diff --git a/conf/airframes/plaster1.xml b/conf/airframes/plaster1.xml index 8d55076b56..4c47d0aae9 100755 --- a/conf/airframes/plaster1.xml +++ b/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 diff --git a/conf/airframes/twinjet1.xml b/conf/airframes/twinjet1.xml index d5c34ede69..76ed043ce5 100644 --- a/conf/airframes/twinjet1.xml +++ b/conf/airframes/twinjet1.xml @@ -33,88 +33,73 @@ - - - - - - +
+ + + + +
- - - - - +
+ + + + + + + + + + +
- - - - - - - - - - -
- - - - - - - - -
-
- - - - +
+ + + + - - - -
+ + + +
+
+ + + +
+ + +
+ + + + + + + + +
- -
- +
+ +
- 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 diff --git a/conf/autopilot/robostix.makefile b/conf/autopilot/robostix.makefile index dad23c996a..25420cd72f 100644 --- a/conf/autopilot/robostix.makefile +++ b/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 diff --git a/conf/autopilot/twin_mcu.makefile b/conf/autopilot/twin_mcu.makefile index ca737a61c4..45813647a6 100644 --- a/conf/autopilot/twin_mcu.makefile +++ b/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 diff --git a/conf/autopilot/twin_mcu_avr.makefile b/conf/autopilot/twin_mcu_avr.makefile index ddde5f55b7..2c484f7849 100644 --- a/conf/autopilot/twin_mcu_avr.makefile +++ b/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 diff --git a/conf/messages.xml b/conf/messages.xml index 57d4e59ef3..268e67cd4d 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -218,7 +218,11 @@ - + + + + + diff --git a/sw/airborne/ap_downlink.h b/sw/airborne/ap_downlink.h index 17304de436..8d3f78d8c0 100644 --- a/sw/airborne/ap_downlink.h +++ b/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*/ diff --git a/sw/airborne/avr/spi_hw.c b/sw/airborne/avr/spi_hw.c index 48c33f50d2..c0dd2b5edc 100644 --- a/sw/airborne/avr/spi_hw.c +++ b/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(); \ } diff --git a/sw/airborne/avr/spi_hw.h b/sw/airborne/avr/spi_hw.h index c899aed602..0e4e01e0a8 100644 --- a/sw/airborne/avr/spi_hw.h +++ b/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 */ diff --git a/sw/airborne/avr/uart_hw.h b/sw/airborne/avr/uart_hw.h index 1f0b924891..ebbab6041b 100644 --- a/sw/airborne/avr/uart_hw.h +++ b/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; } diff --git a/sw/airborne/gps.h b/sw/airborne/gps.h index 2fd02e5ef1..d5e63da3ce 100644 --- a/sw/airborne/gps.h +++ b/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 diff --git a/sw/airborne/inter_mcu.c b/sw/airborne/inter_mcu.c index 022a9ee9c5..f5dc2c68b5 100644 --- a/sw/airborne/inter_mcu.c +++ b/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; diff --git a/sw/airborne/inter_mcu.h b/sw/airborne/inter_mcu.h index 5951f3a818..8b2c6d5af1 100644 --- a/sw/airborne/inter_mcu.h +++ b/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; diff --git a/sw/airborne/link_mcu.c b/sw/airborne/link_mcu.c index d29b65a9bb..7df9729abc 100644 --- a/sw/airborne/link_mcu.c +++ b/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 ) { diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c index 790c018d03..0cccd45ddd 100644 --- a/sw/airborne/main_ap.c +++ b/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 diff --git a/sw/airborne/main_fbw.c b/sw/airborne/main_fbw.c index b48892f8fa..717fb0ed08 100644 --- a/sw/airborne/main_fbw.c +++ b/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 */ diff --git a/sw/airborne/spi.h b/sw/airborne/spi.h index e531052e06..3b27713a84 100644 --- a/sw/airborne/spi.h +++ b/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 */