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[paparazzi-commits] [5979] move and rename booz actuators
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [5979] move and rename booz actuators |
|
Date: |
Mon, 27 Sep 2010 22:57:03 +0000 |
Revision: 5979
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5979
Author: flixr
Date: 2010-09-27 22:57:03 +0000 (Mon, 27 Sep 2010)
Log Message:
-----------
move and rename booz actuators
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/beth.xml
paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
paparazzi3/trunk/conf/settings/settings_booz2_asctec.xml
paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.c
paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.h
paparazzi3/trunk/sw/airborne/beth/main_stm32.c
paparazzi3/trunk/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
paparazzi3/trunk/sw/airborne/lisa/test/test_board.c
paparazzi3/trunk/sw/airborne/lisa/test_servos.c
paparazzi3/trunk/sw/airborne/test/test_actuators.c
paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/firmwares/fixedwing/actuators.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators.h
Removed Paths:
-------------
paparazzi3/trunk/sw/airborne/actuators.h
paparazzi3/trunk/sw/airborne/booz/arch/sim/actuators/
paparazzi3/trunk/sw/airborne/booz/booz_actuators.h
Modified: paparazzi3/trunk/conf/airframes/Poine/beth.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-09-27 22:56:54 UTC
(rev 5978)
+++ paparazzi3/trunk/conf/airframes/Poine/beth.xml 2010-09-27 22:57:03 UTC
(rev 5979)
@@ -142,9 +142,9 @@
main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
-main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+main_stm32.srcs += $(SRC_BOOZ)/actuators/actuators_asctec.c
#\
-#
$(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c
+#
$(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
# -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ
main_stm32.CFLAGS += -DUSE_I2C1
Modified: paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/conf/autopilot/booz_test_progs.makefile 2010-09-27
22:57:03 UTC (rev 5979)
@@ -198,9 +198,9 @@
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.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
-test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
test_actuators_mkk.CFLAGS += -DUSE_I2C0
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/conf/autopilot/lisa_l_test_progs.makefile 2010-09-27
22:57:03 UTC (rev 5979)
@@ -454,9 +454,9 @@
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.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
-test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
test_actuators_mkk.CFLAGS += -DUSE_I2C1
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -485,6 +485,6 @@
test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c
test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
-test_actuators_asctecv1.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
Modified: paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile 2010-09-27
22:57:03 UTC (rev 5979)
@@ -34,19 +34,19 @@
stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
# Telemetry
-stm_passthrough.CFLAGS += -DDOWNLINK
-stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+stm_passthrough.CFLAGS += -DDOWNLINK
+stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
stm_passthrough.srcs += downlink.c pprz_transport.c
stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c
# Link Overo
stm_passthrough.CFLAGS += -DUSE_OVERO_LINK
-stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
+stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2
-DUSE_DMA1_C2_IRQ
stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \
- $(SRC_LISA_ARCH)/lisa_overo_link_arch.c
+ $(SRC_LISA_ARCH)/lisa_overo_link_arch.c
# IMU
#
@@ -67,9 +67,9 @@
# Actuators
-#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+#stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+#stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
#stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
@@ -80,8 +80,8 @@
SERVOS_REFRESH_FREQ=50
endif
stm_passthrough.CFLAGS += -DSERVO_HZ=$(SERVOS_REFRESH_FREQ)
-stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
-stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
+stm_passthrough.srcs +=
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
# Baro
stm_passthrough.srcs += $(SRC_BOARD)/baro_board.c
@@ -89,27 +89,27 @@
stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# Vanes
-stm_passthrough.CFLAGS += -I $(SRC_CSC)
+stm_passthrough.CFLAGS += -I $(SRC_CSC)
stm_passthrough.CFLAGS += -DUSE_CAN1 \
- -DUSE_CAN1 \
- -DUSE_USB_LP_CAN1_RX0_IRQ \
- -DCAN_PRESCALER=12 \
- -DCAN_SJW_TQ=CAN_SJW_1tq \
- -DCAN_BS1_TQ=CAN_BS1_3tq \
- -DCAN_BS2_TQ=CAN_BS2_4tq \
- -DCAN_ERR_RESUME=DISABLE
+ -DUSE_CAN1 \
+ -DUSE_USB_LP_CAN1_RX0_IRQ \
