Mani Monajjemi
338 linhas
14 KiB
C
338 linhas
14 KiB
C
/**
|
|
***************************************************************************
|
|
*
|
|
* Copyright (C) 2007 Parrot S.A.
|
|
*
|
|
***************************************************************************
|
|
*/
|
|
|
|
#ifndef _CONFIG_H_
|
|
#define _CONFIG_H_
|
|
|
|
#include <VP_Os/vp_os_types.h>
|
|
#ifdef _WIN32
|
|
#include <win32_custom.h>
|
|
#else
|
|
#include <generated_custom.h>
|
|
#endif
|
|
|
|
#undef ARDRONE_PIC_VERSION
|
|
|
|
#define USE_NAVDATA_IP
|
|
#define USE_AT_IP
|
|
#define USE_VIDEO_IP
|
|
|
|
///////////////////////////////////////////////
|
|
// Video configuration
|
|
#define VIDEO_ENABLE 1
|
|
|
|
///////////////////////////////////////////////
|
|
// Vision configuration
|
|
|
|
#define VISION_ENABLE 1
|
|
// #define VISION_TEST_MODE
|
|
#define ARDRONE_VISION_DETECT
|
|
|
|
///////////////////////////////////////////////
|
|
// Navdata configuration
|
|
|
|
#define NAVDATA_ENABLE 1
|
|
#define ND_WRITE_TO_FILE
|
|
|
|
# define NAVDATA_SUBSAMPLING 13 /* 200 / 15 fps = 13.3333 */
|
|
|
|
#if defined(NAVDATA_ENABLE)
|
|
|
|
# define NAVDATA_VISION_DETECT_INCLUDED
|
|
# define NAVDATA_TRIMS_INCLUDED
|
|
# define NAVDATA_WATCHDOG
|
|
# define NAVDATA_EULER_ANGLES_INCLUDED
|
|
# define NAVDATA_PHYS_MEASURES_INCLUDED
|
|
# define NAVDATA_TIME_INCLUDED
|
|
# define NAVDATA_RAW_MEASURES_INCLUDED
|
|
# define NAVDATA_GYROS_OFFSETS_INCLUDED
|
|
# define NAVDATA_REFERENCES_INCLUDED
|
|
# define NAVDATA_RC_REFERENCES_INCLUDED
|
|
# define NAVDATA_PWM_INCLUDED
|
|
# define NAVDATA_ALTITUDE_INCLUDED
|
|
# define NAVDATA_VISION_INCLUDED
|
|
# define NAVDATA_VISION_PERF_INCLUDED
|
|
# define NAVDATA_TRACKERS_SEND
|
|
# define NAVDATA_VIDEO_STREAM_INCLUDED
|
|
# define NAVDATA_PRESSURES_INCLUDED
|
|
|
|
#endif // ! NAVDATA_ENABLE
|
|
|
|
#ifndef ARDRONE_VISION_DETECT
|
|
# undef NAVDATA_VISION_DETECT_INCLUDED
|
|
#endif // ! ARDRONE_VISION_DETECT
|
|
|
|
///////////////////////////////////////////////
|
|
// Wifi configuration
|
|
|
|
#define USE_AUTOIP VP_COM_AUTOIP_DISABLE /* VP_COM_AUTOIP_ENABLE */
|
|
|
|
#define WIFI_NETMASK "255.255.255.0"
|
|
#define WIFI_GATEWAY WIFI_ARDRONE_IP
|
|
#define WIFI_SERVER WIFI_ARDRONE_IP
|
|
#define WIFI_SECURE 0
|
|
|
|
#define WIFI_BASE_ADDR 0xc0a80100 // 192.168.1.0
|
|
#define MULTICAST_BASE_ADDR 0xe0010100 // 224.1.1.0
|
|
#define WIFI_BROADCAST_ADDR (WIFI_BASE_ADDR | 0xff) //XXX.XXX.XXX.255
|
|
|
|
// Configure infrastructure mode given wifi driver compilation
|
|
#define WIFI_INFRASTRUCTURE 0
|
|
|
|
#define WIFI_PASSKEY "9F1C3EE11CBA230B27BF1C1B6F"
|
|
|
|
#define FTP_PORT 5551
|
|
#define AUTH_PORT 5552
|
|
#define VIDEO_RECORDER_PORT 5553
|
|
#define NAVDATA_PORT 5554
|
|
#define VIDEO_PORT 5555
|
|
#define AT_PORT 5556
|
|
#define RAW_CAPTURE_PORT 5557
|
|
