Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

libraries: rename purple to APM2

Browse Source
This commit is contained in:
Andrew Tridgell 2011-11-26 10:11:14 +11:00 committed by Pat Hickey
parent e297f0cb23
commit a9dfc68bc0
15 changed files with 81 additions and 81 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/APM_BMP085/APM_BMP085.cpp
View File

@ -52,20 +52,20 @@ extern "C" {
//{
//}
// the purple hardware needs to check the state of the
// the apm2 hardware needs to check the state of the
// chip using a direct IO port
// On Purple prerelease hw, the data ready port is hooked up to PE7, which
// On APM2 prerelease hw, the data ready port is hooked up to PE7, which
// is not available to the arduino digitalRead function.
#define BMP_DATA_READY() (_purple_hardware?(PINE&0x80):digitalRead(BMP085_EOC))
#define BMP_DATA_READY() (_apm2_hardware?(PINE&0x80):digitalRead(BMP085_EOC))
// Public Methods //////////////////////////////////////////////////////////////
bool APM_BMP085_Class::Init(int initialiseWireLib, bool purple_hardware)
bool APM_BMP085_Class::Init(int initialiseWireLib, bool apm2_hardware)
{
byte buff[22];
int i = 0;
_purple_hardware = purple_hardware;
_apm2_hardware = apm2_hardware;
pinMode(BMP085_EOC, INPUT); // End Of Conversion (PC7) input

4
libraries/APM_BMP085/APM_BMP085.h
View File

@ -19,10 +19,10 @@ class APM_BMP085_Class
int32_t Press;
//int Altitude;
uint8_t oss;
bool _purple_hardware;
bool _apm2_hardware;
//int32_t Press0; // Pressure at sea level
bool Init(int initialiseWireLib = 1, bool purple_hardware=false);
bool Init(int initialiseWireLib = 1, bool apm2_hardware=false);
uint8_t Read();
private:

2
libraries/APM_BMP085/APM_BMP085_hil.cpp
View File

@ -15,7 +15,7 @@ APM_BMP085_HIL_Class::APM_BMP085_HIL_Class()
}
// Public Methods //////////////////////////////////////////////////////////////
void APM_BMP085_HIL_Class::Init(int initialiseWireLib, bool purple_hardware)
void APM_BMP085_HIL_Class::Init(int initialiseWireLib, bool apm2_hardware)
{
BMP085_State=1;
}

2
libraries/APM_BMP085/APM_BMP085_hil.h
View File

@ -13,7 +13,7 @@ class APM_BMP085_HIL_Class
int32_t Press;
//int Altitude;
uint8_t oss;
void Init(int initialiseWireLib = 1, bool purple_hardware=false);
void Init(int initialiseWireLib = 1, bool apm2_hardware=false);
uint8_t Read();
void setHIL(float Temp, float Press);
int32_t _offset_press;

8
libraries/APM_BMP085/examples/APM_BMP085_test/APM_BMP085_test.pde
View File

@ -13,10 +13,10 @@ unsigned long timer;
FastSerialPort0(Serial);
#ifdef PURPLE_HARDWARE
static bool purple_hardware = true;
#ifdef APM2_HARDWARE
static bool apm2_hardware = true;
#else
static bool purple_hardware = false;
static bool apm2_hardware = false;
#endif
void setup()
@ -24,7 +24,7 @@ void setup()
Serial.begin(115200);
Serial.println("ArduPilot Mega BMP085 library test");
Serial.println("Initialising barometer..."); delay(100);
if (!APM_BMP085.Init(1, purple_hardware)) {
if (!APM_BMP085.Init(1, apm2_hardware)) {
Serial.println("Barometer initialisation FAILED\n");
}
Serial.println("initialisation complete."); delay(100);

4
libraries/APM_BMP085/examples/APM_BMP085_test/Makefile
View File

@ -1,5 +1,5 @@
BOARD = mega
include ../../../AP_Common/Arduino.mk
purple:
make -f Makefile EXTRAFLAGS="-DPURPLE_HARDWARE=1"
apm2:
make -f Makefile EXTRAFLAGS="-DAPM2_HARDWARE=1"

2
libraries/APM_RC/APM_RC.h
View File

@ -46,6 +46,6 @@ class APM_RC_Class
};
#include "APM_RC_APM1.h"
#include "APM_RC_Purple.h"
#include "APM_RC_APM2.h"
#endif

40
libraries/APM_RC/APM_RC_Purple.cpp → libraries/APM_RC/APM_RC_APM2.cpp
View File

