*** empty log message ***

conf/airframes/plaster1.xml

@@ -116,9 +116,9 @@ include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu_avr.makefile
 ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
 ap.srcs += pprz_transport.c downlink.c
 
-# ap.CFLAGS += -DUSE_UART0 -DDOWNLINK_AP_DEVICE=Uart0
-ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
-ap.srcs += $(SRC_ARCH)/modem_hw.c 
+ ap.CFLAGS += -DUSE_UART0 -DDOWNLINK_AP_DEVICE=Uart0
+#ap.CFLAGS += -DMODEM  -DDOWNLINK_AP_DEVICE=Modem
+#ap.srcs += $(SRC_ARCH)/modem_hw.c 
 
 ap.CFLAGS += -DRADIO_CONTROL_CALIB
 ap.srcs += if_calib.c

conf/airframes/twinjet1.xml

@@ -33,88 +33,73 @@
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
   </command_laws>
 
-<!-- control section -->
 
-<control>
-  <level name="attitude">
-    <loop name="roll" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
-       data_type = "int16_t"
-       measure="estimator_phi" setpoint="control_roll_setpoint" output="control_commands[COMMAND_ROLL]"/>
-    <loop name="pitch" loop_type="P" pgain="100" saturation = "MAX_PPRZ"
-       data_type = "int16_t"
-       measure="estimator_theta" setpoint="control_pitch_setpoint" output="control_commands[COMMAND_PITCH]"/>
-  </level>
+  <section name="adc" prefix="ADC_CHANNEL_">
+    <define name="VSUPPLY" value="3"/>
+    <define name="IR1" value="1"/>
+    <define name="IR2" value="0"/>
+    <define name="IR_NB_SAMPLES" value="16"/>
+  </section>
 
-  <mode name="MANUAL">
-    <input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
-    <input input="rc_values[RADIO_ROLL]" output="control_commands[COMMAND_ROLL]" range="1"/>
-    <input input="rc_values[RADIO_PITCH]" output="control_commands[COMMAND_PITCH]" range="1"/>
-  </mode>
+  <section name="INFRARED" prefix="IR_">
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-4.3" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="3" unit="deg"/>
+    <define name="DEFAULT_CONTRAST" value="400"/>
+    <define name="RAD_OF_IR_CONTRAST" value="0.6"/>
+    <define name="RAD_OF_IR_MIN_VALUE" value="0.0008"/>
+    <define name="RAD_OF_IR_MAX_VALUE" value="0.008"/>
+    <linear name="RollOfIrs" arity="2" coeff1="-1" coeff2="-1"/>
+    <linear name="PitchOfIrs" arity="2" coeff1="-1" coeff2="1"/>
+    <define name="ADC_ROLL_NEUTRAL" value="-1042"/>
+    <define name="ADC_PITCH_NEUTRAL" value="10"/>
+  </section>
 
