Camera is working

conf/Makefile.stm32

@@ -105,16 +105,15 @@ endif
 CFLAGS = -I. -I./$(ARCH) -I../ext/libopencm3/include $(INCLUDES)
 CFLAGS += -D__thumb2__ -Wall -O$(OPT)
 ifeq ($(ARCH_L), )
-CFLAGS += -msoft-float
+CFLAGS += -msoft-float -mfix-cortex-m3-ldrd
 else ifeq ($(ARCH_L),f4)
-ifndef HARD_FLOAT
+ifneq ($(HARD_FLOAT),1)
 CFLAGS += -msoft-float
 else
 CFLAGS += -g -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD
 endif
 endif
 CFLAGS += -Wl,--gc-sections
-CFLAGS += -mfix-cortex-m3-ldrd
 CFLAGS += -mcpu=$(MCU) -mthumb -ansi
 CFLAGS += -std=gnu99
 #CFLAGS += -malignment-traps
@@ -151,21 +150,21 @@ LDFLAGS += -T$(LDSCRIPT) -nostartfiles -O$(OPT) -mthumb -mcpu=$(MCU)
 ifeq ($(ARCH_L), )
 LDFLAGS += -mfix-cortex-m3-ldrd -msoft-float
 else ifeq ($(ARCH_L),f4)
-ifndef HARD_FLOAT
-LDFLAGS += -mfix-cortex-m3-ldrd -msoft-float
+ifneq ($(HARD_FLOAT),1)
+LDFLAGS += -msoft-float
 else
-LDFLAGS += -lnosys -D__thumb2__\
-           -mfloat-abi=hard -mfpu=fpv4-sp-d16
+LDFLAGS += -D__thumb2__
+LDFLAGS += -lnosys -mfloat-abi=hard -mfpu=fpv4-sp-d16
 endif
 endif
 
 LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
-LDLIBS  += -lc -lm -lgcc
 ifneq ($(ARCH_L), )
 LDLIBS  += -lopencm3_stm32$(ARCH_L)
 else
 LDLIBS  += -lopencm3_stm32f1
 endif
+LDLIBS  += -lc -lm -lgcc
 
 CPFLAGS = -j .isr_vector -j .text -j .data
 CPFLAGS_BIN = -Obinary

conf/airframes/krooz_1_0_okto_mkk.xml

@@ -38,14 +38,15 @@
     <load name="sys_mon.xml"/>-->
 		<load name="beeper.xml"/>
     <load name="krooz_cam.xml">
-      <define name="TILT_CENTER" value="1532"/>
-			<define name="PAN_CENTER" value="1420"/>
-			<define name="TILT_COEFF" value="-4000"/>
-			<define name="PAN_COEFF" value="1500"/>
-			<define name="TILT_RATE" value="-300"/>
-			<define name="PAN_RATE" value="110"/>
-      <define name="PAN_AREA" value="380"/>
-      <define name="PAN_DOWN" value="1700"/>
+      <define name="CAM_TEST" value="1"/><!---->
+      <define name="PAN_CENTER" value="1500"/>
+			<define name="TILT_CENTER" value="1420"/>
+			<define name="PAN_COEFF" value="-4460"/>
+			<define name="TILT_COEFF" value="1650"/>
+			<define name="PAN_RATE" value="-300"/>
+			<define name="TILT_RATE" value="110"/>
+      <define name="TILT_AREA" value="380"/>
+      <define name="TILT_DOWN" value="1700"/>
     </load>
     </modules>
 

conf/boards/krooz_1.0.makefile

@@ -11,6 +11,7 @@ BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
 
 ARCH=stm32
 ARCH_L=f4
+HARD_FLOAT=1
 ARCH_DIR=stm32
 SRC_ARCH=arch/$(ARCH_DIR)
 $(TARGET).ARCHDIR = $(ARCH)
@@ -42,7 +43,7 @@ endif
 # default LED configuration
 #
 ifndef RADIO_CONTROL_LED
-RADIO_CONTROL_LED = 3
+RADIO_CONTROL_LED = none
 endif
 
