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Re: [Paparazzi-devel] errors during cc3d revo compile #2


From: hendrixgr .
Subject: Re: [Paparazzi-devel] errors during cc3d revo compile #2
Date: Thu, 19 May 2016 17:44:16 +0300

The airframe file follows:

<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!--
     XENO DELTA WING
     Telemetry and rc control using a single OpenLrsng receiver in transparent mode.
-->

<airframe name="xeno_cc3d_revo_mini.xml">

<firmware name="fixedwing">

<target name="ap"             board="openpilot_revo_mini_1.0"/>
<target name="sim"             board="pc"/>


<!--#######################################################################################-->
<!--##############################   GLOBAL DEFINITIONS   #################################-->
<!--#######################################################################################-->
<!-- "define" goes to the C preprocessor, "configure" configures the makefile -->

        <define name="AGR_CLIMB"/> 
    <define name="WIND_INFO"/>
    <define name="WIND_INFO_RET"/>
    <define name="STRONG_WIND"/>
     <define name="USE_ADC_1"/>
    <define name="USE_ADC_2"/>
<!--    <define name="USE_ADC_3"/>    -->
<!--    <define name="USE_ADC_4"/>    -->
    <define name="AHRS_TRIGGERED_ATTITUDE_LOOP"/>
    <define name="USE_AHRS_GPS_ACCELERATIONS"/>
<!--    <define name="USE_AIRSPEED"/>  -->
<!--    <define name="MEASURE_AIRSPEED"/>    -->
<!--    <define name="USE_BAROMETER"/>  -->
<!--
    <configure name="PERIODIC_FREQUENCY" value="120"/>
    <configure name="AHRS_PROPAGATE_FREQUENCY" value="100"/>
    <configure name="AHRS_CORRECT_FREQUENCY" value="100"/>
-->

<!--    <define name="USE_GROUNDSPEED_CONTROL"/> -->
<!--    <define name="ADC_CHANNEL_VSUPPLY" value="ADC_1" />  -->
<!--    <define name="USE_INS_NAV_INIT" value=TRUE"/> --> <!--Set Home to flight plan coordinates -->

<!--#######################################################################################-->
<!--##############################     SUBSYSTEMS         #################################-->
<!--#######################################################################################-->
<!-- "define" goes to the C preprocessor, "configure" configures the makefile -->

    <subsystem name="telemetry" type="transparent"> 
              <configure name="MODEM_BAUD" value="B9600"/> 
              <configure name="MODEM_PORT" value="UART6"/>
<!--             <configure name="MODEM_LED"  value="5"/>  -->
        </subsystem>
        <subsystem name="gps" type="ublox">
             <configure name="GPS_BAUD"          value="B38400"/>
             <configure name="GPS_PORT"          value="UART1"/>
<!--         <configure name="GPS_LED"           value="none"/> -->
        </subsystem>

    <subsystem name="control" />
    <subsystem name="radio_control" type="ppm">
        <configure name="RADIO_CONTROL_PPM_PIN" value="SERVO_6_IN"/>
    </subsystem>
    <subsystem name="navigation"/> 
    <subsystem name="imu"    type="mpu6000_hmc5883">
        <configure name="IMU_MPU_SPI_DEV" value="spi1"/>
        <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE1"/>
        <configure name="IMU_HMC_I2C_DEV" value="i2c1"/>
    </subsystem>
    <subsystem name="ahrs" type="float_dcm"/>
    <subsystem name="ins" type="alt_float"/>
        <configure name="USE_MAGNETOMETER" value="0"/>
    <subsystem name="spi" type="master"/>

</firmware>
<!--#######################################################################################-->
<!--################################      MODULES         #################################-->
<!--#######################################################################################-->
 <modules>
    <load name="nav_line.xml"/>
    <load name="gps_ubx_ucenter.xml"/>
    <load name="my_baro_ms5611_i2c.xml">
        <configure name="MS5611_I2C_DEV" value="i2c1" />    <!-- affects the makefile -->
        <define name="MS5611_SLAVE_ADDR=0xEE"/>            <!-- affects the c files -->
        <define name="MS5611_SEND_BARO_ALTITUDE"/>
        <!--<define name="SENSOR_SYNC_SEND"/> -->
    </load>
</modules>

<!--#######################################################################################-->
<!--#############################   SERVOS AND CONTROLS   #################################-->
<!--#######################################################################################-->
<!-- commands section -->
<servos>
    <servo name="AILEVON_RIGHT"    no="0" min="988"    neutral="1500" max="2012"/>
    <servo name="AILEVON_LEFT"    no="1" min="2012"    neutral="1500" max="988"/>
    <servo name="MOTOR"        no="2" min="1000"    neutral="1000" max="2000"/>
    <servo name="CAMERA_PAN"    no="6" min="700"    neutral="1420" max="2200"/>
    <servo name="CAMERA_TILT"    no="7" min="950"    neutral="1500" max="2050"/>
</servos>

