Exemplos de actuators_init em C++ (Cpp)

Exemplo n.º 1

Arquivo: main_fbw.c Projeto: BrandoJS/paparazzi

/********** INIT *************************************************************/
void init_fbw( void ) {

  mcu_init();

  electrical_init();

#ifdef ACTUATORS
  actuators_init();
  /* Load the failsafe defaults */
  SetCommands(commands_failsafe);
  fbw_new_actuators = 1;
#endif
#ifdef RADIO_CONTROL
  radio_control_init();
#endif
#ifdef INTER_MCU
  inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
  link_mcu_restart();
#endif

  fbw_mode = FBW_MODE_FAILSAFE;

  /**** start timers for periodic functions *****/
  fbw_periodic_tid = sys_time_register_timer((1./60.), NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);

#ifndef SINGLE_MCU
  mcu_int_enable();
#endif
}

Exemplo n.º 2

Arquivo: main_fbw.c Projeto: AshuLara/lisa

/********** INIT *************************************************************/
void init_fbw( void ) {

  mcu_init();
  sys_time_init();
  electrical_init();

#ifdef ACTUATORS
  actuators_init();
  /* Load the failsafe defaults */
  SetCommands(commands_failsafe);
  fbw_new_actuators = 1;
#endif
#ifdef RADIO_CONTROL
  radio_control_init();
#endif
#ifdef INTER_MCU
  inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
  link_mcu_restart();
#endif

  fbw_mode = FBW_MODE_FAILSAFE;

#ifndef SINGLE_MCU
  mcu_int_enable();
#endif
}

Exemplo n.º 3

Arquivo: demo_ahrs_actuators.c Projeto: 2seasuav/paparuzzi

static inline void main_init(void)
{
  mcu_init();
  sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);

  stateInit();
  actuators_init();

  imu_init();
#if USE_AHRS_ALIGNER
  ahrs_aligner_init();
#endif
  ahrs_init();

  settings_init();

  mcu_int_enable();

  downlink_init();

  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AUTOPILOT_VERSION, send_autopilot_version);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ALIVE, send_alive);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_COMMANDS, send_commands);
  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);

  // send body_to_imu from here for now
  AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
}

Exemplo n.º 4

Arquivo: main_fbw.c Projeto: 2seasuav/paparuzzi

STATIC_INLINE void main_init(void)
{
  // fbw_init
  fbw_mode = FBW_MODE_FAILSAFE;

  mcu_init();

  actuators_init();

  electrical_init();

#if USE_MOTOR_MIXING
  motor_mixing_init();
#endif

  radio_control_init();

  modules_init();

  mcu_int_enable();

  intermcu_init();

  // register the timers for the periodic functions
  main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
  modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
  radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);
  telemetry_tid = sys_time_register_timer((1. / 20.), NULL);
}

Exemplo n.º 5

Arquivo: main.c Projeto: hulatang/paparazzi

STATIC_INLINE void main_init( void ) {

  mcu_init();

  electrical_init();

  stateInit();

  actuators_init();
#if USE_MOTOR_MIXING
  motor_mixing_init();
#endif

  radio_control_init();

  air_data_init();
#if USE_BARO_BOARD
  baro_init();
#endif
  imu_init();
#if USE_IMU_FLOAT
  imu_float_init();
#endif
  ahrs_aligner_init();
  ahrs_init();

  ins_init();

#if USE_GPS
  gps_init();
#endif

  autopilot_init();

  modules_init();

  settings_init();

  mcu_int_enable();

#if DATALINK == XBEE
  xbee_init();
#endif

#if DATALINK == UDP
  udp_init();
#endif

  // register the timers for the periodic functions
  main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
  modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
  radio_control_tid = sys_time_register_timer((1./60.), NULL);
  failsafe_tid = sys_time_register_timer(0.05, NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);
  telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
  baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
#endif
}

Exemplo n.º 6

Arquivo: main.c Projeto: jonasvanpelt/paparazzi

STATIC_INLINE void main_init( void ) {

  mcu_init();

  electrical_init();

  stateInit();

  actuators_init();
#if USE_MOTOR_MIXING
 // motor_mixing_init();
 // servo_mixing_init();
  set_servo_init();
#endif

  radio_control_init();

  baro_init();
  imu_init();
  autopilot_init();
  nav_init();
  guidance_h_init();
  guidance_v_init();
  stabilization_init();

  ahrs_aligner_init();
  ahrs_init();

  ins_init();

