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move and rename booz actuators

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This commit is contained in:
Felix Ruess
2010-09-27 22:57:03 +00:00
parent b93a4e3915
commit 964ebd8e3e
34 changed files with 261 additions and 265 deletions
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conf/airframes/Poine/beth.xml
+2 -2
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@@ -142,9 +142,9 @@ main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c \
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c
#\ #\
# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c # $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
# -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ # -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ
main_stm32.CFLAGS += -DUSE_I2C1 main_stm32.CFLAGS += -DUSE_I2C1
conf/autopilot/booz_test_progs.makefile
+2 -2
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@@ -198,9 +198,9 @@ test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOW
test_actuators_mkk.srcs += downlink.c pprz_transport.c test_actuators_mkk.srcs += downlink.c pprz_transport.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
test_actuators_mkk.CFLAGS += -DUSE_I2C0 test_actuators_mkk.CFLAGS += -DUSE_I2C0
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/lisa_l_test_progs.makefile
+3 -3
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@@ -454,9 +454,9 @@ test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOW
test_actuators_mkk.srcs += downlink.c pprz_transport.c test_actuators_mkk.srcs += downlink.c pprz_transport.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
test_actuators_mkk.CFLAGS += -DUSE_I2C1 test_actuators_mkk.CFLAGS += -DUSE_I2C1
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -485,6 +485,6 @@ test_actuators_asctecv1.srcs += downlink.c pprz_transport.c
test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c
test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
test_actuators_asctecv1.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1 test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/lisa_passthrough.makefile
+24 -24
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@@ -34,19 +34,19 @@ stm_passthrough.CFLAGS += -DSYS_TIME_LED=1
stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
# Telemetry # Telemetry
stm_passthrough.CFLAGS += -DDOWNLINK stm_passthrough.CFLAGS += -DDOWNLINK
stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
stm_passthrough.srcs += downlink.c pprz_transport.c stm_passthrough.srcs += downlink.c pprz_transport.c
stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c
# Link Overo # Link Overo
stm_passthrough.CFLAGS += -DUSE_OVERO_LINK stm_passthrough.CFLAGS += -DUSE_OVERO_LINK
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \ stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \
$(SRC_LISA_ARCH)/lisa_overo_link_arch.c $(SRC_LISA_ARCH)/lisa_overo_link_arch.c
# IMU # IMU
# #
@@ -67,9 +67,9 @@ stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c
# Actuators # Actuators
#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c #stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL #stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c #stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
#stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c #stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# #
#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 #stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -80,8 +80,8 @@ ifndef SERVOS_REFRESH_FREQ
SERVOS_REFRESH_FREQ=50 SERVOS_REFRESH_FREQ=50
endif endif
stm_passthrough.CFLAGS += -DSERVO_HZ=$(SERVOS_REFRESH_FREQ) stm_passthrough.CFLAGS += -DSERVO_HZ=$(SERVOS_REFRESH_FREQ)
stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
# Baro # Baro
stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c
@@ -89,27 +89,27 @@ stm_passthrough.CFLAGS += -DUSE_I2C2
stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# Vanes # Vanes
stm_passthrough.CFLAGS += -I $(SRC_CSC) stm_passthrough.CFLAGS += -I $(SRC_CSC)
stm_passthrough.CFLAGS += -DUSE_CAN1 \ stm_passthrough.CFLAGS += -DUSE_CAN1 \
-DUSE_CAN1 \ -DUSE_CAN1 \
-DUSE_USB_LP_CAN1_RX0_IRQ \ -DUSE_USB_LP_CAN1_RX0_IRQ \
-DCAN_PRESCALER=12 \ -DCAN_PRESCALER=12 \
-DCAN_SJW_TQ=CAN_SJW_1tq \ -DCAN_SJW_TQ=CAN_SJW_1tq \
-DCAN_BS1_TQ=CAN_BS1_3tq \ -DCAN_BS1_TQ=CAN_BS1_3tq \
-DCAN_BS2_TQ=CAN_BS2_4tq \ -DCAN_BS2_TQ=CAN_BS2_4tq \
-DCAN_ERR_RESUME=DISABLE -DCAN_ERR_RESUME=DISABLE
stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c
stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c
# ADC # ADC
stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c
stm_passthrough.CFLAGS += -DUSE_AD1 \ stm_passthrough.CFLAGS += -DUSE_AD1 \
-DUSE_AD1_1 \ -DUSE_AD1_1 \
-DUSE_AD1_2 \ -DUSE_AD1_2 \
-DUSE_AD1_3 \ -DUSE_AD1_3 \
-DUSE_AD1_4 \ -DUSE_AD1_4 \
-DUSE_ADC1_2_IRQ_HANDLER -DUSE_ADC1_2_IRQ_HANDLER
# Battery monitor # Battery monitor
@@ -140,9 +140,9 @@ overo_test_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c
# #
# use the passthrough to calibrate throttle range for castle creations motor pwm motor controller # use the passthrough to calibrate throttle range for castle creations motor pwm motor controller
# #
overo_blmc_calibrate.ARCHDIR = omap overo_blmc_calibrate.ARCHDIR = omap
overo_blmc_calibrate.LDFLAGS += -levent -lm overo_blmc_calibrate.LDFLAGS += -levent -lm
overo_blmc_calibrate.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include overo_blmc_calibrate.CFLAGS += -I$(ACINCLUDE) -I. -I$(PAPARAZZI_HOME)/var/include
conf/autopilot/lisa_test_progs.makefile
+65 -67
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@@ -18,7 +18,7 @@
# You should have received a copy of the GNU General Public License # You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to # along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330, # the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA. # Boston, MA 02111-1307, USA.
