[paparazzi-commits] [5485] now an almost makefile free lisa quad

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[paparazzi-commits] [5485] now an almost makefile free lisa quad

From:	antoine drouin
Subject:	[paparazzi-commits] [5485] now an almost makefile free lisa quad
Date:	Thu, 19 Aug 2010 15:36:47 +0000
Revision: 5485
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5485
Author:   poine
Date:     2010-08-19 15:36:47 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
now an almost makefile free lisa quad

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
    paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
    paparazzi3/trunk/conf/autopilot/subsystems/baloo/imu_b2v1.makefile

Added Paths:
-----------
    paparazzi3/trunk/conf/autopilot/subsystems/baloo/actuators_asctec.makefile
    
paparazzi3/trunk/conf/autopilot/subsystems/baloo/radio_control_spektrum.makefile

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml  2010-08-19 15:36:42 UTC 
(rev 5484)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml  2010-08-19 15:36:47 UTC 
(rev 5485)
@@ -14,12 +14,12 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
-<!-- not needed anymore - in subsystem 
+<!-- not needed anymore - in subsystem -->
   <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
     <define name="NB" value="4"/>
     <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
   </section>
--->
+<!--  -->
 
   <section name="SUPERVISION" prefix="SUPERVISION_">
     <define name="MIN_MOTOR" value="2"/>
@@ -218,28 +218,20 @@
   </makefile>
 
 
-  <target name="baloo" board="booz">
-    <param  name="FLASH_MODE" value="IAP"/>   <!-- that is the default for the 
board but I'm putting it here as example--> 
+  <firmware name="baloo">
+    <target name="ap" board="booz">
+      <param  name="FLASH_MODE" value="IAP"/>   <!-- that is the default for 
the board but I'm putting it here as example--> 
+    </target>
     <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="actuators"     type="mkk">
-       <define name="ACTUATORS_MKK_NB"   value="4"/>                        
-       <define name="ACTUATORS_MKK_ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
-    </subsystem>
+    <subsystem name="actuators"     type="mkk"/>
     <subsystem name="imu"           type="b2v1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="cmpl"/>
-  </target>
+  </firmware>
 
 
   <makefile target="closure" location="after">
-#
-#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-#include $(CFG_BOOZ)/booz2_autopilot.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
-#include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
-#include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
+
 # FIXME: make fms a module
 include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
 

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-08-19 15:36:42 UTC 
(rev 5484)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-08-19 15:36:47 UTC 
(rev 5485)
@@ -36,32 +36,30 @@
     <define name="GYRO_P_NEUTRAL" value="31948"/>
     <define name="GYRO_Q_NEUTRAL" value="31834"/>
     <define name="GYRO_R_NEUTRAL" value="32687"/>
-
     <define name="GYRO_P_SENS" value=" 1.101357422" integer="16"/>
     <define name="GYRO_Q_SENS" value=" 1.122670898" integer="16"/>
     <define name="GYRO_R_SENS" value=" 1.104890137" integer="16"/>
 
 
-    <define name="ACCEL_X_SENS" value=" 2.58273701242" integer="16"/>
-    <define name="ACCEL_Y_SENS" value=" 2.54076215332" integer="16"/>
-    <define name="ACCEL_Z_SENS" value=" 2.57633620646" integer="16"/>
+    <define name="ACCEL_X_NEUTRAL" value="32899"/>
+    <define name="ACCEL_Y_NEUTRAL" value="33281"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32569"/>
+    <define name="ACCEL_X_SENS" value="2.57702956051" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="2.57835230627" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="2.54311399868" integer="16"/>
 
-    <define name="ACCEL_X_NEUTRAL" value="32857"/>
-    <define name="ACCEL_Y_NEUTRAL" value="32429"/>
-    <define name="ACCEL_Z_NEUTRAL" value="32593"/>
 
-    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
-    <define name="MAG_Y_SENS" value=" 4.87857821202" integer="16"/>
-    <define name="MAG_Z_SENS" value=" 3.11986612709" integer="16"/>
+    <define name="MAG_X_NEUTRAL" value="30"/>
+    <define name="MAG_Y_NEUTRAL" value="80"/>
+    <define name="MAG_Z_NEUTRAL" value="19"/>
+    <define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
+    <define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
 
-    <define name="MAG_X_NEUTRAL" value="-43"/>
-    <define name="MAG_Y_NEUTRAL" value=" 49"/>
-    <define name="MAG_Z_NEUTRAL" value="-66"/>
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 135.)"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
-
   </section>
 
