[paparazzi-commits] [5646] sim now builds with crista for imu

[antoine drouin]

Revision: 5646
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5646
Author:   poine
Date:     2010-08-24 09:29:07 +0000 (Tue, 24 Aug 2010)
Log Message:
-----------
sim now builds with crista for imu

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/rotorcraft.makefile
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.c
    paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h

Modified: paparazzi3/trunk/conf/autopilot/rotorcraft.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/rotorcraft.makefile 2010-08-24 08:27:31 UTC 
(rev 5645)
+++ paparazzi3/trunk/conf/autopilot/rotorcraft.makefile 2010-08-24 09:29:07 UTC 
(rev 5646)
@@ -110,29 +110,29 @@
 #
 # Radio control choice
 #
-# include radio_control_ppm.makefile
+# include subsystems/rotorcraft/radio_control_ppm.makefile
 # or
-# include radio_control_spektrum.makefile
+# include subsystems/rotorcraft/radio_control_spektrum.makefile
 #
 
 #
 # Actuator choice
 #
-# include actuators_mkk.makefile
+# include subsystems/rotorcraft/actuators_mkk.makefile
 # or
-# include actuators_asctec.makefile
+# include subsystems/rotorcraft/actuators_asctec.makefile
 # or
-# include actuators_asctec_v2.makefile
+# include subsystems/rotorcraft/actuators_asctec_v2.makefile
 #
 
 #
 # IMU choice
 #
-# include booz2_imu_b2v1.makefile
+# include subsystems/rotorcraft/imu_b2v1.makefile
 # or
-# include booz2_imu_b2v1_1.makefile
+# include subsystems/rotorcraft/imu_b2v1_1.makefile
 # or
-# include booz2_imu_crista.makefile
+# include subsystems/rotorcraft/imu_crista.makefile
 #
 
 #
@@ -163,8 +163,10 @@
 #
 # GPS choice
 # 
-# include booz2_gps.makefile
+# include subsystems/rotorcraft/gps_ubx.makefile
 # or
+# include subsystems/rotorcraft/gps_skytraq.makefile
+# or
 # nothing
 #
 
@@ -172,9 +174,9 @@
 #
 # AHRS choice
 #
-# include booz2_ahrs_cmpl.makefile
+# include subsystems/rotorcraft/ahrs_cmpl.makefile
 # or
-# include booz2_ahrs_lkf.makefile
+# include subsystems/rotorcraft/ahrs_lkf.makefile
 #
 
 ap.srcs += $(SRC_BOOZ)/booz2_autopilot.c
@@ -200,7 +202,7 @@
 #
 # INS choice
 #
-# include booz2_ins_hff.makefile
+# include subsystems/rotorcraft/ins_hff.makefile
 # or
 # nothing
 #

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile   
2010-08-24 08:27:31 UTC (rev 5645)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_crista.makefile   
2010-08-24 09:29:07 UTC (rev 5646)
@@ -71,3 +71,10 @@
 
 
 
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\"
+sim.srcs += $(SRC_BOOZ)/booz_imu.c            \
+            $(SRC_BOOZ)/imu/booz_imu_crista.c \
+            $(SRC_BOOZ_SIM)/imu/booz_imu_crista_arch.c
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.CFLAGS += -DUSE_I2C1
\ No newline at end of file

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile    
    2010-08-24 08:27:31 UTC (rev 5645)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/simulator_nps.makefile    
    2010-08-24 09:29:07 UTC (rev 5646)
@@ -86,8 +86,8 @@
 
 sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-sim.CFLAGS += -DIMU_B2_VERSION_1_1
+#sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+#sim.CFLAGS += -DIMU_B2_VERSION_1_1
 
 sim.srcs += $(SRC_BOOZ)/booz2_autopilot.c
 

Added: paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.c       
                        (rev 0)
+++ paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.c       
2010-08-24 09:29:07 UTC (rev 5646)
@@ -0,0 +1,31 @@
+/*
+ * simulator ARCH for rotorcraft imu crista
+ */
+
+#include "booz/booz_imu.h"
+
+#include "airframe.h"
+
+void booz_imu_crista_arch_init(void) {
+
+}
+
+
+#include "nps_sensors.h"
+
+void booz_imu_feed_gyro_accel(void) {
+  ADS8344_values[IMU_GYRO_P_CHAN]  = sensors.gyro.value.x;
+  ADS8344_values[IMU_GYRO_Q_CHAN]  = sensors.gyro.value.y;
+  ADS8344_values[IMU_GYRO_R_CHAN]  = sensors.gyro.value.z;
+  ADS8344_values[IMU_ACCEL_X_CHAN] = sensors.accel.value.x;
+  ADS8344_values[IMU_ACCEL_Y_CHAN] = sensors.accel.value.y;
+  ADS8344_values[IMU_ACCEL_Z_CHAN] = sensors.accel.value.z;
+  ADS8344_available = TRUE;
+}
+
+void booz_imu_feed_mag(void) {
+  ami601_values[IMU_MAG_X_CHAN] = sensors.mag.value.x;
+  ami601_values[IMU_MAG_Y_CHAN] = sensors.mag.value.y;
+  ami601_values[IMU_MAG_Z_CHAN] = sensors.mag.value.z;
+  ami601_status = AMI601_DATA_AVAILABLE;
+}

Added: paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h       
                        (rev 0)
+++ paparazzi3/trunk/sw/airborne/booz/arch/sim/imu/booz_imu_crista_arch.h       
2010-08-24 09:29:07 UTC (rev 5646)
@@ -0,0 +1,42 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+/*
+ *
+ * simulator plug for the crista imu arch dependant functions
+ *
+ */
+#ifndef BOOZ_IMU_CRISTA_ARCH_H
+#define BOOZ_IMU_CRISTA_ARCH_H
+
+#include "booz/booz_imu.h"
+
+
+#define BoozImuCristaArchPeriodic() {}
+
+extern void booz_imu_feed_gyro_accel(void);
+extern void booz_imu_feed_mag(void);
+
+
+#endif /* BOOZ_IMU_CRISTA_HW_H */
+