# #
# #
@@ -134,8 +134,8 @@ FLASH_MODE = JTAG
test_led.ARCHDIR = $(ARCH) test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_led.srcs += $(SRC_LISA)/test_led.c \ test_led.srcs += $(SRC_LISA)/test_led.c \
$(SRC_ARCH)/led_hw.c \ $(SRC_ARCH)/led_hw.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
test_led.CFLAGS += -DUSE_LED test_led.CFLAGS += -DUSE_LED
@@ -203,7 +203,7 @@ test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_telemetry1.srcs += downlink.c pprz_transport.c test_telemetry1.srcs += downlink.c pprz_transport.c
@@ -223,7 +223,7 @@ test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_telemetry2.srcs += downlink.c pprz_transport.c test_telemetry2.srcs += downlink.c pprz_transport.c
@@ -243,7 +243,7 @@ test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600 test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c
test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3 test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3
test_telemetry3.srcs += downlink.c pprz_transport.c test_telemetry3.srcs += downlink.c pprz_transport.c
# #
@@ -262,7 +262,7 @@ test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_datalink.srcs += $(SRC_ARCH)/uart_hw.c test_datalink.srcs += $(SRC_ARCH)/uart_hw.c
test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_datalink.srcs += downlink.c pprz_transport.c test_datalink.srcs += downlink.c pprz_transport.c
test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
#test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c #test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c
@@ -274,7 +274,7 @@ tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \ tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
tunnel.CFLAGS += -DUSE_LED tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += $(SRC_ARCH)/led_hw.c tunnel.srcs += $(SRC_ARCH)/led_hw.c
@@ -313,7 +313,7 @@ test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_float.srcs += $(SRC_ARCH)/uart_hw.c test_float.srcs += $(SRC_ARCH)/uart_hw.c
test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_float.srcs += downlink.c pprz_transport.c test_float.srcs += downlink.c pprz_transport.c
test_float.srcs += lisa/plug_sys.c test_float.srcs += lisa/plug_sys.c
@@ -336,7 +336,7 @@ SRC_BOOZ_TEST = $(SRC_BOOZ)/test
test_rc_24.ARCHDIR = $(ARCH) test_rc_24.ARCHDIR = $(ARCH)
test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \ test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
@@ -350,7 +350,7 @@ test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_rc_24.srcs += downlink.c pprz_transport.c test_rc_24.srcs += downlink.c pprz_transport.c
test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=2 test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=2
@@ -373,7 +373,7 @@ test_servos.ARCHDIR = $(ARCH)
test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_servos.LDFLAGS += -lm test_servos.LDFLAGS += -lm
test_servos.srcs += $(SRC_LISA)/test_servos.c \ test_servos.srcs += $(SRC_LISA)/test_servos.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
test_servos.CFLAGS += -DUSE_LED test_servos.CFLAGS += -DUSE_LED
@@ -382,12 +382,12 @@ test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_servos.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
#test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 #test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_servos.srcs += $(SRC_ARCH)/uart_hw.c #test_servos.srcs += $(SRC_ARCH)/uart_hw.c
#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 #test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_servos.srcs += downlink.c pprz_transport.c #test_servos.srcs += downlink.c pprz_transport.c
@@ -415,7 +415,7 @@ test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_imu_b2.srcs += downlink.c pprz_transport.c test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += math/pprz_trig_int.c test_imu_b2.srcs += math/pprz_trig_int.c
@@ -557,7 +557,7 @@ test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c
test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c
@@ -601,16 +601,16 @@ test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_actuators_mkk.srcs += downlink.c pprz_transport.c test_actuators_mkk.srcs += downlink.c pprz_transport.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
#test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c \ #test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c \
# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c # $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
#test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ #test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1 test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL -DACTUATORS_ASCTEC_DEVICE=i2c1
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
test_actuators_mkk.CFLAGS += -DUSE_I2C1 test_actuators_mkk.CFLAGS += -DUSE_I2C1
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -635,13 +635,13 @@ test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c
test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_actuators_asctec.srcs += downlink.c pprz_transport.c test_actuators_asctec.srcs += downlink.c pprz_transport.c
test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
test_actuators_asctec.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
#\ #\
# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c # $(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1 test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
# -DBOOZ_START_DELAY=3 # -DBOOZ_START_DELAY=3
# -DUSE_TIM2_IRQ # -DUSE_TIM2_IRQ
@@ -688,7 +688,7 @@ test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_baro.srcs += $(SRC_ARCH)/uart_hw.c test_baro.srcs += $(SRC_ARCH)/uart_hw.c
test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_baro.srcs += downlink.c pprz_transport.c test_baro.srcs += downlink.c pprz_transport.c
@@ -710,7 +710,7 @@ test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_baro2.srcs += $(SRC_ARCH)/uart_hw.c test_baro2.srcs += $(SRC_ARCH)/uart_hw.c
test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_baro2.srcs += downlink.c pprz_transport.c test_baro2.srcs += downlink.c pprz_transport.c
test_baro2.srcs += $(SRC_LISA)/lisa_baro.c test_baro2.srcs += $(SRC_LISA)/lisa_baro.c
@@ -736,7 +736,7 @@ test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_baro3.srcs += $(SRC_ARCH)/uart_hw.c test_baro3.srcs += $(SRC_ARCH)/uart_hw.c
test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_baro3.srcs += downlink.c pprz_transport.c test_baro3.srcs += downlink.c pprz_transport.c
test_baro3.CFLAGS += -DUSE_I2C2 test_baro3.CFLAGS += -DUSE_I2C2
@@ -761,7 +761,7 @@ test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c
test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_spi_slave.srcs += downlink.c pprz_transport.c test_spi_slave.srcs += downlink.c pprz_transport.c
@@ -781,7 +781,7 @@ test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c
test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_spi_slave2.srcs += downlink.c pprz_transport.c test_spi_slave2.srcs += downlink.c pprz_transport.c
@@ -793,8 +793,8 @@ stm_test_spi_link.ARCHDIR = $(ARCH)
stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH) -DPERIPHERALS_AUTO_INIT stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \ stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
stm_test_spi_link.CFLAGS += -DUSE_LED stm_test_spi_link.CFLAGS += -DUSE_LED
stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c
@@ -880,7 +880,7 @@ test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_max1168.srcs += $(SRC_ARCH)/uart_hw.c test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_max1168.srcs += downlink.c pprz_transport.c test_max1168.srcs += downlink.c pprz_transport.c
# #
@@ -909,7 +909,7 @@ test_ms2001.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_ms2001.srcs += downlink.c pprz_transport.c test_ms2001.srcs += downlink.c pprz_transport.c
# #
@@ -1012,7 +1012,7 @@ test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_hmc5843.srcs += downlink.c pprz_transport.c test_hmc5843.srcs += downlink.c pprz_transport.c
test_hmc5843.CFLAGS += -DUSE_I2C2 test_hmc5843.CFLAGS += -DUSE_I2C2
@@ -1087,7 +1087,7 @@ ptw.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY
#ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 #ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
#ptw.srcs += $(SRC_ARCH)/uart_hw.c #ptw.srcs += $(SRC_ARCH)/uart_hw.c
ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry
ptw.srcs += downlink.c pprz_transport.c ptw.srcs += downlink.c pprz_transport.c
# IMU # IMU
@@ -1114,9 +1114,9 @@ ptw.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
ptw.srcs += $(SRC_ARCH)/uart_hw.c ptw.srcs += $(SRC_ARCH)/uart_hw.c
# Actuators # Actuators
ptw.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
ptw.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c ptw.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c #ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
ptw.CFLAGS += -DUSE_I2C1 ptw.CFLAGS += -DUSE_I2C1
@@ -1128,9 +1128,9 @@ test_csc_servo.ARCHDIR = $(ARCH)
test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \ test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \
$(SRC_LISA)/test_csc_servo.c \ $(SRC_LISA)/test_csc_servo.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
test_csc_servo.CFLAGS += -DUSE_LED test_csc_servo.CFLAGS += -DUSE_LED
test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c
test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -1141,20 +1141,20 @@ test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c
test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_csc_servo.srcs += downlink.c pprz_transport.c test_csc_servo.srcs += downlink.c pprz_transport.c
# setting CAN prescaler to generate 3MHz time quanta, drift compensiation to 1 # setting CAN prescaler to generate 3MHz time quanta, drift compensiation to 1
# time quanta, bit section 1 to 3 time quanta and bit section 2 to 4 time quanta # time quanta, bit section 1 to 3 time quanta and bit section 2 to 4 time quanta
