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Beth updates : Add CAN/SPI error monitoring. Adjusted arming state machine.

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TODO: monitor CAN crc errors.
TODO: update beth board #1 to output at higher rate (important when azimuth starts to be controlled)
TODO: sin/cos corrections in estimator/controller
This commit is contained in:
Paul Cox
2010-08-12 14:17:12 +00:00
parent 2feec8f370
commit efbbcf901a
11 changed files with 177 additions and 121 deletions
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conf/airframes/Poine/beth.xml
+3 -3
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@@ -104,14 +104,14 @@ main_stm32.ARCHDIR = stm32
#main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
main_stm32.TARGET = main_stm32
main_stm32.TARGETDIR = main_stm32
main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_LISA_ARCH) -DPERIPHERALS_AUTO_INIT
main_stm32.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
main_stm32.CFLAGS += -DUSE_LED
main_stm32.srcs += $(SRC_ARCH)/led_hw.c
main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=2
main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -123,7 +123,7 @@ main_stm32.srcs += downlink.c pprz_transport.c
main_stm32.CFLAGS += -DUSE_OVERO_LINK
main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
#booz IMU