[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [6197] pni micromag for fixed wing
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [6197] pni micromag for fixed wing |
|
Date: |
Thu, 21 Oct 2010 19:14:40 +0000 |
Revision: 6197
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6197
Author: mmm
Date: 2010-10-21 19:14:39 +0000 (Thu, 21 Oct 2010)
Log Message:
-----------
pni micromag for fixed wing
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi1.xml
paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml
paparazzi3/trunk/sw/airborne/main_ap.c
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi2.xml
paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi3.xml
paparazzi3/trunk/conf/modules/mag_micromag_fw.xml
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c
paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.c
paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.h
paparazzi3/trunk/sw/airborne/micromag_fw.c
paparazzi3/trunk/sw/airborne/micromag_fw.h
Modified: paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi1.xml
2010-10-21 17:51:40 UTC (rev 6196)
+++ paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi1.xml
2010-10-21 19:14:39 UTC (rev 6197)
@@ -5,11 +5,11 @@
PerkinElmer TPS334 IR Sensors
Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
XBee modem
- Payload: Sensirion humidity/temp, VTI pressure/temp
- K66, LEA 4P
+ Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
+ LEA 4P
-->
-<airframe name="Funjet FMI 1 K66">
+<airframe name="Funjet FMI 1">
<!-- commands section -->
<servos>
@@ -37,7 +37,7 @@
<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
- <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
@@ -83,9 +83,9 @@
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<!-- 0.0247311828 -->
<!-- 0.02432905 -->
- <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+ <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
</section>
-
+
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
@@ -97,8 +97,9 @@
<define name="TRIGGER_DELAY" value="1."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
</section>
-
+
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
@@ -164,9 +165,9 @@
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
- <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
- <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
- <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
@@ -174,11 +175,31 @@
<define name="DEVICE_TYPE" value="XBEE"/>
<define name="DEVICE_ADDRESS" value="...."/>
</section>
-
+
<section name="SIMU">
<define name="YAW_RESPONSE_FACTOR" value="0.5"/>
</section>
+ <section name="MICROMAG">
+
+ <define name="MM_SS_PIN" value="20"/>
+ <define name="MM_SS_IODIR" value="IO0DIR"/>
+ <define name="MM_SS_IOSET" value="IO0SET"/>
+ <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_RESET_PIN" value="29"/>
+ <define name="MM_RESET_IODIR" value="IO0DIR"/>
+ <define name="MM_RESET_IOSET" value="IO0SET"/>
+ <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+ <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+ <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+ <define name="MM_DRDY_EINT" value="0"/>
+ <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+ </section>
+
<makefile>
CONFIG = \"tiny_2_1.h\"
@@ -195,7 +216,7 @@
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
@@ -206,7 +227,7 @@
ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
+ap.srcs += inter_mcu.c
ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -225,22 +246,31 @@
ap.srcs += nav_survey_rectangle.c
ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
-ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_I2C0
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ap.CFLAGS += -DUSE_AIRSPEED_ETS
+ap.srcs += airspeed_ets_o.c
+
+ap.CFLAGS += -DUSE_IR_MLX
+ap.srcs += ir_mlx.c
+
ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp_i2c.c
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
+#ap.CFLAGS += -DUSE_MAG_HMC
+#ap.srcs += mag_hmc5843.c
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
+
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
sim.srcs += nav_line.c nav_survey_rectangle.c
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
-
</makefile>
</airframe>
Added: paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi2.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi2.xml
2010-10-21 19:14:39 UTC (rev 6197)
