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TASTE
regression-suites
Commits
8936cc5d
Commit
8936cc5d
authored
Jun 08, 2017
by
TASTE User
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add flag for initialisation
parent
5e97564c
Changes
6
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6 changed files
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300 additions
and
291 deletions
+300
-291
Demo_Crazyflie_IMU/.gdb_history
Demo_Crazyflie_IMU/.gdb_history
+0
-0
Demo_Crazyflie_IMU/DataView.aadl
Demo_Crazyflie_IMU/DataView.aadl
+279
-279
Demo_Crazyflie_IMU/DeploymentView.aadl
Demo_Crazyflie_IMU/DeploymentView.aadl
+1
-0
Demo_Crazyflie_IMU/control_laws.zip
Demo_Crazyflie_IMU/control_laws.zip
+0
-0
Demo_Crazyflie_IMU/copter_imu.zip
Demo_Crazyflie_IMU/copter_imu.zip
+0
-0
Demo_Crazyflie_IMU/copter_imu/copter_imu.adb
Demo_Crazyflie_IMU/copter_imu/copter_imu.adb
+20
-12
No files found.
Demo_Crazyflie_IMU/.gdb_history
0 → 100644
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8936cc5d
Demo_Crazyflie_IMU/DataView.aadl
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8936cc5d
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Demo_Crazyflie_IMU/DeploymentView.aadl
View file @
8936cc5d
...
...
@@ -72,3 +72,4 @@ PROPERTIES
Taste::HWLibraries => ("../../tool-inst/share/ocarina/AADLv2/ocarina_components.aadl");
END deploymentview::DV;
-- copied aadl libraries
\ No newline at end of file
Demo_Crazyflie_IMU/control_laws.zip
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8936cc5d
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Demo_Crazyflie_IMU/copter_imu.zip
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Demo_Crazyflie_IMU/copter_imu/copter_imu.adb
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8936cc5d
...
...
@@ -29,6 +29,8 @@ package body copter_imu is
Mag
:
Magnetometer_Data
:=
(
0.0
,
0.0
,
0.0
);
Self_Test_Passed
:
Boolean
:=
False
;
Is_Init
:
Boolean
:=
False
;
---------------------------------------------------------
-- Provided interface "Pulse"
...
...
@@ -59,21 +61,25 @@ package body copter_imu is
Acc_Z_Ptr
:
General_Acc_Pointer
:=
taste_Acc_Z
'
Access
;
-- Read & write
begin
-- Magnetometer not used for the moment
IMU_9_Read
(
Gyro
,
Acc
,
Mag
);
if
Is_Init
then
-- Magnetometer not used for the moment
IMU_9_Read
(
Gyro
,
Acc
,
Mag
);
Gyro_X_Ptr
.
all
:=
asn1sccMyGyroVal
(
Gyro
.
X
);
Gyro_Y_Ptr
.
all
:=
asn1sccMyGyroVal
(
Gyro
.
Y
);
Gyro_Z_Ptr
.
all
:=
asn1sccMyGyroVal
(
Gyro
.
Z
);
Gyro_X_Ptr
.
all
:=
asn1sccMyGyroVal
(
Gyro
.
X
);
Gyro_Y_Ptr
.
all
:=
asn1sccMyGyroVal
(
Gyro
.
Y
);
Gyro_Z_Ptr
.
all
:=
asn1sccMyGyroVal
(
Gyro
.
Z
);
Acc_X_Ptr
.
all
:=
asn1sccMyAccVal
(
Acc
.
X
);
Acc_Y_Ptr
.
all
:=
asn1sccMyAccVal
(
Acc
.
Y
);
Acc_Z_Ptr
.
all
:=
asn1sccMyAccVal
(
Acc
.
Z
);
Acc_X_Ptr
.
all
:=
asn1sccMyAccVal
(
Acc
.
X
);
Acc_Y_Ptr
.
all
:=
asn1sccMyAccVal
(
Acc
.
Y
);
Acc_Z_Ptr
.
all
:=
asn1sccMyAccVal
(
Acc
.
Z
);
-- Then send IMU data to the ground
Get_IMU_Data
(
Gyro_X_Ptr
,
Gyro_Y_Ptr
,
Gyro_Z_Ptr
,
Acc_X_Ptr
,
Acc_Y_Ptr
,
Acc_Z_Ptr
);
end
if
;
-- Then send IMU data to the ground
Get_IMU_Data
(
Gyro_X_Ptr
,
Gyro_Y_Ptr
,
Gyro_Z_Ptr
,
Acc_X_Ptr
,
Acc_Y_Ptr
,
Acc_Z_Ptr
);
end
Pulse
;
...
...
@@ -85,6 +91,8 @@ package body copter_imu is
-- See if we pass the self test
Self_Test_Passed
:=
System_Self_Test
;
Is_Init
:=
True
;
-- Start the main loop if the self test passed
if
Self_Test_Passed
then
...
...
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