-  <mode name="AUTO1">
-    <input input="rc_values[RADIO_THROTTLE]" output="control_commands[COMMAND_THROTTLE]" range="1"/>
-    <input input="rc_values[RADIO_ROLL]" output="control_roll_setpoint" range="1"/>
-    <input input="rc_values[RADIO_PITCH]" output="control_pitch_setpoint" range="1"/>
-    <run name="attitude"/>
-  </mode>
-
-</control>
-
-
-<section name="added_for_nav">
-   <define name="COURSE_PGAIN" value="-0.4"/>
-   <define name="ALTITUDE_PGAIN" value="-0.025"/>
-   <define name="NAV_PITCH" value="0."/>
-  <define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
-  <define name="CARROT" value="5." unit="s"/>
-    <define name="MAX_ROLL" value="0.35"/>
-    <define name="MAX_PITCH" value="0.35"/>
-    <define name="MIN_PITCH" value="-0.35"/>
-</section>
-  <section name="added_for_nav2" prefix="CLIMB_">
-    <define name="PITCH_PGAIN" value="-0.1"/>
-    <define name="PITCH_IGAIN" value="0.025"/>
-    <define name="PGAIN" value="-0.03"/>
-    <define name="IGAIN" value="0.1"/>
+  <section name="ALT" prefix="CLIMB_">
+      <define name="PITCH_PGAIN" value="-0.1"/>
+    <define name="PITCH_IGAIN" value="1.0"/>
+    <define name="PGAIN" value="-0.025"/>
+    <define name="IGAIN" value="0.01"/>
     <define name="MAX" value="1."/>
-    <define name="LEVEL_GAZ" value="0.45"/>
-    <define name="GAZ_OF_CLIMB" value="0.2" unit="%/(m/s)"/>
-    <define name="PITCH_OF_VZ_PGAIN" value="0.00"/>
- </section>
+    <define name="LEVEL_GAZ" value="0.50"/>
+    <define name="GAZ_OF_CLIMB" value="0.15" unit="% / m/s"/>
+    <define name="PITCH_OF_VZ_PGAIN" value="0.1"/>
+  </section>
+  <section name="NAV">
+    <define name="COURSE_PGAIN" value="-0.3"/>
+    <define name="ALTITUDE_PGAIN" value="-0.05"/>
+    <define name="NAV_PITCH" value="0."/>
+  </section>
+
+
+  <section name="PID">
+    <define name="ROLL_PGAIN" value="6000."/>
+    <define name="PITCH_OF_ROLL" value="0.2"/>
+    <define name="PITCH_PGAIN" value="9000."/>
+    <define name="MAX_ROLL" value="0.4"/>
+    <define name="AUTO1_MAX_ROLL" value="0.8"/>
+    <define name="MAX_PITCH" value="0.25"/>
+    <define name="MIN_PITCH" value="-0.35"/>
+    <define name="AILERON_OF_GAZ" value="-0.13"/>    
+   </section>
 
   <section name="BAT" channel="3">
     <define name="MILLIAMP_PER_PERCENT" value="0.0"/>
     <define name="VoltageOfAdc(adc)" value="4.2"/>
     <define name="LOW_BATTERY" value="9" unit="V"/>
   </section>
- 
- <section name="DOWNLINK" prefix="DOWNLINK_">
-    <define name="FBW_DEVICE" value="uart0"/>
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="9."/>
+    <define name="CARROT" value="5." unit="s"/>
   </section>
 
-
  <makefile>
 include $(PAPARAZZI_SRC)/conf/autopilot/robostix.makefile
 
-ap.srcs += commands.c
-
-ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
-ap.srcs += $(SRC_ARCH)/servos_direct_hw.c
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c 
-
-ap.CFLAGS += -DDOWNLINK -DUART0 
-ap.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
-
-#ap.CFLAGS += -DCONTROL -DAUTOPILOT
-#ap.EXTRA_SRCS += $(ACINCLUDE)/ap/control.c
-#ap.CFLAGS += -DADC
-#ap.EXTRA_SRCS += $(SRC_ARCH)/adc_hw.c
-#ap.CFLAGS += -DDATALINK
-#ap.EXTRA_SRCS += datalink.c nav.c estimator.c
-
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
+ap.srcs += pprz_transport.c downlink.c
 
+ap.CFLAGS += -DUSE_UART0 -DDOWNLINK_AP_DEVICE=Uart0 -DDOWNLINK_FBW_DEVICE=Uart0
+ap.srcs += $(SRC_ARCH)/uart_hw.c
 
 
 

conf/autopilot/robostix.makefile

@@ -10,6 +10,5 @@ ap.LOW_FUSE  = 0xbf
 ap.HIGH_FUSE = 0xc9
 ap.EXT_FUSE  = ff
 ap.LOCK_FUSE = ff
-ap.CFLAGS += -DFBW -DCONFIG=\"robostix.h\" -DLED
-ap.srcs = sys_time.c $(SRC_ARCH)/adc_hw.c main_fbw.c main.c
-# ap.srcs +=  main_ap.c
+ap.CFLAGS += -DFBW -DAP -DCONFIG=\"robostix.h\" -DLED -DGPS -DUBX -DINFRARED -DRADIO_CONTROL -DINTER_MCU -DRADIO_CONTROL  -DACTUATORS=\"servos_direct_hw.h\" -DGPS_LINK=Uart1
+ap.srcs = sys_time.c $(SRC_ARCH)/adc_hw.c inter_mcu.c gps_ubx.c gps.c infrared.c pid.c nav.c estimator.c main_fbw.c main_ap.c main.c commands.c radio_control.c  $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/servos_direct_hw.c