@ -1,5 +1,5 @@
/*
APM_RC_Purple.cpp - Radio Control Library for Ardupilot Mega 2.0. Arduino
APM_RC_APM2.cpp - Radio Control Library for Ardupilot Mega 2.0. Arduino
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
This library is free software; you can redistribute it and/or
@ -18,7 +18,7 @@
Automatically resets when we call InputCh to read channels
*/
#include "APM_RC_Purple.h"
#include "APM_RC_APM2.h"
#include "WProgram.h"
@ -27,13 +27,13 @@
#else
// Variable definition for Input Capture interrupt
volatile uint16_t APM_RC_Purple::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400};
volatile uint8_t APM_RC_Purple::_radio_status=0;
volatile uint16_t APM_RC_APM2::_PWM_RAW[NUM_CHANNELS] = {2400,2400,2400,2400,2400,2400,2400,2400};
volatile uint8_t APM_RC_APM2::_radio_status=0;
/****************************************************
Input Capture Interrupt ICP5 => PPM signal read
****************************************************/
void APM_RC_Purple::_timer5_capt_cb(void)
void APM_RC_APM2::_timer5_capt_cb(void)
{
static uint16_t prev_icr;
static uint8_t frame_idx;
@ -68,12 +68,12 @@ void APM_RC_Purple::_timer5_capt_cb(void)
// Constructors ////////////////////////////////////////////////////////////////
APM_RC_Purple::APM_RC_Purple()
APM_RC_APM2::APM_RC_APM2()
{
}
// Public Methods //////////////////////////////////////////////////////////////
void APM_RC_Purple::Init( Arduino_Mega_ISR_Registry * isr_reg )
void APM_RC_APM2::Init( Arduino_Mega_ISR_Registry * isr_reg )
{
// --------------------- TIMER1: OUT1 and OUT2 -----------------------
pinMode(12,OUTPUT); // OUT1 (PB6/OC1B)
@ -147,7 +147,7 @@ void APM_RC_Purple::Init( Arduino_Mega_ISR_Registry * isr_reg )
TIMSK5 |= (1<<ICIE5);
}
void APM_RC_Purple::OutputCh(unsigned char ch, uint16_t pwm)
void APM_RC_APM2::OutputCh(unsigned char ch, uint16_t pwm)
{
pwm=constrain(pwm,MIN_PULSEWIDTH,MAX_PULSEWIDTH);
pwm<<=1; // pwm*2;
@ -165,7 +165,7 @@ void APM_RC_Purple::OutputCh(unsigned char ch, uint16_t pwm)
}
}
uint16_t APM_RC_Purple::InputCh(unsigned char ch)
uint16_t APM_RC_APM2::InputCh(unsigned char ch)
{
uint16_t result;
uint16_t result2;
@ -187,24 +187,24 @@ uint16_t APM_RC_Purple::InputCh(unsigned char ch)
return(result);
}
unsigned char APM_RC_Purple::GetState(void)
unsigned char APM_RC_APM2::GetState(void)
{
return(_radio_status);
}
// InstantPWM is not implemented!
void APM_RC_Purple::Force_Out(void) { }
void APM_RC_Purple::Force_Out0_Out1(void) { }
void APM_RC_Purple::Force_Out2_Out3(void) { }
void APM_RC_Purple::Force_Out6_Out7(void) { }
void APM_RC_APM2::Force_Out(void) { }
void APM_RC_APM2::Force_Out0_Out1(void) { }
void APM_RC_APM2::Force_Out2_Out3(void) { }
void APM_RC_APM2::Force_Out6_Out7(void) { }
/* ---------------- OUTPUT SPEED CONTROL ------------------ */
// Output rate options:
#define OUTPUT_SPEED_50HZ 0
#define OUTPUT_SPEED_200HZ 1
void APM_RC_Purple::SetFastOutputChannels(uint32_t chmask)
void APM_RC_APM2::SetFastOutputChannels(uint32_t chmask)
{
if ((chmask & ( MSK_CH_1 | MSK_CH_2 )) != 0)
_set_speed_ch1_ch2(OUTPUT_SPEED_200HZ);
@ -216,7 +216,7 @@ void APM_RC_Purple::SetFastOutputChannels(uint32_t chmask)
_set_speed_ch6_ch7_ch8(OUTPUT_SPEED_200HZ);
}
void APM_RC_Purple::_set_speed_ch1_ch2(uint8_t speed)
void APM_RC_APM2::_set_speed_ch1_ch2(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
@ -229,7 +229,7 @@ void APM_RC_Purple::_set_speed_ch1_ch2(uint8_t speed)
}
}
void APM_RC_Purple::_set_speed_ch3_ch4_ch5(uint8_t speed)
void APM_RC_APM2::_set_speed_ch3_ch4_ch5(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
@ -243,7 +243,7 @@ void APM_RC_Purple::_set_speed_ch3_ch4_ch5(uint8_t speed)
}
void APM_RC_Purple::_set_speed_ch6_ch7_ch8(uint8_t speed)
void APM_RC_APM2::_set_speed_ch6_ch7_ch8(uint8_t speed)
{
switch(speed) {
case OUTPUT_SPEED_200HZ:
@ -260,7 +260,7 @@ void APM_RC_Purple::_set_speed_ch6_ch7_ch8(uint8_t speed)
// allow HIL override of RC values
// A value of -1 means no change
// A value of 0 means no override, use the real RC values
bool APM_RC_Purple::setHIL(int16_t v[NUM_CHANNELS])
bool APM_RC_APM2::setHIL(int16_t v[NUM_CHANNELS])
{
uint8_t sum = 0;
for (unsigned char i=0; i<NUM_CHANNELS; i++) {
@ -279,7 +279,7 @@ bool APM_RC_Purple::setHIL(int16_t v[NUM_CHANNELS])
_radio_status = 1;
}
void APM_RC_Purple::clearOverride(void)
void APM_RC_APM2::clearOverride(void)
{
for (unsigned char i=0; i<NUM_CHANNELS; i++) {
_HIL_override[i] = 0;

