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[paparazzi-commits] [5992] stuff for libeknav and lisa/M
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From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5992] stuff for libeknav and lisa/M |
|
Date: |
Tue, 28 Sep 2010 11:35:41 +0000 |
Revision: 5992
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5992
Author: poine
Date: 2010-09-28 11:35:41 +0000 (Tue, 28 Sep 2010)
Log Message:
-----------
stuff for libeknav and lisa/M
Modified Paths:
--------------
paparazzi3/trunk/conf/Makefile.stm32
paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/Poine/swift_1.xml
paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile
paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h
Modified: paparazzi3/trunk/conf/Makefile.stm32
===================================================================
--- paparazzi3/trunk/conf/Makefile.stm32 2010-09-28 10:52:11 UTC (rev
5991)
+++ paparazzi3/trunk/conf/Makefile.stm32 2010-09-28 11:35:41 UTC (rev
5992)
@@ -53,7 +53,7 @@
RM = rm
OOCD = $(TOOLCHAIN_DIR)/bin/openocd
-LOADER=/home/poine/home_regis/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py
+LOADER=/home/poine/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py
ifndef $(TARGET).OOCD_INTERFACE
OOCD_INTERFACE = lisa-l
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-09-28 10:52:11 UTC
(rev 5991)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-09-28 11:35:41 UTC
(rev 5992)
@@ -175,11 +175,11 @@
<define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
</section>
-<!--
+<!-- -->
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
--->
+<!-- -->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
Added: paparazzi3/trunk/conf/airframes/Poine/swift_1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/swift_1.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/swift_1.xml 2010-09-28 11:35:41 UTC
(rev 5992)
@@ -0,0 +1,11 @@
+<!-- this is a miniswift equiped with a lisa/M -->
+
+<airframe name="miniswift 1">
+
+ <firmware name="lisa_l_test_progs">
+ <target name="test_led" board="lisa_m_1.0"/>
+ <target name="test_servos" board="lisa_m_1.0"/>
+ <target name="test_telemetry" board="lisa_m_1.0"/>
+ </firmware>
+
+</airframe>
\ No newline at end of file
Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-09-28
10:52:11 UTC (rev 5991)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-09-28
11:35:41 UTC (rev 5992)
@@ -57,8 +57,40 @@
# MODEM_PORT = UART2
# MODEM_BAUD = B57600
+#
+# test leds
+#
+test_led.ARCHDIR = $(ARCH)
+test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_led.srcs += $(SRC_LISA)/test_led.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_led.CFLAGS += -DUSE_LED
#
+# test servos
+#
+
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
+
+test_servos.ARCHDIR = $(ARCH)
+test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_servos.LDFLAGS += -lm
+test_servos.srcs += $(SRC_LISA)/test_servos.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_servos.CFLAGS += -DUSE_LED
+test_servos.srcs += $(SRC_ARCH)/led_hw.c
+test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_servos.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
$(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
+
+
+#
# test_telemetry : Sends ALIVE telemetry messages
#
# configuration
Added: paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile
(rev 0)
+++ paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile 2010-09-28 11:35:41 UTC
(rev 5992)
@@ -0,0 +1,51 @@
+#
+# lisa_m_1.0.makefile
+#
+# http://paparazzi.enac.fr/wiki/User/LisaM
+#
+
+BOARD=lisa_m
+BOARD_VERSION=1.0
+BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+ARCH=stm32
+$(TARGET).ARCHDIR = $(ARCH)
+# not needed?