# resulting in a 375kHz CAN bitrate expected by the CSC. # resulting in a 375kHz CAN bitrate expected by the CSC.
test_csc_servo.CFLAGS += \ test_csc_servo.CFLAGS += \
-DUSE_CAN1 \ -DUSE_CAN1 \
-DUSE_USB_LP_CAN1_RX0_IRQ \ -DUSE_USB_LP_CAN1_RX0_IRQ \
-DCAN_PRESCALER=12 \ -DCAN_PRESCALER=12 \
-DCAN_SJW_TQ=CAN_SJW_1tq \ -DCAN_SJW_TQ=CAN_SJW_1tq \
-DCAN_BS1_TQ=CAN_BS1_3tq \ -DCAN_BS1_TQ=CAN_BS1_3tq \
-DCAN_BS2_TQ=CAN_BS2_4tq \ -DCAN_BS2_TQ=CAN_BS2_4tq \
-DCAN_ERR_RESUME=DISABLE -DCAN_ERR_RESUME=DISABLE
test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
@@ -1167,8 +1167,8 @@ test_gps.ARCHDIR = $(ARCH)
test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \ test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
test_gps.CFLAGS += -DUSE_LED test_gps.CFLAGS += -DUSE_LED
test_gps.srcs += $(SRC_ARCH)/led_hw.c test_gps.srcs += $(SRC_ARCH)/led_hw.c
test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -1178,7 +1178,7 @@ test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_gps.srcs += $(SRC_ARCH)/uart_hw.c test_gps.srcs += $(SRC_ARCH)/uart_hw.c
test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_gps.srcs += downlink.c pprz_transport.c test_gps.srcs += downlink.c pprz_transport.c
test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
@@ -1198,21 +1198,21 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
# test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT # test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
# test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) # test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
# test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \ # test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \
# $(SRC_ARCH)/stm32_exceptions.c \ # $(SRC_ARCH)/stm32_exceptions.c \
# $(SRC_ARCH)/stm32_vector_table.c # $(SRC_ARCH)/stm32_vector_table.c
# test_adc.CFLAGS += -DUSE_LED # test_adc.CFLAGS += -DUSE_LED
# test_adc.srcs += $(SRC_ARCH)/led_hw.c # test_adc.srcs += $(SRC_ARCH)/led_hw.c
# test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 # test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
# test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 # test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
# test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c # test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
# #
# test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600 # test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
# test_adc.srcs += $(SRC_ARCH)/uart_hw.c # test_adc.srcs += $(SRC_ARCH)/uart_hw.c
# #
# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 # test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
# test_adc.srcs += downlink.c pprz_transport.c # test_adc.srcs += downlink.c pprz_transport.c
# #
# test_adc.srcs += $(SRC_ARCH)/adc_hw.c # test_adc.srcs += $(SRC_ARCH)/adc_hw.c
# #
# test adc # test adc
@@ -1221,9 +1221,9 @@ test_adc.ARCHDIR = $(ARCH)
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adc.srcs = $(SRC_ARCH)/adc_hw.c \ test_adc.srcs = $(SRC_ARCH)/adc_hw.c \
$(SRC_LISA)/test_adc.c \ $(SRC_LISA)/test_adc.c \
$(SRC_ARCH)/stm32_exceptions.c \ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c $(SRC_ARCH)/stm32_vector_table.c
test_adc.CFLAGS += -DUSE_LED test_adc.CFLAGS += -DUSE_LED
test_adc.srcs += $(SRC_ARCH)/led_hw.c test_adc.srcs += $(SRC_ARCH)/led_hw.c
test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1 test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -1234,7 +1234,7 @@ test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_adc.srcs += $(SRC_ARCH)/uart_hw.c test_adc.srcs += $(SRC_ARCH)/uart_hw.c
test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_adc.srcs += downlink.c pprz_transport.c test_adc.srcs += downlink.c pprz_transport.c
test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
@@ -1262,7 +1262,7 @@ test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_board.srcs += $(SRC_ARCH)/uart_hw.c test_board.srcs += $(SRC_ARCH)/uart_hw.c
test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2 test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_board.srcs += downlink.c pprz_transport.c test_board.srcs += downlink.c pprz_transport.c
test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -1274,7 +1274,7 @@ test_board.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_board.CFLAGS += -DUSE_I2C1 test_board.CFLAGS += -DUSE_I2C1
test_board.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c test_board.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
@@ -1390,5 +1390,3 @@ hs_gyro_crista.srcs += $(SRC_BOOZ)/booz_imu.c \
hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0 hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0
conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
+1 -1
View File
@@ -8,6 +8,6 @@ ap.srcs += $(SRC_ARCH)/servos_direct_hw.c $(SRC_FIXEDWING)/actuators.c
# Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup of directories # Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup of directories
ifeq ($(ARCH), stm32) ifeq ($(ARCH), stm32)
ap.srcs += $(SRC_FIXEDWING)/booz/arch/stm32/actuators/booz_actuators_pwm_arch.c ap.srcs += $(SRC_FIXEDWING)/booz/arch/stm32/actuators/actuators_pwm_arch.c
ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/arch/stm32/ ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/arch/stm32/
endif endif
conf/settings/settings_booz2_asctec.xml
+7 -7
View File
@@ -2,13 +2,13 @@
<dl_settings> <dl_settings>
