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[paparazzi-commits] [6034] some temporary fix for booz_fms removal
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [6034] some temporary fix for booz_fms removal |
|
Date: |
Thu, 30 Sep 2010 22:43:32 +0000 |
Revision: 6034
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6034
Author: poine
Date: 2010-09-30 22:43:32 +0000 (Thu, 30 Sep 2010)
Log Message:
-----------
some temporary fix for booz_fms removal
Modified Paths:
--------------
paparazzi3/trunk/conf/Makefile.stm32
paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
paparazzi3/trunk/conf/airframes/Poine/swift_1.xml
paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile
paparazzi3/trunk/sw/airborne/arch/stm32/uart_hw.c
paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h
paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/navigation.c
Modified: paparazzi3/trunk/conf/Makefile.stm32
===================================================================
--- paparazzi3/trunk/conf/Makefile.stm32 2010-09-30 19:18:46 UTC (rev
6033)
+++ paparazzi3/trunk/conf/Makefile.stm32 2010-09-30 22:43:32 UTC (rev
6034)
@@ -203,6 +203,7 @@
start_gdb:
xterm -e "$(OOCD) -f interface/$(OOCD_INTERFACE).cfg -f
target/$(OOCD_TARGET).cfg" &
xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/lisa-l.cfg -f
board/lisa-l.cfg"&
+ xterm -e "/opt/paparazzi/stm32/bin/openocd -f interface/flossjtag.cfg
-f board/lisa-l.cfg"&
start_telnet:
xterm -e "telnet localhost 4444" &
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-09-30 19:18:46 UTC
(rev 6033)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml 2010-09-30 22:43:32 UTC
(rev 6034)
@@ -175,11 +175,11 @@
<define name="SENSORS_PARAMS"
value=""nps_sensors_params_booz2_a1.h""/>
</section>
-<!-- -->
+<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
-<!-- -->
+ -->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
Modified: paparazzi3/trunk/conf/airframes/Poine/swift_1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/swift_1.xml 2010-09-30 19:18:46 UTC
(rev 6033)
+++ paparazzi3/trunk/conf/airframes/Poine/swift_1.xml 2010-09-30 22:43:32 UTC
(rev 6034)
@@ -4,8 +4,16 @@
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_m_1.0"/>
+ <target name="test_uart" board="lisa_m_1.0"/>
<target name="test_servos" board="lisa_m_1.0"/>
- <target name="test_telemetry" board="lisa_m_1.0"/>
+ <target name="test_telemetry" board="lisa_m_1.0">
+ <param name="MODEM_PORT" value="UART2"/>
+ </target>
+ <target name="test_bmp085" board="lisa_m_1.0">
+ <param name="MODEM_PORT" value="UART2"/>
+ </target>
+ <target name="test_esc_mkk_simple" board="lisa_m_1.0"/>
+ <target name="test_rc_spektrum" board="lisa_m_1.0"/>
</firmware>
</airframe>
\ No newline at end of file
Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-09-30
19:18:46 UTC (rev 6033)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-09-30
22:43:32 UTC (rev 6034)
@@ -63,12 +63,32 @@
test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_LISA)/test_led.c \
+test_led.srcs += $(SRC_LISA)/test_led2.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_led.CFLAGS += -DUSE_LED
#
+# test uart
+#
+test_uart.ARCHDIR = $(ARCH)
+test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
+test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_uart.srcs = $(SRC_LISA)/test_uart.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_uart.CFLAGS += -DUSE_LED
+test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
+test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
+test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+
+
+
+#
# test servos
#
@@ -83,7 +103,7 @@
$(SRC_ARCH)/stm32_vector_table.c
test_servos.CFLAGS += -DUSE_LED
test_servos.srcs += $(SRC_ARCH)/led_hw.c
-test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -101,8 +121,8 @@