<commands>
    <axis name="ROLL"        failsafe_value="0"/>
    <axis name="PITCH"        failsafe_value="0"/>
    <axis name="THROTTLE"        failsafe_value="0"/>
    <axis name="CAM_PAN"        failsafe_value="0"/>
    <axis name="CAM_TILT"        failsafe_value="0"/>
</commands>

<rc_commands>
    <set command="ROLL"          value="@ROLL"/>
    <set command="PITCH"         value="@PITCH"/>
    <set command="THROTTLE"      value="@THROTTLE"/>
</rc_commands>

  <section name="MIXER">
    <define name="AILEVON_AILERON_RATE" value="0.75"/>
    <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
  </section>

  <command_laws>
    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
    <set servo="MOTOR"            value="@THROTTLE"/>
    <set servo="AILEVON_LEFT"        value="$elevator + $aileron"/>
    <set servo="AILEVON_RIGHT"        value="$elevator - $aileron"/>
    <set servo="CAMERA_PAN"        value="@CAM_PAN"/>
    <set servo="CAMERA_TILT"        value="@CAM_TILT"/>
  </command_laws>

<!-- EMPTY "auto_rc_commands" block means NO RC RUDDER CONTROL IN AUTO2 AND AUTO1 -->
 <auto_rc_commands>
<!--    <set command="YAW" value="@YAW"/> -->
 </auto_rc_commands>


<ap_only_commands>
</ap_only_commands>

<!--#######################################################################################-->
<!--#################################    I M U SETUP      #################################-->
<!--#######################################################################################-->

<!-- Normalized Local magnetic field obtained from http://www.ngdc.noaa.gov/geomag-web/#igrfwmm -->
<!-- Magnetic field intensity / total field strength -->
<!-- Calculated for PIRAEUS HELLAS 10 APRIL 2013 -->
  <section name="AHRS" prefix="AHRS_" >
    <define name="H_X" value="(26536.1/45817.2)" />
    <define name="H_Y" value="(1843.5/45817.2)" />
    <define name="H_Z" value="(37304.9/45817.2) " />
  </section>

  <section name="IMU" prefix="IMU_">
    <!-- Calibration Neutral -->
    <define name="GYRO_P_NEUTRAL" value="0"/>
    <define name="GYRO_Q_NEUTRAL" value="0"/>
    <define name="GYRO_R_NEUTRAL" value="0"/>

    <!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
    <define name="GYRO_P_SENS" value="4.947" integer="16"/>
    <define name="GYRO_Q_SENS" value="4.947" integer="16"/>
    <define name="GYRO_R_SENS" value="4.947" integer="16"/>

    <define name="GYRO_P_Q" value="0."/>
    <define name="GYRO_P_R" value="0"/>
    <define name="GYRO_Q_P" value="0."/>
    <define name="GYRO_Q_R" value="0."/>
    <define name="GYRO_R_P" value="0."/>
    <define name="GYRO_R_Q" value="0."/>

    <define name="GYRO_P_SIGN" value="1"/>
    <define name="GYRO_Q_SIGN" value="1"/>
    <define name="GYRO_R_SIGN" value="1"/>

    <define name="ACCEL_X_NEUTRAL" value="0"/>
    <define name="ACCEL_Y_NEUTRAL" value="0"/>
    <define name="ACCEL_Z_NEUTRAL" value="0"/>

    <!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
    <define name="ACCEL_X_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
    <define name="ACCEL_Z_SENS" value="39.24" integer="16"/>

    <define name="ACCEL_X_SIGN" value="1"/>
    <define name="ACCEL_Y_SIGN" value="1"/>
    <define name="ACCEL_Z_SIGN" value="1"/>

    <define name="MAG_X_NEUTRAL" value="0"/>
    <define name="MAG_Y_NEUTRAL" value="0"/>
    <define name="MAG_Z_NEUTRAL" value="0"/>

    <define name="MAG_X_SENS" value="1" integer="16"/>
    <define name="MAG_Y_SENS" value="1" integer="16"/>
    <define name="MAG_Z_SENS" value="1" integer="16"/>

    <define name="MAG_X_SIGN" value="1"/>
    <define name="MAG_Y_SIGN" value="1"/>
    <define name="MAG_Z_SIGN" value="1"/>

    <define name="BODY_TO_IMU_PHI" value="0"/>
    <define name="BODY_TO_IMU_THETA" value="0"/>
    <define name="BODY_TO_IMU_PSI" value="0"/>
  </section>

<!--#######################################################################################-->
<!--##################   AIRCRAFT ATTITUDE TRIMMING AND AUTO1 LIMITS  #####################-->
<!--#######################################################################################-->
<section name="INS" prefix="INS_">
    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-2)" unit="radians"/>
    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="radians"/>
</section>

