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[paparazzi-commits] [5153] Fixed-Wing Code on STM32 Step 1/10
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5153] Fixed-Wing Code on STM32 Step 1/10 |
|
Date: |
Mon, 26 Jul 2010 19:14:26 +0000 |
Revision: 5153
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5153
Author: dewagter
Date: 2010-07-26 19:14:25 +0000 (Mon, 26 Jul 2010)
Log Message:
-----------
Fixed-Wing Code on STM32 Step 1/10
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
paparazzi3/trunk/sw/airborne/estimator.h
paparazzi3/trunk/sw/airborne/main.c
paparazzi3/trunk/sw/airborne/main_ap.c
paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h
paparazzi3/trunk/sw/airborne/stm32/uart_hw.c
paparazzi3/trunk/sw/airborne/stm32/uart_hw.h
Added Paths:
-----------
paparazzi3/trunk/conf/settings/lisa.xml
paparazzi3/trunk/sw/airborne/stm32/adc_hw.h
paparazzi3/trunk/sw/airborne/stm32/gps_hw.h
paparazzi3/trunk/sw/airborne/stm32/link_mcu_hw.h
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-07-26 03:23:57 UTC (rev 5152)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-07-26 19:14:25 UTC (rev 5153)
@@ -173,14 +173,28 @@
# Config for AP
+# Board Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_l.makefile
+
+# Fixed Wing Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
+# Temporary problem solving
+ap.CFLAGS += -DSTM32
+
+GPS_UART_NR = 1
+GPS_BAUD = 38400
+include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
+
+MODEM_UART_NR = 2
+MODEM_BAUD = 57600
+include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+
# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DTRAFFIC_INFO
-sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM
-DALT_KALMAN -DTRAFFIC_INFO
+sim.srcs += nav_survey_rectangle.c traffic_info.c nav_line.c
</makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-07-26 03:23:57 UTC (rev 5152)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-07-26 19:14:25 UTC (rev 5153)
@@ -171,8 +171,8 @@
</section>
<makefile>
-BOARD_CFG=\"tiny_2_1_1.h\"
-FLASH_MODE=IAP
+BOARD_CFG = \"tiny_2_1_1.h\"
+FLASH_MODE = IAP
# Board Specifics
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -185,25 +185,25 @@
# IO Options
include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-GPS_UART=Uart0
-GPS_BAUD=38400
+GPS_UART_NR = 0
+GPS_BAUD = 38400
include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox.makefile
-MODEM_UART=Uart1
-MODEM_BAUD=9600
+MODEM_UART_NR = 1
+MODEM_BAUD = 9600
include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
+ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
######################################
# Todo
-ap.CFLAGS += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
-ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += gyro.c
+ap.CFLAGS += -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += $(SRC_FIXEDWING)/gyro.c
######################################
Modified: paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
2010-07-26 03:23:57 UTC (rev 5152)
+++ paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
2010-07-26 19:14:25 UTC (rev 5153)
@@ -60,11 +60,13 @@
#
ap.CFLAGS += -DUSE_SYS_TIME
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
ifeq ($(ARCHI), stm32)
-ap.CFLAGS += -DSYS_TIME_LED=1
+ap.CFLAGS += -DSYS_TIME_LED=1 -DPERIPHERALS_AUTO_INIT
endif
+
#
# FlyByWire Main
#
@@ -80,8 +82,9 @@
ap.CFLAGS += -DNAV
ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
+
#
-# InterMCU Commands
+# InterMCU & Commands
#
ap.CFLAGS += -DINTER_MCU
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
2010-07-26 03:23:57 UTC (rev 5152)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox.makefile
2010-07-26 19:14:25 UTC (rev 5153)
@@ -1,13 +1,10 @@
-ifeq ($(GPS_UART), Uart0)
-ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B$(GPS_BAUD)
-else
-ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B$(GPS_BAUD)
-endif
+ap.CFLAGS += -DGPS -DUBX
+ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
+ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
+ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
+ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
-ap.CFLAGS += -DGPS -DUBX -DGPS_LINK=$(GPS_UART)
-ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
-
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
2010-07-26 03:23:57 UTC (rev 5152)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
2010-07-26 19:14:25 UTC (rev 5153)
@@ -1,13 +1,10 @@