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+ XBee modem
+ Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
+ LEA 5H
+-->
+
+<airframe name="Funjet FMI 2">
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1500" max="1900"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.45"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.85"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_TOP" value="ADC_0"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+ <define name="CORRECTION_UP" value="1."/>
+ <define name="CORRECTION_DOWN" value="1."/>
+ <define name="CORRECTION_LEFT" value="1."/>
+ <define name="CORRECTION_RIGHT" value="1."/>
+
+ <define name="LATERAL_CORRECTION" value="1"/>
+ <define name="LONGITUDINAL_CORRECTION" value="1"/>
+ <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR1_SIGN" value="-1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <!-- 0.0247311828 -->
+ <!-- 0.02432905 -->
+ <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+ <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+ <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+ <define name="THROTTLE_SLEW" value="0.1"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.9"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="ROLL_PGAIN" value="6600."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-5500."/>
+ <define name="PITCH_DGAIN" value="0.4"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+ <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+ <section name="MICROMAG">
+
+ <define name="MM_SS_PIN" value="20"/>
+ <define name="MM_SS_IODIR" value="IO0DIR"/>
+ <define name="MM_SS_IOSET" value="IO0SET"/>
+ <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_RESET_PIN" value="29"/>
+ <define name="MM_RESET_IODIR" value="IO0DIR"/>
+ <define name="MM_RESET_IOSET" value="IO0SET"/>
+ <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+ <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+ <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+ <define name="MM_DRDY_EINT" value="0"/>
+ <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+ </section>
+
+ <makefile>
+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c
main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
+
+ap.CFLAGS += -DUSE_I2C0
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ap.CFLAGS += -DUSE_AIRSPEED_ETS
+ap.srcs += airspeed_ets_o.c
+
+ap.CFLAGS += -DUSE_IR_MLX
+ap.srcs += ir_mlx.c
+
+ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp_i2c.c
+
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+
+ </makefile>
+</airframe>
Added: paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi3.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi3.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetfmi3.xml
2010-10-21 19:14:39 UTC (rev 6197)
@@ -0,0 +1,272 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<!-- Funjet Multiplex (http://www.multiplex-rc.de/), Jeti ECO 25
+ Tiny 2.11 board (http://paparazzi.enac.fr/wiki/index.php/Tiny_v2)
+ Tilted infrared sensor
(http://paparazzi.enac.fr/wiki/index.php/Image:Tiny_v2_1_Funjet.jpg)
+ XBee modem
+ Payload: Sensirion humidity/temp, VTI pressure/temp, ETS airspeed
+ LEA 5H
+-->
+
+<airframe name="Funjet FMI 3">
+
+<!-- commands section -->
+ <servos>
+ <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+ <servo name="AILEVON_LEFT" no="2" min="1900" neutral="1515" max="1100"/>
+ <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1502" max="1900"/>
+ </servos>
+
+ <commands>
+ <axis name="THROTTLE" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="PITCH" failsafe_value="0"/>
+ </commands>
+
+ <rc_commands>
+ <set command="THROTTLE" value="@THROTTLE"/>
+ <set command="ROLL" value="@ROLL"/>
+ <set command="PITCH" value="@PITCH"/>
+ </rc_commands>
+
+ <section name="MIXER">
+ <define name="AILEVON_AILERON_RATE" value="0.45"/>
+ <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+ </section>
+
+ <command_laws>
+ <let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
+ <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+ <set servo="MOTOR" value="@THROTTLE"/>
+ <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
+ <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+ </command_laws>
+
+ <section name="AUTO1" prefix="AUTO1_">
+ <define name="MAX_ROLL" value="0.85"/>
+ <define name="MAX_PITCH" value="0.6"/>
+ </section>
+