8
libraries/APM_RC/APM_RC_Purple.h → libraries/APM_RC/APM_RC_APM2.h
View File

@ -1,5 +1,5 @@
#ifndef __APM_RC_PURPLE_H__
#define __APM_RC_PURPLE_H__
#ifndef __APM_RC_APM2_H__
#define __APM_RC_APM2_H__
#define NUM_CHANNELS 8
#define MIN_PULSEWIDTH 900
@ -8,11 +8,11 @@
#include "APM_RC.h"
#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
class APM_RC_Purple : public APM_RC_Class
class APM_RC_APM2 : public APM_RC_Class
{
private:
public:
APM_RC_Purple();
APM_RC_APM2();
void Init( Arduino_Mega_ISR_Registry * isr_reg );
void OutputCh(unsigned char ch, uint16_t pwm);
uint16_t InputCh(unsigned char ch);

0
libraries/APM_RC/examples/Purple_radio/Makefile → libraries/APM_RC/examples/APM2/Makefile
View File

2
libraries/APM_RC/examples/Purple_radio/Purple_radio.pde → libraries/APM_RC/examples/APM2/Purple_radio.pde
View File

@ -10,7 +10,7 @@
#include <APM_RC.h> // ArduPilot Mega RC Library
Arduino_Mega_ISR_Registry isr_registry;
APM_RC_Purple APM_RC;
APM_RC_APM2 APM_RC;
void setup()
{

2
libraries/DataFlash/DataFlash.h
View File

@ -37,6 +37,6 @@ class DataFlash_Class
};
#include "DataFlash_APM1.h"
#include "DataFlash_Purple.h"
#include "DataFlash_APM2.h"
#endif

66
libraries/DataFlash/DataFlash_Purple.cpp → libraries/DataFlash/DataFlash_APM2.cpp
View File