#define PRINTF_PORT 5558
|
|
#define CONTROL_PORT 5559
|
|
|
|
///////////////////////////////////////////////
|
|
// Wired configuration
|
|
|
|
#define WIRED_MOBILE_IP WIFI_MOBILE_IP
|
|
|
|
///////////////////////////////////////////////
|
|
// Serial link configuration
|
|
|
|
#ifdef USE_ELINUX
|
|
|
|
#define SERIAL_LINK_0 "/dev/ttyPA0"
|
|
#define SERIAL_LINK_1 "/dev/ttyPA1"
|
|
#define SERIAL_LINK_2 "/dev/ttyPA2"
|
|
|
|
#endif
|
|
|
|
#ifdef USE_LINUX
|
|
|
|
#ifdef USE_MINGW32
|
|
|
|
#define SERIAL_LINK_0 ""
|
|
#define SERIAL_LINK_1 ""
|
|
#define SERIAL_LINK_2 ""
|
|
|
|
#else
|
|
|
|
// Only USE_LINUX is defined
|
|
#define SERIAL_LINK_0 "/dev/ttyUSB0" /* Serial link for navdata & ATCmd */
|
|
#define SERIAL_LINK_1 "/dev/ttyUSB1" /* Serial link for video */
|
|
#define SERIAL_LINK_2 "/dev/ser2" /* Serial link for adc */
|
|
|
|
#endif // USE_MINGW32
|
|
|
|
#endif // USE_LINUX
|
|
|
|
#define SL0_BAUDRATE VP_COM_BAUDRATE_460800 /* baud rate for serial link 0 */
|
|
#define SL1_BAUDRATE VP_COM_BAUDRATE_460800 /* baud rate for serial link 1 */
|
|
#define SL2_BAUDRATE VP_COM_BAUDRATE_460800 /* baud rate for serial link 2 */
|
|
|
|
///////////////////////////////////////////////
|
|
// Defines & types used in shared data
|
|
|
|
#define ARDRONE_ORIENTATION_HISTORY_SIZE 256
|
|
|
|
#define TSECDEC 21 /* Defines used to format time ( seconds << 21 + useconds ) */
|
|
#define TUSECMASK ((1U << TSECDEC) - 1)
|
|
#define TSECMASK (0xffffffff & ~TUSECMASK)
|
|
#define TIME_TO_USEC (0xffffffff & ~TUSECMASK)
|
|
|
|
#define VBAT_POWERING_OFF 9000 /* Minimum Battery Voltage [mV] to prevent damaging */
|
|
|
|
/* Syslog Configuration */
|
|
#define SYSLOG_NUM_BUFFERS 4 /* Number of actives buffers. When a buffer is full, it's dumped in file */
|
|
#define SYSLOG_BUFFER_SIZE 2048 /* Max number of bytes in a syslog buffer */
|
|
#define SYSLOG_BUFFER_DUMP_SIZE 128 /* Max number of bytes wrote at once during dump */
|
|
|
|
|
|
#define DEFAULT_MISC1_VALUE 2
|
|
#define DEFAULT_MISC2_VALUE 20
|
|
#define DEFAULT_MISC3_VALUE 2000
|
|
#define DEFAULT_MISC4_VALUE 3000
|
|
|
|
|
|
typedef enum {
|
|
MISC_VAR1 = 0,
|
|
MISC_VAR2,
|
|
MISC_VAR3,
|
|
MISC_VAR4,
|
|
NB_MISC_VARS
|
|
} misc_var_t;
|
|
|
|
// Mayday scenarii
|
|
typedef enum {
|
|
ARDRONE_ANIM_PHI_M30_DEG= 0,
|
|
ARDRONE_ANIM_PHI_30_DEG,
|
|
ARDRONE_ANIM_THETA_M30_DEG,
|
|
ARDRONE_ANIM_THETA_30_DEG,
|
|
ARDRONE_ANIM_THETA_20DEG_YAW_200DEG,
|
|
ARDRONE_ANIM_THETA_20DEG_YAW_M200DEG,
|
|
ARDRONE_ANIM_TURNAROUND,
|
|
ARDRONE_ANIM_TURNAROUND_GODOWN,
|
|
ARDRONE_ANIM_YAW_SHAKE,
|
|
ARDRONE_ANIM_YAW_DANCE,
|
|
ARDRONE_ANIM_PHI_DANCE,
|
|
ARDRONE_ANIM_THETA_DANCE,
|
|
ARDRONE_ANIM_VZ_DANCE,
|
|
ARDRONE_ANIM_WAVE,
|
|
ARDRONE_ANIM_PHI_THETA_MIXED,
|
|
ARDRONE_ANIM_DOUBLE_PHI_THETA_MIXED,
|
|
ARDRONE_ANIM_FLIP_AHEAD,
|
|
ARDRONE_ANIM_FLIP_BEHIND,