+ -DCAN_PRESCALER=12 \
+ -DCAN_SJW_TQ=CAN_SJW_1tq \
+ -DCAN_BS1_TQ=CAN_BS1_3tq \
+ -DCAN_BS2_TQ=CAN_BS2_4tq \
+ -DCAN_ERR_RESUME=DISABLE
stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c
-stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c
+stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c
# ADC
stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c
stm_passthrough.CFLAGS += -DUSE_AD1 \
- -DUSE_AD1_1 \
- -DUSE_AD1_2 \
- -DUSE_AD1_3 \
- -DUSE_AD1_4 \
- -DUSE_ADC1_2_IRQ_HANDLER
+ -DUSE_AD1_1 \
+ -DUSE_AD1_2 \
+ -DUSE_AD1_3 \
+ -DUSE_AD1_4 \
+ -DUSE_ADC1_2_IRQ_HANDLER
# Battery monitor
@@ -140,9 +140,9 @@
overo_test_passthrough.srcs += $(SRC_FMS)/udp_transport2.c downlink.c
overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c
-#
+#
# use the passthrough to calibrate throttle range for castle creations motor
pwm motor controller
-#
+#
overo_blmc_calibrate.ARCHDIR = omap
overo_blmc_calibrate.LDFLAGS += -levent -lm
overo_blmc_calibrate.CFLAGS += -I$(ACINCLUDE) -I.
-I$(PAPARAZZI_HOME)/var/include
Modified: paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/conf/autopilot/lisa_test_progs.makefile 2010-09-27
22:57:03 UTC (rev 5979)
@@ -18,7 +18,7 @@
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
-# Boston, MA 02111-1307, USA.
+# Boston, MA 02111-1307, USA.
#
#
@@ -134,8 +134,8 @@
test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-test_led.srcs += $(SRC_LISA)/test_led.c \
- $(SRC_ARCH)/led_hw.c \
+test_led.srcs += $(SRC_LISA)/test_led.c \
+ $(SRC_ARCH)/led_hw.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_led.CFLAGS += -DUSE_LED
@@ -203,7 +203,7 @@
test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c
-test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
test_telemetry1.srcs += downlink.c pprz_transport.c
@@ -223,7 +223,7 @@
test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c
-test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_telemetry2.srcs += downlink.c pprz_transport.c
@@ -243,7 +243,7 @@
test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c
-test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart3
+test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart3
test_telemetry3.srcs += downlink.c pprz_transport.c
#
@@ -262,7 +262,7 @@
test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_datalink.srcs += $(SRC_ARCH)/uart_hw.c
-test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_datalink.srcs += downlink.c pprz_transport.c
test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
#test_datalink.srcs += $(SRC_BOOZ)/booz2_datalink.c
@@ -274,7 +274,7 @@
tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \
- $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += $(SRC_ARCH)/led_hw.c
@@ -313,7 +313,7 @@
test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_float.srcs += $(SRC_ARCH)/uart_hw.c
-test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_float.srcs += downlink.c pprz_transport.c
test_float.srcs += lisa/plug_sys.c
@@ -336,7 +336,7 @@
test_rc_24.ARCHDIR = $(ARCH)
test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ)
-DPERIPHERALS_AUTO_INIT
-test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
@@ -350,7 +350,7 @@
test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c
-test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_rc_24.srcs += downlink.c pprz_transport.c
test_rc_24.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=2
@@ -373,7 +373,7 @@
test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
-DPERIPHERALS_AUTO_INIT
test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_servos.LDFLAGS += -lm
-test_servos.srcs += $(SRC_LISA)/test_servos.c \
+test_servos.srcs += $(SRC_LISA)/test_servos.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_servos.CFLAGS += -DUSE_LED
@@ -382,12 +382,12 @@
test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-test_servos.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
$(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
+test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
#test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_servos.srcs += $(SRC_ARCH)/uart_hw.c
-#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+#test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
#test_servos.srcs += downlink.c pprz_transport.c
@@ -415,7 +415,7 @@
test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
-test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += math/pprz_trig_int.c
@@ -557,7 +557,7 @@
test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c
-test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
+test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK
-DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c
@@ -601,16 +601,16 @@
test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
-test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
