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This commit is contained in:
Pascal Brisset
2006-04-18 12:21:51 +00:00
parent 4a2ba2e2e7
commit f158695851
15 changed files with 173 additions and 214 deletions
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Makefile.ac
+5 -5
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@@ -1,3 +1,4 @@
# Hey Emacs, this is a -*- makefile -*-
# Paparazzi main $Id$
# Copyright (C) 2004 Pascal Brisset Antoine Drouin
#
@@ -29,15 +30,14 @@ ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
AIRFRAME_H=$(ACINCLUDE)/airframe.h
CONTROL_H=$(ACINCLUDE)/control.h
CONTROL_C=$(ACINCLUDE)/ap/control.c
FBW_DOWNLINK_H=$(ACINCLUDE)/fbw_downlink_gen.h
AP_DOWNLINK_H=$(ACINCLUDE)/ap_downlink_gen.h
PERIODIC_H=$(ACINCLUDE)/periodic.h
RADIO_H=$(ACINCLUDE)/radio.h
FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
INFLIGHT_CALIB_H=$(ACINCLUDE)/inflight_calib.h
MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
all: $(AIRFRAME_H) $(RADIO_H) $(CONTROL_H) $(CONTROL_C) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H) $(MAKEFILE_AC) $(FBW_DOWNLINK_H)
all: $(AIRFRAME_H) $(RADIO_H) $(CONTROL_H) $(CONTROL_C) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H) $(MAKEFILE_AC) $(PERIODIC_H)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
@@ -48,9 +48,9 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML)
$(TOOLS)/gen_radio.out $< > /tmp/radio.h
mv /tmp/radio.h $@
$(FBW_DOWNLINK_H) : $(MESSAGES_XML) $(CONF)/$(AIRFRAME) $(CONF_XML)
$(PERIODIC_H) : $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry_fbw > $$TMP_FILE;\
$(TOOLS)/gen_periodic.out $(MESSAGES_XML) $(CONF)/$(TELEMETRY) > $$TMP_FILE;\
mv $$TMP_FILE $@
chmod a+r $@
Makefile.gen
+1 -8
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@@ -36,7 +36,7 @@ DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
static: $(MESSAGES_H) $(MESSAGES_FBW_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
static: $(MESSAGES_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@@ -45,13 +45,6 @@ $(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
mv $$TMP_FILE $@
chmod a+r $@
$(MESSAGES_FBW_H) : $(MESSAGES_XML) $(CONF_XML)
test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry > $$TMP_FILE;\
mv $$TMP_FILE $@
chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML)
$(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
mv /tmp/ubx.h $@
conf/airframes/twinstar1.xml
+1 -1
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@@ -120,7 +120,7 @@ fbw.CFLAGS += -DRADIO_CONTROL
fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
fbw.CFLAGS += -DDOWNLINK -DUART0
fbw.srcs += fbw_downlink.c $(SRC_ARCH)/uart_hw.c
fbw.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART0
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
conf/telemetry/default.xml
+6 -5
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@@ -1,6 +1,7 @@
<?xml version="1.0"?>
<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
<telemetry>
<process name="ap">
<process name="Ap">
<mode name="default">
<message name="CALIB_START" period="1"/>
<message name="CALIB_CONTRAST" period="1"/>
@@ -25,18 +26,18 @@
<message name="ATTITUDE" period="0.5"/>
</mode>
</process>
<process name="fbw">
<process name="Fbw">
<mode name="default">
<message name="PPM" period="5"/>
<message name="RC" period="5"/>
<message name="SERVOS" period="5"/>
<message name="FBW_STATUS" period="1">
<message name="FBW_STATUS" period="1"/>
</mode>
<mode name="debug">
<message name="PPM" period="0.5"/>
<message name="RC" period="0.5"/>
<message name="SERVOS" period="0.5"/>
<message name="FBW_STATUS" period="1">
<message name="FBW_STATUS" period="1"/>
</mode>
</process>
</telemetry>
</telemetry>
conf/telemetry/telemetry.dtd
+16
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@@ -0,0 +1,16 @@
<!ELEMENT telemetry (process+)>
<!ELEMENT process (mode+)>
<!ELEMENT mode (message+)>
<!ELEMENT message EMPTY>
<!ATTLIST telemetry>
<!ATTLIST process
name CDATA #REQUIRED
>
<!ATTLIST mode
name CDATA #REQUIRED
>
<!ATTLIST message
name CDATA #REQUIRED
period CDATA #REQUIRED
>
sw/airborne/ap_downlink.h
+2
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@@ -30,6 +30,7 @@
#include "airframe.h"
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
extern uint8_t telemetry_mode_Ap;
#include "downlink.h"
#ifdef SITL
@@ -37,6 +38,7 @@
#else
#include "modem.h"
#include "messages.h"
#include "periodic.h"
#endif
#if DOWNLINK
sw/airborne/autopilot_fbw.c
-4
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@@ -1,4 +0,0 @@
#include "autopilot_fbw.h"
uint8_t autopilot_mode = MODE_FAILSAFE;
sw/airborne/autopilot_fbw.h
-62
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@@ -1,62 +0,0 @@
/*
* $Id$
*
* Copyright (C) 2003 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.
