[paparazzi-commits] [5010] commit mini quad related last changes

[Gautier Hattenberger]

Revision: 5010
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5010
Author:   gautier
Date:     2010-07-01 13:08:47 +0000 (Thu, 01 Jul 2010)
Log Message:
-----------
commit mini quad related last changes

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
    paparazzi3/trunk/conf/modules/booz_drop.xml
    paparazzi3/trunk/conf/settings/booz_cam.xml
    paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.c
    paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.h
    paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c
    paparazzi3/trunk/sw/airborne/modules/vision/booz_cam.c

Modified: paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml     2010-06-29 
10:57:17 UTC (rev 5009)
+++ paparazzi3/trunk/conf/airframes/ENAC/quadrotor/mini.xml     2010-07-01 
13:08:47 UTC (rev 5010)
@@ -1,5 +1,11 @@
-<airframe name="BOOZ2_A4">
+<airframe name="NFF">
 
+  <modules main_freq="512">
+    <load name="booz_drop.xml"/>
+    <load name="booz_cam.xml"/>
+    <!--load name="sonar_maxbotix_booz.xml"/-->
+  </modules>
+
   <servos min="0" neutral="0" max="0xff">
     <servo name="PITCH"  no="0"    min="0" neutral="0" max="255"/>
     <servo name="ROLL"   no="1"    min="0" neutral="0" max="255"/>
@@ -173,13 +179,14 @@
 
  <section name="CAM" prefix="BOOZ_CAM_">
     <define name="TILT_NEUTRAL" value="1500"/>
-    <define name="TILT_MIN" value="1000"/>
-    <define name="TILT_MAX" value="2000"/>
-    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-85.)" unit="rad"/>
-    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 30.)" unit="rad"/>
+    <define name="TILT_MIN" value="1060"/>
+    <define name="TILT_MAX" value="2250"/>
+    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
+    <define name="TILT_ANGLE_MAX" value="RadOfDeg(  0.)" unit="rad"/>
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
+    <!--define name="SetPwm(_v)" value="Booz2SetPwm1Value(_v)"/-->
  </section>
 
 
@@ -187,6 +194,7 @@
    <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
+   <define name="BoozDropPwm(_v)" value="Booz2SetPwm1Value(_v)"/>
  </section>
 
   <makefile>
@@ -218,9 +226,9 @@
 
 ap.CFLAGS += -DB2_GUIDANCE_H_USE_REF
 
-ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
+ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3 
-DUSE_PWM1
 
-#ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
+ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
 
 ap.CFLAGS += -DUSE_MODULES
 

Modified: paparazzi3/trunk/conf/modules/booz_drop.xml
===================================================================
--- paparazzi3/trunk/conf/modules/booz_drop.xml 2010-06-29 10:57:17 UTC (rev 
5009)
+++ paparazzi3/trunk/conf/modules/booz_drop.xml 2010-07-01 13:08:47 UTC (rev 
5010)
@@ -9,8 +9,8 @@
   <periodic fun="booz_drop_periodic()" freq="10."/>
   <makefile>
     <flag name="USE_DROP"/>
-    <flag name="DROP_SERVO_OPEN" value="1700"/>
-    <flag name="DROP_SERVO_CLOSED" value="900"/>
+    <flag name="DROP_SERVO_OPEN" value="2120"/>
+    <flag name="DROP_SERVO_CLOSED" value="1060"/>
     <file name="booz_drop.c"/>
   </makefile>
 </module>

Modified: paparazzi3/trunk/conf/settings/booz_cam.xml
===================================================================
--- paparazzi3/trunk/conf/settings/booz_cam.xml 2010-06-29 10:57:17 UTC (rev 
5009)
+++ paparazzi3/trunk/conf/settings/booz_cam.xml 2010-07-01 13:08:47 UTC (rev 
5010)
@@ -10,8 +10,8 @@
         <key_press key="F1" value="0"/>
         <key_press key="F2" value="1"/>
       </dl_setting>
-      <dl_setting var="booz_cam_tilt_pwm" min="1000" step="1" max="2000" 
module="booz_cam" shortname="tilt_pwm"/>
-      <dl_setting var="booz_cam_tilt" min="-90" step="1" max="45" 
module="booz_cam" shortname="tilt" alt_unit="deg" alt_unit_coef="0.0139882">
+      <dl_setting var="booz_cam_tilt_pwm" min="1000" step="1" max="2500" 
module="booz_cam" shortname="tilt_pwm"/>
+      <dl_setting var="booz_cam_tilt" min="-90" step="1" max="0" 
module="booz_cam" shortname="tilt" alt_unit="deg" alt_unit_coef="0.0139882">
         <strip_button name="Look Foreward" icon="lookfore.png" value="0"/>
         <strip_button name="Look Down" icon="lookdown.png" value="-6434"/>
       </dl_setting>

Modified: paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.c 2010-06-29 
10:57:17 UTC (rev 5009)
+++ paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.c 2010-07-01 
13:08:47 UTC (rev 5010)
@@ -31,7 +31,7 @@
 