+ <section name="adc" prefix="ADC_CHANNEL_">
+ <define name="IR1" value="ADC_1"/>
+ <define name="IR2" value="ADC_2"/>
+ <define name="IR_TOP" value="ADC_0"/>
+ <define name="IR_NB_SAMPLES" value="16"/>
+ </section>
+
+ <section name="INFRARED" prefix="IR_">
+ <define name="ADC_IR1_NEUTRAL" value="512"/>
+ <define name="ADC_IR2_NEUTRAL" value="512"/>
+ <define name="ADC_TOP_NEUTRAL" value="512"/>
+
+ <define name="CORRECTION_UP" value="1."/>
+ <define name="CORRECTION_DOWN" value="1."/>
+ <define name="CORRECTION_LEFT" value="1."/>
+ <define name="CORRECTION_RIGHT" value="1."/>
+
+ <define name="LATERAL_CORRECTION" value="1"/>
+ <define name="LONGITUDINAL_CORRECTION" value="1"/>
+ <define name="VERTICAL_CORRECTION" value="1.5"/>
+
+ <define name="HORIZ_SENSOR_TILTED" value="1"/>
+ <define name="IR1_SIGN" value="-1"/>
+ <define name="IR2_SIGN" value="-1"/>
+ <define name="TOP_SIGN" value="1"/>
+
+ <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <!-- 0.0247311828 -->
+ <!-- 0.02432905 -->
+ <define name="VoltageOfAdc(adc)" value="(0.02454*adc)"/>
+ </section>
+
+ <section name="MISC">
+ <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+ <define name="CARROT" value="5." unit="s"/>
+ <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+ <define name="CONTROL_RATE" value="60" unit="Hz"/>
+<!-- <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+<!-- <define name="NO_XBEE_API_INIT" value="TRUE"/> -->
+ <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+ <define name="TRIGGER_DELAY" value="1."/>
+ <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+ <define name="MIN_CIRCLE_RADIUS" value="50."/>
+ </section>
+
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+ <!-- outer loop proportional gain -->
+ <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+ <!-- outer loop saturation -->
+ <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+ <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+ <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+ <!-- auto pitch inner loop -->
+ <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+ <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+ <define name="THROTTLE_SLEW" value="0.1"/>
+
+ </section>
+
+ <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+ <define name="COURSE_PGAIN" value="-0.9"/>
+ <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+ <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+ <define name="ROLL_PGAIN" value="6600."/>
+ <define name="AILERON_OF_THROTTLE" value="0.0"/>
+ <define name="PITCH_PGAIN" value="-5500."/>
+ <define name="PITCH_DGAIN" value="0.4"/>
+
+ <define name="ELEVATOR_OF_ROLL" value="2400"/>
+
+ <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+ <define name="ROLL_RATE_GAIN" value="-1500"/-->
+
+ </section>
+
+ <section name="NAV">
+ <define name="NAV_PITCH" value="0."/>
+ <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+ </section>
+
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb
-->
+ <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive
Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ </section>
+
+ <section name="FAILSAFE" prefix="FAILSAFE_">
+ <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+ <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+ <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+ <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+ <define name="HOME_RADIUS" value="100" unit="m"/>
+</section>
+
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="XBEE"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
+ </section>
+
+ <section name="SIMU">
+ <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+ </section>
+
+ <section name="MICROMAG">
+
+ <define name="MM_SS_PIN" value="20"/>
+ <define name="MM_SS_IODIR" value="IO0DIR"/>
+ <define name="MM_SS_IOSET" value="IO0SET"/>
+ <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_RESET_PIN" value="29"/>
+ <define name="MM_RESET_IODIR" value="IO0DIR"/>
+ <define name="MM_RESET_IOSET" value="IO0SET"/>
+ <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+ <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+ <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+ <define name="MM_DRDY_EINT" value="0"/>
+ <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+ </section>
+
+ <makefile>
+CONFIG = \"tiny_2_1.h\"
+
+include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+
+FLASH_MODE=IAP
+
+ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c
main_ap.c main.c
+
+ap.srcs += commands.c
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
+
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+
+#TRANSPARENT
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1
-DDATALINK=PPRZ -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += inter_mcu.c
+
+ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART0 -DGPS_LINK=Uart0 -DUART0_BAUD=B38400
-DGPS_USE_LATLONG
+# -DGPS_LED=2
+ap.srcs += gps_ubx.c gps.c latlong.c
+
+ap.CFLAGS += -DINFRARED -DALT_KALMAN -DWIND_INFO -DWIND_INFO_RET
+ap.srcs += infrared.c estimator.c
+
+ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
+
+ap.srcs += nav_line.c
+ap.srcs += nav_survey_rectangle.c
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=30 -DSCK_PIN=4
+
+ap.CFLAGS += -DUSE_I2C0
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ap.CFLAGS += -DUSE_AIRSPEED_ETS
+ap.srcs += airspeed_ets_o.c
+
+ap.CFLAGS += -DUSE_IR_MLX
+ap.srcs += ir_mlx.c
+
+ap.CFLAGS += -DUSE_BARO_SCP
+ap.srcs += baro_scp_i2c.c
+
+ap.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=12 -DSSP_VIC_SLOT=11 -DUSE_MICROMAG_FW
+ap.srcs += micromag_fw.c $(SRC_ARCH)/micromag_fw_hw.c
+
+# Config for SITL simulation
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+sim.srcs += nav_line.c nav_survey_rectangle.c
+
+
+ </makefile>
+</airframe>
Modified: paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml 2010-10-21
17:51:40 UTC (rev 6196)
+++ paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml 2010-10-21
19:14:39 UTC (rev 6197)
@@ -24,7 +24,10 @@
<define name="ALT_KALMAN"/>
<define name="WIND_INFO"/>
<define name="WIND_INFO_RET"/>
- <define name="USE_I2C0"/>
+ <define name="SPI_MASTER"/>
+ <define name="USE_MICROMAG_FW"/>
+ <define name="MICROMAG_DRDY_VIC_SLOT" value="12"/>
+ <define name="SSP_VIC_SLOT" value="11"/>
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -43,6 +46,7 @@
</subsystem>
<subsystem name="navigation"/>
<subsystem name="i2c"/>
+ <subsystem name="spi"/>
</firmware>
<firmware name="setup">
@@ -55,8 +59,9 @@
<!-- modules -->
<modules>
- <load name="alt_srf08.xml"/>
- <!--load name="baro_MS5534A.xml"/>
+ <load name="mag_micromag_fw.xml"/>
+ <!--load name="alt_srf08.xml"/>
+ <load name="baro_MS5534A.xml"/>
<load name="baro_bmp.xml"/>
<load name="baro_scp_i2c.xml"/>
<load name="light_temt.xml"/>
@@ -234,4 +239,23 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
+ <section name="MICROMAG">
+
+ <define name="MM_SS_PIN" value="20"/>
+ <define name="MM_SS_IODIR" value="IO0DIR"/>
+ <define name="MM_SS_IOSET" value="IO0SET"/>
+ <define name="MM_SS_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_RESET_PIN" value="29"/>
+ <define name="MM_RESET_IODIR" value="IO0DIR"/>
+ <define name="MM_RESET_IOSET" value="IO0SET"/>
+ <define name="MM_RESET_IOCLR" value="IO0CLR"/>
+
+ <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
+ <define name="MM_DRDY_PINSEL_BIT" value="0"/>
+ <define name="MM_DRDY_PINSEL_VAL" value="1"/>
+ <define name="MM_DRDY_EINT" value="0"/>
+ <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
+
+ </section>
</airframe>
Added: paparazzi3/trunk/conf/modules/mag_micromag_fw.xml
===================================================================
--- paparazzi3/trunk/conf/modules/mag_micromag_fw.xml
(rev 0)
+++ paparazzi3/trunk/conf/modules/mag_micromag_fw.xml 2010-10-21 19:14:39 UTC
(rev 6197)
@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="mag_micromag_fw" dir="meteo">
+ <header>
+ <file name="micromag_fw_hw.h"/>
+ <file name="micromag_fw.h"/>
+ </header>
+ <init fun="micromag_init()"/>
+ <periodic fun="micromag_periodic()" freq="60"/>
+ <event fun="micromag_event()"/>
+ <makefile>
+ <file_hw name="micromag_fw_hw.c"/>
+ <file name="micromag_fw.c"/>
+ </makefile>
+</module>
+
Deleted: paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.c 2010-10-21
17:51:40 UTC (rev 6196)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.c 2010-10-21
19:14:39 UTC (rev 6197)
@@ -1,52 +0,0 @@
-/* PNI micromag3 connected on SPI1 */
-/*
- Tiny2 (fixed wing)
- SS on P0.20 (SSEL)
- RESET on P0.29 (ADC5)
- DRDY on P0.16 ( EINT0 )
-*/
-
-#include "led.h"
-#include "micromag_fw.h"
-
-volatile uint8_t micromag_cur_axe;
-
-static void EXTINT_ISR(void) __attribute__((naked));
-
-void micromag_hw_init( void ) {
-
- MmUnselect(); /* pin idles high */
- /* configure SS pin */
- SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output */
-
- /* configure RESET pin */
- SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output */
- MmReset(); /* pin idles low */
-
- /* configure DRDY pin */
- /* connected pin to EXINT */
- MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
- SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
- SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
- SetBit(EXTINT,MM_DRDY_EINT); /* clear pending EINT */
-
- /* initialize interrupt vector */
- VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT ); /* select
EINT as IRQ source */
- VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT ); /* enable
it */
- _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
- _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address
of the ISR
-}
-
-void EXTINT_ISR(void) {
- ISR_ENTRY();
-//LED_TOGGLE(3);
-
- /* no, we won't do anything asynchronously, so just notify */
- micromag_status = MM_GOT_EOC;
- /* clear EINT */
- SetBit(EXTINT,MM_DRDY_EINT);
-// EXTINT = (1<<MM_DRDY_EINT);
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
Deleted: paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.h 2010-10-21
17:51:40 UTC (rev 6196)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.h 2010-10-21
19:14:39 UTC (rev 6197)
@@ -1,93 +0,0 @@
-#ifndef MICROMAG_FW_HW_H
-#define MICROMAG_FW_HW_H
-
-#include <stdlib.h> // for abs
-
-#include "std.h"
-#include "LPC21xx.h"
-#include "interrupt_hw.h"
-
-#include "spi_hw.h"
-#include BOARD_CONFIG
-
-#include "airframe.h"
-
-#define MM_DIVISOR_128 2
-#define MM_DIVISOR_256 3
-#define MM_DIVISOR_512 4
-#define MM_DIVISOR_1024 5
-
-#define MM_DIVISOR MM_DIVISOR_512
-
-
-extern volatile uint8_t micromag_cur_axe;
-
-#define MmSelect() SetBit(MM_SS_IOCLR,MM_SS_PIN)
-#define MmUnselect() SetBit(MM_SS_IOSET,MM_SS_PIN)
-
-#define MmReset() SetBit(MM_RESET_IOCLR,MM_RESET_PIN)
-#define MmSet() SetBit(MM_RESET_IOSET,MM_RESET_PIN)
-
-#define MmOnSpiIt() { \
- switch (micromag_status) { \
- case MM_SENDING_REQ: \
- {
\
- /* read dummy control byte reply */ \
- uint8_t foo __attribute__ ((unused)) = SSPDR; \
- micromag_status = MM_WAITING_EOC; \
- MmUnselect(); \
- SpiClearRti(); \
- SpiDisableRti(); \
- SpiDisable(); \
- }
\
- break; \
- case MM_READING_RES: \
- {
\
- int16_t new_val; \
- new_val = SSPDR << 8; \
- new_val += SSPDR; \
- if (abs(new_val) < 2000) \
- micromag_values[micromag_cur_axe] = new_val; \
- MmUnselect(); \
- SpiClearRti(); \
- SpiDisableRti(); \
- SpiDisable(); \
- micromag_cur_axe++; \
- if (micromag_cur_axe > 2) { \
- micromag_cur_axe = 0; \
- micromag_status = MM_DATA_AVAILABLE; \
- } \
- else \
- micromag_status = MM_IDLE; \
- }
\
- break; \
- } \
- }
-
-
-#define MmSendReq() { \
- MmSelect();
\
- micromag_status = MM_SENDING_REQ; \
- MmSet(); \
- SpiClearRti(); \
- SpiEnableRti(); \
- MmReset(); \
- uint8_t control_byte = (micromag_cur_axe+1) << 0 | MM_DIVISOR_1024 << 4; \
- SSPDR = control_byte; \
- SpiEnable(); \
- }
-
-#define MmReadRes() { \
- micromag_status = MM_READING_RES; \
- MmSelect();
\
- /* trigger 2 bytes read */ \
- SSPDR = 0; \
- SSPDR = 0; \
- SpiEnable(); \
- SpiClearRti(); \
- SpiEnableRti(); \
- }
-
-
-
-#endif /* MICROMAG_HW_H */
Copied: paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
(from rev 6194, paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.c
2010-10-21 19:14:39 UTC (rev 6197)
@@ -0,0 +1,78 @@
+/* PNI micromag3 connected on SPI1 */
+/*
+ Tiny2 (fixed wing)
+ SS on P0.20 (SSEL)
+ RESET on P0.29 (ADC5)
+ DRDY on P0.16 ( EINT0 )
+*/
+
+#include "led.h"
+#include "micromag_fw_hw.h"
+#include "meteo/micromag_fw.h"
+
+volatile uint8_t micromag_cur_axe;
+
+static void SSP_ISR(void) __attribute__((naked));
+static void EXTINT_ISR(void) __attribute__((naked));
+
+
+static void SSP_ISR(void) {
+ ISR_ENTRY();
+
+ MmOnSpiIt();
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void EXTINT_ISR(void) {
+ ISR_ENTRY();
+//LED_TOGGLE(3);
+
+ /* no, we won't do anything asynchronously, so just notify */
+ micromag_status = MM_GOT_EOC;
+ /* clear EINT */
+ SetBit(EXTINT,MM_DRDY_EINT);
+// EXTINT = (1<<MM_DRDY_EINT);
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+
+void micromag_hw_init( void ) {
+ /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
+ PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
+
+ /* setup SSP */
+ SSPCR0 = SSPCR0_VAL;;
