[paparazzi-commits] [4363] CSC updates (send both vane sensors, csc_telemetry needs inttypes.h) , new (higher) CAN bus rates

[Allen Ibara]

Revision: 4363
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4363
Author:   aibara
Date:     2009-12-08 07:06:11 +0000 (Tue, 08 Dec 2009)
Log Message:
-----------
CSC updates (send both vane sensors, csc_telemetry needs inttypes.h), new 
(higher) CAN bus rates

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c
    paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h
    paparazzi3/trunk/sw/airborne/csc/csc_can.h
    paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c      2009-12-08 07:03:59 UTC 
(rev 4362)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c      2009-12-08 07:06:11 UTC 
(rev 4363)
@@ -35,12 +35,13 @@
   csc_ap_send_msg(CSC_BOARD_STATUS_ID, (const uint8_t *) &msg, sizeof(msg));
 }
 
-void csc_ap_link_send_vane(float vane_angle)
+void csc_ap_link_send_vane(float *vane_angles)
 {
 
   struct CscVaneMsg msg;
 
-  msg.vane_angle1 = vane_angle;
+  msg.vane_angle1 = vane_angles[0];
+  msg.vane_angle2 = vane_angles[1];
 
   csc_ap_send_msg(CSC_VANE_MSG_ID, (const uint8_t *) &msg, sizeof(msg));
 }

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h      2009-12-08 07:03:59 UTC 
(rev 4362)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h      2009-12-08 07:06:11 UTC 
(rev 4363)
@@ -14,7 +14,7 @@
 void can_write_csc(uint8_t board_id, uint8_t msg_id, const uint8_t *buf, 
uint8_t len);
 void csc_ap_link_send_status(uint32_t loops, uint32_t msgs);
 void csc_ap_link_send_adc(float adc1, float adc2);
-void csc_ap_link_send_vane(float vane_angle);
+void csc_ap_link_send_vane(float *vane_angle);
 void csc_ap_link_set_servo_cmd_cb(void (* cb)(struct CscServoCmd *cmd));
 void csc_ap_link_set_motor_cmd_cb(void (* cb)(struct CscMotorMsg *msg));
 void csc_ap_link_set_prop_cmd_cb(void (* cb)(struct CscPropCmd *cmd, int idx));

Modified: paparazzi3/trunk/sw/airborne/csc/csc_can.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_can.h  2009-12-08 07:03:59 UTC (rev 
4362)
+++ paparazzi3/trunk/sw/airborne/csc/csc_can.h  2009-12-08 07:06:11 UTC (rev 
4363)
@@ -9,12 +9,13 @@
 #define MSGID_OF_CANMSG_ID(_id) ((_id) & CSC_MSGID_MASK)
 #define CAN_MSG_LENGTH_OF_FRAME(_f) (((_f)>>16) & 0x0F)
 
-// Common CAN bit rates
+// Common CAN bit rates (assumes 30Mhz PCLK)
 #define   CANBitrate62k5_1MHz           0x001C001D
 #define   CANBitrate125k_2MHz           0x001C000E
 #define   CANBitrate156k25_2_5MHz       0x001C000B
 #define   CANBitrate187k5_3MHz          0x001C0009
 #define   CANBitrate312k5_5MHz          0x001C0005
+#define   CANBitrate375k_6MHz           0x001C0004
 
 #define CSC_BOARD_MASK 0x0F
 #define CSC_MSGID_MASK 0x7F

Modified: paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h    2009-12-08 07:03:59 UTC 
(rev 4362)
+++ paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h    2009-12-08 07:06:11 UTC 
(rev 4363)
@@ -26,6 +26,7 @@
 #define CSC_TELEMETRY_H
 
 #include "actuators.h"
+#include <inttypes.h>
 
 extern uint8_t telemetry_mode_Ap_DefaultChannel;