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fix some makefiles and names after booz imu rename and move

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This commit is contained in:
Felix Ruess
2010-09-28 08:52:27 +00:00
parent 8ed537daa0
commit 0eb92f7a59
17 changed files with 124 additions and 124 deletions
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conf/airframes/Poine/beth.xml
+7 -7
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@@ -124,21 +124,21 @@ main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_I
main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
#booz IMU
#main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
#main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
#main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
#main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
#main_stm32.srcs += $(SRC_BOOZ)/imu.c
#main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
#main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
#main_stm32.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#main_stm32.srcs += math/pprz_trig_int.c
#crista IMU
main_stm32.srcs += math/pprz_trig_int.c
main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
main_stm32.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
main_stm32.srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
conf/autopilot/lisa_l_test_progs.makefile
+11 -11
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@@ -48,7 +48,7 @@ SRC_BOOZ_TEST = $(SRC_BOOZ)/test
#SRC_ROTORCRAFT=rotorcraft
SRC_BOARD=boards/$(BOARD)
SRC_FIRMWARE=firmwares/rotorcraft
#
# default configuration expected from the board files
@@ -232,8 +232,8 @@ test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
# MODEM_BAUD
#
test_imu_b2.ARCHDIR = $(ARCH)
test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_b2.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
@@ -254,13 +254,13 @@ test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += math/pprz_trig_int.c
test_imu_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 -DIMU_B2_VERSION_1_1
test_imu_b2.srcs += $(SRC_BOOZ)/booz_imu.c
test_imu_b2.srcs += $(SRC_FIRMWARE)/imu.c
test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
test_imu_b2.srcs += $(SRC_FIRMWARE)/imu/imu_b2.c $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
@@ -270,7 +270,7 @@ test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peri
# test IMU aspirin
#
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_FIRMWARE)/imu/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_aspirin.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -291,10 +291,10 @@ test_imu_aspirin.srcs += downlink.c pprz_transport.c
test_imu_aspirin.srcs += math/pprz_trig_int.c
test_imu_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_FIRMWARE)/imu.c \
$(SRC_FIRMWARE)/imu/imu_aspirin.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_aspirin_arch.c
test_imu_aspirin.CFLAGS += -DUSE_I2C2
test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/lisa_test_progs.makefile
+26 -26
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@@ -420,11 +420,11 @@ test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += math/pprz_trig_int.c
test_imu_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
test_imu_b2.srcs += $(SRC_BOOZ)/booz_imu.c
test_imu_b2.srcs += $(SRC_BOOZ)/imu.c
test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
test_imu_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
test_imu_b2.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
@@ -454,10 +454,10 @@ test_imu_crista.srcs += downlink.c pprz_transport.c
test_imu_crista.srcs += math/pprz_trig_int.c
test_imu_crista.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_crista.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
test_imu_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_crista.srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
@@ -486,10 +486,10 @@ test_imu_aspirin.srcs += downlink.c pprz_transport.c
test_imu_aspirin.srcs += math/pprz_trig_int.c
test_imu_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/imu_aspirin_arch.c
test_imu_aspirin.CFLAGS += -DUSE_I2C2
test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -498,7 +498,7 @@ test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#test_imu_aspirin.CFLAGS += -DI2C2_STOP_HANDLER=OnI2CDone -DI2C2_STOP_HANDLER_HEADER=\"imu/booz_imu_aspirin_arch.h\"
#test_imu_aspirin.CFLAGS += -DI2C2_STOP_HANDLER=OnI2CDone -DI2C2_STOP_HANDLER_HEADER=\"imu/imu_aspirin_arch.h\"
#test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ
@@ -1091,11 +1091,11 @@ ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Ov
ptw.srcs += downlink.c pprz_transport.c
# IMU
ptw.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
ptw.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
ptw.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
ptw.srcs += $(SRC_BOOZ)/booz_imu.c
ptw.srcs += $(SRC_BOOZ)/imu.c
ptw.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
ptw.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
ptw.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
ptw.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
ptw.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
ptw.srcs += math/pprz_trig_int.c
@@ -1312,10 +1312,10 @@ hs_gyro_aspirin.srcs += downlink.c pprz_transport.c
hs_gyro_aspirin.srcs += math/pprz_trig_int.c
hs_gyro_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