+ SSPCR1 = SSPCR1_VAL;
+ SSPCPSR = 0x02;
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
+ VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
+ _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
+ _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
+
+ MmUnselect(); /* pin idles high */
+ /* configure SS pin */
+ SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output */
+
+ /* configure RESET pin */
+ SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output */
+ MmReset(); /* pin idles low */
+
+ /* configure DRDY pin */
+ /* connected pin to EXINT */
+ MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
+ SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
+ SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
+ SetBit(EXTINT,MM_DRDY_EINT); /* clear pending EINT */
+
+ /* initialize interrupt vector */
+ VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT ); /* select
EINT as IRQ source */
+ VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT ); /* enable
it */
+ _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
+ _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR; // address
of the ISR
+}
+
+
Copied: paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
(from rev 6194, paparazzi3/trunk/sw/airborne/arch/lpc21/micromag_fw_hw.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/modules/meteo/micromag_fw_hw.h
2010-10-21 19:14:39 UTC (rev 6197)
@@ -0,0 +1,93 @@
+#ifndef MICROMAG_FW_HW_H
+#define MICROMAG_FW_HW_H
+
+#include <stdlib.h> // for abs
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"
+
+#include "spi_hw.h"
+#include BOARD_CONFIG
+
+#include "airframe.h"
+
+#define MM_DIVISOR_128 2
+#define MM_DIVISOR_256 3
+#define MM_DIVISOR_512 4
+#define MM_DIVISOR_1024 5
+
+#define MM_DIVISOR MM_DIVISOR_512
+
+
+extern volatile uint8_t micromag_cur_axe;
+
+#define MmSelect() SetBit(MM_SS_IOCLR,MM_SS_PIN)
+#define MmUnselect() SetBit(MM_SS_IOSET,MM_SS_PIN)
+
+#define MmReset() SetBit(MM_RESET_IOCLR,MM_RESET_PIN)
+#define MmSet() SetBit(MM_RESET_IOSET,MM_RESET_PIN)
+
+#define MmOnSpiIt() { \
+ switch (micromag_status) { \
+ case MM_SENDING_REQ: \
+ {
\
+ /* read dummy control byte reply */ \
+ uint8_t foo __attribute__ ((unused)) = SSPDR; \
+ micromag_status = MM_WAITING_EOC; \
+ MmUnselect(); \
+ SpiClearRti(); \
+ SpiDisableRti(); \
+ SpiDisable(); \
+ }
\
+ break; \
+ case MM_READING_RES: \
+ {
\
+ int16_t new_val; \
+ new_val = SSPDR << 8; \
+ new_val += SSPDR; \
+ if (abs(new_val) < 2000) \
+ micromag_values[micromag_cur_axe] = new_val; \
+ MmUnselect(); \
+ SpiClearRti(); \
+ SpiDisableRti(); \
+ SpiDisable(); \
+ micromag_cur_axe++; \
+ if (micromag_cur_axe > 2) { \
+ micromag_cur_axe = 0; \
+ micromag_status = MM_DATA_AVAILABLE; \
+ } \
+ else \
+ micromag_status = MM_IDLE; \
+ }
\
+ break; \
+ } \
+ }
+
+
+#define MmSendReq() { \
+ MmSelect();
\
+ micromag_status = MM_SENDING_REQ; \
+ MmSet(); \
+ SpiClearRti(); \
+ SpiEnableRti(); \
+ MmReset(); \
+ uint8_t control_byte = (micromag_cur_axe+1) << 0 | MM_DIVISOR_1024 << 4; \
+ SSPDR = control_byte; \
+ SpiEnable(); \
+ }
+
+#define MmReadRes() { \
+ micromag_status = MM_READING_RES; \
+ MmSelect();
\
+ /* trigger 2 bytes read */ \
+ SSPDR = 0; \
+ SSPDR = 0; \
+ SpiEnable(); \
+ SpiClearRti(); \
+ SpiEnableRti(); \
+ }
+
+extern void micromag_hw_init( void );
+
+#endif /* MICROMAG_HW_H */
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2010-10-21 17:51:40 UTC (rev
6196)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2010-10-21 19:14:39 UTC (rev
6197)
@@ -95,10 +95,6 @@
#include "usb_serial.h"
#endif
-#ifdef USE_MICROMAG_FW
-#include "micromag_fw.h"
-#endif
-
#ifdef USE_AIRSPEED_ETS
#include "airspeed_ets.h"
#endif // USE_AIRSPEED_ETS
@@ -497,10 +493,6 @@
/* default: */
}
-#ifdef USE_MICROMAG_FW
- micromag_periodic();
-#endif
-
#ifndef CONTROL_RATE
#define CONTROL_RATE 20
#endif
@@ -650,11 +642,6 @@
#endif
nav_init();
-#ifdef USE_MICROMAG_FW
- micromag_init_ssp();
- micromag_init();
-#endif
-
modules_init();
/** - start interrupt task */
@@ -806,16 +793,6 @@
}
#endif
-#ifdef USE_MICROMAG_FW
- if (micromag_status == MM_DATA_AVAILABLE) {
- DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
- µmag_values[0],
- µmag_values[1],
- µmag_values[2] );
- micromag_status = MM_IDLE;
- }
-#endif
-
if (inter_mcu_received_fbw) {
/* receive radio control task from fbw */
inter_mcu_received_fbw = FALSE;
