[paparazzi-commits] [4886]

[antoine drouin]

Revision: 4886
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4886
Author:   poine
Date:     2010-04-27 18:55:57 +0000 (Tue, 27 Apr 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
    paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-04-27 
18:54:44 UTC (rev 4885)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-04-27 
18:55:57 UTC (rev 4886)
@@ -2,6 +2,7 @@
 #define FMS_AUTOPILOT_H
 
 #include <inttypes.h>
+#include "math/pprz_algebra_int.h"
 
 struct AutopilotMessageFoo {
   uint8_t foo;
@@ -10,4 +11,21 @@
 };
 
 
+struct AutopilotMessageBethUp {
+  struct Int16Vect3 gyro;
+  struct Int16Vect3 accel;
+  struct Int16Vect3 bench_sensor;
+
+};
+
+struct AutopilotMessageBethDown {
+  uint8_t motor_front;
+  uint8_t motor_back;
+};
+
+union AutopilotMessageBeth {
+  struct AutopilotMessageBethUp up;
+  struct AutopilotMessageBethDown down;
+};
+
 #endif /* FMS_AUTOPILOT_H */

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c     2010-04-27 18:54:44 UTC 
(rev 4885)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_link.c     2010-04-27 18:55:57 UTC 
(rev 4886)
@@ -11,7 +11,10 @@
 int spi_link_init(void) {
 
   spi_link.device = "/dev/spidev1.1";
-  spi_link.mode  = 0;
+  //  spi_link.mode  = 0;
+  //  spi_link.mode  = SPI_CPHA | SPI_CPOL | SPI_LSB_FIRST;
+  spi_link.mode  = SPI_CPHA;
+  //  spi_link.mode  = SPI_LSB_FIRST;
   spi_link.bits  = 8;
   spi_link.speed = 500000;
   spi_link.delay = 1;

Added: paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c                         
(rev 0)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_overo_link.c 2010-04-27 18:55:57 UTC 
(rev 4886)
@@ -0,0 +1,9 @@
+#include "lisa/lisa_overo_link.h"
+
+struct LisaOveroLink overo_link;
+
+void overo_link_init(void) {
+  overo_link.status = LOST;
+  overo_link_arch_init();
+}
+