[paparazzi-commits] [5851] Fixedwing Lisa now has Radio

[Christophe De Wagter]

Revision: 5851
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5851
Author:   dewagter
Date:     2010-09-11 13:55:20 +0000 (Sat, 11 Sep 2010)
Log Message:
-----------
Fixedwing Lisa now has Radio

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

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/stm32/ppm_hw.c
    paparazzi3/trunk/sw/airborne/stm32/ppm_hw.h

Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml        
2010-09-10 23:19:50 UTC (rev 5850)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/LisaFw.xml        
2010-09-11 13:55:20 UTC (rev 5851)
@@ -11,6 +11,9 @@
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="AILEVON_LEFT"  no="1" min="1130" neutral="1575" max="1880"/>
     <servo name="AILEVON_RIGHT" no="2" min="1980" neutral="1465" max="1170"/>
+    <servo name="EXTRA1"       no="3" min="1980" neutral="1465" max="1170"/>
+    <servo name="EXTRA2"       no="4" min="1980" neutral="1465" max="1170"/>
+    <servo name="EXTRA3"       no="5" min="1980" neutral="1465" max="1170"/>
   </servos>
 
   <commands>
@@ -35,8 +38,11 @@
     <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
     <set servo="MOTOR"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="AILEVON_LEFT"  value="$aileron + $elevator"/>
+    <set servo="AILEVON_RIGHT" value="$aileron - $elevator"/>
+    <set servo="EXTRA1" value="@THROTTLE"/>
+    <set servo="EXTRA2" value="@THROTTLE"/>
+    <set servo="EXTRA3" value="@THROTTLE"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -186,10 +192,9 @@
 
     <!-- Actuators -->
 
-    <!-- Sensors
+    <!-- Sensors -->
     <subsystem name="radio_control"    type="ppm"/>
-    <subsystem name="actuators"        type="4017"/>
-    <subsystem name="attitude"         type="infrared"/>
+<!--    <subsystem name="attitude"     type="infrared"/>
  -->
     <subsystem name="gps"              type="ublox_lea4p">
       <param name="GPS_UART_NR"                value="1"/>

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile  
    2010-09-10 23:19:50 UTC (rev 5850)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile  
    2010-09-11 13:55:20 UTC (rev 5851)
@@ -4,7 +4,9 @@
 ap.srcs += $(SRC_ARCH)/servos_direct_hw.c $(SRC_FIXEDWING)/actuators.c
 
 
-# TODO TODO HELP HELP TERRIBLE HORRIBLE HACK!!!!
+# TODO TODO UGLY HACK: We re-use the booz actuators: Should become universal 
actuator code!!
+# Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup 
of directories
+
 ifeq ($(ARCHI), stm32)
 ap.srcs    += 
$(SRC_FIXEDWING)/booz/arch/stm32/actuators/booz_actuators_pwm_arch.c
 ap.CFLAGS  += -I$(SRC_FIXEDWING)/booz/arch/stm32/

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile 
    2010-09-10 23:19:50 UTC (rev 5850)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile 
    2010-09-11 13:55:20 UTC (rev 5851)
@@ -15,3 +15,16 @@
 endif
 
 
+ifeq ($(ARCHI),stm32)
+  ap.CFLAGS  += -I$(SRC_FIXEDWING)/booz/
+  ap.CFLAGS  += -I$(SRC_FIXEDWING)/booz/arch/stm32/
+
+  ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
+  ap.CFLAGS += 
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
+  ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
+  ap.srcs += $(SRC_FIXEDWING)/booz/booz_radio_control.c                    \
+             $(SRC_FIXEDWING)/booz/radio_control/booz_radio_control_ppm.c  \
+             
$(SRC_FIXEDWING)/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
+  ap.CFLAGS += -DUSE_TIM2_IRQ
+
+endif

Added: paparazzi3/trunk/sw/airborne/stm32/ppm_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/ppm_hw.c                         (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/ppm_hw.c 2010-09-11 13:55:20 UTC (rev 
5851)
@@ -0,0 +1,31 @@
+
+#include "ppm.h"
+#include "std.h"
+#include "sys_time.h"
+
+
+#include "radio_control/booz_radio_control_ppm.h"
+#include BOARD_CONFIG
+
+
+uint16_t ppm_pulses[PPM_NB_CHANNEL];
+volatile bool_t ppm_valid;
+
+////////////////////////////////////////////////
+// RADIO_CONTROL_NB_CHANNEL  == PPM_NB_CHANNEL ?
+
+void ppm_init ( void ) 
+{
+  booz_radio_control_ppm_arch_init();
+  ppm_valid = FALSE;
+}
+
+void ppm_copy( void )
+{
+  ppm_valid = booz_radio_control_ppm_frame_available;
+
+  for (int i=0;i<PPM_NB_CHANNEL;i++)
+  {
+    ppm_pulses[i] = booz_radio_control_ppm_pulses[i]; 
+  }
+}

Added: paparazzi3/trunk/sw/airborne/stm32/ppm_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/ppm_hw.h                         (rev 0)
+++ paparazzi3/trunk/sw/airborne/stm32/ppm_hw.h 2010-09-11 13:55:20 UTC (rev 
5851)
@@ -0,0 +1,10 @@
+#ifndef PPM_HW_H
+#define PPM_HW_H
+
+
+extern void ppm_init ( void ); 
+
+#define PPM_NB_CHANNEL PPM_NB_PULSES
+
+
+#endif /* PPM_HW_H */