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Re: [Paparazzi-devel] mag_micromag_fw module build errors

From: Stephen L Hulme
Subject: Re: [Paparazzi-devel] mag_micromag_fw module build errors
Date: Sat, 11 Dec 2010 12:31:24 +1300
 
Hi Felix
 
Once again thank you.
 
I made the requested changes with the resultant error:
 
home/stephen/paparazzi/var/FJSR/ap/mcu.o: In function `mcu_init':
mcu.c:(.text.mcu_init+0x88): undefined reference to `spi_init'
collect2: ld returned 1 exit status
make[1]: *** [/home/stephen/paparazzi/var/FJSR/ap/ap.elf] Error 1
make[1]: Leaving directory `/home/stephen/paparazzi/sw/airborn

using this airframe.xml config:
 
<airframe name="Funjet 3sw Tiny 2.11">

  <firmware name="fixedwing">
    <target name="ap"                  board="tiny_2.11">
      <define name="AGR_CLIMB"/>
      <define name="LOITER_TRIM"/>
      <define name="ALT_KALMAN"/>
      <define name="WIND_INFO"/>
      <define name="WIND_INFO_RET"/>
      <define name="STRONG_WIND"/>
      <define name="USE_I2C0"/>
      <define name="USE_SPI_MASTER"/>
      <define name="MICROMAG_DRDY_VIC_SLOT" value="9"/>
      <define name="SSP_VIC_SLOT" value="11"/>
      <define name="USE_ADC_5"/>
      <define name="SENSOR_SYNC_SEND"/>
    </target>

    <target name="sim"                 board="pc">
      <define name="AGR_CLIMB"/>
      <define name="LOITER_TRIM"/>
      <define name="ALT_KALMAN"/>
      <define name="WIND_INFO"/>
      <define name="WIND_INFO_RET"/>
    </target>

       <!-- RC -->
    <subsystem name="radio_control"    type="ppm"/>
    <!-- Communication -->
    <subsystem name="telemetry"        type="transparent">
      <param name="MODEM_BAUD"         value="B9600"/>
    </subsystem>
    <!-- Actuators are automatically chosen according to board-->
    <subsystem name="control"/>
    <!-- Sensors -->
    <subsystem name="attitude"         type="infrared"/>
    <subsystem name="gps"              type="ublox_lea4p">
      <param name="GPS_BAUD"           value="B38400"/>
    </subsystem>
    <!-- Nav -->
    <subsystem name="navigation"/>
    <!-- Interfaces -->
    <subsystem name="i2c"/>
    <subsystem name="spi"/>
  </firmware>

  <firmware name="setup">
    <target name="tunnel"              board="tiny_2.11"/>
    <target name="usb_tunnel_0"        board="tiny_2.11"/>
    <target name="usb_tunnel_1"        board="tiny_2.11"/>
    <target name="setup_actuators"     board="tiny_2.11"/>
  </firmware>

  <!-- modules -->
  <modules>
    <load name="mag_micromag_fw.xml"/>
    <!--load name="baro_scp_i2c.xml"/-->
    <load name="digital_camo.xml"/>
  </modules>

Regards
 
Stephen
 
 
On Fri, 10 Dec 2010 23:49:30 +0100 Felix Reuss wrote:
 
Hi Stephen,

seems DOWNLINK_DEVICE is not defined when trying to send a message in
these modules (probably include order issue). I just pushed a fix for
this.

You also do NOT need to define USE_MAG_MICROMAG_FW, that does not
exist anywhere.
But you should define MICROMAG_DRDY_VIC_SLOT to an appropriate
otherwise free slot. (You had it misspelled as
MAG_MICROMAG_FW_DRDY_VIC_SLOT).

And you probably need to define SPI_MASTER.

There is some work going on to clean up the SPI defines a bit and make
them more clear.
Martin?

