[paparazzi-commits] [5666] sim builds with all supported IMUs

[antoine drouin]

Revision: 5666
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5666
Author:   poine
Date:     2010-08-24 22:45:58 +0000 (Tue, 24 Aug 2010)
Log Message:
-----------
sim builds with all supported IMUs

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
    paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c
    paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c

Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-08-24 22:44:33 UTC 
(rev 5665)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a7.xml  2010-08-24 22:45:58 UTC 
(rev 5666)
@@ -16,7 +16,13 @@
     <axis name="THRUST" failsafe_value="0"/>
   </commands>
 
+  <!-- for the sim -->
+  <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="3"/>
     <define name="MAX_MOTOR" value="200"/>
@@ -64,8 +70,8 @@
 
  <section name="AUTOPILOT">
    <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_RC_CLIMB"/>
+   <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_ATTITUDE_Z_HOLD"/>
  </section>
 
  <section name="BAT">
@@ -132,7 +138,8 @@
   </section>
 
   <section name="INS" prefix="BOOZ_INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
+<!--    <define name="BARO_SENS" value="15." integer="16"/> -->
+    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
@@ -162,17 +169,33 @@
    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
  </section>
 
+ <section name="SIMULATOR" prefix="NPS_">
+   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, 
&quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" 
value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
+<!-- -->
  <modules main_freq="512">
    <load name="vehicle_interface_datalink.xml"/>
  </modules>
+<!-- -->
  
   <firmware name="rotorcraft">
-    <target name="ap" board="lisa_l_1.0"/>
-    <subsystem name="radio_control" type="spektrum">
-      <param name="RADIO_CONTROL_SPEKTRUM_MODEL" 
+    <target name="ap" board="lisa_l_1.0">
+<!--      <define name="BOOZ_START_DELAY" value="1"/> -->
+      <subsystem name="radio_control" type="spektrum">
+        <param name="RADIO_CONTROL_SPEKTRUM_MODEL" 
              
value="\\\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\\\""/>
-    </subsystem>
-    <subsystem name="actuators"     type="asctec"/>
+      </subsystem>
+      <subsystem name="actuators"     type="asctec"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="simulator"     type="nps"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+
     <subsystem name="imu"           type="b2_v1.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="cmpl"/>

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile  
2010-08-24 22:44:33 UTC (rev 5665)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile  
2010-08-24 22:45:58 UTC (rev 5666)
@@ -57,6 +57,7 @@
 #
 
 sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_VERSION_1_0
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
             $(SRC_BOOZ)/imu/booz_imu_b2.c          \

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile  
2010-08-24 22:44:33 UTC (rev 5665)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile  
2010-08-24 22:45:58 UTC (rev 5666)
@@ -63,6 +63,7 @@
 #
 
 sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_VERSION_1_1
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
 sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
             $(SRC_BOOZ)/imu/booz_imu_b2.c          \

Modified: paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c 
2010-08-24 22:44:33 UTC (rev 5665)
+++ paparazzi3/trunk/sw/airborne/booz/actuators/booz_actuators_asctec.c 
2010-08-24 22:45:58 UTC (rev 5666)
@@ -14,6 +14,11 @@
 #define ACTUATORS_ASCTEC_DEVICE i2c0
 #endif
 
+/*
+ * Macros to generate i2cx_buf and i2cx_transmit from
+ * ACTUATORS_ASCTEC_DEVICE
+ *
+ */
 #define __Device(dev, _z) dev##_##_z 
 #define  _Device(dev, _z) __Device(dev, _z)
 #define  Device( _z) _Device(ACTUATORS_ASCTEC_DEVICE, _z)

Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c    2010-08-24 
22:44:33 UTC (rev 5665)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c    2010-08-24 
22:45:58 UTC (rev 5666)
@@ -90,7 +90,7 @@
 
 #ifndef RADIO_CONTROL_LINK
   /* read the comment below the bind function needs to start as close to 
powerup as possible 
-     it also blocks for 73ms which is longer than this loop could thhis be 
moved elsewhere */
+     it also blocks for 73ms which is longer than this loop could this be 
moved elsewhere */
   for (uint32_t startup_counter=0; startup_counter<2000000; startup_counter++){
     __asm("nop");
   }