-ifeq ($(MODEM_UART), Uart0)
-ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B$(MODEM_BAUD)
-else
-ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B$(MODEM_BAUD)
-endif
+ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
+ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
+MODEM_UART = Uart$(MODEM_UART_NR)
-
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART)
-DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c
$(SRC_FIXEDWING)/pprz_transport.c
Added: paparazzi3/trunk/conf/settings/lisa.xml
===================================================================
--- paparazzi3/trunk/conf/settings/lisa.xml (rev 0)
+++ paparazzi3/trunk/conf/settings/lisa.xml 2010-07-26 19:14:25 UTC (rev
5153)
@@ -0,0 +1,32 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<!-- A conf to use for standard operation (no tuning) -->
+
+<settings>
+ <dl_settings>
+ <dl_settings NAME="flight params">
+ <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude"
shortname="altitude"/>
+ <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
+ <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="nav"
handler="IncreaseShift" shortname="inc. shift"/>
+ <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time"
shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
+ <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav"
handler="SetNavRadius">
+ <strip_button icon="circle-right.png" name="Circle right" value="1"/>
+ <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
+ <key_press key="greater" value="1"/>
+ <key_press key="less" value="-1"/>
+ </dl_setting>
+ </dl_settings>
+
+ <dl_settings NAME="mode">
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="estimator"
values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE">
+ </dl_setting>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
+ </dl_setting>
+ <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
+ </dl_setting>
+ <dl_setting MAX="2" MIN="0" STEP="1"
VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink"/>
+ <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx"
handler="Reset" shortname="GPS reset"/>
+ </dl_settings>
+
+ </dl_settings>
+</settings>
Modified: paparazzi3/trunk/sw/airborne/estimator.h
===================================================================
--- paparazzi3/trunk/sw/airborne/estimator.h 2010-07-26 03:23:57 UTC (rev
5152)
+++ paparazzi3/trunk/sw/airborne/estimator.h 2010-07-26 19:14:25 UTC (rev
5153)
@@ -32,7 +32,8 @@
#include <inttypes.h>
#include "std.h"
-#ifndef READYBOARD_NO_BARO
+//#ifndef READYBOARD_NO_BARO
+#ifdef BARO_MS5534A
#include "baro_MS5534A.h"
#endif
Modified: paparazzi3/trunk/sw/airborne/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main.c 2010-07-26 03:23:57 UTC (rev 5152)
+++ paparazzi3/trunk/sw/airborne/main.c 2010-07-26 19:14:25 UTC (rev 5153)
@@ -41,10 +41,18 @@
#define Ap(f)
#endif
+#ifdef STM32
+#include "init_hw.h"
+#endif
+
int main( void ) {
+#ifdef STM32
+ hw_init();
+ sys_time_init();
+#endif
Fbw(init);
Ap(init);
- InitSysTimePeriodic()
+ InitSysTimePeriodic();
while (1) {
if (sys_time_periodic()) {
Fbw(periodic_task);
@@ -52,6 +60,9 @@
}
Fbw(event_task);
Ap(event_task);
+#ifdef STM32
+ LED_PERIODIC();
+#endif
}
return 0;
}
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2010-07-26 03:23:57 UTC (rev
5152)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2010-07-26 19:14:25 UTC (rev
5153)
@@ -54,7 +54,11 @@
#include "flight_plan.h"
#include "datalink.h"
#include "xbee.h"
+#ifdef STM32
+#include <stm32/gpio.h>
+#else
#include "gpio.h"
+#endif
#include "light.h"
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
@@ -490,7 +494,8 @@
tcas_periodic_task_1Hz();
break;
#endif
-
+ default:
+ break;
}
#ifdef USE_LIGHT
@@ -508,6 +513,8 @@
estimator_flight_time = 1;
launch = TRUE; /* Not set in non auto launch */
DOWNLINK_SEND_TAKEOFF(DefaultChannel, &cpu_time_sec);
+ default:
+ break;
}
#ifdef DIGITAL_CAM
@@ -812,7 +819,9 @@
int_enable();
/** wait 0.5s (historical :-) */
+#ifndef STM32
sys_time_usleep(500000);
+#endif
#if defined GPS_CONFIGURE
gps_configure_uart();
Added: paparazzi3/trunk/sw/airborne/stm32/adc_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/adc_hw.h (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/adc_hw.h 2010-07-26 19:14:25 UTC (rev
5153)
@@ -0,0 +1,31 @@
+/*
+ * $Id: adc_hw.h 2638 2008-08-18 01:30:27Z poine $
+ *
+ * Copyright (C) 2008 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.