 ifndef BARO_LED

conf/modules/krooz_cam.xml

@@ -3,6 +3,7 @@
 <module name="krooz_cam" dir="cam_control">
   <header>
     <file name="krooz_cam.h"/>
+    <file name="cam_power.h"/>
   </header>
   <init fun="krooz_cam_init()"/>
   <periodic fun="krooz_servo_periodic()" freq="192."/>
@@ -12,6 +13,8 @@
     <file name="krooz_cam.c"/>
     <file name="cam_power.c"/>
 		<define name="USE_SERVOS_9AND10" value="1"/>
+    <define name="USE_CAM" value="1"/>
+    <define name="VIDEO" value="1"/>
   </makefile>
 </module>
 

conf/settings/modules/krooz_cam_setup.xml

@@ -4,9 +4,9 @@
   <dl_settings>
 
   <dl_settings NAME="Cam Set">
-		<dl_setting var="tilt_center" MIN="1000" STEP="10" MAX="2000" unit="u" shortname="tilt_ctr"/>
-    <dl_setting var="pan_down" MIN="1000" STEP="10" MAX="2000" unit="u" shortname="pan_down"/>
-    <dl_setting var="pan_area" MIN="-1000" STEP="10" MAX="1000" unit="u" shortname="pan_area"/>
+		<dl_setting var="pan_center" MIN="1000" STEP="10" MAX="2000" unit="u" shortname="tilt_ctr"/>
+    <dl_setting var="tilt_down" MIN="1000" STEP="10" MAX="2000" unit="u" shortname="pan_down"/>
+    <dl_setting var="tilt_area" MIN="-1000" STEP="10" MAX="1000" unit="u" shortname="pan_area"/>
 		<dl_setting var="tilt_coeff" MIN="-5000" STEP="100" MAX="10000" unit="u" shortname="tilt"/>
 		<dl_setting var="pan_coeff" MIN="-5000" STEP="100" MAX="10000" unit="u" shortname="pan"/>
 		<dl_setting var="tilt_rate" MIN="-1000" STEP="10" MAX="1000" unit="u" shortname="t_rate"/>

sw/airborne/arch/stm32/mcu_periph/adc_arch.c

@@ -87,14 +87,13 @@
 #if defined(STM32F1)
 #include <libopencm3/stm32/f1/rcc.h>
 #include <libopencm3/stm32/f1/adc.h>
-#include <libopencm3/stm32/f1/gpio.h>
 #include <libopencm3/stm32/f1/nvic.h>
 #elif defined(STM32F4)
 #include <libopencm3/stm32/f4/rcc.h>
 #include <libopencm3/stm32/f4/adc.h>
-#include <libopencm3/stm32/f4/gpio.h>
 #include <libopencm3/stm32/f4/nvic.h>
 #endif
+#include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/timer.h>
 #include <string.h>
 #include "std.h"

sw/airborne/boards/krooz_1.0.h

@@ -114,7 +114,7 @@
 /* GPIO mapping for ADC1 pins, overwrites the default in arch/stm32/mcu_periph/adc_arch.c */
 // FIXME, this is not very nice, is also stm lib specific
 #ifdef USE_AD1
-#define ADC1_GPIO_INIT(gpio) {                                          \
+#define ADC1_GPIO_INIT() {                                          \
     gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO3 | GPIO0 | GPIO2 | GPIO1 | GPIO4 | GPIO5); 	\
   }
 #endif // USE_AD1

sw/airborne/modules/cam_control/cam_power.c

@@ -63,7 +63,7 @@ int32_t cam_min_alt = CAM_MIN_ALT;
 