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 \
-#
$(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
+#test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c \
+# $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
#test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
test_actuators_mkk.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
-DACTUATORS_ASCTEC_DEVICE=i2c1
-test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
-test_actuators_mkk.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
+test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
test_actuators_mkk.CFLAGS += -DUSE_I2C1
test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -635,13 +635,13 @@
test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c
-test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_actuators_asctec.srcs += downlink.c pprz_transport.c
test_actuators_asctec.srcs += $(SRC_BOOZ)/booz2_commands.c
-test_actuators_asctec.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
+test_actuators_asctec.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
#\
-#
$(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c
+#
$(SRC_BOOZ_ARCH)/actuators/actuators_asctec_arch.c
test_actuators_asctec.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
# -DBOOZ_START_DELAY=3
# -DUSE_TIM2_IRQ
@@ -688,7 +688,7 @@
test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_baro.srcs += $(SRC_ARCH)/uart_hw.c
-test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_baro.srcs += downlink.c pprz_transport.c
@@ -710,7 +710,7 @@
test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_baro2.srcs += $(SRC_ARCH)/uart_hw.c
-test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_baro2.srcs += downlink.c pprz_transport.c
test_baro2.srcs += $(SRC_LISA)/lisa_baro.c
@@ -736,7 +736,7 @@
test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_baro3.srcs += $(SRC_ARCH)/uart_hw.c
-test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_baro3.srcs += downlink.c pprz_transport.c
test_baro3.CFLAGS += -DUSE_I2C2
@@ -761,7 +761,7 @@
test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c
-test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
test_spi_slave.srcs += downlink.c pprz_transport.c
@@ -781,7 +781,7 @@
test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c
-test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
test_spi_slave2.srcs += downlink.c pprz_transport.c
@@ -793,8 +793,8 @@
stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
stm_test_spi_link.CFLAGS += -DUSE_LED
stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c
@@ -880,7 +880,7 @@
test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
-test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
test_max1168.srcs += downlink.c pprz_transport.c
#
@@ -909,7 +909,7 @@
test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
-test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
+test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart1
test_ms2001.srcs += downlink.c pprz_transport.c
#
@@ -1012,7 +1012,7 @@
test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
-test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_hmc5843.srcs += downlink.c pprz_transport.c
test_hmc5843.CFLAGS += -DUSE_I2C2
@@ -1087,7 +1087,7 @@
ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY
#ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
#ptw.srcs += $(SRC_ARCH)/uart_hw.c
-ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=OveroLinkTelemetry
+ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=OveroLinkTelemetry
ptw.srcs += downlink.c pprz_transport.c
# IMU
@@ -1114,9 +1114,9 @@
ptw.srcs += $(SRC_ARCH)/uart_hw.c
# Actuators
-ptw.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-ptw.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
-ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
+ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+ptw.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
+#ptw.srcs += $(SRC_BOOZ_ARCH)/actuators/actuators_mkk_arch.c
ptw.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ptw.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
ptw.CFLAGS += -DUSE_I2C1
@@ -1128,9 +1128,9 @@
test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH)
-DPERIPHERALS_AUTO_INIT
test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \
- $(SRC_LISA)/test_csc_servo.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
+ $(SRC_LISA)/test_csc_servo.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
test_csc_servo.CFLAGS += -DUSE_LED
test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c
test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -1141,20 +1141,20 @@
test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c
test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_csc_servo.srcs += downlink.c pprz_transport.c
