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test board 2008
author
Olivier Matz
<zer0@droids-corp.org>
Sat, 6 Mar 2010 21:54:18 +0000
(22:54 +0100)
committer
Olivier Matz
<zer0@droids-corp.org>
Sat, 6 Mar 2010 21:54:18 +0000
(22:54 +0100)
13 files changed:
projects/microb2010/tests/test_board2008/.config
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projects/microb2010/tests/test_board2008/actuator.c
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projects/microb2010/tests/test_board2008/cmdline.c
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projects/microb2010/tests/test_board2008/commands_ax12.c
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projects/microb2010/tests/test_board2008/commands_cs.c
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projects/microb2010/tests/test_board2008/commands_gen.c
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projects/microb2010/tests/test_board2008/commands_mainboard.c
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projects/microb2010/tests/test_board2008/commands_traj.c
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projects/microb2010/tests/test_board2008/cs.c
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projects/microb2010/tests/test_board2008/main.bin
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projects/microb2010/tests/test_board2008/main.c
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projects/microb2010/tests/test_board2008/strat_base.c
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projects/microb2010/tests/test_board2008/strat_utils.c
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diff --git
a/projects/microb2010/tests/test_board2008/.config
b/projects/microb2010/tests/test_board2008/.config
index
f1528d4
..
9ce152f
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/.config
+++ b/
projects/microb2010/tests/test_board2008/.config
@@
-83,6
+83,7
@@
CONFIG_MODULE_CIRBUF=y
CONFIG_MODULE_FIXED_POINT=y
CONFIG_MODULE_VECT2=y
CONFIG_MODULE_GEOMETRY=y
CONFIG_MODULE_FIXED_POINT=y
CONFIG_MODULE_VECT2=y
CONFIG_MODULE_GEOMETRY=y
+# CONFIG_MODULE_HOSTSIM is not set
CONFIG_MODULE_SCHEDULER=y
CONFIG_MODULE_SCHEDULER_STATS=y
# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
CONFIG_MODULE_SCHEDULER=y
CONFIG_MODULE_SCHEDULER_STATS=y
# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
@@
-169,9
+170,10
@@
CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG=y
# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
#
# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
#
-# Robot specific modules
+# Robot specific modules
(fixed point lib may be needed)
#
CONFIG_MODULE_ROBOT_SYSTEM=y
#
CONFIG_MODULE_ROBOT_SYSTEM=y
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set
# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
CONFIG_MODULE_POSITION_MANAGER=y
CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE=y
# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
CONFIG_MODULE_POSITION_MANAGER=y
CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE=y
diff --git
a/projects/microb2010/tests/test_board2008/actuator.c
b/projects/microb2010/tests/test_board2008/actuator.c
index
5e2f39a
..
8c09231
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/actuator.c
+++ b/
projects/microb2010/tests/test_board2008/actuator.c
@@
-29,7
+29,7
@@
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
@@
-51,7
+51,7
@@
static volatile uint8_t fessor_state = OFF;
static volatile uint32_t fessor_pos_up = 35000;
static volatile uint8_t fessor_state = OFF;
static volatile uint32_t fessor_pos_up = 35000;
-static volatile uint32_t fessor_pos_down =
6350
0;
+static volatile uint32_t fessor_pos_down = 0;
static volatile uint32_t fessor_delay_up = 500;
static volatile uint32_t fessor_delay_down = 2000;
static volatile uint32_t delay = 0;
static volatile uint32_t fessor_delay_up = 500;
static volatile uint32_t fessor_delay_down = 2000;
static volatile uint32_t delay = 0;
diff --git
a/projects/microb2010/tests/test_board2008/cmdline.c
b/projects/microb2010/tests/test_board2008/cmdline.c
index
c584222
..
483d4b8
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/cmdline.c
+++ b/
projects/microb2010/tests/test_board2008/cmdline.c
@@
-30,7
+30,7
@@
#include <rdline.h>
#include <uart.h>
#include <pwm_ng.h>
#include <rdline.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
diff --git
a/projects/microb2010/tests/test_board2008/commands_ax12.c
b/projects/microb2010/tests/test_board2008/commands_ax12.c
index
804e084
..
75616f7
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/commands_ax12.c
+++ b/
projects/microb2010/tests/test_board2008/commands_ax12.c
@@
-30,7
+30,7
@@
#include <ax12.h>
#include <uart.h>
#include <pwm_ng.h>
#include <ax12.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
diff --git
a/projects/microb2010/tests/test_board2008/commands_cs.c
b/projects/microb2010/tests/test_board2008/commands_cs.c
index
7af6205
..
5bd97d3
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/commands_cs.c
+++ b/
projects/microb2010/tests/test_board2008/commands_cs.c
@@
-29,7
+29,7
@@
#include <uart.h>
#include <pwm_ng.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
diff --git
a/projects/microb2010/tests/test_board2008/commands_gen.c
b/projects/microb2010/tests/test_board2008/commands_gen.c
index
084d2cb
..
8438f38
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/commands_gen.c
+++ b/
projects/microb2010/tests/test_board2008/commands_gen.c
@@
-29,7
+29,7
@@
#include <uart.h>
#include <pwm_ng.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <encoders_microb.h>
#include <adc.h>
#include <encoders_microb.h>
#include <adc.h>
diff --git
a/projects/microb2010/tests/test_board2008/commands_mainboard.c
b/projects/microb2010/tests/test_board2008/commands_mainboard.c
index
de3e936
..