Deleted: paparazzi3/trunk/sw/airborne/micromag_fw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/micromag_fw.c 2010-10-21 17:51:40 UTC (rev
6196)
+++ paparazzi3/trunk/sw/airborne/micromag_fw.c 2010-10-21 19:14:39 UTC (rev
6197)
@@ -1,110 +0,0 @@
-#include "micromag_fw.h"
-#include "led.h"
-
-
-/* SSPCR0 settings */
-#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
-#define SSP_FRF 0x00 << 4 /* frame format : SPI */
-#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
-#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
-#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
-
-/* SSPCR1 settings */
-#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
-#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
-#define SSP_MS 0x00 << 2 /* master slave mode : master */
-#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
-
-#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
-#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
-
-#define SSP_PINSEL1_SCK (2<<2)
-#define SSP_PINSEL1_MISO (2<<4)
-#define SSP_PINSEL1_MOSI (2<<6)
-
-#define SSP_Enable() SetBit(SSPCR1, SSE);
-#define SSP_Disable() ClearBit(SSPCR1, SSE);
-#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
-#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
-#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
-#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
-#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
-#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
-#define SSP_ClearRti() SetBit(SSPICR, RTIC);
-
-volatile uint8_t micromag_status;
-volatile int16_t micromag_values[MM_NB_AXIS];
-
-static void SSP_ISR(void) __attribute__((naked));
-
-void micromag_periodic( void ) {
-
- static uint8_t cnt = 0;
-
- if (micromag_status == MM_IDLE) {
- // uint8_t * tab = &cnt;
- // DOWNLINK_SEND_DEBUG(1,tab);
- cnt = 0;
- MmSendReq();
- }
- else if (micromag_status == MM_GOT_EOC) {
- MmReadRes();
- }
- else if (micromag_status == MM_WAITING_EOC) {
- cnt++;
- if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
- }
-}
-
-static void SSP_ISR(void) {
- ISR_ENTRY();
-
- MmOnSpiIt();
-
- VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
- ISR_EXIT();
-}
-
-void micromag_init_ssp(void) {
-
- /* setup pins for SSP (SCK, MISO, MOSI, SSEL) */
- PINSEL1 |= SSP_PINSEL1_SCK | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
-
- /* setup SSP */
- SSPCR0 = SSPCR0_VAL;;
- SSPCR1 = SSPCR1_VAL;
- SSPCPSR = 0x02;
-
- /* initialize interrupt vector */
- VICIntSelect &= ~VIC_BIT( VIC_SPI1 ); /* SPI1 selected as IRQ */
- VICIntEnable = VIC_BIT( VIC_SPI1 ); /* enable it */
- _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
- _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR; /* address of the ISR */
-}
-
-void micromag_init( void ) {
-
- micromag_hw_init();
-
- uint8_t i;
- for (i=0; i<MM_NB_AXIS; i++)
- micromag_values[i] = 0;
- micromag_status = MM_IDLE;
-}
-
-void micromag_reset() {
- micromag_status = MM_IDLE;
-}
-
-void micromag_read() {
- if (micromag_status == MM_IDLE) {
- MmSendReq();
- }
- else if (micromag_status == MM_GOT_EOC) {
- MmReadRes();
- }
- else if (micromag_status == MM_DATA_AVAILABLE) {
- micromag_status == MM_IDLE;
- }
-}
-
Deleted: paparazzi3/trunk/sw/airborne/micromag_fw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/micromag_fw.h 2010-10-21 17:51:40 UTC (rev
6196)
+++ paparazzi3/trunk/sw/airborne/micromag_fw.h 2010-10-21 19:14:39 UTC (rev
6197)
@@ -1,53 +0,0 @@
-#ifndef MICROMAG_FW_H
-#define MICROMAG_FW_H
-
-
-#include "std.h"
-#define MM_NB_AXIS 3
-
-extern void micromag_init_ssp(void);
-extern void micromag_init( void );
-extern void micromag_read( void );
-
-extern void micromag_reset( void);
-extern void micromag_periodic( void );
-
-#define MM_IDLE 0
-#define MM_BUSY 1
-#define MM_SENDING_REQ 2
-#define MM_WAITING_EOC 3
-#define MM_GOT_EOC 4
-#define MM_READING_RES 5
-#define MM_DATA_AVAILABLE 6
-
-/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
-#define SSP_CLOCK 468750
-
-/* SSPCR0 settings */
-#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
-#define SSP_FRF 0x00 << 4 /* frame format : SPI */
-#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
-#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
-#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
-
-/* SSPCR1 settings */
-#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
-#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