# setting CAN prescaler to generate 3MHz time quanta, drift compensiation to 1
# time quanta, bit section 1 to 3 time quanta and bit section 2 to 4 time
quanta
# resulting in a 375kHz CAN bitrate expected by the CSC.
test_csc_servo.CFLAGS += \
- -DUSE_CAN1 \
- -DUSE_USB_LP_CAN1_RX0_IRQ \
- -DCAN_PRESCALER=12 \
- -DCAN_SJW_TQ=CAN_SJW_1tq \
- -DCAN_BS1_TQ=CAN_BS1_3tq \
- -DCAN_BS2_TQ=CAN_BS2_4tq \
- -DCAN_ERR_RESUME=DISABLE
+ -DUSE_CAN1 \
+ -DUSE_USB_LP_CAN1_RX0_IRQ \
+ -DCAN_PRESCALER=12 \
+ -DCAN_SJW_TQ=CAN_SJW_1tq \
+ -DCAN_BS1_TQ=CAN_BS1_3tq \
+ -DCAN_BS2_TQ=CAN_BS2_4tq \
+ -DCAN_ERR_RESUME=DISABLE
test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
@@ -1167,8 +1167,8 @@
test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
test_gps.CFLAGS += -DUSE_LED
test_gps.srcs += $(SRC_ARCH)/led_hw.c
test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -1178,7 +1178,7 @@
test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_gps.srcs += $(SRC_ARCH)/uart_hw.c
-test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_gps.srcs += downlink.c pprz_transport.c
test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
@@ -1198,21 +1198,21 @@
# test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
# test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ)
-I$(SRC_BOOZ_ARCH)
# test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \
-# $(SRC_ARCH)/stm32_exceptions.c \
-# $(SRC_ARCH)/stm32_vector_table.c
+# $(SRC_ARCH)/stm32_exceptions.c \
+# $(SRC_ARCH)/stm32_vector_table.c
# test_adc.CFLAGS += -DUSE_LED
# test_adc.srcs += $(SRC_ARCH)/led_hw.c
# test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
# test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-DTIME_LED=1
# test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-#
+#
# test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
# test_adc.srcs += $(SRC_ARCH)/uart_hw.c
-#
-# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+#
+# test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
# test_adc.srcs += downlink.c pprz_transport.c
-#
-# test_adc.srcs += $(SRC_ARCH)/adc_hw.c
+#
+# test_adc.srcs += $(SRC_ARCH)/adc_hw.c
#
# test adc
@@ -1221,9 +1221,9 @@
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adc.srcs = $(SRC_ARCH)/adc_hw.c \
- $(SRC_LISA)/test_adc.c \
- $(SRC_ARCH)/stm32_exceptions.c \
- $(SRC_ARCH)/stm32_vector_table.c
+ $(SRC_LISA)/test_adc.c \
+ $(SRC_ARCH)/stm32_exceptions.c \
+ $(SRC_ARCH)/stm32_vector_table.c
test_adc.CFLAGS += -DUSE_LED
test_adc.srcs += $(SRC_ARCH)/led_hw.c
test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -1234,7 +1234,7 @@
test_adc.srcs += $(SRC_ARCH)/uart_hw.c
test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_adc.srcs += downlink.c pprz_transport.c
test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
@@ -1262,7 +1262,7 @@
test_board.srcs += $(SRC_ARCH)/uart_hw.c
test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
-test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
+test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
-DDOWNLINK_DEVICE=Uart2
test_board.srcs += downlink.c pprz_transport.c
test_board.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -1274,7 +1274,7 @@
test_board.CFLAGS += -DUSE_I2C1
-test_board.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
$(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_arch.c
+test_board.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
$(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
@@ -1390,5 +1390,3 @@
hs_gyro_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
hs_gyro_crista.CFLAGS += -DMEASURED_SENSOR=gyro_unscaled.p
-DMEASURED_SENSOR_NB=0
-
-
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
2010-09-27 22:57:03 UTC (rev 5979)
@@ -8,6 +8,6 @@
# Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup
of directories
ifeq ($(ARCH), stm32)
-ap.srcs +=
