Difference between revisions of "Subsystems"

Revision as of 05:31, 21 April 2012

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Subsystems

Subsystem/actuators

Subsystem/stabilization

Subsystem/telemetry

Subsystems

Mostly a subsystem is a part offering a specific functionality with a defined interface and can have multiple different implementations. (See sw/airborne/subsystems/...)

They are selected and configured with a <subsystem name="foo" type="bar"> in the firmware section of the airframe file.

All this does is basically include a makefile foo_bar.makefile that adds the respective sources and adds a few configuration options. (See conf/autopilot/subsystems/...)

This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.

See FirmwareArchitecture for the differences to Modules.

Available Subsystems

Name	types	firmwares	description
gps	ublox ublox_utm nmea mediatek_diy skytraq	all	GPS drivers
imu	aspirin_v1.0 aspirin_v1.5 b2_v1.0 b2_v1.1 b2_v1.2 yai aspirin_i2c analog ppzuav crista crista_hmc5843	all all all all all all fixedwing fixedwing fixedwing rotorcraft rotorcraft	IMU drivers
ahrs	float_dcm int_cmpl_euler int_cmpl_quat	all	AHRS algorithms
radio_control	ppm spektrum datalink	all all fixedwing	Radio Control implementations
telemetry	transparent transparent_usb xbee_api	all	Telemetry implementations
actuators	mkk asctec asctec_v2 pwm_supervision skiron heli	rotorcraft rotorcraft rotorcraft rotorcraft rotorcraft rotorcraft	drivers for different ESCs for rotorcraft

@@ Line 2: / Line 2: @@
 <categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages hideprefix=always>Subsystems</categorytree>
 Mostly a subsystem is a part offering a specific functionality with a
-defined interface and can have multiple different implementations.
+defined interface and can have multiple different implementations. (See <tt>sw/airborne/subsystems/...</tt>)
-On the technical side subsystems are basically just a convenient way
-to pack certain parts of the code into makefiles and add a few
-configuration options to them. (See conf/autopilot/subsystems/...)
-So these replaced the old raw makefile section in the airframe file.
-This makes it easier to put an airframe file together and also allows
-us to change the code and move/rename files behind the scenes without
-breaking everyones airframe files.
-=== Differences to Modules ===
+They are selected and configured with a <source lang="xml" enclose="none"><subsystem name="foo" type="bar"></source> in the [[Airframe_Configuration#Firmware_and_Hardware_definitions|firmware section of the airframe file]].
-So the difference is that with subsystems you "package" some of the
-"normal" code and you have to explicitly call the functions (e.g.
-control loops) from the main ap loop. This gives you tighter control
-over what gets called when.
-The event and periodic functions of the [[Modules]] get called at the end
-of event_task_ap and periodic_task_ap respectively.
-This means that modules are perfect to add stuff like extra sensors,
+All this does is basically include a makefile <tt>foo_bar.makefile</tt> that adds the respective sources and adds a few configuration options. (See <tt>conf/autopilot/subsystems/...</tt>)
-but not so much for e.g. estimation and control where you want to
-exactly control when and in what order things happen.
-But you can also wrap some subsystem code as a modules (e.g.
+This makes it easier to put an airframe file together (they replace the old raw makefile section) and also allows us to change the code and move/rename files behind the scenes without breaking everyones airframe files.
-infrared), or the other way round (e.g. imu_ppzuav).
-As you can see with the imu_ppzuav module it also still expects a
+See [[FirmwareArchitecture]] for the differences to [[Modules]].
-direct ImuEvent call from main_ap, so you could say it's not a "pure"
-module.
 == Available Subsystems ==

Difference between revisions of "Subsystems"

Revision as of 05:31, 21 April 2012

About

Available Subsystems

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