moving files around

sw/airborne/booz/arch/lpc21/actuators_asctec_twi_blmc_hw.c

@@ -0,0 +1,105 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "actuators.h"
+
+#include "i2c.h"
+#include "led.h"
+
+bool_t  actuators_asctec_twi_blmc_command;
+uint8_t actuators_asctec_twi_blmc_command_type;
+
+#define MB_TWI_CONTROLLER_ASCTECH_ADDR_FRONT 0
+#define MB_TWI_CONTROLLER_ASCTECH_ADDR_BACK  1
+#define MB_TWI_CONTROLLER_ASCTECH_ADDR_LEFT  2
+#define MB_TWI_CONTROLLER_ASCTECH_ADDR_RIGHT 3
+uint8_t actuators_asctec_twi_blmc_addr;
+uint8_t actuators_asctec_twi_blmc_new_addr;
+
+#define ASCTEC_TWI_BLMC_NB 4
+
+int8_t asctec_twi_blmc_motor_power[ASCTEC_TWI_BLMC_NB];
+uint8_t twi_blmc_nb_err;
+volatile uint8_t mb_twi_i2c_done;
+
+
+#define MB_TWI_CONTROLLER_MAX_CMD 200
+#define MB_TWI_CONTROLLER_ADDR 0x02
+
+void actuators_init(void) {
+  twi_blmc_nb_err = 0;
+  mb_twi_i2c_done = TRUE;
+  actuators_asctec_twi_blmc_command = MB_TWI_CONTROLLER_COMMAND_NONE;
+  actuators_asctec_twi_blmc_addr = MB_TWI_CONTROLLER_ASCTECH_ADDR_FRONT;
+}
+
+void asctec_twi_controller_send() {
+  if (!mb_twi_i2c_done) {
+    twi_blmc_nb_err++;
+    
+  }
+  if (actuators_asctec_twi_blmc_command != MB_TWI_CONTROLLER_COMMAND_NONE) {
+
+    switch (actuators_asctec_twi_blmc_command) {
+      
+    case MB_TWI_CONTROLLER_COMMAND_TEST :
+      i2c0_buf[0] = 251;
+      i2c0_buf[1] = actuators_asctec_twi_blmc_addr;
+      i2c0_buf[2] = 0;
+      i2c0_buf[3] = 231 + actuators_asctec_twi_blmc_addr;
+      mb_twi_i2c_done = FALSE;
+      i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+      break;
+      
+    case MB_TWI_CONTROLLER_COMMAND_REVERSE :
+      i2c0_buf[0] = 254;
+      i2c0_buf[1] = actuators_asctec_twi_blmc_addr;
+      i2c0_buf[2] = 0;
+      i2c0_buf[3] = 234 + actuators_asctec_twi_blmc_addr;
+      mb_twi_i2c_done = FALSE;
+      i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+      break;
+      
+    case MB_TWI_CONTROLLER_COMMAND_SET_ADDR :
+      i2c0_buf[0] = 250;
+      i2c0_buf[1] = actuators_asctec_twi_blmc_addr;
+      i2c0_buf[2] = actuators_asctec_twi_blmc_new_addr;
+      i2c0_buf[3] = 230 + actuators_asctec_twi_blmc_addr + 
+	actuators_asctec_twi_blmc_new_addr;
+      actuators_asctec_twi_blmc_addr = actuators_asctec_twi_blmc_new_addr;
+      mb_twi_i2c_done = FALSE;
+      i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+      break;
+      
+    }
+    actuators_asctec_twi_blmc_command = MB_TWI_CONTROLLER_COMMAND_NONE;
+  }
+  else {
+    i2c0_buf[0] = 100 + asctec_twi_blmc_motor_power[SERVO_PITCH];
+    i2c0_buf[1] = 100 + asctec_twi_blmc_motor_power[SERVO_ROLL];
+    i2c0_buf[2] = 100 + asctec_twi_blmc_motor_power[SERVO_YAW];
+    i2c0_buf[3] = asctec_twi_blmc_motor_power[SERVO_THRUST];
+    mb_twi_i2c_done = FALSE;
+    i2c0_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
+  }
+}