<section name="AUTO1" prefix="AUTO1_">
    <define name="MAX_ROLL" value="50" unit="deg"/>
    <define name="MAX_PITCH" value="30" unit="deg"/>
</section>


<!--#######################################################################################-->
<!--#########################   AIRCRAFT  VERTICAL CONTROL SETUP   ########################-->
<!--#######################################################################################-->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
                    <!-- OUTER LOOP PARAMETERS  -->
<!-- The below definition affect the throttle percentage shown on the GCS. -->
    <define name="POWER_CTL_BAT_NOMINAL" value="16.8" unit="volt"/>
    <!-- outer loop ALTITUDE proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.07" unit="(m/s)/m"/>
    <!-- outer loop ALTITUDE LIMIT (saturation) -->
    <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
    <!-- outer loop AIRSPEED proportional gain -->
    <define name="AIRSPEED_PGAIN"    value="0.2"/>

                   <!-- INNER LOOP PARAMETERS -->
        <!-- The below definitions are used almost always -->
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"    value="0.40" unit="%"/>
    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE"    value="0.30" unit="%"/>
    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE"    value="0.50" unit="%"/>
    <define name="THROTTLE_SLEW_LIMITER"             value="0.6" unit="s"/>
    <define name="AUTO_PITCH_MAX_PITCH"            value="RadOfDeg(25)"/>
    <define name="AUTO_PITCH_MIN_PITCH"            value="RadOfDeg(-20)"/>
   
    <!-- Climb loop (throttle) -->
    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"     value="0.1"  unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH"    value="0.0" unit="rad"/>

    <define name="AUTO_THROTTLE_PGAIN"            value="0.008"unit="%/(m/s)"/>
    <define name="AUTO_THROTTLE_IGAIN"            value="0.0"/>
    <define name="AUTO_THROTTLE_DGAIN"             value="0.001"/>

    <!-- Climb loop (pitch) -->
        <!-- magnitude of elevator movement on altitude change -->
    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"        value="0.15" unit="rad/(m/s)"/> <!-- 0.05 -->
        <define name="AUTO_PITCH_PGAIN"                value="0.04"/> <!--0.052-->
        <define name="AUTO_PITCH_IGAIN"                value="0.01"/> <!--0.065-->
        <define name="AUTO_PITCH_DGAIN"                value="0.0"/>

    <!-- Loiter and Dash trimming -->
    <define name="AUTO_THROTTLE_LOITER_TRIM"        value="0" unit="pprz_t"/>
    <define name="AUTO_THROTTLE_DASH_TRIM"            value="0" unit="pprz_t"/>
    <define name="PITCH_LOITER_TRIM"            value="0" unit="pprz_t"/>
    <define name="PITCH_DASH_TRIM"                value="0" unit="pprz_t"/>

        <!-- The below definitions are used when USE_AIRSPEED is defined -->
    <define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
    <define name="AUTO_AIRSPEED_PGAIN" value="0.060"/>
    <define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
    <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

        <!-- The below definitions are used for the "energy" control loop -->
    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN"         value="0" />
    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN"         value="0.01" />
    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN"         value="0" />
    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN"         value="0" />
    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN"         value="0" />

    <define name="ENERGY_TOT_PGAIN"                value="0.35" />
    <define name="ENERGY_TOT_IGAIN"                value="0.25" />
    <define name="ENERGY_DIFF_PGAIN"            value="0.30" />
    <define name="ENERGY_DIFF_IGAIN"            value="0.20" />
    <define name="DESIRED_ACCELERATION"            value="0.3" />
    <define name="MAX_ACCELERATION"                value="0.5" />

</section>

<!--#######################################################################################-->
<!--########################   AIRCRAFT HORIZONTAL CONTROL SETUP   ########################-->
<!--#######################################################################################-->

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
    <define name="COURSE_PGAIN"                value="0.8"/>
        <define name="COURSE_DGAIN"                value="0.8"/>
        <define name="COURSE_PRE_BANK_CORRECTION"        value="1."/>

    <define name="PITCH_MAX_SETPOINT"            value="20" unit="deg"/>
    <define name="PITCH_MIN_SETPOINT"            value="-20" unit="deg"/>
    <define name="PITCH_PGAIN"                value="8000."/>
    <define name="ROLL_MAX_SETPOINT"            value="30" unit="deg"/>
    <define name="ROLL_SLEW"                value="0.1"/>
    <define name="ROLL_ATTITUDE_GAIN"            value="8000"/>
    <define name="ROLL_RATE_GAIN"                value="500."/>

    <define name="PITCH_OF_ROLL"                value="RadOfDeg(1.0)"/>
    <define name="ELEVATOR_OF_ROLL"                value="1250"/>
    <define name="AILERON_OF_THROTTLE"            value="0.0"/>

