _ a ->
|
||||
a.index <- 0;
|
||||
a.average#set_value 0.;
|
||||
a.stdev#set_value 0.;
|
||||
for i = 0 to Array.length a.array - 1 do a.array.(i) <- None done)
|
||||
curves
|
||||
a.index <- 0;
|
||||
a.average#set_value 0.;
|
||||
a.stdev#set_value 0.;
|
||||
for i = 0 to Array.length a.array - 1 do a.array.(i) <- None done)
|
||||
curves
|
||||
|
||||
method set_size = fun new_size ->
|
||||
if new_size <> size && new_size > 0 then begin
|
||||
Hashtbl.iter (fun _ a ->
|
||||
let new_array = Array.create new_size None in
|
||||
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)
|
||||
done;
|
||||
a.array <- new_array;
|
||||
a.index <- new_size - 1)
|
||||
curves;
|
||||
size <- new_size
|
||||
Hashtbl.iter (fun _ a ->
|
||||
let new_array = Array.create new_size None in
|
||||
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)
|
||||
done;
|
||||
a.array <- new_array;
|
||||
a.index <- new_size - 1)
|
||||
curves;
|
||||
size <- new_size
|
||||
end
|
||||
|
||||
method create_curve = fun (name:string) ->
|
||||
method create_curve = fun (name:string) binding ->
|
||||
let color = colors.(color_index) in
|
||||
let values = create_values size color in
|
||||
color_index <- (color_index+1) mod Array.length colors;
|
||||
Hashtbl.add curves name values;
|
||||
Hashtbl.add bindings name binding;
|
||||
values
|
||||
|
||||
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 ->
|
||||
if status <> Stop then
|
||||
let a = Hashtbl.find curves name in
|
||||
a.array.(a.index) <- Some v;
|
||||
if auto_scale then begin
|
||||
min <- Pervasives.min min v;
|
||||
max <- Pervasives.max max v
|
||||
end
|
||||
let a = Hashtbl.find curves name in
|
||||
a.array.(a.index) <- Some v;
|
||||
if auto_scale then begin
|
||||
min <- Pervasives.min min v;
|
||||
max <- Pervasives.max max v
|
||||
end
|
||||
|
||||
method reset_scale = fun () ->
|
||||
min <- max_float;
|
||||
max <- -. max_float;
|
||||
Hashtbl.iter (* for all curves *)
|
||||
(fun name a ->
|
||||
Array.iter (* for all values *)
|
||||
(function
|
||||
None -> ()
|
||||
| Some v ->
|
||||
min <- Pervasives.min min v;
|
||||
max <- Pervasives.max max v)
|
||||
a.array)
|
||||
curves
|
||||
(fun name a ->
|
||||
Array.iter (* for all values *)
|
||||
(function
|
||||
None -> ()
|
||||
| Some v ->
|
||||
min <- Pervasives.min min v;
|
||||
max <- Pervasives.max max v)
|
||||
a.array)
|
||||
curves
|
||||
|
||||
method shift = fun () ->
|
||||
Hashtbl.iter
|
||||
(fun _ a ->
|
||||
(* Shift *)
|
||||
a.index <- (a.index + 1) mod (Array.length a.array);
|
||||
a.array.(a.index) <- None)
|
||||
curves
|
||||
(fun _ a ->
|
||||
(* Shift *)
|
||||
a.index <- (a.index + 1) mod (Array.length a.array);
|
||||
a.array.(a.index) <- None)
|
||||
curves
|
||||
|
||||
method update_curves = fun () ->
|
||||
if Hashtbl.length curves > 0 then
|
||||
try
|
||||
if status <> Stop then
|
||||
self#shift ();
|
||||
if status <> Suspend then
|
||||
let da = pm#drawing_area in
|
||||
let {Gtk.width=width; height=height} = da#misc#allocation in
|
||||
let dr = pm#get_pixmap () in
|
||||
dr#set_foreground (`NAME "white");
|
||||
dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
|
||||
let margin = Pervasives.min (height / 10) 20 in
|
||||
try
|
||||
if status <> Stop then
|
||||
self#shift ();
|
||||
if status <> Suspend then
|
||||
let da = pm#drawing_area in
|
||||
let {Gtk.width=width; height=height} = da#misc#allocation in
|
||||
let dr = pm#get_pixmap () in
|
||||
dr#set_foreground (`NAME "white");
|
||||