 #ifdef ADC_CHANNEL_CAM1
 struct adc_buf cam1_state;
-int32_t cam1_state_val;
+int16_t cam1_state_val;
 #endif
 #ifdef CAMERA_2
 #ifdef ADC_CHANNEL_CAM2
@@ -244,14 +244,16 @@ void kamera_init( void )
 #if defined(STM32F4)
   rcc_peripheral_enable_clock(&RCC_AHB1ENR, CAM_SW_GPIO_CLK);
   gpio_mode_setup(CAM_SW_GPIO, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, CAM_SW_GPIO_PIN);
+  rcc_peripheral_enable_clock(&RCC_AHB1ENR, CAM_V_GPIO_CLK);
+  gpio_mode_setup(CAM_V_GPIO, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, CAM_V_GPIO_PIN);
 #endif
 
   CamSet();
 
   stage_photo_num = STAGE_PHOTO_NUM;
   shot_period = SHOT_PERIOD*4;
 #ifdef VIDEO_1
-  VideoSet(); //P1.22 auf High
+  VideoSet();
 #endif
   cam_counter = 0;
 
@@ -270,7 +272,7 @@ void kamera_init( void )
 
 void periodic_task_kamera(void) //4Hz
 {
-
+  
   cam1_state_val = cam1_state.sum / cam1_state.av_nb_sample;
 
 #ifdef VIDEO_1

sw/airborne/modules/cam_control/cam_power.h

@@ -43,7 +43,6 @@
 
 #ifdef ADC_CHANNEL_CAM1
 //struct adc_buf cam1_state;
-int32_t cam1_state_val;
 #endif
 #ifdef CAMERA_2
 #ifdef ADC_CHANNEL_CAM2
@@ -88,16 +87,16 @@ struct adc_buf cam2_state;
 
 #ifdef STM32F4
 #define CAM_STATE_ON_LEVEL 	2048
-#define CamClr()	{gpio_clear(CAM_SH_GPIO, CAM_SH_GPIO_PIN);}
-#define CamSet()	{gpio_set(CAM_SH_GPIO, CAM_SH_GPIO_PIN);}
+#define CamClr()	{gpio_mode_setup(CAM_SH_GPIO, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, CAM_SH_GPIO_PIN); gpio_clear(CAM_SH_GPIO, CAM_SH_GPIO_PIN);}
+#define CamSet()	{gpio_set(CAM_SH_GPIO, CAM_SH_GPIO_PIN); gpio_mode_setup(CAM_SH_GPIO, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, CAM_SH_GPIO_PIN);}
 #define Cam1SwitchClr() {gpio_clear(CAM_SW_GPIO, CAM_SW_GPIO_PIN);}
 #define Cam1SwitchSet() {gpio_set(CAM_SW_GPIO, CAM_SW_GPIO_PIN);}
-#define CamVideoSet {} //CAM_V_GPIO->BSRR = CAM_V_GPIO_PIN;
-#define CamVideoClr() {} //CAM_V_GPIO->BRR = CAM_V_GPIO_PIN;
+#define Cam1VideoSet() {gpio_set(CAM_V_GPIO, CAM_V_GPIO_PIN);}
+#define Cam1VideoClr() {gpio_clear(CAM_V_GPIO, CAM_V_GPIO_PIN);}
 #endif
 
-//#define CamCheck() (cam1_state.sum / cam1_state.av_nb_sample > CAM_STATE_ON_LEVEL)
-#define Cam1Check() TRUE
+#define Cam1Check() (cam1_state.sum / cam1_state.av_nb_sample > CAM_STATE_ON_LEVEL)
+//#define Cam1Check() TRUE
 #define DO_SHOTS 		(radio_control.values[RADIO_SHOTS] > MAX_PPRZ / 2)
 #define SHOT_VIDEO 	(radio_control.values[RADIO_PH_VD] > MAX_PPRZ / 2)
 
@@ -114,7 +113,7 @@ extern uint16_t last_known_shot;
 extern uint8_t shot_period;
 extern uint8_t stage_photo_num;
 
-extern int32_t cam1_state_val;
+extern int16_t cam1_state_val;
 
