[paparazzi-commits] [4700]

[antoine drouin]

Revision: 4700
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4700
Author:   poine
Date:     2010-03-15 15:54:37 +0000 (Mon, 15 Mar 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/motor_bench/main_motor_bench.c
    paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.c
    paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.h
    paparazzi3/trunk/sw/airborne/motor_bench/mb_twi_controller_asctech.c

Modified: paparazzi3/trunk/sw/airborne/motor_bench/main_motor_bench.c
===================================================================
--- paparazzi3/trunk/sw/airborne/motor_bench/main_motor_bench.c 2010-03-15 
15:54:06 UTC (rev 4699)
+++ paparazzi3/trunk/sw/airborne/motor_bench/main_motor_bench.c 2010-03-15 
15:54:37 UTC (rev 4700)
@@ -22,7 +22,7 @@
 #include "adc.h"
 
 #include "mb_modes.h"
-#include "mb_static.h"
+//#include "mb_static.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -48,7 +48,7 @@
   mb_tacho_init();
 
 #if defined USE_TWI_CONTROLLER
-  i2c_init();
+  i2c0_init();
   mb_twi_controller_init();
 #endif
 
@@ -83,10 +83,10 @@
 
 
   RunOnceEvery(125, {
-      DOWNLINK_SEND_ALIVE(16, MD5SUM);
-      PeriodicSendDlValue();
+      DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+      PeriodicSendDlValue(DefaultChannel);
     });
-  DOWNLINK_SEND_MOTOR_BENCH_STATUS(&cpu_time_ticks, &throttle, &rpm, &amps , 
&thrust, &torque, &cpu_time_sec, &mb_modes_mode);
+  DOWNLINK_SEND_MOTOR_BENCH_STATUS(DefaultChannel, &cpu_time_ticks, &throttle, 
&rpm, &amps , &thrust, &torque, &cpu_time_sec, &mb_modes_mode);
 
 
 
@@ -123,6 +123,6 @@
     uint8_t i = DL_SETTING_index(dl_buffer);
     float var = DL_SETTING_value(dl_buffer);
     DlSetting(i, var);
-    DOWNLINK_SEND_DL_VALUE(&i, &var);
+    DOWNLINK_SEND_DL_VALUE(DefaultChannel, &i, &var);
   }  
 }

Modified: paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.c
===================================================================
--- paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.c 2010-03-15 15:54:06 UTC 
(rev 4699)
+++ paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.c 2010-03-15 15:54:37 UTC 
(rev 4700)
@@ -1,6 +1,6 @@
 #include "mb_modes.h"
 
-#include "mb_static.h"
+//#include "mb_static.h"
 
 #include "adc.h"
 #include "sys_time.h"
@@ -44,7 +44,7 @@
   mb_modes_sine_mean = 0.5;
   mb_modes_sine_ampl = 0.1;
 
-  mb_static_init();
+  //  mb_static_init();
 
 }
 
@@ -59,9 +59,9 @@
     mb_modes_manual();
     break;
   case MB_MODES_RAMP :
-    mb_static_periodic(rpm, thrust, current);
-    mb_modes_throttle = (float)mb_static_throttle / 
(float)MB_STATIC_MAX_THROTTLE;
-    //    mb_modes_ramp();
+    //    mb_static_periodic(rpm, thrust, current);
+    //    mb_modes_throttle = (float)mb_static_throttle / 
(float)MB_STATIC_MAX_THROTTLE;
+    mb_modes_ramp();
     break;
   case MB_MODES_STEP :
     mb_modes_step();
@@ -69,10 +69,10 @@
   case MB_MODES_SINE :
     mb_modes_sine();
     break;
-  case MB_MODES_FIXED_RPM :
-    mb_mode_fixed_rpm_periodic(rpm, thrust, current);
-    mb_modes_throttle = mb_mode_fixed_rpm_throttle;
-    break;
+    //  case MB_MODES_FIXED_RPM :
+    //    mb_mode_fixed_rpm_periodic(rpm, thrust, current);
+    //    mb_modes_throttle = mb_mode_fixed_rpm_throttle;
+    //    break;
   default:
     mb_modes_throttle = 0.;
   }

Modified: paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.h
===================================================================
--- paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.h 2010-03-15 15:54:06 UTC 
(rev 4699)
+++ paparazzi3/trunk/sw/airborne/motor_bench/mb_modes.h 2010-03-15 15:54:37 UTC 
(rev 4700)
@@ -3,7 +3,7 @@
 
