fixedwing firmware now working on LIsa

conf/airframes/Poine/funjet42.xml

@@ -12,7 +12,7 @@
     <target name="sim" 			board="pc"/>
     <target name="ap" 			board="lisa_l_1.0"/>
 
-    <subsystem name="radio_control"     type="ppm"/>
+    <subsystem name="radio_control"     type="spektrum"/>
     <subsystem name="telemetry" 	type="transparent"/>
     <subsystem name="control"/>
     <subsystem name="attitude" 		type="infrared"/>
@@ -21,9 +21,10 @@
   </firmware>
 
   <firmware name="lisa_l_test_progs">
-    <target name="test_led"   board="lisa_l_1.0"/>
-    <target name="test_uart"   board="lisa_l_1.0"/>
-    <target name="test_servos"   board="lisa_l_1.0"/>
+    <target name="tunnel"           board="lisa_l_1.0"/>
+    <target name="test_led"         board="lisa_l_1.0"/>
+    <target name="test_uart"        board="lisa_l_1.0"/>
+    <target name="test_servos"      board="lisa_l_1.0"/>
     <target name="test_telemetry"   board="lisa_l_1.0"/>
     <target name="test_baro"        board="lisa_l_1.0"/>
     <target name="test_imu_b2"      board="lisa_l_1.0"/>
@@ -80,9 +81,9 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ADC_IR1_NEUTRAL" value="512"/>
-    <define name="ADC_IR2_NEUTRAL" value="512"/>
-    <define name="ADC_TOP_NEUTRAL" value="512"/>
+    <define name="ADC_IR1_NEUTRAL" value="2048"/>
+    <define name="ADC_IR2_NEUTRAL" value="2048"/>
+    <define name="ADC_TOP_NEUTRAL" value="2048"/>
 
     <define name="LATERAL_CORRECTION" value="-1"/>
     <define name="LONGITUDINAL_CORRECTION" value="1"/>

conf/boards/lisa_l_1.0.makefile

@@ -70,13 +70,16 @@ MODEM_UART_NR = 2
 endif
 
 ifndef ADC_IR1
-ADC_IR1    = 1
+ADC_IR1      = 1
+ADC_IR1_CHAN = 0
 endif
 ifndef ADC_IR2
-ADC_IR2    = 2
+ADC_IR2      = 2
+ADC_IR2_CHAN = 1
 endif
 ifndef ADC_IR3
-ADC_IR_TOP = 3
+ADC_IR_TOP      = 3
+ADC_IR_TOP_CHAN = 2
 endif
 ifndef ADC_IR_NB_SAMPLES
 ADC_IR_NB_SAMPLES = 16

sw/airborne/arch/stm32/adc_hw.c

@@ -91,6 +91,8 @@
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
 #include <stm32/tim.h>
+#include <string.h>
+#include "std.h"
 #include "led.h"
 #include BOARD_CONFIG
 
@@ -369,14 +371,14 @@ void adc_init( void ) {
     uint8_t channel;
 #ifdef USE_AD1
     for(channel = 0; channel < NB_ADC1_CHANNELS; channel++)
-        adc1_buffers[channel] = 0;
+        adc1_buffers[channel] = NULL;
 #endif
 #ifdef USE_AD2
     for(channel = 0; channel < NB_ADC2_CHANNELS; channel++)
-        adc2_buffers[channel] = 0;
+        adc2_buffers[channel] = NULL;
 #endif
 
-    adc_new_data_trigger = 0;
+    adc_new_data_trigger = FALSE;
     adc_injected_channels[0] = ADC_InjectedChannel_1;
     adc_injected_channels[1] = ADC_InjectedChannel_2;
     adc_injected_channels[2] = ADC_InjectedChannel_3;

sw/airborne/firmwares/fixedwing/main.c

@@ -41,15 +41,7 @@
 #define Ap(f)
 #endif
 
-#ifdef STM32
-#include "init_hw.h"
-#endif
-
 int main( void ) {
-#ifdef STM32
-  hw_init();
-  sys_time_init();
-#endif
   Fbw(init);
   Ap(init);
   InitSysTimePeriodic();
@@ -57,9 +49,7 @@ int main( void ) {
     if (sys_time_periodic()) {
       Fbw(periodic_task);
       Ap(periodic_task);
-#ifdef STM32
       LED_PERIODIC();
-#endif
     }
     Fbw(event_task);
     Ap(event_task);

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -508,7 +508,12 @@ void init_ap( void ) {
 #ifdef USE_UART1
   Uart1Init();
 #endif
-
+#ifdef USE_UART2
+  Uart2Init();
+#endif
+#ifdef USE_UART3
+  Uart3Init();
+#endif
 #ifdef USE_USB_SERIAL
   VCOM_init();
 #endif
@@ -520,10 +525,12 @@ void init_ap( void ) {
 #ifdef USE_I2C0
   i2c0_init();
 #endif
-
 #ifdef USE_I2C1
   i2c1_init();
 #endif
+#ifdef USE_I2C2
+  i2c2_init();
+#endif
 
   /************* Links initialization ***************/
 #if defined USE_SPI

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -89,19 +89,29 @@ void init_fbw( void ) {
 #ifdef LED
   led_init();
 #endif
+
 #ifdef USE_UART0
   uart0_init();
 #endif
 #ifdef USE_UART1
   uart1_init();
 #endif
+#ifdef USE_UART2
+  uart2_init();
+#endif
+#ifdef USE_UART3
+  uart3_init();
+#endif
+  // FIXME: remove STM32 flag
+#ifndef STM32
 #ifdef ADC
   adc_init();
   adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
 #  ifdef ADC_CHANNEL_CURRENT
-  adc_buf_channel(ADC_CHANNEL_CURRENT, &current_adc_buf, DEFAULT_AV_NB_SAMPLE);
+    adc_buf_channel(ADC_CHANNEL_CURRENT, &current_adc_buf, DEFAULT_AV_NB_SAMPLE);
 #  endif
 #endif
+#endif /* ! STM32 */
 #ifdef ACTUATORS
   actuators_init();
   /* Load the failsafe defaults */