*
*/
/** \file autopilot_fbw.h
* \brief Autopilot modes
*
*/
#ifndef AUTOPILOT_FBW_H
#define AUTOPILOT_FBW_H
#include <inttypes.h>
#include "std.h"
#include "led.h"
#include "paparazzi.h"
#define TRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
#define MODE_MANUAL 0
#define MODE_AUTO 1
#define MODE_FAILSAFE 2
#define MODE_NB 3
#define MODE_OF_PPRZ(mode) ((mode) < TRESHOLD_MANUAL_PPRZ ? MODE_MANUAL : MODE_AUTO)
extern uint8_t autopilot_mode;
#ifdef RADIO_CONTROL
#include "radio_control.h"
static inline void autopilot_process_radio_control ( void ) {
autopilot_mode = MODE_OF_PPRZ(rc_values[RADIO_MODE]);
#ifdef LED
if (autopilot_mode == MODE_MANUAL)
LED_ON(2);
else
LED_OFF(2);
#endif /* LED */
}
#endif /* RADIO_CONTROL */
#endif /* AUTOPILOT_FBW_H */
sw/airborne/downlink.c
+3
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@@ -2,3 +2,6 @@
uint8_t ck_a, ck_b;
uint8_t downlink_nb_ovrn;
uint8_t telemetry_mode_Fbw;
uint8_t telemetry_mode_Ap;
sw/airborne/fbw_downlink.h
+4 -2
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@@ -26,7 +26,8 @@
#define FBW_DOWNLINK_H
#include <inttypes.h>
#include "messages_fbw.h"
#include "messages.h"
#include "periodic.h"
#include "airframe.h"
#include "uart.h"
@@ -34,6 +35,7 @@
#include "radio_control.h"
#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
extern uint8_t telemetry_mode_Fbw;
#include "downlink.h"
#define PERIODIC_SEND_PPM() {}
@@ -44,7 +46,7 @@
static inline void fbw_downlink_periodic_task(void) {
PeriodicSend()
PeriodicSendFbw()
}
sw/airborne/main_ap.c
+1 -2
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@@ -214,14 +214,13 @@ static inline void reporting_task( void ) {
/** initialisation phase during boot */
if (boot) {
DOWNLINK_SEND_BOOT(&version);
PERIODIC_SEND_IDENT();
SEND_RAD_OF_IR();
boot = FALSE;
}
/** then report periodicly */
else {
// IO1CLR = LED_2_BIT;
PeriodicSend();
PeriodicSendAp();
// IO1SET = LED_2_BIT;
}
}
sw/tools/Makefile
+1 -1
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@@ -3,7 +3,7 @@ OCAMLC=ocamlc -I ../lib/ocaml
OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc
all: gen_aircraft.out gen_airframe.out gen_calib.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_sim_downlink.out gen_dl.out extract_makefile.out gen_control.out
all: gen_aircraft.out gen_airframe.out gen_calib.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_sim_downlink.out gen_dl.out extract_makefile.out gen_control.out gen_periodic.out
FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.ml
ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
sw/tools/gen_aircraft.ml
+1 -1
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@@ -42,6 +42,6 @@ let _ =
mkdir (aircraft_dir // "autopilot");
mkdir (aircraft_dir // "sim");
let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME=%s RADIO=%s FLIGHT_PLAN=%s" aircraft (value "ac_id") (value "airframe") (value "radio") (value "flight_plan") in
let c = sprintf "make -f Makefile.ac AIRCRAFT=%s AC_ID=%s AIRFRAME=%s RADIO=%s FLIGHT_PLAN=%s TELEMETRY=%s" aircraft (value "ac_id") (value "airframe") (value "radio") (value "flight_plan") (value "telemetry") in
prerr_endline c;
exit (Sys.command c)
sw/tools/gen_messages.ml
+1 -123
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@@ -26,8 +26,6 @@
open Printf
let divide = fun a b -> b mod a = 0
module Syntax = struct
type format = string
@@ -194,125 +192,6 @@ module Gen_onboard = struct
let print_null_avr_macros = fun avr_h messages ->
List.iter (print_null_avr_macro avr_h) messages
let freq = 10
let step = 1. /. float freq
let nb_steps = (256 / freq) * freq
let byte_rate = 480 (** byte/s *)
let step_rate = byte_rate / freq
let is_periodic = fun m -> m.period <> None
let period_of = fun m ->
match m.period with Some p -> p | None -> failwith "period_of"
let morefrequent = fun m1 m2 -> compare (period_of m1) (period_of m2)
type modulos = node list list (** Or list of Xor lists *)
and node = N of int * int * message list * modulos
(** [(p, s, msgs, c)] stands for messages [msg] to be send on a period [p]
shifted [s] from the start of the [p] period (i.e.