 #include "std.h"
 
-#include "mb_mode_fixed_rpm.h"
+//#include "mb_mode_fixed_rpm.h"
 
 #define MB_MODES_IDLE      0
 #define MB_MODES_MANUAL    1
@@ -32,10 +32,10 @@
 #define mb_modes_SetMode(_val) {                       \
     mb_modes_mode = _val;                              \
     mb_modes_last_change_time = GET_CUR_TIME_FLOAT();  \
-    if  (mb_modes_mode == MB_MODES_RAMP)               \
+    /*if  (mb_modes_mode == MB_MODES_RAMP)             \
       mb_static_init();                                        \
     if  (mb_modes_mode == MB_MODES_FIXED_RPM)          \
-      mb_mode_fixed_rpm_init();                                \
+    mb_mode_fixed_rpm_init();*/                                \
   }
 
 #endif /* MB_MODES_H */

Modified: paparazzi3/trunk/sw/airborne/motor_bench/mb_twi_controller_asctech.c
===================================================================
--- paparazzi3/trunk/sw/airborne/motor_bench/mb_twi_controller_asctech.c        
2010-03-15 15:54:06 UTC (rev 4699)
+++ paparazzi3/trunk/sw/airborne/motor_bench/mb_twi_controller_asctech.c        
2010-03-15 15:54:37 UTC (rev 4700)
@@ -38,32 +38,32 @@
       switch (mb_twi_controller_asctech_command_type) {
 
       case MB_TWI_CONTROLLER_COMMAND_TEST :
-       i2c_buf[0] = 251;
-       i2c_buf[1] = mb_twi_controller_asctech_addr;
-       i2c_buf[2] = 0;
-       i2c_buf[3] = 231 + mb_twi_controller_asctech_addr;
+       i2c0_buf[0] = 251;
+       i2c0_buf[1] = mb_twi_controller_asctech_addr;
+       i2c0_buf[2] = 0;
+       i2c0_buf[3] = 231 + mb_twi_controller_asctech_addr;
        //      mb_twi_i2c_done = FALSE;
-       i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+       i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
       break;
       
       case MB_TWI_CONTROLLER_COMMAND_REVERSE :
-       i2c_buf[0] = 254;
-       i2c_buf[1] = mb_twi_controller_asctech_addr;
-       i2c_buf[2] = 0;
-       i2c_buf[3] = 234 + mb_twi_controller_asctech_addr;
+       i2c0_buf[0] = 254;
+       i2c0_buf[1] = mb_twi_controller_asctech_addr;
+       i2c0_buf[2] = 0;
+       i2c0_buf[3] = 234 + mb_twi_controller_asctech_addr;
        //      mb_twi_i2c_done = FALSE;
-       i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+       i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
        break;
    
     case MB_TWI_CONTROLLER_COMMAND_SET_ADDR :
-       i2c_buf[0] = 250;
-       i2c_buf[1] = mb_twi_controller_asctech_addr;
-       i2c_buf[2] = mb_twi_controller_asctech_new_addr;
-       i2c_buf[3] = 230 + mb_twi_controller_asctech_addr + 
+       i2c0_buf[0] = 250;
+       i2c0_buf[1] = mb_twi_controller_asctech_addr;
+       i2c0_buf[2] = mb_twi_controller_asctech_new_addr;
+       i2c0_buf[3] = 230 + mb_twi_controller_asctech_addr + 
                     mb_twi_controller_asctech_new_addr;
        mb_twi_controller_asctech_addr = mb_twi_controller_asctech_new_addr;
        //      mb_twi_i2c_done = FALSE;
-       i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+       i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
        break;
 
       }
@@ -74,12 +74,12 @@
       uint8_t roll  = 100;
       uint8_t yaw   = 100;
       uint8_t power = throttle * MB_TWI_CONTROLLER_MAX_CMD;
-      i2c_buf[0] = pitch;
-      i2c_buf[1] = roll;
-      i2c_buf[2] = yaw;
-      i2c_buf[3] = power;
+      i2c0_buf[0] = pitch;
+      i2c0_buf[1] = roll;
+      i2c0_buf[2] = yaw;
+      i2c0_buf[3] = power;
       //      mb_twi_i2c_done = FALSE;
-      i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+      i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
     }
   }
   else