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[rotorcraft sim] some fixes for actuators arch
* removed actuators mkk sim arch * added pwm arch
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7 changes: 6 additions & 1 deletion
7
conf/firmwares/subsystems/rotorcraft/actuators_pwm_supervision.makefile
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# add actuatos arch to include directories | ||
ap.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) | ||
$(TARGET).CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) | ||
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ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c | ||
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c | ||
ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c | ||
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# Simulator | ||
sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c | ||
sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm_supervision.c | ||
sim.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c |
3 changes: 0 additions & 3 deletions
3
sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
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27 changes: 16 additions & 11 deletions
27
...t/actuators/arch/sim/actuators_mkk_arch.h → ...t/actuators/arch/sim/actuators_pwm_arch.c
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/* | ||
* $Id$ | ||
* Copyright (C) 2010 The Paparazzi Team | ||
* | ||
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com> | ||
* This file is part of Paparazzi. | ||
* | ||
* This file is part of paparazzi. | ||
* | ||
* paparazzi is free software; you can redistribute it and/or modify | ||
* Paparazzi is free software; you can redistribute it and/or modify | ||
* it under the terms of the GNU General Public License as published by | ||
* the Free Software Foundation; either version 2, or (at your option) | ||
* any later version. | ||
* | ||
* paparazzi is distributed in the hope that it will be useful, | ||
* Paparazzi is distributed in the hope that it will be useful, | ||
* but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
* GNU General Public License for more details. | ||
* | ||
* You should have received a copy of the GNU General Public License | ||
* along with paparazzi; see the file COPYING. If not, write to | ||
* along with Paparazzi; see the file COPYING. If not, write to | ||
* the Free Software Foundation, 59 Temple Place - Suite 330, | ||
* Boston, MA 02111-1307, USA. | ||
*/ | ||
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#ifndef ACTUATORS_MKK_ARCH_H | ||
#define ACTUATORS_MKK_ARCH_H | ||
/** @file arch/sim/actuators_pwm_arch.c | ||
* dummy servos handling for sim | ||
*/ | ||
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#include "firmwares/rotorcraft/actuators/actuators_pwm.h" | ||
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void actuators_pwm_arch_init(void) { | ||
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} | ||
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#define ActuatorsMkkArchSend() {} | ||
void actuators_pwm_commit(void) { | ||
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#endif /* ACTUATORS_MKK_ARCH_H */ | ||
} |
38 changes: 38 additions & 0 deletions
38
sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_pwm_arch.h
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/* | ||
* Copyright (C) 2010 The Paparazzi Team | ||
* | ||
* This file is part of Paparazzi. | ||
* | ||
* Paparazzi is free software; you can redistribute it and/or modify | ||
* it under the terms of the GNU General Public License as published by | ||
* the Free Software Foundation; either version 2, or (at your option) | ||
* any later version. | ||
* | ||
* Paparazzi is distributed in the hope that it will be useful, | ||
* but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
* GNU General Public License for more details. | ||
* | ||
* You should have received a copy of the GNU General Public License | ||
* along with Paparazzi; see the file COPYING. If not, write to | ||
* the Free Software Foundation, 59 Temple Place - Suite 330, | ||
* Boston, MA 02111-1307, USA. | ||
*/ | ||
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/** @file arch/sim/actuators_pwm_arch.h | ||
* dummy servos handling for sim | ||
*/ | ||
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#ifndef ACTUATORS_PWM_ARCH_H | ||
#define ACTUATORS_PWM_ARCH_H | ||
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#define ACTUATORS_PWM_NB 8 | ||
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extern void actuators_pwm_arch_init(void); | ||
extern void actuators_pwm_commit(void); | ||
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#define ChopServo(_x,_a,_b) Chop(_x, _a, _b) | ||
#define Actuator(_x) actuators_pwm_values[_x] | ||
#define SERVOS_TICS_OF_USEC(_v) (_v) | ||
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#endif /* ACTUATORS_PWM_ARCH_H */ |