dr#rectangle ~x:0 ~y:0 ~width ~height ~filled:true ();
|
||||
let margin = Pervasives.min (height / 10) 20 in
|
||||
|
||||
(* Time Graduations *)
|
||||
let context = da#misc#create_pango_context in
|
||||
context#set_font_by_name ("sans " ^ string_of_int (margin/2));
|
||||
let layout = context#create_layout in
|
||||
(* Time Graduations *)
|
||||
let context = da#misc#create_pango_context in
|
||||
context#set_font_by_name ("sans " ^ string_of_int (margin/2));
|
||||
let layout = context#create_layout in
|
||||
|
||||
Pango.Layout.set_text layout "X";
|
||||
let (_, h) = Pango.Layout.get_pixel_size layout in
|
||||
Pango.Layout.set_text layout "X";
|
||||
let (_, h) = Pango.Layout.get_pixel_size layout in
|
||||
|
||||
let f = fun x y s ->
|
||||
Pango.Layout.set_text layout s;
|
||||
let (w, h) = Pango.Layout.get_pixel_size layout in
|
||||
dr#put_layout ~x ~y:(y-h/2) ~fore:`BLACK layout in
|
||||
let f = fun x y s ->
|
||||
Pango.Layout.set_text layout s;
|
||||
let (w, h) = Pango.Layout.get_pixel_size layout in
|
||||
dr#put_layout ~x ~y:(y-h/2) ~fore:`BLACK layout in
|
||||
|
||||
let t = dt *. float size in
|
||||
f (width-width/size) (height-h/2) "0";
|
||||
f (width/2) (height-h/2) (Printf.sprintf "-%.1fs" (t/.2.));
|
||||
f 0 (height-h/2) (Printf.sprintf "-%.1fs" t);
|
||||
let t = dt *. float size in
|
||||
f (width-width/size) (height-h/2) "0";
|
||||
f (width/2) (height-h/2) (Printf.sprintf "-%.1fs" (t/.2.));
|
||||
f 0 (height-h/2) (Printf.sprintf "-%.1fs" t);
|
||||
|
||||
(* Y graduations *)
|
||||
let (min, max) =
|
||||
if max > min then (min, max)
|
||||
else let d = abs_float max /. 10. in (max -. d, max +. d) in
|
||||
let delta = max -. min in
|
||||
(* Y graduations *)
|
||||
let (min, max) =
|
||||
if max > min then (min, max)
|
||||
else let d = abs_float max /. 10. in (max -. d, max +. d) in
|
||||
let delta = max -. min in
|
||||
|
||||
let dy = float (height-2*margin) /. delta in
|
||||
let y = fun v ->
|
||||
height - margin - truncate ((v-.min)*.dy) in
|
||||
let dy = float (height-2*margin) /. delta in
|
||||
let y = fun v ->
|
||||
height - margin - truncate ((v-.min)*.dy) in
|
||||
|
||||
let scale = log delta /. log 10. in
|
||||
let d = 10. ** floor scale in
|
||||
let u =
|
||||
if delta < 2.*.d then d/.5.
|
||||
else if delta < 5.*.d then d/.2.
|
||||
else d in
|
||||
let tick_min = min -. mod_float min u in
|
||||
for i = 0 to truncate (delta/.u) + 1 do
|
||||
let tick = tick_min +. float i *. u in
|
||||
f 0 (y tick) (Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick)
|
||||
done;
|
||||
let scale = log delta /. log 10. in
|
||||
let d = 10. ** floor scale in
|
||||
let u =
|
||||
if delta < 2.*.d then d/.5.
|
||||
else if delta < 5.*.d then d/.2.
|
||||
else d in
|
||||
let tick_min = min -. mod_float min u in
|
||||
for i = 0 to truncate (delta/.u) + 1 do
|
||||
let tick = tick_min +. float i *. u in
|
||||
f 0 (y tick) (Printf.sprintf "%.*f" (Pervasives.max 0 (2-truncate scale)) tick)
|
||||
done;
|
||||
|
||||
(* Constants *)
|
||||
List.iter (fun v ->
|
||||
dr#set_foreground (`NAME "black");
|
||||
dr#lines [(0, y v); (width-width/size, y v)])
|
||||
csts;
|
||||
(* Constants *)
|
||||
List.iter (fun v ->
|
||||
dr#set_foreground (`NAME "black");
|
||||
dr#lines [(0, y v); (width-width/size, y v)])
|
||||
csts;
|
||||
|
||||
let margin = 3 in
|
||||
let title_y = ref margin in
|
||||
Hashtbl.iter
|
||||
(fun title a ->
|
||||
(* Draw and compute average and stdev*)
|
||||
let curve = ref []
|
||||
and sum = ref 0. and sum_squares = ref 0.
