DevGuide/DesignOverview - Revision history

Ghattenb at 22:21, 18 April 2015

2015-04-18T22:21:09Z

← Older revision		Revision as of 16:21, 18 April 2015
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	== Airborne Functional Diagram ==		== Airborne Functional Diagram ==
			[[Image:Airborne_software_functional.png]]

			== Generating Doxygen Code Documentation ==

			see [[Doxygen]]

			== Previous designs ==

			The documentation below this point reflects older version of paparazzi below v5.x

			=== Airborne Functional Diagram ===
	[[Image:functional_diagram.png]]		[[Image:functional_diagram.png]]


	== Design Goals ==		=== Design Goals ===
	-Static approach		-Static approach
	-Modularity		-Modularity
Line 9:		Line 20:
	-Runtime efficiency		-Runtime efficiency

	=== Static Approach ===		==== Static Approach ====
	-only "things that needs to be changed during flight are changeable		-only "things that needs to be changed during flight are changeable
	-maximise compilation time resolutions		-maximise compilation time resolutions
Line 18:		Line 29:
	Safety/Robustness		Safety/Robustness

	=== Modularity ===		==== Modularity ====

	[[Image:modularity.png]]		[[Image:modularity.png]]
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	[[Image:dependancies_example.png]]		[[Image:dependancies_example.png]]

	=== Hardware abstraction ===		==== Hardware abstraction ====

	-Segregate hardware dependant modules		-Segregate hardware dependant modules
Line 37:		Line 48:


	=== Runtime Efficiency ===		==== Runtime Efficiency ====

	We have to take care that our code runs efficient on the autopilot board microprocessor. It is for example very unlikely that we will physically change the serial port on which we connected our telemetry modem during a flight.		We have to take care that our code runs efficient on the autopilot board microprocessor. It is for example very unlikely that we will physically change the serial port on which we connected our telemetry modem during a flight.
Line 53:		Line 64:
	UartWrite(...);		UartWrite(...);

	== Design Solutions ==		=== Design Solutions ===

	* Heavy pre-processor usage		* Heavy pre-processor usage
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	=== pre-processor ===		==== pre-processor ====

	==== header selection ====		===== header selection =====

	conf/airframes/funjet1.xml		conf/airframes/funjet1.xml
Line 83:		Line 94:


	==== macros ====		===== macros =====

	conf/airframes/funjet1.xml		conf/airframes/funjet1.xml
Line 100:		Line 111:


	=== C code generation ===		==== C code generation ====

	For problems too complex to solve with the pre processor, we use custom compilers to generate code from a description in xml		For problems too complex to solve with the pre processor, we use custom compilers to generate code from a description in xml


	==== example 1 : command laws, aka mixers ====		===== example 1 : command laws, aka mixers =====
	conf/airframes/funjet1.xml		conf/airframes/funjet1.xml
	<command_laws>		<command_laws>
Line 128:		Line 139:


	==== example 2 : flight plan ====		===== example 2 : flight plan =====

	conf/flight plans/example.xml		conf/flight plans/example.xml
Line 162:		Line 173:
	}		}

	=== Makefile ===		==== Makefile ====

	==== Connecting and configuring modules ====		===== Connecting and configuring modules =====

	ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1		ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1
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	==== Modules configuration ====		===== Modules configuration =====

	3 sources of configuration:		3 sources of configuration:
Line 185:		Line 196:


	=== Conventions ===		==== Conventions ====

	~~== Generating Doxygen Code Documentation ==~~

	~~see [[Doxygen]]~~

	[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]		[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]

Flixr at 15:21, 16 January 2012

2012-01-16T15:21:49Z

@@ Line 189: / Line 189: @@
 == Generating Doxygen Code Documentation ==
-A way to look at the includes and dependencies is to use the graphs generated with doxygen. After installing Paparazzi, install Doxygen:
+see [[Doxygen]]
 [[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]