sw/airborne/booz/arch/lpc21/actuators_asctec_twi_blmc_hw.h

@@ -0,0 +1,110 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef ACTUATORS_ASCTEC_TWI_BLMC_H
+#define ACTUATORS_ASCTEC_TWI_BLMC_H
+
+#include "std.h"
+#include "led.h"
+
+#include "airframe.h"
+
+extern void asctec_twi_controller_send(void);
+
+extern uint8_t twi_blmc_nb_err;
+extern int8_t asctec_twi_blmc_motor_power[];
+
+#define MB_TWI_CONTROLLER_COMMAND_NONE     0
+#define MB_TWI_CONTROLLER_COMMAND_TEST     1
+#define MB_TWI_CONTROLLER_COMMAND_REVERSE  2
+#define MB_TWI_CONTROLLER_COMMAND_SET_ADDR 3
+
+
+extern uint8_t actuators_asctec_twi_blmc_command;
+extern uint8_t actuators_asctec_twi_blmc_addr;
+extern uint8_t actuators_asctec_twi_blmc_new_addr;
+
+#define actuators_asctec_twi_blmc_hw_SetCommand(value) { \
+    actuators_asctec_twi_blmc_command = value;		 \
+  }
+
+#define actuators_asctec_twi_blmc_hw_SetAddr(value) {			\
+    actuators_asctec_twi_blmc_command = MB_TWI_CONTROLLER_COMMAND_SET_ADDR; \
+    actuators_asctec_twi_blmc_new_addr = value;				\
+  }
+
+#ifndef SetActuatorsFromCommands
+#ifdef KILL_MOTORS
+#define SetActuatorsFromCommands(_motors_on) {		      \
+    Actuator(SERVO_PITCH)  = 0;				      \
+    Actuator(SERVO_ROLL)   = 0;				      \
+    Actuator(SERVO_YAW)    = 0;				      \
+    Actuator(SERVO_THRUST) = 0;				      \
+    ActuatorsCommit();					      \
+  }
+#else /* ! KILL_MOTORS */
+#ifndef SUPERVISION_HACK_45
+#define SetActuatorsFromCommands(_motors_on) {				\
+    booz2_commands[COMMAND_PITCH] += SUPERVISION_TRIM_E;		\
+    booz2_commands[COMMAND_ROLL]  += SUPERVISION_TRIM_A;		\
+    booz2_commands[COMMAND_YAW]   += SUPERVISION_TRIM_R;		\
+    Bound(booz2_commands[COMMAND_PITCH],-100, 100);			\
+    Bound(booz2_commands[COMMAND_ROLL], -100, 100);			\
+    Bound(booz2_commands[COMMAND_YAW],  -100, 100);			\
+    if (_motors_on) {							\
+      Bound(booz2_commands[COMMAND_THRUST],  1, 200);			\
+    }									\
+    Actuator(SERVO_PITCH)  = -(uint8_t)booz2_commands[COMMAND_PITCH];	\
+    Actuator(SERVO_ROLL)   =  (uint8_t)booz2_commands[COMMAND_ROLL];	\
+    Actuator(SERVO_YAW)    = -(uint8_t)booz2_commands[COMMAND_YAW];	\
+    Actuator(SERVO_THRUST) =  (uint8_t)booz2_commands[COMMAND_THRUST];	\
+    ActuatorsCommit();							\
+  }
+#else /* SUPERVISION_HACK_45 */
+#define SetActuatorsFromCommands(_motors_on) {				\
+    int32_t _r1 =  booz2_commands[COMMAND_ROLL] +  booz2_commands[COMMAND_PITCH]; \
+    int32_t _p1 =  booz2_commands[COMMAND_ROLL] -  booz2_commands[COMMAND_PITCH]; \
+    int32_t _y1 =  booz2_commands[COMMAND_YAW];				\
+    int32_t _t1 =  booz2_commands[COMMAND_THRUST];			\
+    Bound(_r1,-100, 100);						\
+    Bound(_p1,-100, 100);						\
+    Bound(_y1,-100, 100);						\
+    if (_motors_on) {							\
+      Bound(_t1,  1, 200);						\
+    }									\
+    Actuator(SERVO_ROLL)   = _r1;					\
+    Actuator(SERVO_PITCH)  = _p1;					\
+    Actuator(SERVO_YAW)    = _y1;					\
+    Actuator(SERVO_THRUST) = _t1;					\
+    ActuatorsCommit();							\
+  }
+#endif /* SUPERVISION_HACK_45 */
+#endif /* KILL_MOTORS              */
+#endif /* SetActuatorsFromCommands */
+
+#define Actuator(i) asctec_twi_blmc_motor_power[i]
+#define ActuatorsCommit() {			                \
+    asctec_twi_controller_send();				\
+  }
+
+#endif /* ACTUATORS_ASCTEC_TWI_BLMC_H */

sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.c

@@ -0,0 +1,44 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "actuators.h"
+
+#include BOARD_CONFIG
+
+uint8_t twi_blmc_nb_err;
+
+uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
+volatile bool_t  buss_twi_blmc_status;
+volatile bool_t  buss_twi_blmc_i2c_done;
+volatile uint8_t buss_twi_blmc_idx;
+
+const uint8_t buss_twi_blmc_addr[BUSS_TWI_BLMC_NB] = BUSS_BLMC_ADDR;
+
+void actuators_init ( void ) {
+  uint8_t i;
+  for (i=0; i<BUSS_TWI_BLMC_NB;i++)
+    buss_twi_blmc_motor_power[i] = 0;
+  buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_IDLE;
+  twi_blmc_nb_err = 0;
+  buss_twi_blmc_i2c_done = TRUE;
+}

sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.h

@@ -0,0 +1,111 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef ACTUATORS_BUSS_TWI_BLMC_HW_H
+#define ACTUATORS_BUSS_TWI_BLMC_HW_H
+
+
+
+#include <string.h>
+#include "std.h"
+#include "i2c.h"
+
+#include "airframe.h"
+#include "booz2_supervision.h"
+
+/*
+  We're not using the airframe file "mixer" facility
+  and instead explicitely call the "supervision" code
+  to do the mixing
+*/
+#ifndef SetActuatorsFromCommands
+#ifdef KILL_MOTORS
+#define SetActuatorsFromCommands(_motors_on) {		      \
+    Actuator(SERVO_FRONT) = 0;				      \
+    Actuator(SERVO_BACK)  = 0;				      \
+    Actuator(SERVO_RIGHT) = 0;				      \
+    Actuator(SERVO_LEFT)  = 0;				      \
+    ActuatorsCommit();					      \
+  }
+#else
+#define SetActuatorsFromCommands(_motors_on) {				\
+    pprz_t mixed_commands[SERVOS_NB];					\
+    BOOZ2_SUPERVISION_RUN(mixed_commands, booz2_commands, _motors_on);	\
+    Actuator(SERVO_FRONT) = (uint8_t)mixed_commands[SERVO_FRONT];	\
+    Actuator(SERVO_BACK)  = (uint8_t)mixed_commands[SERVO_BACK];	\
+    Actuator(SERVO_RIGHT) = (uint8_t)mixed_commands[SERVO_RIGHT];	\
+    Actuator(SERVO_LEFT)  = (uint8_t)mixed_commands[SERVO_LEFT];	\
+    ActuatorsCommit();							\
+  }
+#endif /* KILL_MOTORS              */
+#endif /* SetActuatorsFromCommands */
+
+#define ChopServo(x,a,b) ((x)>(b)?(b):(x))
+#define Actuator(i) buss_twi_blmc_motor_power[i]
+
+#ifdef TWI_IGNORE_ACK
+#define ActuatorsCommit() {						\
+    buss_twi_blmc_idx = 0;						\
+    buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_BUSY;			\
+    ActuatorsBussTwiBlmcSend();						\
+}
+#else
+#define ActuatorsCommit() {			                \
+    if ( buss_twi_blmc_status == BUSS_TWI_BLMC_STATUS_IDLE) {		\
+      buss_twi_blmc_idx = 0;						\
+      buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_BUSY;			\
+      ActuatorsBussTwiBlmcSend();					\
+    }									\
+  else					     		\
+     twi_blmc_nb_err++;					\
+  }
+#endif
+
+#define SERVOS_TICS_OF_USEC(s) ((uint8_t)(s)) 
+
+#define BUSS_TWI_BLMC_STATUS_IDLE 0
+#define BUSS_TWI_BLMC_STATUS_BUSY 1
+#define BUSS_TWI_BLMC_NB 4
+extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
+extern volatile bool_t  buss_twi_blmc_status;
+extern uint8_t twi_blmc_nb_err;
+extern volatile bool_t  buss_twi_blmc_i2c_done;
+extern volatile uint8_t buss_twi_blmc_idx;
+extern const uint8_t buss_twi_blmc_addr[];
+
+#define ActuatorsBussTwiBlmcNext() {			\
+    buss_twi_blmc_idx++;				\
+    if (buss_twi_blmc_idx < BUSS_TWI_BLMC_NB) {		\
+      ActuatorsBussTwiBlmcSend();			\
+    }							\
+    else						\
+      buss_twi_blmc_status = BUSS_TWI_BLMC_STATUS_IDLE;	\
+  }
+
+#define ActuatorsBussTwiBlmcSend() {					              \
+    i2c0_buf[0] = buss_twi_blmc_motor_power[buss_twi_blmc_idx];		              \
+    i2c0_transmit(buss_twi_blmc_addr[buss_twi_blmc_idx], 1, &buss_twi_blmc_i2c_done); \
+  }
+
+
+#endif /* ACTUATORS_BUSS_TWI_BLMC_HW_H */

