--- /dev/null
+/**
+***************************************************************************
+*
+* 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>
+ #include <autoconf.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
+
+#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 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 ((1 << 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_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
+// | | | | | | | | | | | | | | | | | | | | | | | | Trim command ACK : (0) None, (1) one received
+// | | | | | | | | | | | | | | | | | | | | | | | Trim running : (0) none, (1) running
+// | | | | | | | | | | | | | | | | | | | | | | Trim result : (0) failed, (1) succeeded
+// | | | | | | | | | | | | | | | | | | | | | 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
+// | | | | | | | | | | | | | | | | | |
+// | | | | | | | | | | | | | | | | | Bit means that there's an hardware problem with gyrometers
+// | | | | | | | | | | | | | | | | VBat low : (1) too low, (0) Ok
+// | | | | | | | | | | | | | | | VBat high (US mad) : (1) too high, (0) Ok
+// | | | | | | | | | | | | | | Timer elapsed : (1) elapsed, (0) not elapsed
+// | | | | | | | | | | | | | Power : (0) Ok, (1) not enough to fly
+// | | | | | | | | | | | | Angles : (0) Ok, (1) out of range
+// | | | | | | | | | | | Wind : (0) Ok, (1) too much to fly
+// | | | | | | | | | | 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
+
+typedef enum {
+ ARDRONE_FLY_MASK = 1 << 0, /*!< FLY MASK : (0) ardrone is landed, (1) ardrone is flying */
+ ARDRONE_VIDEO_MASK = 1 << 1, /*!< VIDEO MASK : (0) video disable, (1) video enable */
+ ARDRONE_VISION_MASK = 1 << 2, /*!< VISION MASK : (0) vision disable, (1) vision enable */
+ ARDRONE_CONTROL_MASK = 1 << 3, /*!< CONTROL ALGO : (0) euler angles control, (1) angular speed control */
+ ARDRONE_ALTITUDE_MASK = 1 << 4, /*!< ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active */
+ ARDRONE_USER_FEEDBACK_START = 1 << 5, /*!< USER feedback : Start button state */
+ ARDRONE_COMMAND_MASK = 1 << 6, /*!< Control command ACK : (0) None, (1) one received */
+ ARDRONE_FW_FILE_MASK = 1 << 7, /* Firmware file is good (1) */
+ ARDRONE_FW_VER_MASK = 1 << 8, /* Firmware update is newer (1) */
+// ARDRONE_FW_UPD_MASK = 1 << 9, /* Firmware update is ongoing (1) */
+ ARDRONE_NAVDATA_DEMO_MASK = 1 << 10, /*!< Navdata demo : (0) All navdata, (1) only navdata demo */
+ ARDRONE_NAVDATA_BOOTSTRAP = 1 << 11, /*!< Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent */
+ ARDRONE_MOTORS_MASK = 1 << 12, /*!< Motors status : (0) Ok, (1) Motors problem */
+ ARDRONE_COM_LOST_MASK = 1 << 13, /*!< Communication Lost : (1) com problem, (0) Com is ok */
+ ARDRONE_VBAT_LOW = 1 << 15, /*!< VBat low : (1) too low, (0) Ok */
+ ARDRONE_USER_EL = 1 << 16, /*!< User Emergency Landing : (1) User EL is ON, (0) User EL is OFF*/
+ ARDRONE_TIMER_ELAPSED = 1 << 17, /*!< Timer elapsed : (1) elapsed, (0) not elapsed */
+ ARDRONE_ANGLES_OUT_OF_RANGE = 1 << 19, /*!< Angles : (0) Ok, (1) out of range */
+ ARDRONE_ULTRASOUND_MASK = 1 << 21, /*!< Ultrasonic sensor : (0) Ok, (1) deaf */
+ ARDRONE_CUTOUT_MASK = 1 << 22, /*!< Cutout system detection : (0) Not detected, (1) detected */
+ ARDRONE_PIC_VERSION_MASK = 1 << 23, /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
+ ARDRONE_ATCODEC_THREAD_ON = 1 << 24, /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
+ ARDRONE_NAVDATA_THREAD_ON = 1 << 25, /*!< Navdata thread ON : (0) thread OFF (1) thread ON */
+ ARDRONE_VIDEO_THREAD_ON = 1 << 26, /*!< Video thread ON : (0) thread OFF (1) thread ON */
+ ARDRONE_ACQ_THREAD_ON = 1 << 27, /*!< Acquisition thread ON : (0) thread OFF (1) thread ON */
+ ARDRONE_CTRL_WATCHDOG_MASK = 1 << 28, /*!< CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled */
+ ARDRONE_ADC_WATCHDOG_MASK = 1 << 29, /*!< ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */
+ ARDRONE_COM_WATCHDOG_MASK = 1 << 30, /*!< Communication Watchdog : (1) com problem, (0) Com is ok */
+ ARDRONE_EMERGENCY_MASK = 1 << 31 /*!< Emergency landing : (0) no emergency, (1) emergency */
+} 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_
projects / mardrone / blobdiff