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[paparazzi-commits] [5344] made the test a litttle more interesting by a
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From: |
antoine drouin |
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Subject: |
[paparazzi-commits] [5344] made the test a litttle more interesting by adding telemetry, and datalink. |
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Date: |
Thu, 12 Aug 2010 17:24:16 +0000 |
Revision: 5344
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5344
Author: poine
Date: 2010-08-12 17:24:15 +0000 (Thu, 12 Aug 2010)
Log Message:
-----------
made the test a litttle more interesting by adding telemetry, and datalink.
Servo values and telemetry modes are changeable by datalink
Modified Paths:
--------------
paparazzi3/trunk/conf/settings/settings_test_passthrough.xml
paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
paparazzi3/trunk/sw/airborne/fms/fms_gs_com.c
paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
Modified: paparazzi3/trunk/conf/settings/settings_test_passthrough.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_test_passthrough.xml
2010-08-12 15:44:34 UTC (rev 5343)
+++ paparazzi3/trunk/conf/settings/settings_test_passthrough.xml
2010-08-12 17:24:15 UTC (rev 5344)
@@ -4,8 +4,18 @@
<dl_settings>
<dl_settings NAME="Misc">
- <dl_setting var="telemetry_mode_Main_DefaultChannel" min="0" step="1"
max="1" shortname ="telemetry" values="Default|Other" module="fms/fms_gs_com"/>
+ <dl_setting var="telemetry_mode_Main_DefaultChannel" min="0" step="1"
max="1" shortname ="telemetry" values="Default|Other" module="fms/fms_gs_com"/>
</dl_settings>
+
+ <dl_settings NAME="Servos">
+ <dl_setting var="otp.servos_outputs_usecs[0]" min="1000" step="1"
max="2000" shortname ="S1" module="fms/overo_test_passthrough"/>
+ <dl_setting var="otp.servos_outputs_usecs[1]" min="1000" step="1"
max="2000" shortname ="S2" module="fms/overo_test_passthrough"/>
+ <dl_setting var="otp.servos_outputs_usecs[2]" min="1000" step="1"
max="2000" shortname ="S3" module="fms/overo_test_passthrough"/>
+ <dl_setting var="otp.servos_outputs_usecs[3]" min="1000" step="1"
max="2000" shortname ="S4" module="fms/overo_test_passthrough"/>
+ <dl_setting var="otp.servos_outputs_usecs[4]" min="1000" step="1"
max="2000" shortname ="S5" module="fms/overo_test_passthrough"/>
+ <dl_setting var="otp.servos_outputs_usecs[5]" min="1000" step="1"
max="2000" shortname ="S6" module="fms/overo_test_passthrough"/>
+ </dl_settings>
+
</dl_settings>
</settings>
Modified: paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
===================================================================
--- paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
2010-08-12 15:44:34 UTC (rev 5343)
+++ paparazzi3/trunk/conf/telemetry/telemetry_test_passthrough.xml
2010-08-12 17:24:15 UTC (rev 5344)
@@ -4,12 +4,18 @@
<process name="Main">
<mode name="DefaultMode">
- <message name="ALIVE" period="0.5"/>
- <message name="IMU_GYRO" period="0.1"/>
+ <message name="ALIVE" period="1."/>
+ <message name="TEST_PASSTHROUGH_STATUS" period="0.5"/>
+ <message name="DL_VALUE" period="0.5"/>
</mode>
<mode name="OtherMode">
- <message name="ALIVE" period="0.5"/>
+ <message name="ALIVE" period="1."/>
+ <message name="TEST_PASSTHROUGH_STATUS" period="0.5"/>
+ <message name="DL_VALUE" period="0.5"/>
+ <message name="IMU_GYRO" period="0.05"/>
+ <message name="IMU_ACCEL" period="0.05"/>
+ <message name="IMU_MAG" period="0.05"/>
</mode>
</process>