#if USE_GPS
  gps_init();
#endif

  modules_init();

  settings_init();

  mcu_int_enable();

#if DATALINK == XBEE
  xbee_init();
#endif

#if DATALINK == UDP
  udp_init();
#endif

  // register the timers for the periodic functions
  main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
  modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
  radio_control_tid = sys_time_register_timer((1./60.), NULL);
  failsafe_tid = sys_time_register_timer(0.05, NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);
  baro_tid = sys_time_register_timer(1./BARO_PERIODIC_FREQUENCY, NULL);
  telemetry_tid = sys_time_register_timer((1./TELEMETRY_FREQUENCY), NULL);
}

Exemplo n.º 7

Arquivo: main_fbw.c Projeto: nvelozsavino/paparazzi

/********** INIT *************************************************************/
void init_fbw(void)
{
    mcu_init();

#if !(DISABLE_ELECTRICAL)
    electrical_init();
#endif

#ifdef ACTUATORS
    actuators_init();
    /* Load the failsafe defaults */
    SetCommands(commands_failsafe);
    fbw_new_actuators = 1;
#endif /* ACTUATORS */

#ifdef RADIO_CONTROL
    radio_control_init();
#endif /* RADIO_CONTROL */

#ifdef INTER_MCU
    inter_mcu_init();
#endif /* INTER_MCU */

#if defined MCU_SPI_LINK || defined MCU_CAN_LINK
    link_mcu_init();
#endif /* MCU_SPI_LINK || MCU_CAN_LINK */

#ifdef MCU_SPI_LINK
    link_mcu_restart();
#endif /* MCU_SPI_LINK */

    fbw_mode = FBW_MODE_FAILSAFE;

    /**** start timers for periodic functions *****/
    fbw_periodic_tid = sys_time_register_timer((1. / 60.), NULL);
    electrical_tid = sys_time_register_timer(0.1, NULL);

#ifndef SINGLE_MCU
    mcu_int_enable();
#endif

#if PERIODIC_TELEMETRY
    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_FBW_STATUS, send_fbw_status);
    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_COMMANDS, send_commands);

#ifdef ACTUATORS
    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ACTUATORS, send_actuators);
#endif /* ACTUATORS */

#ifdef RADIO_CONTROL
    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_RC, send_rc);
#endif /* RADIO_CONTROL */

#endif /* PERIODIC_TELEMETRY */

}

Exemplo n.º 8

Arquivo: setup_actuators.c Projeto: Paolo-Maffei/lxyppc-tetrix

void init_fbw( void ) {
    mcu_init();

    actuators_init();

    uint8_t i;
    for(i = 0; i < SERVOS_NB; i++) {
        SetServo(i, 1500);
    }

    //  SetServo(SERVO_GAZ, SERVO_GAZ_MIN);

    sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);

    mcu_int_enable();
}

Exemplo n.º 9

Arquivo: main.c Projeto: AntoineBlais/paparazzi

STATIC_INLINE void main_init( void ) {

#ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
  /* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
  for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
    __asm("nop");
  }
#endif

  hw_init();

  sys_time_init();

  actuators_init();
  radio_control_init();

  booz2_analog_init();
  baro_init();

#if defined USE_CAM || USE_DROP
  booz2_pwm_init_hw();
#endif

  battery_init();
  imu_init();

  //  booz_fms_init(); // FIXME
  autopilot_init();
  nav_init();
  guidance_h_init();
  guidance_v_init();
  stabilization_init();

  ahrs_aligner_init();
  ahrs_init();

  ins_init();

#ifdef USE_GPS
  booz_gps_init();
#endif

  modules_init();

  int_enable();

}

Exemplo n.º 10

Arquivo: main_fbw.c Projeto: HAJMOUSA/paparazzi

/********** INIT *************************************************************/
void init_fbw( void ) {

  mcu_init();

