mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
Jason Short
commit
3daabf3c8b
|
|
@ -0,0 +1,3 @@
|
|||
.metadata/
|
||||
Tools/ArdupilotMegaPlanner/bin/Release/logs/
|
||||
config.mk
|
||||
|
|
@ -0,0 +1,162 @@
|
|||
#=============================================================================#
|
||||
# Author: Niklaa Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
|
||||
#include(ArduinoProcessing)
|
||||
|
||||
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
|
||||
|
||||
|
||||
message(STATUS "DIR: ${CMAKE_SOURCE_DIR}")
|
||||
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
#====================================================================#
|
||||
# Setup Project #
|
||||
#====================================================================#
|
||||
project(ArduCopter C CXX)
|
||||
|
||||
find_package(Arduino 22 REQUIRED)
|
||||
|
||||
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
|
||||
|
||||
#add_subdirectory(${CMAKE_SOURCE_DIR}/ArduCopter)
|
||||
#add_subdirectory(testtool)
|
||||
|
||||
PRINT_BOARD_SETTINGS(mega2560)
|
||||
|
||||
|
||||
|
||||
#=============================================================================#
|
||||
# Author: Niklas Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
|
||||
#====================================================================#
|
||||
# Settings #
|
||||
#====================================================================#
|
||||
set(FIRMWARE_NAME arducopter)
|
||||
|
||||
set(${FIRMWARE_NAME}_BOARD mega2560) # Arduino Target board
|
||||
|
||||
set(${FIRMWARE_NAME}_SKETCHES
|
||||
ArduCopter.pde
|
||||
Attitude.pde
|
||||
Camera.pde
|
||||
commands.pde
|
||||
commands_logic.pde
|
||||
commands_process.pde
|
||||
control_modes.pde
|
||||
events.pde
|
||||
flight_control.pde
|
||||
flip.pde
|
||||
GCS.pde
|
||||
GCS_Ardupilot.pde
|
||||
#GCS_IMU_output.pde
|
||||
GCS_Jason_text.pde
|
||||
GCS_Mavlink.pde
|
||||
GCS_Standard.pde
|
||||
GCS_Xplane.pde
|
||||
heli.pde
|
||||
HIL_Xplane.pde
|
||||
leds.pde
|
||||
Log.pde
|
||||
motors_hexa.pde
|
||||
motors_octa.pde
|
||||
motors_octa_quad.pde
|
||||
motors_quad.pde
|
||||
motors_tri.pde
|
||||
motors_y6.pde
|
||||
navigation.pde
|
||||
planner.pde
|
||||
radio.pde
|
||||
read_commands.pde
|
||||
sensors.pde
|
||||
setup.pde
|
||||
system.pde
|
||||
test.pde
|
||||
) # Firmware sketches
|
||||
|
||||
#create dummy sourcefile
|
||||
file(WRITE ${FIRMWARE_NAME}.cpp "// Do not edit")
|
||||
|
||||
set(${FIRMWARE_NAME}_SRCS
|
||||
#test.cpp
|
||||
${FIRMWARE_NAME}.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_HDRS
|
||||
APM_Config.h
|
||||
APM_Config_mavlink_hil.h
|
||||
APM_Config_xplane.h
|
||||
config.h
|
||||
defines.h
|
||||
GCS.h
|
||||
HIL.h
|
||||
Mavlink_Common.h
|
||||
Parameters.h
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_LIBS
|
||||
DataFlash
|
||||
AP_Math
|
||||
PID
|
||||
RC_Channel
|
||||
AP_OpticalFlow
|
||||
ModeFilter
|
||||
memcheck
|
||||
#AP_PID
|
||||
APM_PI
|
||||
#APO
|
||||
FastSerial
|
||||
AP_Common
|
||||
GCS_MAVLink
|
||||
AP_GPS
|
||||
APM_RC
|
||||
AP_DCM
|
||||
AP_ADC
|
||||
AP_Compass
|
||||
AP_IMU
|
||||
AP_RangeFinder
|
||||
APM_BMP085
|
||||
c
|
||||
m
|
||||
)
|
||||
SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
|
||||
|
||||
|
||||
#${CONSOLE_PORT}
|
||||
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
|
||||
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
|
||||
|
||||
include_directories(
|
||||
${CMAKE_SOURCE_DIR}/libraries/DataFlash
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/RC_Channel
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_OpticalFlow
|
||||
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
|
||||
${CMAKE_SOURCE_DIR}/libraries/memcheck
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_PI
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_RC
|
||||
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
|
||||
)
|
||||
#====================================================================#
|
||||
# Target generation #
|
||||
#====================================================================#
|
||||
generate_arduino_firmware(${FIRMWARE_NAME})
|
||||
|
|
@ -21,15 +21,4 @@
|
|||
#define HIL_PORT 0
|
||||
#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
|
||||
#define GCS_PORT 3
|
||||
*/
|
||||
|
||||
|
||||
// ----- Camera definitions ------
|
||||
// ------------------------------
|
||||
#define CAMERA ENABLED
|
||||
#define CAM_DEBUG DISABLED
|
||||
|
||||
// - Options to reduce code size -
|
||||
// -------------------------------
|
||||
// Disable text based terminal configuration
|
||||
#define CLI_ENABLED DISABLED
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
#define THISFIRMWARE "ArduPilotMega V2.24"
|
||||
#define THISFIRMWARE "ArduPlane V2.24"
|
||||
/*
|
||||
Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short
|
||||
Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi
|
||||
|
|
@ -41,9 +41,6 @@ version 2.1 of the License, or (at your option) any later version.
|
|||
#include <RC_Channel.h> // RC Channel Library
|
||||
#include <AP_RangeFinder.h> // Range finder library
|
||||
#include <ModeFilter.h>
|
||||
#include <AP_Camera.h> // Photo or video camera
|
||||
#include <AP_Mount.h> // Camera mount
|
||||
|
||||
#include <GCS_MAVLink.h> // MAVLink GCS definitions
|
||||
#include <memcheck.h>
|
||||
|
||||
|
|
@ -420,14 +417,6 @@ static float load; // % MCU cycles used
|
|||
|
||||
RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
//Camera tracking and stabilisation stuff
|
||||
// --------------------------------------
|
||||
#if CAMERA == ENABLED
|
||||
AP_Mount camera_mount(g_gps, &dcm);
|
||||
|
||||
//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
|
||||
#endif
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Top-level logic
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -575,18 +564,6 @@ static void fast_loop()
|
|||
|
||||
static void medium_loop()
|
||||
{
|
||||
#if CAMERA == ENABLED
|
||||
// TODO replace home with a POI coming from a MavLink message or command
|
||||
//camera_mount.set_GPS_target(home);
|
||||
|
||||
// For now point the camera manually via the RC inputs (later remove these two lines)
|
||||
// for simple dcm tests, replace k_manual with k_stabilise
|
||||
camera_mount.set_mode(AP_Mount::k_stabilise);
|
||||
camera_mount.update_mount();
|
||||
|
||||
g.camera.trigger_pic_cleanup();
|
||||
#endif
|
||||
|
||||
// This is the start of the medium (10 Hz) loop pieces
|
||||
// -----------------------------------------
|
||||
switch(medium_loopCounter) {
|
||||
|
|
@ -736,9 +713,6 @@ static void slow_loop()
|
|||
|
||||
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
||||
|
||||
#if CAMERA == ENABLED
|
||||
camera_mount.update_mount_type();
|
||||
#endif
|
||||
break;
|
||||
|
||||
case 2:
|
||||
|
|
|
|||
|
|
@ -0,0 +1,162 @@
|
|||
#=============================================================================#
|
||||
# Author: Niklaa Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
set(CMAKE_SOURCE_DIR "${CMAKE_SOURCE_DIR}/../")
|
||||
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules) # CMake module search path
|
||||
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Arduino.cmake) # Arduino Toolchain
|
||||
#include(ArduinoProcessing)
|
||||
|
||||
set (CMAKE_CXX_SOURCE_FILE_EXTENSIONS pde)
|
||||
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
#====================================================================#
|
||||
# Setup Project #
|
||||
#====================================================================#
|
||||
project(ArduPlane C CXX)
|
||||
|
||||
find_package(Arduino 22 REQUIRED)
|
||||
|
||||
add_subdirectory(../libraries "${CMAKE_CURRENT_BINARY_DIR}/libs")
|
||||
|
||||
#add_subdirectory(${CMAKE_SOURCE_DIR}/ArduCopter)
|
||||
#add_subdirectory(testtool)
|
||||
|
||||
PRINT_BOARD_SETTINGS(mega2560)
|
||||
|
||||
|
||||
|
||||
#=============================================================================#
|
||||
# Author: Niklas Goddemeier & Sebastian Rohde #
|
||||
# Date: 04.09.2011 #
|
||||
#=============================================================================#
|
||||
|
||||
|
||||
#====================================================================#
|
||||
# Settings #
|
||||
#====================================================================#
|
||||
set(FIRMWARE_NAME ArduPlane)
|
||||
|
||||
set(${FIRMWARE_NAME}_BOARD mega2560) # Arduino Target board
|
||||
|
||||
set(${FIRMWARE_NAME}_SKETCHES
|
||||
ArduPlane.pde
|
||||
Attitude.pde
|
||||
climb_rate.pde
|
||||
commands.pde
|
||||
commands_logic.pde
|
||||
commands_process.pde
|
||||
control_modes.pde
|
||||
events.pde
|
||||
#flight_control.pde
|
||||
#flip.pde
|
||||
#GCS.pde
|
||||
#GCS_Ardupilot.pde
|
||||
#GCS_IMU_output.pde
|
||||
#GCS_Jason_text.pde
|
||||
GCS_Mavlink.pde
|
||||
#GCS_Standard.pde
|
||||
#GCS_Xplane.pde
|
||||
#heli.pde
|
||||
HIL_Xplane.pde
|
||||
#leds.pde
|
||||
Log.pde
|
||||
#motors_hexa.pde
|
||||
#motors_octa.pde
|
||||
#motors_octa_quad.pde
|
||||
#motors_quad.pde
|
||||
#motors_tri.pde
|
||||
#motors_y6.pde
|
||||
navigation.pde
|
||||
planner.pde
|
||||
radio.pde
|
||||
#read_commands.pde
|
||||
sensors.pde
|
||||
setup.pde
|
||||
system.pde
|
||||
test.pde
|
||||
) # Firmware sketches
|
||||
|
||||
#create dummy sourcefile
|
||||
file(WRITE ${FIRMWARE_NAME}.cpp "// Do not edit")
|
||||
|
||||
set(${FIRMWARE_NAME}_SRCS
|
||||
#test.cpp
|
||||
${FIRMWARE_NAME}.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_HDRS
|
||||
APM_Config.h
|
||||
APM_Config_mavlink_hil.h
|
||||
APM_Config_xplane.h
|
||||
config.h
|
||||
defines.h
|
||||
GCS.h
|
||||
HIL.h
|
||||
Mavlink_Common.h
|
||||
Parameters.h
|
||||
) # Firmware sources
|
||||
|
||||
set(${FIRMWARE_NAME}_LIBS
|
||||
DataFlash
|
||||
AP_Math
|
||||
PID
|
||||
RC_Channel
|
||||
AP_OpticalFlow
|
||||
ModeFilter
|
||||
memcheck
|
||||
#AP_PID
|
||||
APM_PI
|
||||
#APO
|
||||
FastSerial
|
||||
AP_Common
|
||||
GCS_MAVLink
|
||||
AP_GPS
|
||||
APM_RC
|
||||
AP_DCM
|
||||
AP_ADC
|
||||
AP_Compass
|
||||
AP_IMU
|
||||
AP_RangeFinder
|
||||
APM_BMP085
|
||||
c
|
||||
m
|
||||
)
|
||||
SET_TARGET_PROPERTIES(AP_Math PROPERTIES LINKER_LANGUAGE CXX)
|
||||
|
||||
|
||||
#${CONSOLE_PORT}
|
||||
set(${FIRMWARE_NAME}_PORT COM2) # Serial upload port
|
||||
set(${FIRMWARE_NAME}_SERIAL putty -serial COM2 -sercfg 57600,8,n,1,X ) # Serial terminal cmd
|
||||
|
||||
include_directories(
|
||||
${CMAKE_SOURCE_DIR}/libraries/DataFlash
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/RC_Channel
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_OpticalFlow
|
||||
${CMAKE_SOURCE_DIR}/libraries/ModeFilter
|
||||
${CMAKE_SOURCE_DIR}/libraries/memcheck
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_PID
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_PI
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Compass
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_RangeFinder
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_GPS
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_IMU
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_ADC
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_RC
|
||||
${CMAKE_SOURCE_DIR}/libraries/GCS_MAVLink
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_BMP085
|
||||
#new
|
||||
#${CMAKE_SOURCE_DIR}/libraries/Wire
|
||||
#${CMAKE_SOURCE_DIR}/libraries/SPI
|
||||
)
|
||||
#====================================================================#
|
||||
# Target generation #
|
||||
#====================================================================#
|
||||
generate_arduino_firmware(${FIRMWARE_NAME})
|
||||
|
|
@ -112,13 +112,6 @@ public:
|
|||
k_param_RTL_altitude,
|
||||
k_param_inverted_flight_ch,
|
||||
|
||||
//
|
||||
// Camera parameters
|
||||
//
|
||||
#if CAMERA == ENABLED
|
||||
k_param_camera,
|
||||
#endif
|
||||
|
||||
//
|
||||
// 170: Radio settings
|
||||
//
|
||||
|
|
@ -324,11 +317,6 @@ public:
|
|||
AP_Int8 flap_2_percent;
|
||||
AP_Int8 flap_2_speed;
|
||||
|
||||
// Camera
|
||||
#if CAMERA == ENABLED
|
||||
AP_Camera camera;
|
||||
#endif
|
||||
|
||||
// RC channels
|
||||
RC_Channel channel_roll;
|
||||
RC_Channel channel_pitch;
|
||||
|
|
@ -434,10 +422,6 @@ public:
|
|||
|
||||
// Note - total parameter name length must be less than 14 characters for MAVLink compatibility!