|
|
ARDRONE_ANIM_FLIP_LEFT,
|
|
ARDRONE_ANIM_FLIP_RIGHT,
|
|
ARDRONE_NB_ANIM_MAYDAY
|
|
} anim_mayday_t;
|
|
|
|
// Bitfield definition for user input
|
|
|
|
typedef enum {
|
|
ARDRONE_UI_BIT_AG = 0,
|
|
ARDRONE_UI_BIT_AB = 1,
|
|
ARDRONE_UI_BIT_AD = 2,
|
|
ARDRONE_UI_BIT_AH = 3,
|
|
ARDRONE_UI_BIT_L1 = 4,
|
|
ARDRONE_UI_BIT_R1 = 5,
|
|
ARDRONE_UI_BIT_L2 = 6,
|
|
ARDRONE_UI_BIT_R2 = 7,
|
|
ARDRONE_UI_BIT_SELECT = 8,
|
|
ARDRONE_UI_BIT_START = 9,
|
|
ARDRONE_UI_BIT_TRIM_THETA = 18,
|
|
ARDRONE_UI_BIT_TRIM_PHI = 20,
|
|
ARDRONE_UI_BIT_TRIM_YAW = 22,
|
|
ARDRONE_UI_BIT_X = 24,
|
|
ARDRONE_UI_BIT_Y = 28,
|
|
} ardrone_ui_bitfield_t;
|
|
|
|
|
|
/// \enum def_ardrone_state_mask_t is a bit field representing ARDrone' state
|
|
|
|
|
|
// Define masks for ARDrone state
|
|
// 31 0
|
|
// x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x x -> state
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | |
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | FLY MASK : (0) ardrone is landed, (1) ardrone is flying
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | VIDEO MASK : (0) video disable, (1) video enable
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | | | | VISION MASK : (0) vision disable, (1) vision enable
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | | | CONTROL ALGO : (0) euler angles control, (1) angular speed control
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | | ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | | USER feedback : Start button state
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | | Control command ACK : (0) None, (1) one received
|
|
// | | | | | | | | | | | | | | | | | | | | | | | | Camera enable : (0) Camera enable, (1) camera disable
|
|
// | | | | | | | | | | | | | | | | | | | | | | | Travelling enable : (0) disable, (1) enable
|
|
// | | | | | | | | | | | | | | | | | | | | | | USB key : (0) usb key not ready, (1) usb key ready
|
|
// | | | | | | | | | | | | | | | | | | | | | Navdata demo : (0) All navdata, (1) only navdata demo
|
|
// | | | | | | | | | | | | | | | | | | | | Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent
|
|
// | | | | | | | | | | | | | | | | | | | Motors status : (0) Ok, (1) Motors Com is down
|
|
// | | | | | | | | | | | | | | | | | | Communication Lost : (1) com problem, (0) Com is ok
|
|
// | | | | | | | | | | | | | | | | |
|
|
// | | | | | | | | | | | | | | | | VBat low : (1) too low, (0) Ok
|
|
// | | | | | | | | | | | | | | | User Emergency Landing : (1) User EL is ON, (0) User EL is OFF
|
|
// | | | | | | | | | | | | | | Timer elapsed : (1) elapsed, (0) not elapsed
|
|
// | | | | | | | | | | | | | Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed
|
|
// | | | | | | | | | | | | Angles : (0) Ok, (1) out of range
|
|
// | | | | | | | | | | | WIND MASK: (0) ok, (1) Too much wind