#if !(DISABLE_ELECTRICAL)
  electrical_init();
#endif

#ifdef ACTUATORS
  actuators_init();
  /* Load the failsafe defaults */
  SetCommands(commands_failsafe);
  fbw_new_actuators = 1;
#endif
#ifdef RADIO_CONTROL
  radio_control_init();
#endif
#ifdef INTER_MCU
  inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
  link_mcu_init();
  link_mcu_restart();
#endif

  fbw_mode = FBW_MODE_FAILSAFE;

  /**** start timers for periodic functions *****/
  fbw_periodic_tid = sys_time_register_timer((1./60.), NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);

#ifndef SINGLE_MCU
  mcu_int_enable();
#endif

#if DOWNLINK
  register_periodic_telemetry(&telemetry_Fbw, "FBW_STATUS", send_fbw_status);
  register_periodic_telemetry(&telemetry_Fbw, "COMMANDS", send_commands);
#ifdef ACTUATORS
  register_periodic_telemetry(&telemetry_Fbw, "ACTUATORS", send_actuators);
#endif
#ifdef RADIO_CONTROL
  register_periodic_telemetry(&telemetry_Fbw, "RC", send_rc);
#endif
#endif

}

Exemplo n.º 11

Arquivo: main.c Projeto: dirkdokter/paparazzi

STATIC_INLINE void main_init( void ) {

#ifndef NO_FUCKING_STARTUP_DELAY
#ifndef RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
  /* IF THIS IS NEEDED SOME PERHIPHERAL THEN PLEASE MOVE IT THERE */
  for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
    __asm("nop");
  }
#endif
#endif

  mcu_init();

  sys_time_init();
  electrical_init();

  actuators_init();
  radio_control_init();

#if DATALINK == XBEE
  xbee_init();
#endif

  baro_init();
  imu_init();
  autopilot_init();
  nav_init();
  guidance_h_init();
  guidance_v_init();
  stabilization_init();

  ahrs_aligner_init();
  ahrs_init();

  ins_init();

#ifdef USE_GPS
  gps_init();
#endif

  modules_init();

  settings_init();

  mcu_int_enable();

}

Exemplo n.º 12

Arquivo: main.c Projeto: BrandoJS/paparazzi

STATIC_INLINE void main_init( void ) {

  mcu_init();

  electrical_init();

  actuators_init();
  radio_control_init();

#if DATALINK == XBEE
  xbee_init();
#endif

  
  imu_init();
  autopilot_init();
  nav_init();
  guidance_h_init();
  guidance_v_init();
  stabilization_init();

  ahrs_aligner_init();
  ahrs_init();
baro_init();
  ins_init();

#if USE_GPS
  gps_init();
#endif

  modules_init();

  settings_init();

  mcu_int_enable();

  // register the timers for the periodic functions
  main_periodic_tid = sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
  radio_control_tid = sys_time_register_timer((1./60.), NULL);
  failsafe_tid = sys_time_register_timer(0.05, NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);
  baro_tid = sys_time_register_timer(0.02, NULL);
  telemetry_tid = sys_time_register_timer((1./60.), NULL);
}

Exemplo n.º 13

Arquivo: autopilot_main.c Projeto: sch17/wasp

static inline void autopilot_main_init( void ) {
  hw_init();
  sys_time_init();
  led_init();

  supervision_init();
  actuators_init(ACTUATOR_BANK_MOTORS);

#if BOMB_ENABLED
  bomb_init_servo(RADIO_FMS, 0, 0);
#endif

  rc_init();

#if HARDWARE_ENABLED_GPS
  gps_init();
#else
  comm_init(COMM_0);
  comm_add_tx_callback(COMM_0, comm_autopilot_message_send);
  comm_add_rx_callback(COMM_0, comm_autopilot_message_received);
#endif

  comm_init(COMM_TELEMETRY);
  comm_add_tx_callback(COMM_TELEMETRY, comm_autopilot_message_send);
  comm_add_rx_callback(COMM_TELEMETRY, comm_autopilot_message_received);

  analog_init();
  analog_enable_channel(ANALOG_CHANNEL_BATTERY);
  analog_enable_channel(ANALOG_CHANNEL_PRESSURE);

  altimeter_init();

  imu_init();

  autopilot_init();

  ahrs_init();
  ins_init();

  fms_init();