|
||||
|
||||
#if CAMERA == ENABLED
|
||||
camera (k_param_camera, PSTR("CAM_")),
|
||||
#endif
|
||||
|
||||
// RC channel group key name
|
||||
//----------------------------------------------------------------------
|
||||
channel_roll (k_param_channel_roll, PSTR("RC1_")),
|
||||
|
|
|
|||
|
|
@ -1,56 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
#if CAMERA == ENABLED
|
||||
void waypoint_check()
|
||||
{
|
||||
if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
|
||||
if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
|
||||
g.camera.trigger_pic();
|
||||
} // DO SOMETHIMNG
|
||||
}
|
||||
if(g.waypoint_index == 20){ // When here do whats underneath
|
||||
g.camera.trigger_pic();
|
||||
}
|
||||
}
|
||||
|
||||
void picture_time_check()
|
||||
{
|
||||
if (g.camera.picture_time == 1){
|
||||
if (wp_distance < g.camera.wp_distance_min){
|
||||
g.camera.trigger_pic(); // or any camera activation command
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void egg_waypoint()
|
||||
{
|
||||
if (g_rc_function[RC_Channel_aux::k_egg_drop])
|
||||
{
|
||||
float temp = (float)(current_loc.alt - home.alt) * .01;
|
||||
float egg_dist = sqrt(temp / 4.903) * (float)g_gps->ground_speed *.01;
|
||||
|
||||
if(g.waypoint_index == 3){
|
||||
if(wp_distance < egg_dist){
|
||||
g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 100;
|
||||
}
|
||||
}else{
|
||||
g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if CAMERA == ENABLED
|
||||
void johann_check() // if you aren't Johann it doesn't really matter :D
|
||||
{
|
||||
APM_RC.OutputCh(CH_7,1500 + (350));
|
||||
if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
|
||||
if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
|
||||
g.camera.trigger_pic();
|
||||
}
|
||||
}
|
||||
if(g.waypoint_index == 20){ // When here do whats underneath
|
||||
g.camera.trigger_pic();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
|
@ -24,26 +24,6 @@ static void init_rc_in()
|
|||
|
||||
//set auxiliary ranges
|
||||
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
|
||||
G_RC_AUX(k_flap)->set_range(0,100);
|
||||
G_RC_AUX(k_flap_auto)->set_range(0,100);
|
||||
G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
|
||||
G_RC_AUX(k_flaperon)->set_range(0,100);
|
||||
#if CAMERA == ENABLED
|
||||
G_RC_AUX(k_mount_yaw)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
|
||||
G_RC_AUX(k_mount_pitch)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
|
||||
G_RC_AUX(k_mount_roll)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
|
||||
G_RC_AUX(k_cam_trigger)->set_range(
|
||||
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
|
||||
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
|
||||
G_RC_AUX(k_cam_open)->set_range(0,100);
|
||||
#endif
|
||||
G_RC_AUX(k_egg_drop)->set_range(0,100);
|
||||
}
|
||||
|
||||
static void init_rc_out()
|
||||
|
|
@ -56,7 +36,7 @@ static void init_rc_out()
|
|||
APM_RC.OutputCh(CH_5, g.rc_5.radio_trim);
|
||||
APM_RC.OutputCh(CH_6, g.rc_6.radio_trim);
|
||||
APM_RC.OutputCh(CH_7, g.rc_7.radio_trim);
|
||||
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
|
||||
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
|
||||
|
||||
APM_RC.Init(); // APM Radio initialization
|
||||
|
||||
|
|
|
|||
|
|
@ -232,7 +232,6 @@
|
|||
<Compile Include="MyUserControl.cs">
|
||||
<SubType>UserControl</SubType>
|
||||
</Compile>
|
||||
<Compile Include="NetSerialServer.cs" />
|
||||
<Compile Include="ArduinoSTKv2.cs">
|
||||
<SubType>Component</SubType>
|
||||
</Compile>
|
||||
|
|
@ -302,7 +301,6 @@
|
|||
<DependentUpon>ElevationProfile.cs</DependentUpon>
|
||||
</Compile>
|
||||
<Compile Include="MAVLink.cs" />
|
||||
<Compile Include="NetSerial.cs" />
|
||||
<Compile Include="ArduinoSTK.cs">
|
||||
<SubType>Component</SubType>
|
||||
</Compile>
|
||||
|
|
@ -338,6 +336,7 @@
|
|||
<Compile Include="Splash.Designer.cs">
|
||||
<DependentUpon>Splash.cs</DependentUpon>
|
||||
</Compile>
|
||||
<Compile Include="srtm.cs" />
|
||||
<Compile Include="temp.cs">
|
||||
<SubType>Form</SubType>
|
||||
</Compile>
|
||||
|
|
@ -374,6 +373,7 @@
|
|||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="GCSViews\Firmware.zh-Hans.resx">
|
||||
<DependentUpon>Firmware.cs</DependentUpon>
|
||||
<SubType>Designer</SubType>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="GCSViews\FlightData.zh-Hans.resx">
|
||||
<DependentUpon>FlightData.cs</DependentUpon>
|
||||
|
|
@ -424,6 +424,7 @@
|
|||
<EmbeddedResource Include="GCSViews\Firmware.resx">
|
||||
<DependentUpon>Firmware.cs</DependentUpon>
|
||||
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
|
||||
<SubType>Designer</SubType>
|
||||
</EmbeddedResource>
|
||||
<EmbeddedResource Include="GCSViews\FlightData.resx">
|
||||
<DependentUpon>FlightData.cs</DependentUpon>
|
||||
|
|
|
|||
|
|
@ -6,7 +6,6 @@ using System.IO.Ports;
|
|||
using System.Threading;
|
||||
using System.Net; // dns, ip address
|
||||
using System.Net.Sockets; // tcplistner
|
||||
using SerialProxy;
|
||||
|
||||
namespace System.IO.Ports
|
||||
{
|
||||
|
|
|
|||
|
|
@ -257,6 +257,8 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
internal void processToScreen()
|
||||
{
|
||||
|
||||
|
||||
Params.Rows.Clear();
|
||||
|
||||
// process hashdefines and update display
|
||||
|
|
@ -541,7 +543,10 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
private void BUT_writePIDS_Click(object sender, EventArgs e)
|
||||
{
|
||||
foreach (string value in changes.Keys)
|
||||
|
||||
Hashtable temp = (Hashtable)changes.Clone();
|
||||
|
||||
foreach (string value in temp.Keys)
|
||||
{
|
||||
try
|
||||
{
|
||||
|
|
@ -566,6 +571,7 @@ namespace ArdupilotMega.GCSViews
|
|||
if (row.Cells[0].Value.ToString() == value)
|
||||
{
|
||||
row.Cells[1].Style.BackColor = Color.FromArgb(0x43, 0x44, 0x45);
|
||||
changes.Remove(value);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -575,8 +581,6 @@ namespace ArdupilotMega.GCSViews
|
|||
}
|
||||
catch { MessageBox.Show("Set " + value + " Failed"); }
|
||||
}
|
||||
|
||||
changes.Clear();
|
||||
}
|
||||
|
||||
const float rad2deg = (float)(180 / Math.PI);
|
||||
|
|
@ -600,9 +604,11 @@ namespace ArdupilotMega.GCSViews
|
|||
|
||||
MainV2.fixtheme(temp);
|
||||
|
||||
TabSetup.Controls.Clear();
|
||||
temp.ShowDialog();
|
||||
|
||||
TabSetup.Controls.Add(temp.Controls[0]);
|
||||
startup = true;
|
||||
processToScreen();
|
||||
startup = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -519,13 +519,18 @@ namespace ArdupilotMega.GCSViews
|
|||
}
|
||||
catch (Exception ex) { lbl_status.Text = "Failed download"; MessageBox.Show("Failed to download new firmware : " + ex.Message); return; }
|
||||
|
||||
UploadFlash(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex", board);
|
||||
}
|
||||
|
||||
void UploadFlash(string filename, string board)
|
||||
{
|
||||
byte[] FLASH = new byte[1];
|
||||
StreamReader sr = null;
|
||||
try
|
||||
{
|
||||
lbl_status.Text = "Reading Hex File";
|
||||
this.Refresh();
|
||||
sr = new StreamReader(Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"firmware.hex");
|
||||
sr = new StreamReader(filename);
|
||||
FLASH = readIntelHEXv2(sr);
|
||||
sr.Close();
|
||||
Console.WriteLine("\n\nSize: {0}\n\n", FLASH.Length);
|
||||
|
|
|
|||
|
|
@ -343,16 +343,16 @@
|
|||
<value>NoControl</value>
|
||||
</data>
|
||||
<data name="label1.Location" type="System.Drawing.Point, System.Drawing">
|
||||
<value>101, 165</value>
|
||||
<value>113, 167</value>
|
||||
</data>
|
||||
<data name="label1.Size" type="System.Drawing.Size, System.Drawing">
|
||||
<value>79, 13</value>
|
||||
<value>56, 13</value>
|
||||
</data>
|
||||
<data name="label1.TabIndex" type="System.Int32, mscorlib">
|
||||
<value>8</value>
|
||||
</data>
|
||||
<data name="label1.Text" xml:space="preserve">
|
||||
<value>ArduPilot Mega</value>
|
||||
<value>ArduPlane</value>
|
||||
</data>
|
||||
<data name=">>label1.Name" xml:space="preserve">
|
||||
<value>label1</value>
|
||||
|
|
@ -403,16 +403,16 @@
|
|||
<value>NoControl</value>
|
||||
</data>
|
||||
<data name="label3.Location" type="System.Drawing.Point, System.Drawing">
|
||||
<value>57, 362</value>
|
||||
<value>74, 361</value>
|
||||
</data>
|
||||
<data name="label3.Size" type="System.Drawing.Size, System.Drawing">
|
||||
<value>168, 13</value>
|
||||
<value>142, 13</value>
|
||||
</data>
|
||||
<data name="label3.TabIndex" type="System.Int32, mscorlib">
|
||||
<value>10</value>
|
||||
</data>
|
||||
<data name="label3.Text" xml:space="preserve">
|
||||
<value>ArduPilot Mega (Xplane simulator)</value>
|
||||
<value>ArduPlane (Xplane simulator)</value>
|
||||
</data>
|
||||
<data name=">>label3.Name" xml:space="preserve">
|
||||
<value>label3</value>
|
||||
|
|
|
|||
|
|
@ -347,7 +347,7 @@ namespace ArdupilotMega.GCSViews
|
|||
{
|
||||
TXT_mouselat.Text = lat.ToString();
|
||||
TXT_mouselong.Text = lng.ToString();
|
||||
TXT_mousealt.Text = alt.ToString();
|
||||
TXT_mousealt.Text = srtm.getAltitude(lat, lng).ToString("0");
|
||||
|
||||
try
|