Modified: paparazzi3/trunk/sw/airborne/fms/fms_gs_com.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_gs_com.c 2010-08-12 15:44:34 UTC
(rev 5343)
+++ paparazzi3/trunk/sw/airborne/fms/fms_gs_com.c 2010-08-12 17:24:15 UTC
(rev 5344)
@@ -4,18 +4,21 @@
#include "udp_transport2.h"
-/* generated */
+/* generated : holds PeriodicSendMain */
#include "periodic.h"
/* holds the definitions of PERIODIC_SEND_XXX */
#include "overo_test_passthrough_telemetry.h"
/* holds the definitions of DOWNLINK_SEND_XXX */
#include "messages2.h"
+
#include "dl_protocol.h"
+/* generated : holds DlSetting() and PeriodicSendDlValue() */
#include "settings.h"
struct FmsGsCom fms_gs_com;
uint8_t telemetry_mode_Main_DefaultChannel;
+#define PERIODIC_SEND_DL_VALUE(_chan) PeriodicSendDlValue(_chan)
static void on_datalink_event(int fd, short event __attribute__((unused)),
void *arg);
static void on_datalink_message(void);
@@ -58,6 +61,7 @@
}
static void on_datalink_message(void) {
+
struct udp_transport *tp = fms_gs_com.udp_transport->impl;
uint8_t msg_id = tp->udp_dl_payload[1];
@@ -69,13 +73,11 @@
uint8_t i = DL_SETTING_index(tp->udp_dl_payload);
float var = DL_SETTING_value(tp->udp_dl_payload);
DlSetting(i, var);
- printf("datalink : %d %f\n",i,var);
DOWNLINK_SEND_DL_VALUE(fms_gs_com.udp_transport, &i, &var);
}
break;
default :
- printf("did nothing\n");
break;
}
Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h 2010-08-12 15:44:34 UTC
(rev 5343)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_link.h 2010-08-12 17:24:15 UTC
(rev 5344)
@@ -19,6 +19,7 @@
* 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 FMS_SPI_LINK_H
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c 2010-08-12
15:44:34 UTC (rev 5343)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.c 2010-08-12
17:24:15 UTC (rev 5344)
@@ -1,8 +1,7 @@
/*
* $Id$
*
- * Copyright (C) 2008-2010 Antoine Drouin <address@hidden>
- * Copyright (C) 2010 Piotr Esden-Tempski <address@hidden>
+ * Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
*
@@ -20,6 +19,7 @@
* 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.
+ *
*/
#include <stdint.h>
@@ -30,6 +30,8 @@
#include <event.h>
+#include "fms/overo_test_passthrough.h"
+
#include "std.h"
#include "fms_debug.h"
#include "fms_periodic.h"
@@ -41,23 +43,15 @@
/* stuff for telemetry/datalink */
#include "fms_gs_com.h"
-/* let's store those data somewhere */
-#include "booz/booz_imu.h"
+struct OveroTestPassthrough otp;
-struct BoozImuFloat imu;
-
static void main_periodic(int my_sig_num);
+static void dialog_with_io_proc(void);
-
-
-
-
-static void send_message(void);
-static void print_up_msg(struct AutopilotMessageCRCFrame * msg);
-static void print_down_msg(struct AutopilotMessageCRCFrame * msg);
-
int main(int argc, char *argv[]) {
+ TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
+
/* Initalize our SPI link to IO processor */
if (spi_link_init()) {
TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
@@ -76,10 +70,15 @@
/* Initialize our communications with ground segment */
fms_gs_com_init("10.31.4.7", 4242, 4243, FALSE);
+ TRACE(TRACE_DEBUG, "%s", "Initialization completed, entering mainloop\n");
+
+ /* Initialize blaaa */
+ for (uint8_t i=0; i<6; i++) otp.servos_outputs_usecs[i] = 1500;
+
/* Enter our mainloop */
event_dispatch();
- printf("leaving... goodbye!\n");
+ TRACE(TRACE_DEBUG, "%s", "leaving mainloop... goodbye!\n");
return 0;
@@ -87,7 +86,7 @@
static void main_periodic(int my_sig_num) {
- send_message();
+ dialog_with_io_proc();
fms_gs_com_periodic();
@@ -95,46 +94,38 @@
-static void send_message() {
- static uint32_t foo = 0;
+static void dialog_with_io_proc() {
