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[paparazzi-commits] [6192] Have USB serial as telemetry option
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [6192] Have USB serial as telemetry option |
|
Date: |
Thu, 21 Oct 2010 01:30:15 +0000 |
Revision: 6192
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6192
Author: mmm
Date: 2010-10-21 01:30:14 +0000 (Thu, 21 Oct 2010)
Log Message:
-----------
Have USB serial as telemetry option
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/usb_test.xml
paparazzi3/trunk/conf/autopilot/tiny_2_1.h
paparazzi3/trunk/conf/autopilot/tiny_2_1_1_usb.h
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
Modified: paparazzi3/trunk/conf/airframes/usb_test.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/usb_test.xml 2010-10-20 23:45:48 UTC
(rev 6191)
+++ paparazzi3/trunk/conf/airframes/usb_test.xml 2010-10-21 01:30:14 UTC
(rev 6192)
@@ -2,7 +2,31 @@
<airframe name="USB serial test">
-<!-- commands section -->
+ <firmware name="fixedwing">
+ <!-- Board -->
+ <target name="ap" board="tiny_2.11">
+ <define name="LOITER_TRIM"/>
+ </target>
+ <!-- RC -->
+ <subsystem name="radio_control" type="ppm"/>
+ <!-- Communication -->
+ <subsystem name="telemetry" type="transparent_usb"/>
+ <!-- Actuators are automatically chosen according to board-->
+ <subsystem name="control"/>
+ <!-- Sensors -->
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h"/>
+ <subsystem name="navigation"/>
+ </firmware>
+
+ <firmware name="setup">
+ <target name="tunnel" board="tiny_2.11"/>
+ <target name="usb_tunnel_0" board="tiny_2.11"/>
+ <target name="usb_tunnel_1" board="tiny_2.11"/>
+ <target name="setup_actuators" board="tiny_2.11"/>
+ </firmware>
+
+ <!-- commands section -->
<servos>
<servo name="MOTOR" no="0" min="1550" neutral="1550" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1516" max="1100"/>
@@ -70,11 +94,10 @@
</section>
<section name="BAT">
- <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <!--define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/-->
+ <define name="ADC_CHANNEL_CURRENT" value="ADC_4"/>
+ <define name="MilliAmpereOfAdc(adc)" value="(88*adc)"/>
<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">
@@ -82,8 +105,6 @@
<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."/>
@@ -115,8 +136,7 @@
<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"/>
-
+ <define name="THROTTLE_SLEW" value="0.1"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
@@ -131,10 +151,6 @@
<define name="PITCH_DGAIN" value="0.4"/>
<define name="ELEVATOR_OF_ROLL" value="1200"/>
-
- <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
- <define name="ROLL_RATE_GAIN" value="-1500"/-->
-
</section>
<section name="NAV">
@@ -151,7 +167,7 @@
<define name="DESCENT_PITCH" value="-0.25"/><!-- 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>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
@@ -159,75 +175,6 @@
<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>
- <section name="SIMU">
- <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
- </section>
-
- <makefile>
-CONFIG = \"tiny_2_1_1_usb.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
-
-#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
-
-#USB
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DUSE_USB_SERIAL
-DPPRZ_UART=UsbS -DDATALINK=PPRZ
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c
datalink.c pprz_transport.c
-ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
$(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.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=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-# 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/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
2010-10-21 01:30:14 UTC (rev 6192)
@@ -0,0 +1,9 @@
+
+#serial USB (e.g. /dev/ttyACM0)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS
-DPPRZ_UART=UsbS
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
-DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
+ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c
$(SRC_FIXEDWING)/pprz_transport.c
+ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c
$(SRC_ARCH)/lpcusb/usbcontrol.c
+ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
+
Modified: paparazzi3/trunk/conf/autopilot/tiny_2_1.h