    <!-- The below definitions are used only for stabilization adaptive -->
    <define name="PITCH_DGAIN"                value="6."/>
    <define name="PITCH_IGAIN"                value="100."/>
    <define name="ROLL_KFFA"                value="0"/>
    <define name="ROLL_KFFD"                value="0"/>
    <define name="PITCH_KFFA"                value="0."/>
    <define name="PITCH_KFFD"                value="0."/>
</section>


<!--#######################################################################################-->
<!--############################    AIRBORNE BATTERY SETUP    #############################-->
<!--#######################################################################################-->
<section name="BAT">
    <!-- FOR USE WITH A CURRENT SENSOR  -->
        <define name="ADC_CHANNEL_CURRENT"            value="ADC_2" />
    <define name="MilliAmpereOfAdc(adc)"            value="(24*adc)"/>
<!--    <define name="VOLTAGE_ADC_A" value="0.080252493"/> -->
    <define name="VOLTAGE_ADC_A" value="0.009422237"/>
        <define name="VOLTAGE_ADC_B" value="0.0"/>
        <define name="VoltageOfAdc(adc)" value ="(VOLTAGE_ADC_A * adc + VOLTAGE_ADC_B)"/>
<!--    <define name="MILLIAMP_AT_FULL_THROTTLE"        value="18000"/>  -->
    <define name="BAT_CAPACITY"                value="5000."/>
    <define name="FUEL_RESERVE_SECONDS"            value="300" unit="s"/>
    <define name="CATASTROPHIC_BAT_LEVEL"            value="10" unit="V"/>
    <define name="CRITIC_BAT_LEVEL"                value="12.8" unit="V"/>
    <define name="LOW_BAT_LEVEL"                value="13.5" unit="V"/>
    <define name="MAX_BAT_LEVEL"                value="16.8" unit="V"/>
</section>

<!--#######################################################################################-->
<!--#############################    MISCELLANEOUS SETUP    ###############################-->
<!--#######################################################################################-->

<section name="MISC">
    <define name="CLIMB_AIRSPEED"                value="14." unit="m/s"/>
    <define name="GLIDE_AIRSPEED"                value="14." unit="m/s"/>
    <define name="RACE_AIRSPEED"                value="23." unit="m/s"/>
    <define name="STALL_AIRSPEED"                value="12." unit="m/s"/>
    <define name="AIRSPEED_SETPOINT_SLEW"            value="1" unit="s"/> <!--default=1-->
    <define name="NOMINAL_AIRSPEED"                value="16" unit="m/s"/>
        <define name="MINIMUM_AIRSPEED"                value="14." unit="m/s"/>
        <define name="MAXIMUM_AIRSPEED"                value="26." unit="m/s"/>
    <define name="CARROT"                    value="3." unit="s"/>
    <define name="GLIDE_RATIO"                value="7."/>
    <define name="KILL_MODE_DISTANCE"            value="(1.5*MAX_DIST_FROM_HOME)"/>
    <define name="CONTROL_FREQUENCY"            value="60" unit="Hz"/>
    <define name="XBEE_INIT"                value="\"ATPL2\rATRN1\rATTT80\r\""/>
    <define name="NO_XBEE_API_INIT"                value="TRUE"/>
    <define name="TRIGGER_DELAY"                value="1."/>
    <define name="DEFAULT_CIRCLE_RADIUS"            value="100."/>
    <define name="MIN_CIRCLE_RADIUS"            value="100."/>
    <define name="UNLOCKED_HOME_MODE"            value="TRUE"/>
    <define name="RC_LOST_MODE"                value="PPRZ_MODE_AUTO2"/>
</section>

<section name="AGGRESSIVE"        prefix="AGR_">
    <define name="BLEND_START"                value="40"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
    <define name="BLEND_END"                value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes NOT ZERO!!-->
    <define name="CLIMB_THROTTLE"                value="1.0"/><!-- Gaz for Aggressive Climb -->
    <define name="CLIMB_PITCH"                value="RadOfDeg(20)"/><!-- Pitch for Aggressive Climb -->
    <define name="DESCENT_THROTTLE"                value="0.1"/><!-- Gaz for Aggressive Decent -->
    <define name="DESCENT_PITCH"                value="RadOfDeg(-20)"/><!-- Pitch for Aggressive Decent -->
    <define name="CLIMB_NAV_RATIO"                value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
    <define name="DESCENT_NAV_RATIO"            value="1.0"/>
</section>

  <section name="NAV">
    <define name="NAV_PITCH"        value="0."/>
    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
    <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
  </section>

  <section name="GLS_APPROACH" prefix="APP_">
    <define name="ANGLE" value="5"/>
    <define name="INTERCEPT_AF_TOD" value="10"/>
    <define name="TARGET_SPEED" value="13"/>
  </section>

