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[paparazzi-commits] [5565] changed baro to use the new rotorcraft board
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5565] changed baro to use the new rotorcraft board independant thingy |
|
Date: |
Sun, 22 Aug 2010 02:34:08 +0000 |
Revision: 5565
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5565
Author: poine
Date: 2010-08-22 02:34:08 +0000 (Sun, 22 Aug 2010)
Log Message:
-----------
changed baro to use the new rotorcraft board independant thingy
Modified Paths:
--------------
paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile 2010-08-22
01:46:20 UTC (rev 5564)
+++ paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile 2010-08-22
02:34:08 UTC (rev 5565)
@@ -10,6 +10,7 @@
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_CSC=csc
+SRC_BOARD=boards/$(BOARD)
CFG_LISA_PASSTHROUGH =
$(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough
@@ -17,7 +18,7 @@
stm_passthrough.ARCHDIR = stm32
stm_passthrough.TARGET = stm_passthrough
stm_passthrough.TARGETDIR = stm_passthrough
-stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH)
+stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
@@ -85,7 +86,7 @@
stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
# Baro
-stm_passthrough.srcs += $(SRC_LISA)/lisa_baro.c
+stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c
stm_passthrough.CFLAGS += -DUSE_I2C2
stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
2010-08-22 01:46:20 UTC (rev 5564)
+++
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
2010-08-22 02:34:08 UTC (rev 5565)
@@ -1,5 +1,7 @@
+#
+# Makefile for radio_control susbsytem in rotorcraft firmware
+#
-# Radio control
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\"
@@ -8,10 +10,10 @@
stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL
-DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
stm_passthrough.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
stm_passthrough.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
-stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
- $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
-stm_passthrough.srcs +=
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
-stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=5
-stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
-stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=$(RADIO_CONTROL_LINK)
+stm_passthrough.CFLAGS += -DUSE_$(RADIO_CONTROL_LINK)
-D$(RADIO_CONTROL_LINK)_BAUD=B115200
+stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
+
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
+
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-08-22 01:46:20 UTC (rev 5564)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-08-22 02:34:08 UTC (rev 5565)
@@ -36,7 +36,7 @@
#include "csc_msg_def.h"
#include "csc_protocol.h"
-#include "lisa/lisa_baro.h"
+#include "rotorcraft/baro.h"
static inline void main_init(void);
@@ -62,102 +62,103 @@
int main(void) {
- main_init();
+ main_init();
- while (1) {
- if (sys_time_periodic())
- main_periodic();
- main_event();
- }
-
- return 0;
+ while (1) {
+ if (sys_time_periodic())
+ main_periodic();
+ main_event();
+ }
+
+ return 0;
}
static inline void main_init(void) {
- hw_init();
- sys_time_init();
- booz_imu_init();
- baro_init();
- radio_control_init();
- booz_actuators_init();
- overo_link_init();
- cscp_init();
-// csc_bat_monitor_init();
+ hw_init();
+ sys_time_init();
+ booz_imu_init();
+ baro_init();
+ radio_control_init();
+ booz_actuators_init();
+ overo_link_init();
+ cscp_init();
+ // csc_bat_monitor_init();
+
+ cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
+ new_radio_msg = FALSE;
- cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void
*)&csc_vane_msg);
- new_radio_msg = FALSE;
}
static inline void main_periodic(void) {
- booz_imu_periodic();
- OveroLinkPeriodic(on_overo_link_lost);
-// csc_bat_monitor_periodic();
+ booz_imu_periodic();
+ OveroLinkPeriodic(on_overo_link_lost);
+ // csc_bat_monitor_periodic();
- RunOnceEvery(10, {
- LED_PERIODIC();
- DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
- radio_control_periodic();
- });
+ RunOnceEvery(10, {
+ LED_PERIODIC();
+ DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+ radio_control_periodic();
+ });
RunOnceEvery(2, {baro_periodic();});
}
static inline void on_rc_message(void) {
- new_radio_msg = TRUE;
+ new_radio_msg = TRUE;
}
static inline void on_overo_link_msg_received(void) {
- /* IMU up */
- overo_link.up.msg.valid.imu = 1;
- RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
- VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
- VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
-
- /* RC up */
- overo_link.up.msg.valid.rc = new_radio_msg;
- new_radio_msg = FALSE;
-
- overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
- overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
- overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
- overo_link.up.msg.rc_thrust =
radio_control.values[RADIO_CONTROL_THROTTLE];
- overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
+ /* IMU up */
+ overo_link.up.msg.valid.imu = 1;
+ RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
+ VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
+ VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
+
+ /* RC up */
+ overo_link.up.msg.valid.rc = new_radio_msg;
+ new_radio_msg = FALSE;
+
+ overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
+ overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
+ overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
+ overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
+ overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
#ifdef RADIO_CONTROL_KILL
- overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
+ overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
#endif
#ifdef RADIO_CONTROL_GEAR
- overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
+ overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
#endif
- overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
- overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
- overo_link.up.msg.rc_status = radio_control.status;
-
- overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
- overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
-
- /* baro up */
- overo_link.up.msg.valid.pressure_differential = new_baro_diff;
- overo_link.up.msg.valid.pressure_absolute = new_baro_abs;
- new_baro_diff = FALSE;
- new_baro_abs = FALSE;
- overo_link.up.msg.pressure_differential = baro.diff_raw;
- overo_link.up.msg.pressure_absolute = baro.abs_raw;
-
- overo_link.up.msg.valid.vane = new_vane;
- new_vane = FALSE;
- overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
- overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
-
- /* pwm acuators down */
- for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
- booz_actuators_pwm_values[i] =
overo_link.down.msg.pwm_outputs_usecs[i];
- }
- booz_actuators_pwm_commit();
-
+ overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
+ overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
+ overo_link.up.msg.rc_status = radio_control.status;
+
+ overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
+ overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
+
+ /* baro up */
+ overo_link.up.msg.valid.pressure_differential = new_baro_diff;
+ overo_link.up.msg.valid.pressure_absolute = new_baro_abs;
+ new_baro_diff = FALSE;
+ new_baro_abs = FALSE;
+ overo_link.up.msg.pressure_differential = baro.differential;
+ overo_link.up.msg.pressure_absolute = baro.absolute;
+
+ overo_link.up.msg.valid.vane = new_vane;
+ new_vane = FALSE;
+ overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
+ overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
+
+ /* pwm acuators down */
+ for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
+ booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
+ }
+ booz_actuators_pwm_commit();
+
}
static inline void on_overo_link_lost(void) {
@@ -167,33 +168,33 @@
}
static inline void on_gyro_accel_event(void) {
- BoozImuScaleGyro(booz_imu);
- BoozImuScaleAccel(booz_imu);
+ BoozImuScaleGyro(booz_imu);
+ BoozImuScaleAccel(booz_imu);
}
static inline void on_mag_event(void) {
- BoozImuScaleMag(booz_imu);
+ BoozImuScaleMag(booz_imu);
}
static inline void on_vane_msg(void *data) {
- new_vane = TRUE;
- int zero = 0;
- DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
- &(csc_vane_msg.vane_angle1),
- &zero,
- &zero,
- &zero,
- &zero,
- &csc_vane_msg.vane_angle2,
- &zero,
- &zero,
- &zero,
- &zero);
+ new_vane = TRUE;
+ int zero = 0;
+ DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
+ &(csc_vane_msg.vane_angle1),
+ &zero,
+ &zero,
+ &zero,
+ &zero,
+ &csc_vane_msg.vane_angle2,
+ &zero,
+ &zero,
+ &zero,
+ &zero);
}
static inline void main_on_baro_diff(void) {
new_baro_diff = TRUE;
- RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw,
&baro.diff_raw);});
+ RunOnceEvery(5,{DOWNLINK_SEND_BARO_RAW(DefaultChannel, &baro.absolute,
&baro.differential);});
}
static inline void main_on_baro_abs(void) {
@@ -202,11 +203,12 @@
static inline void main_event(void) {
- BoozImuEvent(on_gyro_accel_event, on_mag_event);
- BaroEvent(main_on_baro_abs, main_on_baro_diff);
- OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
- RadioControlEvent(on_rc_message);
- cscp_event();
+ BoozImuEvent(on_gyro_accel_event, on_mag_event);
+ BaroEvent(main_on_baro_abs, main_on_baro_diff);
+ OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
+ RadioControlEvent(on_rc_message);
+ cscp_event();
+
}
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- [paparazzi-commits] [5565] changed baro to use the new rotorcraft board independant thingy,
antoine drouin <=