when [time == s mod p]). Children [c] are messages for which the same
time condition is needed *)
let rec insert_in_or = fun ((s, p, m) as msg) t ->
match t with
[] -> [[N (s,p,[m], [])]]
| l::ls ->
let rec insert_in_xor = fun previous exclusive l ->
match l with
[] ->
if exclusive then
(N (s,p,[m], [])::previous)::ls
else
previous::insert_in_or msg ls
| (N (s',p',ms',t') as x)::ls' ->
if s = s' && p == p' then
(previous@N (s', p', m::ms', t')::ls')::ls
else
let b = divide p' p in
if b && divide p' (abs (s-s')) then
(previous@N (s', p', ms', insert_in_or msg t')::ls')::ls
else
insert_in_xor (x::previous) (exclusive && b) ls' in
insert_in_xor [] true l;;
let gen_periodic = fun avr_h messages ->
let indent = fun x -> fprintf avr_h "%s" (String.make x ' ') in
let periodic_messages = List.filter is_periodic messages in
let periodic_messages = List.sort morefrequent periodic_messages in
let load = Array.create nb_steps 0 in
let scheduled_messages =
List.map
(fun m ->
let p = period_of m in
let period_steps = truncate (p /. step) in
let start_step = ref 0 in
for i = 1 to period_steps - 1 do
if load.(i) < load.(!start_step) then start_step := i
done;
for j = 0 to nb_steps/period_steps - 1 do
let s = ref (size_of_message m) in
let i = ref (!start_step+j*period_steps) in
while !s > 0 do
let rest = step_rate - load.(!i) in
let m = min rest !s in
load.(!i) <- load.(!i) + m;
incr i;
s := !s - m
done
done;
(!start_step, period_steps, m))
periodic_messages in
fprintf avr_h "/* Periodic messages are sent over %d timeframes. A greedy algorithm is used to smooth the load according to the size of the messages. speed=%d byte/timeframe */\n" nb_steps step_rate;
for i = 0 to nb_steps - 1 do
fprintf avr_h "//%d:" i; indent load.(i); fprintf avr_h "%d\n" load.(i)
done;
fprintf avr_h "\n";
fprintf avr_h "#define PeriodicSend() { /* %dHz */ \\\n" freq;
fprintf avr_h " static uint8_t periodic_i;\\\n";
fprintf avr_h " periodic_i++; if (periodic_i == %d) periodic_i = 0;\\\n" nb_steps;
(** Sorting messages by increasing periods *)
let scheduled_messages = List.sort (fun (_,p,_) (_,p',_) -> compare p' p) scheduled_messages in
(** Hierarchize messages to minimize tests *)
let tree = List.fold_right insert_in_or scheduled_messages [] in
let rec gen_or_code = fun tab modulos xors ->
List.iter
(fun xor ->
let required_modulos = List.map (fun (N (_s,p,_ms,_t)) -> p) xor in
let rec add_new_modulos = fun modulos l ->
match l with
[] -> modulos
| p::ps ->
if not (List.mem p modulos) then begin
indent tab;
fprintf avr_h "uint8_t i_mod_%d = periodic_i %% %d; \\\n" p p;
add_new_modulos (p::modulos) ps
end else
add_new_modulos modulos ps in
let new_modulos = add_new_modulos modulos required_modulos in
List.iter
(fun (N (s,p,ms,t)) ->
indent tab;
fprintf avr_h "if (i_mod_%d == %d) { \\\n" p s;
List.iter (fun m ->
indent tab;
fprintf avr_h " PERIODIC_SEND_%s(); \\\n" m.name)
ms;
gen_or_code (tab+2) new_modulos t;
indent tab;
fprintf avr_h "} else")
xor;
indent tab;
fprintf avr_h " {} \\\n")
xors in
gen_or_code 2 [] tree;
fprintf avr_h "}\n"
end
let _ =
@@ -331,5 +210,4 @@ let _ =
Gen_onboard.print_avr_macros filename avr_h messages;
Printf.fprintf avr_h "#else // DOWNLINK\n";
Gen_onboard.print_null_avr_macros avr_h messages;
Printf.fprintf avr_h "#endif // DOWNLINK\n";
Gen_onboard.gen_periodic avr_h messages
Printf.fprintf avr_h "#endif // DOWNLINK\n"
sw/tools/gen_periodic.ml
+131
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@@ -0,0 +1,131 @@
(*
* $Id$
*
* XML preprocessing for periodic messages
*
* Copyright (C) 2003 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.
