Paparazzi UAS  v5.15_devel-164-g81d4ceb
Paparazzi is a free software Unmanned Aircraft System.
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disco.h
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1 /*
2  * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  *
20  */
21 
22 #ifndef CONFIG_DISCO
23 #define CONFIG_DISCO
24 
25 #define BOARD_DISCO
26 
27 #include "std.h"
28 
30 #define UART1_DEV /dev/ttyPA1
31 
32 #define GPS_UBX_ENABLE_NMEA_DATA_MASK 0xff
33 
37 #ifndef UART2_DEV
38 #define UART2_DEV /dev/ttyUSB0
39 #endif
40 #ifndef UART4_DEV
41 #define UART4_DEV /dev/ttyUSB1
42 #endif
43 #ifndef UART5_DEV
44 #define UART5_DEV /dev/ttyACM0
45 #endif
46 #ifndef UART6_DEV
47 #define UART6_DEV /dev/ttyACM1
48 #endif
49 
51 #ifndef UART3_DEV
52 #define UART3_DEV /dev/uart-sbus
53 #endif
54 
55 /* Default actuators driver */
56 #define DEFAULT_ACTUATORS "boards/disco/actuators.h"
57 #define ActuatorDefaultSet(_x,_y) ActuatorsDiscoSet(_x,_y)
58 #define ActuatorsDefaultInit() ActuatorsDiscoInit()
59 #define ActuatorsDefaultCommit() ActuatorsDiscoCommit()
60 
61 /* Cameras */
63 
64 // re-use the Parrot Bebop video drivers
65 #include "boards/bebop/mt9v117.h"
66 #include "boards/bebop/mt9f002.h"
67 
68 extern struct video_config_t bottom_camera;
69 extern struct video_config_t front_camera;
70 
71 /* ISP */
72 //struct mt9f002_t mt9f002;
73 
74 /* by default activate onboard baro */
75 #ifndef USE_BARO_BOARD
76 #define USE_BARO_BOARD 1
77 #endif
78 
79 /* The ADC from the sonar */
80 #if USE_ADC0
81 #define ADC0_ID 0
82 #define ADC0_CHANNELS 2
83 #define ADC0_CHANNELS_CNT 1
84 #define ADC0_BUF_LENGTH 8192
85 #endif
86 
87 /* The SPI from the sonar */
88 #if USE_SPI0
89 #define SPI0_MODE 0
90 #define SPI0_BITS_PER_WORD 8
91 #define SPI0_MAX_SPEED_HZ 320000
92 #endif
93 
94 /* Configuration values of airspeed sensor onboard the Parrot Disco C.H.U.C.K */
95 #define MS45XX_I2C_DEV i2c1
96 #define MS45XX_PRESSURE_RANGE 4
97 #define MS45XX_PRESSURE_TYPE 1
98 #define MS45XX_OUTPUT_TYPE 1
99 #define MS45XX_PRESSURE_OUTPUT_TYPE_InH2O 1
100 #define MS45XX_AIRSPEED_SCALE 1.6327
101 #ifndef USE_AIRSPEED_LOWPASS_FILTER
102 #define USE_AIRSPEED_LOWPASS_FILTER 1
103 #endif
104 //#if USE_AIRSPEED_LOWPASS_FILTER /* Always used now */
105 #ifndef MS45XX_LOWPASS_TAU
106 #define MS45XX_LOWPASS_TAU 0.15
107 #endif
108 //#endif
109 
110 /* To be flexible and be able to disable use of airspeed in state this could have been in the airframe file ofcourse
111  * but most users just want to have perfectly flying Disco, so enable per default... */
112 #ifndef USE_AIRSPEED
113 #define USE_AIRSPEED 1
114 #endif
115 
116 /* These are the default Disco values for sonar */
117 #define SONAR_BEBOP_TRANSITION_HIGH_TO_LOW 0.75 //m
118 #define SONAR_BEBOP_TRANSITION_LOW_TO_HIGH 1.5 //m
119 #define SONAR_BEBOP_TRANSITION_COUNT 50
120 #define SONAR_BEBOP_PEAK_THRESHOLD 50
121 
122 #endif /* CONFIG_DISCO */
Initialization and configuration of the MT9V117 CMOS Chip.
struct video_config_t bottom_camera
Definition: board.c:68
Initialization and configuration of the MT9F002 CMOS Chip.
struct video_config_t front_camera
Video thread dummy for simulation.
Definition: board.c:43
V4L2 device settings.
Definition: video_device.h:55