||||
{
|
||||
|
|
|
|||
|
|
@ -236,7 +236,7 @@ System.ComponentModel.Category("Values")]
|
|||
{
|
||||
//Console.WriteLine("ms "+(DateTime.Now - starttime).TotalMilliseconds);
|
||||
//e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
|
||||
return;
|
||||
//return;
|
||||
}
|
||||
|
||||
starttime = DateTime.Now;
|
||||
|
|
@ -1365,6 +1365,18 @@ System.ComponentModel.Category("Values")]
|
|||
|
||||
charbitmaps = new Bitmap[charbitmaps.Length];
|
||||
|
||||
try
|
||||
{
|
||||
|
||||
foreach (int texid in charbitmaptexid)
|
||||
{
|
||||
if (texid != 0)
|
||||
GL.DeleteTexture(texid);
|
||||
}
|
||||
|
||||
}
|
||||
catch { }
|
||||
|
||||
GC.Collect();
|
||||
|
||||
try
|
||||
|
|
|
|||
|
|
@ -366,45 +366,6 @@ namespace ArdupilotMega
|
|||
}
|
||||
}
|
||||
|
||||
private byte[] readline(NetSerial comport)
|
||||
{
|
||||
byte[] temp = new byte[1024];
|
||||
int count = 0;
|
||||
int timeout = 0;
|
||||
|
||||
while (timeout <= 100)
|
||||
{
|
||||
if (!comport.IsOpen) { break; }
|
||||
if (comport.BytesToRead > 0)
|
||||
{
|
||||
byte letter = (byte)comport.ReadByte();
|
||||
|
||||
temp[count] = letter;
|
||||
|
||||
if (letter == '\n') // normal line
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
count++;
|
||||
if (count == temp.Length)
|
||||
break;
|
||||
timeout = 0;
|
||||
} else {
|
||||
timeout++;
|
||||
System.Threading.Thread.Sleep(5);
|
||||
}
|
||||
}
|
||||
if (timeout >= 100) {
|
||||
Console.WriteLine("readline timeout");
|
||||
}
|
||||
|
||||
Array.Resize<byte>(ref temp, count + 1);
|
||||
|
||||
return temp;
|
||||
}
|
||||
|
||||
List<string> modelist = new List<string>();
|
||||
List<Core.Geometry.Point3D>[] position = new List<Core.Geometry.Point3D>[200];
|
||||
int positionindex = 0;
|
||||
|
|
|
|||
|
|
@ -951,6 +951,8 @@ namespace ArdupilotMega
|
|||
|
||||
req.seq = index;
|
||||
|
||||
//Console.WriteLine("getwp req "+ DateTime.Now.Millisecond);
|
||||
|
||||
// request
|
||||
generatePacket(MAVLINK_MSG_ID_WAYPOINT_REQUEST, req);
|
||||
|
||||
|
|
@ -972,11 +974,14 @@ namespace ArdupilotMega
|
|||
MainV2.givecomport = false;
|
||||
throw new Exception("Timeout on read - getWP");
|
||||
}
|
||||
//Console.WriteLine("getwp read " + DateTime.Now.Millisecond);
|
||||
byte[] buffer = readPacket();
|
||||
//Console.WriteLine("getwp readend " + DateTime.Now.Millisecond);
|
||||
if (buffer.Length > 5)
|
||||
{
|
||||
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT)
|
||||
{
|
||||
//Console.WriteLine("getwp ans " + DateTime.Now.Millisecond);
|
||||
__mavlink_waypoint_t wp = new __mavlink_waypoint_t();
|
||||
|
||||
object temp = (object)wp;
|
||||
|
|
@ -1070,7 +1075,7 @@ namespace ArdupilotMega
|
|||
}
|
||||
else
|
||||
{
|
||||
//Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
|
||||
Console.WriteLine(DateTime.Now + " PC getwp " + buffer[5]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1455,16 +1460,18 @@ namespace ArdupilotMega
|
|||
else
|
||||
{
|
||||
int to = 0;
|
||||
while (BaseStream.BytesToRead < length)
|
||||
while (BaseStream.BytesToRead < (length - 4))
|
||||
{
|
||||
if (to > 1000)
|
||||
{
|
||||
Console.WriteLine("MAVLINK: wait time out btr {0} len {1}", BaseStream.BytesToRead, length);
|
||||
break;
|
||||
}
|
||||
System.Threading.Thread.Sleep(2);
|
||||
System.Windows.Forms.Application.DoEvents();
|
||||
System.Threading.Thread.Sleep(1);
|
||||
//System.Windows.Forms.Application.DoEvents();
|
||||
to++;
|
||||
|
||||
//Console.WriteLine("data " + 0 + " " + length + " aval " + BaseStream.BytesToRead);
|
||||
}
|
||||
int read = BaseStream.Read(temp, 6, length - 4);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -76,6 +76,8 @@ namespace ArdupilotMega
|
|||
//System.Threading.Thread.CurrentThread.CurrentUICulture = new System.Globalization.CultureInfo("en-US");
|
||||
//System.Threading.Thread.CurrentThread.CurrentCulture = new System.Globalization.CultureInfo("en-US");
|
||||
|
||||
srtm.datadirectory = @"C:\srtm";
|
||||
|
||||
var t = Type.GetType("Mono.Runtime");
|
||||
MAC = (t != null);
|
||||
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@ namespace ArdupilotMega
|
|||
|
||||
if (!this.Enabled)
|
||||
{
|
||||
SolidBrush brush = new SolidBrush(Color.FromArgb(200, 0x2b, 0x3a, 0x03));
|
||||
SolidBrush brush = new SolidBrush(Color.FromArgb(150, 0x2b, 0x3a, 0x03));
|
||||
|
||||
gr.FillRectangle(brush, 0, 0, this.Width, this.Height);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -34,5 +34,5 @@ using System.Resources;
|
|||
// by using the '*' as shown below:
|
||||
// [assembly: AssemblyVersion("1.0.*")]
|
||||
[assembly: AssemblyVersion("1.0.0.0")]
|
||||
[assembly: AssemblyFileVersion("1.0.67")]
|
||||
[assembly: AssemblyFileVersion("1.0.68")]
|
||||
[assembly: NeutralResourcesLanguageAttribute("")]
|
||||
|
|
|
|||
|
|
@ -231,7 +231,6 @@ namespace ArdupilotMega.Setup
|
|||
|
||||
MainV2.comPort.requestDatastream((byte)ArdupilotMega.MAVLink.MAV_DATA_STREAM.MAV_DATA_STREAM_RC_CHANNELS, oldrc);
|
||||
|
||||
MainV2.comPort.param = MainV2.comPort.getParamList();
|
||||
if (Configuration != null)
|
||||
{
|
||||
Configuration.startup = true;
|
||||
|
|
|
|||
|
|
@ -343,16 +343,16 @@
|
|||
<value>NoControl</value>
|
||||
</data>
|
||||
<data name="label1.Location" type="System.Drawing.Point, System.Drawing">
|
||||
<value>101, 165</value>
|
||||
<value>113, 167</value>
|
||||
</data>
|
||||
<data name="label1.Size" type="System.Drawing.Size, System.Drawing">
|
||||
<value>79, 13</value>
|
||||
<value>56, 13</value>
|
||||
</data>
|
||||
<data name="label1.TabIndex" type="System.Int32, mscorlib">
|
||||
<value>8</value>
|
||||
</data>
|
||||
<data name="label1.Text" xml:space="preserve">
|
||||
<value>ArduPilot Mega</value>
|
||||
<value>ArduPlane</value>
|
||||
</data>
|
||||
<data name=">>label1.Name" xml:space="preserve">
|
||||
<value>label1</value>
|
||||
|
|
@ -403,16 +403,16 @@
|
|||
<value>NoControl</value>
|
||||
</data>
|
||||
<data name="label3.Location" type="System.Drawing.Point, System.Drawing">
|
||||
<value>57, 362</value>
|
||||
<value>74, 361</value>
|
||||
</data>
|
||||
<data name="label3.Size" type="System.Drawing.Size, System.Drawing">
|
||||
<value>168, 13</value>
|
||||
<value>142, 13</value>
|
||||
</data>
|
||||
<data name="label3.TabIndex" type="System.Int32, mscorlib">
|
||||
<value>10</value>
|
||||
</data>
|
||||
<data name="label3.Text" xml:space="preserve">
|
||||
<value>ArduPilot Mega (Xplane simulator)</value>
|
||||
<value>ArduPlane (Xplane simulator)</value>
|
||||
</data>
|
||||
<data name=">>label3.Name" xml:space="preserve">
|
||||
<value>label3</value>
|
||||
|
|
|
|||
|
|
@ -0,0 +1,76 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using System.Text;
|
||||
using System.IO;
|
||||
|
||||
namespace ArdupilotMega
|
||||
{
|
||||
class srtm
|
||||
{
|
||||
public static string datadirectory;
|
||||
|
||||
public static int getAltitude(double lat, double lng)
|
||||
{
|
||||
short alt = -32768;
|
||||
|
||||
lat += 0.0008;
|
||||
//lng += 0.0008;
|
||||
|
||||
int x = (int)Math.Floor(lng);
|
||||
int y = (int)Math.Floor(lat);
|
||||
|
||||
string ns;
|
||||
if (y > 0)
|
||||
ns = "N";
|
||||
else
|
||||
ns = "S";
|
||||
|
||||
string ew;
|
||||
if (x > 0)
|
||||
ew = "E";
|
||||
else
|
||||
ew = "W";
|
||||
|
||||
string filename = ns+ Math.Abs(y).ToString("00")+ew+ Math.Abs(x).ToString("000")+".hgt";
|
||||
|
||||
if (!File.Exists(datadirectory + Path.DirectorySeparatorChar + filename))
|
||||
{
|
||||
return alt;
|
||||
}
|
||||
|
||||
FileStream fs = new FileStream(datadirectory + Path.DirectorySeparatorChar + filename, FileMode.Open,FileAccess.Read);
|
||||
|
||||
float posx = 0;
|
||||
float row = 0;
|
||||
|
||||
if (fs.Length <= (1201 * 1201 * 2)) {
|
||||
posx = (int)(((float)(lng - x)) * (1201 * 2));
|
||||
row = (int)(((float)(lat - y)) * 1201) * (1201 * 2);
|
||||
row = (1201 * 1201 * 2) - row;
|
||||
} else {
|
||||
posx = (int)(((float)(lng - x)) * (3601 * 2));
|
||||
row = (int)(((float)(lat - y)) * 3601) * (3601 * 2);
|
||||
row = (3601 * 3601 * 2) - row;
|
||||
}
|
||||
|
||||
if (posx % 2 == 1)
|
||||
{
|
||||
posx--;
|
||||
}
|
||||
|
||||
//Console.WriteLine(filename + " row " + row + " posx" + posx);
|
||||
|
||||
byte[] data = new byte[2];
|
||||
|
||||
fs.Seek((int)(row + posx), SeekOrigin.Begin);
|
||||
fs.Read(data, 0, data.Length);
|
||||
|
||||
Array.Reverse(data);
|
||||
|
||||
alt = BitConverter.ToInt16(data,0);
|
||||
|
||||
return alt;
|
||||
}
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
|
@ -0,0 +1,103 @@
|
|||
# 1. Concatenate all PDE files
|
||||
# 2. Write #include "WProgram.h"
|
||||
# 3. Write prototypes
|
||||
# 4. Write original sources
|
||||
#
|
||||
#
|
||||
# Prefix Writer
|
||||
# 1. Scrub comments
|
||||
# 2. Optionally subsitute Unicode
|
||||
# 3. Find imports
|
||||
# 4. Find prototypes
|
||||
#
|
||||
# Find prototypes
|
||||
# 1. Strip comments, quotes, preprocessor directives
|
||||
# 2. Collapse braches
|
||||
# 3. Regex
|
||||
|
||||
|
||||
set(SINGLE_QUOTES_REGEX "('.')")