hs_gyro_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
hs_gyro_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
hs_gyro_aspirin.srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/imu_aspirin_arch.c
hs_gyro_aspirin.CFLAGS += -DUSE_I2C2
hs_gyro_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -1350,11 +1350,11 @@ hs_gyro_b2.srcs += downlink.c pprz_transport.c
hs_gyro_b2.srcs += math/pprz_trig_int.c
hs_gyro_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
hs_gyro_b2.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
hs_gyro_b2.srcs += $(SRC_BOOZ)/booz_imu.c
hs_gyro_b2.srcs += $(SRC_BOOZ)/imu.c
hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
hs_gyro_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
hs_gyro_b2.srcs += $(SRC_BOOZ)/imu/imu_b2.c $(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
@@ -1383,10 +1383,10 @@ hs_gyro_crista.srcs += downlink.c pprz_transport.c
hs_gyro_crista.srcs += math/pprz_trig_int.c
hs_gyro_crista.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
hs_gyro_crista.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
hs_gyro_crista.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
hs_gyro_crista.srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/imu_crista_arch.c
hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0
conf/autopilot/mercury.makefile
+2 -2
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@@ -70,8 +70,8 @@ ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
ap.srcs += $(SRC_CSC)/csc_datalink.c
ap.CFLAGS += -DPPRZ_TRIG_CONST=const
ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/booz_imu.c math/pprz_trig_int.c
ap.CFLAGS += -DXSENS1_LINK=Uart0 -DBOOZ_IMU_TYPE_H=\"mercury_xsens.h\"
ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/imu.c math/pprz_trig_int.c
ap.CFLAGS += -DXSENS1_LINK=Uart0 -DIMU_TYPE_H=\"mercury_xsens.h\"
ap.srcs += $(SRC_BOOZ)/ahrs/ahrs_cmpl_euler.c $(SRC_BOOZ)/ahrs/ahrs_aligner.c
ap.CFLAGS += -DFLOAT_T=float
conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
+8 -8
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@@ -40,12 +40,12 @@
# imu Booz2 v1.1
$(TARGET).CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
$(TARGET).CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
$(TARGET).CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
$(TARGET).CFLAGS += -DIMU_B2_VERSION_1_1
$(TARGET).srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_b2.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
$(TARGET).srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_b2.c \
$(SRC_BOOZ_ARCH)/imu/imu_b2_arch.c
$(TARGET).srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
@@ -67,12 +67,12 @@ endif
# Simulator
#
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_b2.c \
$(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
sim.srcs += $(SRC_BOOZ)/imu.c \
$(SRC_BOOZ)/imu/imu_b2.c \
$(SRC_BOOZ_SIM)/imu/imu_b2_arch.c
sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+1 -1
View File
@@ -85,7 +85,7 @@ sim.srcs += $(SRC_BOOZ)/booz2_battery.c
sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
#sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
#sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
#sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_FIRMWARE)/autopilot.c
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+2 -2
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@@ -39,7 +39,7 @@
# add imu arch to include directories
ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
ap.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
ap.CFLAGS += -DIMU_B2_VERSION_1_0
ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
ap.CFLAGS += -DSSP_VIC_SLOT=9
@@ -63,7 +63,7 @@ ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
# add imu arch to include directories
sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
sim.CFLAGS += -DIMU_B2_VERSION_1_0
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.srcs += $(SRC_FIRMWARE)/imu.c \
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+2 -2
View File
@@ -44,7 +44,7 @@
# add imu arch to include directories
ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
imu_CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
imu_CFLAGS += -DIMU_B2_VERSION_1_1
ap.srcs += $(SRC_FIRMWARE)/imu.c \
@@ -79,7 +79,7 @@ ap.srcs += $(imu_srcs)
# add imu arch to include directories
sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_b2.h\"
sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.srcs += $(SRC_FIRMWARE)/imu.c \
conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
+2 -2
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@@ -63,7 +63,7 @@
# add imu arch to include directories
ap.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
ap.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
ap.srcs += $(SRC_FIRMWARE)/imu.c \
$(SRC_FIRMWARE)/imu/imu_crista.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
@@ -80,7 +80,7 @@ ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2
# add imu arch to include directories
sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/imu_crista.h\"
sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_crista.h\"
sim.srcs += $(SRC_FIRMWARE)/imu.c \
$(SRC_FIRMWARE)/imu/imu_crista.c \
$(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_crista_arch.c
sw/airborne/booz/test/booz_test_imu.c
+32 -32
View File
@@ -1,6 +1,6 @@
/*
* $Id$
*
*
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
* Boston, MA 02111-1307, USA.