@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
DataFlash_Purple.cpp - DataFlash log library for AT45DB321D
DataFlash_APM2.cpp - DataFlash log library for AT45DB321D
Code by Jordi Muñoz and Jose Julio. DIYDrones.com
This code works only on ATMega2560. It uses Serial port 3 in SPI MSPI mdoe.
@ -39,7 +39,7 @@ extern "C" {
#include "WConstants.h"
}
#include "DataFlash_Purple.h"
#include "DataFlash_APM2.h"
// DataFlash is connected to Serial Port 3 (we will use SPI mode)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
@ -79,7 +79,7 @@ extern "C" {
#define OVERWRITE_DATA 0 // 0: When reach the end page stop, 1: Start overwritten from page 1
// *** INTERNAL FUNCTIONS ***
unsigned char DataFlash_Purple::SPI_transfer(unsigned char data)
unsigned char DataFlash_APM2::SPI_transfer(unsigned char data)
{
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) );
@ -91,23 +91,23 @@ unsigned char DataFlash_Purple::SPI_transfer(unsigned char data)
return UDR3;
}
void DataFlash_Purple::CS_inactive()
void DataFlash_APM2::CS_inactive()
{
digitalWrite(DF_SLAVESELECT,HIGH); //disable device
}
void DataFlash_Purple::CS_active()
void DataFlash_APM2::CS_active()
{
digitalWrite(DF_SLAVESELECT,LOW); //enable device
}
// Constructors ////////////////////////////////////////////////////////////////
DataFlash_Purple::DataFlash_Purple()
DataFlash_APM2::DataFlash_APM2()
{
}
// Public Methods //////////////////////////////////////////////////////////////
void DataFlash_Purple::Init(void)
void DataFlash_APM2::Init(void)
{
pinMode(DF_DATAOUT, OUTPUT);
pinMode(DF_DATAIN, INPUT);
@ -139,7 +139,7 @@ void DataFlash_Purple::Init(void)
}
// This function is mainly to test the device
void DataFlash_Purple::ReadManufacturerID()
void DataFlash_APM2::ReadManufacturerID()
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
@ -154,13 +154,13 @@ void DataFlash_Purple::ReadManufacturerID()
}
// This function return 1 if Card is inserted on SD slot
bool DataFlash_Purple::CardInserted()
bool DataFlash_APM2::CardInserted()
{
return (digitalRead(DF_CARDDETECT) != 0);
}
// Read the status register
byte DataFlash_Purple::ReadStatusReg()
byte DataFlash_APM2::ReadStatusReg()
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
@ -172,26 +172,26 @@ byte DataFlash_Purple::ReadStatusReg()
// Read the status of the DataFlash
inline
byte DataFlash_Purple::ReadStatus()
byte DataFlash_APM2::ReadStatus()
{
return(ReadStatusReg()&0x80); // We only want to extract the READY/BUSY bit
}
inline
uint16_t DataFlash_Purple::PageSize()
uint16_t DataFlash_APM2::PageSize()
{
return(528-((ReadStatusReg()&0x01)<<4)); // if first bit 1 trhen 512 else 528 bytes
}
// Wait until DataFlash is in ready state...
void DataFlash_Purple::WaitReady()
void DataFlash_APM2::WaitReady()
{
while(!ReadStatus());
}
void DataFlash_Purple::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
void DataFlash_APM2::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
{
CS_inactive();
CS_active();
@ -215,7 +215,7 @@ void DataFlash_Purple::PageToBuffer(unsigned char BufferNum, uint16_t PageAdr)
while(!ReadStatus()); //monitor the status register, wait until busy-flag is high
}
void DataFlash_Purple::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
void DataFlash_APM2::BufferToPage (unsigned char BufferNum, uint16_t PageAdr, unsigned char wait)
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
@ -242,7 +242,7 @@ void DataFlash_Purple::BufferToPage (unsigned char BufferNum, uint16_t PageAdr,
while(!ReadStatus()); //monitor the status register, wait until busy-flag is high
}
void DataFlash_Purple::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
void DataFlash_APM2::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr, unsigned char Data)
{
CS_inactive(); // Reset dataflash command decoder
CS_active();
@ -257,7 +257,7 @@ void DataFlash_Purple::BufferWrite (unsigned char BufferNum, uint16_t IntPageAdr
SPI_transfer(Data); //write data byte
}
unsigned char DataFlash_Purple::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
unsigned char DataFlash_APM2::BufferRead (unsigned char BufferNum, uint16_t IntPageAdr)
{
byte tmp;
@ -278,7 +278,7 @@ unsigned char DataFlash_Purple::BufferRead (unsigned char BufferNum, uint16_t In
}
// *** END OF INTERNAL FUNCTIONS ***
void DataFlash_Purple::PageErase (uint16_t PageAdr)
void DataFlash_APM2::PageErase (uint16_t PageAdr)
{
CS_inactive(); //make sure to toggle CS signal in order
CS_active(); //to reset Dataflash command decoder
@ -299,7 +299,7 @@ void DataFlash_Purple::PageErase (uint16_t PageAdr)
}
void DataFlash_Purple::ChipErase ()
void DataFlash_APM2::ChipErase ()
{
CS_inactive(); //make sure to toggle CS signal in order
CS_active(); //to reset Dataflash command decoder
@ -315,7 +315,7 @@ void DataFlash_Purple::ChipErase ()
}
// *** DATAFLASH PUBLIC FUNCTIONS ***
void DataFlash_Purple::StartWrite(int16_t PageAdr)
void DataFlash_APM2::StartWrite(int16_t PageAdr)
{
df_BufferNum=1;
df_BufferIdx=4;
@ -330,7 +330,7 @@ void DataFlash_Purple::StartWrite(int16_t PageAdr)
BufferWrite(df_BufferNum,3,df_FilePage&0xFF); // Low byte
}
void DataFlash_Purple::FinishWrite(void)
void DataFlash_APM2::FinishWrite(void)
{
df_BufferIdx=0;
BufferToPage(df_BufferNum,df_PageAdr,0); // Write Buffer to memory, NO WAIT
@ -353,7 +353,7 @@ void DataFlash_Purple::FinishWrite(void)
}
void DataFlash_Purple::WriteByte(byte data)
void DataFlash_APM2::WriteByte(byte data)
{
if (!df_Stop_Write)
{
@ -389,13 +389,13 @@ void DataFlash_Purple::WriteByte(byte data)
}
}
void DataFlash_Purple::WriteInt(int16_t data)
void DataFlash_APM2::WriteInt(int16_t data)
{
WriteByte(data>>8); // High byte
WriteByte(data&0xFF); // Low byte
}
void DataFlash_Purple::WriteLong(int32_t data)
void DataFlash_APM2::WriteLong(int32_t data)
{
WriteByte(data>>24); // First byte
WriteByte(data>>16);
@ -404,18 +404,18 @@ void DataFlash_Purple::WriteLong(int32_t data)
}
// Get the last page written to
int16_t DataFlash_Purple::GetWritePage()
int16_t DataFlash_APM2::GetWritePage()
{
return(df_PageAdr);
}
// Get the last page read
int16_t DataFlash_Purple::GetPage()
int16_t DataFlash_APM2::GetPage()
{
return(df_Read_PageAdr-1);
}
void DataFlash_Purple::StartRead(int16_t PageAdr)
void DataFlash_APM2::StartRead(int16_t PageAdr)
{
df_Read_BufferNum=1;
df_Read_BufferIdx=4;
@ -431,7 +431,7 @@ void DataFlash_Purple::StartRead(int16_t PageAdr)
df_FilePage = (df_FilePage<<8) | BufferRead(df_Read_BufferNum,3); // Low byte
}
byte DataFlash_Purple::ReadByte()
byte DataFlash_APM2::ReadByte()
{
byte result;
@ -458,7 +458,7 @@ byte DataFlash_Purple::ReadByte()
return result;
}
int16_t DataFlash_Purple::ReadInt()
int16_t DataFlash_APM2::ReadInt()
{
uint16_t result;
@ -467,7 +467,7 @@ int16_t DataFlash_Purple::ReadInt()
return (int16_t)result;
}
int32_t DataFlash_Purple::ReadLong()
int32_t DataFlash_APM2::ReadLong()
{
uint32_t result;
@ -478,18 +478,18 @@ int32_t DataFlash_Purple::ReadLong()
return (int32_t)result;
}
void DataFlash_Purple::SetFileNumber(uint16_t FileNumber)
void DataFlash_APM2::SetFileNumber(uint16_t FileNumber)
{
df_FileNumber = FileNumber;
df_FilePage = 1;
}
uint16_t DataFlash_Purple::GetFileNumber()
uint16_t DataFlash_APM2::GetFileNumber()
{
return df_FileNumber;
}
uint16_t DataFlash_Purple::GetFilePage()
uint16_t DataFlash_APM2::GetFilePage()
{
return df_FilePage;
}