  int_enable();
}

Exemplo n.º 14

Arquivo: main_fbw.c Projeto: arizonamav/Old-paparazzi-designs

/********** INIT *************************************************************/
void init_fbw( void ) {
  hw_init();
  sys_time_init();
#ifdef LED
  led_init();
#endif
#ifdef USE_UART0
  uart0_init_tx();
#endif
#ifdef USE_UART1
  uart1_init_tx();
#endif
#ifdef ADC
  adc_init();
  adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
#endif
#ifdef ACTUATORS
  actuators_init();
  /* Load the failsafe defaults */
  SetCommands(commands_failsafe);
#endif
#ifdef RADIO_CONTROL
 ppm_init();
#endif
#ifdef INTER_MCU
 inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
 spi_init();
 link_mcu_restart();
#endif
#ifdef LINK_IMU
 spi_init();
 link_imu_init();
#endif
#ifdef CTL_GRZ
 ctl_grz_init();
#endif
#ifndef SINGLE_MCU
  int_enable();
#endif
}

Exemplo n.º 15

Arquivo: test_servo_main.c Projeto: robotang/wasp

static inline void main_init( void ) {
    uint8_t i,j, num_servos, seperation;

    hw_init();
    sys_time_init();
    led_init();
    actuators_init(ACTUATOR_BANK_SERVOS);
    int_enable();

    /* Initialise all servos to values which are evenly spaced through the full range */
    num_servos = actuators_get_num(ACTUATOR_BANK_SERVOS);
    seperation = 0xFF / num_servos;
    for (i = 0, j = 0; i < num_servos; i++, j += seperation) {
        servos[i].val = j;
        /* starting moving in the forward direction */
        servos[i].dval = 1;
    }
        

}

Exemplo n.º 16

Arquivo: test_manual.c Projeto: 2seasuav/paparuzzi

static inline void main_init(void)
{
  mcu_init();
  downlink_init();

  actuators_init();
#if USE_MOTOR_MIXING
  motor_mixing_init();
#endif

  radio_control_init();

  mcu_int_enable();
  main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
  radio_control_tid = sys_time_register_timer((1. / 60.), NULL);

  // just to make it usable in a standard rotorcraft airframe file
  // with <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
  // in the command_laws section
  autopilot_motors_on = true;
}

Exemplo n.º 17

Arquivo: main_fbw.c Projeto: WenFly123/openPPZ

/********** INIT *************************************************************/
void init_fbw( void ) //fbw初始化
{

  mcu_init();//mcu初始化，如：led,uart,i2c,vocm,spi,dac

#if !(DISABLE_ELECTRICAL)
  electrical_init();//供电初始化
#endif

#ifdef ACTUATORS
  actuators_init();//执行器初始化
  /* Load the failsafe defaults */
  SetCommands(commands_failsafe);
  fbw_new_actuators = 1;
#endif
#ifdef RADIO_CONTROL
  radio_control_init();//无线电台初始化
#endif
#ifdef INTER_MCU
  inter_mcu_init();
#endif
#ifdef MCU_SPI_LINK
  link_mcu_init();
  link_mcu_restart();
#endif

  fbw_mode = FBW_MODE_FAILSAFE;

  command_roll_trim = COMMAND_ROLL_TRIM;
  command_pitch_trim = COMMAND_PITCH_TRIM;


  /**** start timers for periodic functions *****/
  fbw_periodic_tid = sys_time_register_timer((1./60.), NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);

#ifndef SINGLE_MCU
  mcu_int_enable();
#endif
}

Exemplo n.º 18

Arquivo: lisa_stm_passthrough_main.c Projeto: AntoineBlais/paparazzi

static inline void main_init(void) {

	hw_init();
	sys_time_init();
	imu_init();
	baro_init();
	radio_control_init();
	actuators_init();
	overo_link_init();
	cscp_init();
	adc_init();

#ifdef PASSTHROUGH_CYGNUS
	autopilot_init();
	nav_init();
	guidance_h_init();
	guidance_v_init();
	stabilization_init();

	ahrs_aligner_init();
	ahrs_init();

	ins_init();
#endif

	adc_buf_channel(0, &adc0_buf, 8);
	adc_buf_channel(1, &adc1_buf, 8);
	adc_buf_channel(2, &adc2_buf, 8);
	adc_buf_channel(3, &adc3_buf, 8);

	cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
	new_radio_msg = FALSE;
	new_baro_diff = FALSE;
	new_baro_abs = FALSE;
	new_vane = FALSE;
	new_adc = FALSE;

	overo_link.up.msg.imu_tick = 0;
}

Exemplo n.º 19

Arquivo: main.c Projeto: budebulai/paparazzi

STATIC_INLINE void main_init(void)
{
  mcu_init();

  electrical_init();

  stateInit();

  actuators_init();
#if USE_MOTOR_MIXING
  motor_mixing_init();
#endif

  radio_control_init();