 #ifndef SITL
 void CacheDel(uint16_t photo_nr);

sw/airborne/modules/cam_control/krooz_cam.c

@@ -51,30 +51,31 @@
 #ifndef TILT_CENTER
 #define TILT_CENTER 1500
 #endif
-#ifndef PAN_AREA
-#define PAN_AREA 300
+#ifndef TILT_AREA
+#define TILT_AREA 300
 #endif
-#ifndef PAN_DOWN
-#define PAN_DOWN 1800
+#ifndef TILT_DOWN
+#define TILT_DOWN 1800
 #endif
 
 bool_t cam_flag;
 bool_t servo_flag;
 #ifdef CAM_SETUP
-int16_t tilt_center = TILT_CENTER;
+int16_t pan_center = PAN_CENTER;
 int16_t tilt_coeff = TILT_COEFF;
 int16_t pan_coeff = PAN_COEFF;
 int16_t tilt_rate = TILT_RATE;
 int16_t pan_rate = PAN_RATE;
-int16_t pan_down = PAN_DOWN;
-int16_t pan_area = PAN_AREA;
+int16_t tilt_down = TILT_DOWN;
+int16_t tilt_area = TILT_AREA;
 #endif
-int16_t cam_tilt = 0;
-int16_t cam_pan = 0;
+int16_t rotorcraft_cam_tilt = 0;
+int16_t rotorcraft_cam_pan = 0;
 int32_t radio_cam_value = 0;
 