sw/airborne/booz/arch/lpc21/booz2_analog_hw.c

@@ -0,0 +1,114 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz2_analog.h"
+
+#include "armVIC.h"
+#include "sys_time.h"
+
+#include "booz2_analog_baro.h"
+#include "booz2_battery.h"
+
+void ADC0_ISR ( void ) __attribute__((naked));
+void ADC1_ISR ( void ) __attribute__((naked));
+
+void booz2_analog_init_hw( void ) {
+
+  /* start ADC0 */
+  /* select P0.29 as AD0.2 for bat meas*/
+  PINSEL1 |=  0x01 << 26;
+  /* sample AD0.2 - PCLK/4 ( 3.75MHz) - ON */
+  AD0CR = 1 << 2 | 0x03 << 8 | 1 << 21;
+  /* AD0 selected as IRQ */
+  VICIntSelect &= ~VIC_BIT(VIC_AD0);
+  /* AD0 interrupt enabled */
+  VICIntEnable = VIC_BIT(VIC_AD0);
+  /* AD0 interrupt as VIC2 */
+  _VIC_CNTL(ADC0_VIC_SLOT) = VIC_ENABLE | VIC_AD0;
+  _VIC_ADDR(ADC0_VIC_SLOT) = (uint32_t)ADC0_ISR;
+  /* start convertion on T0M1 match */
+  AD0CR |= 4 << 24;
+
+
+ /* clear match 1 */                                     
+  T0EMR &= ~TEMR_EM1;                                   
+  /* set high on match 1 */
+  T0EMR |= TEMR_EMC1_2;
+  /* first match in a while */
+  T0MR1 = 1024;
+
+
+  /* start ADC1 */
+  /* select P0.10 as AD1.2 for baro*/
+  ANALOG_BARO_PINSEL |=  ANALOG_BARO_PINSEL_VAL << ANALOG_BARO_PINSEL_BIT;
+  /* sample AD1.2 - PCLK/4 ( 3.75MHz) - ON */
+  AD1CR = 1 << 2 | 0x03 << 8 | 1 << 21;
+  /* AD0 selected as IRQ */
+  VICIntSelect &= ~VIC_BIT(VIC_AD1);
+  /* AD0 interrupt enabled */
+  VICIntEnable = VIC_BIT(VIC_AD1);
+  /* AD0 interrupt as VIC2 */
+  _VIC_CNTL(ADC1_VIC_SLOT) = VIC_ENABLE | VIC_AD1;
+  _VIC_ADDR(ADC1_VIC_SLOT) = (uint32_t)ADC1_ISR;
+  /* start convertion on T0M3 match */
+  AD1CR |= 5 << 24;
+
+
+  /* clear match 2 */                                     
+  T0EMR &= ~TEMR_EM3;                                   
+  /* set high on match 2 */
+  T0EMR |= TEMR_EMC3_2;
+  /* first match in a while */
+  T0MR3 = 512;
+
+  /* turn on DAC pins */
+  PINSEL1 |= 2 << 18;
+}
+
+
+void ADC0_ISR ( void ) {
+  ISR_ENTRY();
+  uint32_t tmp = AD0GDR;
+  uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
+  Booz2BatteryISRHandler(tmp2);
+  /* trigger next convertion */
+  T0MR1 += BOOZ2_ANALOG_BATTERY_PERIOD;
+  /* lower clock         */
+  T0EMR &= ~TEMR_EM1;   
+  VICVectAddr = 0x00000000;                 // clear this interrupt from the VIC
+  ISR_EXIT();                               // recover registers and return
+}
+
+void ADC1_ISR ( void ) {
+  ISR_ENTRY();
+  uint32_t tmp = AD1GDR;
+  uint16_t tmp2 = (uint16_t)(tmp >> 6) & 0x03FF;
+  Booz2BaroISRHandler(tmp2);
+  /* trigger next convertion */
+  T0MR3 += BOOZ2_ANALOG_BARO_PERIOD;
+  /* lower clock         */
+  T0EMR &= ~TEMR_EM3;   
+  VICVectAddr = 0x00000000;                 // clear this interrupt from the VIC
+  ISR_EXIT();                               // recover registers and return
+}
+

sw/airborne/booz/arch/lpc21/booz2_analog_hw.h

@@ -0,0 +1,33 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef BOOZ2_ANALOG_HW_H
+#define BOOZ2_ANALOG_HW_H
+
+#include "LPC21xx.h"
+
+#define Booz2AnalogSetDAC(x) {  DACR = x << 6; }
+
+extern void booz2_analog_init_hw(void);
+
+#endif /* BOOZ2_ANALOG_HW_H */

sw/airborne/booz/arch/lpc21/booz2_pwm_hw.c

@@ -0,0 +1,48 @@
+/*
+ * $Id: $
+ *  
+ * Copyright (C) 2007  ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+#include "booz2_pwm_hw.h"
+
+#define PWM_PERIOD SYS_TICS_OF_USEC(20000)
+#define PWM_DUTY SYS_TICS_OF_USEC(1500)
+
+void booz2_pwm_init_hw( void ) {
+
+  /* start PWM5 */
+  /* select P0.21 as PWM5 */
+  PWM_PINSEL |=  PWM_PINSEL_VAL << PWM_PINSEL_BIT;
+  /* select pwm period */
+  PWMMR0 = PWM_PERIOD;
+  /* select pwm value to 50% at init (1500 us) */
+  PWMMR5 = PWM_DUTY;
+  /* commit values */
+  PWMLER = PWMLER_LATCH0 | PWMLER_LATCH5;
+  /* enable counter and pwm mode */
+  PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
+  /* enable PWM5 */
+  PWMPCR = PWMPCR_ENA5;
+
+}
+
+

