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This commit is contained in:
Antoine Drouin
2006-01-12 12:15:11 +00:00
parent 29b0d57d36
commit df18f58d88
4 changed files with 20 additions and 9 deletions
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Makefile.ac
+5 -2
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@@ -45,8 +45,11 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML)
mv /tmp/radio.h $@ mv /tmp/radio.h $@
$(CONTROL_H) : $(CONF)/$(AIRFRAME) $(CONF_XML) $(CONTROL_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
$(TOOLS)/gen_control.out $< > /tmp/control.h TMPFILE=$(shell echo `tempfile`)
mv /tmp/control.h $@ $(TOOLS)/gen_control.out $< > $TMPFILE
mv $TMPFILE $@
# $(TOOLS)/gen_control.out $< > /tmp/control.h
# mv /tmp/control.h $@
$(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML)
$(TOOLS)/gen_flight_plan.out $< > /tmp/fp.h $(TOOLS)/gen_flight_plan.out $< > /tmp/fp.h
conf/airframes/gorrazoptere_esc_3DMG_test.xml
+2
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@@ -77,5 +77,7 @@
</control> </control>
<makefile> <makefile>
include $(PAPARAZZI_SRC)/conf/autopilot/disc_board.makefile include $(PAPARAZZI_SRC)/conf/autopilot/disc_board.makefile
ap.CFLAGS += -DRADIO_CONTROL -DACTUATORS
ap.EXTRA_SRCS += radio_control.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/esc.c
</makefile> </makefile>
</airframe> </airframe>
sw/airborne/avr/esc.c
+8 -5
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@@ -33,12 +33,14 @@
#include <avr/io.h> #include <avr/io.h>
#include "command.h" #include "command.h"
#include "std.h"
#include "airframe.h"
#define MAX_TICK 0x3FF #define MAX_TICK 0x3FF
#define MOT_CTL_0 OCR3C #define MOT_CTL_0 OCR3C
#define MOT_CTL_1 OCR1A #define MOT_CTL_1 OCR1A
#define MOT_CTL_2 OCR3B #define MOT_CTL_2 OCR3B
#define MOT_CTL_3 OCR3A #define MOT_CTL_3 OCR3A
void command_init ( void ) { void command_init ( void ) {
/* OC1A output */ /* OC1A output */
@@ -56,7 +58,8 @@ void command_init ( void ) {
#define COMMAND_(i) MOT_CTL_ ## i #define COMMAND_(i) MOT_CTL_ ## i
#define COMMAND(i) COMMAND_(i) #define COMMAND(i) COMMAND_(i)
#define ChopServo(x) (x > MAX_TICK ? MAX_TICK : x) #define ChopServo(x) (x > MAX_TICK ? MAX_TICK : x)
#define SERVOS_TICS_OF_USEC(s) (s)
void command_set(const pprz_t values[]) { void command_set(const pprz_t values[]) {
CommandSet(values); /*Generated from airframe.xml */ CommandsSet(values); /*Generated from airframe.xml */
} }
sw/airborne/main_fbw_2.c
+5 -2
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@@ -7,7 +7,7 @@
#include "ppm.h" #include "ppm.h"
#include "radio_control.h" #include "radio_control.h"
#include "command.h" #include "command.h"
#include "control_2.h" //#include "control_2.h"
void init_fbw( void ) { void init_fbw( void ) {
low_level_init(); low_level_init();
@@ -37,8 +37,11 @@ void periodic_task_fbw( void ) {
void event_task_fbw( void ) { void event_task_fbw( void ) {
#ifdef RADIO_CONTROL #ifdef RADIO_CONTROL
if (radio_control_ppm_event()) if (radio_control_ppm_event()) {
#ifdef CONTROL
control_process_radio_control(); control_process_radio_control();
#endif /* CONTROL */
}
#endif /* RADIO_CONTROL */ #endif /* RADIO_CONTROL */
} }