<section name="FAILSAFE" prefix="FAILSAFE_">
    <define name="DELAY_WITHOUT_GPS"            value="1" unit="s"/>
        <define name="DEFAULT_THROTTLE"                value="0.8" unit="%"/>
        <define name="DEFAULT_ROLL"                value="10" unit="deg"/>
        <define name="DEFAULT_PITCH"                value="10" unit="deg"/>
    <define name="HOME_RADIUS"                value="100" unit="m"/>
    <define name="KILL_MODE_DISTANCE"            value="(MAX_DIST_FROM_HOME*1.5)"/>
</section>

<section name="DATALINK" prefix="DATALINK_">
    <define name="DEVICE_TYPE"                value="PPRZ"/>
    <define name="DEVICE_ADDRESS"                value="...."/>
 </section>

  <section name="DIGITAL_CAMERA" prefix="DC_">
    <define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/>
    <define name="AUTOSHOOT_METER_GRID" value="100" unit="meter"/>
  </section>

  <section name="GCS">
    <define name="ALT_SHIFT_PLUS_PLUS" value="100"/>
    <define name="ALT_SHIFT_PLUS" value="10"/>
    <define name="ALT_SHIFT_MINUS" value="-10"/>
    <define name="SPEECH_NAME" value="Xeno"/>
  </section>

  <section name="SIMU">
    <define name="WEIGHT" value ="1."/>
    <define name="YAW_RESPONSE_FACTOR" value =".9"/>   <!--default 1.-->
    <define name="PITCH_RESPONSE_FACTOR" value ="1."/> <!--default 1.-->
    <define name="ROLL_RESPONSE_FACTOR" value ="15."/> <!--default 15-->
  </section>

 <makefile>
#sim.srcs += my_code.c
#ap.srcs +=  my_code.c
 </makefile>
</airframe>

On Thu, May 19, 2016 at 5:35 PM, hendrixgr . <address@hidden> wrote:
Hi i use a modified revo version that i wrote after examining the mini revo board (the one without the onboard modem)
and yes it has the USE_BARO_BOARD set to TRUE.
If i set it to FALSE everything compiles fine.
The paparazzi version is the 5.8.1 stable

#ifndef CONFIG_OPENPILOT_REVO_MINI_1_0_H
#define CONFIG_OPENPILOT_REVO_MINI_1_0_H

#define BOARD_REVO

/* OpenPilot Revo has a 8MHz external clock and 168MHz internal. */
#define EXT_CLK 8000000
#define AHB_CLK 168000000

#if defined(USE_I2C2) && defined(USE_UART3)
#error CANNOT USE I2C2 AND UART3 BOTH AT THE SAME TIME
#endif

/*
 * Onboard LEDs
 */

/* STAT blue, on PB5 */
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO GPIOB
#define LED_1_GPIO_PIN GPIO5
#define LED_1_GPIO_ON gpio_clear
#define LED_1_GPIO_OFF gpio_set
#define LED_1_AFIO_REMAP ((void)0)

/* WARN red, on PB4 */
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO GPIOB
#define LED_2_GPIO_PIN GPIO4
#define LED_2_GPIO_ON gpio_clear
#define LED_2_GPIO_OFF gpio_set
#define LED_2_AFIO_REMAP ((void)0)


/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()






/* UART */
//CAN BE USED AS GPS SERIAL PORT, CONNECTED TO MAIN PORT PLUG
#define UART1_GPIO_AF GPIO_AF7
#define UART1_GPIO_PORT_TX GPIOA
#define UART1_GPIO_TX GPIO9
#define UART1_GPIO_PORT_RX GPIOA
#define UART1_GPIO_RX GPIO10

//CANNOT BE USED IF SERVO3 AND SERVO4 ARE USED
#if (!defined(USE_PWM3) || USE_PWM3 == 0) && (!defined(USE_PWM4) || USE_PWM4 == 0)
#if (!defined(USE_ADC_3) || USE_ADC_3 == 0) && (!defined(USE_ADC_4) || USE_ADC_4 == 0)
#define UART2_GPIO_AF GPIO_AF7
#define UART2_GPIO_PORT_TX GPIOA
#define UART2_GPIO_TX GPIO2
#define UART2_GPIO_PORT_RX GPIOA
#define UART2_GPIO_RX GPIO3
#endif
#endif

//CANNOT BE USED IF IC2 IS NEEDED, CONNECTED TO FLEXI PORT PLUG
#if !defined(USE_I2C2)
#define UART3_GPIO_AF GPIO_AF7
#define UART3_GPIO_PORT_TX GPIOB
#define UART3_GPIO_TX GPIO10
#define UART3_GPIO_PORT_RX GPIOB
#define UART3_GPIO_RX GPIO11
#endif