|
||||
set(DOUBLE_QUOTES_REGEX "(\"([^\"\\\\]|\\\\.)*\")")
|
||||
set(SINGLE_COMMENT_REGEX "([ ]*//[^\n]*)")
|
||||
set(MULTI_COMMENT_REGEX "(/[*][^/]*[*]/)")
|
||||
set(PREPROC_REGEX "([ ]*#(\\\\[\n]|[^\n])*)")
|
||||
|
||||
#"[\w\[\]\*]+\s+[&\[\]\*\w\s]+\([&,\[\]\*\w\s]*\)(?=\s*\{)"
|
||||
set(PROTOTPYE_REGEX "([a-zA-Z0-9]+[ ]*)*[a-zA-Z0-9]+[ ]*\([^{]*\)[ ]*{")
|
||||
|
||||
function(READ_SKETCHES VAR_NAME )
|
||||
set(SKETCH_SOURCE)
|
||||
foreach(SKETCH ${ARGN})
|
||||
if(EXISTS ${SKETCH})
|
||||
message(STATUS "${SKETCH}")
|
||||
file(READ ${SKETCH} SKETCH_CONTENTS)
|
||||
set(SKETCH_SOURCE "${SKETCH_SOURCE}\n${SKETCH_CONTENTS}")
|
||||
else()
|
||||
message(FATAL_ERROR "Sketch file does not exist: ${SKETCH}")
|
||||
endif()
|
||||
endforeach()
|
||||
set(${VAR_NAME} "${SKETCH_SOURCE}" PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
function(STRIP_SOURCES VAR_NAME SOURCES)
|
||||
string(REGEX REPLACE "${SINGLE_QUOTES_REGEX}|${DOUBLE_QUOTES_REGEX}|${SINGLE_COMMENT_REGEX}|${MULTI_COMMENT_REGEX}|${PREPROC_REGEX}"
|
||||
""
|
||||
SOURCES
|
||||
"${SOURCES}")
|
||||
set(${VAR_NAME} "${SOURCES}" PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
function(COLLAPSE_BRACES VAR_NAME SOURCES)
|
||||
set(PARSED_SOURCES)
|
||||
string(LENGTH "${SOURCES}" SOURCES_LENGTH)
|
||||
math(EXPR SOURCES_LENGTH "${SOURCES_LENGTH}-1")
|
||||
|
||||
set(NESTING 0)
|
||||
set(START 0)
|
||||
foreach(INDEX RANGE ${SOURCES_LENGTH})
|
||||
string(SUBSTRING "${SOURCES}" ${INDEX} 1 CURRENT_CHAR)
|
||||
#message("${CURRENT_CHAR}")
|
||||
if(CURRENT_CHAR STREQUAL "{")
|
||||
if(NESTING EQUAL 0)
|
||||
math(EXPR SUBLENGTH "${INDEX}-${START} +1")
|
||||
string(SUBSTRING "${SOURCES}" ${START} ${SUBLENGTH} CURRENT_CHUNK)
|
||||
set(PARSED_SOURCES "${PARSED_SOURCES}${CURRENT_CHUNK}")
|
||||
#message("INDEX: ${INDEX} START: ${START} LENGTH: ${SUBLENGTH}")
|
||||
endif()
|
||||
math(EXPR NESTING "${NESTING}+1")
|
||||
elseif(CURRENT_CHAR STREQUAL "}")
|
||||
math(EXPR NESTING "${NESTING}-1")
|
||||
if(NESTING EQUAL 0)
|
||||
set(START ${INDEX})
|
||||
endif()
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
math(EXPR SUBLENGTH "${SOURCES_LENGTH}-${START} +1")
|
||||
string(SUBSTRING "${SOURCES}" ${START} ${SUBLENGTH} CURRENT_CHUNK)
|
||||
set(PARSED_SOURCES "${PARSED_SOURCES}${CURRENT_CHUNK}")
|
||||
|
||||
set(${VAR_NAME} "${PARSED_SOURCES}" PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
function(extract_prototypes VAR_NAME SOURCES)
|
||||
string(REGEX MATCHALL "${PROTOTPYE_REGEX}"
|
||||
SOURCES
|
||||
"${SOURCES}")
|
||||
set(${VAR_NAME} "${SOURCES}" PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
read_sketches(SKETCH_SOURCE ${FILES})
|
||||
strip_sources(SKETCH_SOURCE "${SKETCH_SOURCE}")
|
||||
collapse_braces(SKETCH_SOURCE "${SKETCH_SOURCE}")
|
||||
extract_prototypes(SKETCH_SOURCE "${SKETCH_SOURCE}")
|
||||
|
||||
|
||||
|
||||
|
||||
message("===============")
|
||||
foreach(ENTRY ${SKETCH_SOURCE})
|
||||
message("START]]]${ENTRY}[[[END")
|
||||
endforeach()
|
||||
message("===============")
|
||||
#message("${SKETCH_SOURCE}")
|
||||
|
|
@ -0,0 +1,581 @@
|
|||
# - Generate firmware and libraries for Arduino Devices
|
||||
# generate_arduino_firmware(TARGET_NAME)
|
||||
# TARGET_NAME - Name of target
|
||||
# Creates a Arduino firmware target.
|
||||
#
|
||||
# The target options can be configured by setting options of
|
||||
# the following format:
|
||||
# ${TARGET_NAME}${SUFFIX}
|
||||
# The following suffixes are availabe:
|
||||
# _SRCS # Sources
|
||||
# _HDRS # Headers
|
||||
# _SKETCHES # Arduino sketch files
|
||||
# _LIBS # Libraries to linked in
|
||||
# _BOARD # Board name (such as uno, mega2560, ...)
|
||||
# _PORT # Serial port, for upload and serial targets [OPTIONAL]
|
||||
# _AFLAGS # Override global Avrdude flags for target
|
||||
# _SERIAL # Serial command for serial target [OPTIONAL]
|
||||
# _NO_AUTOLIBS # Disables Arduino library detection
|
||||
# Here is a short example for a target named test:
|
||||
# set(test_SRCS test.cpp)
|
||||
# set(test_HDRS test.h)
|
||||
# set(test_BOARD uno)
|
||||
#
|
||||
# generate_arduino_firmware(test)
|
||||
#
|
||||
#
|
||||
# generate_arduino_library(TARGET_NAME)
|
||||
# TARGET_NAME - Name of target
|
||||
# Creates a Arduino firmware target.
|
||||
#
|
||||
# The target options can be configured by setting options of
|
||||
# the following format:
|
||||
# ${TARGET_NAME}${SUFFIX}
|
||||
# The following suffixes are availabe:
|
||||
#
|
||||
# _SRCS # Sources
|
||||
# _HDRS # Headers
|
||||
# _LIBS # Libraries to linked in
|
||||
# _BOARD # Board name (such as uno, mega2560, ...)
|
||||
# _NO_AUTOLIBS # Disables Arduino library detection
|
||||
#
|
||||
# Here is a short example for a target named test:
|
||||
# set(test_SRCS test.cpp)
|
||||
# set(test_HDRS test.h)
|
||||
# set(test_BOARD uno)
|
||||
#
|
||||
# generate_arduino_library(test)
|
||||
|
||||
|
||||
find_path(ARDUINO_SDK_PATH
|
||||
NAMES lib/version.txt hardware libraries
|
||||
PATH_SUFFIXES share/arduino
|
||||
DOC "Arduino Development Kit path.")
|
||||
|
||||
|
||||
# load_board_settings()
|
||||
#
|
||||
# Load the Arduino SDK board settings from the boards.txt file.
|
||||
#
|
||||
function(LOAD_BOARD_SETTINGS)
|
||||
if(NOT ARDUINO_BOARDS AND ARDUINO_BOARDS_PATH)
|
||||
file(STRINGS ${ARDUINO_BOARDS_PATH} BOARD_SETTINGS)
|
||||
foreach(BOARD_SETTING ${BOARD_SETTINGS})
|
||||
if("${BOARD_SETTING}" MATCHES "^.*=.*")
|
||||
string(REGEX MATCH "^[^=]+" SETTING_NAME ${BOARD_SETTING})
|
||||
string(REGEX MATCH "[^=]+$" SETTING_VALUE ${BOARD_SETTING})
|
||||
string(REPLACE "." ";" SETTING_NAME_TOKENS ${SETTING_NAME})
|
||||
|
||||
list(LENGTH SETTING_NAME_TOKENS SETTING_NAME_TOKENS_LEN)
|
||||
|
||||
|
||||
# Add Arduino to main list of arduino boards
|
||||
list(GET SETTING_NAME_TOKENS 0 BOARD_ID)
|
||||
list(FIND ARDUINO_BOARDS ${BOARD_ID} ARDUINO_BOARD_INDEX)
|
||||
if(ARDUINO_BOARD_INDEX LESS 0)
|
||||
list(APPEND ARDUINO_BOARDS ${BOARD_ID})
|
||||
endif()
|
||||
|
||||
# Add setting to board settings list
|
||||
list(GET SETTING_NAME_TOKENS 1 BOARD_SETTING)
|
||||
list(FIND ${BOARD_ID}.SETTINGS ${BOARD_SETTING} BOARD_SETTINGS_LEN)
|
||||
if(BOARD_SETTINGS_LEN LESS 0)
|
||||
list(APPEND ${BOARD_ID}.SETTINGS ${BOARD_SETTING})
|
||||
set(${BOARD_ID}.SETTINGS ${${BOARD_ID}.SETTINGS}
|
||||
CACHE INTERNAL "Arduino ${BOARD_ID} Board settings list")
|
||||
endif()
|
||||
|
||||
set(ARDUINO_SETTING_NAME ${BOARD_ID}.${BOARD_SETTING})
|
||||
|
||||
# Add sub-setting to board sub-settings list
|
||||
if(SETTING_NAME_TOKENS_LEN GREATER 2)
|
||||
list(GET SETTING_NAME_TOKENS 2 BOARD_SUBSETTING)
|
||||
list(FIND ${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS ${BOARD_SUBSETTING} BOARD_SUBSETTINGS_LEN)
|
||||
if(BOARD_SUBSETTINGS_LEN LESS 0)
|
||||
list(APPEND ${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS ${BOARD_SUBSETTING})
|
||||
set(${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS ${${BOARD_ID}.${BOARD_SETTING}.SUBSETTINGS}
|
||||
CACHE INTERNAL "Arduino ${BOARD_ID} Board sub-settings list")
|
||||
endif()
|
||||
set(ARDUINO_SETTING_NAME ${ARDUINO_SETTING_NAME}.${BOARD_SUBSETTING})
|
||||
endif()
|
||||
|
||||
# Save setting value
|
||||
set(${ARDUINO_SETTING_NAME} ${SETTING_VALUE} CACHE INTERNAL "Arduino ${BOARD_ID} Board setting")
|
||||
|
||||
|
||||
endif()
|
||||
endforeach()
|
||||
set(ARDUINO_BOARDS ${ARDUINO_BOARDS} CACHE STRING "List of detected Arduino Board configurations")
|
||||
mark_as_advanced(ARDUINO_BOARDS)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
# print_board_settings(ARDUINO_BOARD)
|
||||
#
|
||||
# ARDUINO_BOARD - Board id
|
||||
#
|
||||
# Print the detected Arduino board settings.
|
||||
#
|
||||
function(PRINT_BOARD_SETTINGS ARDUINO_BOARD)
|
||||
if(${ARDUINO_BOARD}.SETTINGS)
|
||||
|
||||
message(STATUS "Arduino ${ARDUINO_BOARD} Board:")
|
||||
foreach(BOARD_SETTING ${${ARDUINO_BOARD}.SETTINGS})
|
||||
if(${ARDUINO_BOARD}.${BOARD_SETTING})
|
||||
message(STATUS " ${ARDUINO_BOARD}.${BOARD_SETTING}=${${ARDUINO_BOARD}.${BOARD_SETTING}}")
|
||||
endif()
|
||||
if(${ARDUINO_BOARD}.${BOARD_SETTING}.SUBSETTINGS)
|
||||
foreach(BOARD_SUBSETTING ${${ARDUINO_BOARD}.${BOARD_SETTING}.SUBSETTINGS})
|
||||
if(${ARDUINO_BOARD}.${BOARD_SETTING}.${BOARD_SUBSETTING})
|
||||
message(STATUS " ${ARDUINO_BOARD}.${BOARD_SETTING}.${BOARD_SUBSETTING}=${${ARDUINO_BOARD}.${BOARD_SETTING}.${BOARD_SUBSETTING}}")
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
message(STATUS "")
|
||||
endforeach()
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
|
||||
|
||||
# generate_arduino_library(TARGET_NAME)
|
||||
#
|
||||
# see documentation at top
|
||||
function(GENERATE_ARDUINO_LIBRARY TARGET_NAME)
|
||||
load_generator_settings(${TARGET_NAME} INPUT _SRCS # Sources
|
||||
_HDRS # Headers
|
||||
_LIBS # Libraries to linked in
|
||||
_BOARD) # Board name (such as uno, mega2560, ...)