conf/autopilot/twin_mcu.makefile

@@ -1,4 +1,4 @@
-ap.srcs += main_ap.c sys_time.c main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c pid.c nav.c estimator.c cam.c downlink.c spi.c
+ap.srcs += main_ap.c sys_time.c main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c pid.c nav.c estimator.c cam.c spi.c
 ap.CFLAGS += -DMCU_SPI_LINK -DGPS -DUBX -DINFRARED -DRADIO_CONTROL -DINTER_MCU
 
 fbw.srcs +=  sys_time.c main_fbw.c main.c commands.c radio_control.c pprz_transport.c downlink.c  inter_mcu.c spi.c link_mcu.c

conf/autopilot/twin_mcu_avr.makefile

@@ -2,7 +2,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu.makefile
 
 ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c
-ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=uart1
+ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=Uart1
 
 fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017 -DADC
 fbw.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c  $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c

conf/messages.xml

@@ -218,7 +218,11 @@
     <field name="channels" type="int16[]"/>
  </message>
 
- <message name="DEBUG2" id="33">
+ <message name="DEBUG1" id="33">
+    <field name="foo" type="uint8[]"/>
+ </message>
+
+ <message name="DEBUG2" id="34">
     <field name="foo" type="uint8[]"/>
  </message>
 

sw/airborne/ap_downlink.h

@@ -117,7 +117,11 @@ extern uint8_t telemetry_mode_Ap;
 
 #define SEND_NAVIGATION() Downlink({ int16_t pos_x = estimator_x; int16_t pos_y = estimator_y; int16_t d_course = DeciDegOfRad(desired_course); DOWNLINK_SEND_NAVIGATION(&nav_block, &nav_stage, &pos_x, &pos_y, &d_course, &dist2_to_wp, &dist2_to_home);})
 
+#ifdef CAM
 #define SEND_CAM() Downlink({ int16_t x = target_x; int16_t y = target_y; int8_t phi = DegOfRad(phi_c); int8_t theta = DegOfRad(theta_c); DOWNLINK_SEND_CAM(&phi, &theta, &x, &y);})
+#else
+#define SEND_CAM() {}
+#endif
 
 #define PERIODIC_SEND_DL_VALUE() PeriodicSendDlValue() /** from flight_plan.h*/
 

sw/airborne/avr/spi_hw.c

@@ -49,7 +49,6 @@ volatile uint8_t spi_idx_buf;
     spi_message_received = TRUE; \
     SpiStop(); \
   } \
-  spi_idx_buf++; \
 }
 
 
@@ -113,6 +112,11 @@ void spi_init( void) {
   /* SS1 idles high (don't select slave yet)*/
   SpiUnselectSlave1();
   
+  /* Set SS2 output */
+  SetBit( SPI_SS2_DDR, SPI_SS2_PIN);
+  /* SS2 idles high (don't select slave yet)*/
+  SpiUnselectSlave2();
+
   spi_cur_slave = SPI_NONE;
 }
 
@@ -134,8 +138,8 @@ SIGNAL(SIG_SPI) {
 }
 
 #define SpiStop() { \
-  cbi(SPCR,SPIE); \
-  cbi(SPCR, SPE); \
+  ClearBit(SPCR,SPIE); \
+  ClearBit(SPCR, SPE); \
   SpiUnselectSlave0(); \
 }
 

sw/airborne/avr/spi_hw.h

@@ -8,7 +8,9 @@ extern volatile uint8_t spi_idx_buf;
   SPDR = spi_buffer_input[0]; \
   spi_message_received = FALSE; \
 }
-
+#define SPI_IT1_PIN  6
+#define SPI_IT1_PORT PORTE
+#define SPI_IT1_DDR  DDRE 
 #ifdef FBW
 
 #define SPI_PORT   PORTB
@@ -25,17 +27,25 @@ extern volatile uint8_t spi_idx_buf;
 #define SPI_SS0_PIN  0
 #define SPI_SS0_PORT PORTB
 #define SPI_SS0_DDR  DDRB
-#define SPI_IT0_PIN  1
-#define SPI_IT0_PORT PORTD
-#define SPI_IT0_DDR  DDRD
+#define SPI_IT0_PIN  7
+#define SPI_IT0_PORT PORTE
+#define SPI_IT0_DDR  DDRE
 