//CANNOT BE USED IF SPI3 IS NEEDED, CONNECTED TO OPLINK PORT PLUG.
#define UART5_GPIO_AF GPIO_AF8
#define UART5_GPIO_PORT_RX GPIOD
#define UART5_GPIO_RX GPIO2
#define UART5_GPIO_PORT_TX GPIOC
#define UART5_GPIO_TX GPIO12

//CONNECTED TO RX INPUT PORT PLUG.
#define UART6_GPIO_AF GPIO_AF8
#define UART6_GPIO_PORT_RX GPIOC
#define UART6_GPIO_RX GPIO7
#define UART6_GPIO_PORT_TX GPIOC
#define UART6_GPIO_TX GPIO6





/* SPI */
/* MPU6000 */
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOA
#define SPI1_GPIO_MISO GPIO6
#define SPI1_GPIO_PORT_MOSI GPIOA
#define SPI1_GPIO_MOSI GPIO7
#define SPI1_GPIO_PORT_SCK GPIOA
#define SPI1_GPIO_SCK GPIO5
#define SPI1_GPIO_PORT_NSS GPIOA
#define SPI1_GPIO_NSS GPIO4

/* flash and RFM22B-S2 modem */
#define SPI3_GPIO_AF GPIO_AF5
#define SPI3_GPIO_PORT_MISO GPIOC
#define SPI3_GPIO_MISO GPIO11
#define SPI3_GPIO_PORT_MOSI GPIOC
#define SPI3_GPIO_MOSI GPIO12
#define SPI3_GPIO_PORT_SCK GPIOC
#define SPI3_GPIO_SCK GPIO10
/* modem CS */
#define SPI3_GPIO_PORT_NSS GPIOA
#define SPI3_GPIO_NSS GPIO15

/* MODEM select */
#define SPI_SELECT_SLAVE0_PORT GPIOA
#define SPI_SELECT_SLAVE0_PIN GPIO15

/* external flash chip select */
#define SPI_SELECT_SLAVE1_PORT GPIOB
#define SPI_SELECT_SLAVE1_PIN GPIO3

/* MPU6000 select */
#define SPI_SELECT_SLAVE2_PORT GPIOA
#define SPI_SELECT_SLAVE2_PIN GPIO4


/* I2C mapping */
/* HMC5883L mag on I2C1 with DRDY on PB7 */
/* MS5611 baro on I2C1 */
#define I2C1_GPIO_PORT GPIOB
#define I2C1_GPIO_SCL GPIO8
#define I2C1_GPIO_SDA GPIO9

//CANNOT BE USED IF UART3 IS NEEDED, CONNECTED TO FLEXI PORT PLUG
#if !defined(USE_UART3)
#define I2C2_GPIO_PORT GPIOB
#define I2C2_GPIO_SCL GPIO10
#define I2C2_GPIO_SDA GPIO11
#endif

/*
 * ADC
 */

/* Onboard ADCs */
/*
   ADC1 PC2/ADC12
   ADC2 PC1/ADC11
   ADC3 PA3/ADC3
   ADC4 PA2/ADC2
*/

/* provide defines that can be used to access the ADC_x in the code or airframe file
 * these directly map to the index number of the 4 adc channels defined above
 * 4th (index 3) is used for bat monitoring by default
 */

#define USE_AD_TIM2 1

#ifndef USE_ADC_1
#define USE_ADC_1 1
#endif

#ifndef USE_ADC_2
#define USE_ADC_2 1
#endif

/* Voltage on Pwr/Sen/Sonar CONN3 */
#if USE_ADC_1
#define AD1_1_CHANNEL 12
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOC
#define ADC_1_GPIO_PIN GPIO2
#endif

/* Current on Pwr/Sen/Sonar CONN3 */
#if USE_ADC_2
#define AD1_2_CHANNEL 11
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT GPIOC
#define ADC_2_GPIO_PIN GPIO1
#endif

/* FREE ON SERVO 3 */
#if USE_ADC_3
#define AD1_3_CHANNEL 3
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT GPIOA
#define ADC_3_GPIO_PIN GPIO3
#endif

/* FREE ON SERVO 4 */
#if USE_ADC_4
#define AD1_4_CHANNEL 2
#define ADC_4 AD1_4
#define ADC_4_GPIO_PORT GPIOA
#define ADC_4_GPIO_PIN GPIO2
#endif

/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
#endif

/* no voltage divider on board, adjust VoltageOfAdc in airframe file */
#define DefaultVoltageOfAdc(adc) (0.0045*adc)


/*
 * PWM
 *
 */
#define PWM_USE_TIM3 1
#define PWM_USE_TIM5 1
#if (defined(USE_ADC_3) && USE_ADC_3) || (defined(USE_ADC_4) && USE_ADC_4)
#define PWM_USE_TIM9 1
#endif