*/
#include <inttypes.h>
@@ -74,16 +74,16 @@ static inline void main_periodic_task( void ) {
});
#ifdef USE_I2C2
RunOnceEvery(111, {
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event);
});
#endif
if (cpu_time_sec > 1) imu_periodic();
@@ -107,25 +107,25 @@ static inline void on_gyro_accel_event(void) {
if (cnt == 0) {
DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel,
&imu.gyro_unscaled.p,
&imu.gyro_unscaled.q,
&imu.gyro_unscaled.r);
&imu.gyro_unscaled.p,
&imu.gyro_unscaled.q,
&imu.gyro_unscaled.r);
DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel,
&imu.accel_unscaled.x,
&imu.accel_unscaled.y,
&imu.accel_unscaled.z);
&imu.accel_unscaled.x,
&imu.accel_unscaled.y,
&imu.accel_unscaled.z);
}
else if (cnt == 7) {
DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel,
&imu.gyro.p,
&imu.gyro.q,
&imu.gyro.r);
&imu.gyro.p,
&imu.gyro.q,
&imu.gyro.r);
DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel,
&imu.accel.x,
&imu.accel.y,
&imu.accel.z);
&imu.accel.x,
&imu.accel.y,
&imu.accel.z);
}
}
@@ -138,14 +138,14 @@ static inline void on_mag_event(void) {
if (cnt%2) {
DOWNLINK_SEND_BOOZ2_MAG(DefaultChannel,
&imu.mag.x,
&imu.mag.y,
&imu.mag.z);
&imu.mag.x,
&imu.mag.y,
&imu.mag.z);
}
else {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel,
&imu.mag_unscaled.x,
&imu.mag_unscaled.y,
&imu.mag_unscaled.z);
&imu.mag_unscaled.x,
&imu.mag_unscaled.y,
&imu.mag_unscaled.z);
}
}
sw/airborne/firmwares/rotorcraft/imu.h
+4 -4
View File
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_IMU_H
#define BOOZ_IMU_H
#ifndef IMU_H
#define IMU_H
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
@@ -60,8 +60,8 @@ struct ImuFloat {
};
/* underlying hardware */
#ifdef BOOZ_IMU_TYPE_H
#include BOOZ_IMU_TYPE_H
#ifdef IMU_TYPE_H
#include IMU_TYPE_H
#endif
extern struct Imu imu;
sw/airborne/firmwares/rotorcraft/imu/arch/lpc21/imu_crista_arch.h
+3 -3
View File
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_IMU_INT_HW_H
#define BOOZ_IMU_INT_HW_H
#ifndef IMU_INT_HW_H
#define IMU_INT_HW_H
#include "std.h"
@@ -34,4 +34,4 @@
extern void ADS8344_start( void );
#endif /* BOOZ_IMU_INT_HW_H */
#endif /* IMU_INT_HW_H */
sw/airborne/firmwares/rotorcraft/imu/arch/sim/imu_crista_arch.h
+3 -3
View File
@@ -26,8 +26,8 @@
* simulator plug for the crista imu arch dependant functions
*
*/
#ifndef BOOZ_IMU_CRISTA_ARCH_H
#define BOOZ_IMU_CRISTA_ARCH_H
#ifndef IMU_CRISTA_ARCH_H
#define IMU_CRISTA_ARCH_H
#include "imu.h"
@@ -38,4 +38,4 @@ extern void imu_feed_gyro_accel(void);
extern void imu_feed_mag(void);
#endif /* BOOZ_IMU_CRISTA_HW_H */
#endif /* IMU_CRISTA_HW_H */
sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_aspirin_arch.h
+3 -3
View File
@@ -1,5 +1,5 @@
#ifndef BOOZ_IMU_ASPIRIN_ARCH_H