10
libraries/DataFlash/DataFlash_Purple.h → libraries/DataFlash/DataFlash_APM2.h
View File

@ -1,12 +1,12 @@
/* ************************************************************ */
/* DataFlash_Purple Log library */
/* DataFlash_APM2 Log library */
/* ************************************************************ */
#ifndef __DATAFLASH_PURPLE_H__
#define __DATAFLASH_PURPLE_H__
#ifndef __DATAFLASH_APM2_H__
#define __DATAFLASH_APM2_H__
#include "DataFlash.h"
class DataFlash_Purple : public DataFlash_Class
class DataFlash_APM2 : public DataFlash_Class
{
private:
// DataFlash Log variables...
@ -43,7 +43,7 @@ class DataFlash_Purple : public DataFlash_Class
unsigned char df_device_1;
uint16_t df_PageSize;
DataFlash_Purple(); // Constructor
DataFlash_APM2(); // Constructor
void Init();
void ReadManufacturerID();
bool CardInserted();

2
libraries/Desktop/support/sitl_rc.h
View File

@ -34,7 +34,7 @@ struct RC_ICR4 {
/*
ignore rate assignment for now (needed for purple
ignore rate assignment for now (needed for apm2
emulation)
*/
RC_ICR4& operator=(uint16_t rate) {