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[paparazzi-commits] [5652] Light -> Module
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5652] Light -> Module |
|
Date: |
Tue, 24 Aug 2010 11:46:08 +0000 |
Revision: 5652
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5652
Author: dewagter
Date: 2010-08-24 11:46:07 +0000 (Tue, 24 Aug 2010)
Log Message:
-----------
Light -> Module
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
paparazzi3/trunk/conf/settings/light.xml
paparazzi3/trunk/sw/airborne/main_ap.c
Added Paths:
-----------
paparazzi3/trunk/conf/modules/light.xml
paparazzi3/trunk/sw/airborne/modules/light/
paparazzi3/trunk/sw/airborne/modules/light/light.c
paparazzi3/trunk/sw/airborne/modules/light/light.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/light.c
paparazzi3/trunk/sw/airborne/light.h
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-08-24 11:08:22 UTC (rev 5651)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
2010-08-24 11:46:07 UTC (rev 5652)
@@ -159,9 +159,12 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
+ <modules>
+ <load name="light.xml"/>
+ </modules>
+
<firmware name="fixedwing">
<target name="ap" board="lisa_l_1.0"
processor="stm32" >
- <param name="FLASH_MODE" value="IAP" />
<define name="AGR_CLIMB" />
<define name="ALT_KALMAN" />
<define name="STM32" /> <!-- Temporary Hack -->
@@ -173,7 +176,7 @@
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<param name="MODEM_UART_NR" value="2"/>
- <param name="MODEM_BAUD" value="B9600"/>
+ <param name="MODEM_BAUD" value="B57600"/>
</subsystem>
<!-- Actuators -->
Added: paparazzi3/trunk/conf/modules/light.xml
===================================================================
--- paparazzi3/trunk/conf/modules/light.xml (rev 0)
+++ paparazzi3/trunk/conf/modules/light.xml 2010-08-24 11:46:07 UTC (rev
5652)
@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="light">
+ <header>
+ <file name="light.h"/>
+ </header>
+ <init fun="init_light()"/>
+ <periodic fun="periodic_light()" period="0.05" autorun="TRUE"/>
+ <makefile>
+ <flag name="LIGHT_LED_STROBE" value="3"/>
+ <flag name="LIGHT_LED_NAV" value="4"/>
+
+ <flag name="STROBE_LIGHT_MODE_DEFAULT" value="5"/>
+ <flag name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
+
+ <file name="light.c"/>
+ </makefile>
+</module>
+
Modified: paparazzi3/trunk/conf/settings/light.xml
===================================================================
--- paparazzi3/trunk/conf/settings/light.xml 2010-08-24 11:08:22 UTC (rev
5651)
+++ paparazzi3/trunk/conf/settings/light.xml 2010-08-24 11:46:07 UTC (rev
5652)
@@ -3,11 +3,11 @@
<settings>
<dl_settings NAME="lights control">
<dl_settings NAME="lights">
- <dl_setting module="light" var="light_duration_1" min="0" max="61"
step="1">
- <strip_button name="CamOn" icon="on.png" value="15"/>
+ <dl_setting module="autopilot" var="strobe_light_mode" min="0"
max="6" step="1">
+ <strip_button name="CamOn" icon="on.png" value="1"/>
<strip_button name="CamOff" icon="off.png" value="0"/>