|
||||
and n = ref 0 in
|
||||
assert (size = Array.length a.array);
|
||||
let last_value = ref None in
|
||||
for i = 0 to size - 1 do
|
||||
let i' = (i+a.index) mod size in
|
||||
match a.array.(i') with
|
||||
None -> ()
|
||||
| Some v ->
|
||||
incr n;
|
||||
sum := !sum +. v;
|
||||
sum_squares := !sum_squares +. v *. v;
|
||||
let x = (i * width) / size in
|
||||
begin
|
||||
match !last_value with
|
||||
Some lv when a.discrete ->
|
||||
curve := (x, y lv) :: !curve
|
||||
| _ -> ()
|
||||
end;
|
||||
curve := (x, y v) :: !curve;
|
||||
last_value := Some v
|
||||
done;
|
||||
if !curve <> [] then begin
|
||||
dr#set_foreground (`NAME a.color);
|
||||
dr#lines !curve;
|
||||
end;
|
||||
let fn = float !n in
|
||||
let avg = !sum /. fn in
|
||||
let stdev = sqrt ((!sum_squares -. fn *. avg *. avg) /. fn) in
|
||||
set_float_value a.average avg;
|
||||
set_float_value a.stdev stdev;
|
||||
let margin = 3 in
|
||||
let title_y = ref margin in
|
||||
Hashtbl.iter (fun title a ->
|
||||
(* Draw and compute average and stdev*)
|
||||
let curve = ref []
|
||||
and sum = ref 0. and sum_squares = ref 0.
|
||||
and n = ref 0 in
|
||||
assert (size = Array.length a.array);
|
||||
let last_value = ref None in
|
||||
for i = 0 to size - 1 do
|
||||
let i' = (i+a.index) mod size in
|
||||
match a.array.(i') with
|
||||
None -> ()
|
||||
| Some v ->
|
||||
incr n;
|
||||
sum := !sum +. v;
|
||||
sum_squares := !sum_squares +. v *. v;
|
||||
let x = (i * width) / size in
|
||||
begin
|
||||
match !last_value with
|
||||
Some lv when a.discrete ->
|
||||
curve := (x, y lv) :: !curve
|
||||
| _ -> ()
|
||||
end;
|
||||
curve := (x, y v) :: !curve;
|
||||
last_value := Some v
|
||||
done;
|
||||
if !curve <> [] then begin
|
||||
dr#set_foreground (`NAME a.color);
|
||||
dr#lines !curve;
|
||||
end;
|
||||
let fn = float !n in
|
||||
let avg = !sum /. fn in
|
||||
let stdev = sqrt ((!sum_squares -. fn *. avg *. avg) /. fn) in
|
||||
set_float_value a.average avg;
|
||||
set_float_value a.stdev stdev;
|
||||
|
||||
(* Title *)
|
||||
Pango.Layout.set_text layout title;
|
||||
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 ();
|
||||
(* Title *)
|
||||
Pango.Layout.set_text layout title;
|
||||
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#set_foreground `BLACK;
|
||||
dr#put_layout ~x:(width-2*margin-w-h) ~y:(!title_y) layout;
|
||||
title_y := !title_y + h + margin)
|
||||
dr#set_foreground `BLACK;
|
||||
dr#put_layout ~x:(width-2*margin-w-h) ~y:(!title_y) layout;
|
||||
title_y := !title_y + h + margin)
|
||||
curves;
|
||||
pm#redraw ()
|
||||
with
|
||||
exc ->
|
||||
prerr_endline (Printexc.to_string exc)
|
||||
with
|
||||
exc ->
|
||||
prerr_endline (Printexc.to_string exc)
|
||||
|
||||
method stop_timer = fun () ->
|
||||
match timer with
|
||||
None -> ()
|
||||
None -> ()
|
||||
| Some t -> GMain.Timeout.remove t
|
||||
|
||||
method set_update_time = fun delay ->
|
||||
@@ -306,7 +312,7 @@ class plot = fun ~size ~width ~height ~packing () ->
|
||||
|
||||
method button_press = fun ev ->
|
||||
match GdkEvent.Button.button ev with
|
||||
3 -> self#reset_scale (); true
|
||||
3 -> self#reset_scale (); true
|
||||
| _ -> false
|
||||
|
||||
initializer ignore (self#drawing_area#event#add [`BUTTON_PRESS])
|
||||
@@ -327,7 +333,7 @@ let base_and_index =
|
||||
fun field_descr ->
|
||||
if Str.string_match field_regexp field_descr 0 then
|
||||
( 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
|
||||
(field_descr, 0)
|
||||
|
||||
@@ -339,26 +345,32 @@ let rec plot_window = fun window ->
|
||||
|
||||
(* Register the window *)
|
||||