 void krooz_cam_init() {
   ActuatorsPwmInit();
+  kamera_init();
 }
 
 void krooz_cam_periodic() {
@@ -88,34 +89,34 @@ void krooz_servo_periodic() {
 void krooz_cam_event(void) {
   if(servo_flag) {
 #ifdef CAM_SETUP
-    int32_t angle_buf = stateGetNedToBodyEulers_i()->phi * tilt_coeff / INT32_ANGLE_PI;
-    int32_t rate_buf = stateGetBodyRates_i()->p * tilt_rate/INT32_ANGLE_PI;
-    cam_tilt = (int16_t)angle_buf + (int16_t)rate_buf + tilt_center;
-    angle_buf = stateGetNedToBodyEulers_i()->theta * pan_coeff/INT32_ANGLE_PI;
-    rate_buf = stateGetBodyRates_i()->q * pan_rate / INT32_ANGLE_PI;
+    int32_t angle_buf = stateGetNedToBodyEulers_i()->phi * pan_coeff / INT32_ANGLE_PI;
+    int32_t rate_buf = stateGetBodyRates_i()->p * pan_rate/INT32_ANGLE_PI;
+    rotorcraft_cam_pan = (int16_t)angle_buf + (int16_t)rate_buf + pan_center;
+    angle_buf = stateGetNedToBodyEulers_i()->theta * tilt_coeff / INT32_ANGLE_PI;
+    rate_buf = stateGetBodyRates_i()->q * tilt_rate / INT32_ANGLE_PI;
 #else
-    int32_t angle_buf = stateGetNedToBodyEulers_i()->phi * TILT_COEFF / INT32_ANGLE_PI;
-    int32_t rate_buf = stateGetBodyRates_i()->p * TILT_RATE / INT32_ANGLE_PI;
-    cam_tilt = (int16_t)angle_buf + (int16_t)rate_buf + TILT_CENTER;
-    angle_buf = stateGetNedToBodyEulers_i()->theta * PAN_COEFF/INT32_ANGLE_PI;
-    rate_buf = stateGetBodyRates_i()->q * PAN_RATE / INT32_ANGLE_PI;
+    int32_t angle_buf = stateGetNedToBodyEulers_i()->phi * PAN_COEFF / INT32_ANGLE_PI;
+    int32_t rate_buf = stateGetBodyRates_i()->p * PAN_RATE / INT32_ANGLE_PI;
+    rotorcraft_cam_pan = (int16_t)angle_buf + (int16_t)rate_buf + PAN_CENTER;
+    angle_buf = stateGetNedToBodyEulers_i()->theta * TILT_COEFF / INT32_ANGLE_PI;
+    rate_buf = stateGetBodyRates_i()->q * TILT_RATE / INT32_ANGLE_PI;
 #endif
     if(radio_control.status == RC_OK)
       radio_cam_value = (radio_cam_value*49 + (int32_t)radio_control.values[RADIO_CAM]) / 50;
     if(autopilot_mode != AP_MODE_NAV)
 #if CAM_SETUP == 1
-      cam_pan = (int16_t)angle_buf + (radio_cam_value - MAX_PPRZ)*pan_area/MAX_PPRZ + (int16_t)rate_buf + pan_down;
+      rotorcraft_cam_tilt = (int16_t)angle_buf + (radio_cam_value - MAX_PPRZ) * tilt_area/MAX_PPRZ + (int16_t)rate_buf + tilt_down;
 #else
-      cam_pan = (int16_t)angle_buf + (radio_cam_value - MAX_PPRZ)*PAN_AREA/MAX_PPRZ + (int16_t)rate_buf + PAN_DOWN;
+      rotorcraft_cam_tilt = (int16_t)angle_buf + (radio_cam_value - MAX_PPRZ) * TILT_AREA/MAX_PPRZ + (int16_t)rate_buf + TILT_DOWN;
 #endif
     else
 #if CAM_SETUP == 1
-      cam_pan = (int16_t)angle_buf + pan_down + (int16_t)rate_buf;
+      rotorcraft_cam_tilt = (int16_t)angle_buf + tilt_down + (int16_t)rate_buf;
 #else
-      cam_pan = (int16_t)angle_buf + PAN_DOWN + (int16_t)rate_buf;
+      rotorcraft_cam_tilt = (int16_t)angle_buf + TILT_DOWN + (int16_t)rate_buf;
 #endif
 #ifdef CAM_TEST
-    cam_pan = (int16_t)angle_buf + radio_cam_value*600/MAX_PPRZ + (int16_t)rate_buf + PAN_CENTER;
+    rotorcraft_cam_tilt = (int16_t)angle_buf + radio_cam_value*600/MAX_PPRZ + (int16_t)rate_buf + PAN_CENTER;
 #endif
 /*
 #ifdef COMMAND_CAM_PAN
@@ -125,10 +126,10 @@ void krooz_cam_event(void) {
     /commands[COMMAND_CAM_TILT] = cam_tilt;
 #endif
 */  
-    Bound(cam_tilt, 900, 2100);
-    Bound(cam_pan, 900, 2100);
-    ActuatorPwmSet(8, cam_pan);
-    ActuatorPwmSet(9, cam_tilt);
+    Bound(rotorcraft_cam_tilt, 900, 2100);
+    Bound(rotorcraft_cam_pan, 900, 2100);
+    ActuatorPwmSet(8, rotorcraft_cam_tilt);
+    ActuatorPwmSet(9, rotorcraft_cam_pan);
     ActuatorsPwmCommit();
     servo_flag = FALSE;
   }

sw/airborne/modules/cam_control/krooz_cam.h

@@ -29,15 +29,18 @@
 //#include "led.h"
 
 #ifdef CAM_SETUP
-extern int16_t tilt_center;
+extern int16_t pan_center;
 extern int16_t tilt_coeff;
 extern int16_t pan_coeff;
 extern int16_t tilt_rate;
 extern int16_t pan_rate;
-extern int16_t pan_down;
-extern int16_t pan_area;
+extern int16_t tilt_down;
+extern int16_t tilt_area;
 #endif
 
+extern int16_t rotorcraft_cam_tilt;
+extern int16_t rotorcraft_cam_pan;
+
 extern void krooz_cam_init(void);
 extern void krooz_servo_periodic(void);
 extern void krooz_cam_periodic(void);