Sergio812 at 05:26, 13 June 2011

2011-06-13T05:26:54Z

← Older revision		Revision as of 23:26, 12 June 2011
Line 6:		Line 6:
	-Static approach		-Static approach
	-Modularity		-Modularity
	-Hardware ~~absraction~~		-Hardware abstraction
	-Runtime efficiency		-Runtime efficiency

Line 148:		Line 148:
	Stage(1)		Stage(1)
	if (++_var_i > _var_i_to) Goto(endfor_12) else NextStageAndBreak();		if (++_var_i > _var_i_to) Goto(endfor_12) else NextStageAndBreak();
	Stage(2)		Stage(2)
	NavVerticalAutoThrottleMode(RadOfDeg(0.000000));		NavVerticalAutoThrottleMode(RadOfDeg(0.000000));
	NavVerticalAltitudeMode(WaypointAlt(3), 0.);		NavVerticalAltitudeMode(WaypointAlt(3), 0.);
	NavCircleWaypoint(3, (DEFAULT_CIRCLE_RADIUS+(_var_i*10)));		NavCircleWaypoint(3, (DEFAULT_CIRCLE_RADIUS+(_var_i*10)));
	if ((NavCircleCount()>1)) NextStageAndBreak();		if ((NavCircleCount()>1)) NextStageAndBreak();
	break;		break;
	Stage(3)		Stage(3)
	Goto(for_11)		Goto(for_11)
	Label(endfor_12)		Label(endfor_12)
	Stage(5)		Stage(5)
	NextBlock();		NextBlock();

Openuas: /* Runtime Efficiency */

2011-05-12T12:19:39Z

Runtime Efficiency

← Older revision		Revision as of 06:19, 12 May 2011
Line 38:		Line 38:

	=== Runtime Efficiency ===		=== Runtime Efficiency ===
	~~It's very unlikely that we will change the serial port on which we connected our modem inflight.~~

	bad :		We have to take care that our code runs efficient on the autopilot board microprocessor. It is for example very unlikely that we will physically change the serial port on which we connected our telemetry modem during a flight.

			'''bad''' coding practice

	switch(UART) {		switch(UART) {
	case UART0 : UARTO_write(...); break;		case UART0 : UARTO_write(...); break;
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	}		}

	good :		'''good''' coding practice

	#define UartWrite(x) UART ## _write(x)		#define UartWrite(x) UART ## _write(x)
	UartWrite(...);		UartWrite(...);


	== Design Solutions ==		== Design Solutions ==

Esden at 00:41, 10 March 2011

2011-03-10T00:41:06Z

← Older revision		Revision as of 18:41, 9 March 2011
Line 204:		Line 204:
	This is a sample of a Doxygen Graph:		This is a sample of a Doxygen Graph:
	[[Image:Autopilot_8h_incl.png\|Include dependency graph for autopilot.h]]		[[Image:Autopilot_8h_incl.png\|Include dependency graph for autopilot.h]]

			[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]

Corybarton: /* Generating Doxygen Code Documentation */

2008-10-21T14:53:43Z

Generating Doxygen Code Documentation

← Older revision		Revision as of 08:53, 21 October 2008
Line 184:		Line 184:

	=== Conventions ===		=== Conventions ===

			== Generating Doxygen Code Documentation ==

			A way to look at the includes and dependencies is to use the graphs generated with doxygen. After installing Paparazzi, install Doxygen:

			sudo apt-get install doxygen graphviz

			run the generation tool from the paparazzi3/ directory:

			make doxygen

			Now Doxygen will have generated html documentation(open this with any web browser) in your paparazzi3/dox/html folder.