sw/airborne/booz/arch/lpc21/booz2_pwm_hw.h

@@ -0,0 +1,38 @@
+/*
+ * $Id: $
+ *  
+ * Copyright (C) 2007  ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+#ifndef BOOZ2_PWM_HW_H
+#define BOOZ2_PWM_HW_H
+
+#include "std.h"
+#include "sys_time.h"
+
+extern void booz2_pwm_init_hw(void);
+
+#define Booz2SetPwmValue(_v) { \
+  PWMMR5 = SYS_TICS_OF_USEC(_v); \
+  PWMLER = PWMLER_LATCH5; \
+}
+
+#endif /* BOOZ2_PWM_HW_H */

sw/airborne/booz/arch/lpc21/booz_ms2001_arch.c

@@ -0,0 +1,64 @@
+/* PNI micromag3 connected on SPI1 */
+/* 
+   Twisted Logic
+   SS    on P0.20
+   RESET on P0.29 
+   DRDY  on P0.30 ( EINT3 )
+*/
+
+/* 
+   IMU v3
+   SS on P0.20
+   RESET on P1.21
+   DRDY on P0.15 ( EINT2 )
+*/
+
+/*
+  IMU b2
+  SS on P1.28
+  RESET on P1.19
+  DRDY on P0.30 ( EINT3)
+*/
+
+#include "micromag.h"
+
+volatile uint8_t micromag_cur_axe;
+
+static void EXTINT_ISR(void) __attribute__((naked));
+
+void micromag_hw_init( void ) {
+
+  MmUnselect();                   /* pin idles high */
+  /* configure SS pin */
+  SetBit(MM_SS_IODIR, MM_SS_PIN); /* pin is output  */
+
+  /* configure RESET pin */
+  SetBit(MM_RESET_IODIR, MM_RESET_PIN); /* pin is output  */
+  MmReset();                            /* pin idles low  */
+
+  /* configure DRDY pin */
+  /* connected pin to EXINT */ 
+  MM_DRDY_PINSEL |= MM_DRDY_PINSEL_VAL << MM_DRDY_PINSEL_BIT;
+  SetBit(EXTMODE, MM_DRDY_EINT); /* EINT is edge trigered */
+  SetBit(EXTPOLAR,MM_DRDY_EINT); /* EINT is trigered on rising edge */
+  SetBit(EXTINT,MM_DRDY_EINT);   /* clear pending EINT */
+  
+  /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT( MM_DRDY_VIC_IT );                       /* select EINT as IRQ source */
+  VICIntEnable = VIC_BIT( MM_DRDY_VIC_IT );                         /* enable it                 */
+  _VIC_CNTL(MICROMAG_DRDY_VIC_SLOT) = VIC_ENABLE | MM_DRDY_VIC_IT;
+  _VIC_ADDR(MICROMAG_DRDY_VIC_SLOT) = (uint32_t)EXTINT_ISR;         // address of the ISR 
+
+}
+
+void EXTINT_ISR(void) {
+  ISR_ENTRY();
+  /* no, we won't do anything asynchronously, so just notify */
+  micromag_status = MM_GOT_EOC;
+  /* clear EINT */
+  //SetBit(EXTINT,MM_DRDY_EINT);
+  EXTINT = (1<<MM_DRDY_EINT);
+  VICVectAddr = 0x00000000;    /* clear this interrupt from the VIC */
+  ISR_EXIT();
+}
+

sw/airborne/booz/arch/lpc21/booz_ms2001_arch.h

@@ -0,0 +1,94 @@
+#ifndef BOOZ_MS2001_ARCH_H
+#define BOOZ_MS2001_ARCH_H
+
+#include <stdlib.h>  // for abs
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h" 
+
+#include "ssp_hw.h"
+#include BOARD_CONFIG
+
+#include "airframe.h"
+
+#define MS2001_DIVISOR_128  2
+#define MS2001_DIVISOR_256  3
+#define MS2001_DIVISOR_512  4
+#define MS2001_DIVISOR_1024 5
+
+#define MS2001_DIVISOR MS2001_DIVISOR_1024
+
+
+extern volatile uint8_t ms2001_cur_axe;
+
+#define Ms2001Select()   SetBit(MS2001_SS_IOCLR,MS2001_SS_PIN)
+#define Ms2001Unselect() SetBit(MS2001_SS_IOSET,MS2001_SS_PIN)
+
+#define Ms2001Reset() SetBit(MS2001_RESET_IOCLR,MS2001_RESET_PIN)
+#define Ms2001Set()   SetBit(MS2001_RESET_IOSET,MS2001_RESET_PIN)
+
+#define Ms2001OnSpiIt() {						\
+    switch (ms2001_status) {						\
+    case MS2001_SENDING_REQ:						\
+      {									\
+	/* read dummy control byte reply */				\
+	uint8_t foo __attribute__ ((unused)) = SSPDR;			\
+	ms2001_status = MS2001_WAITING_EOC;				\
+	Ms2001Unselect();						\
+	SSP_ClearRti();							\
+	SSP_DisableRti();						\
+	SSP_Disable();							\
+      }									\
+      break;								\
+    case MS2001_READING_RES:						\
+      {									\
+	int16_t new_val;						\
+	new_val = SSPDR << 8;						\
+	new_val += SSPDR;						\
+	if (abs(new_val) < 2000)					\
+	  ms2001_values[micromag_cur_axe] = new_val;			\
+	Ms2001Unselect();						\
+	SSP_ClearRti();							\
+	SSP_DisableRti();						\
+	SSP_Disable();							\
+	ms2001_cur_axe++;						\
+	if (ms2001_cur_axe > 2) {					\
+	  ms2001_cur_axe = 0;						\
+	  ms2001_status = MS2001_DATA_AVAILABLE;			\
+	}								\
+	else								\
+	  ms2001_status = MS2001_IDLE;					\
+      }									\
+      break;								\
+    }									\
+  }
+
+
+#define Ms2001SendReq() {						\
+    Ms2001Select();							\
+    ms2001_status = MS2001_SENDING_REQ;					\
+    Ms2001Set();							\
+    SSP_ClearRti();							\
+    SSP_EnableRti();							\
+    Ms2001Reset();							\
+    uint8_t control_byte = (ms2001_cur_axe+1) << 0 |			\
+                            MS2001_DIVISOR << 4;			\
+    SSP_Send(control_byte);						\
+    SSP_Enable();							\
+  }
+
+#define MmReadRes() {							\
+    ms2001_status = MS2001_READING_RES;					\
+    Ms2001Select();							\
+    /* trigger 2 bytes read */						\
+    SSP_Send(0);							\
+    SSP_Send(0);							\
+    SSP_Enable();							\
+    SSP_ClearRti();							\
+    SSP_EnableRti();							\
+  }
+
+
+
+#endif /* BOOZ_MS2001_ARCH_H */