#if USE_BARO_BOARD
  baro_init();
#endif
#if USE_IMU
  imu_init();
#endif
#if USE_AHRS_ALIGNER
  ahrs_aligner_init();
#endif

#if USE_AHRS
  ahrs_init();
#endif

  ins_init();

#if USE_GPS
  gps_init();
#endif

  autopilot_init();

  modules_init();

  settings_init();

  mcu_int_enable();

#if DOWNLINK
  downlink_init();
#endif

  // register the timers for the periodic functions
  main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
  modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
  radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
  failsafe_tid = sys_time_register_timer(0.05, NULL);
  electrical_tid = sys_time_register_timer(0.1, NULL);
  telemetry_tid = sys_time_register_timer((1. / TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
  baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
#endif

#if USE_IMU
  // send body_to_imu from here for now
  AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
#endif

  // Do a failsafe check first
  failsafe_check();
}

Exemplo n.º 20

Arquivo: main.c Projeto: paparazzi/paparazzi

STATIC_INLINE void main_init(void)
{
    mcu_init();

#if defined(PPRZ_TRIG_INT_COMPR_FLASH)
    pprz_trig_int_init();
#endif

    electrical_init();

    stateInit();

#ifndef INTER_MCU_AP
    actuators_init();
#else
    intermcu_init();
#endif

#if USE_MOTOR_MIXING
    motor_mixing_init();
#endif

#ifndef INTER_MCU_AP
    radio_control_init();
#endif

#if USE_BARO_BOARD
    baro_init();
#endif

#if USE_AHRS_ALIGNER
    ahrs_aligner_init();
#endif

#if USE_AHRS
    ahrs_init();
#endif

    autopilot_init();

    modules_init();

    /* temporary hack:
     * Since INS is now a module, LTP_DEF is not yet initialized when autopilot_init is called
     * This led to the problem that global waypoints were not "localized",
     * so as a stop-gap measure we localize them all (again) here..
     */
    waypoints_localize_all();

    settings_init();

    mcu_int_enable();

#if DOWNLINK
    downlink_init();
#endif

#ifdef INTER_MCU_AP
    intermcu_init();
#endif

    // register the timers for the periodic functions
    main_periodic_tid = sys_time_register_timer((1. / PERIODIC_FREQUENCY), NULL);
#if PERIODIC_FREQUENCY != MODULES_FREQUENCY
    modules_tid = sys_time_register_timer(1. / MODULES_FREQUENCY, NULL);
#endif
    radio_control_tid = sys_time_register_timer((1. / 60.), NULL);
    failsafe_tid = sys_time_register_timer(0.05, NULL);
    electrical_tid = sys_time_register_timer(0.1, NULL);
    telemetry_tid = sys_time_register_timer((1. / TELEMETRY_FREQUENCY), NULL);
#if USE_BARO_BOARD
    baro_tid = sys_time_register_timer(1. / BARO_PERIODIC_FREQUENCY, NULL);
#endif

#if USE_IMU
    // send body_to_imu from here for now
    AbiSendMsgBODY_TO_IMU_QUAT(1, orientationGetQuat_f(&imu.body_to_imu));
#endif

    // Do a failsafe check first
    failsafe_check();
}

Exemplo n.º 21

Arquivo: test_servos.c Projeto: 0lri/paparazzi

static inline void main_init( void ) {
  mcu_init();
  sys_time_init();
  actuators_init();
}

Exemplo n.º 22

Arquivo: test_actuators.c Projeto: AxSt/paparazzi

static inline void main_init( void ) {
  mcu_init();
  sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
  actuators_init();
}

Exemplo n.º 23

Arquivo: csc_servos.c Projeto: AntoineBlais/paparazzi

void csc_servos_init(void)
{
  actuators_init();
}