<dl_settings NAME="asctec"> <dl_settings NAME="asctec">
<dl_setting var="actuators_asctec.cmd" min="0" step="1" max="3" module="actuators/booz_actuators_asctec" shortname="cmd" values="NONE|TEST|REVERSE|SET_ADDR" handler="SetCommand"/> <dl_setting var="actuators_asctec.cmd" min="0" step="1" max="3" module="actuators/actuators_asctec" shortname="cmd" values="NONE|TEST|REVERSE|SET_ADDR" handler="SetCommand"/>
<dl_setting var="actuators_asctec.cur_addr" min="0" step="1" max="3" module="actuators/booz_actuators_asctec" shortname="cur_addr" values="FRONT|BACK|LEFT|RIGHT" handler="SetCurAddr"/> <dl_setting var="actuators_asctec.cur_addr" min="0" step="1" max="3" module="actuators/actuators_asctec" shortname="cur_addr" values="FRONT|BACK|LEFT|RIGHT" handler="SetCurAddr"/>
<dl_setting var="actuators_asctec.new_addr" min="0" step="1" max="3" module="actuators/booz_actuators_asctec" shortname="new_addr" values="FRONT|BACK|LEFT|RIGHT" handler="SetNewAddr"/> <dl_setting var="actuators_asctec.new_addr" min="0" step="1" max="3" module="actuators/actuators_asctec" shortname="new_addr" values="FRONT|BACK|LEFT|RIGHT" handler="SetNewAddr"/>
<dl_setting var="actuators_asctec.cmds[PITCH]" min="-100" step="1" max="100" module="actuators/booz_actuators_asctec" shortname="pitch"/> <dl_setting var="actuators_asctec.cmds[PITCH]" min="-100" step="1" max="100" module="actuators/actuators_asctec" shortname="pitch"/>
<dl_setting var="actuators_asctec.cmds[ROLL]" min="-100" step="1" max="100" module="actuators/booz_actuators_asctec" shortname="roll"/> <dl_setting var="actuators_asctec.cmds[ROLL]" min="-100" step="1" max="100" module="actuators/actuators_asctec" shortname="roll"/>
<dl_setting var="actuators_asctec.cmds[YAW]" min="-100" step="1" max="100" module="actuators/booz_actuators_asctec" shortname="yaw"/> <dl_setting var="actuators_asctec.cmds[YAW]" min="-100" step="1" max="100" module="actuators/actuators_asctec" shortname="yaw"/>
<dl_setting var="actuators_asctec.cmds[THRUST]" min="0" step="1" max="200" module="actuators/booz_actuators_asctec" shortname="power"/> <dl_setting var="actuators_asctec.cmds[THRUST]" min="0" step="1" max="200" module="actuators/actuators_asctec" shortname="power"/>
</dl_settings> </dl_settings>
</dl_settings> </dl_settings>
sw/airborne/arch/stm32/servos_direct_hw.c
+2 -2
View File
@@ -2,10 +2,10 @@
#include "actuators.h" #include "actuators.h"
#include "servos_direct_hw.h" #include "servos_direct_hw.h"
int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
void actuators_init ( void ) { void actuators_init ( void ) {
booz_actuators_pwm_arch_init(); actuators_pwm_arch_init();
} }
sw/airborne/arch/stm32/servos_direct_hw.h
+5 -5
View File
@@ -4,15 +4,15 @@
#include "std.h" #include "std.h"
#define BOOZ_ACTUATORS_PWM_NB 6 #define ACTUATORS_PWM_NB 6
extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
#include "actuators/booz_actuators_pwm_arch.h" #include "actuators/actuators_pwm_arch.h"
#define SERVOS_TICS_OF_USEC(_v) (_v) #define SERVOS_TICS_OF_USEC(_v) (_v)
#define Actuator(_x) booz_actuators_pwm_values[_x] #define Actuator(_x) actuators_pwm_values[_x]
#define ChopServo(x,a,b) Chop(x, a, b) #define ChopServo(x,a,b) Chop(x, a, b)
#define ActuatorsCommit booz_actuators_pwm_commit #define ActuatorsCommit actuators_pwm_commit
#endif /* SERVOS_DIRECT_HW_H */ #endif /* SERVOS_DIRECT_HW_H */
sw/airborne/beth/main_stm32.c
+1 -1
View File
@@ -29,7 +29,7 @@
#include "sys_time.h" #include "sys_time.h"
#include "downlink.h" #include "downlink.h"
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
#include "booz/booz_actuators.h" #include "booz/actuators.h"
//#include "booz/booz_radio_control.h" //#include "booz/booz_radio_control.h"
#include "imu.h" #include "imu.h"
#include "lisa/lisa_overo_link.h" #include "lisa/lisa_overo_link.h"
sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.c
-3
View File
@@ -1,3 +0,0 @@
#include "actuators/booz_actuators_mkk.h"
void booz_actuators_mkk_arch_init(void) {}
sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h
+1 -1
View File
@@ -25,7 +25,7 @@
#define ACTUATORS_BUSS_TWI_BLMC_HW_H #define ACTUATORS_BUSS_TWI_BLMC_HW_H
#include "airframe.h" #include "airframe.h"
#include "actuators/booz_supervision.h" #include "actuators/supervision.h"
#define BUSS_TWI_BLMC_NB 4 #define BUSS_TWI_BLMC_NB 4
extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB]; extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
sw/airborne/actuators.h → sw/airborne/firmwares/fixedwing/actuators.h
View File
sw/airborne/booz/booz_actuators.h → sw/airborne/firmwares/rotorcraft/actuators.h
+3 -3
View File
@@ -1,5 +1,5 @@
#ifndef BOOZ_ACTUATORS_H #ifndef ACTUATORS_H
#define BOZZ_ACTUATORS_H #define ACTUATORS_H
//#include ACTUATORS //#include ACTUATORS
//#include "booz2_servos_direct_hw.h" //#include "booz2_servos_direct_hw.h"
@@ -10,4 +10,4 @@
extern void actuators_init(void); extern void actuators_init(void);
extern void actuators_set(bool_t motors_on); extern void actuators_set(bool_t motors_on);
#endif /* BOOZ_ACTUATORS_H */ #endif /* ACTUATORS_H */
sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+6 -6
View File
@@ -1,8 +1,8 @@
#include "booz/booz_actuators.h" #include "actuators.h"
#include "booz/actuators/booz_actuators_asctec.h" #include "actuators/actuators_asctec.h"
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL #ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
#include "booz/actuators/booz_supervision.h" #include "actuators/supervision.h"