			To look at a list of all of the files used by the airborne software:
			paparazzi3/dox/html/files.html
			The main_ap.c will also interest you.
			paparazzi3/dox/html/main__ap_8c.html

			This is a sample of a Doxygen Graph:
			[[Image:Autopilot_8h_incl.png\|Include dependency graph for autopilot.h]]

HectoPascal: /* example 2 : flight plan */

2008-10-14T17:27:09Z

example 2 : flight plan

← Older revision		Revision as of 11:27, 14 October 2008
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	conf/flight plans/example.xml		conf/flight plans/example.xml
	~~<blocks>~~		<block name="For loop (circles wp 1)">
	<block name="~~see~~ 1">		<for from="0" to="3" var="i">
	<~~circle target~~="1" wp="~~HOME~~" ~~cam_mode~~="~~target~~" ~~alt~~="~~GROUND_ALT~~+50" ~~radius~~="75"/>		<circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
	</~~block~~>		</for>
	<block ~~name~~="~~nadir">~~		<deroute block="Standby"/>
	~~<circle wp="HOME" cam_mode="nadir" alt="GROUND_ALT+50" radius="75~~"/>		</block>
	</block>
	~~</blocks~~>
	generated var/flight plan.h		generated var/flight plan.h
	switch (~~nav_block~~) {		Block(29) // For loop (circles wp 1)
	~~case~~ 0:		switch(nav_stage) {
	~~switch~~(~~nav_stage~~) {		static int8_t _var_i;
	~~case 0:~~		static int8_t _var_i_to;
	NavVerticalAutoThrottleMode(0.0);		Stage(0)
	NavVerticalAltitudeMode(~~GROUND_ALT+50~~, 0.);		_var_i = 0 - 1;
	NavCircleWaypoint(1, 75);		_var_i_to = 3;
	~~cam_waypoint_target~~(2);		Label(for_11)
	~~return~~;		Stage(1)
	~~case 1:~~		if (++_var_i > _var_i_to) Goto(endfor_12) else NextStageAndBreak();
	~~NextBlock~~()		Stage(2)
	}		NavVerticalAutoThrottleMode(RadOfDeg(0.000000));
	~~case 1:~~		NavVerticalAltitudeMode(WaypointAlt(3), 0.);
	~~switch~~(~~nav_stage~~) {		NavCircleWaypoint(3, (DEFAULT_CIRCLE_RADIUS+(_var_i*10)));
	~~case 0:~~		if ((NavCircleCount()>1)) NextStageAndBreak();
			break;
			Stage(3)
			Goto(for_11)
			Label(endfor_12)
			Stage(5)
			NextBlock();
			break;
			}

	=== Makefile ===		=== Makefile ===

Poine at 14:43, 13 May 2008

2008-05-13T14:43:57Z

← Older revision		Revision as of 08:43, 13 May 2008
Line 175:		Line 175:

	[[Image:modules_configuration.png]]		[[Image:modules_configuration.png]]


			=== Conventions ===

Poine at 13:53, 13 May 2008

2008-05-13T13:53:48Z

← Older revision		Revision as of 07:53, 13 May 2008
Line 100:		Line 100:
	=== C code generation ===		=== C code generation ===

	For problems too complex to solve by the pre processor, we use custom compilers to generate code from a description in xml		For problems too complex to solve with the pre processor, we use custom compilers to generate code from a description in xml


Line 165:		Line 165:

	==== Modules configuration ====		==== Modules configuration ====

			3 sources of configuration:
			* airframe configuration file ( airframe.xml ) which "compiled" to C files and Makefile
			* specific per module configuration file ( eg radio.xml, flightplan.xml) compiled to C code to allow factorization between airframes.
			* specific per board configuration file ( eg tiny.h ) to describe modules configuration imposed by board routing




	[[Image:modules_configuration.png]]		[[Image:modules_configuration.png]]

Poine at 13:33, 13 May 2008

2008-05-13T13:33:58Z

← Older revision		Revision as of 07:33, 13 May 2008
Line 72:		Line 72:

	ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\"		ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\"
	sw/airborne/actuators.h
			sw/airborne/actuators.h
	#include ACTUATORS		#include ACTUATORS

Line 161:		Line 162:
	ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600		ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
	ap.srcs += \$(SRC_ARCH)/uart_hw.c		ap.srcs += \$(SRC_ARCH)/uart_hw.c


			==== Modules configuration ====


			[[Image:modules_configuration.png]]