#define USE_PWM1 1
#define USE_PWM2 1
#define USE_PWM3 1
#define USE_PWM4 1
#define USE_PWM5 1
#define USE_PWM6 1
#define USE_PWM7 1
#define USE_PWM8 1

// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_GPIO GPIOB
#define PWM_SERVO_1_PIN GPIO0
#define PWM_SERVO_1_AF GPIO_AF2
#define PWM_SERVO_1_OC TIM_OC3
#define PWM_SERVO_1_OC_BIT (1<<2)
#else
#define PWM_SERVO_1_OC_BIT 0
#endif

#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_GPIO GPIOB
#define PWM_SERVO_2_PIN GPIO1
#define PWM_SERVO_2_AF GPIO_AF2
#define PWM_SERVO_2_OC TIM_OC4
#define PWM_SERVO_2_OC_BIT (1<<3)
#else
#define PWM_SERVO_2_OC_BIT 0
#endif

#if USE_PWM3 && (!defined(USE_ADC_3) || USE_ADC_3 != 1)
#define PWM_SERVO_3 2
#define PWM_SERVO_3_TIMER TIM9
#define PWM_SERVO_3_GPIO GPIOA
#define PWM_SERVO_3_PIN GPIO3
#define PWM_SERVO_3_AF GPIO_AF3
#define PWM_SERVO_3_OC TIM_OC2
#define PWM_SERVO_3_OC_BIT (1<<1)
#else
#define PWM_SERVO_3_OC_BIT 0
#undef USE_PWM3
#warning SERVO 3 NOT AVAILABLE
#endif

#if USE_PWM4 && (!defined(USE_ADC_4) || USE_ADC_4 != 1)
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM9
#define PWM_SERVO_4_GPIO GPIOA
#define PWM_SERVO_4_PIN GPIO2
#define PWM_SERVO_4_AF GPIO_AF3
#define PWM_SERVO_4_OC TIM_OC1
#define PWM_SERVO_4_OC_BIT (1<<0)
#else
#define PWM_SERVO_4_OC_BIT 0
#undef USE_PWM4
#warning SERVO 4 NOT AVAILABLE
#endif

#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_TIMER TIM5
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO1
#define PWM_SERVO_5_AF GPIO_AF2
#define PWM_SERVO_5_OC TIM_OC2
#define PWM_SERVO_5_OC_BIT (1<<1)
#else
#define PWM_SERVO_5_OC_BIT 0
#endif

#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO0
#define PWM_SERVO_6_AF GPIO_AF2
#define PWM_SERVO_6_OC TIM_OC1
#define PWM_SERVO_6_OC_BIT (1<<0)
#else
#define PWM_SERVO_6_OC_BIT 0
#endif

#if USE_PWM7
#define PWM_SERVO_7 6
#define PWM_SERVO_7_TIMER TIM12
#define PWM_SERVO_7_GPIO GPIOB
#define PWM_SERVO_7_PIN GPIO14
#define PWM_SERVO_7_AF GPIO_AF9
#define PWM_SERVO_7_OC TIM_OC1
#define PWM_SERVO_7_OC_BIT (1<<0)
#else
#define PWM_SERVO_7_OC_BIT 0
#endif

#if USE_PWM8
#define PWM_SERVO_8 7
#define PWM_SERVO_8_TIMER TIM12
#define PWM_SERVO_8_GPIO GPIOB
#define PWM_SERVO_8_PIN GPIO15
#define PWM_SERVO_8_AF GPIO_AF9
#define PWM_SERVO_8_OC TIM_OC2
#define PWM_SERVO_8_OC_BIT (1<<1)
#else
#define PWM_SERVO_8_OC_BIT 0
#endif



/* servos 1-2 on TIM3 */
#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT | PWM_SERVO_2_OC_BIT)
/* servos 3-4 on TIM9 */
#define PWM_TIM9_CHAN_MASK (PWM_SERVO_3_OC_BIT | PWM_SERVO_4_OC_BIT)
/* servos 5-6 on TIM5 */
#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT | PWM_SERVO_6_OC_BIT)
/* servos 7-8 on TIM12 */
#define PWM_TIM12_CHAN_MASK (PWM_SERVO_7_OC_BIT | PWM_SERVO_8_OC_BIT)


/* by default activate onboard baro */
#ifndef USE_BARO_BOARD
//#define USE_BARO_BOARD 1
#endif