|
||||
set(INPUT_AUTOLIBS True)
|
||||
if(DEFINED ${TARGET_NAME}_NO_AUTOLIBS AND ${TARGET_NAME}_NO_AUTOLIBS)
|
||||
set(INPUT_AUTOLIBS False)
|
||||
endif()
|
||||
|
||||
message(STATUS "Generating ${TARGET_NAME}")
|
||||
|
||||
set(ALL_LIBS)
|
||||
set(ALL_SRCS ${INPUT_SRCS} ${INPUT_HDRS})
|
||||
|
||||
setup_arduino_compiler(${INPUT_BOARD})
|
||||
setup_arduino_core(CORE_LIB ${INPUT_BOARD})
|
||||
|
||||
if(INPUT_AUTOLIBS)
|
||||
setup_arduino_libraries(ALL_LIBS ${INPUT_BOARD} "${ALL_SRCS}")
|
||||
endif()
|
||||
|
||||
list(APPEND ALL_LIBS ${CORE_LIB} ${INPUT_LIBS})
|
||||
|
||||
add_library(${TARGET_NAME} ${ALL_SRCS})
|
||||
target_link_libraries(${TARGET_NAME} ${ALL_LIBS})
|
||||
endfunction()
|
||||
|
||||
# generate_arduino_firmware(TARGET_NAME)
|
||||
#
|
||||
# see documentation at top
|
||||
function(GENERATE_ARDUINO_FIRMWARE TARGET_NAME)
|
||||
load_generator_settings(${TARGET_NAME} INPUT _SRCS # Sources
|
||||
_HDRS # Headers
|
||||
_LIBS # Libraries to linked in
|
||||
_BOARD # Board name (such as uno, mega2560, ...)
|
||||
_PORT # Serial port, for upload and serial targets
|
||||
_AFLAGS # Override global Avrdude flags for target
|
||||
_SKETCHES # Arduino sketch files
|
||||
_SERIAL) # Serial command for serial target
|
||||
|
||||
set(INPUT_AUTOLIBS True)
|
||||
if(DEFINED ${TARGET_NAME}_NO_AUTOLIBS AND ${TARGET_NAME}_NO_AUTOLIBS)
|
||||
set(INPUT_AUTOLIBS False)
|
||||
endif()
|
||||
|
||||
message(STATUS "Generating ${TARGET_NAME}")
|
||||
message(STATUS "Sketches ${INPUT_SKETCHES}")
|
||||
|
||||
set(ALL_LIBS)
|
||||
set(ALL_SRCS ${INPUT_SKETCHES} ${INPUT_SRCS} ${INPUT_HDRS} )
|
||||
#set(ALL_SRCS ${INPUT_SRCS} ${INPUT_HDRS} )
|
||||
|
||||
#set compile flags and file properties for pde files
|
||||
#SET_SOURCE_FILES_PROPERTIES(${INPUT_SKETCHES} PROPERTIES LANGUAGE CXX)
|
||||
#SET_SOURCE_FILES_PROPERTIES(${INPUT_SKETCHES} PROPERTIES COMPILE_FLAGS "-x c++" )
|
||||
|
||||
setup_arduino_compiler(${INPUT_BOARD})
|
||||
setup_arduino_core(CORE_LIB ${INPUT_BOARD})
|
||||
|
||||
#setup_arduino_sketch(SKETCH_SRCS ${INPUT_SKETCHES})
|
||||
|
||||
if(INPUT_AUTOLIBS)
|
||||
setup_arduino_libraries(ALL_LIBS ${INPUT_BOARD} "${ALL_SRCS}")
|
||||
endif()
|
||||
|
||||
|
||||
list(APPEND ALL_LIBS ${CORE_LIB} ${INPUT_LIBS})
|
||||
|
||||
setup_arduino_target(${TARGET_NAME} "${ALL_SRCS}" "${ALL_LIBS}")
|
||||
#SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES LINKER_LANGUAGE CXX)
|
||||
#setup_arduino_target(${TARGET_NAME} "${INPUT_SKETCHES}" ${INPUT_HDRS} "${ALL_LIBS}")
|
||||
|
||||
if(INPUT_PORT)
|
||||
setup_arduino_upload(${INPUT_BOARD} ${TARGET_NAME} ${INPUT_PORT})
|
||||
endif()
|
||||
|
||||
if(INPUT_SERIAL)
|
||||
setup_serial_target(${TARGET_NAME} "${INPUT_SERIAL}")
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
|
||||
# load_generator_settings(TARGET_NAME PREFIX [SUFFIX_1 SUFFIX_2 .. SUFFIX_N])
|
||||
#
|
||||
# TARGET_NAME - The base name of the user settings
|
||||
# PREFIX - The prefix name used for generator settings
|
||||
# SUFFIX_XX - List of suffixes to load
|
||||
#
|
||||
# Loads a list of user settings into the generators scope. User settings have
|
||||
# the following syntax:
|
||||
#
|
||||
# ${BASE_NAME}${SUFFIX}
|
||||
#
|
||||
# The BASE_NAME is the target name and the suffix is a specific generator settings.
|
||||
#
|
||||
# For every user setting found a generator setting is created of the follwoing fromat:
|
||||
#
|
||||
# ${PREFIX}${SUFFIX}
|
||||
#
|
||||
# The purpose of loading the settings into the generator is to not modify user settings
|
||||
# and to have a generic naming of the settings within the generator.
|
||||
#
|
||||
function(LOAD_GENERATOR_SETTINGS TARGET_NAME PREFIX)
|
||||
foreach(GEN_SUFFIX ${ARGN})
|
||||
if(${TARGET_NAME}${GEN_SUFFIX})
|
||||
set(${PREFIX}${GEN_SUFFIX} ${${TARGET_NAME}${GEN_SUFFIX}} PARENT_SCOPE)
|
||||
endif()
|
||||
endforeach()
|
||||
endfunction()
|
||||
|
||||
# setup_arduino_compiler(BOARD_ID)
|
||||
#
|
||||
# BOARD_ID - The board id name
|
||||
#
|
||||
# Configures the the build settings for the specified Arduino Board.
|
||||
#
|
||||
macro(setup_arduino_compiler BOARD_ID)
|
||||
set(BOARD_CORE ${${BOARD_ID}.build.core})
|
||||
if(BOARD_CORE)
|
||||
set(BOARD_CORE_PATH ${ARDUINO_CORES_PATH}/${BOARD_CORE})
|
||||
include_directories(${BOARD_CORE_PATH})
|
||||
include_directories(${ARDUINO_LIBRARIES_PATH})
|
||||
add_definitions(-DF_CPU=${${BOARD_ID}.build.f_cpu}
|
||||
-DARDUINO=${ARDUINO_SDK_VERSION}
|
||||
-mmcu=${${BOARD_ID}.build.mcu}
|
||||
)
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}" PARENT_SCOPE)
|
||||
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}" PARENT_SCOPE)
|
||||
set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}" PARENT_SCOPE)
|
||||
endif()
|
||||
endmacro()
|
||||
|
||||
# setup_arduino_core(VAR_NAME BOARD_ID)
|
||||
#
|
||||
# VAR_NAME - Variable name that will hold the generated library name
|
||||
# BOARD_ID - Arduino board id
|
||||
#
|
||||
# Creates the Arduino Core library for the specified board,
|
||||
# each board gets it's own version of the library.
|
||||
#
|
||||
function(setup_arduino_core VAR_NAME BOARD_ID)
|
||||
set(CORE_LIB_NAME ${BOARD_ID}_CORE)
|
||||
set(BOARD_CORE ${${BOARD_ID}.build.core})
|
||||
if(BOARD_CORE AND NOT TARGET ${CORE_LIB_NAME})
|
||||
set(BOARD_CORE_PATH ${ARDUINO_CORES_PATH}/${BOARD_CORE})
|
||||
find_sources(CORE_SRCS ${BOARD_CORE_PATH})
|
||||
add_library(${CORE_LIB_NAME} ${CORE_SRCS})
|
||||
set(${VAR_NAME} ${CORE_LIB_NAME} PARENT_SCOPE)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
# find_arduino_libraries(VAR_NAME SRCS)
|
||||
#
|
||||
# VAR_NAME - Variable name which will hold the results
|
||||
# SRCS - Sources that will be analized
|
||||
#
|
||||
# returns a list of paths to libraries found.
|
||||
#
|
||||
# Finds all Arduino type libraries included in sources. Available libraries
|
||||
# are ${ARDUINO_SDK_PATH}/libraries and ${CMAKE_CURRENT_SOURCE_DIR}.
|
||||
#
|
||||
# A Arduino library is a folder that has the same name as the include header.
|
||||
# For example, if we have a include "#include <LibraryName.h>" then the following
|
||||
# directory structure is considered a Arduino library:
|
||||
#
|
||||
# LibraryName/
|
||||
# |- LibraryName.h
|
||||
# `- LibraryName.c
|
||||
#
|
||||
# If such a directory is found then all sources within that directory are considred
|
||||
# to be part of that Arduino library.
|
||||
#
|
||||
function(find_arduino_libraries VAR_NAME SRCS)
|
||||
set(ARDUINO_LIBS )
|
||||
foreach(SRC ${SRCS})
|
||||
file(STRINGS ${SRC} SRC_CONTENTS)
|
||||
foreach(SRC_LINE ${SRC_CONTENTS})
|
||||
if("${SRC_LINE}" MATCHES "^ *#include *[<\"](.*)[>\"]")
|
||||
get_filename_component(INCLUDE_NAME ${CMAKE_MATCH_1} NAME_WE)
|
||||
foreach(LIB_SEARCH_PATH ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR})
|
||||
if(EXISTS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}/${CMAKE_MATCH_1})
|
||||
list(APPEND ARDUINO_LIBS ${LIB_SEARCH_PATH}/${INCLUDE_NAME})
|
||||
break()
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
endforeach()
|
||||
endforeach()
|
||||
if(ARDUINO_LIBS)
|
||||
list(REMOVE_DUPLICATES ARDUINO_LIBS)
|
||||
endif()
|
||||
set(${VAR_NAME} ${ARDUINO_LIBS} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
# setup_arduino_library(VAR_NAME BOARD_ID LIB_PATH)
|
||||
#
|
||||
# VAR_NAME - Vairable wich will hold the generated library names
|
||||
# BOARD_ID - Board name
|
||||
# LIB_PATH - path of the library
|
||||
#
|
||||
# Creates an Arduino library, with all it's library dependencies.
|
||||
#
|
||||
function(setup_arduino_library VAR_NAME BOARD_ID LIB_PATH)
|
||||
set(LIB_TARGETS)
|
||||
get_filename_component(LIB_NAME ${LIB_PATH} NAME)
|
||||
set(TARGET_LIB_NAME ${BOARD_ID}_${LIB_NAME})
|
||||
if(NOT TARGET ${TARGET_LIB_NAME})
|
||||
find_sources(LIB_SRCS ${LIB_PATH})
|
||||
if(LIB_SRCS)
|
||||
|
||||
message(STATUS "Generating Arduino ${LIB_NAME} library")
|
||||
include_directories(${LIB_PATH} ${LIB_PATH}/utility)
|
||||
add_library(${TARGET_LIB_NAME} STATIC ${LIB_SRCS})
|
||||
|
||||
find_arduino_libraries(LIB_DEPS "${LIB_SRCS}")
|
||||
foreach(LIB_DEP ${LIB_DEPS})
|
||||
setup_arduino_library(DEP_LIB_SRCS ${BOARD_ID} ${LIB_DEP})
|
||||
list(APPEND LIB_TARGETS ${DEP_LIB_SRCS})
|
||||
endforeach()
|
||||
|
||||
target_link_libraries(${TARGET_LIB_NAME} ${BOARD_ID}_CORE ${LIB_TARGETS})
|
||||
list(APPEND LIB_TARGETS ${TARGET_LIB_NAME})
|
||||
endif()
|
||||
else()
|
||||
# Target already exists, skiping creating
|
||||
include_directories(${LIB_PATH} ${LIB_PATH}/utility)
|
||||
list(APPEND LIB_TARGETS ${TARGET_LIB_NAME})
|
||||
endif()
|
||||
if(LIB_TARGETS)
|
||||
list(REMOVE_DUPLICATES LIB_TARGETS)
|
||||
endif()
|
||||
set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
# setup_arduino_libraries(VAR_NAME BOARD_ID SRCS)
|
||||
#
|
||||
# VAR_NAME - Vairable wich will hold the generated library names
|
||||
# BOARD_ID - Board ID
|
||||
# SRCS - source files
|
||||
#
|
||||
# Finds and creates all dependency libraries based on sources.
|
||||
#
|
||||
function(setup_arduino_libraries VAR_NAME BOARD_ID SRCS)
|
||||
set(LIB_TARGETS)
|
||||
find_arduino_libraries(TARGET_LIBS ${SRCS})
|
||||
foreach(TARGET_LIB ${TARGET_LIBS})
|
||||
setup_arduino_library(LIB_DEPS ${BOARD_ID} ${TARGET_LIB}) # Create static library instead of returning sources
|
||||
list(APPEND LIB_TARGETS ${LIB_DEPS})
|
||||
endforeach()