   /* start PWM5 */
   /* select P0.21 as PWM5 */
-  PWM_PINSEL |=  PWM_PINSEL_VAL << PWM_PINSEL_BIT;
+  PWM0_PINSEL |=  PWM0_PINSEL_VAL << PWM0_PINSEL_BIT;
   /* select pwm period */
   PWMMR0 = PWM_PERIOD;
   /* select pwm value to 50% at init (1500 us) */
@@ -45,6 +45,18 @@
   /* enable PWM5 */
   PWMPCR = PWMPCR_ENA5;
 
+#ifdef USE_PWM1
+  /* start PWM2 */
+  PWM1_PINSEL |=  PWM1_PINSEL_VAL << PWM1_PINSEL_BIT;
+  /* select pwm value to 50% at init (1500 us) */
+  PWMMR2 = PWM_DUTY;
+  /* commit values */
+  PWMLER = PWMLER_LATCH2;
+  /* enable PWM2 */
+  PWMPCR |= PWMPCR_ENA2;
+#endif
+
+
 }
 
 

Modified: paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.h 2010-06-29 
10:57:17 UTC (rev 5009)
+++ paparazzi3/trunk/sw/airborne/booz/arch/lpc21/booz2_pwm_hw.h 2010-07-01 
13:08:47 UTC (rev 5010)
@@ -30,9 +30,17 @@
 
 extern void booz2_pwm_init_hw(void);
 
-#define Booz2SetPwmValue(_v) { \
+// Default PWM is PWM0
+#define Booz2SetPwmValue(_v) Booz2SetPwm0Value(_v)
+
+#define Booz2SetPwm0Value(_v) { \
   PWMMR5 = SYS_TICS_OF_USEC(_v); \
   PWMLER = PWMLER_LATCH5; \
 }
 
+#define Booz2SetPwm1Value(_v) { \
+  PWMMR2 = SYS_TICS_OF_USEC(_v); \
+  PWMLER = PWMLER_LATCH2; \
+}
+
 #endif /* BOOZ2_PWM_HW_H */

Modified: paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c       2010-06-29 
10:57:17 UTC (rev 5009)
+++ paparazzi3/trunk/sw/airborne/modules/drop/booz_drop.c       2010-07-01 
13:08:47 UTC (rev 5010)
@@ -23,8 +23,8 @@
 
 #include "booz_drop.h"
 #include "booz2_pwm_hw.h"
+#include "airframe.h"
 
-
 bool_t booz_drop_ball;
 int16_t booz_drop_servo;
 
@@ -35,6 +35,11 @@
 #define DROP_SERVO_CLOSED 900
 #endif
 
+// PWM definition
+#ifndef BoozDropPwm
+#define BoozDropPwm(_v) Booz2SetPwmValue(_v)
+#endif
+
 void booz_drop_init(void) {
   booz_drop_ball = FALSE;
   booz_drop_periodic();
@@ -45,5 +50,5 @@
     booz_drop_servo = DROP_SERVO_OPEN;
   else
     booz_drop_servo = DROP_SERVO_CLOSED;
-  Booz2SetPwmValue(booz_drop_servo);
+  BoozDropPwm(booz_drop_servo);
 }

Modified: paparazzi3/trunk/sw/airborne/modules/vision/booz_cam.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vision/booz_cam.c      2010-06-29 
10:57:17 UTC (rev 5009)
+++ paparazzi3/trunk/sw/airborne/modules/vision/booz_cam.c      2010-07-01 
13:08:47 UTC (rev 5010)
@@ -62,17 +62,23 @@
 #define BOOZ_CAM_USE_TILT_ANGLES 1
 #endif
 
+// PWM definition
+#ifndef BOOZ_CAM_SetPwm
+#define BOOZ_CAM_SetPwm(_v) Booz2SetPwmValue(_v)
+#endif
+
 void booz_cam_init(void) {
   booz_cam_mode = BOOZ_CAM_MODE_NONE;
 #ifdef BOOZ_CAM_USE_TILT
   booz_cam_tilt_pwm = BOOZ_CAM_TILT_NEUTRAL;
-  Booz2SetPwmValue(booz_cam_tilt_pwm);
+  BOOZ_CAM_SetPwm(booz_cam_tilt_pwm);
   booz_cam_tilt = 0;
 #endif
 #ifdef BOOZ_CAM_USE_PAN
   booz_cam_pan = BOOZ_CAM_PAN_NEUTRAL;
 #endif
   LED_ON(CAM_SWITCH_LED); // CAM OFF
+  LED_OFF(CAM_SWITCH_LED); // CAM ON
 }
 
 void booz_cam_periodic(void) {
@@ -124,7 +130,7 @@
       break;
   }
 #ifdef BOOZ_CAM_USE_TILT
-  Booz2SetPwmValue(booz_cam_tilt_pwm);
+  BOOZ_CAM_SetPwm(booz_cam_tilt_pwm);
 #endif
 }