mirror of
https://github.com/avem-labs/Avem.git
synced 2023-09-01 15:18:49 +08:00
[FIX]: before install
This commit is contained in:
but0n
parent
19a62d4a1f
commit
8e3f90dba0
@ -3,7 +3,6 @@ osx_image: xcode
|
||||
language: c
|
||||
before_install:
|
||||
- brew update
|
||||
- brew install coreutils
|
||||
- brew tap px4/px4
|
||||
- brew install gcc-arm-none-eabi
|
||||
script: make
|
||||
|
||||
@ -13,7 +13,7 @@
|
||||
|
||||
#define THROTTLE_MAX (unsigned short)3600 //2ms - top position of throttle
|
||||
#define THROTTLE_MIN (unsigned short)1620 //0.9ms - bottom position of throttle
|
||||
#define THROTTLE_MID (unsigned short)2000
|
||||
#define THROTTLE_MID (unsigned short)2200
|
||||
|
||||
#ifdef MOTOR_NORMAL_STARTUP
|
||||
#define MOTOR_SETTING() {\
|
||||
|
||||
@ -3,13 +3,13 @@
|
||||
|
||||
extern float g_Yaw, g_Pitch, g_Roll; //eular
|
||||
|
||||
#define OUTTER_LOOP_KP 0.3f //0.257 * 0.83 0.255
|
||||
#define OUTTER_LOOP_KP 0 //0.257 * 0.83 0.255
|
||||
#define OUTTER_LOOP_KI 0
|
||||
#define OUTTER_LOOP_KD 0
|
||||
|
||||
#define INNER_LOOP_KP 0.08f
|
||||
#define INNER_LOOP_KP 0.018f
|
||||
#define INNER_LOOP_KI 0
|
||||
#define INNER_LOOP_KD 0
|
||||
#define INNER_LOOP_KD 0.4f
|
||||
|
||||
#define SUM_ERRO_MAX 900
|
||||
#define SUM_ERRO_MIN -900
|
||||
|
||||
11
openjtag.cfg
11
openjtag.cfg
@ -1,11 +0,0 @@
|
||||
#
|
||||
# 100ASK OpenJTAG
|
||||
#
|
||||
# http://www.100ask.net
|
||||
#
|
||||
|
||||
interface ft2232
|
||||
ft2232_device_desc "USB<=>JTAG&RS232"
|
||||
ft2232_layout jtagkey
|
||||
ft2232_vid_pid 0x1457 0x5118
|
||||
#jtag_khz 1000
|
||||
92
openocd.cfg
92
openocd.cfg
@ -1,92 +0,0 @@
|
||||
#daemon configuration###############################################################
|
||||
telnet_port 4444
|
||||
gdb_port 3333
|
||||
|
||||
#interface configuration openjtag#############################
|
||||
interface ft2232
|
||||
ft2232_device_desc "USB<=>JTAG&RS232"
|
||||
ft2232_layout jtagkey
|
||||
ft2232_vid_pid 0x1457 0x5118
|
||||
|
||||
#board configuration################################################################
|
||||
# Adjust Work-area size (RAM size) according to MCU in use:
|
||||
#STM32F103RB --> 20KB
|
||||
#set WORKAREASIZE 0x5000
|
||||
#STM32F103ZE --> 64KB
|
||||
set WORKAREASIZE 0x10000
|
||||
|
||||
#target configuration###############################################################
