fixed vor

conf/airframes/vor.xml

@@ -4,13 +4,12 @@
 
 ARCH=lpc21
 
-VOR=vor
 
 FLASH_MODE = IAP
 main.ARCHDIR = $(ARCH)
 
-main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
-main.srcs = $(VOR)/lpc_vor_main.c
+main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\"
+main.srcs = firmwares/vor/lpc_vor_main.c
 
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -19,7 +18,7 @@ main.CFLAGS += -DLED
 
 main.srcs += $(SRC_ARCH)/armVIC.c
 
-main.srcs += $(VOR)/lpc_vor_convertions.c
+main.srcs += firmwares/vor/lpc_vor_convertions.c
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600
 main.srcs += $(SRC_ARCH)/uart_hw.c
@@ -27,7 +26,7 @@ main.srcs += $(SRC_ARCH)/uart_hw.c
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 main.srcs += downlink.c pprz_transport.c
 
-main.srcs += $(VOR)/vor_int_demod_decim.c
+main.srcs += firmwares/vor/vor_int_demod_decim.c
 
 
   </makefile>

conf/autopilot/conf_demo.h

@@ -1,20 +0,0 @@
-#ifndef CONFIG_DEMO_H
-#define CONFIG_DEMO_H
-
-/* Master oscillator freq.       */
-#define FOSC (12000000) 
-/* PLL multiplier                */
-#define PLL_MUL (5)         
-/* CPU clock freq.               */
-#define CCLK (FOSC * PLL_MUL) 
-/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2   */
-#define PBSD_BITS 0x00    
-#define PBSD_VAL 4
-/* Peripheral bus clock freq.    */
-#define PCLK (CCLK / PBSD_VAL) 
-
-#define LED_1_BANK 1
-#define LED_1_PIN 24
-
-
-#endif /* CONFIG_DEMO_H */

sw/airborne/boards/olimex_lpc_h2148.h

@@ -16,5 +16,7 @@
 #define LED_1_BANK 1
 #define LED_1_PIN 24
 
+#define LED_2_BANK 1
+#define LED_2_PIN 23
 
 #endif /* CONFIG_OLIMEX_H2148_H */

sw/airborne/firmwares/vor/lpc_vor_convertions.c

@@ -55,7 +55,7 @@ void vor_adc_init( void ) {
   /* clear match */
   T0EMR &= ~TEMR_EM1;
   /* set high on match 1 */
-  T0EMR |= TEMR_EMC11;
+  T0EMR |= (3<<6);//TEMR_EMC1_1;
   /* first match in a while */
   T0MR1 = 1024;
   vor_adc_overrun = FALSE;
@@ -64,6 +64,9 @@ void vor_adc_init( void ) {
 
 void adcISR0 ( void ) {
   ISR_ENTRY();
+
+  LED_TOGGLE(2);
+
   uint32_t tmp = AD0GDR;
   //  uint32_t tmp = AD0DR3;
   //  uint8_t  channel = (uint8_t)(tmp >> 24) & 0x07;

sw/airborne/firmwares/vor/lpc_vor_main.c

@@ -17,23 +17,24 @@ static inline void main_report( void );
 
 int main( void ) {
   main_init();
+
   while(1) {
     if (vor_adc_sample_available) {
       int16_t off_sample = vor_adc_sample - 512;
       //      off_sample *= 2;
-
+      
       vor_int_demod_run (off_sample);
-
+      
       if (vid_qdr_available) {
       	vid_qdr_available = FALSE;
 	main_report();
       }
-
+      
       VorDacSet(vor_adc_sample);
       vor_adc_sample_available = FALSE;
     }
+    
   }
-
   return 0;
 }