diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32 index 8e47c3ffc3..180d6e144d 100644 --- a/conf/Makefile.stm32 +++ b/conf/Makefile.stm32 @@ -53,7 +53,7 @@ SIZE = $(GCC_BIN_PREFIX)-size RM = rm OOCD = $(TOOLCHAIN_DIR)/bin/openocd -LOADER=/home/poine/home_regis/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py +LOADER=/home/poine/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py ifndef $(TARGET).OOCD_INTERFACE OOCD_INTERFACE = lisa-l diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml index 9322ef5c31..d93553eb19 100644 --- a/conf/airframes/Poine/booz2_a7.xml +++ b/conf/airframes/Poine/booz2_a7.xml @@ -175,11 +175,11 @@ - ---> + diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml new file mode 100644 index 0000000000..e27b1d797f --- /dev/null +++ b/conf/airframes/Poine/swift_1.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile index 54f2c54139..5bcb1be066 100644 --- a/conf/autopilot/lisa_l_test_progs.makefile +++ b/conf/autopilot/lisa_l_test_progs.makefile @@ -57,6 +57,38 @@ SRC_FIRMWARE=firmwares/rotorcraft # MODEM_PORT = UART2 # MODEM_BAUD = B57600 +# +# test leds +# +test_led.ARCHDIR = $(ARCH) +test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT +test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +test_led.srcs += $(SRC_LISA)/test_led.c \ + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c +test_led.CFLAGS += -DUSE_LED + +# +# test servos +# + +SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH) + +test_servos.ARCHDIR = $(ARCH) +test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT +test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) +test_servos.LDFLAGS += -lm +test_servos.srcs += $(SRC_LISA)/test_servos.c \ + $(SRC_ARCH)/stm32_exceptions.c \ + $(SRC_ARCH)/stm32_vector_table.c +test_servos.CFLAGS += -DUSE_LED +test_servos.srcs += $(SRC_ARCH)/led_hw.c +test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 +test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' +test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c + +test_servos.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c + # # test_telemetry : Sends ALIVE telemetry messages diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile new file mode 100644 index 0000000000..ab8beb2ebb --- /dev/null +++ b/conf/boards/lisa_m_1.0.makefile @@ -0,0 +1,51 @@ +# +# lisa_m_1.0.makefile +# +# http://paparazzi.enac.fr/wiki/User/LisaM +# + +BOARD=lisa_m +BOARD_VERSION=1.0 +BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" + +ARCH=stm32 +$(TARGET).ARCHDIR = $(ARCH) +# not needed? +$(TARGET).OOCD_INTERFACE=flossjtag +# ----------------------------------------------------------------------- + +ifndef FLASH_MODE +FLASH_MODE = JTAG +#FLASH_MODE = SERIAL +endif + +# +# +# some default values shared between different firmwares +# +# + +SYS_TIME_LED = 1 + +RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT = UART3 +RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT = UART5 +RADIO_CONTROL_LED = 5 + +MODEM_PORT=UART2 +MODEM_BAUD=B57600 + +AHRS_ALIGNER_LED = 7 + +GPS_PORT=UART1 +GPS_BAUD=B38400 +GPS_LED = 3 + +# +# this is the DRDY pin of a max1168 on a booz IMU +# +# v 1.0 +# +MAX_1168_DRDY_PORT = _GPIOD +MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOD +# v1.1 +#MAX_1168_DRDY_PORT = GPIOB diff --git a/conf/modules/vehicle_interface_overo_link.xml b/conf/modules/vehicle_interface_overo_link.xml index 56726296c2..0040414cb8 100644 --- a/conf/modules/vehicle_interface_overo_link.xml +++ b/conf/modules/vehicle_interface_overo_link.xml @@ -15,8 +15,8 @@ ap.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c - - + + diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h new file mode 100644 index 0000000000..13758a01d5 --- /dev/null +++ b/sw/airborne/boards/lisa_m_1.0.h @@ -0,0 +1,25 @@ +#ifndef CONFIG_LISA_M_1_0_H +#define CONFIG_LISA_M_1_0_H + + +#define AHB_CLK 72000000 + +/* Onboard LEDs */ +#define LED_1_BANK +#define LED_1_GPIO GPIOB +#define LED_1_GPIO_CLK RCC_APB2Periph_GPIOB +#define LED_1_GPIO_PIN GPIO_Pin_4 + +#define LED_2_BANK +#define LED_2_GPIO GPIOC +#define LED_2_GPIO_CLK RCC_APB2Periph_GPIOC +#define LED_2_GPIO_PIN GPIO_Pin_13 + + + +// FIXME, this is just to make it compile +#define POWER_SWITCH_LED 5 + + + +#endif /* CONFIG_LISA_M_1_0_H */ diff --git a/sw/airborne/modules/vehicle_interface/vi.c b/sw/airborne/modules/vehicle_interface/vi.c index 208068075c..332113fac9 100644 --- a/sw/airborne/modules/vehicle_interface/vi.c +++ b/sw/airborne/modules/vehicle_interface/vi.c @@ -23,9 +23,9 @@ #include "vehicle_interface/vi.h" -#include "imu.h" +#include "firmwares/rotorcraft/imu.h" #include "booz/booz_gps.h" -#include "booz/ahrs.h" +#include "firmwares/rotorcraft/ahrs.h" #include "airframe.h" diff --git a/sw/airborne/modules/vehicle_interface/vi_overo_link.c b/sw/airborne/modules/vehicle_interface/vi_overo_link.c index 1cdda99eaa..5b4aeac346 100644 --- a/sw/airborne/modules/vehicle_interface/vi_overo_link.c +++ b/sw/airborne/modules/vehicle_interface/vi_overo_link.c @@ -24,6 +24,7 @@ #include "modules/vehicle_interface/vi_overo_link.h" #include "lisa/lisa_overo_link.h" +#include "firmwares/rotorcraft/imu.h" #include @@ -46,14 +47,21 @@ static inline void on_overo_link_lost(void) { } - void vi_overo_link_on_msg_received(void) { +void vi_overo_link_on_msg_received(void) { +#if 0 memcpy(&overo_link.up.msg, &overo_link.down.msg, sizeof(union AutopilotMessage)); - +#endif + overo_link.up.msg.valid.imu = 1; + RATES_COPY(overo_link.up.msg.gyro, imu.gyro); + VECT3_COPY(overo_link.up.msg.accel, imu.accel); + VECT3_COPY(overo_link.up.msg.mag, imu.mag); + } void vi_overo_link_on_crc_err(void) { + } diff --git a/sw/airborne/modules/vehicle_interface/vi_overo_link.h b/sw/airborne/modules/vehicle_interface/vi_overo_link.h index 89896e65c4..a77f672c19 100644 --- a/sw/airborne/modules/vehicle_interface/vi_overo_link.h +++ b/sw/airborne/modules/vehicle_interface/vi_overo_link.h @@ -4,7 +4,7 @@ * Copyright (C) 2010 The Paparazzi Team * * This is the implementation of the "external interface" to the autopilot. - * using datalink messages. + * using overo_spi_link. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by