+ *
+ */
+
+#ifndef ADC_HW_H
+#define ADC_HW_H
+
+#define AdcBank0(x) (x)
+#define AdcBank1(x) (x+NB_ADC)
+
+#endif /* ADC_HW_H */
Added: paparazzi3/trunk/sw/airborne/stm32/gps_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/gps_hw.h (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/gps_hw.h 2010-07-26 19:14:25 UTC (rev
5153)
@@ -0,0 +1,4 @@
+#ifndef GPS_HW_H
+#define GPS_HW_H
+
+#endif /* GPS_HW_H */
Added: paparazzi3/trunk/sw/airborne/stm32/link_mcu_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/link_mcu_hw.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/link_mcu_hw.h 2010-07-26 19:14:25 UTC
(rev 5153)
@@ -0,0 +1,42 @@
+/* $Id: link_mcu_hw.h 2064 2007-11-23 12:35:50Z hecto $
+ *
+ * Copyright (C) 2003-2005 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.
+ *
+ */
+
+/** \brief handling of arm7 inter mcu link
+ *
+ */
+
+#ifndef LINK_MCU_HW_H
+#define LINK_MCU_HW_H
+
+#define CRC_INIT 0x0
+#define CrcLow(x) ((x)&0xff)
+#define CrcHigh(x) ((x)>>8)
+
+static inline uint16_t CrcUpdate(uint16_t crc, uint8_t data) {
+ uint8_t a = ((uint8_t)CrcHigh(crc)) + data;
+ uint8_t b = ((uint8_t)CrcLow(crc)) + a;
+ crc = b | a << 8;
+ return crc;
+}
+
+#endif /* LINK_MCU_HW_H */
Modified: paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h 2010-07-26 03:23:57 UTC
(rev 5152)
+++ paparazzi3/trunk/sw/airborne/stm32/sys_time_hw.h 2010-07-26 19:14:25 UTC
(rev 5153)
@@ -37,6 +37,8 @@
#include "led.h"
#endif
+#define InitSysTimePeriodic()
+
extern void sys_time_init( void );
extern void sys_tick_irq_handler(void);
Modified: paparazzi3/trunk/sw/airborne/stm32/uart_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/uart_hw.c 2010-07-26 03:23:57 UTC
(rev 5152)
+++ paparazzi3/trunk/sw/airborne/stm32/uart_hw.c 2010-07-26 19:14:25 UTC
(rev 5153)
@@ -29,8 +29,6 @@
#include <stm32/gpio.h>
#include "std.h"
-
-
#ifdef USE_UART1
volatile uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
@@ -397,3 +395,18 @@
#endif /* USE_UART3 */
+
+void uart_init( void )
+{
+#ifdef USE_UART1
+ uart1_init();
+#endif
+#ifdef USE_UART2
+ uart2_init();
+#endif
+#ifdef USE_UART3
+ uart3_init();
+#endif
+}
+
+
Modified: paparazzi3/trunk/sw/airborne/stm32/uart_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/uart_hw.h 2010-07-26 03:23:57 UTC
(rev 5152)
+++ paparazzi3/trunk/sw/airborne/stm32/uart_hw.h 2010-07-26 19:14:25 UTC
(rev 5153)
@@ -31,6 +31,7 @@
#include "std.h"
+#define B9600 9600
#define B38400 38400
#define B57600 57600
#define B115200 115200
@@ -107,4 +108,7 @@
#endif /* USE_UART3 */
+
+void uart_init( void );
+
#endif /* UART_HW_H */
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- [paparazzi-commits] [5153] Fixed-Wing Code on STM32 Step 1/10,
Christophe De Wagter <=