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updates for using CAN

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This commit is contained in:
Paul Cox
2010-07-20 14:11:43 +00:00
parent 9b59b7961a
commit 459871263e
1 changed files with 22 additions and 9 deletions
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conf/airframes/Poine/beth.xml
+22 -9
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@@ -15,6 +15,13 @@
<define name="TRIM_R" value="0"/>
</section>
<servos>
<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
<servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
<servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
<servo name="AILERON_LEFT" no="4" min="1000" neutral="1508" max="2000"/>
<servo name="AILERON_RIGHT" no="5" min="1000" neutral="1527" max="2000"/>
</servos>
<section name="IMU" prefix="IMU_">
@@ -81,7 +88,7 @@ main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
$(SRC_ARCH)/stm32_vector_table.c
main_stm32.CFLAGS += -DUSE_LED
main_stm32.srcs += $(SRC_ARCH)/led_hw.c
main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=2
main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -90,9 +97,9 @@ main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
main_stm32.srcs += downlink.c pprz_transport.c
main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
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
#main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
#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
main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
@@ -116,7 +123,8 @@ main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
main_stm32.CFLAGS += -DUSE_I2C2
main_stm32.srcs += $(SRC_BETH)/bench_sensors.c
main_stm32.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
main_stm32.srcs += can.c $(SRC_ARCH)/can_hw.c
#
# Coders handled by a Olimex stm32h103 dev board
@@ -125,7 +133,8 @@ main_stm32.srcs += $(SRC_BETH)/bench_sensors.c
main_coders.ARCHDIR = stm32
main_coders.LDSCRIPT = $(SRC_ARCH)/stm32f103rb_flash.ld
main_coders.OOCD_INTERFACE = olimex-arm-usb-ocd
main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
#main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/beth.h\"
main_coders.TARGET = main_coders
main_coders.TARGETDIR = main_coders
@@ -135,9 +144,9 @@ main_coders.srcs = $(SRC_BETH)/main_coders.c \
$(SRC_ARCH)/stm32_vector_table.c
main_coders.CFLAGS += -DUSE_LED
main_coders.srcs += $(SRC_ARCH)/led_hw.c
main_coders.CFLAGS += -DUSE_SYS_TIME
# -DSYS_TIME_LED=1
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
@@ -145,7 +154,11 @@ main_coders.srcs += $(SRC_ARCH)/uart_hw.c
main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
main_coders.srcs += downlink.c pprz_transport.c
main_coders.CFLAGS += -DUSE_I2C2
#main_coders.CFLAGS += -DUSE_I2C2
#main_coders.srcs += $(SRC_ARCH)/i2c_hw.c
main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
main_coders.srcs += can.c $(SRC_ARCH)/can_hw.c
#