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[paparazzi-commits] [4982] fixing spi communications test between overo
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [4982] fixing spi communications test between overo and stm |
|
Date: |
Fri, 18 Jun 2010 13:51:01 +0000 |
Revision: 4982
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4982
Author: poine
Date: 2010-06-18 13:51:00 +0000 (Fri, 18 Jun 2010)
Log Message:
-----------
fixing spi communications test between overo and stm
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/beth.xml
paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
paparazzi3/trunk/sw/airborne/beth/main_overo.c
paparazzi3/trunk/sw/airborne/beth/main_stm32.c
paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link.c
paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link.c
Added Paths:
-----------
paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml
Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-06-18 10:35:34 UTC
(rev 4981)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-06-18 13:51:00 UTC
(rev 4982)
@@ -91,7 +91,7 @@
main_stm32.srcs += downlink.c pprz_transport.c
main_stm32.CFLAGS += -DUSE_OVERO_LINK
-DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
-main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4
-DUSE_DMA1_C2_IRQ
+main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4
-DUSE_DMA1_C2_IRQ
main_stm32.srcs += lisa/lisa_overo_link.c
lisa/arch/stm32/lisa_overo_link_arch.c
main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
@@ -170,8 +170,6 @@
#
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile
-
</makefile>
</airframe>
Added: paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml
(rev 0)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a8.xml 2010-06-18 13:51:00 UTC
(rev 4982)
@@ -0,0 +1,103 @@
+<!-- this is the biplan equiped with Lisa/L#XXX and asctec V2 controllers -->
+
+<airframe name="booz2_a7">
+
+ <servos min="0" neutral="0" max="0xff">
+ <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
+ <servo name="BACK" no="1" min="0" neutral="0" max="255"/>
+ <servo name="LEFT" no="2" min="0" neutral="0" max="255"/>
+ <servo name="RIGHT" no="3" min="0" neutral="0" max="255"/>
+ </servos>
+
+ <commands>
+ <axis name="PITCH" failsafe_value="0"/>
+ <axis name="ROLL" failsafe_value="0"/>
+ <axis name="YAW" failsafe_value="0"/>
+ <axis name="THRUST" failsafe_value="0"/>
+ </commands>
+
+
+ <section name="SUPERVISION" prefix="SUPERVISION_">
+ <define name="MIN_MOTOR" value="3"/>
+ <define name="MAX_MOTOR" value="200"/>
+ <define name="TRIM_A" value="0"/>
+ <define name="TRIM_E" value="0"/>
+ <define name="TRIM_R" value="0"/>
+ <define name="NB_MOTOR" value="4"/>
+ <define name="SCALE" value="256"/>
+ <define name="ROLL_COEF" value="{ 0 , 0, 256, -256 }"/>
+ <define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
+ <define name="YAW_COEF" value="{ 256, 256, -256, -256 }"/>
+ <define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
+ </section>
+
+ <section name="IMU" prefix="IMU_">
+
+ <define name="GYRO_P_NEUTRAL" value="31948"/>
+ <define name="GYRO_Q_NEUTRAL" value="31834"/>
+ <define name="GYRO_R_NEUTRAL" value="32687"/>
+
+ <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
+ <define name="GYRO_Q_SENS" value="-1.122670898" integer="16"/>
+ <define name="GYRO_R_SENS" value="-1.104890137" integer="16"/>
+
+
+ <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
+ <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
+ <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
+
+ <define name="ACCEL_X_NEUTRAL" value="32857"/>
+ <define name="ACCEL_Y_NEUTRAL" value="32429"/>
+ <define name="ACCEL_Z_NEUTRAL" value="32593"/>
+
+ <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+ <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
+ <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+
+ <define name="MAG_X_NEUTRAL" value="-43"/>
+ <define name="MAG_Y_NEUTRAL" value=" 49"/>
+ <define name="MAG_Z_NEUTRAL" value="-66"/>
+
+ <define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
+ <define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
+
+ </section>
+
+ <section name="BAT">
+ <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+ <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ <define name="BATTERY_SENS" value="0.48" integer="16"/>
+ </section>
+
+
+ <makefile>
+
+
+
+USER =
+#HOST = 10.31.4.22
+#HOST = overo
+HOST = beth
+TARGET_DIR = ~
+
+SRC_FMS=fms
+
+
+ARCH=stm32
+ARCHI=stm32
+BOARD_CFG=\"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
+
+include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile
+
+#
+#
+#
+
+
+ </makefile>
+
+</airframe>
Modified: paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile 2010-06-18
10:35:34 UTC (rev 4981)
+++ paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile 2010-06-18
13:51:00 UTC (rev 4982)
@@ -29,7 +29,7 @@
pt.srcs += downlink.c pprz_transport.c
# Link Overo
-pt.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
+pt.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessagePT
pt.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
pt.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
@@ -57,8 +57,9 @@
