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fix setup actuators, needs settings/actuators.xml though

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This commit is contained in:
Felix Ruess
2012-02-25 15:41:56 +01:00
parent aaecb3f36f
commit 102930bf7b
2 changed files with 12 additions and 13 deletions
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conf/autopilot/setup.makefile
+1 -1
View File
@@ -97,7 +97,7 @@ endif
# a test program to setup actuators # a test program to setup actuators
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
setup_actuators.CFLAGS += -DFBW -DUSE_LED setup_actuators.CFLAGS += -DFBW -DUSE_LED -DPERIPHERALS_AUTO_INIT
setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
sw/airborne/firmwares/setup/setup_actuators.c
+11 -12
View File
@@ -8,17 +8,12 @@
#define DATALINK_C #define DATALINK_C
#include "subsystems/datalink/datalink.h" #include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/pprz_transport.h" #include "subsystems/datalink/pprz_transport.h"
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "firmwares/fixedwing/main_fbw.h" #include "firmwares/fixedwing/main_fbw.h"
#include "generated/settings.h" #include "generated/settings.h"
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_FBW_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "ap_downlink.h"
#define IdOfMsg(x) (x[1]) #define IdOfMsg(x) (x[1])
@@ -49,14 +44,9 @@ void dl_parse_msg( void ) {
#endif #endif
} }
#define PprzUartInit() Link(Init())
void init_fbw( void ) { void init_fbw( void ) {
mcu_init(); mcu_init();
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
led_init();
PprzUartInit();
actuators_init(); actuators_init();
@@ -67,9 +57,18 @@ void init_fbw( void ) {
// SetServo(SERVO_GAZ, SERVO_GAZ_MIN); // SetServo(SERVO_GAZ, SERVO_GAZ_MIN);
sys_time_register_timer((1./PERIODIC_FREQUENCY), NULL);
mcu_int_enable(); mcu_int_enable();
} }
void handle_periodic_tasks_fbw(void) {
if (sys_time_check_and_ack_timer(0))
periodic_task_fbw();
}
void periodic_task_fbw(void) { void periodic_task_fbw(void) {
/* static float t; */ /* static float t; */
/* t += 1./60.; */ /* t += 1./60.; */