sw/airborne/booz/arch/lpc21/impl/booz_imu_b2_arch.c

@@ -0,0 +1,186 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz_imu.h"
+
+volatile uint8_t booz_imu_ssp_status;
+static void SSP_ISR(void) __attribute__((naked));
+#if 0
+static inline bool_t isr_try_mag(void);
+#endif
+
+/* SSPCR0 settings */
+#define SSP_DDS8  0x07 << 0  /* data size         : 8 bits                    */
+#define SSP_DDS16 0x0F << 0  /* data size         : 16 bits                   */
+#define SSP_FRF   0x00 << 4  /* frame format      : SPI                       */
+#define SSP_CPOL  0x00 << 6  /* clock polarity    : data captured on first clock transition */  
+#define SSP_CPHA  0x00 << 7  /* clock phase       : SCK idles low             */
+#define SSP_SCR   0x0F << 8  /* serial clock rate : divide by 16              */
+
+/* SSPCR1 settings */
+#define SSP_LBM   0x00 << 0  /* loopback mode     : disabled                  */
+#define SSP_SSE   0x00 << 1  /* SSP enable        : disabled                  */
+#define SSP_MS    0x00 << 2  /* master slave mode : master                    */
+#define SSP_SOD   0x00 << 3  /* slave output disable : don't care when master */
+
+#define SSPCR0_VAL8  (SSP_DDS8  |  SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
+#define SSPCR0_VAL16 (SSP_DDS16 |  SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR )
+#define SSPCR1_VAL   (SSP_LBM   |  SSP_SSE | SSP_MS   | SSP_SOD )
+
+#define SSP_PINSEL1_SCK  (2<<2)
+#define SSP_PINSEL1_MISO (2<<4)
+#define SSP_PINSEL1_MOSI (2<<6)
+
+
+#define BoozImuSetSSP8bits() { \
+    SSPCR0 = SSPCR0_VAL8;      \
+}
+
+#define BoozImuSetSSP16bits() { \
+    SSPCR0 = SSPCR0_VAL16;	\
+}
+
+
+void booz_imu_b2_arch_init(void) {
+  
+  booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+
+  /* setup pins for SSP (SCK, MISO, MOSI) */
+  PINSEL1 |= SSP_PINSEL1_SCK  | SSP_PINSEL1_MISO | SSP_PINSEL1_MOSI;
+  
+  /* setup SSP */
+  SSPCR0 = SSPCR0_VAL16;
+  SSPCR1 = SSPCR1_VAL;
+  SSPCPSR = 0x02;
+  
+  /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT( VIC_SPI1 );             /* SPI1 selected as IRQ */
+  VICIntEnable = VIC_BIT( VIC_SPI1 );               /* enable it            */
+  _VIC_CNTL(SSP_VIC_SLOT) = VIC_ENABLE | VIC_SPI1;
+  _VIC_ADDR(SSP_VIC_SLOT) = (uint32_t)SSP_ISR;      /* address of the ISR   */
+
+}
+
+
+void booz_imu_periodic(void) {
+  // check ssp idle
+  // ASSERT((booz_imu_status == BOOZ_IMU_STA_IDLE), DEBUG_IMU, IMU_ERR_OVERUN);
+  
+  // setup 16 bits
+  BoozImuSetSSP16bits();
+  // read adc
+  booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MAX1168;
+  booz_max1168_read();
+  
+}
+
+
+
+#include "led.h"
+
+#if 0
+
+
+static inline bool_t isr_try_mag(void) {
+  switch (micromag_status) {
+  case MM_IDLE :
+    Booz2ImuSetSSP8bits();
+    MmSendReq();
+    return TRUE;
+  case MM_GOT_EOC:
+    Booz2ImuSetSSP8bits();
+    MmReadRes();
+    return TRUE;
+  }
+  return FALSE;
+}
+
+static void SSP_ISR(void) {
+ ISR_ENTRY();
+ 
+ switch (booz2_imu_ssp_status) {
+ case BOOZ2_IMU_SSP_STA_BUSY_MAX1168:
+   Max1168OnSpiInt();
+   if (isr_try_mag())
+     booz2_imu_ssp_status = BOOZ2_IMU_SSP_STA_BUSY_MS2100;
+   else
+     booz2_imu_ssp_status = BOOZ2_IMU_SSP_STA_IDLE;
+   break;
+ case BOOZ2_IMU_SSP_STA_BUSY_MS2100:
+   MmOnSpiIt();
+   booz2_imu_ssp_status = BOOZ2_IMU_SSP_STA_IDLE;
+   break;
+ default:
+   // spurious interrupt
+   LED_ON(1);
+ }
+ 
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+#endif
+
+
+static void SSP_ISR(void) {
+ ISR_ENTRY();
+
+ switch (booz_imu_ssp_status) {
+ case BOOZ_IMU_SSP_STA_BUSY_MAX1168:
+   Max1168OnSpiInt();
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 
+  if (micromag_status == MM_IDLE || micromag_status == MM_GOT_EOC) {
+     BoozImuSetSSP8bits();
+     if (micromag_status == MM_IDLE) {
+       MmSendReq();
+     }
+     else { /* MM_GOT_EOC */
+       MmReadRes();
+     }
+     booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+   }
+   else {
+#endif
+     booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 
+   }
+#endif
+  break;
+#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2001 
+ case BOOZ_IMU_SSP_STA_BUSY_MS2100:
+   MmOnSpiIt();
+   if (micromag_status == MM_IDLE) {
+    MmSendReq();
+    booz_imu_ssp_status = BOOZ_IMU_SSP_STA_BUSY_MS2100;
+   }
+   else
+     booz_imu_ssp_status = BOOZ_IMU_SSP_STA_IDLE;
+   break;
+#endif
+   // default:
+   // spurious interrupt
+   // FIXME LED_ON(1);
+ }
+ 
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}

