[setup] setup_actuators for lisa/m as well

you can use the settings to just move each servo

conf/airframes/examples/setup_lisam2.xml

@@ -0,0 +1,21 @@
+<!-- this is a quadrotor frame equiped with Lisa/M and MKK motor controllers -->
+
+<airframe name="setup_lisam2">
+
+  <firmware name="setup">
+    <target name="tunnel"           board="lisa_m_2.0"/>
+    <target name="setup_actuators"  board="lisa_m_2.0"/>
+  </firmware>
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="1"   no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="2"   no="1" min="1000" neutral="1000" max="2000"/>
+    <servo name="3"   no="2" min="1000" neutral="1000" max="2000"/>
+    <servo name="4"   no="3" min="1000" neutral="1000" max="2000"/>
+    <servo name="5"   no="4" min="1000" neutral="1000" max="2000"/>
+    <servo name="6"   no="5" min="1000" neutral="1000" max="2000"/>
+    <servo name="7"   no="6" min="1000" neutral="1000" max="2000"/>
+    <servo name="8"   no="7" min="1000" neutral="1000" max="2000"/>
+  </servos>
+
+</airframe>

conf/conf.xml.example

@@ -76,7 +76,16 @@
     settings="settings/fixedwing_basic.xml settings/estimation/infrared.xml"
     gui_color="red"
     />
-
+  <aircraft
+   name="setup_lisam2"
+   ac_id="16"
+   airframe="airframes/examples/setup_lisam2.xml"
+   radio="radios/cockpitSX.xml"
+   telemetry="telemetry/dummy.xml"
+   flight_plan="flight_plans/dummy.xml"
+   settings=" settings/test_fixedwing_actuators.xml"
+   gui_color="blue"
+  />
   <!-- Hardware test Lisa/L -->
   <aircraft
     name="LisaLv11_Booz2v12_RC"

conf/firmwares/setup.makefile

@@ -88,6 +88,9 @@ ifeq ($(TARGET), setup_actuators)
     ifeq ($(BOARD),lisa_l)
       include $(CFG_SHARED)/actuators_direct.makefile
     endif
+    ifeq ($(BOARD),lisa_m)
+      include $(CFG_SHARED)/actuators_direct.makefile
+    endif
 
   else
     include $(CFG_SHARED)/$(ACTUATORS).makefile
@@ -96,18 +99,32 @@ endif
 
 
 # a test program to setup actuators
-ifeq ($(ARCH), lpc21)
+
 setup_actuators.CFLAGS += -DFBW -DUSE_LED -DPERIPHERALS_AUTO_INIT
-setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
-setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
-setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
+setup_actuators.srcs   += mcu.c $(SRC_ARCH)/mcu_arch.c
+
+setup_actuators.CFLAGS += -DUSE_$(MODEM_PORT)
+setup_actuators.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+setup_actuators.srcs   += mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
+
+setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_PORT) -DDOWNLINK_AP_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT)
+setup_actuators.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
+setup_actuators.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
+
 ifneq ($(SYS_TIME_LED),none)
 setup_actuators.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 endif
 setup_actuators.CFLAGS += -DPERIODIC_FREQUENCY='60'
 setup_actuators.CFLAGS += -DUSE_SYS_TIME
-setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
-else ifeq ($(TARGET),setup_actuators)
-$(error setup_actuators currently only implemented for the lpc21)
+setup_actuators.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
+setup_actuators.srcs   += $(SRC_FIRMWARE)/setup_actuators.c firmwares/fixedwing/main.c
+
+ifeq ($(ARCH), lpc21)
+setup_actuators.srcs += $(SRC_ARCH)/armVIC.c
+else ifeq ($(ARCH), stm32)
+setup_actuators.ARCHDIR = $(ARCH)
+setup_actuators.CFLAGS += -I$(ARCH)
+setup_actuators.srcs   += $(SRC_ARCH)/led_hw.c
+setup_actuators.srcs   += $(SRC_ARCH)/stm32_exceptions.c $(SRC_ARCH)/stm32_vector_table.c
 endif

conf/settings/test_fixedwing_actuators.xml

@@ -3,6 +3,7 @@
 <!-- A conf to use for setup_actuators -->
 
 <settings>
+  <dl_settings>
     <dl_settings NAME="Actuators" >
       <dl_setting VAR="actuators[0]" MIN="900" STEP="1" MAX="2100" module="firmwares/fixedwing/actuators" shortname="chan0"/>
       <dl_setting VAR="actuators[1]" MIN="900" STEP="1" MAX="2100" shortname="chan1"/>
@@ -13,4 +14,5 @@
       <dl_setting VAR="actuators[6]" MIN="900" STEP="1" MAX="2100" shortname="chan6"/>
       <dl_setting VAR="actuators[7]" MIN="900" STEP="1" MAX="2100" shortname="chan7"/>
     </dl_settings>
+  </dl_settings>
 </settings>

sw/airborne/firmwares/setup/setup_actuators.c

@@ -1,16 +1,23 @@
+#include "generated/airframe.h"
+
 #include "std.h"
 #include "mcu.h"
 #include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "firmwares/fixedwing/actuators.h"
 //#include "actuators.h"
-#include "generated/airframe.h"
+
+#include "firmwares/fixedwing/main_fbw.h"
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+
 #define DATALINK_C
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/datalink/pprz_transport.h"
 #include "mcu_periph/uart.h"
 #include "subsystems/datalink/downlink.h"
-#include "firmwares/fixedwing/main_fbw.h"
 
 #include "generated/settings.h"