Cheers, Felix

On Fri, Dec 10, 2010 at 10:25 PM, Stephen L Hulme <address@hidden> wrote:
> Hi Felix
>
> Thank you for that. I added spi firmware subsystem "spi"
>
> Now I get the following in ap build mode.
>
> CC /home/stephen/paparazzi/var/FJSR/ap/modules/sensors/mag_micromag_fw.o
> modules/sensors/mag_micromag_fw.c: In function `micromag_event':
> modules/sensors/mag_micromag_fw.c:38: warning: implicit declaration of
> function `DOWNLINK_DEVICECheckFreeSpace'
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICECheckFreeSpace'
> modules/sensors/mag_micromag_fw.c:38: warning: implicit declaration of
> function `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: redundant redeclaration
> of 'DOWNLINK_DEVICETransmit'
> modules/sensors/mag_micromag_fw.c:38: warning: previous implicit
> declaration of 'DOWNLINK_DEVICETransmit' was here
> modules/sensors/mag_micromag_fw.c:38: warning: nested extern declaration
> of `DOWNLINK
> Regards
>
> Stephen
>
> On Fri, 10 Dec 2010 20:17:41 +0100 Felix Reuss wrote:
>
> Hi Stephen,
>
> I think you are missing the
> <subsystem name="spi"/>
>
> Cheers, Felix
>
> On Fri, Dec 10, 2010 at 6:10 AM, Stephen L Hulme <address@hidden> wrote:
>> Hi Martin (I Guess)
>>
>> I am having trouble building the mag_micromag_fw module in ap mode.
>>
>> I get the following message in the paparazzi centre
>>
>> CC
>>
>> /home/stephen/paparazzi/var/FJSR/ap/arch/lpc21/modules/sensors/mag_micromag_fw_hw.o
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c: In function `SSP_ISR':
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c:22: warning: implicit
>> declaration of function `SpiClearRti'
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c:22: warning: nested
>> extern declaration of `SpiClearRti'
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c:22: warning: implicit
>> declaration of function `SpiDisableRti'
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c:22: warning: nested
>> extern declaration of `SpiDisableRti'
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c:22: warning: implicit
>> declaration of function `SpiDisable'
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.c:22: warning: nested
>> extern declaration of `SpiDisable'
>> arch/lpc21/modules/sensors/mag_micromag_fw_hw.
>>
>> The relevant section of my airframe.xml file is:
>>
>> airframe name="Funjet 3sw Tiny 2.11">
>>
>> Ã <firmware name="fixedwing">
>> ÃÃÃ <target name="ap"ÃÃÃÃÃÃÃÃÃÃÃÃÃÃÃÃÃ board="tiny_2.11">
>> ÃÃÃÃÃ <define name="AGR_CLIMB"/>
>> ÃÃÃÃÃ <define name="LOITER_TRIM"/>
>> ÃÃÃÃÃ <define name="ALT_KALMAN"/>
>> ÃÃÃÃÃ <define name="WIND_INFO"/>
>> ÃÃÃÃÃ <define name="WIND_INFO_RET"/>
