mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-24 05:45:59 +08:00
Change external turbine trigger into a module.
This commit is contained in:
Martin Mueller
@@ -1,17 +1,34 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
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Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
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PerkinElmer TPS334 IR Sensors
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Tilted infrared sensor (http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
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XBee modem
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/* Payload: Sensirion humidity/temp, VTI pressure/temp */
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K66, LEA 5H
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-->
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<!-- Turbine Trigger -->
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<airframe name="Funjet mm 1 K66">
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<airframe name="TurbineTrigger">
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<firmware name="fixedwing">
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<target name="ap" board="tiny_2.11">
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</target>
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<subsystem name="telemetry" type="xbee_api">
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<param name="MODEM_BAUD" value="B57600"/>
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</subsystem>
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<subsystem name="control"/>
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<subsystem name="attitude" type="infrared"/>
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<subsystem name="gps" type="ublox_lea5h">
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<param name="GPS_BAUD" value="B38400"/>
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</subsystem>
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<subsystem name="navigation"/>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="tiny_2.11"/>
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<target name="usb_tunnel_0" board="tiny_2.11"/>
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<target name="usb_tunnel_1" board="tiny_2.11"/>
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</firmware>
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<!-- modules -->
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<modules>
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<load name="trigger_ext.xml"/>
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</modules>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
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<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1442" max="1100"/>
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@@ -77,18 +94,14 @@
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<define name="IR1_SIGN" value="1"/>
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<define name="IR2_SIGN" value="-1"/>
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<define name="TOP_SIGN" value="-1"/>
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<section name="BAT">
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<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/-->
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<define name="ADC_CHANNEL_CURRENT" value="ADC_4"/>
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<define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!-- 0.0247311828 -->
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<!-- 0.02432905 -->
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<define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
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</section>
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@@ -97,59 +110,41 @@
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
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<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
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<define name="ALT_KALMAN_ENABLED" value="FALSE"/>
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<define name="TRIGGER_DELAY" value="1."/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
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<!-- outer loop saturation -->
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<define name="ALTITUDE_PGAIN" value="-0.06"/>
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<define name="ALTITUDE_MAX_CLIMB" value="2."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
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<define name="AUTO_THROTTLE_PGAIN" value="-0.023"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
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<define name="AUTO_PITCH_PGAIN" value="-0.06"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="-0.9"/>
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
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<define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/>
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<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
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<define name="ROLL_PGAIN" value="6600."/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_PGAIN" value="-5500."/>
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<define name="PITCH_DGAIN" value="0.4"/>
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<define name="ELEVATOR_OF_ROLL" value="2400"/>
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<!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
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<define name="ROLL_RATE_GAIN" value="-1500"/-->
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</section>
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<section name="NAV">
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@@ -158,13 +153,13 @@
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</section>
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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<define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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<define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
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<define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
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<define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
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<define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
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<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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<define name="BLEND_START" value="50"/>
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<define name="BLEND_END" value="15"/>
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<define name="CLIMB_THROTTLE" value="0.9"/>
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<define name="CLIMB_PITCH" value="0.35"/>
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<define name="DESCENT_THROTTLE" value="0.05"/>
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<define name="DESCENT_PITCH" value="-0.35"/>
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<define name="CLIMB_NAV_RATIO" value="0.8"/>
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<define name="DESCENT_NAV_RATIO" value="1.0"/>
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</section>