|
|
// | | | | | | | | | | Ultrasonic sensor : (0) Ok, (1) deaf
|
|
// | | | | | | | | | Cutout system detection : (0) Not detected, (1) detected
|
|
// | | | | | | | | PIC Version number OK : (0) a bad version number, (1) version number is OK
|
|
// | | | | | | | ATCodec thread ON : (0) thread OFF (1) thread ON
|
|
// | | | | | | Navdata thread ON : (0) thread OFF (1) thread ON
|
|
// | | | | | Video thread ON : (0) thread OFF (1) thread ON
|
|
// | | | | Acquisition thread ON : (0) thread OFF (1) thread ON
|
|
// | | | CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled // Check frequency of control loop
|
|
// | | ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good // Check frequency of uart2 dsr (com with adc)
|
|
// | Communication Watchdog : (1) com problem, (0) Com is ok // Check if we have an active connection with a client
|
|
// Emergency landing : (0) no emergency, (1) emergency
|
|
|
|
/*
|
|
Note : ARMCC stores enums as signed 32-bit integers.
|
|
1<<31 is thus out of range, and must be defined as (-1) or its hexa representation
|
|
reference : http://infocenter.arm.com/help/topic/com.arm.doc.dui0436a/RVCT20_Errors_and_Warnings.pdf (page 7)
|
|
*/
|
|
|
|
typedef enum {
|
|
ARDRONE_FLY_MASK = 1U << 0, /*!< FLY MASK : (0) ardrone is landed, (1) ardrone is flying */
|
|
ARDRONE_VIDEO_MASK = 1U << 1, /*!< VIDEO MASK : (0) video disable, (1) video enable */
|
|
ARDRONE_VISION_MASK = 1U << 2, /*!< VISION MASK : (0) vision disable, (1) vision enable */
|
|
ARDRONE_CONTROL_MASK = 1U << 3, /*!< CONTROL ALGO : (0) euler angles control, (1) angular speed control */
|
|
ARDRONE_ALTITUDE_MASK = 1U << 4, /*!< ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active */
|
|
ARDRONE_USER_FEEDBACK_START = 1U << 5, /*!< USER feedback : Start button state */
|
|
ARDRONE_COMMAND_MASK = 1U << 6, /*!< Control command ACK : (0) None, (1) one received */
|
|
ARDRONE_CAMERA_MASK = 1U << 7, /*!< CAMERA MASK : (0) camera not ready, (1) Camera ready */
|
|
ARDRONE_TRAVELLING_MASK = 1U << 8, /*!< Travelling mask : (0) disable, (1) enable */
|
|
ARDRONE_USB_MASK = 1U << 9, /*!< USB key : (0) usb key not ready, (1) usb key ready */
|
|
ARDRONE_NAVDATA_DEMO_MASK = 1U << 10, /*!< Navdata demo : (0) All navdata, (1) only navdata demo */
|
|
ARDRONE_NAVDATA_BOOTSTRAP = 1U << 11, /*!< Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent */
|
|
ARDRONE_MOTORS_MASK = 1U << 12, /*!< Motors status : (0) Ok, (1) Motors problem */
|
|
ARDRONE_COM_LOST_MASK = 1U << 13, /*!< Communication Lost : (1) com problem, (0) Com is ok */
|
|
ARDRONE_SOFTWARE_FAULT = 1U << 14, /*!< Software fault detected - user should land as quick as possible (1) */
|
|
ARDRONE_VBAT_LOW = 1U << 15, /*!< VBat low : (1) too low, (0) Ok */
|
|
ARDRONE_USER_EL = 1U << 16, /*!< User Emergency Landing : (1) User EL is ON, (0) User EL is OFF*/