>> ÃÃÃÃÃ <define name="STRONG_WIND"/>
>> ÃÃÃÃÃ <define name="USE_I2C0"/>
>> ÃÃÃÃÃ <define name="USE_MAG_MICROMAG_FW"/>
>> ÃÃÃÃÃ <define name="MAG_MICROMAG_FW_DRDY_VIC_SLOT" value="9"/>
>> ÃÃÃÃÃ <define name="SSP_VIC_SLOT" value="11"/>
>> ÃÃÃÃÃ <define name="SENSOR_SYNC_SEND"/>
>> ÃÃÃ </target>
>>
>> ÃÃÃ <target name="sim"ÃÃÃÃÃÃÃÃÃÃÃÃÃÃÃÃ board="pc">
>> ÃÃÃÃÃ <define name="AGR_CLIMB"/>
>> ÃÃÃÃÃ <define name="LOITER_TRIM"/>
>> ÃÃÃÃÃ <define name="ALT_KALMAN"/>
>> ÃÃÃÃÃ <define name="WIND_INFO"/>
>> ÃÃÃÃÃ <define name="WIND_INFO_RET"/>
>> ÃÃÃ </target>
>>
>> ÃÃÃÃÃÃ <!-- RC -->
>> ÃÃÃ <subsystem name="radio_control"ÃÃÃ type="ppm"/>
>> ÃÃÃ <!-- Communication -->
>> ÃÃÃ <subsystem name="telemetry"ÃÃÃÃÃÃÃ type="transparent">
>> ÃÃÃÃÃ <param name="MODEM_BAUD"ÃÃÃÃÃÃÃÃ value="B9600"/>
>> ÃÃÃ </subsystem>
>> ÃÃÃ <!-- Actuators are automatically chosen according to board-->
>> ÃÃÃ <subsystem name="control"/>
>> ÃÃÃ <!-- Sensors -->
>> ÃÃÃ <subsystem name="attitude"ÃÃÃÃÃÃÃÃ type="infrared"/>
>> ÃÃÃ <subsystem name="gps"ÃÃÃÃÃÃÃÃÃÃÃÃÃ type="ublox_lea4p">
>> ÃÃÃÃÃ <param name="GPS_BAUD"ÃÃÃÃÃÃÃÃÃÃ value="B38400"/>
>> ÃÃÃ </subsystem>
>> ÃÃÃ <!-- Nav -->
>> ÃÃÃ <subsystem name="navigation"/>
>> ÃÃÃ <!-- Interfaces -->
>> ÃÃÃ <subsystem name="i2c"/>
>> Ã </firmware>
>>
>> Ã <firmware name="setup">
>> ÃÃÃ <target name="tunnel"ÃÃÃÃÃÃÃÃÃÃÃÃÃ board="tiny_2.11"/>
>> ÃÃÃ <target name="usb_tunnel_0"ÃÃÃÃÃÃÃ board="tiny_2.11"/>
>> ÃÃÃ <target name="usb_tunnel_1"ÃÃÃÃÃÃÃ board="tiny_2.11"/>
>> ÃÃÃ <target name="setup_actuators"ÃÃÃÃ board="tiny_2.11"/>
>> Ã </firmware>
>>
>> Ã <!-- modules -->
>> Ã <modules>
>> ÃÃÃ <load name="mag_micromag_fw.xml"/>
>> ÃÃÃ <load name="baro_scp_i2c.xml"/>
>> ÃÃÃ <load name="digital_camo.xml"/>
>> Ã </modules>
>>
>>
>> Ã<section name="MAG_MICROMAG">
>>
>> ÃÃÃ <define name="MM_SS_PIN" value="20"/>
>> ÃÃÃ <define name="MM_SS_IODIR" value="IO0DIR"/>
>> ÃÃÃ <define name="MM_SS_IOSET" value="IO0SET"/>
>> ÃÃÃ <define name="MM_SS_IOCLR" value="IO0CLR"/>
>>
>> ÃÃÃ <define name="MM_RESET_PIN" value="29"/>
>> ÃÃÃ <define name="MM_RESET_IODIR" value="IO0DIR"/>
>> ÃÃÃ <define name="MM_RESET_IOSET" value="IO0SET"/>
>> ÃÃÃ <define name="MM_RESET_IOCLR" value="IO0CLR"/>
>>
>> ÃÃÃ <define name="MM_DRDY_PINSEL" value="PINSEL1"/>
>> ÃÃÃ <define name="MM_DRDY_PINSEL_BIT" value="0"/>
>> ÃÃÃ <define name="MM_DRDY_PINSEL_VAL" value="1"/>
>> ÃÃÃ <define name="MM_DRDY_EINT" value="0"/>
>> ÃÃÃ <define name="MM_DRDY_VIC_IT" value="VIC_EINT0"/>
>> Ã </section>
>>
>>
>> Any help appreciated.
>>
>> Regards
>>
>> Stephen
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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