[paparazzi-commits] [4804] more stm tweaks

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[paparazzi-commits] [4804] more stm tweaks

From:	antoine drouin
Subject:	[paparazzi-commits] [4804] more stm tweaks
Date:	Fri, 16 Apr 2010 21:59:44 +0000
Revision: 4804
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4804
Author:   poine
Date:     2010-04-16 21:59:44 +0000 (Fri, 16 Apr 2010)
Log Message:
-----------
more stm tweaks

Modified Paths:
--------------
    paparazzi3/trunk/conf/Makefile.stm32
    paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile

Added Paths:
-----------
    paparazzi3/trunk/conf/autopilot/boards/lisa_0.99.h

Modified: paparazzi3/trunk/conf/Makefile.stm32
===================================================================
--- paparazzi3/trunk/conf/Makefile.stm32        2010-04-16 18:17:48 UTC (rev 
4803)
+++ paparazzi3/trunk/conf/Makefile.stm32        2010-04-16 21:59:44 UTC (rev 
4804)
@@ -50,10 +50,11 @@
 RM   = rm
 OOCD = $(TOOLCHAIN_DIR)/bin/openocd
 
-LOADER=$(STM32_DIR)/stm32loader-a3c51c26ad6c/stm32loader.py
+LOADER=/home/poine/home_regis/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py
 
 OOCD_INTERFACE = openocd-lisa-jtag
-OOCD_TARGET    = olimex_stm32_h103
+#OOCD_TARGET    = olimex_stm32_h103
+OOCD_TARGET    = stm32
 
 # inpput files
 SRCS = $($(TARGET).srcs)
@@ -155,22 +156,23 @@
        $(Q)test -d $(dir $@) || mkdir -p $(dir $@)
        $(Q)$(CC) -c $(AFLAGS) $< -o $@
 
-#upload: $(OBJDIR)/$(TARGET).bin
-#      $(LOADER) -p /dev/ttyUSB1  -b 115200 -e -w -v $^
-
+ifeq ($(FLASH_MODE),SERIAL)
+upload: $(OBJDIR)/$(TARGET).bin
+       $(LOADER) -p /dev/ttyUSB0  -b 115200 -e -w -v $^
+else ifeq ($(FLASH_MODE),JTAG)
 upload:  $(OBJDIR)/$(TARGET).bin
        @echo -e "  OOCD\t$<"
        $(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
-                -f board/$(OOCD_TARGET).cfg \
+                -f target/$(OOCD_TARGET).cfg \
                 -c init \
                 -c "reset halt" \
                 -c "flash write_image erase $(OBJDIR)/$(TARGET).bin 
0x08000000" \
                 -c reset \
                 -c shutdown
+endif
 
 
 
-
 # Target: clean project.
 clean: clean_list
 

Added: paparazzi3/trunk/conf/autopilot/boards/lisa_0.99.h
===================================================================
--- paparazzi3/trunk/conf/autopilot/boards/lisa_0.99.h                          
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/boards/lisa_0.99.h  2010-04-16 21:59:44 UTC 
(rev 4804)
@@ -0,0 +1,29 @@
+#ifndef CONFIG_LISA_V1_0_H
+#define CONFIG_LISA_V1_0_H
+
+
+#define AHB_CLK 72000000
+
+/* Onboard LEDs */
+#define LED_1_BANK 
+#define LED_STP08
+//#define LED_1_GPIO GPIOC
+//#define LED_1_GPIO_CLK RCC_APB2Periph_GPIOC
+//#define LED_1_GPIO_PIN GPIO_Pin_12
+
+
+
+/* Default IMU b2 sensors connection */
+#ifndef IMU_OVERRIDE_CHANNELS
+#define IMU_GYRO_P_CHAN  1
+#define IMU_GYRO_Q_CHAN  0
+#define IMU_GYRO_R_CHAN  2
+#define IMU_ACCEL_X_CHAN 5
+#define IMU_ACCEL_Y_CHAN 3
+#define IMU_ACCEL_Z_CHAN 4
+#define IMU_MAG_X_CHAN   0
+#define IMU_MAG_Y_CHAN   1
+#define IMU_MAG_Z_CHAN   2
+#endif /* IMU_OVERRIDE_CHANNELS */
+
+#endif /* CONFIG_LISA_V1_0_H */

Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile    2010-04-16 
18:17:48 UTC (rev 4803)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile    2010-04-16 
21:59:44 UTC (rev 4804)
@@ -31,6 +31,7 @@
 #
 
################################################################################
 
+
 overo_test_spi.ARCHDIR = omap
 overo_test_spi.srcs=$(SRC_FMS)/overo_test_spi.c
 
