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changes to beth files support: overo now uses events for periodic function, added udp telemetry and start of datalink (currently just counts datalink received bytes), stm IMU and motor interface tested, CAN link solid, and overo/stm spi link solid once OVERO_LINK_TIMEOUT was increased in lisa_overo_link.h (timeouts due to the overo not sending messages fast enough were causing the stm to think the link was lost and was not preparring the next messages--hence overo received a bunch of zeros)

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This commit is contained in:
Paul Cox
2010-07-28 08:12:27 +00:00
parent 02e1fa99d5
commit 31ab451bc9
4 changed files with 148 additions and 45 deletions
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conf/airframes/Poine/beth.xml
+11 -6
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@@ -122,8 +122,7 @@ main_stm32.srcs += downlink.c pprz_transport.c
main_stm32.CFLAGS += -DUSE_OVERO_LINK
#main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageFoo -DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
@@ -150,7 +149,7 @@ main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
#\
# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
#-DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ
# -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ
main_stm32.CFLAGS += -DUSE_I2C1
main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -181,7 +180,6 @@ main_coders.CFLAGS += -DUSE_LED
main_coders.srcs += $(SRC_ARCH)/led_hw.c
main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7
main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
#main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./10.)'
main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -210,10 +208,17 @@ SRC_FMS=fms
main_overo.ARCHDIR = omap
main_overo.CFLAGS = -I. -I$(SRC_FMS)
main_overo.srcs = $(SRC_BETH)/main_overo.c
main_overo.CFLAGS += -DFMS_PERIODIC_FREQ=100
main_overo.srcs += $(SRC_FMS)/fms_periodic.c
main_overo.srcs += $(SRC_FMS)/fms_serial_port.c
main_overo.LDFLAGS += -lrt
main_overo.srcs += $(SRC_FMS)/fms_spi_link.c
#main_overo.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
main_overo.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageFoo -DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
main_overo.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
main_overo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
main_overo.srcs += $(SRC_FMS)/udp_transport.c downlink.c
main_overo.srcs += $(SRC_FMS)/fms_network.c
main_overo.LDFLAGS += -levent
#
#