*
*)
open Printf
let margin = ref 0
let step = 2
let right () = margin := !margin + step
let left () = margin := !margin - step
let lprintf = fun c f ->
fprintf c "%s" (String.make !margin ' ');
fprintf c f
let freq = 10
let nb_steps = 100
let remove_dup = fun l ->
let rec loop = fun l ->
match l with
[] | [_] -> l
| x::((x'::_) as xs) ->
if x = x' then loop xs else x::loop xs in
loop (List.sort compare l)
let _ =
if Array.length Sys.argv <> 3 then begin
failwith (sprintf "Usage: %s <messages.xml> <telemetry.xml>" Sys.argv.(0))
end;
let messages_xml = Xml.parse_file Sys.argv.(1) in
let telemetry_xml =
try
Xml.parse_file Sys.argv.(2)
with Dtd.Check_error e -> failwith (Dtd.check_error e)
in
let avr_h = stdout in
fprintf avr_h "/* This file has been generated from %s and %s */\n" Sys.argv.(1) Sys.argv.(2);
fprintf avr_h "/* Please DO NOT EDIT */\n\n";
fprintf avr_h "/* Periodic messages are sent over %d timeframes */\n" nb_steps;
(** For each process *)
List.iter
(fun process ->
let process_name = ExtXml.attrib process "name" in
fprintf avr_h "\n/* Macros for %s process */\n" process_name;
let modes = Xml.children process in
let i = ref 0 in
List.iter (fun mode ->
let name = ExtXml.attrib mode "name" in
Xml2h.define (sprintf "TELEMETRY_MODE_%s_%s" process_name name) (string_of_int !i);
incr i)
modes;
lprintf avr_h "#define PeriodicSend%s() { /* %dHz */ \\\n" process_name freq;
right ();
lprintf avr_h "static uint8_t periodic_i;\\\n";
lprintf avr_h "periodic_i++; if (periodic_i == %d) periodic_i = 0;\\\n" nb_steps;
(** For each mode in this process *)
List.iter
(fun mode ->
let mode_name = ExtXml.attrib mode "name" in
lprintf avr_h "if (telemetry_mode_%s == TELEMETRY_MODE_%s_%s) {\\\n" process_name process_name mode_name;
right ();
(** Computes the required modulos *)
let messages =
List.map
(fun x ->
let p = float_of_string (ExtXml.attrib x "period") in
x, int_of_float (p*.float_of_int freq))
(Xml.children mode) in
let modulos = remove_dup (List.map snd messages) in
List.iter
(fun m ->
lprintf avr_h "uint8_t i_mod_%d = periodic_i %% %d; \\\n" m m;
)
modulos;
(** For each message in this mode *)
List.iter
(fun (message, p) ->
assert(p < nb_steps);
let message_name = ExtXml.attrib message "name" in
lprintf avr_h "if (i_mod_%d == 0) {\\\n" p;
right ();
lprintf avr_h "PERIODIC_SEND_%s();\\\n" message_name;
left ();
lprintf avr_h "}\\\n")
messages;
left ();
lprintf avr_h "}\\\n")
modes;
left ();
lprintf avr_h "}\n"
)
(Xml.children telemetry_xml)