[paparazzi-commits] [4940] adding support for new asctec controllers protocol

[antoine drouin]

Revision: 4940
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4940
Author:   poine
Date:     2010-06-14 16:44:09 +0000 (Mon, 14 Jun 2010)
Log Message:
-----------
adding support for new asctec controllers protocol

Added Paths:
-----------
    
paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_asctec_v2.makefile

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_asctec_v2.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_asctec_v2.makefile   
                            (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_asctec_v2.makefile   
    2010-06-14 16:44:09 UTC (rev 4940)
@@ -0,0 +1,27 @@
+# asctec controllers v2
+#
+#  <section name="SUPERVISION" prefix="SUPERVISION_">
+#    <define name="MIN_MOTOR" value="2"/>
+#    <define name="MAX_MOTOR" value="210"/>
+#    <define name="TRIM_A" value="2"/>
+#    <define name="TRIM_E" value="-1"/>
+#    <define name="TRIM_R" value="3"/>
+#    <define name="NB_MOTOR" value="4"/>
+#    <define name="SCALE" value="256"/>
+#    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
+#    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
+#    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
+#    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
+#  </section>
+#
+#
+
+ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
+ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+ap.CFLAGS += -DUSE_I2C1
+endif