测试APM源码 长春理工大学 光电工程学院 创新实验室 412
**暂时停止更新，感谢张雪同学的贡献，愿她一路顺风。 2013/06/27
**由于无人机项目的接近尾声，今后代码的分析和测试由roubo本人接受。 2013/07/05
To install the libraries:
- copy Library Directories to your \arduino\hardware\libraries\ or arduino\libraries directory
- Restart arduino IDE
- Each library comes with a simple example. You can find the examples in menu File->Examples
- go to directory of sketch and type "make". --type "make upload" to upload according to the parameters in config.mk .
-
cd ArduPlane (ArduCopter etc ..)
-
mkdir build
-
cd build
-
cmake .. -DAPM_BOARD=mega -DAPM_PORT=/dev/ttyUSB0 You can select from mega/mega2560. If you have arduino installed in a non-standard location you by specify it by using: -DARDUINO_SDK_PATH=/path/to/arduino ..
-
make (will build the sketch)
-
make ArduPlane-upload (will upload the sketch ArduPlane etc.)
If you have a sync error during upload reset the board or power cycle the board before the upload starts.
Getting the Source:
assuming source located here: /home/name/apm-src
You can either download it or grab it from git:
git clone https://code.google.com/p/ardupilot-mega/ /home/name/apm-src
Generating the Eclipse Project for Your System:
mkdir /home/name/apm-build
cd /home/name/apm-build
cmake -G"Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug ../apm-src -D BOARD=mega -D PORT=/dev/ttyUSB0
Here apm-src can be any sketch, ArduPlane/ ArduCopter etc.
Note: Unix can be substituted for MinGW/ MSYS/ NMake (for windows)
(see http://www.vtk.org/Wiki/Eclipse_CDT4_Generator)
input options:
CMAKE_BUILD_TYPE choose from DEBUG, RELEASE etc.
PORT is the port for uploading to the board, COM0 etc on windows. /dev/ttyUSB0 etc. on linux
BOARD is your board type, mega for the 1280 or mega2560 for the 2560 boards.
ARDUINO_SDK_PATH if it is not in default path can specify as /path/to/arduino
Importing the Eclipse Build Project:
Import project using Menu File->Import
Select General->Existing projects into workspace:
Browse where your build tree is and select the root build tree directory.
Keep "Copy projects into workspace" unchecked.
You get a fully functional eclipse project
Importing the Eclipse Source Project:
You can also import the source repository (/home/name/apm-src) if you want to modify the source/ commit using git.
Settings up Eclipse to Recognize PDE files:
Window > Preferences > General > Content Types. This tree associates a
filename or filename pattern with its content type so that tools can treat it
properly. Source and header files for most languages are under the Text tree.
Add "*.pde" as a C++ Source.
Autocompletion:
Right click on source project -> Properties -> Project References -> apm-build Project
Advanced:
* Regenerating the eclipse source project file:
cmake -G"Eclipse CDT4 - Unix Makefiles" -DECLIPSE_CDT4_GENERATE_SOURCE_PROJECT=TRUE /home/name/apm-src
- cd build
- cmake ..
- make package
- make package_source
vim:ts=4:sw=4:expandtab
分析源码结构，从主文件的头文件引用入手。 1、分析引用路径，摸清源码文件分布结构。 2、分析模块库使用情况，摸清系统使用的硬件和算法等相关模块的总类。 3、明确今后重点分析的模块文件。
分析类的组织结构，这个可以看看类的namespace namespace AP_HAL {
/* Toplevel pure virtual class Hal.*/
class HAL;
/* Toplevel class names for drivers: */
class UARTDriver;
class I2CDriver;
class SPIDeviceDriver;
class SPIDeviceManager;
class AnalogSource;
class AnalogIn;
class Storage;
class ConsoleDriver;
class DigitalSource;
class GPIO;
class RCInput;
class RCOutput;
class Scheduler;
class Semaphore;
class Util;
/* Utility Classes */
class Print;
class Stream;
class BetterStream;
/* Typdefs for function pointers (Procedure, Timed Procedure) */
typedef void(*Proc)(void);
typedef void(*TimedProc)(uint32_t);
/**
* Global names for all of the existing SPI devices on all platforms.
*/
enum SPIDevice {
SPIDevice_Dataflash,
SPIDevice_ADS7844,
SPIDevice_MS5611,
SPIDevice_MPU6000,
SPIDevice_ADNS3080_SPI0,
SPIDevice_ADNS3080_SPI3
};
系统和模块的初始化流程分析,见分析图 pic/openAPM系统和模块初始化流程分析.png
重点模块，芯片资源初始化-> 模块（协议）初始化-> 模块工作流程
EEPROM
------
等待整理。。。