-#define SPI_SS1_PIN  7
+#define SPI_SS1_PIN  3
 #define SPI_SS1_PORT PORTE
 #define SPI_SS1_DDR  DDRE
 #define SPI_IT1_PIN  6
 #define SPI_IT1_PORT PORTE
 #define SPI_IT1_DDR  DDRE 
 
+#define SPI_SS2_PIN  2
+#define SPI_SS2_PORT PORTE
+#define SPI_SS2_DDR  DDRE
+#define SPI_IT2_PIN  5
+#define SPI_IT2_PORT PORTE
+#define SPI_IT2_DDR  DDRE 
+
+
 #define SPI_SCK_PIN  1
 #define SPI_MOSI_PIN 2
 #define SPI_MISO_PIN 3
@@ -72,6 +82,16 @@ extern volatile uint8_t spi_idx_buf;
   SetBit( SPI_SS1_PORT, SPI_SS1_PIN );\
 }
 
+#define SpiSelectSlave2() { \
+  spi_cur_slave = SPI_SLAVE2; \
+  ClearBit( SPI_SS2_PORT, SPI_SS2_PIN );\
+}
+
+#define SpiUnselectSlave2() { \
+  spi_cur_slave = SPI_NONE; \
+  SetBit( SPI_SS2_PORT, SPI_SS2_PIN );\
+}
+
 #endif /* AP */
 
 

sw/airborne/avr/uart_hw.h

@@ -74,8 +74,8 @@ extern void uart1_transmit(const uint8_t);
 extern uint8_t uart1_char;
 extern bool_t uart1_char_available;
 
-#define uart1ChAvailable() (uart1_char_available)
-static inline uint8_t uart1Getch( void ) {
+#define Uart1ChAvailable() (uart1_char_available)
+static inline uint8_t Uart1Getch( void ) {
   uart1_char_available = FALSE;
   return uart1_char;
 }

sw/airborne/gps.h

@@ -86,7 +86,7 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
 
 #define GpsBuffer() GpsLink(ChAvailable())
 #define ReadGpsBuffer() { while (GpsLink(ChAvailable())) parse_ubx(GpsLink(Getch())); }
-#define GpsUartSend1(c) GpsLink(_transmit(c))
+#define GpsUartSend1(c) GpsLink(Transmit(c))
 #endif
 
 

sw/airborne/inter_mcu.c

@@ -24,7 +24,7 @@
 
 #include "inter_mcu.h"
 
-#if defined FBW && defined AP
+#if defined SINGLE_MCU
 struct fbw_state _fbw_state;
 struct ap_state _ap_state;
 struct fbw_state* fbw_state = &_fbw_state;

sw/airborne/inter_mcu.h

@@ -117,7 +117,6 @@ static inline void inter_mcu_fill_fbw_state (void) {
 static inline void inter_mcu_event_task( void) {
   time_since_last_ap = 0;
   ap_ok = TRUE;
-  inter_mcu_fill_fbw_state();
 #if defined SINGLE_MCU
   /**Directly set the flag indicating to AP that shared buffer is available*/
   inter_mcu_received_fbw = TRUE;

sw/airborne/link_mcu.c

@@ -37,10 +37,11 @@ static uint16_t crc = 0;
 #define LINK_MCU_FRAME_LENGTH sizeof(link_mcu_from_fbw_msg)
 
 #define ComputeChecksum(_buf) { \
-  uint8_t i = 0; \
+  uint8_t i; \
   crc = CRC_INIT; \
   for(i = 0; i < PAYLOAD_LENGTH; i++) { \
-    crc = CrcUpdate(crc, ((uint8_t*)&_buf)[i]); \
+    uint8_t _byte = ((uint8_t*)&_buf)[i]; \
+    crc = CrcUpdate(crc, _byte); \
   } \
 }
 
