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[paparazzi-commits] [5464] Add missing baro periodic to lisa stm passthr
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From: |
Allen Ibara |
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Subject: |
[paparazzi-commits] [5464] Add missing baro periodic to lisa stm passthrough, add sending vane values from CSC over CAN, and a bunch of annoying whitespace changes |
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Date: |
Thu, 19 Aug 2010 03:20:48 +0000 |
Revision: 5464
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5464
Author: aibara
Date: 2010-08-19 03:20:48 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
Add missing baro periodic to lisa stm passthrough, add sending vane values from
CSC over CAN, and a bunch of annoying whitespace changes
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-08-19 03:19:09 UTC (rev 5463)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-08-19 03:20:48 UTC (rev 5464)
@@ -31,8 +31,14 @@
#include "booz/booz_imu.h"
#include "booz/booz_radio_control.h"
#include "lisa/lisa_overo_link.h"
+
+#include "stm32/can.h"
+#include "csc_msg_def.h"
+#include "csc_protocol.h"
+
#include "lisa/lisa_baro.h"
+
static inline void main_init(void);
static inline void main_periodic(void);
static inline void main_event(void);
@@ -45,127 +51,161 @@
static inline void on_overo_link_crc_failed(void);
static inline void on_rc_message(void);
+static inline void on_vane_msg(void *data);
static bool_t new_radio_msg;
static bool_t new_baro_diff;
static bool_t new_baro_abs;
+static bool_t new_vane;
+struct CscVaneMsg csc_vane_msg;
+
int main(void) {
- main_init();
+ main_init();
- while (1) {
- if (sys_time_periodic())
- main_periodic();
- main_event();
- }
+ while (1) {
+ if (sys_time_periodic())
+ main_periodic();
+ main_event();
+ }
- return 0;
+ return 0;
}
+static inline void main_init(void) {
+
+ hw_init();
+ sys_time_init();
+ booz_imu_init();
+ baro_init();
+ radio_control_init();
+ booz_actuators_init();
+ overo_link_init();
+ cscp_init();
+// csc_bat_monitor_init();
+
+ cscp_register_callback(CSC_VANE_MSG_ID, on_vane_msg, (void
*)&csc_vane_msg);
+ new_radio_msg = FALSE;
+}
+
+static inline void main_periodic(void) {
+
+ booz_imu_periodic();
+ OveroLinkPeriodic(on_overo_link_lost);
+// csc_bat_monitor_periodic();
+
+ RunOnceEvery(10, {
+ LED_PERIODIC();
+ DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
+ radio_control_periodic();
+ });
+
+ RunOnceEvery(2, {baro_periodic();});
+
+}
+
static inline void on_rc_message(void) {
- new_radio_msg = TRUE;
+ new_radio_msg = TRUE;
}
static inline void on_overo_link_msg_received(void) {
- /* IMU up */
- overo_link.up.msg.valid.imu = 1;
- RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
- VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
- VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
-
- /* RC up */
- overo_link.up.msg.valid.rc = new_radio_msg;
- new_radio_msg = FALSE;
+ /* IMU up */
+ overo_link.up.msg.valid.imu = 1;
+ RATES_COPY(overo_link.up.msg.gyro, booz_imu.gyro);
+ VECT3_COPY(overo_link.up.msg.accel, booz_imu.accel);
+ VECT3_COPY(overo_link.up.msg.mag, booz_imu.mag);
+
+ /* RC up */
+ overo_link.up.msg.valid.rc = new_radio_msg;
+ new_radio_msg = FALSE;
- overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
- overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
- overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
- overo_link.up.msg.rc_thrust = radio_control.values[RADIO_CONTROL_THROTTLE];
- overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
+ overo_link.up.msg.rc_pitch = radio_control.values[RADIO_CONTROL_PITCH];
+ overo_link.up.msg.rc_roll = radio_control.values[RADIO_CONTROL_ROLL];
+ overo_link.up.msg.rc_yaw = radio_control.values[RADIO_CONTROL_YAW];
+ overo_link.up.msg.rc_thrust =
radio_control.values[RADIO_CONTROL_THROTTLE];
+ overo_link.up.msg.rc_mode = radio_control.values[RADIO_CONTROL_MODE];
#ifdef RADIO_CONTROL_KILL
- overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