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@@ -176,82 +171,5 @@
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="DATALINK" prefix="DATALINK_">
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<define name="DEVICE_TYPE" value="XBEE"/>
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<define name="DEVICE_ADDRESS" value="...."/>
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</section>
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<section name="SIMU">
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<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
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</section>
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<section name="MICROMAG">
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<define name="MM_SS_PIN" value="20"/>
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<define name="MM_SS_IODIR" value="IO0DIR"/>
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<define name="MM_SS_IOSET" value="IO0SET"/>
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<define name="MM_SS_IOCLR" value="IO0CLR"/>
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<define name="MM_RESET_PIN" value="29"/>
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<define name="MM_RESET_IODIR" value="IO0DIR"/>
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<define name="MM_RESET_IOSET" value="IO0SET"/>
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<define name="MM_RESET_IOCLR" value="IO0CLR"/>
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<define name="MM_DRDY_PINSEL" value="PINSEL1"/>
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<define name="MM_DRDY_PINSEL_BIT" value="0"/>
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<define name="MM_DRDY_PINSEL_VAL" value="1"/>
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<define name="MM_DRDY_EINT" value="0"/>
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<define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
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</section>
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<makefile>
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CONFIG = \"tiny_2_1.h\"
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include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
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FLASH_MODE=IAP
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ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
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ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
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ap.srcs += commands.c
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ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
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ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
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ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
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ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
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ap.CFLAGS += -DINTER_MCU
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ap.srcs += inter_mcu.c
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ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400 -DGPS_USE_LATLONG
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# -DGPS_LED=2
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ap.srcs += gps_ubx.c gps.c latlong.c
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ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
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ap.srcs += infrared.c estimator.c
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ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
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ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
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ap.srcs += nav_line.c
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ap.srcs += nav_survey_rectangle.c
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ap.srcs += $(SRC_ARCH)/trig_ext_hw.c
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ap.CFLAGS += -DTRIG_EXT_PULSE_TYPE=TRIG_EXT_EDGE_FALLING -DTRIGGER_EXT
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ap.CFLAGS += -DGPS_TIMESTAMP
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# Config for SITL simulation
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include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
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sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
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sim.srcs += nav_line.c nav_survey_rectangle.c
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</makefile>
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</airframe>
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@@ -0,0 +1,20 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="trigger_ext" dir="sensors">
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<header>
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<file name="trigger_ext.h"/>
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</header>
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<init fun="trigger_ext_init()"/>
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<periodic fun="trigger_ext_periodic()" freq="10"/>
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<makefile>
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<raw>
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ap.srcs += $(SRC_ARCH)/trig_ext_hw.c
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</raw>
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<file name="trigger_ext.c"/>
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<flag name="TRIGGER_EXT"/>
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<flag name="TRIG_EXT_PULSE_TYPE" value="TRIG_EXT_EDGE_FALLING"/>
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<flag name="TURBINE_ID" value="42"/>
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<flag name="GPS_TIMESTAMP"/>
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</makefile>
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</module>
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@@ -53,7 +53,7 @@ uint32_t sys_time_chrono; /* T0TC ticks */
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#endif
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#ifdef TRIGGER_EXT
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#include "trig_ext.h"
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#include "trig_ext_hw.h"
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#endif
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#define TIMER0_IT_MASK (ACTUATORS_IT |\
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@@ -1,12 +1,33 @@
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//#include "trig_ext.h"
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#include "std.h"
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#include "sys_time.h"
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#include "LPC21xx.h"
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#include "trig_ext_hw.h"
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#include BOARD_CONFIG
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uint32_t trigger_t0;
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uint32_t delta_t0;
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volatile bool_t trig_ext_valid;
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void TRIG_ISR() {