===================================================================
--- paparazzi3/trunk/conf/autopilot/tiny_2_1.h 2010-10-20 23:45:48 UTC (rev
6191)
+++ paparazzi3/trunk/conf/autopilot/tiny_2_1.h 2010-10-21 01:30:14 UTC (rev
6192)
@@ -16,9 +16,23 @@
/* CPU clock freq. */
#define CCLK (FOSC * PLL_MUL)
+/* current @7V, Tiny2.11, Funjet4, no LED
+ PCLK max min
+ 15MHz 99mA 92mA
+ 30MHz 105mA 98mA
+ 60MHz 116mA 108mA
+*/
+
+#ifdef USE_USB_HIGH_PCLK
+/* Peripheral bus speed mask 0x00-> 4, 0x01-> 1, 0x02-> 2 */
+/* change both PBSD_BITS/VAL 15MHz, 60MHz, 30MHz */
+#define PBSD_BITS 0x02
+#define PBSD_VAL 2
+#else
/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
#define PBSD_BITS 0x00
#define PBSD_VAL 4
+#endif
/* Peripheral bus clock freq. */
#define PCLK (CCLK / PBSD_VAL)
Modified: paparazzi3/trunk/conf/autopilot/tiny_2_1_1_usb.h
===================================================================
--- paparazzi3/trunk/conf/autopilot/tiny_2_1_1_usb.h 2010-10-20 23:45:48 UTC
(rev 6191)
+++ paparazzi3/trunk/conf/autopilot/tiny_2_1_1_usb.h 2010-10-21 01:30:14 UTC
(rev 6192)
@@ -1,165 +1,6 @@
-#ifndef CONFIG_TINY_H
-#define CONFIG_TINY_H
+#define USE_USB_HIGH_PCLK
-#ifdef SITL
-/* Dummy definitions: adc are unused anyway */
-#define AdcBank0(x) (x)
-#define AdcBank1(x) (x)
-#endif /* SITL */
+#include "tiny_2_1.h"
-/* Master oscillator freq. */
-#define FOSC (12000000)
-
-/* PLL multiplier */
-#define PLL_MUL (5)
-
-/* CPU clock freq. */
-#define CCLK (FOSC * PLL_MUL)
-
-/* current @7V, Tiny2.11, Funjet4, no LED
- PCLK max min
- 15MHz 99mA 92mA
- 30MHz 105mA 98mA
- 60MHz 116mA 108mA
-*/
-
-/* Peripheral bus speed mask 0x00-> 4, 0x01-> 1, 0x02-> 2 */
-/* change both PBSD_BITS/VAL 15MHz, 60MHz, 30MHz */
-#define PBSD_BITS 0x02
-#define PBSD_VAL 2
-
-/* Peripheral bus clock freq. */
-#define PCLK (CCLK / PBSD_VAL)
-
-#define LED_1_BANK 1
-#define LED_1_PIN 17
-
-#define LED_2_BANK 1
-#define LED_2_PIN 16
-
-#define LED_3_BANK 1
-#define LED_3_PIN 23
-
-#define LED_4_BANK 1
-#define LED_4_PIN 18
-
-#define POWER_SWITCH_LED 4
-
-#define LED_5_BANK 1
-#define LED_5_PIN 22
-
-#define CAM_SWITCH_LED 5
-
-#define LED_GPS_RESET_BANK 1
-#define LED_GPS_RESET_PIN 21
-
-#define Configure_GPS_RESET_Pin() LED_INIT(GPS_RESET)
-#define Set_GPS_RESET_Pin_LOW() LED_ON(GPS_RESET)
-#define Open_GPS_RESET_Pin() ClearBit(LED_DIR(GPS_RESET), LED_PIN(GPS_RESET))
-
-/* P0.5 aka MAT0.1 */
-#define SERVO_CLOCK_PIN 5
-#define SERVO_CLOCK_PINSEL PINSEL0
-#define SERVO_CLOCK_PINSEL_VAL 0x02
-#define SERVO_CLOCK_PINSEL_BIT 10
-/* p1.20 */
-#define SERVO_RESET_PIN 20
-
-/* PPM : rc rx on P0.6*/
-#define PPM_PINSEL PINSEL0
-#define PPM_PINSEL_VAL 0x02
-#define PPM_PINSEL_BIT 12
-#define PPM_CRI TIR_CR2I
-#define PPM_CCR_CRF TCCR_CR2_F
-#define PPM_CCR_CRR TCCR_CR2_R
-#define PPM_CCR_CRI TCCR_CR2_I
-#define PPM_CR T0CR2
-
-/* ADC */
-
-#define ADC_0 AdcBank1(6)
-#ifdef USE_ADC_0
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_6
-#endif
-
-#define ADC_1 AdcBank1(7)
-#ifdef USE_ADC_1
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_7
-#endif
-
-
-#define ADC_2 AdcBank0(4)
-#ifdef USE_ADC_2
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_4
-#endif
-
-#define ADC_3 AdcBank0(6)
-#ifdef USE_ADC_3
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_6
-#endif
-
-#define ADC_4 AdcBank0(3)
-#ifdef USE_ADC_4
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_3
-#endif
-
-#define ADC_5 AdcBank0(2)
-#ifdef USE_ADC_5
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_2
-#endif
-
-#define ADC_6 AdcBank0(1)
-#ifdef USE_ADC_6
-#ifndef USE_AD0
-#define USE_AD0
-#endif
-#define USE_AD0_1
-#endif
-
-#define ADC_7 AdcBank1(3)
-#ifdef USE_ADC_7
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_3
-#endif
-
-#define ADC_CHANNEL_VSUPPLY AdcBank1(5)
-#ifndef USE_AD1
-#define USE_AD1
-#endif
-#define USE_AD1_5
-
-
-#ifndef VoltageOfAdc
-#define VoltageOfAdc(adc) (0.0247311828*adc)
-#endif
-
-#define SPI_SELECT_SLAVE0_PORT 0
-#define SPI_SELECT_SLAVE0_PIN 20
-
-#define SPI1_DRDY_PINSEL PINSEL1
-#define SPI1_DRDY_PINSEL_BIT 0
-#define SPI1_DRDY_PINSEL_VAL 1
-#define SPI1_DRDY_EINT 0
-#define SPI1_DRDY_VIC_IT VIC_EINT0
-
-#endif /* CONFIG_TINY_H */
+#undef DefaultVoltageOfAdc
+#define DefaultVoltageOfAdc(adc) (0.0247311828*adc)
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