test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry.srcs = test/test_telemetry.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
test_telemetry.CFLAGS += -DUSE_LED
test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
test_telemetry.CFLAGS += -DUSE_SYS_TIME
@@ -153,15 +173,15 @@
# MODEM_PORT
# MODEM_BAUD
# RADIO_CONTROL_LED
-# RADIO_CONROL_LINK
+# RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
#
test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
-
$(SRC_ARCH)/stm32_exceptions.c \
-
$(SRC_ARCH)/stm32_vector_table.c
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
@@ -174,13 +194,16 @@
test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_spektrum.srcs += downlink.c pprz_transport.c
test_rc_spektrum.CFLAGS += -DUSE_RADIO_CONTROL
+ifdef RADIO_CONTROL_LED
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
+test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
test_rc_spektrum.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
-test_rc_spektrum.CFLAGS +=
-DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM1_UP_IRQ
+test_rc_spektrum.CFLAGS +=
-DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c
\
-
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
-
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
+
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
+
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
#
@@ -437,11 +460,12 @@
$(SRC_ARCH)/stm32_vector_table.c
test_esc_mkk_simple.CFLAGS += -DUSE_LED
test_esc_mkk_simple.srcs += $(SRC_ARCH)/led_hw.c
-test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_esc_mkk_simple.CFLAGS += -DUSE_I2C1
test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c1
#
@@ -520,3 +544,30 @@
test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+
+#
+# test bmp085
+#
+test_bmp085.ARCHDIR = $(ARCH)
+test_bmp085.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
+test_bmp085.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_bmp085.srcs = lisa/test/lisa_test_bmp085.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
+test_bmp085.CFLAGS += -DUSE_LED
+test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
+test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_bmp085.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_bmp085.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_bmp085.srcs += downlink.c pprz_transport.c
+
+test_bmp085.CFLAGS += -DUSE_I2C2
+test_bmp085.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+#test_bmp085.CFLAGS += -DIMU_OVERRIDE_CHANNELS
+#test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
\ No newline at end of file
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
2010-09-30 19:18:46 UTC (rev 6033)
+++
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
2010-09-30 22:43:32 UTC (rev 6034)
@@ -10,7 +10,9 @@
ifeq ($(BOARD), booz)
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif
+ifdef RADIO_CONTROL_LED
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+endif
ap.CFLAGS +=
-DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
-DUSE_TIM6_IRQ
Modified: paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile 2010-09-30 19:18:46 UTC
(rev 6033)
+++ paparazzi3/trunk/conf/boards/lisa_m_1.0.makefile 2010-09-30 22:43:32 UTC
(rev 6034)
@@ -25,20 +25,24 @@
#
#
-SYS_TIME_LED = 1
+SYS_TIME_LED = 2
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART3
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5
-RADIO_CONTROL_LED = 5
+#RADIO_CONTROL_LED = 5
+ifndef MODEM_PORT
MODEM_PORT=UART2
+endif
+ifndef MODEM_BAUD
MODEM_BAUD=B57600
+endif
-AHRS_ALIGNER_LED = 7
+#AHRS_ALIGNER_LED = 7
GPS_PORT=UART1
GPS_BAUD=B38400
-GPS_LED = 3
+#GPS_LED = 3
#
# this is the DRDY pin of a max1168 on a booz IMU
Modified: paparazzi3/trunk/sw/airborne/arch/stm32/uart_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/uart_hw.c 2010-09-30 19:18:46 UTC
