Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 16:58:48 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

bigbaby

Browse Source
This commit is contained in:
Antoine Drouin
2009-08-01 02:02:47 +00:00
parent 682ffaf2d9
commit 67ef29bc53
3 changed files with 95 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/autopilot/booz2_test_progs.makefile
+27
View File
@@ -415,6 +415,33 @@ test_mc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test BUSS BLDC
#
test_buss_bldc.ARCHDIR = $(ARCHI)
test_buss_bldc.ARCH = arm7tdmi
test_buss_bldc.TARGET = test_buss_bldc
test_buss_bldc.TARGETDIR = test_buss_bldc
test_buss_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_buss_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_buss_bldc.srcs += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc.c
test_buss_bldc.CFLAGS += -DUSE_LED
test_buss_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_buss_bldc.srcs += $(SRC_ARCH)/uart_hw.c
test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_buss_bldc.srcs += downlink.c pprz_transport.c
test_buss_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
test_buss_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test asctec BLMC
#
sw/airborne/booz/arch/lpc21/actuators_buss_twi_blmc_hw.h
+1 -1
View File
@@ -70,7 +70,7 @@
ActuatorsBussTwiBlmcSend(); \
}
#else
#define ActuatorsCommit() { \
#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; \
sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
+67
View File
@@ -0,0 +1,67 @@
/*
* $Id: booz2_test_mc.c 3701 2009-07-13 09:57:55Z poine $
*
* 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 <inttypes.h>
#include "init_hw.h"
#include "sys_time.h"
#include "interrupt_hw.h"
//static uint8_t addr = 0x52; /* 1 : back right */
//static uint8_t addr = 0x54; /* 2 : back left bad balanced */
//static uint8_t addr = 0x56; /* 3 : center right not so well balanced */
static uint8_t addr = 0x58; /* 4 : center left */
//static uint8_t addr = 0x5A; /* 5 : front right */
//static uint8_t addr = 0x5C; /* 6 : front left */
static bool_t i2c_done;
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void );
int main( void ) {
main_init();
while(1) {
if (sys_time_periodic())
main_periodic_task();
main_event_task();
}
return 0;
}
static inline void main_init( void ) {
hw_init();
sys_time_init();
int_enable();
}
static inline void main_periodic_task( void ) {
uint8_t thrust = 20;
i2c0_buf[0] = thrust;
i2c0_transmit(addr, 1, &i2c_done);
}
static inline void main_event_task( void ) {
}