[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [5799] added actuators mkk test for booz boards
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5799] added actuators mkk test for booz boards |
|
Date: |
Fri, 03 Sep 2010 15:30:53 +0000 |
Revision: 5799
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5799
Author: poine
Date: 2010-09-03 15:30:48 +0000 (Fri, 03 Sep 2010)
Log Message:
-----------
added actuators mkk test for booz boards
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.c
paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.h
Modified: paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-09-03 15:07:42 UTC
(rev 5798)
+++ paparazzi3/trunk/conf/airframes/Poine/booz2_a1.xml 2010-09-03 15:30:48 UTC
(rev 5799)
@@ -203,18 +203,18 @@
</target>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
- <subsystem name="imu" type="b2_v1.1"/>
-<!-- <subsystem name="imu" type="b2_v1.0"/> -->
+ <subsystem name="imu" type="b2_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
- <target name="test_telemetry" board="booz_1.0"/>
- <target name="test_baro" board="booz_1.0"/>
- <target name="test_rc_spektrum" board="booz_1.0"/>
- <target name="test_rc_ppm" board="booz_1.0"/>
+ <target name="test_telemetry" board="booz_1.0"/>
+ <target name="test_baro" board="booz_1.0"/>
+ <target name="test_rc_spektrum" board="booz_1.0"/>
+ <target name="test_rc_ppm" board="booz_1.0"/>
+ <target name="test_actuators_mkk" board="booz_1.0"/>
</firmware>
Modified: paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-09-03
15:07:42 UTC (rev 5798)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-09-03
15:30:48 UTC (rev 5799)
@@ -163,4 +163,36 @@
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
-
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
\ No newline at end of file
+
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
+
+
+#
+# test actuators mkk
+#
+test_actuators_mkk.ARCHDIR = $(ARCHI)
+test_actuators_mkk.ARCH = arm7tdmi
+test_actuators_mkk.TARGET = test_actuators_mkk
+test_actuators_mkk.TARGETDIR = test_actuators_mkk
+test_actuators_mkk.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
+test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_actuators_mkk.srcs = test/test_actuators.c \
+ $(SRC_ARCH)/armVIC.c
+
+test_actuators_mkk.CFLAGS += -DUSE_LED
+
+test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
+test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT)
-D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
+test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
+
+test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=$(MODEM_PORT)
+test_actuators_mkk.srcs += downlink.c pprz_transport.c
+
+test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
+test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
+test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
+test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+test_actuators_mkk.CFLAGS += -DUSE_I2C0
+test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
\ No newline at end of file
Modified: paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.c 2010-09-03
15:07:42 UTC (rev 5798)
+++ paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.c 2010-09-03
15:30:48 UTC (rev 5799)
@@ -15,7 +15,7 @@
for (i=0; i< AMI601_NB_CHAN; i++) {
ami601_values[i] = 0;
}
- ami601_i2c_done = TRUE;
+ ami601_i2c_trans.status = I2CTransSuccess;
ami601_nb_err = 0;
ami601_status = AMI601_IDLE;
@@ -27,11 +27,13 @@
ami601_nb_err++;
}
else {
- ami601_i2c_done = FALSE;
ami601_status = AMI601_SENDING_REQ;
- i2c1_buf[0] = 0x55;
- i2c1_buf[1] = 0xAA;
- i2c1_buf[2] = 0x14;
- i2c1_transmit(AMI601_SLAVE_ADDR, 3, &ami601_i2c_done);
+ ami601_i2c_trans.type = I2CTransTx;
+ ami601_i2c_trans.len_w = 3;
+ ami601_i2c_trans.slave_addr = AMI601_SLAVE_ADDR;
+ ami601_i2c_trans.buf[0] = 0x55;
+ ami601_i2c_trans.buf[1] = 0xAA;
+ ami601_i2c_trans.buf[2] = 0x14;
+ i2c_submit(&i2c1, &ami601_i2c_trans);
}
}
Modified: paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.h 2010-09-03
15:07:42 UTC (rev 5798)
+++ paparazzi3/trunk/sw/airborne/booz/peripherals/booz_ami601.h 2010-09-03
15:30:48 UTC (rev 5799)
@@ -36,7 +36,7 @@
#define AMI601Event(_handler) {
\
switch (ami601_status) { \
case AMI601_SENDING_REQ : \
- if ( ami601_i2c_done ) { \
+ if ( ami601_i2c_trans.status == I2CTransSuccess ) { \
/* trigger delay for measurement */ \
T0MR1 = T0TC + SYS_TICS_OF_USEC(12288); \
/* clear match 1 interrupt */ \
@@ -47,14 +47,14 @@
}
\
break; \
case AMI601_READING_MEASURE : \
- if ( ami601_i2c_done ) { \
- ami601_foo1 = i2c1_buf[0]; /* AA ? */ \
- ami601_foo2 = i2c1_buf[1]; /* 55 ? */ \
- ami601_foo3 = i2c1_buf[2]; /* ERR ? */ \
+ if ( ami601_i2c_trans.status == I2CTransSuccess ) { \
+ ami601_foo1 = ami601_i2c_trans.buf[0]; /* AA ? */ \
+ ami601_foo2 = ami601_i2c_trans.buf[1]; /* 55 ? */ \
+ ami601_foo3 = ami601_i2c_trans.buf[2]; /* ERR ? */ \
uint8_t i; \
for (i=0; i< AMI601_NB_CHAN; i++) { \
- ami601_values[i] = i2c1_buf[3 + 2 * i]; \
- ami601_values[i] += i2c1_buf[3 + 2 * i + 1] * 256; \
+ ami601_values[i] = ami601_i2c_trans.buf[3 + 2 * i]; \
+ ami601_values[i] += ami601_i2c_trans.buf[3 + 2 * i + 1] * 256; \
} \
ami601_status = AMI601_DATA_AVAILABLE; \
_handler(); \
@@ -67,9 +67,11 @@
#define AMI601_IT TIR_MR1I
#define AMI601_ISR() AMI601ReadMeasure()
#define AMI601ReadMeasure() { \
- ami601_i2c_done = FALSE; \
ami601_status = AMI601_READING_MEASURE; \
- i2c1_receive(AMI601_SLAVE_ADDR, 15, &ami601_i2c_done); \
+ ami601_i2c_trans.type = I2CTransRx;
\
+ ami601_i2c_trans.len_r = 15; \
+ ami601_i2c_trans.slave_addr = AMI601_SLAVE_ADDR; \
+ i2c_submit(&i2c1, &ami601_i2c_trans); \
}
#endif /* AMI601_H */
| [Prev in Thread] |
Current Thread |
[Next in Thread] |
- [paparazzi-commits] [5799] added actuators mkk test for booz boards,
antoine drouin <=