-#define SSP_MS 0x00 << 2 /* master slave mode : master */
-#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
-
-#define SS_PIN 20
-#define SS_IODIR IO0DIR
-#define SS_IOSET IO0SET
-#define SS_IOCLR IO0CLR
-
-
-extern volatile uint8_t micromag_status;
-extern volatile int16_t micromag_values[MM_NB_AXIS];
-
-extern void micromag_hw_init( void );
-
-#include "micromag_fw_hw.h"
-
-
-#endif /* MICROMAG_H */
Copied: paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c (from rev
6194, paparazzi3/trunk/sw/airborne/micromag_fw.c)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.c 2010-10-21
19:14:39 UTC (rev 6197)
@@ -0,0 +1,71 @@
+#include "micromag_fw.h"
+#include "meteo/micromag_fw_hw.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+volatile uint8_t micromag_status;
+volatile int16_t micromag_values[MM_NB_AXIS];
+
+
+void micromag_periodic( void ) {
+
+ static uint8_t cnt = 0;
+
+ if (micromag_status == MM_IDLE) {
+ // uint8_t * tab = &cnt;
+ // DOWNLINK_SEND_DEBUG(1,tab);
+ cnt = 0;
+ MmSendReq();
+ }
+ else if (micromag_status == MM_GOT_EOC) {
+ MmReadRes();
+ }
+ else if (micromag_status == MM_WAITING_EOC) {
+ cnt++;
+ if (cnt > 50) {cnt = 0; micromag_status = MM_IDLE;}
+ }
+}
+
+void micromag_event( void ) {
+
+ int32_t mx=micromag_values[0];
+ int32_t my=micromag_values[1];
+ int32_t mz=micromag_values[2];
+
+ if (micromag_status == MM_DATA_AVAILABLE) {
+ DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
+ &mx,
+ &my,
+ &mz );
+ micromag_status = MM_IDLE;
+ }
+}
+
+void micromag_init( void ) {
+
+ micromag_hw_init();
+
+ uint8_t i;
+ for (i=0; i<MM_NB_AXIS; i++)
+ micromag_values[i] = 0;
+ micromag_status = MM_IDLE;
+}
+
+void micromag_reset() {
+ micromag_status = MM_IDLE;
+}
+
+void micromag_read() {
+ if (micromag_status == MM_IDLE) {
+ MmSendReq();
+ }
+ else if (micromag_status == MM_GOT_EOC) {
+ MmReadRes();
+ }
+ else if (micromag_status == MM_DATA_AVAILABLE) {
+ micromag_status == MM_IDLE;
+ }
+}
+
Copied: paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h (from rev
6194, paparazzi3/trunk/sw/airborne/micromag_fw.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/micromag_fw.h 2010-10-21
19:14:39 UTC (rev 6197)
@@ -0,0 +1,64 @@
+#ifndef MICROMAG_FW_H
+#define MICROMAG_FW_H
+
+
+#include "std.h"
+#define MM_NB_AXIS 3
+
+extern void micromag_init( void );
+extern void micromag_read( void );
+
+extern void micromag_reset( void);
+extern void micromag_periodic( void );
+extern void micromag_event( void );
+
+#define MM_IDLE 0
+#define MM_BUSY 1
+#define MM_SENDING_REQ 2
+#define MM_WAITING_EOC 3
+#define MM_GOT_EOC 4
+#define MM_READING_RES 5
+#define MM_DATA_AVAILABLE 6
+
+/* ssp input clock 468.75kHz, clock that divided by SCR+1 */
+#define SSP_CLOCK 468750
+
+/* SSPCR0 settings */
+#define SSP_DDS 0x07 << 0 /* data size : 8 bits */
+#define SSP_FRF 0x00 << 4 /* frame format : SPI */
+#define SSP_CPOL 0x00 << 6 /* clock polarity : data captured on first
clock transition */
+#define SSP_CPHA 0x00 << 7 /* clock phase : SCK idles low */
+#define SSP_SCR 0x0F << 8 /* serial clock rate : divide by 16 */
+
+/* SSPCR1 settings */
+#define SSP_LBM 0x00 << 0 /* loopback mode : disabled */
+#define SSP_SSE 0x00 << 1 /* SSP enable : disabled */
+#define SSP_MS 0x00 << 2 /* master slave mode : master */
+#define SSP_SOD 0x00 << 3 /* slave output disable : don't care when master */
+
+#define SS_PIN 20
+#define SS_IODIR IO0DIR
+#define SS_IOSET IO0SET
+#define SS_IOCLR IO0CLR
+
+#define SSPCR0_VAL (SSP_DDS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
+#define SSPCR1_VAL (SSP_LBM | SSP_SSE | SSP_MS | SSP_SOD )
+
+#define SSP_PINSEL1_SCK (2<<2)
+#define SSP_PINSEL1_MISO (2<<4)
+#define SSP_PINSEL1_MOSI (2<<6)
+
+#define SSP_Enable() SetBit(SSPCR1, SSE);
+#define SSP_Disable() ClearBit(SSPCR1, SSE);
+#define SSP_EnableRxi() SetBit(SSPIMSC, RXIM)
+#define SSP_DisableRxi() ClearBit(SSPIMSC, RXIM)
+#define SSP_EnableTxi() SetBit(SSPIMSC, TXIM)
+#define SSP_DisableTxi() ClearBit(SSPIMSC, TXIM)
+#define SSP_EnableRti() SetBit(SSPIMSC, RTIM);
+#define SSP_DisableRti() ClearBit(SSPIMSC, RTIM);
+#define SSP_ClearRti() SetBit(SSPICR, RTIC);
+
+extern volatile uint8_t micromag_status;
+extern volatile int16_t micromag_values[MM_NB_AXIS];
+
+#endif /* MICROMAG_H */
| [Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [6197] pni micromag for fixed wing,
Martin Mueller <=