+ overo_link.up.msg.rc_kill = radio_control.values[RADIO_CONTROL_KILL];
#endif
#ifdef RADIO_CONTROL_GEAR
- overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
+ overo_link.up.msg.rc_gear = radio_control.values[RADIO_CONTROL_GEAR];
#endif
- overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
- overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
- overo_link.up.msg.rc_status = radio_control.status;
-
- overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
- overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
+ overo_link.up.msg.rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
+ overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
+ overo_link.up.msg.rc_status = radio_control.status;
+
+ overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
+ overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
- /* baro up */
- overo_link.up.msg.valid.pressure_differential = new_baro_diff;
- overo_link.up.msg.valid.pressure_absolute = new_baro_abs;
- new_baro_diff = FALSE;
- new_baro_abs = FALSE;
- overo_link.up.msg.pressure_differential = baro.diff_raw;
- overo_link.up.msg.pressure_absolute = baro.abs_raw;
-
- /* pwm acuators down */
- for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
- booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
- booz_actuators_pwm_commit();
+ /* baro up */
+ overo_link.up.msg.valid.pressure_differential = new_baro_diff;
+ overo_link.up.msg.valid.pressure_absolute = new_baro_abs;
+ new_baro_diff = FALSE;
+ new_baro_abs = FALSE;
+ overo_link.up.msg.pressure_differential = baro.diff_raw;
+ overo_link.up.msg.pressure_absolute = baro.abs_raw;
+
+ overo_link.up.msg.valid.vane = new_vane;
+ new_vane = FALSE;
+ overo_link.up.msg.vane_angle1 = csc_vane_msg.vane_angle1;
+ overo_link.up.msg.vane_angle2 = csc_vane_msg.vane_angle2;
+
+ /* pwm acuators down */
+ for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
+ booz_actuators_pwm_values[i] =
overo_link.down.msg.pwm_outputs_usecs[i];
+ }
+ booz_actuators_pwm_commit();
+
}
static inline void on_overo_link_lost(void) {
-
}
static inline void on_overo_link_crc_failed(void) {
-
}
-
static inline void on_gyro_accel_event(void) {
- BoozImuScaleGyro(booz_imu);
- BoozImuScaleAccel(booz_imu);
+ BoozImuScaleGyro(booz_imu);
+ BoozImuScaleAccel(booz_imu);
}
static inline void on_mag_event(void) {
- BoozImuScaleMag(booz_imu);
+ BoozImuScaleMag(booz_imu);
}
+static inline void on_vane_msg(void *data) {
+ new_vane = TRUE;
+ int zero = 0;
+ DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
+
&(csc_vane_msg.vane_angle1),
+
&zero,
+
&zero,
+
&zero,
+
&zero,
+
&csc_vane_msg.vane_angle2,
+
&zero,
+
&zero,
+
&zero,
+
&zero);
+}
+
static inline void main_on_baro_diff(void) {
- new_baro_diff = TRUE;
+ new_baro_diff = TRUE;
}
static inline void main_on_baro_abs(void) {
- new_baro_abs = TRUE;
+ new_baro_abs = TRUE;
}
-static inline void main_init(void) {
-
- hw_init();
- sys_time_init();
- booz_imu_init();
- baro_init();
- radio_control_init();
- booz_actuators_init();
- overo_link_init();
- new_radio_msg = FALSE;
-
+static inline void main_event(void) {
+
+ BoozImuEvent(on_gyro_accel_event, on_mag_event);
+ BaroEvent(main_on_baro_abs, main_on_baro_diff);
+ OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
+ RadioControlEvent(on_rc_message);
+ cscp_event();
}
-static inline void main_periodic(void) {
-
- booz_imu_periodic();
- OveroLinkPeriodic(on_overo_link_lost);
- RunOnceEvery(10, {
- LED_PERIODIC();
- DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
- radio_control_periodic();
- });
-}
-
-static inline void main_event(void) {
-
- BoozImuEvent(on_gyro_accel_event, on_mag_event);
- BaroEvent(main_on_baro_abs, main_on_baro_diff);
- OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed);
- RadioControlEvent(on_rc_message);
-}
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- [paparazzi-commits] [5464] Add missing baro periodic to lisa stm passthrough, add sending vane values from CSC over CAN, and a bunch of annoying whitespace changes,
Allen Ibara <=