1fb35a7
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/commands_mainboard.c
+++ b/
projects/microb2010/tests/test_board2008/commands_mainboard.c
@@
-30,7
+30,7
@@
#include <uart.h>
#include <pwm_ng.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
diff --git
a/projects/microb2010/tests/test_board2008/commands_traj.c
b/projects/microb2010/tests/test_board2008/commands_traj.c
index
691b8c0
..
74d116d
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/commands_traj.c
+++ b/
projects/microb2010/tests/test_board2008/commands_traj.c
@@
-29,7
+29,7
@@
#include <uart.h>
#include <pwm_ng.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <encoders_microb.h>
#include <pid.h>
#include <encoders_microb.h>
#include <pid.h>
diff --git
a/projects/microb2010/tests/test_board2008/cs.c
b/projects/microb2010/tests/test_board2008/cs.c
index
9736646
..
c2409a1
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/cs.c
+++ b/
projects/microb2010/tests/test_board2008/cs.c
@@
-31,7
+31,7
@@
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <adc.h>
#include <pid.h>
#include <adc.h>
#include <pid.h>
@@
-99,15
+99,16
@@
static void do_cs(void *dummy)
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
cs_manage(&mainboard.angle.cs);
if (mainboard.distance.on)
cs_manage(&mainboard.distance.cs);
- if (mainboard.fessor.on)
+ if (mainboard.fessor.on)
{
cs_manage(&mainboard.fessor.cs);
cs_manage(&mainboard.fessor.cs);
+ fessor_manage();
+ }
if (mainboard.wheel.on)
cs_manage(&mainboard.wheel.cs);
if (mainboard.wheel.on)
cs_manage(&mainboard.wheel.cs);
- if (mainboard.elevator.on)
+ if (mainboard.elevator.on)
{
cs_manage(&mainboard.elevator.cs);
cs_manage(&mainboard.elevator.cs);
-
- fessor_manage();
- elevator_manage();
+ elevator_manage();
+ }
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
}
if ((cpt & 1) && (mainboard.flags & DO_POS)) {
/* about 1.5ms (worst case without centrifugal force
@@
-305,7
+306,7
@@
void microb_cs_init(void)
mainboard.angle.on = 0;
mainboard.distance.on = 0;
mainboard.fessor.on = 1;
mainboard.angle.on = 0;
mainboard.distance.on = 0;
mainboard.fessor.on = 1;
- mainboard.elevator.on =
1
;
+ mainboard.elevator.on =
0
;
mainboard.wheel.on = 1;
mainboard.flags |= DO_CS;
mainboard.wheel.on = 1;
mainboard.flags |= DO_CS;
diff --git
a/projects/microb2010/tests/test_board2008/main.bin
b/projects/microb2010/tests/test_board2008/main.bin
index
2538980
..
22a4acc
100755
(executable)
Binary files a/projects/microb2010/tests/test_board2008/main.bin and b/projects/microb2010/tests/test_board2008/main.bin differ
diff --git
a/projects/microb2010/tests/test_board2008/main.c
b/projects/microb2010/tests/test_board2008/main.c
index
732bd73
..
c9a3293
100755
(executable)
--- a/
projects/microb2010/tests/test_board2008/main.c
+++ b/
projects/microb2010/tests/test_board2008/main.c
@@
-33,7
+33,7
@@
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
#include <pwm_ng.h>
#include <timer.h>
#include <scheduler.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <adc.h>
#include <pid.h>
#include <adc.h>
#include <pid.h>
diff --git
a/projects/microb2010/tests/test_board2008/strat_base.c
b/projects/microb2010/tests/test_board2008/strat_base.c
index
9945e2c
..
ffd801e
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/strat_base.c
+++ b/
projects/microb2010/tests/test_board2008/strat_base.c
@@
-30,7
+30,7
@@
#include <uart.h>
#include <pwm_ng.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
diff --git
a/projects/microb2010/tests/test_board2008/strat_utils.c
b/projects/microb2010/tests/test_board2008/strat_utils.c
index
edd795a
..
2816744
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/strat_utils.c
+++ b/
projects/microb2010/tests/test_board2008/strat_utils.c
@@
-29,7
+29,7
@@
#include <uart.h>
#include <pwm_ng.h>
#include <uart.h>
#include <pwm_ng.h>
-#include <time.h>
+#include <
clock_
time.h>
#include <pid.h>
#include <quadramp.h>
#include <pid.h>
#include <quadramp.h>
@@
-77,17
+77,17
@@
int16_t simple_modulo_360(int16_t a)
return a;
}
return a;
}
-/*
* do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */
-double simple_modulo_2pi(double a)
-{
- if (a < -M_PI) {
- a += M_2PI;
- }
- else if (a > M_PI) {
- a -= M_2PI;
- }
- return a;
-}
+/*
/\** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] *\/ */
+/* double simple_modulo_2pi(double a) */
+/* { */
+/* if (a < -M_PI) { */
+/* a += M_2PI; */
+/* } */
+/* else if (a > M_PI) { */
+/* a -= M_2PI; */
+/* } */
+/* return a; */
+/* } */
/* return the distance to a point in the area */
int16_t angle_abs_to_rel(int16_t a_abs)
/* return the distance to a point in the area */
int16_t angle_abs_to_rel(int16_t a_abs)