$(SRC_FIXEDWING)/booz/arch/stm32/actuators/booz_actuators_pwm_arch.c
+ap.srcs += $(SRC_FIXEDWING)/booz/arch/stm32/actuators/actuators_pwm_arch.c
ap.CFLAGS += -I$(SRC_FIXEDWING)/booz/arch/stm32/
endif
Modified: paparazzi3/trunk/conf/settings/settings_booz2_asctec.xml
===================================================================
--- paparazzi3/trunk/conf/settings/settings_booz2_asctec.xml 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/conf/settings/settings_booz2_asctec.xml 2010-09-27
22:57:03 UTC (rev 5979)
@@ -2,13 +2,13 @@
<dl_settings>
<dl_settings NAME="asctec">
- <dl_setting var="actuators_asctec.cmd" min="0" step="1" max="3"
module="actuators/booz_actuators_asctec" shortname="cmd"
values="NONE|TEST|REVERSE|SET_ADDR" handler="SetCommand"/>
- <dl_setting var="actuators_asctec.cur_addr" min="0" step="1" max="3"
module="actuators/booz_actuators_asctec" shortname="cur_addr"
values="FRONT|BACK|LEFT|RIGHT" handler="SetCurAddr"/>
- <dl_setting var="actuators_asctec.new_addr" min="0" step="1" max="3"
module="actuators/booz_actuators_asctec" shortname="new_addr"
values="FRONT|BACK|LEFT|RIGHT" handler="SetNewAddr"/>
- <dl_setting var="actuators_asctec.cmds[PITCH]" min="-100" step="1"
max="100" module="actuators/booz_actuators_asctec" shortname="pitch"/>
- <dl_setting var="actuators_asctec.cmds[ROLL]" min="-100" step="1"
max="100" module="actuators/booz_actuators_asctec" shortname="roll"/>
- <dl_setting var="actuators_asctec.cmds[YAW]" min="-100" step="1"
max="100" module="actuators/booz_actuators_asctec" shortname="yaw"/>
- <dl_setting var="actuators_asctec.cmds[THRUST]" min="0" step="1"
max="200" module="actuators/booz_actuators_asctec" shortname="power"/>
+ <dl_setting var="actuators_asctec.cmd" min="0" step="1" max="3"
module="actuators/actuators_asctec" shortname="cmd"
values="NONE|TEST|REVERSE|SET_ADDR" handler="SetCommand"/>
+ <dl_setting var="actuators_asctec.cur_addr" min="0" step="1" max="3"
module="actuators/actuators_asctec" shortname="cur_addr"
values="FRONT|BACK|LEFT|RIGHT" handler="SetCurAddr"/>
+ <dl_setting var="actuators_asctec.new_addr" min="0" step="1" max="3"
module="actuators/actuators_asctec" shortname="new_addr"
values="FRONT|BACK|LEFT|RIGHT" handler="SetNewAddr"/>
+ <dl_setting var="actuators_asctec.cmds[PITCH]" min="-100" step="1"
max="100" module="actuators/actuators_asctec" shortname="pitch"/>
+ <dl_setting var="actuators_asctec.cmds[ROLL]" min="-100" step="1"
max="100" module="actuators/actuators_asctec" shortname="roll"/>
+ <dl_setting var="actuators_asctec.cmds[YAW]" min="-100" step="1"
max="100" module="actuators/actuators_asctec" shortname="yaw"/>
+ <dl_setting var="actuators_asctec.cmds[THRUST]" min="0" step="1"
max="200" module="actuators/actuators_asctec" shortname="power"/>
</dl_settings>
</dl_settings>
Deleted: paparazzi3/trunk/sw/airborne/actuators.h
===================================================================
--- paparazzi3/trunk/sw/airborne/actuators.h 2010-09-27 22:56:54 UTC (rev
5978)
+++ paparazzi3/trunk/sw/airborne/actuators.h 2010-09-27 22:57:03 UTC (rev
5979)
@@ -1,59 +0,0 @@
-/* $Id$
- *
- * (c) 2003-2005 Pascal Brisset, Antoine Drouin
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING. If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \file actuators.h
- * \brief Hardware independent API for actuators (servos, motor controllers)
- *
- */
-#ifndef ACTUATORS_H
-#define ACTUATORS_H
-
-#if defined ACTUATORS
-
-#include "paparazzi.h"
-
-/** Defines SetActuatorsFromCommands() macro */
-#include "airframe.h"
-
-/** Must be defined by specific hardware implementation */
-extern void actuators_init( void );
-
-/** Temporary storage (for debugging purpose, downlinked via telemetry) */
-extern uint16_t actuators[SERVOS_NB];
-
-#include ACTUATORS
-
-#define SetServo(x, v) { \
- Actuator(x) = SERVOS_TICS_OF_USEC(ChopServo(v,700,2400)); \
- actuators[x] = v; \
