[paparazzi-commits] [5670] Lisa Fixed Wing Actuators

[Christophe De Wagter]

Revision: 5670
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5670
Author:   dewagter
Date:     2010-08-25 08:14:36 +0000 (Wed, 25 Aug 2010)
Log Message:
-----------
Lisa Fixed Wing Actuators

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
    paparazzi3/trunk/conf/autopilot/fixedwing.makefile
    paparazzi3/trunk/conf/autopilot/fixedwing.xml

Added Paths:
-----------
    
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
    paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.c
    paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.h

Removed Paths:
-------------
    paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_lisa.makefile

Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml        
2010-08-25 01:09:46 UTC (rev 5669)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml        
2010-08-25 08:14:36 UTC (rev 5670)
@@ -9,8 +9,8 @@
 <airframe name="Fixed Wing Lisa">
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
-    <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
+    <servo name="AILEVON_LEFT"  no="1" min="1130" neutral="1575" max="1880"/>
+    <servo name="AILEVON_RIGHT" no="2" min="1980" neutral="1465" max="1170"/>
   </servos>
 
   <commands>

Modified: paparazzi3/trunk/conf/autopilot/fixedwing.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.makefile  2010-08-25 01:09:46 UTC 
(rev 5669)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.makefile  2010-08-25 08:14:36 UTC 
(rev 5670)
@@ -34,7 +34,7 @@
 endif
 
 ifeq ($(BOARD),lisa_l)
-    include $(CFG_FIXEDWING)/actuators_lisa.makefile
+    include $(CFG_FIXEDWING)/actuators_direct.makefile
 endif
 
 

Modified: paparazzi3/trunk/conf/autopilot/fixedwing.xml
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.xml       2010-08-25 01:09:46 UTC 
(rev 5669)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.xml       2010-08-25 08:14:36 UTC 
(rev 5670)
@@ -20,7 +20,7 @@
    <param name="MODEM_BAUD"     values="B9600|B38400|B57600|B115200"/>
  </subsystem>
  <!-- Actuators -->
- <subsystem name="actuators"   types="4015|4017|ppm"/>
+ <subsystem name="actuators"   types="4015|4017|ppm|direct"/>
  <subsystem name="control"      types="NONE|adaptive|new"/>
  <!-- Sensors -->
  <subsystem name="gyro"         types="roll|pitch">

Copied: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile 
(from rev 5669, 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_lisa.makefile)
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile  
                            (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile  
    2010-08-25 08:14:36 UTC (rev 5670)
@@ -0,0 +1,11 @@
+# for lisa_l
+
+ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DSERVOS_DIRECT
+ap.srcs += $(SRC_ARCH)/servos_direct_hw.c $(SRC_FIXEDWING)/actuators.c
+
+
+# TODO TODO HELP HELP TERRIBLE HORRIBLE HACK!!!!
+ifeq ($(ARCHI), stm32)
+ap.srcs    += 
$(SRC_FIXEDWING)/booz/arch/stm32/actuators/booz_actuators_pwm_arch.c
+ap.CFLAGS  += -I$(SRC_FIXEDWING)/booz/arch/stm32/
+endif

Deleted: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_lisa.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_lisa.makefile    
    2010-08-25 01:09:46 UTC (rev 5669)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_lisa.makefile    
    2010-08-25 08:14:36 UTC (rev 5670)
@@ -1,5 +0,0 @@
-# for lisa_l
-
-#ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-#ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4017_hw.c $(SRC_FIXEDWING)/actuators.c
-

Added: paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.c                       
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.c       2010-08-25 
08:14:36 UTC (rev 5670)
@@ -0,0 +1,12 @@
+#include "std.h"
+#include "actuators.h"
+#include "servos_direct_hw.h"
+
+int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+
+void actuators_init ( void ) {
+  booz_actuators_pwm_arch_init();
+}
+
+
+

Added: paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.h                       
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/servos_direct_hw.h       2010-08-25 
08:14:36 UTC (rev 5670)
@@ -0,0 +1,18 @@
+#ifndef SERVOS_DIRECT_HW_H
+#define SERVOS_DIRECT_HW_H
+
+
+#include "std.h"
+
+#define BOOZ_ACTUATORS_PWM_NB 6
+extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+
+#include "actuators/booz_actuators_pwm_arch.h"
+
+#define SERVOS_TICS_OF_USEC(_v) (_v)
+#define Actuator(_x)  booz_actuators_pwm_values[_x]
+#define ChopServo(x,a,b) Chop(x, a, b)
+#define ActuatorsCommit  booz_actuators_pwm_commit
+
+
+#endif /* SERVOS_DIRECT_HW_H */