#endif #endif
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
@@ -10,7 +10,7 @@
#include "sys_time.h" #include "sys_time.h"
struct ActuatorsAsctec actuators_asctec; struct ActuatorsAsctec actuators_asctec;
uint32_t actuators_delay_time; uint32_t actuators_delay_time;
bool_t actuators_delay_done; bool_t actuators_delay_done;
@@ -124,11 +124,11 @@ void actuators_set(bool_t motors_on) {
actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK]; actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK];
actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT]; actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT];
actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT]; actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT];
actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] + actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0] + actuators_asctec.i2c_trans.buf[1] +
actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3]; actuators_asctec.i2c_trans.buf[2] + actuators_asctec.i2c_trans.buf[3];
#endif #endif
i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans); i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans);
} }
#endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */ #endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */
sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
+6 -6
View File
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#ifndef BOOZ_ACTUATORS_ASCTEC_H #ifndef ACTUATORS_ASCTEC_H
#define BOOZ_ACTUATORS_ASCTEC_H #define ACTUATORS_ASCTEC_H
#include "i2c.h" #include "i2c.h"
@@ -55,17 +55,17 @@ struct ActuatorsAsctec {
extern struct ActuatorsAsctec actuators_asctec; extern struct ActuatorsAsctec actuators_asctec;
#define booz_actuators_asctec_SetCommand(_v) { \ #define actuators_asctec_SetCommand(_v) { \
actuators_asctec.cmd = _v; \ actuators_asctec.cmd = _v; \
} }
#define booz_actuators_asctec_SetNewAddr(_v) { \ #define actuators_asctec_SetNewAddr(_v) { \
actuators_asctec.new_addr = _v; \ actuators_asctec.new_addr = _v; \
} }
#define booz_actuators_asctec_SetCurAddr(_v) { \ #define actuators_asctec_SetCurAddr(_v) { \
actuators_asctec.cur_addr = _v; \ actuators_asctec.cur_addr = _v; \
} }
#endif /* BOOZ_ACTUATORS_ASCTEC_H */ #endif /* ACTUATORS_ASCTEC_H */
sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
+9 -9
View File
@@ -21,28 +21,28 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#include "booz/booz_actuators.h" #include "actuators.h"
#include "booz/actuators/booz_actuators_heli.h" #include "actuators/actuators_heli.h"
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
/* let's start butchery now and use the actuators_pwm arch functions */ /* let's start butchery now and use the actuators_pwm arch functions */
#include "booz/actuators/booz_actuators_pwm.h" #include "actuators/actuators_pwm.h"
/* get SetActuatorsFromCommands() macro */ /* get SetActuatorsFromCommands() macro */
#include "airframe.h" #include "airframe.h"
/* define the glue between control and SetActuatorsFromCommands */ /* define the glue between control and SetActuatorsFromCommands */
#define actuators booz_actuators_pwm_values #define actuators actuators_pwm_values
#define SERVOS_TICS_OF_USEC(_v) (_v) #define SERVOS_TICS_OF_USEC(_v) (_v)
#define ESC_STOPPED SERVOS_TICS_OF_USEC(1000) #define ESC_STOPPED SERVOS_TICS_OF_USEC(1000)
#define ESC_HOVER SERVOS_TICS_OF_USEC(1750) #define ESC_HOVER SERVOS_TICS_OF_USEC(1750)
#define Actuator(_x) booz_actuators_pwm_values[_x] #define Actuator(_x) actuators_pwm_values[_x]
#define ChopServo(x,a,b) Chop(x, a, b) #define ChopServo(x,a,b) Chop(x, a, b)
#define ActuatorsCommit booz_actuators_pwm_commit #define ActuatorsCommit actuators_pwm_commit
int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
void actuators_init(void) { booz_actuators_pwm_arch_init(); } void actuators_init(void) { actuators_pwm_arch_init(); }
void actuators_set(bool_t motors_on) { void actuators_set(bool_t motors_on) {
sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h
+4 -5
View File
@@ -1,6 +1,6 @@
/* /*
* $Id: actuators_heli$ * $Id: actuators_heli$
* *
* Copyright (C) 2010 The Paparazzi Team * Copyright (C) 2010 The Paparazzi Team
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -22,9 +22,8 @@
* *
*/ */
#ifndef BOOZ_ACTUATORS_HELI_H #ifndef ACTUATORS_HELI_H
#define BOOZ_ACTUATORS_HELI_H #define ACTUATORS_HELI_H
#endif /* BOOZ_ACTUATORS_HELI_H */ #endif /* ACTUATORS_HELI_H */
sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+4 -4
View File
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#include "booz/booz_actuators.h" #include "actuators.h"
#include "booz/actuators/booz_actuators_mkk.h" #include "actuators/actuators_mkk.h"
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
#include "i2c.h" #include "i2c.h"
@@ -46,7 +46,7 @@ void actuators_init(void) {
actuators_mkk.trans[i].stop_after_transmit = TRUE; actuators_mkk.trans[i].stop_after_transmit = TRUE;
actuators_mkk.trans[i].status = I2CTransSuccess; actuators_mkk.trans[i].status = I2CTransSuccess;
} }
#if defined BOOZ_START_DELAY && ! defined SITL #if defined BOOZ_START_DELAY && ! defined SITL
actuators_delay_done = FALSE; actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time); SysTimeTimerStart(actuators_delay_time);
@@ -54,7 +54,7 @@ void actuators_init(void) {
actuators_delay_done = TRUE; actuators_delay_done = TRUE;
actuators_delay_time = 0; actuators_delay_time = 0;
