*** empty log message ***

conf/airframes/microjet7.xml

@@ -5,8 +5,8 @@
 <!-- commands section -->
   <servos>
     <servo name="GAZ"           no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="3" max="1150" neutral="1525" min="1950"/>
+    <servo name="AILEVON_LEFT"  no="3" min="1075" neutral="1525" max="2025"/>
-    <servo name="AILEVON_RIGHT" no="6" max="1900" neutral="1480" min="1050"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1975" neutral="1480" max="975"/>
     <servo name="HATCH" no="2" max="2000" neutral="1000" min="1000"/>
   </servos>
 
@@ -102,7 +102,8 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!--    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
@@ -247,6 +248,9 @@ ap.srcs += gyro.c
 
 ap.srcs += bomb.c
 
+# Hack to use the same tuning file than slayer1
+ap.CFLAGS += -DUSE_GPIO
+ap.srcs += gpio.c
 
 
 # Harware In The Loop

conf/airframes/slayer1.xml

@@ -97,7 +97,8 @@
     <define name="CARROT" value="3." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATWR\r\""/>
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1.1"/>
@@ -235,7 +236,9 @@ ap.CFLAGS += -DGYRO -DIDG300
 ap.srcs += gyro.c bomb.c
 
 # Video switch
-ap.CFLAGS += -DLIGHT_PIN_1=3
+ap.CFLAGS += -DLIGHT_PIN_1=3 -DUSE_GPIO
+ap.srcs += $(SRC_ARCH)/gpio.c
+
 
 # Harware In The Loop
 

conf/airframes/slayer2.xml

@@ -95,7 +95,8 @@
     <define name="CARROT" value="3." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!--     <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\rATWR\r\""/> -->
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
 
@@ -232,6 +233,9 @@ ap.CFLAGS += -DGYRO -DIDG300
 ap.srcs += gyro.c
 ap.srcs += bomb.c
 
+# Hack to use the same tuning file than slayer1
+ap.CFLAGS += -DUSE_GPIO
+ap.srcs += gpio.c
 
 # Harware In The Loop
 

conf/airframes/slayer3.xml

@@ -97,7 +97,8 @@
     <define name="CARROT" value="3." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
+<!--    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/> -->
+    <define name="NO_XBEE_API_INIT" value="TRUE"/>
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="100"/>
 
@@ -233,6 +234,11 @@ ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c bomb.c
 
+# Hack to use the same tuning file than slayer1
+ap.CFLAGS += -DUSE_GPIO
+ap.srcs += gpio.c
+
+
 # Harware In The Loop
 
 #ap.CFLAGS += -DHITL

conf/settings/tuning.xml

@@ -7,6 +7,7 @@
     <dl_settings NAME="flight params">
       <dl_setting MAX="2000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="light_mode"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="gpio1_status"/>
       <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
       <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
     </dl_settings>

sw/airborne/arm7/gpio.c

@@ -0,0 +1,3 @@
+#include "gpio.h"
+
+bool_t gpio1_status;

sw/airborne/arm7/gpio.h

@@ -0,0 +1,39 @@
+#ifndef GPIO_H
+#define GPIO_H
+
+#include "std.h"
+#include "LPC21xx.h"
+
+extern bool_t gpio1_status;
+
+#define GPIO_1_BANK 0
+#define GPIO_1_PIN 7
+#define GPIO_1_PINSEL PINSEL0
+#define GPIO_1_PINSEL_BIT 14
+#define GPIO_1_PINSEL_VAL 0
+#define GPIO_1_DIR IO0DIR
+
+#define GpioOn1() { \
+ gpio1_status = TRUE; \
+ IO0SET = _BV(GPIO_1_PIN); \
+} 
+
+#define GpioOff1() { \
+ gpio1_status = FALSE; \
+ IO0CLR = _BV(GPIO_1_PIN); \
+}
+
+#define GpioUpdate1() { \
+ if (gpio1_status) \
+   IO0SET = _BV(GPIO_1_PIN); \
+ else \
+   IO0CLR = _BV(GPIO_1_PIN); \
+}
+
+#define GpioInit() { \
+  GPIO_1_PINSEL |= GPIO_1_PINSEL_VAL << GPIO_1_PINSEL_BIT; \
+  GPIO_1_DIR |= _BV(GPIO_1_PIN); \
+  GpioOff1(); \
+}
+
+#endif /* GPIO_H */

sw/airborne/datalink.c

@@ -44,6 +44,7 @@
 #include "infrared.h"
 #include "gps.h"
 #include "uart.h"
+#include "gpio.h"
 
 #include "control_grz.h"
 #include "settings.h"

sw/airborne/main_ap.c

@@ -55,6 +55,7 @@
 #include "datalink.h"
 #include "wavecard.h"
 #include "xbee.h"
+#include "gpio.h"
 
 #ifdef LED
 #include "led.h"
@@ -106,7 +107,7 @@ bool_t gps_lost = FALSE;
 #define LIGHT_MODE_ON 1
 #define LIGHT_MODE_FLASH 2
 
-uint8_t light_mode = 0;
+uint8_t light_mode = 1;
 
 
 #define Min(x, y) (x < y ? x : y)
@@ -464,8 +465,15 @@ void periodic_task_ap( void ) {
       LED_OFF(LIGHT_PIN_1)
     else
       LED_TOGGLE(LIGHT_PIN_1)
+    break;
 #endif /* LIGHT_PIN_1 */
 
+#ifdef USE_GPIO
+  case 3:
+    GpioUpdate1();
+    break;
+#endif
+
     /*  default: */
   }
 
@@ -545,6 +553,10 @@ void init_ap( void ) {
 #ifdef USE_UART1
   Uart1Init();
 #endif
+#ifdef USE_GPIO
+  GpioInit();
+#endif
+
 
 
   /************* Links initialization ***************/

sw/airborne/sim/gpio.h

@@ -0,0 +1,7 @@
+#ifndef GPIO_H
+#define GPIO_H
+
+extern bool_t gpio1_status;
+
+#endif /* GPIO_H */
+

sw/airborne/sim/sim_ap.c

@@ -38,6 +38,7 @@ bool_t launch;
 uint8_t gps_nb_ovrn, modem_nb_ovrn, link_fbw_fbw_nb_err, link_fbw_nb_err;
 float alt_roll_pgain;
 float roll_rate_pgain;
+bool_t gpio1_status;
 
 
 

sw/airborne/xbee.c

@@ -46,6 +46,7 @@ uint8_t xbee_ovrn, xbee_error;
 
 
 void xbee_init( void ) {
+#ifndef NO_XBEE_API_INIT
   /** Switching to AT mode (FIXME: busy waiting) */
   XBeePrintString(AT_COMMAND_SEQUENCE);
 
@@ -71,4 +72,5 @@ void xbee_init( void ) {
 
   /** Switching back to normal mode */
   XBeePrintString(AT_EXIT);
+#endif
 }