[paparazzi-commits] [5080] updates for using CAN

[Paul Cox]

Revision: 5080
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5080
Author:   paulcox
Date:     2010-07-20 14:11:43 +0000 (Tue, 20 Jul 2010)
Log Message:
-----------
updates for using CAN

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/beth.xml

Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/beth.xml      2010-07-20 13:34:48 UTC 
(rev 5079)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml      2010-07-20 14:11:43 UTC 
(rev 5080)
@@ -15,6 +15,13 @@
     <define name="TRIM_R" value="0"/>
   </section>
 
+  <servos>
+    <servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
+    <servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
+    <servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
+    <servo name="AILERON_LEFT" no="4" min="1000" neutral="1508" max="2000"/>
+    <servo name="AILERON_RIGHT" no="5" min="1000" neutral="1527" max="2000"/>
+  </servos>
 
 
   <section name="IMU" prefix="IMU_">
@@ -81,7 +88,7 @@
                   $(SRC_ARCH)/stm32_vector_table.c
 main_stm32.CFLAGS += -DUSE_LED
 main_stm32.srcs += $(SRC_ARCH)/led_hw.c
-main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=2
 main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
@@ -90,9 +97,9 @@
 main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart2 
 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=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 += -DUSE_OVERO_LINK 
-DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
+#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\"
 main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
@@ -116,8 +123,9 @@
 main_stm32.CFLAGS += -DUSE_I2C2
 main_stm32.srcs += $(SRC_BETH)/bench_sensors.c
 
+main_stm32.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
+main_stm32.srcs += can.c $(SRC_ARCH)/can_hw.c
 
-
 #
 # Coders handled by a Olimex stm32h103 dev board
 #
@@ -125,7 +133,8 @@
 main_coders.ARCHDIR = stm32
 main_coders.LDSCRIPT = $(SRC_ARCH)/stm32f103rb_flash.ld
 main_coders.OOCD_INTERFACE = olimex-arm-usb-ocd
-main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
+#main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
+main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/beth.h\"
 
 main_coders.TARGET = main_coders
 main_coders.TARGETDIR = main_coders
@@ -135,9 +144,9 @@
                    $(SRC_ARCH)/stm32_vector_table.c
 main_coders.CFLAGS += -DUSE_LED
 main_coders.srcs += $(SRC_ARCH)/led_hw.c
-main_coders.CFLAGS += -DUSE_SYS_TIME
-# -DSYS_TIME_LED=1
+main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7
 main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+#main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./10.)'
 main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -145,9 +154,13 @@
 main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_DEVICE=Uart1 
 main_coders.srcs += downlink.c pprz_transport.c
 
-main_coders.CFLAGS += -DUSE_I2C2
+#main_coders.CFLAGS += -DUSE_I2C2
+#main_coders.srcs += $(SRC_ARCH)/i2c_hw.c
 
+main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
+main_coders.srcs += can.c $(SRC_ARCH)/can_hw.c
 
+
 #
 # main Overo
 #