#endif #endif
} }
sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
+8 -8
View File
@@ -1,6 +1,6 @@
/* /*
* $Id: actuators_buss_twi_blmc_hw.h 3847 2009-08-02 21:47:31Z poine $ * $Id: actuators_mkk.h 3847 2009-08-02 21:47:31Z poine $
* *
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com> * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#ifndef BOOZ_ACTUATORS_MKK_H #ifndef ACTUATORS_MKK_H
#define BOOZ_ACTUATORS_MKK_H #define ACTUATORS_MKK_H
#include "std.h" #include "std.h"
#include "i2c.h" #include "i2c.h"
@@ -34,11 +34,11 @@ struct ActuatorsMkk {
struct i2c_transaction trans[ACTUATORS_MKK_NB]; struct i2c_transaction trans[ACTUATORS_MKK_NB];
}; };
extern struct ActuatorsMkk actuators_mkk; extern struct ActuatorsMkk actuators_mkk;
#include "actuators/booz_supervision.h" #include "actuators/supervision.h"
#endif /* BOOZ_ACTUATORS_MKK_H */ #endif /* ACTUATORS_MKK_H */
sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
+4 -4
View File
@@ -1,7 +1,7 @@
#include "actuators/booz_actuators_pwm.h" #include "actuators/actuators_pwm.h"
int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
void booz_actuators_init(void) { void actuators_init(void) {
booz_actuators_pwm_arch_init(); actuators_pwm_arch_init();
} }
sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
+9 -9
View File
@@ -1,6 +1,6 @@
/* /*
* $Id$ * $Id$
* *
* Copyright (C) 2010 The Paparazzi Team * Copyright (C) 2010 The Paparazzi Team
* *
* This file is part of Paparazzi. * This file is part of Paparazzi.
@@ -18,19 +18,19 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to * along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#ifndef BOOZ_ACTUATORS_PWM_H #ifndef ACTUATORS_PWM_H
#define BOOZ_ACTUATORS_PWM_H #define ACTUATORS_PWM_H
#include "std.h" #include "std.h"
#define BOOZ_ACTUATORS_PWM_NB 6 #define ACTUATORS_PWM_NB 6
extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB]; extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
extern void booz_actuators_init(void); extern void actuators_init(void);
#include "actuators/booz_actuators_pwm_arch.h" #include "actuators_pwm_arch.h"
#endif /* BOOZ_ACTUATORS_PWM_H */ #endif /* ACTUATORS_PWM_H */
sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
+3
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@@ -0,0 +1,3 @@
#include "actuators/actuators_mkk.h"
void actuators_mkk_arch_init(void) {}
sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.h → sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
+6 -6
View File
@@ -1,6 +1,6 @@
/* /*
* $Id$ * $Id$
* *
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com> * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -18,12 +18,12 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#ifndef BOOZ_ACTUATORS_MKK_ARCH_H #ifndef ACTUATORS_MKK_ARCH_H
#define BOOZ_ACTUATORS_MKK_ARCH_H #define ACTUATORS_MKK_ARCH_H
#define BoozActuatorsMkkArchSend() {} #define ActuatorsMkkArchSend() {}
#endif /* BOOZ_ACTUATORS_MKK_ARCH_H */ #endif /* ACTUATORS_MKK_ARCH_H */
sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
+9 -9
View File
@@ -22,7 +22,7 @@
* *
*/ */
#include "booz/actuators/booz_actuators_pwm.h" #include "booz/actuators/actuators_pwm.h"
#include <stm32/gpio.h> #include <stm32/gpio.h>
#include <stm32/rcc.h> #include <stm32/rcc.h>
@@ -36,7 +36,7 @@
#define SERVO_HZ 40 #define SERVO_HZ 40
#endif #endif
void booz_actuators_pwm_arch_init(void) { void actuators_pwm_arch_init(void) {
/* TIM3 and TIM4 clock enable */ /* TIM3 and TIM4 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
@@ -114,11 +114,11 @@ void booz_actuators_pwm_arch_init(void) {
} }
/* set pulse widths from actuator values, assumed to be in us */ /* set pulse widths from actuator values, assumed to be in us */
void booz_actuators_pwm_commit(void) { void actuators_pwm_commit(void) {
TIM_SetCompare1(TIM3, booz_actuators_pwm_values[0]); TIM_SetCompare1(TIM3, actuators_pwm_values[0]);
TIM_SetCompare2(TIM3, booz_actuators_pwm_values[1]); TIM_SetCompare2(TIM3, actuators_pwm_values[1]);
TIM_SetCompare3(TIM3, booz_actuators_pwm_values[2]); TIM_SetCompare3(TIM3, actuators_pwm_values[2]);
TIM_SetCompare4(TIM3, booz_actuators_pwm_values[3]); TIM_SetCompare4(TIM3, actuators_pwm_values[3]);
TIM_SetCompare3(TIM4, booz_actuators_pwm_values[4]); TIM_SetCompare3(TIM4, actuators_pwm_values[4]);
TIM_SetCompare4(TIM4, booz_actuators_pwm_values[5]); TIM_SetCompare4(TIM4, actuators_pwm_values[5]);
} }
sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
+5 -5
View File
@@ -26,10 +26,10 @@
* STM32 PWM servos handling * STM32 PWM servos handling
*/ */
#ifndef BOOZ_ACTUATORS_PWM_ARCH_H #ifndef ACTUATORS_PWM_ARCH_H
#define BOOZ_ACTUATORS_PWM_ARCH_H #define ACTUATORS_PWM_ARCH_H
extern void booz_actuators_pwm_arch_init(void); extern void actuators_pwm_arch_init(void);
extern void booz_actuators_pwm_commit(void); extern void actuators_pwm_commit(void);
#endif /* BOOZ_ACTUATORS_PWM_ARCH_H */ #endif /* ACTUATORS_PWM_ARCH_H */
sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+1 -1
View File
@@ -22,7 +22,7 @@
* *
*/ */
#include "actuators/booz_supervision.h" #include "actuators/supervision.h"
//#include <stdint.h> //#include <stdint.h>
#ifndef INT32_MIN #ifndef INT32_MIN
sw/airborne/firmwares/rotorcraft/main.c
+1 -1
View File
@@ -35,7 +35,7 @@
#include "datalink.h" #include "datalink.h"
#include "booz2_commands.h" #include "booz2_commands.h"
#include "booz_actuators.h" #include "actuators.h"