  <section name="AUTOPILOT">
@@ -164,7 +162,17 @@
    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
  </section>
 
+ 
+  <firmware name="baloo">
+    <target name="ap" board="lisa_l_1.0"/>
+    <subsystem name="radio_control" type="spektrum"/>
+    <subsystem name="actuators"     type="asctec"/>
+    <subsystem name="imu"           type="b2v1_1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="ahrs"          type="cmpl"/>
+  </firmware>
 
+
  <makefile>
 
 
@@ -178,24 +186,10 @@
 SRC_FMS=fms
 
 
-ARCH=stm32
-ARCHI=stm32
-BOARD_CFG=\"boards/lisa_0.99.h\"
-FLASH_MODE = JTAG
 
 ap.CFLAGS += -DMODEM_BAUD=B57600
 ap.CFLAGS += 
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
 
-include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
-include $(CFG_BOOZ)/booz2_autopilot.makefile
-
-include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile
-include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec_v2.makefile
-include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile
-include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
-include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
-
-
 include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
 
 #

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/baloo/actuators_asctec.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/baloo/actuators_asctec.makefile  
                        (rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/baloo/actuators_asctec.makefile  
2010-08-19 15:36:47 UTC (rev 5485)
@@ -0,0 +1,20 @@
+# asctec controllers
+ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+endif
+
+ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
+ap.CFLAGS += -DUSE_I2C1
+endif
+
+
+# Simulator
+sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+

Modified: paparazzi3/trunk/conf/autopilot/subsystems/baloo/imu_b2v1.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/baloo/imu_b2v1.makefile  
2010-08-19 15:36:42 UTC (rev 5484)
+++ paparazzi3/trunk/conf/autopilot/subsystems/baloo/imu_b2v1.makefile  
2010-08-19 15:36:47 UTC (rev 5485)
@@ -1,14 +1,10 @@
 #
-# Booz2 IMU booz2v1
+# Booz2 IMU booz2v1.0
 #
 #
 # required xml:
 #  <section name="IMU" prefix="IMU_">
 #
-#    <define name="GYRO_X_CHAN" value="1"/>
-#    <define name="GYRO_Y_CHAN" value="0"/>
-#    <define name="GYRO_Z_CHAN" value="2"/>
-#
 #    <define name="GYRO_X_NEUTRAL" value="33924"/>
 #    <define name="GYRO_Y_NEUTRAL" value="33417"/>
 #    <define name="GYRO_Z_NEUTRAL" value="32809"/>
@@ -17,10 +13,6 @@
 #    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
 #    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
 # 
-#    <define name="ACCEL_X_CHAN" value="3"/>
-#    <define name="ACCEL_Y_CHAN" value="5"/>
-#    <define name="ACCEL_Z_CHAN" value="6"/>    
-#
 #    <define name="ACCEL_X_NEUTRAL" value="32081"/>
 #    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
 #    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
@@ -29,10 +21,6 @@
 #    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
 #    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
 #
-#    <define name="MAG_X_CHAN" value="4"/>
-#    <define name="MAG_Y_CHAN" value="0"/>
-#    <define name="MAG_Z_CHAN" value="2"/>
-#
 #    <define name="MAG_X_NEUTRAL" value="2358"/>
 #    <define name="MAG_Y_NEUTRAL" value="2362"/> 
 #    <define name="MAG_Z_NEUTRAL" value="2119"/>
@@ -48,6 +36,7 @@
 
 # imu Booz2 v1
 ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+ap.CFLAGS += -DIMU_B2_VERSION_1_0
 ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 ap.CFLAGS += -DSSP_VIC_SLOT=9
 ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/baloo/radio_control_spektrum.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/baloo/radio_control_spektrum.makefile
                            (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/baloo/radio_control_spektrum.makefile
    2010-08-19 15:36:47 UTC (rev 5485)
@@ -0,0 +1,19 @@
+#
+# Autopilot
+#
+ap.CFLAGS += -DUSE_RADIO_CONTROL
+ap.CFLAGS += 
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
+
+ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+           $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
+          $(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DRADIO_CONTROL_LED=1
+ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
+ap.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
+else ifeq ($(ARCHI), stm32)
+ap.CFLAGS += -DRADIO_CONTROL_LED=5
+ap.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
+ap.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+endif
+
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