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fixed for overo_link changes

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This commit is contained in:
Antoine Drouin
2010-07-21 07:55:50 +00:00
parent bfd2ec17e6
commit 7bdfbe0172
2 changed files with 13 additions and 11 deletions
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conf/airframes/Poine/beth.xml
+5 -3
View File
@@ -97,9 +97,11 @@ main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
main_stm32.srcs += downlink.c pprz_transport.c
#main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
#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 += -DUSE_OVERO_LINK
main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
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
sw/airborne/beth/main_stm32.c
+8 -8
View File
@@ -31,7 +31,7 @@
#include "booz/booz_actuators.h"
//#include "booz/booz_radio_control.h"
#include "booz/booz_imu.h"
//#include "lisa/lisa_overo_link.h"
#include "lisa/lisa_overo_link.h"
//#include "beth/bench_sensors.h"
static inline void main_init( void );
@@ -71,7 +71,7 @@ static inline void main_init( void ) {
//actuators_init();
//radio_control_init();
//booz_imu_init();
//overo_link_init();
overo_link_init();
//bench_sensors_init();
can_init();
}
@@ -80,7 +80,7 @@ static inline void main_init( void ) {
static inline void main_periodic( void ) {
//booz_imu_periodic();
//actuators_set(FALSE);
//OveroLinkPeriodic(main_on_overo_link_lost)
OveroLinkPeriodic(main_on_overo_link_lost)
RunOnceEvery(10, {LED_PERIODIC(); DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
#ifdef BETH_HACK
@@ -102,17 +102,17 @@ static inline void main_event( void ) {
}
static inline void main_on_overo_msg_received(void) {
/* struct AutopilotMessageBethUp* msg_out = (struct AutopilotMessageBethUp*)overo_link.msg_out;
msg_out->gyro.x = booz_imu.gyro.p;
msg_out->gyro.y = booz_imu.gyro.q;
// struct AutopilotMessageBethUp* msg_out = (struct AutopilotMessageBethUp*)overo_link.msg_out;
overo_link.up.msg.gyro.x = booz_imu.gyro.p;
/* msg_out->gyro.y = booz_imu.gyro.q;
msg_out->gyro.z = booz_imu.gyro.r;
msg_out->accel.x = booz_imu.accel.x;
msg_out->accel.y = booz_imu.accel.y;
msg_out->accel.z = booz_imu.accel.z;
msg_out->bench_sensor.x = my_cnt;
msg_out->bench_sensor.y = my_cnt;
msg_out->bench_sensor.z = my_cnt;
my_cnt++;*/
msg_out->bench_sensor.z = my_cnt; */
my_cnt++;
}
static inline void main_on_overo_link_lost(void) {