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now fixedwing should work on lisa

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This commit is contained in:
Antoine Drouin
2010-11-17 12:15:09 +00:00
committed by Felix Ruess
parent 4e383daddb
commit 60f4cc243d
4 changed files with 160 additions and 7 deletions
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conf/autopilot/lisa_l_test_progs.makefile
+19 -1
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@@ -281,7 +281,8 @@ test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVI
test_adc.srcs += downlink.c pprz_transport.c
test_adc.srcs += $(SRC_ARCH)/adc_hw.c
test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1
# -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
#
@@ -664,3 +665,20 @@ test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HAND
test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
subsystems/radio_control/spektrum.c \
$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
#
# tunnel
#
tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel.srcs += $(SRC_LISA)/tunnel_hw.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += $(SRC_ARCH)/led_hw.c
tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
+3 -3
View File
@@ -24,9 +24,9 @@ endif
#
ifeq ($(ARCH), stm32)
ap.CFLAGS += -DUSE_AD1
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_AD1_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_AD1_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_AD1_$(ADC_IR_TOP)
ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1_CHAN) -DUSE_AD1_$(ADC_IR1)
ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2_CHAN) -DUSE_AD1_$(ADC_IR2)
ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP_CHAN) -DUSE_AD1_$(ADC_IR_TOP)
endif
ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
conf/autopilot/subsystems/fixedwing/autopilot.makefile
+9 -3
View File
@@ -27,6 +27,10 @@
## COMMON FIXEDWING ALL TARGETS (SIM + AP + FBW ...)
##
# temporary hack
ifeq ($(ARCH), stm32)
$(TARGET).CFLAGS += -DSTM32
endif
#
# Board config + Include paths
#
@@ -83,7 +87,7 @@ ifeq ($(ARCH), lpc21)
else ifeq ($(ARCH), stm32)
ns_srcs += $(SRC_ARCH)/stm32_exceptions.c
ns_srcs += $(SRC_ARCH)/stm32_vector_table.c
ns_CFLAGS += -DPERIPHERALS_AUTO_INIT
# ns_CFLAGS += -DPERIPHERALS_AUTO_INIT
endif
ifeq ($(ARCH), stm32)
@@ -127,13 +131,15 @@ ns_srcs += $(SRC_ARCH)/uart_hw.c
# ANALOG
#
#ifeq ($(ARCH), lpc21)
ns_CFLAGS += -DADC
#ifeq ($(ARCH), lpc21)
ns_srcs += $(SRC_ARCH)/adc_hw.c
#else ifeq ($(ARCH), stm32)
# ns_srcs += lisa/lisa_analog_plug.c
#endif
ifeq ($(ARCH), stm32)
ns_CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
endif
######################################################################
##
sw/airborne/lisa/tunnel_hw.c
+129
View File
@@ -0,0 +1,129 @@
/*
* $Id$
*
* Copyright (C) 2010 The Paparazzi Team
*
* 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 <stm32/flash.h>
#include <stm32/misc.h>
#include <stm32/gpio.h>
#include <stm32/rcc.h>
#include BOARD_CONFIG
#include "init_hw.h"
#include "sys_time.h"
#include "led.h"
#define A_PERIPH RCC_APB2Periph_GPIOA
#define A_RX_PIN GPIO_Pin_10
#define A_RX_PORT GPIOA
#define A_TX_PIN GPIO_Pin_9
#define A_TX_PORT GPIOA
#define B_PERIPH RCC_APB2Periph_GPIOA
#define B_RX_PIN GPIO_Pin_3
#define B_RX_PORT GPIOA
#define B_TX_PIN GPIO_Pin_2
#define B_TX_PORT GPIOA
static inline void main_periodic( void );
static inline void main_event( void );
void Delay(__IO uint32_t nCount) {
for(; nCount != 0; nCount--);
}
int main(void) {
hw_init();
sys_time_init();
/* init RCC */
RCC_APB2PeriphClockCmd(A_PERIPH , ENABLE);
// RCC_APB2PeriphClockCmd(B_PERIPH , ENABLE);
// GPIO_DeInit(A_RX_PORT);
/* Init GPIO for rx pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_RX_PIN;
GPIO_Init(A_RX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_RX_PIN;
GPIO_Init(B_RX_PORT, &GPIO_InitStructure);
/* Init GPIO for tx pins */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Pin = A_TX_PIN;
GPIO_Init(A_TX_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = B_TX_PIN;
GPIO_Init(B_TX_PORT, &GPIO_InitStructure);
A_TX_PORT->BRR = A_TX_PIN;
/* */
while (1) {
if (sys_time_periodic())
main_periodic();
main_event();
};
return 0;
}
static inline void main_periodic( void ) {
LED_PERIODIC();
}
static inline void main_event( void ) {
// Delay(2000);
static uint8_t foo = 0;
foo++;
#if 0
if (!(foo%2))
GPIO_WriteBit(B_TX_PORT, B_TX_PIN, Bit_SET);
else
GPIO_WriteBit(B_TX_PORT, B_TX_PIN, Bit_RESET);
#endif
#if 0
if (!(foo%2))
A_TX_PORT->BRR = A_TX_PIN;
else
A_TX_PORT->BSRR = A_TX_PIN;
#endif
#if 1
GPIO_WriteBit(A_TX_PORT, A_TX_PIN, GPIO_ReadInputDataBit(B_RX_PORT, B_RX_PIN) );
#endif
if (GPIO_ReadInputDataBit(A_RX_PORT, A_RX_PIN)) {
GPIO_WriteBit(B_TX_PORT, B_TX_PIN, Bit_SET);
LED_ON(2);
}
else {
GPIO_WriteBit(B_TX_PORT, B_TX_PIN, Bit_RESET);
LED_OFF(2);
}
}