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[paparazzi-commits] [6185] Change external turbine trigger into a module
|
From: |
Martin Mueller |
|
Subject: |
[paparazzi-commits] [6185] Change external turbine trigger into a module. |
|
Date: |
Tue, 19 Oct 2010 19:26:32 +0000 |
Revision: 6185
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6185
Author: mmm
Date: 2010-10-19 19:26:31 +0000 (Tue, 19 Oct 2010)
Log Message:
-----------
Change external turbine trigger into a module.
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/mm/extra/turbine_trigger.xml
paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c
paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.c
paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.h
paparazzi3/trunk/sw/airborne/main_ap.c
paparazzi3/trunk/sw/airborne/modules/meteo/humid_hih.c
Added Paths:
-----------
paparazzi3/trunk/conf/modules/trigger_ext.xml
paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.c
paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/trig_ext.h
Modified: paparazzi3/trunk/conf/airframes/mm/extra/turbine_trigger.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/extra/turbine_trigger.xml
2010-10-19 15:43:01 UTC (rev 6184)
+++ paparazzi3/trunk/conf/airframes/mm/extra/turbine_trigger.xml
2010-10-19 19:26:31 UTC (rev 6185)
@@ -1,17 +1,34 @@
<!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)
- 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 5H
--->
+<!-- Turbine Trigger -->
-<airframe name="Funjet mm 1 K66">
+<airframe name="TurbineTrigger">
-<!-- commands section -->
+ <firmware name="fixedwing">
+ <target name="ap" board="tiny_2.11">
+ </target>
+ <subsystem name="telemetry" type="xbee_api">
+ <param name="MODEM_BAUD" value="B57600"/>
+ </subsystem>
+ <subsystem name="control"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea5h">
+ <param name="GPS_BAUD" value="B38400"/>
+ </subsystem>
+ <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"/>
+ </firmware>
+
+ <!-- modules -->
+ <modules>
+ <load name="trigger_ext.xml"/>
+ </modules>
+
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1900" neutral="1442" max="1100"/>
@@ -77,18 +94,14 @@
<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="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>
@@ -97,59 +110,41 @@
<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."/>
</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_PGAIN" value="-0.06"/>
<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="0.25"/>
<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_PGAIN" value="-0.023"/>
<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_PGAIN" value="-0.06"/>
<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"/>
-
+ <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="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/>
<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">
@@ -158,13 +153,13 @@
</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="BLEND_START" value="50"/>
+ <define name="BLEND_END" value="15"/>
+ <define name="CLIMB_THROTTLE" value="0.9"/>
+ <define name="CLIMB_PITCH" value="0.35"/>
+ <define name="DESCENT_THROTTLE" value="0.05"/>
+ <define name="DESCENT_PITCH" value="-0.35"/>
+ <define name="CLIMB_NAV_RATIO" value="0.8"/>
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
@@ -176,82 +171,5 @@
<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 += -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
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += inter_mcu.c
-
-ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_4
-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 += $(SRC_ARCH)/trig_ext_hw.c