sw/airborne/booz/arch/lpc21/impl/booz_imu_b2_arch.h

@@ -0,0 +1,52 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef BOOZ_IMU_B2_ARCH_H
+#define BOOZ_IMU_B2_ARCH_H
+
+/*
+
+  MAX1168 SPI ADC connected on SPI1 
+  SS on P0.20
+  EOC on P0.16 ( EINT0 )
+
+  PNI mag on same bus
+  SS on p1.28
+  EOC P0.30 ( EINT3 )
+  RESET P1.19
+
+*/
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"  
+
+#define BOOZ_IMU_SSP_STA_IDLE           0
+#define BOOZ_IMU_SSP_STA_BUSY_MAX1168   1
+#define BOOZ_IMU_SSP_STA_BUSY_MS2100    2
+extern volatile uint8_t booz_imu_ssp_status;
+
+
+
+
+#endif /* BOOZ_IMU_B2_ARCH_H */

sw/airborne/booz/arch/lpc21/impl/booz_imu_crista_arch.c

@@ -0,0 +1,126 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz_imu.h"
+
+#include "LPC21xx.h"
+#include "armVIC.h"
+#include "ssp_hw.h"
+#include BOARD_CONFIG
+
+#define ADS8344_SS_IODIR IO0DIR
+#define ADS8344_SS_IOSET IO0SET
+#define ADS8344_SS_IOCLR IO0CLR
+#define ADS8344_SS_PIN   20 
+
+#define ADS8344Select()   SetBit(ADS8344_SS_IOCLR,ADS8344_SS_PIN)
+#define ADS8344Unselect() SetBit(ADS8344_SS_IOSET,ADS8344_SS_PIN)
+
+bool_t ADS8344_available;
+uint16_t ADS8344_values[ADS8344_NB_CHANNELS];
+
+#define POWER_MODE (1 << 1 | 1)
+#define SGL_DIF 1 // Single ended
+
+/* SSPCR0 settings */
+#define SSP_DSS  0x07 << 0  /* data size            : 8 bits   */
+#define SSP_FRF  0x00 << 4  /* frame format         : SPI      */
+#define SSP_CPOL 0x00 << 6  /* clock polarity       : idle low */  
+#define SSP_CPHA 0x00 << 7  /* clock phase          : 1        */
+#define SSP_SCR  0x09 << 8  /* serial clock rate    : 1MHz     */
+
+/* SSPCR1 settings */
+#define SSP_LBM  0x00 << 0  /* loopback mode        : disabled */
+#define SSP_SSE  0x00 << 1  /* SSP enable           : disabled */
+#define SSP_MS   0x00 << 2  /* master slave mode    : master   */
+#define SSP_SOD  0x00 << 3  /* slave output disable : disabled */
+
+static void SPI1_ISR(void) __attribute__((naked));
+static uint8_t channel;
+
+void booz_imu_crista_arch_init(void) {
+  channel = 0;
+
+  /* setup pins for SSP (SCK, MISO, MOSI) */
+  PINSEL1 |= 2 << 2 | 2 << 4 | 2 << 6;
+  
+  /* setup SSP */
+  SSPCR0 = SSP_DSS | SSP_FRF | SSP_CPOL | SSP_CPHA | SSP_SCR;
+  SSPCR1 = SSP_LBM | SSP_MS | SSP_SOD;
+  SSPCPSR = 2; /* -> 50kHz */
+  
+  /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT(VIC_SPI1);   // SPI1 selected as IRQ
+  VICIntEnable = VIC_BIT(VIC_SPI1);     // SPI1 interrupt enabled
+  VICVectCntl7 = VIC_ENABLE | VIC_SPI1;
+  VICVectAddr7 = (uint32_t)SPI1_ISR;    // address of the ISR 
+
+  /* setup slave select */
+  /* configure SS pin */
+  SetBit( ADS8344_SS_IODIR,  ADS8344_SS_PIN);  /* pin is output  */
+  ADS8344Unselect();                           /* pin low        */
+}
+
+
+static inline void read_values( void ) {
+  uint8_t foo __attribute__ ((unused)) = SSPDR;
+  uint8_t msb = SSPDR;
+  uint8_t lsb = SSPDR;
+  uint8_t llsb = SSPDR;
+  ADS8344_values[channel] = (msb << 8 | lsb) << 1 | llsb >> 7;
+}
+
+static inline void send_request( void ) {
+  uint8_t control = 1 << 7 | channel << 4 | SGL_DIF << 2 | POWER_MODE;
+  SSP_Send(control);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+}
+
+void ADS8344_start( void ) {
+  ADS8344Select();
+  SSP_ClearRti();
+  SSP_EnableRti();
+  SSP_Enable();
+  send_request();
+}
+
+void SPI1_ISR(void) {
+ ISR_ENTRY();
+ read_values();
+ channel++;
+ if (channel > 7-1) {
+   channel = 0;
+   ADS8344_available = TRUE;
+   ADS8344Unselect();    
+ }
+ else {
+   send_request();
+ }
+
+ SSP_ClearRti();
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}

sw/airborne/booz/arch/lpc21/impl/booz_imu_crista_arch.h

@@ -0,0 +1,38 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef BOOZ_IMU_INT_HW_H
+#define BOOZ_IMU_INT_HW_H
+
+#include "std.h"
+
+
+
+#define BoozImuCristaArchPeriodic() {		\
+    ADS8344_start();				\
+  }
+
+extern void ADS8344_start( void );
+
+#endif /* BOOZ_IMU_INT_HW_H */
+

sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.c

@@ -0,0 +1,43 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz_radio_control.h"
+
+uint8_t  booz_radio_control_ppm_cur_pulse;
+uint32_t booz_radio_control_ppm_last_pulse_time;
+
+void booz_radio_control_ppm_arch_init ( void ) {
+  /* select pin for capture */
+  PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
+  /* enable capture 0.2 on falling or rising edge + trigger interrupt */
+#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
+  T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
+#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
+  T0CCR = PPM_CCR_CRR | PPM_CCR_CRI;
+#else
+#error "ppm_hw.h: Unknown PM_PULSE_TYPE"
+#endif
+  booz_radio_control_ppm_last_pulse_time = 0;
+  booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+  booz_radio_control_ppm_frame_available = FALSE;
+}