let oid = plotter#get_oid in
|
||||
Hashtbl.add windows oid ();
|
||||
Hashtbl.add windows oid [];
|
||||
|
||||
ignore (plotter#parse_geometry window.geometry);
|
||||
plotter#set_icon (Some (GdkPixbuf.from_file Env.icon_file));
|
||||
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 factory = new GMenu.factory menubar in
|
||||
let accel_group = factory#accel_group in
|
||||
let file_menu = factory#add_submenu "Plot" 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=[]}));
|
||||
|
||||
@@ -369,18 +381,12 @@ let rec plot_window = fun window ->
|
||||
ignore (file_menu_fact#add_separator ());
|
||||
ignore (file_menu_fact#add_item "Close" ~key:GdkKeysyms._W ~callback:close);
|
||||
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 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 stop_item#coerce ~text:"Freeze the data update while the display is active (e.g. resizable)";
|
||||
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";
|
||||
ignore (plotter#connect#destroy ~callback:close);
|
||||
|
||||
@@ -448,8 +454,7 @@ let rec plot_window = fun window ->
|
||||
(* Delete *)
|
||||
let delete_item = submenu_fact#add_item "Delete" in
|
||||
let delete = fun () ->
|
||||
plot#delete_curve name;
|
||||
Ivy.unbind binding;
|
||||
plot#delete_curve name;
|
||||
curves_menu#remove (curve_item :> GMenu.menu_item) in
|
||||
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 update_stdev_value = fun () ->
|
||||
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 (a, b) = factor in
|
||||
@@ -482,10 +488,9 @@ let rec plot_window = fun window ->
|
||||
let cb = fun _sender values ->
|
||||
let (field_name, index) = base_and_index field_descr in
|
||||
let value =
|
||||
match Pprz.assoc field_name values with
|
||||
Pprz.Array array ->
|
||||
array.(index)
|
||||
| scalar -> scalar in
|
||||
match Pprz.assoc field_name values with
|
||||
Pprz.Array array -> array.(index)
|
||||
| scalar -> scalar in
|
||||
let float = pprz_float value in
|
||||
let v = float *. a +. b 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 binding =
|
||||
if sender = "*" then
|
||||
P.message_bind msg_name cb
|
||||
P.message_bind msg_name cb
|
||||
else
|
||||
P.message_bind ~sender msg_name cb in
|
||||
P.message_bind ~sender msg_name cb in
|
||||
|
||||
let curve = plot#create_curve name in
|
||||
insert_in_menu curve name binding in
|
||||
let curve = plot#create_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 *)
|
||||
let data_received = fun context ~x ~y data ~info ~time ->
|
||||
let factor = Ocaml_tools.affine_transform factor#text in
|
||||
try
|
||||
let name = data#data in
|
||||
add_curve ~factor name
|
||||
with
|
||||
exc -> prerr_endline (Printexc.to_string exc)
|
||||
let data_received = fun context ~x ~y data ~info ~time ->
|
||||
let factor = Ocaml_tools.affine_transform factor#text in
|
||||
try
|
||||
let name = data#data in
|
||||
add_curve ~factor name
|
||||
with
|
||||
exc -> prerr_endline (Printexc.to_string exc)
|
||||
in
|
||||
plotter#drag#dest_set dnd_targets ~actions:[`COPY];
|
||||
ignore (plotter#drag#connect#data_received ~callback:(data_received));
|
||||
plotter#drag#dest_set dnd_targets ~actions:[`COPY];
|
||||
ignore (plotter#drag#connect#data_received ~callback:(data_received));
|
||||
|
||||
(* Init curves *)
|
||||
List.iter add_curve window.curves;
|
||||
(* Init curves *)
|
||||
List.iter add_curve window.curves;
|
||||
|
||||
plotter#add_accel_group accel_group;
|
||||
plotter#show ()
|
||||
plotter#add_accel_group accel_group;
|
||||
plotter#show ()
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user