+$(TARGET).OOCD_INTERFACE=flossjtag
+# -----------------------------------------------------------------------
+
+ifndef FLASH_MODE
+FLASH_MODE = JTAG
+#FLASH_MODE = SERIAL
+endif
+
+#
+#
+# some default values shared between different firmwares
+#
+#
+
+SYS_TIME_LED = 1
+
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART3
+RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
+RADIO_CONTROL_LED = 5
+
+MODEM_PORT=UART2
+MODEM_BAUD=B57600
+
+AHRS_ALIGNER_LED = 7
+
+GPS_PORT=UART1
+GPS_BAUD=B38400
+GPS_LED = 3
+
+#
+# this is the DRDY pin of a max1168 on a booz IMU
+#
+# v 1.0
+#
+MAX_1168_DRDY_PORT = _GPIOD
+MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOD
+# v1.1
+#MAX_1168_DRDY_PORT = GPIOB
Modified: paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
===================================================================
--- paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
2010-09-28 10:52:11 UTC (rev 5991)
+++ paparazzi3/trunk/conf/modules/vehicle_interface_overo_link.xml
2010-09-28 11:35:41 UTC (rev 5992)
@@ -15,8 +15,8 @@
<raw>ap.srcs += lisa/lisa_overo_link.c
lisa/arch/stm32/lisa_overo_link_arch.c</raw>
<flag name="DUSE_OVERO_LINK"/>
<flag name="lisa/arch/stm32" type="include"/>
- <flag name="OVERO_LINK_MSG_UP" value="AutopilotMessageFoo"/>
- <flag name="OVERO_LINK_MSG_DOWN" value="AutopilotMessageFoo"/>
+ <flag name="OVERO_LINK_MSG_UP" value="AutopilotMessagePTUp"/>
+ <flag name="OVERO_LINK_MSG_DOWN" value="AutopilotMessagePTDown"/>
<flag name="OVERO_LINK_LED_OK" value="3"/>
<flag name="OVERO_LINK_LED_KO" value="2"/>
<flag name="USE_DMA1_C2_IRQ"/>
Added: paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h 2010-09-28 11:35:41 UTC
(rev 5992)
@@ -0,0 +1,25 @@
+#ifndef CONFIG_LISA_M_1_0_H
+#define CONFIG_LISA_M_1_0_H
+
+
+#define AHB_CLK 72000000
+
+/* Onboard LEDs */
+#define LED_1_BANK
+#define LED_1_GPIO GPIOB
+#define LED_1_GPIO_CLK RCC_APB2Periph_GPIOB
+#define LED_1_GPIO_PIN GPIO_Pin_4
+
+#define LED_2_BANK
+#define LED_2_GPIO GPIOC
+#define LED_2_GPIO_CLK RCC_APB2Periph_GPIOC
+#define LED_2_GPIO_PIN GPIO_Pin_13
+
+
+
+// FIXME, this is just to make it compile
+#define POWER_SWITCH_LED 5
+
+
+
+#endif /* CONFIG_LISA_M_1_0_H */
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-09-28
10:52:11 UTC (rev 5991)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi.c 2010-09-28
11:35:41 UTC (rev 5992)
@@ -23,9 +23,9 @@
#include "vehicle_interface/vi.h"
-#include "imu.h"
+#include "firmwares/rotorcraft/imu.h"
#include "booz/booz_gps.h"
-#include "booz/ahrs.h"
+#include "firmwares/rotorcraft/ahrs.h"
#include "airframe.h"
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
2010-09-28 10:52:11 UTC (rev 5991)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.c
2010-09-28 11:35:41 UTC (rev 5992)
@@ -24,6 +24,7 @@
#include "modules/vehicle_interface/vi_overo_link.h"
#include "lisa/lisa_overo_link.h"
+#include "firmwares/rotorcraft/imu.h"
#include <string.h>
@@ -46,14 +47,21 @@
}
- void vi_overo_link_on_msg_received(void) {
+void vi_overo_link_on_msg_received(void) {
+#if 0
memcpy(&overo_link.up.msg, &overo_link.down.msg,
sizeof(union AutopilotMessage));
-
+#endif
+ overo_link.up.msg.valid.imu = 1;
+ RATES_COPY(overo_link.up.msg.gyro, imu.gyro);
+ VECT3_COPY(overo_link.up.msg.accel, imu.accel);
+ VECT3_COPY(overo_link.up.msg.mag, imu.mag);
+
}
void vi_overo_link_on_crc_err(void) {
+
}
Modified: paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
2010-09-28 10:52:11 UTC (rev 5991)
+++ paparazzi3/trunk/sw/airborne/modules/vehicle_interface/vi_overo_link.h
2010-09-28 11:35:41 UTC (rev 5992)
@@ -4,7 +4,7 @@
* Copyright (C) 2010 The Paparazzi Team
*
* This is the implementation of the "external interface" to the autopilot.
- * using datalink messages.
+ * using overo_spi_link.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
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