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Updated apo for merge with apm 2.0 changes. 

Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
This commit is contained in:
James Goppert 2011-11-28 00:53:30 -05:00
parent 02ba05aa0f
commit 59fc8e7a63
13 changed files with 51 additions and 42 deletions
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2
ArduBoat/ArduBoat.pde
View File

@ -13,6 +13,8 @@
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
#include <AP_AnalogSource.h>
#include <AP_InertialSensor.h>
// Vehicle Configuration
#include "BoatGeneric.h"

6
ArduBoat/ControllerBoat.h
View File

@ -26,13 +26,13 @@ public:
_hal->debug->println_P(PSTR("initializing boat controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
new AP_RcChannel(k_chMode, PSTR("MODE_"), hal->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 3, 1100, 1500,
new AP_RcChannel(k_chStr, PSTR("STR_"), hal->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThrust, PSTR("THR_"), APM_RC, 2, 1100, 1500,
new AP_RcChannel(k_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
}

3
ArduRover/ArduRover.pde
View File

@ -14,7 +14,8 @@
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
#include <WProgram.h>
#include <AP_AnalogSource.h>
#include <AP_InertialSensor.h>
// Vehicle Configuration
#include "CarStampede.h"

8
ArduRover/ControllerCar.h
View File

@ -27,16 +27,16 @@ public:
_hal->debug->println_P(PSTR("initializing car controller"));
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
new AP_RcChannel(k_chMode, PSTR("MODE_"), hal->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 3, 1100, 1500,
new AP_RcChannel(k_chStr, PSTR("STR_"), hal->radio, 3, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThrust, PSTR("THR_"), APM_RC, 2, 1100, 1500,
new AP_RcChannel(k_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), APM_RC, 4, 1100, 1500,
new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), hal->radio, 4, 1100, 1500,
1900, RC_MODE_IN, false));
for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {

2
CMakeLists.txt
View File

@ -158,5 +158,5 @@ endmacro()
add_sketch(apo ${BOARD} ${PORT})
add_sketch(ArduRover ${BOARD} ${PORT})
add_sketch(ArduBoat ${BOARD} ${PORT})
add_sketch(ArduPlane ${BOARD} ${PORT})
#add_sketch(ArduPlane ${BOARD} ${PORT})
#add_sketch(ArduCopter ${BOARD} ${PORT})

18
apo/ControllerQuad.h
View File

@ -44,32 +44,32 @@ public:
* the order of the channels has to match the enumeration above
*/
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
new AP_RcChannel(k_chMode, PSTR("MODE_"), hal->radio, 5, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 0, 1100,
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), hal->radio, 0, 1100,
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 1, 1100,
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), hal->radio, 1, 1100,
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
new AP_RcChannel(k_chFront, PSTR("FRONT_"), hal->radio, 2, 1100,
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chBack, PSTR("BACK_"), APM_RC, 3, 1100,
new AP_RcChannel(k_chBack, PSTR("BACK_"), hal->radio, 3, 1100,
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("ROLL_"), APM_RC, 0, 1100,
new AP_RcChannel(k_chRoll, PSTR("ROLL_"), hal->radio, 0, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
new AP_RcChannel(k_chPitch, PSTR("PITCH_"), hal->radio, 1, 1100,
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 2, 1100,
new AP_RcChannel(k_chThr, PSTR("THRUST_"), hal->radio, 2, 1100,
1100, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 3, 1100, 1500,
new AP_RcChannel(k_chYaw, PSTR("YAW_"), hal->radio, 3, 1100, 1500,
1900, RC_MODE_IN, false));
}

2
apo/apo.pde
View File

@ -13,6 +13,8 @@
#include <APM_BMP085.h>
#include <ModeFilter.h>
#include <APO.h>
#include <AP_AnalogSource.h>
#include <AP_InertialSensor.h>
// Vehicle Configuration
#include "QuadArducopter.h"