@@ -82,12 +83,17 @@ void link_mcu_init(void) {
   link_mcu_nb_err = 0;
 }
 
+#include "spi_hw.h"
+
 void link_mcu_send(void) {
+
+  ClearBit( SPI_SS2_PORT, SPI_SS2_PIN );
+
   if (!SpiCheckAvailable()) {
     SpiOverRun();
     return;
   }
-
+  
   ComputeChecksum(link_mcu_from_ap_msg);
   link_mcu_from_ap_msg.checksum = crc;
   spi_buffer_input = (uint8_t*)&link_mcu_from_fbw_msg;
@@ -95,6 +101,9 @@ void link_mcu_send(void) {
   spi_buffer_length = LINK_MCU_FRAME_LENGTH;
   SpiSelectSlave0();
   SpiStart();
+
+  SetBit( SPI_SS2_PORT, SPI_SS2_PIN );
+
 }
 
 void link_mcu_event_task( void ) {

sw/airborne/main_ap.c

@@ -378,6 +378,7 @@ static void navigation_task( void ) {
  *   - do navigation with \a navigation_task
  *
  */
+
 inline void periodic_task_ap( void ) {
   static uint8_t _20Hz   = 0;
   static uint8_t _10Hz   = 0;
@@ -471,7 +472,11 @@ inline void periodic_task_ap( void ) {
     ap_state->commands[COMMAND_PITCH] = desired_elevator;
     
 #if defined MCU_SPI_LINK
+
+    //   ClearBit( SPI_SS2_PORT, SPI_SS2_PIN );
     link_mcu_send();
+    //    SetBit( SPI_SS2_PORT, SPI_SS2_PIN );
+
 #elif defined INTER_MCU && defined SINGLE_MCU
     /**Directly set the flag indicating to FBW that shared buffer is available*/
     inter_mcu_received_ap = TRUE;
@@ -632,10 +637,10 @@ void event_task_ap( void ) {
 
 #ifdef MCU_SPI_LINK
   if (spi_message_received) {
+    DOWNLINK_SEND_DEBUG2(sizeof(link_mcu_from_fbw_msg), ((uint8_t*)&link_mcu_from_fbw_msg));
     /* Got a message on SPI. */
     spi_message_received = FALSE;
     link_mcu_event_task();
-    DOWNLINK_SEND_DEBUG2(sizeof(link_mcu_from_fbw_msg), ((uint8_t*)&link_mcu_from_fbw_msg));
   }
 #endif
 

sw/airborne/main_fbw.c

@@ -125,12 +125,12 @@ void event_task_fbw( void) {
     /* Got a message on SPI. */
     spi_message_received = FALSE;
     link_mcu_event_task(); /** Sets inter_mcu_received_ap if checksum is ok */
-    DOWNLINK_SEND_DEBUG2(sizeof(link_mcu_from_ap_msg), ((uint8_t*)&link_mcu_from_ap_msg));
+    DOWNLINK_SEND_DEBUG1(sizeof(link_mcu_from_ap_msg), ((uint8_t*)&link_mcu_from_ap_msg));
   }
 #endif /* MCU_SPI_LINK */
   if (inter_mcu_received_ap) {
     inter_mcu_received_ap = FALSE;
-    inter_mcu_event_task(); /** Prepares the next message for AP */
+    inter_mcu_event_task();
     if (fbw_mode == FBW_MODE_AUTO) {
       SetCommands(ap_state->commands);
     }
@@ -138,6 +138,7 @@ void event_task_fbw( void) {
 #ifdef MCU_SPI_LINK
   if (link_mcu_received) {
     link_mcu_received = FALSE;
+    inter_mcu_fill_fbw_state(); /** Prepares the next message for AP */
     link_mcu_restart(); /** Prepares the next SPI communication */
   }
 #endif /* MCU_SPI_LINK */

sw/airborne/spi.h

@@ -29,6 +29,8 @@
 #ifndef SPI_H
 #define SPI_H
 
+#ifdef MCU_SPI_LINK
+
 #include "std.h"
 #include "spi_hw.h"
 
@@ -45,6 +47,7 @@ void spi_init(void);
 #define SPI_NONE   0
 #define SPI_SLAVE0 1
 #define SPI_SLAVE1 2
+#define SPI_SLAVE2 3
 
 extern volatile uint8_t spi_cur_slave;
 extern uint8_t spi_nb_ovrn;
@@ -54,6 +57,8 @@ extern uint8_t spi_nb_ovrn;
 
 #endif /* AP */
 
+#endif /* MCU_SPI_LINK */
+
 #endif /* SPI_H */