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Re: [Paparazzi-devel] Using u-blox with I2C


From: David Conger
Subject: Re: [Paparazzi-devel] Using u-blox with I2C
Date: Sun, 20 May 2012 16:09:44 -0700

Hello,

I have both:
    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>

More here:
<airframe name="Funjet">

  <modules>
    <load name="gps_i2c.xml" />
  </modules>

  <firmware name="fixedwing">
    <define name="USE_I2C0"/>
    <define name="USE_I2C1"/>
    <define name="ALT_KALMAN"/>

    <target name="sim" board="pc"/>
      <target name="ap" board="umarim_1.0">
      <configure name="FLASH_MODE" value="IAP"/>
    </target>

    <subsystem name="radio_control" type="ppm"/>
    <subsystem name="gps" type="ublox" >
      <configure name="GPS_PORT" value="gps_i2c" />
    </subsystem>

    <!-- Communication -->
    <subsystem name="telemetry" type="transparent"/>

    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="imu"     type="umarim"/>
    <subsystem name="ahrs"    type="float_dcm">
      <define name="USE_HIGH_ACCEL_FLAG"/>
    </subsystem>
    <subsystem name="control" type="new"/>
    <subsystem name="navigation"/>
    <!-- Sensors -->
    <subsystem name="navigation"/>
  </firmware>

I have removed some things and have similar error:
gps_i2c.c:(.text.gps_i2c_init+0x3c): undefined reference to `gps_configure_uart'
collect2: ld returned 1 exit status
make[1]: *** [/Users/bmw330i/paparazzi-software/var/UMARIML01/ap/ap.elf] Error 1
make: *** [ap.compile] Error 2

"undefined reference to 'gps_configure_uart' seems to stand out as interesting. 

Regards,



On May 20, 2012, at 3:37 PM, Eduardo lavratti wrote:

Have you put     <define name="USE_I2C0"/> in firmware section ?

> From: address@hidden
> Date: Sun, 20 May 2012 12:55:58 -0700
> To: address@hidden
> Subject: [Paparazzi-devel] Using u-blox with I2C
> 
> Hello everyone,
> 
> I am testing MAX6 GPS module and wish to connect it via I2C to Umarim. (I2C0). 
> 
> I found CDW airframe ChimuTinyFw.xml with the following:
> 
> In Modules: 
> <load name="gps_i2c.xml" />
> 
> In Subsystem:
> <subsystem name="gps" type="ublox" >
> <configure name="GPS_PORT" value="gps_i2c" />
> </subsystem>
> 
> Seems simple enough. I modified my working airframe file to include the above and get errors compiling:
> CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/subsystems/gps/gps_ubx.o
> subsystems/gps/gps_ubx.c: In function 'ubxsend_cfg_rst':
> subsystems/gps/gps_ubx.c:277:3: warning: implicit declaration of function 'gps_i2cTransmit' [-Wimplicit-function-declaration]
> subsystems/gps/gps_ubx.c:277:3: warning: nested extern declaration of 'gps_i2cTransmit' [-Wnested-externs]
> subsystems/gps/gps_ubx.c:277:3: warning: implicit declaration of function 'gps_i2cSendMessage' [-Wimplicit-function-declaration]
> subsystems/gps/gps_ubx.c:277:3: warning: nested extern declaration of 'gps_i2cSendMessage' [-Wnested-externs]
> CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/subsystems/gps.o
> CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/boards/umarim/baro_board.o
> CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/peripherals/ads1114.o
> CC /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/modules/sensors/airspeed_ads1114.o
> LD /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/ap.elf
> /Users/bmw330i/paparazzi-software/var/UMARIML01/ap/firmwares/fixedwing/main_ap.o: In function `event_task_ap':
> main_ap.c:(.text.event_task_ap+0x208): undefined reference to `gps_i2cChAvailable'
> main_ap.c:(.text.event_task_ap+0x21c): undefined reference to `gps_i2cGetch'
> main_ap.c:(.text.event_task_ap+0x228): undefined reference to `gps_i2cChAvailable'
> collect2: ld returned 1 exit status
> make[1]: *** [/Users/bmw330i/paparazzi-software/var/UMARIML01/ap/ap.elf] Error 1
> make: *** [ap.compile] Error 2
> 
> I do not understand what the error is telling me. Can someone explain? Or tell me what I did wrong in the airframe? 
> 
> The rest of the files are:
> Flight Plan: basic.xml
> Settings: basic_ins.xml
> Radio: cockpitSX.xml
> Telemetry: default_fixedwing_imu_9k6.xml
> 
> Regards,
> David Conger
> 
> 
> 
> 
> _______________________________________________
> Paparazzi-devel mailing list
> address@hidden
> https://lists.nongnu.org/mailman/listinfo/paparazzi-devel
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