# Actuators
pt.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
-pt.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
+pt.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
+pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
pt.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-pt.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
+
+pt.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
pt.CFLAGS += -DUSE_I2C1
Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-06-18
10:35:34 UTC (rev 4981)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-06-18
13:51:00 UTC (rev 4982)
@@ -684,7 +684,7 @@
#
-# test spi slave
+# test spi slave ( hardcoded SPI without DMA )
#
test_spi_slave.ARCHDIR = $(ARCHI)
test_spi_slave.TARGET = test_spi_slave
@@ -707,7 +707,7 @@
#
-# test spi slave2 ( with DMA )
+# test spi slave2 ( hardcoded SPI with DMA )
#
test_spi_slave2.ARCHDIR = $(ARCHI)
test_spi_slave2.TARGET = test_spi_slave2
Modified: paparazzi3/trunk/sw/airborne/beth/main_overo.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_overo.c 2010-06-18 10:35:34 UTC
(rev 4981)
+++ paparazzi3/trunk/sw/airborne/beth/main_overo.c 2010-06-18 13:51:00 UTC
(rev 4982)
@@ -60,11 +60,12 @@
spi_link_send(msg_out, sizeof(union AutopilotMessageBeth), msg_in);
// if (!foo%100) {
+ if (0) {
printf("%d -> %d %d %d %d %d %d %d %d %d\n", foo,
msg_in->bench_sensor.x, msg_in->bench_sensor.y, msg_in->bench_sensor.z,
msg_in->gyro.x, msg_in->gyro.y, msg_in->gyro.z,
msg_in->accel.x, msg_in->accel.y, msg_in->accel.z);
- // }
+ }
foo++;
}
Modified: paparazzi3/trunk/sw/airborne/beth/main_stm32.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-06-18 10:35:34 UTC
(rev 4981)
+++ paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-06-18 13:51:00 UTC
(rev 4982)
@@ -64,14 +64,14 @@
actuators_init();
// radio_control_init();
// booz_imu_init();
- // overo_link_init();
+ overo_link_init();
bench_sensors_init();
}
static inline void main_periodic( void ) {
// booz_imu_periodic();
actuators_set(FALSE);
- // OveroLinkPeriodic(main_on_overo_link_lost)
+ OveroLinkPeriodic(main_on_overo_link_lost)
RunOnceEvery(10, {LED_PERIODIC(); DOWNLINK_SEND_ALIVE(DefaultChannel, 16,
MD5SUM);});
read_bench_sensors();
@@ -80,7 +80,7 @@
static inline void main_event( void ) {
// BoozImuEvent(on_gyro_accel_event, on_mag_event);
- // OveroLinkEvent(main_on_overo_msg_received);
+ OveroLinkEvent(main_on_overo_msg_received);
BenchSensorsEvent(main_on_bench_sensors);
Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h 2010-06-18
10:35:34 UTC (rev 4981)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h 2010-06-18
13:51:00 UTC (rev 4982)
@@ -4,10 +4,15 @@
#include <inttypes.h>
#include "math/pprz_algebra_int.h"
+/*
+ * Testing
+ */
+
struct AutopilotMessageFoo {
uint8_t foo;
uint8_t bar;
uint8_t blaa;
+ uint8_t bli;
};
union AutopilotMessageFoo1 {
@@ -15,6 +20,10 @@
struct AutopilotMessageFoo down;
};
+
+/*
+ * BETH
+ */
struct AutopilotMessageBethUp {
struct Int16Vect3 gyro;
struct Int16Vect3 accel;
@@ -33,6 +42,9 @@
};
+/*
+ * STM Telemetry through wifi
+ */
#define TW_BUF_LEN 63
struct AutopilotMessageTWUp {
uint8_t tw_len;
@@ -49,5 +61,36 @@
struct AutopilotMessageTWDown down;
};
+/*
+ * Passthrough, aka biplan
+ */
+struct AutopilotMessagePTUp {
+ struct Int16Vect3 gyro;
+ struct Int16Vect3 accel;
+ struct Int16Vect3 mag;
+ int16_t rc_pitch;
+ int16_t rc_roll;
+ int16_t rc_yaw;
+ int16_t rc_thrust;
+ int16_t rc_mode;
+ uint8_t rc_status;
+};
+struct AutopilotMessagePTDown {
+ int16_t command_pitch;
+ int16_t command_roll;
+ int16_t command_yaw;
+ int16_t command_thrust;
+};
+
+union AutopilotMessagePT {
+ struct AutopilotMessageBethUp up;
+ struct AutopilotMessageBethDown down;
+};
+
+
+
+
+
+
#endif /* FMS_AUTOPILOT_H */
Modified: paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link.c 2010-06-18
10:35:34 UTC (rev 4981)
+++ paparazzi3/trunk/sw/airborne/fms/overo_test_spi_link.c 2010-06-18
13:51:00 UTC (rev 4982)
@@ -49,8 +49,8 @@
spi_link_send(&msg_out, sizeof(struct AutopilotMessageFoo), &msg_in);
if (memcmp(&msg_in, &msg_out_prev, sizeof(msg_in))) {
printf("compare failed\n");
- printf("expected %d %d %d\n", msg_out_prev.foo, msg_out_prev.bar,
msg_out_prev.blaa);
- printf("got %d %d %d\n\n", msg_in.foo, msg_in.bar, msg_in.blaa);
+ printf("expected %d %d %d %d\n", msg_out_prev.foo, msg_out_prev.bar,
msg_out_prev.blaa, msg_out_prev.bli);
+ printf("got %d %d %d %d\n\n", msg_in.foo, msg_in.bar, msg_in.blaa,
msg_in.bli);
}
else {
static uint32_t foo = 0;
@@ -60,7 +60,7 @@
}
}
usleep(1953);
- //usleep(50000);
+ // usleep(50000);
}
return 0;
@@ -71,7 +71,8 @@
static void fill_msg(struct AutopilotMessageFoo* msg) {
static uint32_t foo = 0;
msg->foo = foo;
- msg->bar = foo+1;
- msg->blaa = foo+2;
+ msg->bar = foo+2;
+ msg->blaa = foo+4;
+ msg->bli = foo+8;
foo++;
}
Modified: paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link.c 2010-06-18
10:35:34 UTC (rev 4981)
+++ paparazzi3/trunk/sw/airborne/lisa/stm_test_spi_link.c 2010-06-18
13:51:00 UTC (rev 4982)
@@ -36,8 +36,6 @@
static inline void on_overo_msg_received(void);
static inline void on_overo_link_lost(void);
-struct AutopilotMessageFoo my_msg;
-
int main(void) {
hw_init();
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