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Lisa Fixed Wing Actuators

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This commit is contained in:
Christophe De Wagter
2010-08-25 08:14:36 +00:00
parent 241d9a0514
commit 1636d1f80e
7 changed files with 45 additions and 9 deletions
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conf/airframes/AirborneCodeReorg/LisaFw.xml
+2 -2
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@@ -9,8 +9,8 @@
<airframe name="Fixed Wing Lisa">
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
<servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
<servo name="AILEVON_LEFT" no="1" min="1130" neutral="1575" max="1880"/>
<servo name="AILEVON_RIGHT" no="2" min="1980" neutral="1465" max="1170"/>
</servos>
<commands>
conf/autopilot/fixedwing.makefile
+1 -1
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@@ -34,7 +34,7 @@ ifeq ($(BOARD),tiny)
endif
ifeq ($(BOARD),lisa_l)
include $(CFG_FIXEDWING)/actuators_lisa.makefile
include $(CFG_FIXEDWING)/actuators_direct.makefile
endif
conf/autopilot/fixedwing.xml
+1 -1
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@@ -20,7 +20,7 @@
<param name="MODEM_BAUD" values="B9600|B38400|B57600|B115200"/>
</subsystem>
<!-- Actuators -->
<subsystem name="actuators" types="4015|4017|ppm"/>
<subsystem name="actuators" types="4015|4017|ppm|direct"/>
<subsystem name="control" types="NONE|adaptive|new"/>
<!-- Sensors -->
<subsystem name="gyro" types="roll|pitch">
conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
+11
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@@ -0,0 +1,11 @@
# for lisa_l
ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DSERVOS_DIRECT
ap.srcs += $(SRC_ARCH)/servos_direct_hw.c $(SRC_FIXEDWING)/actuators.c
# TODO TODO HELP HELP TERRIBLE HORRIBLE HACK!!!!
ifeq ($(ARCHI), stm32)
ap.srcs += $(SRC_FIXEDWING)/booz/arch/stm32/actuators/booz_actuators_pwm_arch.c
ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/arch/stm32/
endif
conf/autopilot/subsystems/fixedwing/actuators_lisa.makefile
-5
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@@ -1,5 +0,0 @@
# for lisa_l
#ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
#ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4017_hw.c $(SRC_FIXEDWING)/actuators.c
sw/airborne/stm32/servos_direct_hw.c
+12
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@@ -0,0 +1,12 @@
#include "std.h"
#include "actuators.h"
#include "servos_direct_hw.h"
int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
void actuators_init ( void ) {
booz_actuators_pwm_arch_init();
}
sw/airborne/stm32/servos_direct_hw.h
+18
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@@ -0,0 +1,18 @@
#ifndef SERVOS_DIRECT_HW_H
#define SERVOS_DIRECT_HW_H
#include "std.h"
#define BOOZ_ACTUATORS_PWM_NB 6
extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
#include "actuators/booz_actuators_pwm_arch.h"
#define SERVOS_TICS_OF_USEC(_v) (_v)
#define Actuator(_x) booz_actuators_pwm_values[_x]
#define ChopServo(x,a,b) Chop(x, a, b)
#define ActuatorsCommit booz_actuators_pwm_commit
#endif /* SERVOS_DIRECT_HW_H */