@@ -43,9 +44,9 @@
 overo_test_telemetry.ARCHDIR  = omap
 overo_test_telemetry.CFLAGS  += -I$(ACINCLUDE) -I. 
-I$(PAPARAZZI_HOME)/var/include
 overo_test_telemetry.srcs     = $(SRC_FMS)/overo_test_telemetry.c
-overo_test_telemetry.srcs    += $(SRC_FMS)/fms_network.c
 overo_test_telemetry.CFLAGS  += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
 overo_test_telemetry.srcs    += $(SRC_FMS)/udp_transport.c downlink.c
+overo_test_telemetry.srcs    += $(SRC_FMS)/fms_network.c
 overo_test_telemetry.LDFLAGS += -levent
 
 
@@ -55,7 +56,7 @@
 
################################################################################
 #
 #
-#  Those babies run on the stm
+#  Those babies run on the stm32
 #
 #
 
################################################################################
@@ -64,9 +65,11 @@
 SRC_LISA=lisa
 SRC_ARCH=$(ARCHI)
 
-BOARD_CFG=\"boards/olimex_stm32-h103.h\"
+#BOARD_CFG=\"boards/olimex_stm32-h103.h\"
+BOARD_CFG=\"boards/lisa_0.99.h\"
+#FLASH_MODE = SERIAL
+FLASH_MODE = JTAG
 
-
 #
 # test leds
 #
@@ -74,14 +77,29 @@
 test_led.TARGET = test_led
 test_led.TARGETDIR = test_led
 test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
-test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_LISA)/test_led.c       \
-                 $(SRC_LISA)/exceptions.c     \
+#test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_led.srcs += $(SRC_LISA)/test_led.c        \
+                 $(SRC_ARCH)/led_hw.c          \
+                 $(SRC_LISA)/exceptions.c      \
                  $(SRC_LISA)/vector_table.c
 test_led.CFLAGS += -DUSE_LED
 
 
 #
+# test leds2
+#
+test_led2.ARCHDIR = $(ARCHI)
+test_led2.TARGET = test_led2
+test_led2.TARGETDIR = test_led2
+test_led2.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
+test_led2.CFLAGS += -DBOARD_CONFIG=\"boards/lisa_0.99.h\"
+test_led2.srcs += $(SRC_LISA)/test_led2.c              \
+                 $(SRC_LISA)/exceptions.c              \
+                 $(SRC_LISA)/vector_table.c
+test_led2.CFLAGS += -DUSE_LED
+
+
+#
 # test periodic
 #
 test_periodic.ARCHDIR = $(ARCHI)
@@ -130,6 +148,7 @@
                       $(SRC_LISA)/exceptions.c      \
                       $(SRC_LISA)/vector_table.c
 test_telemetry1.CFLAGS += -DUSE_LED
+test_telemetry1.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -247,13 +266,14 @@
 test_servos.ARCHDIR = $(ARCHI)
 test_servos.TARGET = test_servos
 test_servos.TARGETDIR = test_servos
-test_servos.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_servos.CFLAGS  = -I$(SRC_LISA) -I$(ARCHI) -I$(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_LISA)/exceptions.c    \
                     $(SRC_LISA)/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
@@ -273,9 +293,104 @@
 #
 # test Max1168
 #
+test_max1168.ARCHDIR = $(ARCHI)
+test_max1168.TARGET = test_max1168
+test_max1168.TARGETDIR = test_max1168
+test_max1168.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_max1168.srcs = $(SRC_LISA)/test/lisa_test_max1168.c \
+                    $(SRC_LISA)/exceptions.c             \
+                    $(SRC_LISA)/vector_table.c
 