-ap.CFLAGS += -DTRIG_EXT_PULSE_TYPE=TRIG_EXT_EDGE_FALLING -DTRIGGER_EXT
-
-ap.CFLAGS += -DGPS_TIMESTAMP
-
-# 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/modules/trigger_ext.xml
===================================================================
--- paparazzi3/trunk/conf/modules/trigger_ext.xml
(rev 0)
+++ paparazzi3/trunk/conf/modules/trigger_ext.xml 2010-10-19 19:26:31 UTC
(rev 6185)
@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="trigger_ext" dir="sensors">
+ <header>
+ <file name="trigger_ext.h"/>
+ </header>
+ <init fun="trigger_ext_init()"/>
+ <periodic fun="trigger_ext_periodic()" freq="10"/>
+ <makefile>
+ <raw>
+ ap.srcs += $(SRC_ARCH)/trig_ext_hw.c
+ </raw>
+ <file name="trigger_ext.c"/>
+ <flag name="TRIGGER_EXT"/>
+ <flag name="TRIG_EXT_PULSE_TYPE" value="TRIG_EXT_EDGE_FALLING"/>
+ <flag name="TURBINE_ID" value="42"/>
+ <flag name="GPS_TIMESTAMP"/>
+ </makefile>
+</module>
+
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c 2010-10-19
15:43:01 UTC (rev 6184)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/sys_time_hw.c 2010-10-19
19:26:31 UTC (rev 6185)
@@ -53,7 +53,7 @@
#endif
#ifdef TRIGGER_EXT
-#include "trig_ext.h"
+#include "trig_ext_hw.h"
#endif
#define TIMER0_IT_MASK (ACTUATORS_IT |\
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.c 2010-10-19
15:43:01 UTC (rev 6184)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.c 2010-10-19
19:26:31 UTC (rev 6185)
@@ -1,12 +1,33 @@
-//#include "trig_ext.h"
+
#include "std.h"
-#include "sys_time.h"
+#include "LPC21xx.h"
+#include "trig_ext_hw.h"
+#include BOARD_CONFIG
-
-
-
uint32_t trigger_t0;
uint32_t delta_t0;
volatile bool_t trig_ext_valid;
+void TRIG_ISR() {
+ static uint32_t last;
+ trigger_t0 = PPM_CR;
+ delta_t0 = trigger_t0 - last;
+ last = trigger_t0;
+ trig_ext_valid = TRUE;
+}
+
+void trig_ext_init ( void ) {
+ /* select pin for capture */
+ PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
+ /* enable capture 0.2 on falling or rising edge + trigger interrupt */
+#if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE ==
TRIG_EXT_PULSE_TYPE_RISING
+ T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
+#elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE ==
TRIG_EXT_PULSE_TYPE_FALLING
+ T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
+#else
+#error "trig_ext_hw.h: Unknown PULSE_TYPE"
+#endif
+ trig_ext_valid = FALSE;
+}
+
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.h 2010-10-19
15:43:01 UTC (rev 6184)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/trig_ext_hw.h 2010-10-19
19:26:31 UTC (rev 6185)
@@ -1,6 +1,7 @@
#ifndef TRIG_EXT_HW_H
#define TRIG_EXT_HW_H
+#include "std.h"
/**
* falling/rising edge
@@ -8,34 +9,12 @@
#define TRIG_EXT_EDGE_RISING 1
#define TRIG_EXT_EDGE_FALLING 0
+extern uint32_t trigger_t0;
+extern uint32_t delta_t0;
+extern volatile bool_t trig_ext_valid;
+void TRIG_ISR(void);
+void trig_ext_init( void );
-#include "LPC21xx.h"
-#include BOARD_CONFIG
-
-
-static inline void trig_ext_init ( void ) {
- /* select pin for capture */
- PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
- /* enable capture 0.2 on falling or rising edge + trigger interrupt */
-#if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE ==
TRIG_EXT_PULSE_TYPE_RISING
- T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
-#elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE ==
TRIG_EXT_PULSE_TYPE_FALLING
- T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
-#else
-#error "trig_ext_hw.h: Unknown PULSE_TYPE"
-#endif
- trig_ext_valid = FALSE;
-}
-
-#define TRIG_ISR() { \
- static uint32_t last; \
- trigger_t0 = PPM_CR; \
- delta_t0 = trigger_t0 - last; \
- last = trigger_t0; \
- trig_ext_valid = TRUE; \
-}
-
-
