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Update lisa_stm_passthrough_main.c for ADC support

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This commit is contained in:
Allen Ibara
2010-09-07 17:51:09 +00:00
parent 84328b02c6
commit 350a45a40e
1 changed files with 44 additions and 15 deletions
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sw/airborne/lisa/lisa_stm_passthrough_main.c
+44 -15
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@@ -38,6 +38,7 @@
#include "firmwares/rotorcraft/baro.h"
#include "adc.h"
static inline void main_init(void);
static inline void main_periodic(void);
@@ -57,9 +58,18 @@ static bool_t new_radio_msg;
static bool_t new_baro_diff;
static bool_t new_baro_abs;
static bool_t new_vane;
static bool_t new_adc;
struct CscVaneMsg csc_vane_msg;
static struct adc_buf adc0_buf;
static struct adc_buf adc1_buf;
static struct adc_buf adc2_buf;
static struct adc_buf adc3_buf;
extern uint8_t adc_new_data_trigger;
int main(void) {
main_init();
@@ -75,26 +85,32 @@ int main(void) {
static inline void main_init(void) {
hw_init();
sys_time_init();
booz_imu_init();
baro_init();
radio_control_init();
booz_actuators_init();
overo_link_init();
cscp_init();
// csc_bat_monitor_init();
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
hw_init();
sys_time_init();
booz_imu_init();
baro_init();
radio_control_init();
booz_actuators_init();
overo_link_init();
cscp_init();
adc_init();
adc_buf_channel(0, &adc0_buf, 8);
adc_buf_channel(1, &adc1_buf, 8);
adc_buf_channel(2, &adc2_buf, 8);
adc_buf_channel(3, &adc3_buf, 8);
cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void *)&csc_vane_msg);
new_radio_msg = FALSE;
}
static inline void main_periodic(void) {
uint16_t v1 = 123;
uint16_t v2 = 123;
booz_imu_periodic();
OveroLinkPeriodic(on_overo_link_lost);
// csc_bat_monitor_periodic();
RunOnceEvery(10, {
LED_PERIODIC();
@@ -103,7 +119,15 @@ static inline void main_periodic(void) {
});
RunOnceEvery(2, {baro_periodic();});
if (adc_new_data_trigger) {
adc_new_data_trigger = 0;
new_adc = 1;
v1 = adc0_buf.sum / adc0_buf.av_nb_sample;
v2 = adc1_buf.values[0];
RunOnceEvery(10, { DOWNLINK_SEND_ADC_GENERIC(DefaultChannel, &v1, &v2) });
}
}
static inline void on_rc_message(void) {
@@ -153,12 +177,18 @@ static inline void on_overo_link_msg_received(void) {
overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
overo_link.up.msg.adc.channels[0] = adc0_buf.sum / adc0_buf.av_nb_sample;
overo_link.up.msg.adc.channels[1] = adc1_buf.sum / adc1_buf.av_nb_sample;
overo_link.up.msg.adc.channels[2] = adc2_buf.sum / adc2_buf.av_nb_sample;
overo_link.up.msg.adc.channels[3] = adc3_buf.sum / adc3_buf.av_nb_sample;
overo_link.up.msg.valid.adc = new_adc;
new_adc = FALSE;
/* pwm acuators down */
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
}
booz_actuators_pwm_commit();
}
static inline void on_overo_link_lost(void) {
@@ -208,7 +238,6 @@ static inline void main_event(void) {
OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
RadioControlEvent(on_rc_message);
cscp_event();
}