#define BOOZ_IMU_ASPIRIN_ARCH_H
#ifndef IMU_ASPIRIN_ARCH_H
#define IMU_ASPIRIN_ARCH_H
#include "imu.h"
@@ -11,4 +11,4 @@ extern void adxl345_clear_rx_buf(void);
extern void adxl345_start_reading_data(void);
#endif /* BOOZ_IMU_ASPIRIN_ARCH_H */
#endif /* IMU_ASPIRIN_ARCH_H */
sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.c
+12 -12
View File
@@ -30,9 +30,9 @@
#include <stm32/misc.h>
#include <stm32/dma.h>
#define BOOZ_IMU_SSP_STA_IDLE 0
#define BOOZ_IMU_SSP_STA_BUSY_MAX1168 1
#define BOOZ_IMU_SSP_STA_BUSY_MS2100 2
#define IMU_SSP_STA_IDLE 0
#define IMU_SSP_STA_BUSY_MAX1168 1
#define IMU_SSP_STA_BUSY_MS2100 2
volatile uint8_t imu_ssp_status;
@@ -70,13 +70,13 @@ void imu_b2_arch_init(void) {
};
NVIC_Init(&NVIC_init_structure_spi);
imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
imu_ssp_status = IMU_SSP_STA_IDLE;
}
void imu_periodic(void) {
// check ssp idle
// ASSERT((imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MAX1168;
// ASSERT((imu_status == IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
imu_ssp_status = IMU_SSP_STA_BUSY_MAX1168;
Max1168ConfigureSPI();
SPI_Cmd(SPI2, ENABLE);
booz_max1168_read();
@@ -85,26 +85,26 @@ void imu_periodic(void) {
void dma1_c4_irq_handler(void) {
switch (imu_ssp_status) {
case BOOZ_IMU_SSP_STA_BUSY_MAX1168:
case IMU_SSP_STA_BUSY_MAX1168:
Max1168OnDmaIrq();
SPI_Cmd(SPI2, DISABLE);
if (ms2001_status == MS2001_IDLE) {
Ms2001SendReq();
imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
}
else if (ms2001_status == MS2001_WAITING_EOC && Ms2001HasEOC()) {
Ms2001ReadRes();
imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
imu_ssp_status = IMU_SSP_STA_BUSY_MS2100;
}
else
imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
imu_ssp_status = IMU_SSP_STA_IDLE;
break;
case BOOZ_IMU_SSP_STA_BUSY_MS2100:
case IMU_SSP_STA_BUSY_MS2100:
Ms2001OnDmaIrq();
break;
default:
// POST_ERROR(DEBUG_IMU, IMU_ERR_SUPRIOUS_DMA1_C4_IRQ);
imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
imu_ssp_status = IMU_SSP_STA_IDLE;
}
}
sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_b2_arch.h
+3 -3
View File
@@ -21,9 +21,9 @@
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_IMU_B2_ARCH_H
#define BOOZ_IMU_B2_ARCH_H
#ifndef IMU_B2_ARCH_H
#define IMU_B2_ARCH_H
#endif /* BOOZ_IMU_B2_ARCH_H */
#endif /* IMU_B2_ARCH_H */
sw/airborne/firmwares/rotorcraft/imu/arch/stm32/imu_crista_arch.h
+3 -3
View File
@@ -20,8 +20,8 @@
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_IMU_CRISTA_ARCH_H
#define BOOZ_IMU_CRISTA_ARCH_H
#ifndef IMU_CRISTA_ARCH_H
#define IMU_CRISTA_ARCH_H
#define ImuCristaArchPeriodic() { \
@@ -31,4 +31,4 @@
extern void ADS8344_start( void );
#endif /* BOOZ_IMU_CRISTA_ARCH_H */
#endif /* IMU_CRISTA_ARCH_H */