|
||||
set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
|
||||
# setup_arduino_target(TARGET_NAME ALL_SRCS ALL_LIBS)
|
||||
#
|
||||
# TARGET_NAME - Target name
|
||||
# ALL_SRCS - All sources
|
||||
# ALL_LIBS - All libraries
|
||||
#
|
||||
# Creates an Arduino firmware target.
|
||||
#
|
||||
function(setup_arduino_target TARGET_NAME ALL_SRCS ALL_LIBS)
|
||||
add_executable(${TARGET_NAME} ${ALL_SRCS})
|
||||
target_link_libraries(${TARGET_NAME} ${ALL_LIBS})
|
||||
set_target_properties(${TARGET_NAME} PROPERTIES SUFFIX ".elf")
|
||||
|
||||
set(TARGET_PATH ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME})
|
||||
add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
|
||||
COMMAND ${CMAKE_OBJCOPY}
|
||||
ARGS ${ARDUINO_OBJCOPY_EEP_FLAGS}
|
||||
${TARGET_PATH}.elf
|
||||
${TARGET_PATH}.eep
|
||||
VERBATIM)
|
||||
add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
|
||||
COMMAND ${CMAKE_OBJCOPY}
|
||||
ARGS ${ARDUINO_OBJCOPY_HEX_FLAGS}
|
||||
${TARGET_PATH}.elf
|
||||
${TARGET_PATH}.hex
|
||||
VERBATIM)
|
||||
endfunction()
|
||||
|
||||
# setup_arduino_upload(BOARD_ID TARGET_NAME PORT)
|
||||
#
|
||||
# BOARD_ID - Arduino board id
|
||||
# TARGET_NAME - Target name
|
||||
# PORT - Serial port for upload
|
||||
#
|
||||
# Create an upload target (${TARGET_NAME}-upload) for the specified Arduino target.
|
||||
#
|
||||
function(setup_arduino_upload BOARD_ID TARGET_NAME PORT)
|
||||
set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS})
|
||||
if(DEFINED ${TARGET_NAME}_AFLAGS)
|
||||
set(AVRDUDE_FLAGS ${${TARGET_NAME}_AFLAGS})
|
||||
endif()
|
||||
add_custom_target(${TARGET_NAME}-upload
|
||||
${ARDUINO_AVRDUDE_PROGRAM}
|
||||
-U flash:w:${TARGET_NAME}.hex
|
||||
${AVRDUDE_FLAGS}
|
||||
-C ${ARDUINO_AVRDUDE_CONFIG_PATH}
|
||||
-p ${${BOARD_ID}.build.mcu}
|
||||
-c ${${BOARD_ID}.upload.protocol}
|
||||
-b ${${BOARD_ID}.upload.speed}
|
||||
-P ${PORT}
|
||||
DEPENDS ${TARGET_NAME})
|
||||
if(NOT TARGET upload)
|
||||
add_custom_target(upload)
|
||||
endif()
|
||||
add_dependencies(upload ${TARGET_NAME}-upload)
|
||||
endfunction()
|
||||
|
||||
# find_sources(VAR_NAME LIB_PATH)
|
||||
#
|
||||
# VAR_NAME - Variable name that will hold the detected sources
|
||||
# LIB_PATH - The base path
|
||||
#
|
||||
# Finds all C/C++ sources located at the specified path.
|
||||
#
|
||||
function(find_sources VAR_NAME LIB_PATH)
|
||||
file(GLOB_RECURSE LIB_FILES ${LIB_PATH}/*.cpp
|
||||
${LIB_PATH}/*.c
|
||||
${LIB_PATH}/*.cc
|
||||
${LIB_PATH}/*.cxx
|
||||
${LIB_PATH}/*.h
|
||||
${LIB_PATH}/*.hh
|
||||
${LIB_PATH}/*.hxx)
|
||||
if(LIB_FILES)
|
||||
set(${VAR_NAME} ${LIB_FILES} PARENT_SCOPE)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
# setup_serial_target(TARGET_NAME CMD)
|
||||
#
|
||||
# TARGET_NAME - Target name
|
||||
# CMD - Serial terminal command
|
||||
#
|
||||
# Creates a target (${TARGET_NAME}-serial) for launching the serial termnial.
|
||||
#
|
||||
function(setup_serial_target TARGET_NAME CMD)
|
||||
string(CONFIGURE "${CMD}" FULL_CMD @ONLY)
|
||||
add_custom_target(${TARGET_NAME}-serial
|
||||
${FULL_CMD})
|
||||
endfunction()
|
||||
|
||||
|
||||
# detect_arduino_version(VAR_NAME)
|
||||
#
|
||||
# VAR_NAME - Variable name where the detected version will be saved
|
||||
#
|
||||
# Detects the Arduino SDK Version based on the revisions.txt file.
|
||||
#
|
||||
function(detect_arduino_version VAR_NAME)
|
||||
if(ARDUINO_VERSION_PATH)
|
||||
file(READ ${ARDUINO_VERSION_PATH} ARD_VERSION)
|
||||
if("${ARD_VERSION}" MATCHES " *[0]+([0-9]+)")
|
||||
set(${VAR_NAME} ${CMAKE_MATCH_1} PARENT_SCOPE)
|
||||
endif()
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
|
||||
function(convert_arduino_sketch VAR_NAME SRCS)
|
||||
endfunction()
|
||||
|
||||
|
||||
# Setting up Arduino enviroment settings
|
||||
if(NOT ARDUINO_FOUND)
|
||||
find_file(ARDUINO_CORES_PATH
|
||||
NAMES cores
|
||||
PATHS ${ARDUINO_SDK_PATH}
|
||||
PATH_SUFFIXES hardware/arduino)
|
||||
|
||||
find_file(ARDUINO_LIBRARIES_PATH
|
||||
NAMES libraries
|
||||
PATHS ${ARDUINO_SDK_PATH})
|
||||
|
||||
find_file(ARDUINO_BOARDS_PATH
|
||||
NAMES boards.txt
|
||||
PATHS ${ARDUINO_SDK_PATH}
|
||||
PATH_SUFFIXES hardware/arduino)
|
||||
|
||||
find_file(ARDUINO_PROGRAMMERS_PATH
|
||||
NAMES programmers.txt
|
||||
PATHS ${ARDUINO_SDK_PATH}
|
||||
PATH_SUFFIXES hardware/arduino)
|
||||
|
||||
find_file(ARDUINO_REVISIONS_PATH
|
||||
NAMES revisions.txt
|
||||
PATHS ${ARDUINO_SDK_PATH})
|
||||
|
||||
find_file(ARDUINO_VERSION_PATH
|
||||
NAMES lib/version.txt
|
||||
PATHS ${ARDUINO_SDK_PATH})
|
||||
|
||||
find_program(ARDUINO_AVRDUDE_PROGRAM
|
||||
NAMES avrdude
|
||||
PATHS ${ARDUINO_SDK_PATH}
|
||||
PATH_SUFFIXES hardware/tools)
|
||||
|
||||
find_program(ARDUINO_AVRDUDE_CONFIG_PATH
|
||||
NAMES avrdude.conf
|
||||
PATHS ${ARDUINO_SDK_PATH} /etc/avrdude
|
||||
PATH_SUFFIXES hardware/tools
|
||||
hardware/tools/avr/etc)
|
||||
|
||||
set(ARDUINO_OBJCOPY_EEP_FLAGS -O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0
|
||||
CACHE STRING "")
|
||||
set(ARDUINO_OBJCOPY_HEX_FLAGS -O ihex -R .eeprom
|
||||
CACHE STRING "")
|
||||
set(ARDUINO_AVRDUDE_FLAGS -V -F
|
||||
CACHE STRING "Arvdude global flag list.")
|
||||
|
||||
if(ARDUINO_SDK_PATH)
|
||||
detect_arduino_version(ARDUINO_SDK_VERSION)
|
||||
set(ARDUINO_SDK_VERSION ${ARDUINO_SDK_VERSION} CACHE STRING "Arduino SDK Version")
|
||||
endif(ARDUINO_SDK_PATH)
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(Arduino
|
||||
REQUIRED_VARS ARDUINO_SDK_PATH
|
||||
ARDUINO_SDK_VERSION
|
||||
VERSION_VAR ARDUINO_SDK_VERSION)
|
||||
|
||||
|
||||
mark_as_advanced(ARDUINO_CORES_PATH
|
||||
ARDUINO_SDK_VERSION
|
||||
ARDUINO_LIBRARIES_PATH
|
||||
ARDUINO_BOARDS_PATH
|
||||
ARDUINO_PROGRAMMERS_PATH
|
||||
ARDUINO_REVISIONS_PATH
|
||||
ARDUINO_AVRDUDE_PROGRAM
|
||||
ARDUINO_AVRDUDE_CONFIG_PATH
|
||||
ARDUINO_OBJCOPY_EEP_FLAGS
|
||||
ARDUINO_OBJCOPY_HEX_FLAGS)
|
||||
load_board_settings()
|
||||
|
||||
endif()
|
||||
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
if(UNIX)
|
||||
include(Platform/UnixPaths)
|
||||
if(APPLE)
|
||||
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ~/Applications
|
||||
/Applications
|
||||
/Developer/Applications
|
||||
/sw # Fink
|
||||
/opt/local) # MacPorts
|
||||
endif()
|
||||
elseif(WIN32)
|
||||
include(Platform/WindowsPaths)
|
||||
endif()
|
||||
|
||||
if(ARDUINO_SDK_PATH)
|
||||
if(WIN32)
|
||||
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${ARDUINO_SDK_PATH}/hardware/tools/avr/bin)
|
||||
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${ARDUINO_SDK_PATH}/hardware/tools/avr/utils/bin)
|
||||
elseif(APPLE)
|
||||
list(APPEND CMAKE_SYSTEM_PREFIX_PATH ${ARDUINO_SDK_PATH}/hardware/tools/avr/bin)
|
||||
endif()
|
||||
endif()
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
set(CMAKE_SYSTEM_NAME Arduino)
|
||||
|
||||
set(CMAKE_C_COMPILER avr-gcc)
|
||||
set(CMAKE_CXX_COMPILER avr-g++)
|
||||
|
||||
#=============================================================================#
|
||||
# C Flags #
|
||||
#=============================================================================#
|
||||
set(ARDUINO_C_FLAGS "-ffunction-sections -fdata-sections")
|
||||
set(CMAKE_C_FLAGS "-g -Os ${ARDUINO_C_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_C_FLAGS_DEBUG "-g ${ARDUINO_C_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_C_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
|
||||
|
||||
#=============================================================================#
|
||||
# C++ Flags #
|
||||
#=============================================================================#
|
||||
set(ARDUINO_CXX_FLAGS "${ARDUINO_C_FLAGS} -fno-exceptions")
|
||||
set(CMAKE_CXX_FLAGS "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_CXX_FLAGS_DEBUG "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
|
||||
|
||||
#=============================================================================#
|
||||
# Executable Linker Flags #
|
||||
#=============================================================================#
|
||||
set(ARDUINO_LINKER_FLAGS "-Wl,--gc-sections -lc -lm")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_EXE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
|
||||
set(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
|
||||
|
||||
#=============================================================================#
|
||||
# Shared Lbrary Linker Flags #
|
||||
#=============================================================================#
|
||||
set(CMAKE_SHARED_LINKER_FLAGS "" CACHE STRING "")
|
||||
set(CMAKE_SHARED_LINKER_FLAGS_DEBUG "" CACHE STRING "")
|
||||
set(CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL "" CACHE STRING "")
|
||||
set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "" CACHE STRING "")
|
||||
set(CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO "" CACHE STRING "")
|
||||
|
||||
set(CMAKE_MODULE_LINKER_FLAGS "" CACHE STRING "")
|
||||
set(CMAKE_MODULE_LINKER_FLAGS_DEBUG "" CACHE STRING "")
|
||||
set(CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL "" CACHE STRING "")
|
||||
set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "" CACHE STRING "")
|
||||
set(CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO "" CACHE STRING "")
|
||||
|
||||
|
||||
|
||||
|
||||
set(ARDUINO_PATHS)
|
||||
foreach(VERSION RANGE 22 1)
|
||||
list(APPEND ARDUINO_PATHS arduino-00${VERSION})
|
||||
endforeach()
|
||||
|
||||
find_path(ARDUINO_SDK_PATH
|
||||
NAMES lib/version.txt
|
||||
PATH_SUFFIXES share/arduino
|
||||
Arduino.app/Contents/Resources/Java/
|
||||
${ARDUINO_PATHS}
|
||||
DOC "Arduino Development Kit path.")