|
|
ARDRONE_TIMER_ELAPSED = 1U << 17, /*!< Timer elapsed : (1) elapsed, (0) not elapsed */
|
|
ARDRONE_MAGNETO_NEEDS_CALIB = 1U << 18, /*!< Magnetometer calibration state : (0) Ok, no calibration needed, (1) not ok, calibration needed */
|
|
ARDRONE_ANGLES_OUT_OF_RANGE = 1U << 19, /*!< Angles : (0) Ok, (1) out of range */
|
|
ARDRONE_WIND_MASK = 1U << 20, /*!< WIND MASK: (0) ok, (1) Too much wind */
|
|
ARDRONE_ULTRASOUND_MASK = 1U << 21, /*!< Ultrasonic sensor : (0) Ok, (1) deaf */
|
|
ARDRONE_CUTOUT_MASK = 1U << 22, /*!< Cutout system detection : (0) Not detected, (1) detected */
|
|
ARDRONE_PIC_VERSION_MASK = 1U << 23, /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
|
|
ARDRONE_ATCODEC_THREAD_ON = 1U << 24, /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
|
|
ARDRONE_NAVDATA_THREAD_ON = 1U << 25, /*!< Navdata thread ON : (0) thread OFF (1) thread ON */
|
|
ARDRONE_VIDEO_THREAD_ON = 1U << 26, /*!< Video thread ON : (0) thread OFF (1) thread ON */
|
|
ARDRONE_ACQ_THREAD_ON = 1U << 27, /*!< Acquisition thread ON : (0) thread OFF (1) thread ON */
|
|
ARDRONE_CTRL_WATCHDOG_MASK = 1U << 28, /*!< CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled */
|
|
ARDRONE_ADC_WATCHDOG_MASK = 1U << 29, /*!< ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */
|
|
ARDRONE_COM_WATCHDOG_MASK = 1U << 30, /*!< Communication Watchdog : (1) com problem, (0) Com is ok */
|
|
#if defined(__ARMCC_VERSION)
|
|
ARDRONE_EMERGENCY_MASK = (int)0x80000000 /*!< Emergency landing : (0) no emergency, (1) emergency */
|
|
#else
|
|
ARDRONE_EMERGENCY_MASK = 1U << 31 /*!< Emergency landing : (0) no emergency, (1) emergency */
|
|
#endif
|
|
} def_ardrone_state_mask_t;
|
|
|
|
static INLINE uint32_t ardrone_set_state_with_mask( uint32_t state, uint32_t mask, bool_t value )
|
|
{
|
|
state &= ~mask;
|
|
if( value )
|
|
state |= mask;
|
|
|
|
return state;
|
|
}
|
|
|
|
/** Returns a bit value of state from a mask
|
|
* This function is used to test bits from a bit field like def_ardrone_state_mask_t
|
|
*
|
|
* @param state a 32 bits word we want to test
|
|
* @param mask a mask that tells the bit to test
|
|
* @return TRUE if bit is set, FALSE otherwise
|
|
*/
|
|
static INLINE bool_t ardrone_get_mask_from_state( uint32_t state, uint32_t mask )
|
|
{
|
|
return state & mask ? TRUE : FALSE;
|
|
}
|
|
|
|
/** Convert time value from proprietary format to (unsigned int) micro-second value
|
|
*
|
|
* @param time value in proprietary format
|
|
* @return time value in micro-second value (unsigned int)
|
|
*/
|
|
static INLINE uint32_t ardrone_time_to_usec( uint32_t time )
|
|
{
|
|
return ((uint32_t)(time >> TSECDEC) * 1000000 + (uint32_t)(time & TUSECMASK));
|
|
}
|
|
|
|
|
|
#ifdef DEBUG_MODE
|
|
#define POSIX_DEBUG
|
|
#endif // DEBUG_MODE
|
|
|
|
#endif // _CONFIG_H_
|