#include "booz_radio_control.h" #include "booz_radio_control.h"
#include "imu.h" #include "imu.h"
sw/airborne/lisa/lisa_stm_passthrough_main.c
+7 -7
View File
@@ -26,8 +26,8 @@
#include "sys_time.h" #include "sys_time.h"
#include "downlink.h" #include "downlink.h"
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
#include "booz/booz_actuators.h" #include "actuators.h"
#include "booz/actuators/booz_actuators_pwm.h" #include "actuators/actuators_pwm.h"
#include "imu.h" #include "imu.h"
#include "booz/booz_radio_control.h" #include "booz/booz_radio_control.h"
#include "lisa/lisa_overo_link.h" #include "lisa/lisa_overo_link.h"
@@ -71,8 +71,8 @@ static struct adc_buf adc3_buf;
extern uint8_t adc_new_data_trigger; extern uint8_t adc_new_data_trigger;
#define ActuatorsCommit() booz_actuators_pwm_commit(); #define ActuatorsCommit() actuators_pwm_commit();
#define actuators booz_actuators_pwm_values #define actuators actuators_pwm_values
int main(void) { int main(void) {
@@ -94,7 +94,7 @@ static inline void main_init(void) {
imu_init(); imu_init();
baro_init(); baro_init();
radio_control_init(); radio_control_init();
booz_actuators_init(); actuators_init();
overo_link_init(); overo_link_init();
cscp_init(); cscp_init();
adc_init(); adc_init();
@@ -212,12 +212,12 @@ static inline void on_overo_link_msg_received(void) {
/* pwm acuators down */ /* pwm acuators down */
if (radio_control.values[RADIO_CONTROL_MODE] <= 150) { if (radio_control.values[RADIO_CONTROL_MODE] <= 150) {
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) { for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i]; actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
} }
if (radio_control.values[RADIO_CONTROL_KILL] > 150) { if (radio_control.values[RADIO_CONTROL_KILL] > 150) {
actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN; actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN;
} }
booz_actuators_pwm_commit(); actuators_pwm_commit();
} }
} }
sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+2 -2
View File
@@ -25,10 +25,10 @@
#include "init_hw.h" #include "init_hw.h"
#include "sys_time.h" #include "sys_time.h"
#include "booz2_commands.h" #include "booz2_commands.h"
#include "booz_actuators.h" #include "actuators.h"
#include "downlink.h" #include "downlink.h"
#include "actuators/booz_actuators_asctec.h" #include "actuators/actuators_asctec.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic_task( void ); static inline void main_periodic_task( void );
sw/airborne/lisa/test/test_board.c
+47 -48
View File
@@ -1,6 +1,6 @@
/* /*
* $Id$ * $Id$
* *
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com> * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
#include <inttypes.h> #include <inttypes.h>
@@ -39,7 +39,7 @@
#include "settings.h" #include "settings.h"
#include "lisa/lisa_baro.h" #include "lisa/lisa_baro.h"
#include "booz/actuators/booz_actuators_pwm.h" #include "actuators/actuators_pwm.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic_task( void ); static inline void main_periodic_task( void );
@@ -101,10 +101,10 @@ static inline void main_init( void ) {
hw_init(); hw_init();
sys_time_init(); sys_time_init();
led_init(); led_init();
baro_init(); baro_init();
booz_actuators_init(); actuators_init();
// cur_test = TestTypeNone; // cur_test = TestTypeNone;
cur_test = TestTypeBldc; cur_test = TestTypeBldc;
@@ -124,7 +124,7 @@ static inline void main_event_task( void ) {
DatalinkEvent(); DatalinkEvent();
tests[cur_test]._event(); tests[cur_test]._event();
} }
void start_test(void) { void start_test(void) {
@@ -153,26 +153,26 @@ static void test_none_event(void) {}
static inline void test_baro_on_baro_diff(void); static inline void test_baro_on_baro_diff(void);
static inline void test_baro_on_baro_abs(void); static inline void test_baro_on_baro_abs(void);
static void test_baro_start(void) {all_led_green();} static void test_baro_start(void) {all_led_green();}
static void test_baro_periodic(void) { static void test_baro_periodic(void) {
RunOnceEvery(2, {baro_periodic();}); RunOnceEvery(2, {baro_periodic();});
RunOnceEvery(100,{ RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c2_errors.ack_fail_cnt, &i2c2_errors.ack_fail_cnt,
&i2c2_errors.miss_start_stop_cnt, &i2c2_errors.miss_start_stop_cnt,
&i2c2_errors.arb_lost_cnt, &i2c2_errors.arb_lost_cnt,
&i2c2_errors.over_under_cnt, &i2c2_errors.over_under_cnt,
&i2c2_errors.pec_recep_cnt, &i2c2_errors.pec_recep_cnt,
&i2c2_errors.timeout_tlow_cnt, &i2c2_errors.timeout_tlow_cnt,
&i2c2_errors.smbus_alert_cnt, &i2c2_errors.smbus_alert_cnt,
&i2c2_errors.unexpected_event_cnt, &i2c2_errors.unexpected_event_cnt,
&i2c2_errors.last_unexpected_event); &i2c2_errors.last_unexpected_event);
}); });
} }
static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);} static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs, test_baro_on_baro_diff);}
static inline void test_baro_on_baro_abs(void) { static inline void test_baro_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);}); RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
} }
static inline void test_baro_on_baro_diff(void) { static inline void test_baro_on_baro_diff(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);}); RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw, &baro.diff_raw);});
} }
@@ -190,16 +190,16 @@ static void test_bldc_periodic(void) {
i2c1_transmit(0x58, 1, NULL); i2c1_transmit(0x58, 1, NULL);
RunOnceEvery(100,{ RunOnceEvery(100,{