struct AutopilotMessageCRCFrame msg_in;
struct AutopilotMessageCRCFrame msg_out;
uint8_t crc_valid;
+#if 0
uint16_t val = 1500 + 500*sin(foo*0.001);
msg_out.payload.msg_down.pwm_outputs_usecs[0] = val;
msg_out.payload.msg_down.pwm_outputs_usecs[1] = val;
msg_out.payload.msg_down.pwm_outputs_usecs[2] = val;
+#endif
+ for (uint8_t i=0; i<6; i++) msg_out.payload.msg_down.pwm_outputs_usecs[i] =
otp.servos_outputs_usecs[i];
spi_link_send(&msg_out, sizeof(struct AutopilotMessageCRCFrame), &msg_in,
&crc_valid);
struct AutopilotMessagePTUp *in = &msg_in.payload.msg_up;
- RATES_FLOAT_OF_BFP(imu.gyro, in->gyro);
- ACCELS_FLOAT_OF_BFP(imu.accel, in->accel);
+ RATES_FLOAT_OF_BFP(otp.imu.gyro, in->gyro);
+ ACCELS_FLOAT_OF_BFP(otp.imu.accel, in->accel);
+ MAGS_FLOAT_OF_BFP(otp.imu.mag, in->mag);
- if (!(foo % 200)) {
- // printf("msg %d, CRC errors: %d\n", spi_link.msg_cnt,
spi_link.crc_err_cnt);
- // print_up_msg(&msg_in);
- // print_down_msg(&msg_out);
- printf("%08d -> gx%+02.1f gy%+02.1f gz%+02.1f ax%+02.1f ay%+02.1f
az%+02.1f rs%02x stm_msg %08d stm_err %d | CRC errors: %d\n",
- foo,
- DegOfRad(RATE_FLOAT_OF_BFP(in->gyro.p)),
- DegOfRad(RATE_FLOAT_OF_BFP(in->gyro.q)),
- DegOfRad(RATE_FLOAT_OF_BFP(in->gyro.r)),
- ACCEL_FLOAT_OF_BFP(in->accel.x),
- ACCEL_FLOAT_OF_BFP(in->accel.y),
- ACCEL_FLOAT_OF_BFP(in->accel.z),
- in->rc_status,
- in->stm_msg_cnt,
- in->stm_crc_err_cnt,
- spi_link.crc_err_cnt);
- }
- foo++;
+ otp.io_proc_msg_cnt = in->stm_msg_cnt;
+ otp.io_proc_err_cnt = in->stm_crc_err_cnt;
+
}
+
+
+
+#if 0
static void print_up_msg(struct AutopilotMessageCRCFrame * msg) {
printf("UP: %04X %04X %04X %04X %04x %04X %04X %04X %04X \n",
msg->payload.msg_up.gyro.p,
@@ -176,3 +167,4 @@
}
+#endif
Added: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough.h 2010-08-12
17:24:15 UTC (rev 5344)
@@ -0,0 +1,16 @@
+#ifndef OVERO_TEST_PASSTHROUGH_H
+#define OVERO_TEST_PASSTHROUGH_H
+
+#include "std.h"
+#include "booz/booz_imu.h"
+
+struct OveroTestPassthrough {
+ struct BoozImuFloat imu;
+ uint32_t io_proc_msg_cnt;
+ uint32_t io_proc_err_cnt;
+ uint16_t servos_outputs_usecs[6]; /* FIXME */
+};
+
+extern struct OveroTestPassthrough otp;
+
+#endif /* OVERO_TEST_PASSTHROUGH_H */
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
2010-08-12 15:44:34 UTC (rev 5343)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_passthrough_telemetry.h
2010-08-12 17:24:15 UTC (rev 5344)
@@ -3,11 +3,26 @@
#define PERIODIC_SEND_ALIVE(_transport) DOWNLINK_SEND_ALIVE(_transport, 16,
MD5SUM)
-#include "booz/booz_imu.h"
-extern struct BoozImuFloat imu;
+#include "fms/overo_test_passthrough.h"
+#include "fms/fms_spi_link.h"
+#include "fms/fms_gs_com.h"
+#define PERIODIC_SEND_TEST_PASSTHROUGH_STATUS(_transport) \
+ DOWNLINK_SEND_TEST_PASSTHROUGH_STATUS(_transport, \
+ &otp.io_proc_msg_cnt, \
+ &otp.io_proc_err_cnt, \
+ &spi_link.msg_cnt, \
+ &spi_link.crc_err_cnt)
+
+
#define PERIODIC_SEND_IMU_GYRO(_transport) \
- DOWNLINK_SEND_IMU_GYRO(_transport, &imu.gyro.p, &imu.gyro.q, &imu.gyro.r)
+ DOWNLINK_SEND_IMU_GYRO(_transport, &otp.imu.gyro.p, &otp.imu.gyro.q,
&otp.imu.gyro.r)
+#define PERIODIC_SEND_IMU_ACCEL(_transport) \
+ DOWNLINK_SEND_IMU_ACCEL(_transport, &otp.imu.accel.x, &otp.imu.accel.y,
&otp.imu.accel.z)
+#define PERIODIC_SEND_IMU_MAG(_transport) \
+ DOWNLINK_SEND_IMU_MAG(_transport, &otp.imu.mag.x, &otp.imu.mag.y,
&otp.imu.mag.z)
+
+
#endif /* OVERO_TEST_PASSTHROUGH_TELEMETRY_H */
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- [paparazzi-commits] [5344] made the test a litttle more interesting by adding telemetry, and datalink.,
antoine drouin <=