|
||||
|
||||
include(Platform/ArduinoPaths)
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
set(LIB_NAME APM_BMP085)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
APM_BMP085.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
APM_BMP085.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME APM_PI)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
APM_PI.cpp
|
||||
#AP_OpticalFlow_ADNS3080.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
APM_PI.h
|
||||
#AP_OpticalFlow_ADNS3080.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
set(LIB_NAME APM_RC)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
APM_RC.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
APM_RC.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
set(LIB_NAME AP_ADC)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_ADC_HIL.cpp
|
||||
AP_ADC_ADS7844.cpp
|
||||
AP_ADC.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_ADC_HIL.h
|
||||
AP_ADC_ADS7844.h
|
||||
AP_ADC.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -1,113 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
#include <AP_Camera.h>
|
||||
#include <../RC_Channel/RC_Channel_aux.h>
|
||||
|
||||
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
extern long wp_distance;
|
||||
extern "C" {
|
||||
void relay_on();
|
||||
void relay_off();
|
||||
}
|
||||
|
||||
void
|
||||
AP_Camera::servo_pic() // Servo operated camera
|
||||
{
|
||||
if (g_rc_function[RC_Channel_aux::k_cam_trigger])
|
||||
{
|
||||
g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max;
|
||||
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
AP_Camera::relay_pic() // basic relay activation
|
||||
{
|
||||
relay_on();
|
||||
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
|
||||
}
|
||||
|
||||
void
|
||||
AP_Camera::throttle_pic() // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
|
||||
{
|
||||
// TODO find a way to do this without using the global parameter g
|
||||
// g.channel_throttle.radio_out = g.throttle_min;
|
||||
if (thr_pic == 10){
|
||||
servo_pic(); // triggering method
|
||||
thr_pic = 0;
|
||||
// g.channel_throttle.radio_out = g.throttle_cruise;
|
||||
}
|
||||
thr_pic++;
|
||||
}
|
||||
|
||||
void
|
||||
AP_Camera::distance_pic() // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
|
||||
{
|
||||
// TODO find a way to do this without using the global parameter g
|
||||
// g.channel_throttle.radio_out = g.throttle_min;
|
||||
if (wp_distance < 3){
|
||||
servo_pic(); // triggering method
|
||||
// g.channel_throttle.radio_out = g.throttle_cruise;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
AP_Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output.
|
||||
{
|
||||
// TODO: Assign pin spare pin for output
|
||||
digitalWrite(camtrig, HIGH);
|
||||
keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
|
||||
}
|
||||
|
||||
// single entry point to take pictures
|
||||
void
|
||||
AP_Camera::trigger_pic()
|
||||
{
|
||||
switch (trigger_type)
|
||||
{
|
||||
case 0:
|
||||
servo_pic(); // Servo operated camera
|
||||
break;
|
||||
case 1:
|
||||
relay_pic(); // basic relay activation
|
||||
break;
|
||||
case 2:
|
||||
throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
|
||||
break;
|
||||
case 3:
|
||||
distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
|
||||
break;
|
||||
case 4:
|
||||
NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// de-activate the trigger after some delay, but without using a delay() function
|
||||
void
|
||||
AP_Camera::trigger_pic_cleanup()
|
||||
{
|
||||
if (keep_cam_trigg_active_cycles)
|
||||
{
|
||||
keep_cam_trigg_active_cycles --;
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (trigger_type)
|
||||
{
|
||||
case 0:
|
||||
case 2:
|
||||
case 3:
|
||||
G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
|
||||
break;
|
||||
case 1:
|
||||
// TODO for some strange reason the function call bellow gives a linker error
|
||||
//relay_off();
|
||||
PORTL &= ~B00000100; // hardcoded version of relay_off(). Replace with a proper function call later.
|
||||
break;
|
||||
case 4:
|
||||
digitalWrite(camtrig, LOW);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,57 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/// @file AP_Camera.h
|
||||
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
|
||||
|
||||
#ifndef AP_CAMERA_H
|
||||
#define AP_CAMERA_H
|
||||
|
||||
#include <AP_Common.h>
|
||||
|
||||
/// @class Camera
|
||||
/// @brief Object managing a Photo or video camera
|
||||
class AP_Camera{
|
||||
protected:
|
||||
AP_Var_group _group; // must be before all vars to keep ctor init order correct
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
///
|
||||
/// @param key EEPROM storage key for the camera configuration parameters.
|
||||
/// @param name Optional name for the group.
|
||||
///
|
||||
AP_Camera(AP_Var::Key key, const prog_char_t *name) :
|
||||
_group(key, name),
|
||||
trigger_type(&_group, 0, 0, name ? PSTR("TRIGG_TYPE") : 0),
|
||||
picture_time (0), // waypoint trigger variable
|
||||
thr_pic (0), // timer variable for throttle_pic
|
||||
camtrig (83), // PK6 chosen as it not near anything so safer for soldering
|
||||
keep_cam_trigg_active_cycles (0),
|
||||
wp_distance_min (10)
|
||||
{}
|
||||
|
||||
// single entry point to take pictures
|
||||
void trigger_pic();
|
||||
|
||||
// de-activate the trigger after some delay, but without using a delay() function
|
||||
void trigger_pic_cleanup();
|
||||
|
||||
int picture_time; // waypoint trigger variable
|
||||
long wp_distance_min; // take picture if distance to WP is smaller than this
|
||||
|
||||
private:
|
||||
uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
|
||||
int thr_pic; // timer variable for throttle_pic
|
||||
int camtrig; // PK6 chosen as it not near anything so safer for soldering
|
||||
|
||||
AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
|
||||
|
||||
void servo_pic(); // Servo operated camera
|
||||
void relay_pic(); // basic relay activation
|
||||
void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
|
||||
void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
|
||||
void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
|
||||
|
||||
};
|
||||
|
||||
#endif /* AP_CAMERA_H */
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
set(LIB_NAME AP_Common)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_Common.cpp
|
||||
AP_Loop.cpp
|
||||
AP_MetaClass.cpp
|
||||
AP_Var.cpp
|
||||
AP_Var_menufuncs.cpp
|
||||
c++.cpp
|
||||
menu.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_Common.h
|
||||
AP_Loop.h
|
||||
AP_MetaClass.h
|
||||
AP_Var.h
|
||||
AP_Test.h
|
||||
c++.h
|
||||
AP_Vector.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
set(LIB_NAME AP_Compass)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_Compass_HIL.cpp
|
||||
AP_Compass_HMC5843.cpp
|
||||
Compass.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
Compass.h
|
||||
AP_Compass_HIL.h
|
||||
AP_Compass_HMC5843.h
|
||||
AP_Compass.h
|
||||
)
|
||||
|
||||
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
${ARDUINO_LIBRARIES_PATH}/Wire
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
set(LIB_NAME AP_DCM)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_DCM.cpp
|
||||
AP_DCM_HIL.cpp
|
||||
#AP_OpticalFlow_ADNS3080.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_DCM.h
|
||||
AP_DCM_HIL.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_DCM
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
set(LIB_NAME AP_GPS)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_GPS_406.cpp
|
||||
AP_GPS_Auto.cpp
|
||||
AP_GPS_HIL.cpp
|
||||
AP_GPS_IMU.cpp
|
||||
AP_GPS_MTK.cpp
|
||||
AP_GPS_MTK16.cpp
|
||||
AP_GPS_NMEA.cpp
|
||||
AP_GPS_SIRF.cpp
|
||||
AP_GPS_UBLOX.cpp
|
||||
GPS.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_GPS_406.h
|
||||
AP_GPS_Auto.h
|
||||
AP_GPS_HIL.h
|
||||
AP_GPS_IMU.h
|
||||
AP_GPS_MTK.h
|
||||
AP_GPS_MTK_Common.h
|
||||
AP_GPS_MTK16.h
|
||||
AP_GPS_NMEA.h
|
||||
AP_GPS_None.h
|
||||
AP_GPS_Shim.h
|
||||
AP_GPS_SIRF.h
|
||||
AP_GPS_UBLOX.h
|
||||
AP_GPS.h
|
||||
GPS.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
set(LIB_NAME AP_IMU)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_IMU_Oilpan.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_IMU.h
|
||||
AP_IMU_Shim.h
|
||||
AP_IMU_Oilpan.h
|
||||
IMU.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME AP_Math)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_Math.h
|
||||
matrix3.h
|
||||
vector2.h
|
||||
vector3.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
# ${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -1,192 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
#include <AP_Mount.h>
|
||||
#include <../RC_Channel/RC_Channel_aux.h>
|
||||
|
||||
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
AP_Mount::AP_Mount(GPS *gps, AP_DCM *dcm)
|
||||
{
|
||||
_dcm=dcm;
|
||||
_gps=gps;
|
||||
}
|
||||
|
||||
void AP_Mount::set_pitch_yaw(int pitchCh, int yawCh)
|
||||
{
|
||||
}
|
||||
|
||||
void AP_Mount::set_GPS_target(Location targetGPSLocation)
|
||||
{
|
||||
_target_GPS_location=targetGPSLocation;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_gps_target;
|
||||
|
||||
//update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
void AP_Mount::set_assisted(int roll, int pitch, int yaw)
|
||||
{
|
||||
_assist_angles.x = roll;
|
||||
_assist_angles.y = pitch;
|
||||
_assist_angles.z = yaw;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_assisted;
|
||||
|
||||
//update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
//sets the servo angles for FPV, note angles are * 100
|
||||
void AP_Mount::set_mount_free_roam(int roll, int pitch, int yaw)
|
||||
{
|
||||
_roam_angles.x=roll;
|
||||
_roam_angles.y=pitch;
|
||||
_roam_angles.z=yaw;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_roam;
|
||||
|
||||
//now update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
//sets the servo angles for landing, note angles are * 100
|
||||
void AP_Mount::set_mount_landing(int roll, int pitch, int yaw)
|
||||
{
|
||||
_landing_angles.x=roll;
|
||||
_landing_angles.y=pitch;
|
||||
_landing_angles.z=yaw;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_landing;
|
||||
|
||||
//now update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
void AP_Mount::set_none()
|
||||
{
|
||||
//set mode
|
||||
_mount_mode=k_none;
|
||||
|
||||
//now update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
void AP_Mount::update_mount()
|
||||
{
|
||||
Matrix3f m; //holds 3 x 3 matrix, var is used as temp in calcs
|
||||
Vector3f targ; //holds target vector, var is used as temp in calcs
|
||||
|
||||
switch(_mount_mode)
|
||||
{
|
||||
case k_gps_target:
|
||||
{
|
||||
if(_gps->fix)
|
||||
{
|
||||
calc_GPS_target_vector(&_target_GPS_location);
|
||||
}
|
||||
m = _dcm->get_dcm_transposed();
|
||||
targ = m*_GPS_vector;
|
||||
roll_angle = degrees(atan2(targ.y,targ.z))*100; //roll
|
||||
pitch_angle = degrees(atan2(-targ.x,targ.z))*100; //pitch
|
||||
break;
|
||||
}
|
||||
case k_stabilise:
|
||||
{
|
||||
// TODO replace this simplified implementation with a proper one
|
||||
roll_angle = -_dcm->roll_sensor;
|
||||
pitch_angle = -_dcm->pitch_sensor;
|
||||
yaw_angle = -_dcm->yaw_sensor;
|
||||
break;
|
||||
}
|
||||
case k_roam:
|
||||
{
|
||||
roll_angle=100*_roam_angles.x;
|
||||
pitch_angle=100*_roam_angles.y;
|
||||
yaw_angle=100*_roam_angles.z;
|
||||
break;
|
||||
}
|
||||
case k_assisted:
|
||||
{
|
||||
m = _dcm->get_dcm_transposed();
|
||||
//rotate vector
|
||||
targ = m*_assist_vector;
|
||||
roll_angle = degrees(atan2(targ.y,targ.z))*100; //roll
|
||||
pitch_angle = degrees(atan2(-targ.x,targ.z))*100; //pitch
|
||||
break;
|
||||
}
|
||||
case k_landing:
|
||||
{
|
||||
roll_angle=100*_roam_angles.x;
|
||||
pitch_angle=100*_roam_angles.y;
|
||||
yaw_angle=100*_roam_angles.z;
|
||||
break;
|
||||
}
|
||||
case k_manual: // radio manual control
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_roll])
|
||||
roll_angle = map(g_rc_function[RC_Channel_aux::k_mount_roll]->radio_in,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max);
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_pitch])
|
||||
pitch_angle = map(g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_in,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max);
