*** empty log message ***

conf/airframes/wind_tunnel.xml

@@ -0,0 +1,45 @@
+<airframe name="DEMO">
+
+  <makefile>
+
+ARCHI=arm7
+
+FLASH_MODE = IAP
+
+
+WIND_TUNNEL=wind_tunnel
+
+#
+# DOWNLINK : send formated messages according to messages.xml description
+# requires "link" to run on the other side of the serial link
+#
+ap.ARCHDIR = $(ARCHI)
+ap.ARCH = arm7tdmi
+ap.TARGET = ap
+ap.TARGETDIR = ap
+
+ap.CFLAGS += -DCONFIG=\"conf_demo.h\" -I$(WIND_TUNNEL)
+ap.srcs = $(WIND_TUNNEL)/main.c
+
+ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+ap.CFLAGS += -DLED
+
+ap.srcs += $(SRC_ARCH)/armVIC.c
+
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
+ap.srcs += $(SRC_ARCH)/uart_hw.c
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
+ap.srcs += downlink.c pprz_transport.c
+
+ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+#ap.srcs += $(BOOZ)/booz_datalink.c
+
+ap.srcs += $(WIND_TUNNEL)/wt_servo.c
+
+
+  </makefile>
+
+</airframe>

conf/settings/setting_wt.xml

@@ -0,0 +1,10 @@
+<!DOCTYPE settings SYSTEM "settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Misc">
+    </dl_settings>
+
+  </dl_settings>
+</settings>

conf/telemetry/telemetry_wt.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<!DOCTYPE telemetry SYSTEM "telemetry.dtd">
+<telemetry>
+
+
+  <process name="Main">
+
+    <mode name="default">
+    </mode>
+
+  </process>
+
+</telemetry>

sw/airborne/wind_tunnel/main.c

@@ -0,0 +1,84 @@
+#include "std.h"
+#include "init_hw.h"
+#include "sys_time.h"
+#include "led.h"
+#include "interrupt_hw.h"
+#include "uart.h"
+
+#include "messages.h"
+#include "downlink.h"
+
+#include "datalink.h"
+#include "settings.h"
+#include "dl_protocol.h"
+
+#include "wt_servo.h"
+
+
+static inline void main_init( void );
+static inline void main_periodic_task( void );
+static inline void main_event_task( void );
+
+
+uint16_t motor_power;
+uint8_t dl_buffer[MSG_SIZE]  __attribute__ ((aligned));
+bool_t dl_msg_available;
+uint16_t datalink_time;
+
+int main( void ) {
+  main_init();
+  while(1) {
+    if (sys_time_periodic())
+      main_periodic_task();
+    main_event_task( );
+  }
+  return 0;
+}
+
+static inline void main_init( void ) {
+  hw_init();
+  sys_time_init();
+  led_init();
+  uart0_init_tx();
+
+  motor_power = 0;
+  wt_servo_init();
+  wt_servo_set(500);
+
+  int_enable();
+}
+
+static inline void main_periodic_task( void ) {
+  //  LED_TOGGLE(1);
+  DOWNLINK_SEND_TAKEOFF(&motor_power);
+}
+
+static inline void main_event_task( void ) {
+  DatalinkEvent();
+}
+
+
+#define IdOfMsg(x) (x[1])
+
+void dl_parse_msg(void) {
+
+  LED_TOGGLE(1);
+
+  uint8_t msg_id = IdOfMsg(dl_buffer);
+  switch (msg_id) {
+  
+  case  DL_PING: {
+    DOWNLINK_SEND_PONG();
+    break;
+  }
+    
+  case DL_SETTING : {
+    uint8_t i = DL_SETTING_index(dl_buffer);
+    float var = DL_SETTING_value(dl_buffer);
+    DlSetting(i, var);
+    DOWNLINK_SEND_DL_VALUE(&i, &var);
+    break;
+  }
+
+  }
+}

sw/airborne/wind_tunnel/wt_servo.c

@@ -0,0 +1,43 @@
+#include "wt_servo.h"
+
+#include "LPC21xx.h"
+
+#include "sys_time.h"
+
+uint16_t wt_servo_motor_power;
+
+#define MY_NB_CLOCK_TIMER_PWM(time_us) SYS_TICS_OF_USEC(time_us)
+
+void mb_servo_set_ns(uint32_t duration_ns);
+
+void wt_servo_init(void) {
+
+  /* set P0.21 as PWM5 output */
+  PINSEL1 |= (0X01 << 10);  
+  /* enable and select the type of PWM channel */
+  PWMPCR |= PWMPCR_ENA5;
+  /* set Match0 value (refresh rate) */
+  PWMMR0 = MY_NB_CLOCK_TIMER_PWM(20000);  
+  /* commit PWMMRx changes */
+  PWMLER = PWMLER_LATCH0;
+  /* enable PWM timer in PWM mode */
+  PWMTCR = PWMTCR_COUNTER_ENABLE | PWMTCR_PWM_ENABLE;
+
+}
+
+#define MB_SERVO_MIN_PULSE_NS   1000000
+#define MB_SERVO_RANGE_PULSE_NS 1000
+
+void wt_servo_set(uint16_t val) {
+
+  uint32_t pulse_ns = MB_SERVO_MIN_PULSE_NS + val*MB_SERVO_RANGE_PULSE_NS;
+  mb_servo_set_ns(pulse_ns);
+
+}
+
+void mb_servo_set_ns(uint32_t duration_ns) {
+  /* set Match5 value (pulse duration )*/
+  PWMMR5 = SYS_TICS_OF_NSEC(duration_ns);
+ /* commit PWMMRx changes */
+  PWMLER = PWMLER_LATCH5;
+}

sw/airborne/wind_tunnel/wt_servo.h

@@ -0,0 +1,19 @@
+#ifndef WT_SERVO_H
+#define WT_SERVO_H
+
+#include "std.h"
+
+extern void wt_servo_init(void);
+extern void wt_servo_set(uint16_t val);
+
+extern uint16_t wt_servo_motor_power;
+
+#define wt_servo_SetPower(_val) {		\
+    motor_power = _val;				\
+    wt_servo_set(motor_power);			\
+  }
+
+
+
+#endif /* WT_SERVO_H */
+