From 7abb703d17c629784bfd00e871ea171159bb9305 Mon Sep 17 00:00:00 2001 From: Paul Cox Date: Fri, 23 Jul 2010 09:27:14 +0000 Subject: [PATCH] updates for crista IMU --- conf/airframes/Poine/beth.xml | 76 ++++++++++++++++++++++++----------- sw/airborne/beth/main_stm32.c | 4 +- 2 files changed, 55 insertions(+), 25 deletions(-) diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml index 643b4393bd..68ac0f79a5 100644 --- a/conf/airframes/Poine/beth.xml +++ b/conf/airframes/Poine/beth.xml @@ -24,40 +24,63 @@ + +
- - - + + + - - - + + + + + + + - - - + + + - - - + + + + + + + + + + + + + - + + + + + + + + +
- @@ -104,14 +127,21 @@ main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageFoo -DOVERO_LINK_MSG_DO main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c -main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\" -main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 -main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c -main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ -main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c -main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c -main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +#main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\" +#main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001 +#main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c +#main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ +#main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c +#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c +#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c +#main_stm32.srcs += math/pprz_trig_int.c + main_stm32.srcs += math/pprz_trig_int.c +main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS +main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c \ + $(SRC_BOOZ)/imu/booz_imu_crista.c \ + $(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c +main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c @@ -160,9 +190,9 @@ main_coders.srcs += downlink.c pprz_transport.c #main_coders.CFLAGS += -DUSE_I2C2 #main_coders.srcs += $(SRC_ARCH)/i2c_hw.c -main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ +main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DBLINKENLIGHTS main_coders.srcs += can.c $(SRC_ARCH)/can_hw.c - +main_coders.srcs += $(SRC_BETH)/bench_sensors_can.c # # main Overo diff --git a/sw/airborne/beth/main_stm32.c b/sw/airborne/beth/main_stm32.c index 5929e94157..7c298a8737 100644 --- a/sw/airborne/beth/main_stm32.c +++ b/sw/airborne/beth/main_stm32.c @@ -70,7 +70,7 @@ static inline void main_init( void ) { static inline void main_periodic( void ) { - //booz_imu_periodic(); + booz_imu_periodic(); OveroLinkPeriodic(main_on_overo_link_lost) @@ -95,7 +95,7 @@ static inline void main_periodic( void ) { } static inline void main_event( void ) { - //BoozImuEvent(on_gyro_accel_event, on_mag_event); + BoozImuEvent(on_gyro_accel_event, on_mag_event); OveroLinkEvent(main_on_overo_msg_received); BenchSensorsEvent(main_on_bench_sensors);