sw/airborne/booz/arch/lpc21/impl/booz_radio_control_ppm_arch.h

@@ -0,0 +1,65 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef BOOZ_RADIO_CONTROL_PPM_HW_H
+#define BOOZ_RADIO_CONTROL_PPM_HW_H
+
+
+
+#include "LPC21xx.h"
+#include BOARD_CONFIG
+
+extern uint8_t  booz_radio_control_ppm_cur_pulse;
+extern uint32_t booz_radio_control_ppm_last_pulse_time;
+
+extern void booz_radio_control_ppm_arch_init ( void );
+
+#define RADIO_CONTROL_PPM_IT PPM_CRI
+#define RADIO_CONTROL_PPM_ISR() {					\
+									\
+    uint32_t now = PPM_CR;						\
+    uint32_t length = now - booz_radio_control_ppm_last_pulse_time;	\
+    booz_radio_control_ppm_last_pulse_time = now;			\
+    									\
+    if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {	\
+      if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&		\
+	  length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {		\
+	booz_radio_control_ppm_cur_pulse = 0;				\
+      }									\
+    }									\
+    else {								\
+      if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&		\
+	  length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {		\
+	booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] = length; \
+	booz_radio_control_ppm_cur_pulse++;				\
+	if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) { \
+	  booz_radio_control_ppm_frame_available = TRUE;		\
+	}								\
+      }									\
+      else								\
+	booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;	\
+    }									\
+  }
+
+
+#endif /* BOOZ_RADIO_CONTROL_PPM_HW_H */

sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.c

@@ -0,0 +1,91 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "peripherals/booz_max1168.h"
+
+static void EXTINT0_ISR(void) __attribute__((naked));
+
+void booz_max1168_arch_init( void ) {
+  
+  /* unselected max1168 */
+  Max1168Unselect();
+  /* SS pin is output */
+  SetBit(MAX1168_SS_IODIR, MAX1168_SS_PIN);
+
+  /* connect P0.16 to extint0 (EOC) */
+  MAX1168_EOC_PINSEL |= MAX1168_EOC_PINSEL_VAL << MAX1168_EOC_PINSEL_BIT;
+  /* extint0 is edge trigered */
+  SetBit(EXTMODE, MAX1168_EOC_EINT);
+  /* extint0 is trigered on falling edge */
+  ClearBit(EXTPOLAR, MAX1168_EOC_EINT);
+  /* clear pending extint0 before enabling interrupts */
+  SetBit(EXTINT, MAX1168_EOC_EINT);
+
+   /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT( VIC_EINT0 );                     // EXTINT0 selected as IRQ
+  VICIntEnable = VIC_BIT( VIC_EINT0 );                       // EXTINT0 interrupt enabled
+  _VIC_CNTL(MAX1168_EOC_VIC_SLOT) = VIC_ENABLE | VIC_EINT0;
+  _VIC_ADDR(MAX1168_EOC_VIC_SLOT) = (uint32_t)EXTINT0_ISR;   // address of the ISR 
+}
+
+
+void booz_max1168_read( void ) {
+  ASSERT((booz_max1168_status == STA_MAX1168_IDLE),		\
+	 DEBUG_MAX_1168, MAX1168_ERR_READ_OVERUN);
+  /* select max1168 */ 
+  Max1168Select();
+  /* enable SPI */
+  SSP_ClearRti();
+  SSP_DisableRti();
+  SSP_Enable();
+  /* write control byte - wait EOC on extint */
+  SSPDR = (1 << 0 | 1 << 3 | 7 << 5) << 8;
+  booz_max1168_status = STA_MAX1168_SENDING_REQ;
+
+}
+
+void EXTINT0_ISR(void) {
+  ISR_ENTRY();
+  ASSERT((booz_max1168_status == STA_MAX1168_SENDING_REQ),	\
+	 DEBUG_MAX_1168, MAX1168_ERR_SPURIOUS_EOC);
+  /* read dummy control byte reply */
+  uint16_t foo __attribute__ ((unused));
+  foo = SSPDR;
+  /* trigger 8 frames read */
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_Send(0);
+  SSP_ClearRti();
+  SSP_EnableRti();
+  booz_max1168_status = STA_MAX1168_READING_RES;
+  //SetBit(EXTINT, MAX1168_EOC_EINT);   /* clear extint0 */
+  EXTINT = (1<<MAX1168_EOC_EINT);
+  VICVectAddr = 0x00000000;             /* clear this interrupt from the VIC */
+
+  ISR_EXIT();
+}

sw/airborne/booz/arch/lpc21/peripherals/booz_max1168_arch.h

@@ -0,0 +1,79 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+
+#ifndef BOOZ_MAX1168_HW_H
+#define BOOZ_MAX1168_HW_H
+
+
+/*
+  MAX1168 SPI ADC connected on SPI1 
+  SS on P0.20
+  EOC on P0.16 ( EINT0 )
+*/
+
+#include "std.h"
+#include "LPC21xx.h"
+#include "interrupt_hw.h"  
+#include "ssp_hw.h"
+
+#include "booz2_debug.h"
+
+#define MAX1168_ERR_ISR_STATUS   0
+#define MAX1168_ERR_READ_OVERUN  1
+#define MAX1168_ERR_SPURIOUS_EOC 2
+
+#define MAX1168_SS_PIN 20
+#define MAX1168_SS_IODIR IO0DIR
+#define MAX1168_SS_IOSET IO0SET
+#define MAX1168_SS_IOCLR IO0CLR
+
+#define MAX1168_EOC_PIN 16
+#define MAX1168_EOC_PINSEL PINSEL1
+#define MAX1168_EOC_PINSEL_BIT 0
+#define MAX1168_EOC_PINSEL_VAL 1
+#define MAX1168_EOC_EINT 0
+
+#define Max1168Unselect() SetBit(MAX1168_SS_IOSET, MAX1168_SS_PIN)
+#define Max1168Select() SetBit(MAX1168_SS_IOCLR, MAX1168_SS_PIN)
+
+#define Max1168OnSpiInt() {						\
+    ASSERT((booz_max1168_status == STA_MAX1168_READING_RES),		\
+	   DEBUG_MAX_1168, MAX1168_ERR_ISR_STATUS);			\
+    /* store convertion result */					\
+    booz_max1168_values[0] = SSPDR;					\
+    booz_max1168_values[1] = SSPDR;					\
+    booz_max1168_values[2] = SSPDR;					\
+    booz_max1168_values[3] = SSPDR;					\
+    booz_max1168_values[4] = SSPDR;					\
+    booz_max1168_values[5] = SSPDR;					\
+    booz_max1168_values[6] = SSPDR;					\
+    booz_max1168_values[7] = SSPDR;					\
+    SSP_ClearRti();							\
+    SSP_DisableRti();							\
+    SSP_Disable();							\
+    Max1168Unselect();							\
+    booz_max1168_status = STA_MAX1168_DATA_AVAILABLE;			\
+  }
+
+#endif /* BOOZ2_MAX1168_HW_H */

sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.c

@@ -0,0 +1,31 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "actuators.h"
+
+uint16_t actuators[SERVOS_NB];
+
+uint8_t twi_blmc_nb_err;
+uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
+
+void actuators_init( void ) {}

sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h

@@ -0,0 +1,45 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef ACTUATORS_BUSS_TWI_BLMC_HW_H
+#define ACTUATORS_BUSS_TWI_BLMC_HW_H
+
+#include "airframe.h"
+#include "booz2_supervision.h"
+
+#define BUSS_TWI_BLMC_NB 4
+extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
+
+#define Actuator(i) buss_twi_blmc_motor_power[i]
+#define SetActuatorsFromCommands(_motors_on) {				\
+    pprz_t mixed_commands[SERVOS_NB];					\
+    BOOZ2_SUPERVISION_RUN(mixed_commands, booz2_commands, _motors_on);	\
+    Actuator(SERVO_FRONT) = (uint8_t)mixed_commands[SERVO_FRONT];	\
+    Actuator(SERVO_BACK)  = (uint8_t)mixed_commands[SERVO_BACK];	\
+    Actuator(SERVO_RIGHT) = (uint8_t)mixed_commands[SERVO_RIGHT];	\
+    Actuator(SERVO_LEFT)  = (uint8_t)mixed_commands[SERVO_LEFT];	\
+  }
+
+extern uint8_t twi_blmc_nb_err;
+
+#endif /* ACTUATORS_BUSS_TWI_BLMC_HW_H */

sw/airborne/booz/arch/sim/booz2_analog_hw.c

@@ -0,0 +1,29 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz2_analog.h"
+
+void booz2_analog_init_hw(void) {
+
+}
+

sw/airborne/booz/arch/sim/booz2_analog_hw.h

@@ -0,0 +1,31 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#ifndef BOOZ2_ANALOG_HW_H
+#define BOOZ2_ANALOG_HW_H
+
+#define Booz2AnalogSetDAC(x) { }
+
+extern void booz2_analog_init_hw(void);
+
+#endif /* BOOZ2_ANALOG_HW_H */

sw/airborne/booz/arch/sim/booz2_imu_b2_hw.c

@@ -0,0 +1,28 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz2_imu_b2.h"
+
+void booz2_imu_b2_hw_init(void) {
+
+}

sw/airborne/booz/arch/sim/booz2_imu_b2_hw.h

@@ -0,0 +1,51 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+/*
+ *
+ * simulator plug for the booz2 v1 imu hw funtions
+ *
+ */
+#ifndef BOOZ2_IMU_B2_HW_H
+#define BOOZ2_IMU_B2_HW_H
+
+extern void booz2_imu_b2_hw_init(void);
+
+#define booz2_imu_feed_data() {						\
+    booz2_max1168_values[IMU_GYRO_P_CHAN] = bsm.gyro->ve[AXIS_P];	\
+    booz2_max1168_values[IMU_GYRO_Q_CHAN] = bsm.gyro->ve[AXIS_Q];	\
+    booz2_max1168_values[IMU_GYRO_R_CHAN] = bsm.gyro->ve[AXIS_R];	\
+    booz2_max1168_values[IMU_ACCEL_X_CHAN] = bsm.accel->ve[AXIS_X];	\
+    booz2_max1168_values[IMU_ACCEL_Y_CHAN] = bsm.accel->ve[AXIS_Y];	\
+    booz2_max1168_values[IMU_ACCEL_Z_CHAN] = bsm.accel->ve[AXIS_Z];	\
+    booz2_max1168_status = STA_MAX1168_DATA_AVAILABLE;			\
+  }
+
+#ifdef USE_MICROMAG
+#define Booz2ImuSpiEvent(_handler1,_handler2) {}
+#else // NO MICROMAG
+#define Booz2ImuSpiEvent(_handler) {}
+#endif
+
+
+#endif /* BOOZ2_IMU_B2_HW_H */

sw/airborne/booz/arch/sim/booz2_max1168_hw.h

@@ -0,0 +1,35 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+/*
+ *
+ * simulator plug for max1168 SPI Analog to Digital converter
+ *
+ */
+
+#ifndef BOOZ2_MAX1168_HW_H
+#define BOOZ2_MAX1168_HW_H
+
+extern void booz2_max1168_hw_init( void );
+
+#endif /* BOOZ2_MAX1168_HW_H */

sw/airborne/booz/arch/sim/booz2_max1168_sim.c

@@ -0,0 +1,28 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz2_max1168.h"
+
+void booz2_max1168_hw_init( void ) {}
+
+void booz2_max1168_read( void ) {}

sw/airborne/booz/arch/sim/booz2_pwm_hw.c

@@ -0,0 +1,29 @@
+/*
+ * $Id: $
+ *  
+ * Copyright (C) 2007  ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+#include "booz2_pwm_hw.h"
+
+void booz2_pwm_init_hw( void ) {}
+
+

sw/airborne/booz/arch/sim/booz2_pwm_hw.h

@@ -0,0 +1,32 @@
+/*
+ * $Id: $
+ *  
+ * Copyright (C) 2007  ENAC
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ *
+ */
+
+#ifndef BOOZ2_PWM_HW_H
+#define BOOZ2_PWM_HW_H
+
+extern void booz2_pwm_init_hw(void);
+
+#define Booz2SetPwmValue(_v) {}
+
+#endif /* BOOZ2_PWM_HW_H */

sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c

@@ -0,0 +1,31 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "uart.h"
+#include "i2c.h"
+
+void uart0_init( void ) {}
+void uart1_init( void ) {}
+
+//void i2c0_hw_init( void ) {}
+//void i2c1_hw_init( void ) {}

sw/airborne/booz/arch/stm32/booz_radio_control_ppm_hw.c

@@ -0,0 +1,28 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+#include "booz_radio_control.h"
+
+void booz_radio_control_ppm_hw_init ( void ) {
+
+}

sw/airborne/booz/arch/stm32/booz_radio_control_ppm_hw.h

@@ -0,0 +1,29 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA. 
+ */
+
+/** \file booz_radio_control_ppm_hw.h
+ *  \brief STM32 ppm decoder
+ *
+ */
+
+extern void booz_radio_control_ppm_hw_init ( void );