Merge branch 'master' into dev

conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile

@@ -6,6 +6,8 @@
 #   ...
 #   <subsystem name="actuators"     type="mkk">
 #     <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
+#   </subsystem>
+#   <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
 # </firmware>
 #
 #

conf/autopilot/subsystems/shared/imu_aspirin.makefile

@@ -1,66 +1,3 @@
-#
+include $(CFG_SHARED)/imu_aspirin_v1.0.makefile
-# Aspirin IMU
-#
-#
-# required xml:
-#  <section name="IMU" prefix="IMU_">
-#
-#    <define name="GYRO_X_NEUTRAL" value="33924"/>
-#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
-#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
-#
-#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
-#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
-#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
-#
-#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
-#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
-#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
-#
-#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
-#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
-#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
-#
-#    <define name="MAG_X_NEUTRAL" value="2358"/>
-#    <define name="MAG_Y_NEUTRAL" value="2362"/>
-#    <define name="MAG_Z_NEUTRAL" value="2119"/>
-#
-#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
-#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
-#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
-#
-#  </section>
-#
-#
 
-# imu aspirin
+$(warning The imu_aspirin subsystem has been split up into different versions, please replace <subsystem name="imu" type="aspirin"/> with <subsystem name="imu" type="aspirin_v1.0"/> (or aspirin_v1.5) in your airframe file.)
-
-IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
-IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
-IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
-                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
-                      $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
-
-# Magnetometer
-IMU_ASPIRIN_SRCS   += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
-
-IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
-
-ifeq ($(ARCH), lpc21)
-#TODO
-else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ      # Accel Int on PD2
-IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
-endif
-
-
-# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
-ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-ap.srcs   += $(IMU_ASPIRIN_SRCS)
-
-# sim not done yet
-#sim.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-#sim.srcs   += $(IMU_ASPIRIN_SRCS)

conf/autopilot/subsystems/shared/imu_aspirin_common.makefile

@@ -0,0 +1,58 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Common part for all Aspirin IMUs
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#
+#  </section>
+#
+#
+
+# imu aspirin
+
+IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
+IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
+IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
+                      $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
+
+# Magnetometer
+IMU_ASPIRIN_SRCS   += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
+
+IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
+
+ifeq ($(ARCH), lpc21)
+#TODO
+else ifeq ($(ARCH), stm32)
+IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
+IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ    # Mag Int on PB5
+IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ      # Accel Int on PD2
+IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
+endif
+

conf/autopilot/subsystems/shared/imu_aspirin_v1.0.makefile

@@ -0,0 +1,46 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Aspirin IMU v1.0
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#
+#  </section>
+#
+#
+
+# imu aspirin
+
+include $(CFG_SHARED)/imu_aspirin_common.makefile
+
+IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_0
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+ap.srcs   += $(IMU_ASPIRIN_SRCS)

conf/autopilot/subsystems/shared/imu_aspirin_v1.5.makefile

@@ -0,0 +1,46 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Aspirin IMU v1.5
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#
+#  </section>
+#
+#
+
+# imu aspirin
+
+include $(CFG_SHARED)/imu_aspirin_common.makefile
+
+IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_1_5
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+ap.srcs   += $(IMU_ASPIRIN_SRCS)

sw/airborne/subsystems/imu/imu_aspirin.h

@@ -32,9 +32,27 @@
 #include "peripherals/hmc5843.h"
 #include "peripherals/adxl345.h"
 
+#ifdef IMU_ASPIRIN_VERSION_1_0
 #define IMU_MAG_X_CHAN 0
 #define IMU_MAG_Y_CHAN 1
 #define IMU_MAG_Z_CHAN 2
+#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
+#define IMU_MAG_X_SIGN 1
+#define IMU_MAG_Y_SIGN 1
+#define IMU_MAG_Z_SIGN 1
+#endif
+#endif
+
+#ifdef IMU_ASPIRIN_VERSION_1_5
+#define IMU_MAG_X_CHAN 2
+#define IMU_MAG_Y_CHAN 0
+#define IMU_MAG_Z_CHAN 1
+#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
+#define IMU_MAG_X_SIGN 1
+#define IMU_MAG_Y_SIGN -1
+#define IMU_MAG_Z_SIGN 1
+#endif
+#endif
 
 #if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
 #define IMU_GYRO_P_SIGN   1
@@ -46,11 +64,6 @@
 #define IMU_ACCEL_Y_SIGN  1
 #define IMU_ACCEL_Z_SIGN  1
 #endif
-#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
-#define IMU_MAG_X_SIGN    1
-#define IMU_MAG_Y_SIGN    1
-#define IMU_MAG_Z_SIGN    1
-#endif
 
 enum AspirinStatus
   { AspirinStatusUninit,

sw/simulator/flight_gear.h

@@ -211,11 +211,15 @@ struct FGNetMiniFDM {
 #define FG_NET_GUI_VERSION 7
 #define FG_NET_GUI_MAX_TANKS 4
 
-// FIXME: Flightgear on OSX is still 32 bit get rid 
+// FIXME: Flightgear on OSX is still 32 bit get rid
 // off these pragmas when it goes to 64 bit.
-#ifdef __x86_64__ && __APPLE__
+#ifdef __x86_64__
 #pragma pack(push)
+#ifdef __APPLE__
 #pragma pack(4)
+#else
+#pragma pack(8)
+#endif
 #endif
 struct FGNetGUI {
   uint32_t version;           // increment when data values change