#endif /* TRIG_EXT_HW_H */
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2010-10-19 15:43:01 UTC (rev
6184)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2010-10-19 19:26:31 UTC (rev
6185)
@@ -123,10 +123,6 @@
#include "baro_ets.h"
#endif // USE_BARO_ETS
-#ifdef TRIGGER_EXT
-#include "trig_ext.h"
-#endif // TRIGGER_EXT
-
/*code added by Haiyang Chao for using Xsens IMU for fixed wing UAV 20080804*/
#ifdef UGEAR
#include "osam_imu_ugear.h"
@@ -773,10 +769,6 @@
power_switch = FALSE;
-#ifdef TRIGGER_EXT
- trig_ext_init();
-#endif
-
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
@@ -932,23 +924,6 @@
}
#endif
-#ifdef TRIGGER_EXT
- if (trig_ext_valid == TRUE) {
- uint8_t turb_id = 0;
- uint32_t sync_itow, cycle_time;
-
- sync_itow = itow_from_ticks(trigger_t0);
- cycle_time = MSEC_OF_SYS_TICS(delta_t0);
-
- DOWNLINK_SEND_WINDTURBINE_STATUS_(DefaultChannel,
- &turb_id,
- &turb_id,
- &sync_itow,
- &cycle_time );
- trig_ext_valid = FALSE;
- }
-#endif
-
if (inter_mcu_received_fbw) {
/* receive radio control task from fbw */
inter_mcu_received_fbw = FALSE;
Modified: paparazzi3/trunk/sw/airborne/modules/meteo/humid_hih.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/humid_hih.c 2010-10-19
15:43:01 UTC (rev 6184)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/humid_hih.c 2010-10-19
19:26:31 UTC (rev 6185)
@@ -28,7 +28,7 @@
* This reads the values for humidity from the Honeywell HIH-4030 sensor.
*/
-
+#include <std.h>
#include "humid_hih.h"
#include "temp_tmp102.h"
#include "adc.h"
Added: paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.c
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.c 2010-10-19
19:26:31 UTC (rev 6185)
@@ -0,0 +1,63 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 Martin Mueller
+ *
+ * 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 trigger_ext.c
+ * \brief Measure external trigger pulse at PPM input
+ *
+ * This measures a trigger pulse length (e.g. duration of a wind turbine
+ * rotation) and sends a message with the info.
+ */
+
+
+#include "trigger_ext.h"
+#include "trig_ext_hw.h"
+#include "gps.h"
+#include "sys_time.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+
+void trigger_ext_init ( void ) {
+ trig_ext_init();
+}
+
+void trigger_ext_periodic( void ) {
+ if (trig_ext_valid == TRUE) {
+ uint8_t ac_id = 0;
+ uint8_t turb_id = TURBINE_ID;
+ uint32_t sync_itow, cycle_time;
+
+ sync_itow = itow_from_ticks(trigger_t0);
+ cycle_time = MSEC_OF_SYS_TICS(delta_t0);
+
+ DOWNLINK_SEND_WINDTURBINE_STATUS_(DefaultChannel,
+ &ac_id,
+ &turb_id,
+ &sync_itow,
+ &cycle_time );
+ trig_ext_valid = FALSE;
+ }
+}
+
Added: paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/trigger_ext.h 2010-10-19
19:26:31 UTC (rev 6185)
@@ -0,0 +1,10 @@
+#ifndef TRIGGER_EXT_H
+#define TRIGGER_EXT_H
+
+
+void trigger_ext_init ( void );
+void trigger_ext_periodic( void );
+
+#endif
+
+
Deleted: paparazzi3/trunk/sw/airborne/trig_ext.h
===================================================================
--- paparazzi3/trunk/sw/airborne/trig_ext.h 2010-10-19 15:43:01 UTC (rev
6184)
+++ paparazzi3/trunk/sw/airborne/trig_ext.h 2010-10-19 19:26:31 UTC (rev
6185)
@@ -1,38 +0,0 @@
-/* $Id: ppm.h 4281 2009-10-19 18:32:12Z mmm $
- *
- * (c) 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.
- *
- */
-
-#ifndef TRIG_EXT_H
-#define TRIG_EXT_H
-
-#if defined TRIGGER_EXT
-
-#include "std.h"
-extern uint32_t trigger_t0;
-extern uint32_t delta_t0;
-extern volatile bool_t trig_ext_valid;
-
-#include "trig_ext_hw.h"
-
-#endif /* TRIGGER_EXT */
-
-#endif
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- [paparazzi-commits] [6185] Change external turbine trigger into a module.,
Martin Mueller <=