</dl_setting>
- <dl_setting module="light" var="light_duration_2" min="0" max="61"
step="1"/>
+ <dl_setting var="nav_light_mode" min="0" max="4" step="1"/>
</dl_settings>
</dl_settings>
</settings>
Deleted: paparazzi3/trunk/sw/airborne/light.c
===================================================================
--- paparazzi3/trunk/sw/airborne/light.c 2010-08-24 11:08:22 UTC (rev
5651)
+++ paparazzi3/trunk/sw/airborne/light.c 2010-08-24 11:46:07 UTC (rev
5652)
@@ -1,4 +0,0 @@
-#include "light.h"
-
-uint8_t light_duration_1;
-uint8_t light_duration_2;
Deleted: paparazzi3/trunk/sw/airborne/light.h
===================================================================
--- paparazzi3/trunk/sw/airborne/light.h 2010-08-24 11:08:22 UTC (rev
5651)
+++ paparazzi3/trunk/sw/airborne/light.h 2010-08-24 11:46:07 UTC (rev
5652)
@@ -1,58 +0,0 @@
-#ifndef LIGHT_H
-#define LIGHT_H
-
-#ifdef USE_LIGHT
-
-#include <inttypes.h>
-
-#ifdef LIGHT_PIN_1
-#error "LIGHT_PIN_1 is now LIGHT_LED_1"
-#endif
-
-/** 0 =< <= 61 . 0 == off, 61 == always on */
-extern uint8_t light_duration_1;
-extern uint8_t light_duration_2;
-
-#ifdef LIGHT_LED_1
-#define LightPeriodicTask1(_1Hz) { \
- if (_1Hz < light_duration_1) { \
- LED_OFF(LIGHT_LED_1) \
- } else \
- LED_ON(LIGHT_LED_1) \
-}
-#else /* LIGHT_LED_1 */
-#define LightPeriodicTask1(_1Hz) {}
-#endif /* LIGHT_LED_1 */
-
-
-#ifdef LIGHT_LED_2
-#define LightPeriodicTask2(_1Hz) { \
- if (_1Hz < light_duration_2) { \
- LED_OFF(LIGHT_LED_2) \
- } else \
- LED_ON(LIGHT_LED_2) \
-}
-#else /* LIGHT_LED_1 */
-#define LightPeriodicTask2(_1Hz) {}
-#endif /* LIGHT_LED_1 */
-
-#ifndef LIGHT_DURATION_INITIAL
-#define LIGHT_DURATION_INITIAL 0
-#endif
-
-#define LightInit() { \
- light_duration_1 = LIGHT_DURATION_INITIAL; \
- light_duration_2 = LIGHT_DURATION_INITIAL; \
-}
-
-
-/* Called at 60Hz
- Argument is a counter which goes from 0 to 59 */
-#define LightPeriodicTask(_1Hz) { \
- LightPeriodicTask1(_1Hz); \
- LightPeriodicTask2(_1Hz); \
-}
-
-#endif // USE_LIGHT
-
-#endif // LIGHT_H
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2010-08-24 11:08:22 UTC (rev
5651)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2010-08-24 11:46:07 UTC (rev
5652)
@@ -59,7 +59,6 @@
#else
#include "gpio.h"
#endif
-#include "light.h"
#if defined RADIO_CONTROL || defined RADIO_CONTROL_AUTO1
#include "rc_settings.h"
@@ -496,10 +495,6 @@
break;
}
-#ifdef USE_LIGHT
- LightPeriodicTask(_1Hz);
-#endif
-
switch(_4Hz) {
case 0:
estimator_propagate_state();
@@ -843,10 +838,6 @@
power_switch = FALSE;
-#ifdef USE_LIGHT
- LightInit();
-#endif
-
#ifdef TRIGGER_EXT
trig_ext_init();
#endif
Added: paparazzi3/trunk/sw/airborne/modules/light/light.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/light/light.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/light/light.c 2010-08-24 11:46:07 UTC
(rev 5652)
@@ -0,0 +1,154 @@
+/*
+ * $Id: demo_module.c 3079 2009-03-11 16:55:42Z gautier $
+ *
+ * Copyright (C) 2009 Gautier Hattenberger
+ *
+ * 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.
