Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-23 04:45:37 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

added support for crista

Browse Source
This commit is contained in:
Antoine Drouin
2010-07-27 13:33:28 +00:00
parent 00c1f3b9f2
commit d2ef3c3049
2 changed files with 80 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/autopilot/lisa_test_progs.makefile
+73 -1
View File
@@ -1176,8 +1176,9 @@ test_board.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/a
#
#
################################################################################
#
# test IMU aspirin
# Spits every samples of one axis of gyro on IMU aspirin
#
hs_gyro_aspirin.ARCHDIR = $(ARCHI)
hs_gyro_aspirin.TARGET = hs_gyro_aspirin
@@ -1214,3 +1215,74 @@ hs_gyro_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
hs_gyro_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
hs_gyro_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
hs_gyro_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# Spits every samples of one axis of gyro on IMU b2
#
hs_gyro_b2.ARCHDIR = $(ARCHI)
hs_gyro_b2.TARGET = hs_gyro_b2
hs_gyro_b2.TARGETDIR = hs_gyro_b2
hs_gyro_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
hs_gyro_b2.srcs += lisa/test/hs_gyro.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
hs_gyro_b2.CFLAGS += -DUSE_LED
hs_gyro_b2.srcs += $(SRC_ARCH)/led_hw.c
hs_gyro_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
hs_gyro_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
hs_gyro_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
hs_gyro_b2.srcs += $(SRC_ARCH)/uart_hw.c
hs_gyro_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
hs_gyro_b2.srcs += downlink.c pprz_transport.c
hs_gyro_b2.srcs += math/pprz_trig_int.c
hs_gyro_b2.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
hs_gyro_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
hs_gyro_b2.srcs += $(SRC_BOOZ)/booz_imu.c
hs_gyro_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
hs_gyro_b2.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#
# Spits every samples of one axis of gyro on IMU crista
#
hs_gyro_crista.ARCHDIR = $(ARCHI)
hs_gyro_crista.TARGET = hs_gyro_crista
hs_gyro_crista.TARGETDIR = hs_gyro_crista
hs_gyro_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
hs_gyro_crista.srcs += lisa/test/hs_gyro.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
hs_gyro_crista.CFLAGS += -DUSE_LED
hs_gyro_crista.srcs += $(SRC_ARCH)/led_hw.c
hs_gyro_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
hs_gyro_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
hs_gyro_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
hs_gyro_crista.srcs += $(SRC_ARCH)/uart_hw.c
hs_gyro_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
hs_gyro_crista.srcs += downlink.c pprz_transport.c
hs_gyro_crista.srcs += math/pprz_trig_int.c
hs_gyro_crista.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
hs_gyro_crista.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_crista.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p -DMEASURED_SENSOR_NB=0
sw/airborne/lisa/test/hs_gyro.c
+7 -2
View File
@@ -35,6 +35,11 @@
#include "interrupt_hw.h"
#ifndef MEASURED_SENSOR
#define MEASURED_SENSOR gyro_unscaled.p
#define MEASURED_SENSOR_NB 0
#endif
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -87,10 +92,10 @@ static inline void on_gyro_accel_event(void) {
static uint8_t cnt;
static int32_t samples[NB_SAMPLES];
const uint8_t axis = 2;
const uint8_t axis = MEASURED_SENSOR_NB;
cnt++;
if (cnt > NB_SAMPLES) cnt = 0;
samples[cnt] = booz_imu.gyro_unscaled.r;
samples[cnt] = booz_imu.MEASURED_SENSOR;
if (cnt == 19) {
DOWNLINK_SEND_IMU_HS_GYRO(DefaultChannel, &axis, NB_SAMPLES, samples);
}