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_yaw])
|
||||
yaw_angle = map(g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_in,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max);
|
||||
break;
|
||||
case k_none:
|
||||
default:
|
||||
{
|
||||
//do nothing
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// write the results to the servos
|
||||
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
|
||||
G_RC_AUX(k_mount_roll)->closest_limit(roll_angle/10);
|
||||
G_RC_AUX(k_mount_pitch)->closest_limit(pitch_angle/10);
|
||||
G_RC_AUX(k_mount_yaw)->closest_limit(yaw_angle/10);
|
||||
}
|
||||
|
||||
void AP_Mount::set_mode(MountMode mode)
|
||||
{
|
||||
_mount_mode=mode;
|
||||
}
|
||||
|
||||
void AP_Mount::calc_GPS_target_vector(struct Location *target)
|
||||
{
|
||||
_GPS_vector.x = (target->lng-_gps->longitude) * cos((_gps->latitude+target->lat)/2)*.01113195;
|
||||
_GPS_vector.y = (target->lat-_gps->latitude)*.01113195;
|
||||
_GPS_vector.z = (_gps->altitude-target->alt);
|
||||
}
|
||||
|
||||
void
|
||||
AP_Mount::update_mount_type()
|
||||
{
|
||||
// Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] == NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
|
||||
{
|
||||
_mount_type = k_pan_tilt;
|
||||
}
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] == NULL))
|
||||
{
|
||||
_mount_type = k_tilt_roll;
|
||||
}
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
|
||||
{
|
||||
_mount_type = k_pan_tilt_roll;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,90 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/************************************************************
|
||||
* AP_mount -- library to control a 2 or 3 axis mount. *
|
||||
* *
|
||||
* Author: Joe Holdsworth; *
|
||||
* Ritchie Wilson; *
|
||||
* Amilcar Lucas; *
|
||||
* *
|
||||
* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
|
||||
* Used for mount to track targets or stabilise *
|
||||
* camera plus other modes. *
|
||||
* *
|
||||
* Usage: Use in main code to control mounts attached to *
|
||||
* vehicle. *
|
||||
* *
|
||||
*Comments: All angles in degrees * 100, distances in meters*
|
||||
* unless otherwise stated. *
|
||||
************************************************************/
|
||||
#ifndef AP_Mount_H
|
||||
#define AP_Mount_H
|
||||
|
||||
//#include <AP_Common.h>
|
||||
#include <AP_Math.h>
|
||||
#include <AP_GPS.h>
|
||||
#include <AP_DCM.h>
|
||||
|
||||
class AP_Mount
|
||||
{
|
||||
public:
|
||||
//Constructors
|
||||
AP_Mount(GPS *gps, AP_DCM *dcm);
|
||||
|
||||
//enums
|
||||
enum MountMode{
|
||||
k_gps_target = 0,
|
||||
k_stabilise = 1, //note the correct English spelling :)
|
||||
k_roam = 2,
|
||||
k_assisted = 3,
|
||||
k_landing = 4,
|
||||
k_none = 5,
|
||||
k_manual = 6
|
||||
};
|
||||
|
||||
enum MountType{
|
||||
k_pan_tilt = 0, //yaw-pitch
|
||||
k_tilt_roll = 1, //pitch-roll
|
||||
k_pan_tilt_roll = 2, //yaw-pitch-roll
|
||||
};
|
||||
|
||||
//Accessors
|
||||
void set_pitch_yaw(int pitchCh, int yawCh);
|
||||
void set_pitch_roll(int pitchCh, int rollCh);
|
||||
void set_pitch_roll_yaw(int pitchCh, int rollCh, int yawCh);
|
||||
|
||||
void set_GPS_target(Location targetGPSLocation); //used to tell the mount to track GPS location
|
||||
void set_assisted(int roll, int pitch, int yaw);
|
||||
void set_mount_free_roam(int roll, int pitch, int yaw);//used in the FPV for example,
|
||||
void set_mount_landing(int roll, int pitch, int yaw); //set mount landing position
|
||||
void set_none();
|
||||
|
||||
//methods
|
||||
void update_mount();
|
||||
void update_mount_type(); //Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||||
void set_mode(MountMode mode);
|
||||
|
||||
int pitch_angle; //degrees*100
|
||||
int roll_angle; //degrees*100
|
||||
int yaw_angle; //degrees*100
|
||||
protected:
|
||||
//methods
|
||||
void calc_GPS_target_vector(struct Location *target);
|
||||
//void CalculateDCM(int roll, int pitch, int yaw);
|
||||
//members
|
||||
AP_DCM *_dcm;
|
||||
GPS *_gps;
|
||||
|
||||
MountMode _mount_mode;
|
||||
MountType _mount_type;
|
||||
|
||||
struct Location _target_GPS_location;
|
||||
Vector3f _GPS_vector; //target vector calculated stored in meters
|
||||
|
||||
Vector3i _roam_angles; //used for roam mode vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
Vector3i _landing_angles; //landing position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
|
||||
Vector3i _assist_angles; //used to keep angles that user has supplied from assisted targeting
|
||||
Vector3f _assist_vector; //used to keep vector calculated from _AssistAngles
|
||||
};
|
||||
#endif
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME AP_OpticalFlow)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_OpticalFlow.cpp
|
||||
#AP_OpticalFlow_ADNS3080.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_OpticalFlow.h
|
||||
#AP_OpticalFlow_ADNS3080.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME AP_PID)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_PID.cpp
|
||||
#AP_OpticalFlow_ADNS3080.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_PID.h
|
||||
#AP_OpticalFlow_ADNS3080.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
set(LIB_NAME AP_RangeFinder)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
AP_RangeFinder_MaxsonarXL.cpp
|
||||
AP_RangeFinder_SharpGP2Y.cpp
|
||||
RangeFinder.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
AP_RangeFinder.h
|
||||
AP_RangeFinder_MaxsonarXL.h
|
||||
AP_RangeFinder_SharpGP2Y.h
|
||||
RangeFinder.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
add_subdirectory(DataFlash)
|
||||
add_subdirectory(AP_Math)
|
||||
add_subdirectory(PID)
|
||||
add_subdirectory(AP_Common)
|
||||
add_subdirectory(RC_Channel)
|
||||
add_subdirectory(AP_OpticalFlow)
|
||||
add_subdirectory(ModeFilter)
|
||||
add_subdirectory(memcheck)
|
||||
add_subdirectory(APM_PI)
|
||||
add_subdirectory(AP_GPS)
|
||||
add_subdirectory(AP_DCM)
|
||||
add_subdirectory(AP_Compass)
|
||||
add_subdirectory(AP_ADC)
|
||||
add_subdirectory(AP_IMU)
|
||||
add_subdirectory(AP_RangeFinder)
|
||||
|
||||
add_subdirectory(APM_RC)
|
||||
add_subdirectory(APM_BMP085)
|
||||
|
||||
#add_subdirectory(APO)
|
||||
add_subdirectory(FastSerial)
|
||||
add_subdirectory(GCS_MAVLink)
|
||||
|
||||
#add_subdirectory(playgroundlib)
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
set(LIB_NAME DataFlash)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
DataFlash.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
DataFlash.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
# ${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
set(LIB_NAME FastSerial)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
BetterStream.cpp
|
||||
FastSerial.cpp
|
||||
vprintf.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
BetterStream.h
|
||||
FastSerial.h
|
||||
ftoa_engine.h
|
||||
ntz.h
|
||||
xtoa_fast.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
set(LIB_NAME GCS_MAVLink)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
GCS_MAVLink.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
GCS_MAVLink.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
#${CMAKE_SOURCE_DIR}/libraries/
|
||||
${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME ModeFilter)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
ModeFilter.cpp
|
||||
#AP_OpticalFlow_ADNS3080.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
ModeFilter.h
|
||||
#AP_OpticalFlow_ADNS3080.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
set(LIB_NAME PID)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
PID.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
PID.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME RC_Channel)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
RC_Channel.cpp
|
||||
RC_Channel_aux.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
RC_Channel.h
|
||||
RC_Channel_aux.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
${CMAKE_SOURCE_DIR}/libraries/APM_RC
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
|
|
@ -5,42 +5,6 @@
|
|||
|
||||
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
int16_t
|
||||
RC_Channel_aux::closest_limit(int16_t angle)
|
||||
{
|
||||
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
|
||||
int16_t min = angle_min / 10;
|
||||
int16_t max = angle_max / 10;
|
||||
|
||||
// Make sure the angle lies in the interval [-180 .. 180[ degrees
|
||||
while (angle < -1800) angle += 3600;
|
||||
while (angle >= 1800) angle -= 3600;
|
||||
|
||||
// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
|
||||
while (min < -1800) min += 3600;
|
||||
while (min >= 1800) min -= 3600;
|
||||
while (max < -1800) max += 3600;
|
||||
while (max >= 1800) max -= 3600;
|
||||
// This is done every time because the user might change the min, max values on the fly
|
||||
set_range(min, max);
|
||||
|
||||
// If the angle is outside servo limits, saturate the angle to the closest limit
|
||||
// On a circle the closest angular position must be carefully calculated to account for wrap-around
|
||||
if ((angle < min) && (angle > max)){
|
||||
// angle error if min limit is used
|
||||
int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
|
||||
// angle error if max limit is used
|
||||
int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
|
||||
angle = err_min<err_max?min:max;
|
||||
}
|
||||
|
||||
servo_out = angle;
|
||||
// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
|
||||
calc_pwm();
|
||||
|
||||
return angle;
|
||||
}
|
||||
|
||||
// map a function to a servo channel and output it
|
||||
void
|
||||
RC_Channel_aux::output_ch(unsigned char ch_nr)
|
||||
|
|
@ -83,4 +47,9 @@ void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Ch
|
|||
g_rc_function[aux_servo_function[CH_6]] = rc_6;
|
||||
g_rc_function[aux_servo_function[CH_7]] = rc_7;
|
||||
g_rc_function[aux_servo_function[CH_8]] = rc_8;
|
||||
|
||||
G_RC_AUX(k_flap)->set_range(0,100);
|
||||
G_RC_AUX(k_flap_auto)->set_range(0,100);
|
||||
G_RC_AUX(k_aileron)->set_angle(4500);
|
||||
G_RC_AUX(k_flaperon)->set_range(0,100);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -14,7 +14,6 @@
|
|||
|
||||
/// @class RC_Channel_aux
|
||||
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
|
||||
/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
|
||||
class RC_Channel_aux : public RC_Channel{
|
||||
public:
|
||||
/// Constructor
|
||||
|
|
@ -24,9 +23,7 @@ public:
|
|||
///
|
||||
RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
|
||||
RC_Channel(key, name),
|
||||
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0), // suppress name if group has no name
|
||||
angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
|
||||
angle_max (&_group, 6, 4500, name ? PSTR("ANGLE_MAX") : 0) // assume 45 degrees max deflection
|
||||
function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0) // suppress name if group has no name
|
||||
{}
|
||||
|
||||
typedef enum
|
||||
|
|
@ -37,20 +34,10 @@ public:
|
|||
k_flap_auto = 3, // flap automated
|
||||
k_aileron = 4, // aileron
|
||||
k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
|
||||
k_mount_yaw = 6, // mount yaw (pan)
|
||||
k_mount_pitch = 7, // mount pitch (tilt)
|
||||
k_mount_roll = 8, // mount roll
|
||||
k_cam_trigger = 9, // camera trigger
|
||||
k_cam_open = 10, // camera open
|
||||
k_egg_drop = 11, // egg drop
|
||||
k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
|
||||
} Aux_servo_function_t;
|
||||
|
||||
AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
|
||||
AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
|
||||
AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
|
||||
|
||||
int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
|
||||
|
||||
void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,24 @@
|
|||
set(LIB_NAME memcheck)
|
||||
|
||||
set(${LIB_NAME}_SRCS
|
||||
memcheck.cpp
|
||||
#AP_OpticalFlow_ADNS3080.cpp
|
||||
) # Firmware sources
|
||||
|
||||
set(${LIB_NAME}_HDRS
|
||||
memcheck.h
|
||||
#AP_OpticalFlow_ADNS3080.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
-
|
||||
#${CMAKE_SOURCE_DIR}/libraries/AP_Math
|
||||
${CMAKE_SOURCE_DIR}/libraries/AP_Common
|
||||
#${CMAKE_SOURCE_DIR}/libraries/FastSerial
|
||||
#
|
||||
)
|
||||
|
||||
set(${LIB_NAME}_BOARD mega2560)
|
||||
|
||||
generate_arduino_library(${LIB_NAME})
|
||||
Loading…
Reference in New Issue