|
||||
# script for stm32f1x family
|
||||
if { [info exists CHIPNAME] } {
|
||||
set _CHIPNAME $CHIPNAME
|
||||
} else {
|
||||
set _CHIPNAME stm32f1x
|
||||
}
|
||||
if { [info exists ENDIAN] } {
|
||||
set _ENDIAN $ENDIAN
|
||||
} else {
|
||||
set _ENDIAN little
|
||||
}
|
||||
# Work-area is a space in RAM used for flash programming
|
||||
# By default use 16kB
|
||||
if { [info exists WORKAREASIZE] } {
|
||||
set _WORKAREASIZE $WORKAREASIZE
|
||||
} else {
|
||||
set _WORKAREASIZE 0x4000
|
||||
}
|
||||
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
|
||||
adapter_khz 500
|
||||
adapter_nsrst_delay 100
|
||||
jtag_ntrst_delay 100
|
||||
#jtag scan chain
|
||||
if { [info exists CPUTAPID] } {
|
||||
set _CPUTAPID $CPUTAPID
|
||||
} else {
|
||||
# See STM Document RM0008
|
||||
# Section 31.6.3
|
||||
set _CPUTAPID 0x3ba00477
|
||||
}
|
||||
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
|
||||
if { [info exists BSTAPID] } {
|
||||
# FIXME this never gets used to override defaults...
|
||||
set _BSTAPID $BSTAPID
|
||||
} else {
|
||||
# See STM Document RM0008
|
||||
# Section 31.6.2
|
||||
# Low density devices, Rev A
|
||||
set _BSTAPID1 0x06412041
|
||||
# Medium density devices, Rev A
|
||||
set _BSTAPID2 0x06410041
|
||||
# Medium density devices, Rev B and Rev Z
|
||||
|
||||
set _BSTAPID3 0x16410041
|
||||
set _BSTAPID4 0x06420041
|
||||
# High density devices, Rev A
|
||||
set _BSTAPID5 0x06414041
|
||||
# Connectivity line devices, Rev A and Rev Z
|
||||
set _BSTAPID6 0x06418041
|
||||
# XL line devices, Rev A
|
||||
set _BSTAPID7 0x06430041
|
||||
# VL line devices, Rev A and Z In medium-density and high-density value line devices
|
||||
set _BSTAPID8 0x06420041
|
||||
# VL line devices, Rev A
|
||||
set _BSTAPID9 0x06428041
|
||||
}
|
||||
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \
|
||||
-expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \
|
||||
-expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \
|
||||
-expected-id $_BSTAPID6 -expected-id $_BSTAPID7 \
|
||||
-expected-id $_BSTAPID8 -expected-id $_BSTAPID9
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
target create $_TARGETNAME cortex_m -endian $_ENDIAN -chain-position $_TARGETNAME
|
||||
|
||||
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
|
||||
|
||||
# flash size will be probed
|
||||
set _FLASHNAME $_CHIPNAME.flash
|
||||
flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME
|
||||
|
||||
# if srst is not fitted use SYSRESETREQ to
|
||||
# perform a soft reset
|
||||
cortex_m reset_config sysresetreq
|
||||
81
stm32f1x.cfg
81
stm32f1x.cfg
@ -1,81 +0,0 @@
|
||||
# script for stm32f1x family
|
||||
|
||||
if { [info exists CHIPNAME] } {
|
||||
set _CHIPNAME $CHIPNAME
|
||||
} else {
|
||||
set _CHIPNAME stm32f1x
|
||||
}
|
||||
|
||||
if { [info exists ENDIAN] } {
|
||||
set _ENDIAN $ENDIAN
|
||||
} else {
|
||||
set _ENDIAN little
|
||||
}
|
||||
|
||||
# Work-area is a space in RAM used for flash programming
|
||||
# By default use 16kB
|
||||
if { [info exists WORKAREASIZE] } {
|
||||
set _WORKAREASIZE $WORKAREASIZE
|
||||
} else {
|
||||
set _WORKAREASIZE 0x4000
|
||||
}
|
||||
|
||||
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
|
||||
adapter_khz 1000
|
||||
|
||||
adapter_nsrst_delay 100
|
||||
jtag_ntrst_delay 100
|
||||
|
||||
#jtag scan chain
|
||||
if { [info exists CPUTAPID] } {
|
||||
set _CPUTAPID $CPUTAPID
|
||||
} else {
|
||||
# See STM Document RM0008
|
||||
# Section 26.6.3
|
||||
set _CPUTAPID 0x3ba00477
|
||||
}
|
||||
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
|
||||
|
||||
if { [info exists BSTAPID] } {
|
||||
# FIXME this never gets used to override defaults...
|
||||
set _BSTAPID $BSTAPID
|
||||
} else {
|
||||
# See STM Document RM0008
|
||||
# Section 29.6.2
|
||||
# Low density devices, Rev A
|
||||
set _BSTAPID1 0x06412041
|
||||
# Medium density devices, Rev A
|
||||
set _BSTAPID2 0x06410041
|
||||
# Medium density devices, Rev B and Rev Z
|
||||
set _BSTAPID3 0x16410041
|
||||
set _BSTAPID4 0x06420041
|
||||
# High density devices, Rev A
|
||||
set _BSTAPID5 0x06414041
|
||||
# Connectivity line devices, Rev A and Rev Z
|
||||
set _BSTAPID6 0x06418041
|
||||
# XL line devices, Rev A
|
||||
set _BSTAPID7 0x06430041
|
||||
# VL line devices, Rev A and Z In medium-density and high-density value line devices
|
||||
set _BSTAPID8 0x06420041
|
||||
# VL line devices, Rev A
|
||||
set _BSTAPID9 0x06428041
|
||||
|
||||
}
|
||||
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \
|
||||
-expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \
|
||||
-expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \
|
||||
-expected-id $_BSTAPID6 -expected-id $_BSTAPID7 \
|
||||
-expected-id $_BSTAPID8 -expected-id $_BSTAPID9
|
||||
|
||||
set _TARGETNAME $_CHIPNAME.cpu
|
||||
target create $_TARGETNAME cortex_m -endian $_ENDIAN -chain-position $_TARGETNAME
|
||||
|
||||
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
|
||||
|
||||
# flash size will be probed
|
||||
set _FLASHNAME $_CHIPNAME.flash
|
||||
flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME
|
||||
|
||||
# if srst is not fitted use SYSRESETREQ to
|
||||
# perform a soft reset
|
||||
cortex_m reset_config sysresetreq
|
||||
Loading…
x
Reference in New Issue
Block a user