25
libraries/APO/APO_DefaultSetup.h
View File

@ -42,6 +42,8 @@ void setup() {
*/
if (hal->getMode() == MODE_LIVE) {
hal->radio = new APM_RC_APM1;
hal->debug->println_P(PSTR("initializing adc"));
hal->adc = new ADC_CLASS;
hal->adc->Init();
@ -86,52 +88,51 @@ void setup() {
if (rangeFinderFrontEnabled) {
hal->debug->println_P(PSTR("initializing front range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(NULL,new ModeFilter);
rangeFinder->set_analog_port(1);
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(new AP_AnalogSource_Arduino(1),new ModeFilter);
rangeFinder->set_orientation(1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderBackEnabled) {
hal->debug->println_P(PSTR("initializing back range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(2);
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(new AP_AnalogSource_Arduino(2),new ModeFilter);
rangeFinder->set_orientation(-1, 0, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderLeftEnabled) {
hal->debug->println_P(PSTR("initializing left range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(3);
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(new AP_AnalogSource_Arduino(3),new ModeFilter);
rangeFinder->set_orientation(0, -1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderRightEnabled) {
hal->debug->println_P(PSTR("initializing right range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(4);
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(new AP_AnalogSource_Arduino(4),new ModeFilter);
rangeFinder->set_orientation(0, 1, 0);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderUpEnabled) {
hal->debug->println_P(PSTR("initializing up range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(5);
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(new AP_AnalogSource_Arduino(5),new ModeFilter);
rangeFinder->set_orientation(0, 0, -1);
hal->rangeFinders.push_back(rangeFinder);
}
if (rangeFinderDownEnabled) {
hal->debug->println_P(PSTR("initializing down range finder"));
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(hal->adc,new ModeFilter);
rangeFinder->set_analog_port(6);
RangeFinder * rangeFinder = new RANGE_FINDER_CLASS(new AP_AnalogSource_Arduino(6),new ModeFilter);
rangeFinder->set_orientation(0, 0, 1);
hal->rangeFinders.push_back(rangeFinder);
}
/*
* navigation sensors
*/
hal->imu = new AP_IMU_INS(new AP_InertialSensor_Oilpan(hal->adc), k_sensorCalib);
//hal->imu = AP_IMU_INS(new AP_InertialSensor_MPU6000(mpu6000SelectPin), k_sensorCalib);
}
/*

1
libraries/APO/AP_Autopilot.cpp
View File

@ -35,7 +35,6 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
* Radio setup
*/
hal->debug->println_P(PSTR("initializing radio"));
APM_RC.Init(); // APM Radio initialization,
/*
* Calibration

9
libraries/APO/AP_HardwareAbstractionLayer.h
View File

@ -19,6 +19,8 @@ class Compass;
class BetterStream;
class RangeFinder;
class FastSerial;
class AP_IMU_INS;
class APM_RC_Class;
namespace apo {
@ -105,8 +107,13 @@ public:
APM_BMP085_Class * baro;
Compass * compass;
Vector<RangeFinder *> rangeFinders;
IMU * imu;
AP_BatteryMonitor * batteryMonitor;
AP_IMU_INS * imu;
/**
* Actuators
*/
APM_RC_Class * radio;
/**
* Radio Channels

5
libraries/APO/AP_Navigator.cpp
View File

@ -15,6 +15,7 @@
#include "AP_Var_keys.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
#include "../AP_IMU/AP_IMU.h"
#include "../AP_InertialSensor/AP_InertialSensor.h"
#include "../APM_BMP085/APM_BMP085_hil.h"
#include "../APM_BMP085/APM_BMP085.h"
@ -72,10 +73,6 @@ DcmNavigator::DcmNavigator(AP_HardwareAbstractionLayer * hal) :
if (_hal->getMode() == MODE_LIVE) {
if (_hal->adc) {
_hal->imu = new AP_IMU_Oilpan(_hal->adc, k_sensorCalib);
}
if (_hal->imu) {
_dcm = new AP_DCM(_hal->imu, _hal->gps, _hal->compass);

8
libraries/APO/AP_RcChannel.cpp
View File

@ -18,7 +18,7 @@
namespace apo {
AP_RcChannel::AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name,
APM_RC_Class & rc, const uint8_t & ch, const uint16_t & pwmMin,
APM_RC_Class * rc, const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode, const bool & reverse, const float & scale) :
AP_Var_group(keyValue, name), _ch(this, 1, ch, PSTR("ch")),
@ -32,7 +32,7 @@ AP_RcChannel::AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name,
if (rcMode == RC_MODE_IN)
return;
//Serial.print("pwm set for ch: "); Serial.println(int(ch));
rc.OutputCh(ch, pwmNeutral);
rc->OutputCh(ch, pwmNeutral);
}
@ -42,7 +42,7 @@ uint16_t AP_RcChannel::getRadioPwm() {
Serial.println(int(_ch));
return _pwmNeutral; // if this happens give a safe value of neutral
}
return _rc.InputCh(_ch);
return _rc->InputCh(_ch);
}
void AP_RcChannel::setPwm(uint16_t pwm) {
@ -64,7 +64,7 @@ void AP_RcChannel::setPwm(uint16_t pwm) {
//Serial.print("ch: "); Serial.print(ch); Serial.print(" pwm: "); Serial.println(pwm);
if (_rcMode == RC_MODE_IN)
return;
_rc.OutputCh(_ch, _pwm);
_rc->OutputCh(_ch, _pwm);
}
uint16_t AP_RcChannel::_positionToPwm(const float & position) {

4
libraries/APO/AP_RcChannel.h
View File

@ -24,7 +24,7 @@ class AP_RcChannel: public AP_Var_group {
public:
/// Constructor
AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name, APM_RC_Class & rc,
AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name, APM_RC_Class * rc,
const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode,
@ -69,7 +69,7 @@ public:
protected:
// configuration
APM_RC_Class & _rc;
APM_RC_Class * _rc;
// internal states
uint16_t _pwm; // this is the internal state, position is just created when needed