+test_max1168.CFLAGS += -DUSE_LED
+test_max1168.srcs += $(SRC_ARCH)/led_hw.c
 
+test_max1168.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_max1168.CFLAGS += -DUSE_SPI2 -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ 
-DMAX1168_HANDLES_DMA_IRQ
+test_max1168.srcs   += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+                       $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+
+test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_max1168.srcs += downlink.c pprz_transport.c
+
 #
+# test ms2001
+#
+test_ms2001.ARCHDIR = $(ARCHI)
+test_ms2001.TARGET = test_ms2001
+test_ms2001.TARGETDIR = test_ms2001
+test_ms2001.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) 
-DPERIPHERALS_AUTO_INIT
+test_ms2001.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_ms2001.srcs = $(SRC_LISA)/test/lisa_test_ms2001.c \
+                   $(SRC_LISA)/exceptions.c            \
+                   $(SRC_LISA)/vector_table.c
+
+test_ms2001.CFLAGS += -DUSE_LED
+test_ms2001.srcs += $(SRC_ARCH)/led_hw.c
+
+test_ms2001.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_ms2001.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_ms2001.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_ms2001.CFLAGS += -DUSE_SPI2
+test_ms2001.CFLAGS += -DUSE_DMA1_C4_IRQ -DMS2001_HANDLES_DMA_IRQ
+test_ms2001.CFLAGS += -DUSE_SPI2_IRQ -DMS2001_HANDLES_SPI_IRQ
+test_ms2001.srcs   += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
+                      $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+
+test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_ms2001.srcs += downlink.c pprz_transport.c
+
+#
+# test IMU b2
+#
+test_imu_b2.ARCHDIR = $(ARCHI)
+test_imu_b2.TARGET = test_imu_b2
+test_imu_b2.TARGETDIR = test_imu_b2
+test_imu_b2.CFLAGS  =  -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) 
-I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+test_imu_b2.CFLAGS +=  -DBOARD_CONFIG=$(BOARD_CFG)
+test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c \
+                    $(SRC_LISA)/exceptions.c             \
+                    $(SRC_LISA)/vector_table.c
+
+test_imu_b2.CFLAGS += -DUSE_LED
+test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
+
+test_imu_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
+test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_imu_b2.srcs += downlink.c pprz_transport.c
+
+test_imu_b2.srcs += math/pprz_trig_int.c
+
+test_imu_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+test_imu_b2.srcs += $(SRC_BOOZ)/booz_imu.c
+test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ 
-DUSE_SPI2_IRQ
+test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c 
$(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c 
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  
$(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+
+
+
+
+
+
+#
 # test motor controllers
 #
 test_mc.ARCHDIR = $(ARCHI)
@@ -287,6 +402,7 @@
                $(SRC_LISA)/exceptions.c   \
                $(SRC_LISA)/vector_table.c
 test_mc.CFLAGS += -DUSE_LED
+test_mc.srcs += $(SRC_ARCH)/led_hw.c
 test_mc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -314,6 +430,54 @@
 
 
 #
+# test motor controllers asctec
+#
+test_mc3.ARCHDIR = $(ARCHI)
+test_mc3.TARGET = test_mc3
+test_mc3.TARGETDIR = test_mc3
+test_mc3.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
+test_mc3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_mc3.srcs = $(SRC_LISA)/test_mc3.c      \
+               $(SRC_LISA)/exceptions.c   \
+               $(SRC_LISA)/vector_table.c
+test_mc3.CFLAGS += -DUSE_LED
+test_mc3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_mc3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_mc3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+
+
+
+#
+# test baro
+#
+test_baro.ARCHDIR = $(ARCHI)
+test_baro.TARGET = test_baro
+test_baro.TARGETDIR = test_baro
+test_baro.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
+test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_baro.srcs = $(SRC_LISA)/test_baro.c      \
+               $(SRC_LISA)/exceptions.c   \
+               $(SRC_LISA)/vector_table.c
+test_baro.CFLAGS += -DUSE_LED
+test_baro.srcs += $(SRC_ARCH)/led_hw.c
+test_baro.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_baro.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_baro.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_baro.srcs += downlink.c pprz_transport.c
+
+
+
+
+
+
+
+#
 # test spi slave
 #
 test_spi_slave.ARCHDIR = $(ARCHI)
@@ -325,10 +489,15 @@
                       $(SRC_LISA)/exceptions.c          \
                       $(SRC_LISA)/vector_table.c
 test_spi_slave.CFLAGS += -DUSE_LED
+test_spi_slave.srcs += $(SRC_ARCH)/led_hw.c
 test_spi_slave.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_spi_slave.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_spi_slave.CFLAGS += -DUSE_SPI1
+test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
+test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c
+test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_spi_slave.srcs += downlink.c pprz_transport.c
 
 
 #
@@ -343,15 +512,17 @@
                       $(SRC_LISA)/exceptions.c          \
                       $(SRC_LISA)/vector_table.c
 test_spi_slave2.CFLAGS += -DUSE_LED
-test_spi_slave2.CFLAGS += -DUSE_SYS_TIME
-# -DSYS_TIME_LED=1
+test_spi_slave2.srcs += $(SRC_ARCH)/led_hw.c
+test_spi_slave2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_spi_slave2.CFLAGS += -DUSE_SPI1
+test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c
+test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
+test_spi_slave2.srcs += downlink.c pprz_transport.c
 
 
 
-
 #
 # test overo com
 #
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