(rev 6033)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/uart_hw.c 2010-09-30 22:43:32 UTC
(rev 6034)
@@ -241,9 +241,7 @@
return (uint16_t)(space - 1) >= len;
}
-
void usart2_irq_handler(void) {
-
if(USART_GetITStatus(USART2, USART_IT_TXE) != RESET){
// check if more data to send
if (uart2_tx_insert_idx != uart2_tx_extract_idx) {
Modified: paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h 2010-09-30 19:18:46 UTC
(rev 6033)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_m_1.0.h 2010-09-30 22:43:32 UTC
(rev 6034)
@@ -16,10 +16,4 @@
#define LED_2_GPIO_PIN GPIO_Pin_13
-
-// FIXME, this is just to make it compile
-#define POWER_SWITCH_LED 5
-
-
-
#endif /* CONFIG_LISA_M_1_0_H */
Modified: paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
2010-09-30 19:18:46 UTC (rev 6033)
+++ paparazzi3/trunk/sw/airborne/booz/test/booz2_test_radio_control.c
2010-09-30 22:43:32 UTC (rev 6034)
@@ -29,7 +29,7 @@
#include "downlink.h"
-#include "booz_radio_control.h"
+#include "booz/booz_radio_control.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -58,7 +58,11 @@
static inline void main_periodic_task( void ) {
- RunOnceEvery(51, {/*LED_TOGGLE(2);*/ DOWNLINK_SEND_TIME(DefaultChannel,
&cpu_time_sec);});
+ RunOnceEvery(51, {
+ /*LED_TOGGLE(2);*/
+ uint32_t blaaa= cpu_time_sec;
+ DOWNLINK_SEND_TIME(DefaultChannel, &blaaa);
+ });
RunOnceEvery(10, {radio_control_periodic();});
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
2010-09-30 19:18:46 UTC (rev 6033)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
2010-09-30 22:43:32 UTC (rev 6034)
@@ -27,7 +27,7 @@
#include <firmwares/rotorcraft/ahrs.h>
#include <firmwares/rotorcraft/stabilization.h>
-#include "booz_fms.h"
+// #include "booz_fms.h" FIXME
#include <firmwares/rotorcraft/ins.h>
#include <firmwares/rotorcraft/navigation.h>
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
2010-09-30 19:18:46 UTC (rev 6033)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
2010-09-30 22:43:32 UTC (rev 6034)
@@ -29,7 +29,7 @@
#include "booz_radio_control.h"
#include <firmwares/rotorcraft/stabilization.h>
#include <firmwares/rotorcraft/ahrs.h>
-#include "booz_fms.h"
+// #include "booz_fms.h" FIXME
#include <firmwares/rotorcraft/navigation.h>
#include <firmwares/rotorcraft/ins.h>
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-30
19:18:46 UTC (rev 6033)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-30
22:43:32 UTC (rev 6034)
@@ -46,7 +46,7 @@
#include <firmwares/rotorcraft/battery.h>
-#include "booz_fms.h"
+// #include "booz_fms.h" // FIXME
#include <firmwares/rotorcraft/autopilot.h>
#include <firmwares/rotorcraft/stabilization.h>
@@ -112,7 +112,7 @@
battery_init();
imu_init();
- booz_fms_init();
+ // booz_fms_init(); // FIXME
autopilot_init();
nav_init();
guidance_h_init();
@@ -153,7 +153,7 @@
autopilot_set_mode(AP_MODE_FAILSAFE); \
}, \
{ \
- booz_fms_periodic(); \
+ /* booz_fms_periodic(); FIXME */ \
}, \
{ \
/*BoozControlSurfacesSetFromCommands();*/
\
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/navigation.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/navigation.c
2010-09-30 19:18:46 UTC (rev 6033)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/navigation.c
2010-09-30 22:43:32 UTC (rev 6034)
@@ -25,7 +25,7 @@
#include <firmwares/rotorcraft/navigation.h>
-#include "booz/booz2_debug.h"
+// #include "booz/booz2_debug.h" FIXME
#include "booz_gps.h"
#include <firmwares/rotorcraft/ins.h>
@@ -315,7 +315,7 @@
}
void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp,
int16_t heading_rate_sp ) {
- MY_ASSERT(wp < nb_waypoint);
+ // MY_ASSERT(wp < nb_waypoint); FIXME
int32_t s_heading, c_heading;
PPRZ_ITRIG_SIN(s_heading, nav_heading);
PPRZ_ITRIG_COS(c_heading, nav_heading);
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- [paparazzi-commits] [6034] some temporary fix for booz_fms removal,
antoine drouin <=