/* PPM
 *
 * Default is PPM config 2, input on GPIOA1 (Servo pin 6)
 */

#ifndef PPM_CONFIG
#define PPM_CONFIG 1
#endif

#if PPM_CONFIG == 1
//#if defined(RADIO_CONTROL_PPM_PIN) && RADIO_CONTROL_PPM_PIN == SERVO_6_IN
 /* input on PC9 (SERVO 6 IN) */
#define USE_PPM_TIM8 1
#define PPM_CHANNEL         TIM_IC4
#define PPM_TIMER_INPUT     TIM_IC_IN_TI4
#define PPM_IRQ             NVIC_TIM8_CC_IRQ
#define PPM_IRQ2            NVIC_TIM8_UP_TIM13_IRQ
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE           TIM_DIER_CC4IE
#define PPM_CC_IF           TIM_SR_CC4IF
#define PPM_GPIO_PORT       GPIOC
#define PPM_GPIO_PIN        GPIO9
#define PPM_GPIO_AF         GPIO_AF3

#elif PPM_CONFIG == 2

/* input on PC8 (SERVO 5 IN) */
#define USE_PPM_TIM8 1
#define PPM_CHANNEL         TIM_IC3
#define PPM_TIMER_INPUT     TIM_IC_IN_TI3
#define PPM_IRQ             NVIC_TIM8_CC_IRQ
#define PPM_IRQ2            NVIC_TIM8_UP_TIM13_IRQ
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE           TIM_DIER_CC3IE
#define PPM_CC_IF           TIM_SR_CC3IF
#define PPM_GPIO_PORT       GPIOC
#define PPM_GPIO_PIN        GPIO8
#define PPM_GPIO_AF         GPIO_AF3

#else
#error "Unknown PPM config"

#endif // PPM_CONFIG


/*
 * Spektrum
 */
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO0
#define SPEKTRUM_BIND_PIN_PORT GPIOB

#define SPEKTRUM_UART1_RCC RCC_USART1
#define SPEKTRUM_UART1_BANK GPIOA
#define SPEKTRUM_UART1_PIN GPIO10
#define SPEKTRUM_UART1_AF GPIO_AF7
#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
#define SPEKTRUM_UART1_ISR usart1_isr
#define SPEKTRUM_UART1_DEV USART1

#define SPEKTRUM_UART2_RCC RCC_USART2
#define SPEKTRUM_UART2_BANK GPIOA
#define SPEKTRUM_UART2_PIN GPIO3
#define SPEKTRUM_UART2_AF GPIO_AF7
#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
#define SPEKTRUM_UART2_ISR usart2_isr
#define SPEKTRUM_UART2_DEV USART2

#define SPEKTRUM_UART5_RCC RCC_UART5
#define SPEKTRUM_UART5_BANK GPIOD
#define SPEKTRUM_UART5_PIN GPIO2
#define SPEKTRUM_UART5_AF GPIO_AF8
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
#define SPEKTRUM_UART5_ISR uart5_isr
#define SPEKTRUM_UART5_DEV UART5

#endif /* CONFIG_OPENPILOT_REVO_MINI_1_0_H */

On Thu, May 19, 2016 at 12:22 PM, Felix Ruess <address@hidden> wrote:
Hi Chris,

what paparazzi_version are you using and more importantly which board files are you using? The (untested) revo board files from my op_revo branch?
It seems that whatever you are using has USE_BARO_BOARD set to TRUE, but there is no onboard baro defined.
Just post you airframe file as well...

Cheers, Felix

On Wed, May 18, 2016 at 11:37 PM, hendrixgr . <address@hidden> wrote:
Ok i solved the ic20 error by changing the ms5611 module configuration from

   <load name="baro_ms5611_i2c.xml">
        <define name="MS5611_I2C_DEV" value="i2c1" />
        <define name="MS5611_SLAVE_ADDR=0xEE"/>
        <define name="MS5611_SEND_BARO_ALTITUDE"/>
    </load>
to

   <load name="baro_ms5611_i2c.xml">
        <configure name="MS5611_I2C_DEV" value="i2c1" />
        <define name="MS5611_SLAVE_ADDR=0xEE"/>
        <define name="MS5611_SEND_BARO_ALTITUDE"/>
    </load>

but i do get the below error and i am not that experienced with the baro files.

/home/hendrix/paparazzi/var/aircrafts/xeno/ap/firmwares/fixedwing/main_ap.o: In function `init_ap':
/home/hendrix/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:214: undefined reference to `baro_init'
/home/hendrix/paparazzi/var/aircrafts/xeno/ap/firmwares/fixedwing/main_ap.o: In function `handle_periodic_tasks_ap':
/home/hendrix/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:287: undefined reference to `baro_periodic'
/home/hendrix/paparazzi/var/aircrafts/xeno/ap/firmwares/fixedwing/main_ap.o: In function `event_task_ap':
/home/hendrix/paparazzi/sw/airborne/firmwares/fixedwing/main_ap.c:714: undefined reference to `baro_event'
collect2: error: ld returned 1 exit status
make[1]: *** [/home/hendrix/paparazzi/var/aircrafts/xeno/ap/ap.elf] Error 1
make[1]: Leaving directory `/home/hendrix/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/hendrix/paparazzi'

Chris


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