DOWNLINK_SEND_I2C_ERRORS(DefaultChannel, DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
&i2c1_errors.ack_fail_cnt, &i2c1_errors.ack_fail_cnt,
&i2c1_errors.miss_start_stop_cnt, &i2c1_errors.miss_start_stop_cnt,
&i2c1_errors.arb_lost_cnt, &i2c1_errors.arb_lost_cnt,
&i2c1_errors.over_under_cnt, &i2c1_errors.over_under_cnt,
&i2c1_errors.pec_recep_cnt, &i2c1_errors.pec_recep_cnt,
&i2c1_errors.timeout_tlow_cnt, &i2c1_errors.timeout_tlow_cnt,
&i2c1_errors.smbus_alert_cnt, &i2c1_errors.smbus_alert_cnt,
&i2c1_errors.unexpected_event_cnt, &i2c1_errors.unexpected_event_cnt,
&i2c1_errors.last_unexpected_event); &i2c1_errors.last_unexpected_event);
}); });
} }
@@ -217,8 +217,8 @@ static void test_srvo_periodic(void) {
foo += 0.0025; foo += 0.0025;
int32_t bar = 1500 + 500. * sin(foo); int32_t bar = 1500 + 500. * sin(foo);
for (uint8_t i=0; i<6; i++) for (uint8_t i=0; i<6; i++)
booz_actuators_pwm_values[i] = bar; actuators_pwm_values[i] = bar;
booz_actuators_pwm_commit(); actuators_pwm_commit();
} }
static void test_srvo_event(void) {} static void test_srvo_event(void) {}
@@ -243,7 +243,7 @@ static void test_uart_start(void) {
} }
static void test_uart_periodic(void) { static void test_uart_periodic(void) {
if (idx_tx<sizeof(buf_src)) { if (idx_tx<sizeof(buf_src)) {
switch (direction) { switch (direction) {
case OneToThree : uart1_transmit(buf_src[idx_tx]); break; case OneToThree : uart1_transmit(buf_src[idx_tx]); break;
@@ -256,21 +256,21 @@ static void test_uart_periodic(void) {
} }
static void test_uart_event(void) { static void test_uart_event(void) {
if (Uart3ChAvailable()) { if (Uart3ChAvailable()) {
buf_dest[idx_rx] = Uart3Getch(); buf_dest[idx_rx] = Uart3Getch();
if (idx_rx<sizeof(buf_src)) { if (idx_rx<sizeof(buf_src)) {
DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest); DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest);
idx_rx++; idx_rx++;
if (idx_rx == sizeof(buf_src)) { if (idx_rx == sizeof(buf_src)) {
if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) { if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
all_led_red(); // test failed all_led_red(); // test failed
} }
else { // start test in other direction else { // start test in other direction
idx_rx = 0; idx_rx = 0;
idx_tx = 0; idx_tx = 0;
direction = ThreeToOne; direction = ThreeToOne;
} }
} }
} }
} }
@@ -281,12 +281,12 @@ static void test_uart_event(void) {
DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest); DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest);
idx_rx++; idx_rx++;
if (idx_rx == sizeof(buf_src)) { if (idx_rx == sizeof(buf_src)) {
if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) { if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
all_led_red(); all_led_red();
} }
else { else {
all_led_green(); all_led_green();
} }
} }
} }
} }
@@ -348,4 +348,3 @@ void dl_parse_msg(void) {
break; break;
} }
} }
sw/airborne/lisa/test_servos.c
+9 -9
View File
@@ -25,7 +25,7 @@
#include "init_hw.h" #include "init_hw.h"
#include "sys_time.h" #include "sys_time.h"
#include "actuators/booz_actuators_pwm.h" #include "actuators/actuators_pwm.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic( void ); static inline void main_periodic( void );
@@ -43,20 +43,20 @@ int main(void) {
static inline void main_init( void ) { static inline void main_init( void ) {
hw_init(); hw_init();
sys_time_init(); sys_time_init();
booz_actuators_init(); actuators_init();
} }
static inline void main_periodic( void ) { static inline void main_periodic( void ) {
static float foo = 0.; static float foo = 0.;
foo += 0.0025; foo += 0.0025;
int32_t bar = 1500 + 500. * sin(foo); int32_t bar = 1500 + 500. * sin(foo);
booz_actuators_pwm_values[0] = bar; actuators_pwm_values[0] = bar;
booz_actuators_pwm_values[1] = bar; actuators_pwm_values[1] = bar;
booz_actuators_pwm_values[2] = bar; actuators_pwm_values[2] = bar;
booz_actuators_pwm_values[3] = bar; actuators_pwm_values[3] = bar;
booz_actuators_pwm_values[4] = bar; actuators_pwm_values[4] = bar;
booz_actuators_pwm_values[5] = bar; actuators_pwm_values[5] = bar;
booz_actuators_pwm_commit(); actuators_pwm_commit();
LED_PERIODIC(); LED_PERIODIC();
} }
sw/airborne/test/test_actuators.c
+4 -4
View File
@@ -1,6 +1,6 @@
/* /*
* $Id$ * $Id$
* *
* Copyright (C) 2009 Antoine Drouin <poinix@gmail.com> * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
* *
* This file is part of paparazzi. * This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
*/ */
@@ -28,7 +28,7 @@
#include "i2c.h" #include "i2c.h"
#include "booz/booz2_commands.h" #include "booz/booz2_commands.h"
#include "booz/booz_actuators.h" #include "actuators.h"
static inline void main_init( void ); static inline void main_init( void );
static inline void main_periodic_task( void ); static inline void main_periodic_task( void );
@@ -55,7 +55,7 @@ static inline void main_init( void ) {
static inline void main_periodic_task( void ) { static inline void main_periodic_task( void ) {
booz2_commands[COMMAND_ROLL]=0; booz2_commands[COMMAND_ROLL]=0;
booz2_commands[COMMAND_PITCH]=0; booz2_commands[COMMAND_PITCH]=0;
booz2_commands[COMMAND_YAW]=0; booz2_commands[COMMAND_YAW]=0;
sw/simulator/nps/nps_autopilot_booz.c
+1 -1
View File
@@ -7,7 +7,7 @@
#include "imu.h" #include "imu.h"
#include "firmwares/rotorcraft/baro.h" #include "firmwares/rotorcraft/baro.h"
#include "actuators/booz_supervision.h" #include "actuators/supervision.h"
struct NpsAutopilot autopilot; struct NpsAutopilot autopilot;