+ *
+ */
+
+#include "light.h"
+#include "led.h"
+
+uint8_t strobe_light_mode;
+uint8_t nav_light_mode;
+
+#ifndef STROBE_LIGHT_MODE_DEFAULT
+#define STROBE_LIGHT_MODE_DEFAULT 5
+#endif
+
+#ifndef NAV_LIGHT_MODE_DEFAULT
+#define NAV_LIGHT_MODE_DEFAULT 4
+#endif
+
+
+void init_light(void) {
+ // this part is already done by led_init in fact
+ LED_INIT(LIGHT_LED_STROBE);
+ LED_OFF(LIGHT_LED_STROBE);
+#ifdef LIGHT_LED_NAV
+ LED_INIT(LIGHT_LED_NAV);
+ LED_OFF(LIGHT_LED_NAV);
+ strobe_light_mode = STROBE_LIGHT_MODE_DEFAULT;
+ nav_light_mode = NAV_LIGHT_MODE_DEFAULT;
+#endif
+}
+
+void periodic_light(void)
+{
+ static uint8_t counter = 0;
+#ifdef LIGHT_LED_NAV
+ static uint8_t counter_nav = 0;
+#endif
+
+ switch (strobe_light_mode)
+ {
+ default: // Always off
+ LED_OFF(LIGHT_LED_STROBE);
+ break;
+ case 1: // Always on
+ LED_ON(LIGHT_LED_STROBE);
+ break;
+ case 2: // Blink
+ case 3:
+ case 4:
+ if (counter == (strobe_light_mode*5 - 4))
+ {
+ LED_OFF(LIGHT_LED_STROBE);
+ }
+ else if (counter >= 20)
+ {
+ LED_ON(LIGHT_LED_STROBE);
+ counter = 0;
+ }
+ break;
+ case 5: // Complex Blinking
+ if (counter == 3)
+ {
+ LED_OFF(LIGHT_LED_STROBE);
+ }
+ else if (counter == 4)
+ {
+ LED_ON(LIGHT_LED_STROBE);
+ }
+ else if (counter == 6)
+ {
+ LED_OFF(LIGHT_LED_STROBE);
+ }
+ else if (counter == 7)
+ {
+ LED_ON(LIGHT_LED_STROBE);
+ }
+ else if (counter == 8)
+ {
+ LED_OFF(LIGHT_LED_STROBE);
+ }
+ else if (counter >= 25)
+ {
+ LED_ON(LIGHT_LED_STROBE);
+ counter = 0;
+ }
+ break;
+ case 6:
+ if (counter <= 18)
+ {
+ if ((counter % 2) == 0)
+ {
+ LED_ON(LIGHT_LED_STROBE);
+ }
+ else
+ {
+ LED_OFF(LIGHT_LED_STROBE);
+ }
+ }
+ else if (counter == 35)
+ {
+ counter = 0;
+ }
+ break;
+ }
+
+#ifdef LIGHT_LED_NAV
+ switch (nav_light_mode)
+ {
+ default: // Always off
+ LED_OFF(LIGHT_LED_NAV);
+ break;
+ case 1: // Always on
+ LED_ON(LIGHT_LED_NAV);
+ break;
+ case 2: // Blink
+ case 3:
+ case 4:
+ if (counter_nav == (nav_light_mode*5 - 4))
+ {
+ LED_OFF(LIGHT_LED_NAV);
+ }
+ else if (counter_nav >= 20)
+ {
+ LED_ON(LIGHT_LED_NAV);
+ counter_nav = 0;
+ }
+ break;
+ }
+ counter_nav++;
+#endif
+
+ counter++;
+}
+
Added: paparazzi3/trunk/sw/airborne/modules/light/light.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/light/light.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/light/light.h 2010-08-24 11:46:07 UTC
(rev 5652)
@@ -0,0 +1,45 @@
+/*
+ * $Id: demo_module.h 3079 2009-03-11 16:55:42Z gautier $
+ *
+ * Copyright (C) 2009 Gautier Hattenberger
+ *
+ * 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.
+ *
+ */
+
+/** \file demo_module.h
+ *
+ * demo module with blinking LEDs
+ */
+
+#ifndef LIGHT_MODULE_H
+#define LIGHT_MODULE_H
+
+#include <inttypes.h>
+
+#ifndef LIGHT_LED_STROBE
+#define LIGHT_LED_STROBE 2
+#endif
+
+extern uint8_t strobe_light_mode;
+extern uint8_t nav_light_mode;
+
+void init_light(void);
+void periodic_light(void);
+
+#endif
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