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static uint32_t last;
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trigger_t0 = PPM_CR;
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delta_t0 = trigger_t0 - last;
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last = trigger_t0;
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trig_ext_valid = TRUE;
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}
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void trig_ext_init ( void ) {
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/* select pin for capture */
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PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
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/* enable capture 0.2 on falling or rising edge + trigger interrupt */
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#if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_RISING
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T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
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#elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_FALLING
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T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
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#else
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#error "trig_ext_hw.h: Unknown PULSE_TYPE"
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#endif
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trig_ext_valid = FALSE;
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}
|
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|
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@@ -1,6 +1,7 @@
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#ifndef TRIG_EXT_HW_H
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#define TRIG_EXT_HW_H
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#include "std.h"
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|
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/**
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* falling/rising edge
|
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@@ -8,34 +9,12 @@
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#define TRIG_EXT_EDGE_RISING 1
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#define TRIG_EXT_EDGE_FALLING 0
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extern uint32_t trigger_t0;
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extern uint32_t delta_t0;
|
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extern volatile bool_t trig_ext_valid;
|
||||
|
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|
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#include "LPC21xx.h"
|
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#include BOARD_CONFIG
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|
||||
|
||||
static inline void trig_ext_init ( void ) {
|
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/* select pin for capture */
|
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PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
|
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/* enable capture 0.2 on falling or rising edge + trigger interrupt */
|
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#if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_RISING
|
||||
T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
|
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#elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_FALLING
|
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T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
|
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#else
|
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#error "trig_ext_hw.h: Unknown PULSE_TYPE"
|
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#endif
|
||||
trig_ext_valid = FALSE;
|
||||
}
|
||||
|
||||
#define TRIG_ISR() { \
|
||||
static uint32_t last; \
|
||||
trigger_t0 = PPM_CR; \
|
||||
delta_t0 = trigger_t0 - last; \
|
||||
last = trigger_t0; \
|
||||
trig_ext_valid = TRUE; \
|
||||
}
|
||||
|
||||
void TRIG_ISR(void);
|
||||
void trig_ext_init( void );
|
||||
|
||||
#endif /* TRIG_EXT_HW_H */
|
||||
|
||||
|
||||
@@ -123,10 +123,6 @@
|
||||
#include "baro_ets.h"
|
||||
#endif // USE_BARO_ETS
|
||||
|
||||
#ifdef TRIGGER_EXT
|
||||
#include "trig_ext.h"
|
||||
#endif // TRIGGER_EXT
|
||||
|
||||
/*code added by Haiyang Chao for using Xsens IMU for fixed wing UAV 20080804*/
|
||||
#ifdef UGEAR
|
||||
#include "osam_imu_ugear.h"
|
||||
@@ -773,10 +769,6 @@ void init_ap( void ) {
|
||||
|
||||
power_switch = FALSE;
|
||||
|
||||
#ifdef TRIGGER_EXT
|
||||
trig_ext_init();
|
||||
#endif
|
||||
|
||||
/************ Multi-uavs status ***************/
|
||||
|
||||
#ifdef TRAFFIC_INFO
|
||||
@@ -932,23 +924,6 @@ void event_task_ap( void ) {
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef TRIGGER_EXT
|
||||
if (trig_ext_valid == TRUE) {
|
||||
uint8_t turb_id = 0;
|
||||
uint32_t sync_itow, cycle_time;
|
||||
|
||||
sync_itow = itow_from_ticks(trigger_t0);
|
||||
cycle_time = MSEC_OF_SYS_TICS(delta_t0);
|
||||
|
||||
DOWNLINK_SEND_WINDTURBINE_STATUS_(DefaultChannel,
|
||||
&turb_id,
|
||||
&turb_id,
|
||||
&sync_itow,
|
||||
&cycle_time );
|
||||
trig_ext_valid = FALSE;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (inter_mcu_received_fbw) {
|
||||
/* receive radio control task from fbw */
|
||||
inter_mcu_received_fbw = FALSE;
|
||||
|
||||
@@ -28,7 +28,7 @@
|
||||
* This reads the values for humidity from the Honeywell HIH-4030 sensor.
|
||||
*/
|
||||
|
||||
|
||||
#include <std.h>
|
||||
#include "humid_hih.h"
|
||||
#include "temp_tmp102.h"
|
||||
#include "adc.h"
|
||||
|
||||
@@ -0,0 +1,63 @@
|
||||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (C) 2010 Martin Mueller
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file trigger_ext.c
|
||||
* \brief Measure external trigger pulse at PPM input
|
||||
*
|
||||
* This measures a trigger pulse length (e.g. duration of a wind turbine
|
||||
* rotation) and sends a message with the info.
|
||||
*/
|
||||
|
||||
|
||||
#include "trigger_ext.h"
|
||||
#include "trig_ext_hw.h"
|
||||
#include "gps.h"
|
||||
#include "sys_time.h"
|
||||
#include "uart.h"
|
||||
#include "messages.h"
|
||||
#include "downlink.h"
|
||||
|
||||
|
||||
void trigger_ext_init ( void ) {
|
||||
trig_ext_init();
|
||||
}
|
||||
|
||||
void trigger_ext_periodic( void ) {
|
||||
if (trig_ext_valid == TRUE) {
|
||||
uint8_t ac_id = 0;
|
||||
uint8_t turb_id = TURBINE_ID;
|
||||
uint32_t sync_itow, cycle_time;
|
||||
|
||||
sync_itow = itow_from_ticks(trigger_t0);
|
||||
cycle_time = MSEC_OF_SYS_TICS(delta_t0);
|
||||
|
||||
DOWNLINK_SEND_WINDTURBINE_STATUS_(DefaultChannel,
|
||||
&ac_id,
|
||||
&turb_id,
|
||||
&sync_itow,
|
||||
&cycle_time );
|
||||
trig_ext_valid = FALSE;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
#ifndef TRIGGER_EXT_H
|
||||
#define TRIGGER_EXT_H
|
||||
|
||||
|
||||
void trigger_ext_init ( void );
|
||||
void trigger_ext_periodic( void );
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -1,38 +0,0 @@
|
||||
/* $Id: ppm.h 4281 2009-10-19 18:32:12Z mmm $
|
||||
*
|
||||
* (c) 2005 Pascal Brisset, Antoine Drouin
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef TRIG_EXT_H
|
||||
#define TRIG_EXT_H
|
||||
|
||||
#if defined TRIGGER_EXT
|
||||
|
||||
#include "std.h"
|
||||
extern uint32_t trigger_t0;
|
||||
extern uint32_t delta_t0;
|
||||
extern volatile bool_t trig_ext_valid;
|
||||
|
||||
#include "trig_ext_hw.h"
|
||||
|
||||
#endif /* TRIGGER_EXT */
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user