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changing telemetry frequency

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This commit is contained in:
Antoine Drouin
2009-04-28 19:01:33 +00:00
parent db851c73f2
commit f481c460fa
2 changed files with 18 additions and 10 deletions
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Makefile.ac
+8 -2
View File
@@ -32,6 +32,11 @@ MESSAGES_XML = $(CONF)/messages.xml
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT) ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
AIRCRAFT_CONF_DIR = $(ACINCLUDE)/conf AIRCRAFT_CONF_DIR = $(ACINCLUDE)/conf
AIRFRAME_H=$(ACINCLUDE)/airframe.h AIRFRAME_H=$(ACINCLUDE)/airframe.h
ifndef PERIODIC_FREQ
PERIODIC_FREQ = 60
endif
PERIODIC_H=$(ACINCLUDE)/periodic.h PERIODIC_H=$(ACINCLUDE)/periodic.h
RADIO_H=$(ACINCLUDE)/radio.h RADIO_H=$(ACINCLUDE)/radio.h
FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
@@ -75,9 +80,10 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(TOOLS)/gen_radio.out
$(Q)mv /tmp/radio.h $@ $(Q)mv /tmp/radio.h $@
$(Q)cp $< $(AIRCRAFT_CONF_DIR)/radios $(Q)cp $< $(AIRCRAFT_CONF_DIR)/radios
$(PERIODIC_H) : $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) include $(MAKEFILE_AC)
$(PERIODIC_H) : $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
@echo BUILD $@ @echo BUILD $@
$(Q)$(TOOLS)/gen_periodic.out $(MESSAGES_XML) $(CONF)/$(TELEMETRY) > $@ $(Q)$(TOOLS)/gen_periodic.out $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(PERIODIC_FREQ) > $@
$(Q)chmod a+r $@ $(Q)chmod a+r $@
$(Q)cp $< $(AIRCRAFT_CONF_DIR) $(Q)cp $< $(AIRCRAFT_CONF_DIR)
$(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry $(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry
sw/tools/gen_periodic.ml
+10 -8
View File
@@ -26,6 +26,7 @@
open Printf open Printf
let margin = ref 0 let margin = ref 0
let step = 2 let step = 2
@@ -36,9 +37,9 @@ let lprintf = fun c f ->
fprintf c "%s" (String.make !margin ' '); fprintf c "%s" (String.make !margin ' ');
fprintf c f fprintf c f
let freq = 60 let freq = ref 60
let min_period = 1./.float freq let min_period = 1./.float !freq
let max_period = 65536. /. float freq let max_period = 65536. /. float !freq
let remove_dup = fun l -> let remove_dup = fun l ->
let rec loop = fun l -> let rec loop = fun l ->
@@ -64,7 +65,7 @@ let output_modes = fun avr_h process_name modes ->
let p = float_of_string (ExtXml.attrib x "period") in let p = float_of_string (ExtXml.attrib x "period") in
if p < min_period || p > max_period then if p < min_period || p > max_period then
fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name"); fprintf stderr "Warning: period is bound between %.3fs and %.3fs for message %s\n%!" min_period max_period (ExtXml.attrib x "name");
(x, min 65535 (max 1 (int_of_float (p*.float_of_int freq))))) (x, min 65535 (max 1 (int_of_float (p*.float_of_int !freq)))))
(Xml.children mode) (Xml.children mode)
in in
let modulos = remove_dup (List.map snd messages) in let modulos = remove_dup (List.map snd messages) in
@@ -87,7 +88,7 @@ let output_modes = fun avr_h process_name modes ->
let else_ = if List.mem_assoc p !l && not (List.mem (p, !i) !l) then "else " else "" in let else_ = if List.mem_assoc p !l && not (List.mem (p, !i) !l) then "else " else "" in
lprintf avr_h "%sif (i%d == %d) {\\\n" else_ p !i; lprintf avr_h "%sif (i%d == %d) {\\\n" else_ p !i;
l := (p, !i) :: !l; l := (p, !i) :: !l;
i := !i + freq/10; i := !i + !freq/10;
right (); right ();
lprintf avr_h "PERIODIC_SEND_%s();\\\n" message_name; lprintf avr_h "PERIODIC_SEND_%s();\\\n" message_name;
left (); left ();
@@ -100,10 +101,11 @@ let output_modes = fun avr_h process_name modes ->
let _ = let _ =
if Array.length Sys.argv <> 3 then begin if Array.length Sys.argv <> 4 then begin
failwith (sprintf "Usage: %s <messages.xml> <telemetry.xml>" Sys.argv.(0)) failwith (sprintf "Usage: %s <messages.xml> <telemetry.xml> frequency_in_hz" Sys.argv.(0))
end; end;
freq := int_of_string(Sys.argv.(3));
let telemetry_xml = let telemetry_xml =
try try
Xml.parse_file Sys.argv.(2) Xml.parse_file Sys.argv.(2)
@@ -140,7 +142,7 @@ let _ =
incr i) incr i)
modes; modes;
lprintf avr_h "#define PeriodicSend%s() { /* %dHz */ \\\n" process_name freq; lprintf avr_h "#define PeriodicSend%s() { /* %dHz */ \\\n" process_name !freq;
right (); right ();
output_modes avr_h process_name modes; output_modes avr_h process_name modes;
left (); left ();