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changed baro to use the new rotorcraft board independant thingy

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This commit is contained in:
Antoine Drouin
2010-08-22 02:34:08 +00:00
parent 3a046cdf1b
commit f4b98e132e
3 changed files with 108 additions and 103 deletions
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conf/autopilot/lisa_passthrough.makefile
+3 -2
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@@ -10,6 +10,7 @@ SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_CSC=csc
SRC_BOARD=boards/$(BOARD)
CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough
@@ -17,7 +18,7 @@ CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrou
stm_passthrough.ARCHDIR = stm32
stm_passthrough.TARGET = stm_passthrough
stm_passthrough.TARGETDIR = stm_passthrough
stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
@@ -85,7 +86,7 @@ stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
# Baro
stm_passthrough.srcs += $(SRC_LISA)/lisa_baro.c
stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c
stm_passthrough.CFLAGS += -DUSE_I2C2
stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
+9 -7
View File
@@ -1,5 +1,7 @@
#
# Makefile for radio_control susbsytem in rotorcraft firmware
#
# Radio control
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\"
@@ -8,10 +10,10 @@ endif
stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
stm_passthrough.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=5
stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
stm_passthrough.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK) -D$(RADIO_CONTROL_LINK)_BAUD=B115200
stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
sw/airborne/lisa/lisa_stm_passthrough_main.c
+96 -94
View File
@@ -36,7 +36,7 @@
#include "csc_msg_def.h"
#include "csc_protocol.h"
#include "lisa/lisa_baro.h"
#include "rotorcraft/baro.h"
static inline void main_init(void);
@@ -62,102 +62,103 @@ struct CscVaneMsg csc_vane_msg;
int main(void) {
main_init();
main_init();
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
}
return 0;
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
}
return 0;
}
static inline void main_init(void) {
hw_init();
sys_time_init();
booz_imu_init();
baro_init();
radio_control_init();
booz_actuators_init();
overo_link_init();
cscp_init();
// csc_bat_monitor_init();
hw_init();
sys_time_init();
booz_imu_init();
baro_init();
radio_control_init();
booz_actuators_init();
overo_link_init();
cscp_init();
// csc_bat_monitor_init();
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
}
static inline void main_periodic(void) {
booz_imu_periodic();
OveroLinkPeriodic(on_overo_link_lost);
// csc_bat_monitor_periodic();
booz_imu_periodic();
OveroLinkPeriodic(on_overo_link_lost);
// csc_bat_monitor_periodic();
RunOnceEvery(10, {
LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
radio_control_periodic();
});
RunOnceEvery(10, {
LED_PERIODIC();
DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
radio_control_periodic();
});
RunOnceEvery(2, {baro_periodic();});
}
static inline void on_rc_message(void) {
new_radio_msg = TRUE;
new_radio_msg = TRUE;
}
static inline void on_overo_link_msg_received(void) {
/* IMU up */
overo_link.up.msg.valid.imu = 1;
RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
/* RC up */
overo_link.up.msg.valid.rc = new_radio_msg;
new_radio_msg = FALSE;
overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
/* IMU up */
overo_link.up.msg.valid.imu = 1;
RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
/* RC up */
overo_link.up.msg.valid.rc = new_radio_msg;
new_radio_msg = FALSE;
overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
#ifdef RADIO_CONTROL_KILL
overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
#endif
#ifdef RADIO_CONTROL_GEAR
overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
#endif
overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
overo_link.up.msg.rc_status = radio_control.status;
overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
/* baro up */
overo_link.up.msg.valid.pressure_differential = new_baro_diff;
overo_link.up.msg.valid.pressure_absolute = new_baro_abs;
new_baro_diff = FALSE;
new_baro_abs = FALSE;
overo_link.up.msg.pressure_differential = baro.diff_raw;
overo_link.up.msg.pressure_absolute = baro.abs_raw;
overo_link.up.msg.valid.vane = new_vane;
new_vane = FALSE;
overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
/* pwm acuators down */
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
}
booz_actuators_pwm_commit();
overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
overo_link.up.msg.rc_status = radio_control.status;
overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
/* baro up */
overo_link.up.msg.valid.pressure_differential = new_baro_diff;
overo_link.up.msg.valid.pressure_absolute = new_baro_abs;
new_baro_diff = FALSE;
new_baro_abs = FALSE;
overo_link.up.msg.pressure_differential = baro.differential;
overo_link.up.msg.pressure_absolute = baro.absolute;
overo_link.up.msg.valid.vane = new_vane;
new_vane = FALSE;
overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
/* pwm acuators down */
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
}
booz_actuators_pwm_commit();
}
static inline void on_overo_link_lost(void) {
@@ -167,33 +168,33 @@ static inline void on_overo_link_crc_failed(void) {
}
static inline void on_gyro_accel_event(void) {
BoozImuScaleGyro(booz_imu);
BoozImuScaleAccel(booz_imu);
BoozImuScaleGyro(booz_imu);
BoozImuScaleAccel(booz_imu);
}
static inline void on_mag_event(void) {
BoozImuScaleMag(booz_imu);
BoozImuScaleMag(booz_imu);
}
static inline void on_vane_msg(void *data) {
new_vane = TRUE;
int zero = 0;
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
&(csc_vane_msg.vane_angle1),
&zero,
&zero,
&zero,
&zero,
&csc_vane_msg.vane_angle2,
&zero,
&zero,
&zero,
&zero);
new_vane = TRUE;
int zero = 0;
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
&(csc_vane_msg.vane_angle1),
&zero,
&zero,
&zero,
&zero,
&csc_vane_msg.vane_angle2,
&zero,
&zero,
&zero,
&zero);
}
static inline void main_on_baro_diff(void) {
new_baro_diff = TRUE;
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute, &baro.differential);});
}
static inline void main_on_baro_abs(void) {
@@ -202,11 +203,12 @@ static inline void main_on_baro_abs(void) {
static inline void main_event(void) {
BoozImuEvent(on_gyro_accel_event, on_mag_event);
BaroEvent(main_on_baro_abs, main_on_baro_diff);
OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
RadioControlEvent(on_rc_message);
cscp_event();
BoozImuEvent(on_gyro_accel_event, on_mag_event);
BaroEvent(main_on_baro_abs, main_on_baro_diff);
OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
RadioControlEvent(on_rc_message);
cscp_event();
}