- }
-
-#else /* ACTUATORS */
-
-// define empty SetServo makro for sim
-#define SetServo(x, v) {}
-
-#endif /* ACTUATORS */
-
-
-#endif /* ACTUATORS_H */
Modified: paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.c 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.c 2010-09-27
22:57:03 UTC (rev 5979)
@@ -2,10 +2,10 @@
#include "actuators.h"
#include "servos_direct_hw.h"
-int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
void actuators_init ( void ) {
- booz_actuators_pwm_arch_init();
+ actuators_pwm_arch_init();
}
Modified: paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.h 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/servos_direct_hw.h 2010-09-27
22:57:03 UTC (rev 5979)
@@ -4,15 +4,15 @@
#include "std.h"
-#define BOOZ_ACTUATORS_PWM_NB 6
-extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+#define ACTUATORS_PWM_NB 6
+extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
-#include "actuators/booz_actuators_pwm_arch.h"
+#include "actuators/actuators_pwm_arch.h"
#define SERVOS_TICS_OF_USEC(_v) (_v)
-#define Actuator(_x) booz_actuators_pwm_values[_x]
+#define Actuator(_x) actuators_pwm_values[_x]
#define ChopServo(x,a,b) Chop(x, a, b)
-#define ActuatorsCommit booz_actuators_pwm_commit
+#define ActuatorsCommit actuators_pwm_commit
#endif /* SERVOS_DIRECT_HW_H */
Modified: paparazzi3/trunk/sw/airborne/beth/main_stm32.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-09-27 22:56:54 UTC
(rev 5978)
+++ paparazzi3/trunk/sw/airborne/beth/main_stm32.c 2010-09-27 22:57:03 UTC
(rev 5979)
@@ -29,7 +29,7 @@
#include "sys_time.h"
#include "downlink.h"
#include "booz/booz2_commands.h"
-#include "booz/booz_actuators.h"
+#include "booz/actuators.h"
//#include "booz/booz_radio_control.h"
#include "imu.h"
#include "lisa/lisa_overo_link.h"
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/booz/arch/sim/actuators_buss_twi_blmc_hw.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -25,7 +25,7 @@
#define ACTUATORS_BUSS_TWI_BLMC_HW_H
#include "airframe.h"
-#include "actuators/booz_supervision.h"
+#include "actuators/supervision.h"
#define BUSS_TWI_BLMC_NB 4
extern uint8_t buss_twi_blmc_motor_power[BUSS_TWI_BLMC_NB];
Deleted: paparazzi3/trunk/sw/airborne/booz/booz_actuators.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_actuators.h 2010-09-27 22:56:54 UTC
(rev 5978)
+++ paparazzi3/trunk/sw/airborne/booz/booz_actuators.h 2010-09-27 22:57:03 UTC
(rev 5979)
@@ -1,13 +0,0 @@
-#ifndef BOOZ_ACTUATORS_H
-#define BOZZ_ACTUATORS_H
-
-//#include ACTUATORS
-//#include "booz2_servos_direct_hw.h"
-//#include "booz2_control_surfaces.h"
-
-#include "std.h"
-
-extern void actuators_init(void);
-extern void actuators_set(bool_t motors_on);
-
-#endif /* BOOZ_ACTUATORS_H */
Copied: paparazzi3/trunk/sw/airborne/firmwares/fixedwing/actuators.h (from rev
5978, paparazzi3/trunk/sw/airborne/actuators.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/fixedwing/actuators.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/firmwares/fixedwing/actuators.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -0,0 +1,59 @@
+/* $Id$
+ *
+ * (c) 2003-2005 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/** \file actuators.h
+ * \brief Hardware independent API for actuators (servos, motor controllers)
+ *
+ */
+#ifndef ACTUATORS_H
+#define ACTUATORS_H
+
+#if defined ACTUATORS
+
+#include "paparazzi.h"
+
+/** Defines SetActuatorsFromCommands() macro */
+#include "airframe.h"
+
+/** Must be defined by specific hardware implementation */
+extern void actuators_init( void );
+
+/** Temporary storage (for debugging purpose, downlinked via telemetry) */
+extern uint16_t actuators[SERVOS_NB];
+
+#include ACTUATORS
+
+#define SetServo(x, v) { \
+ Actuator(x) = SERVOS_TICS_OF_USEC(ChopServo(v,700,2400)); \
+ actuators[x] = v; \
+ }
+
+#else /* ACTUATORS */
+
+// define empty SetServo makro for sim
+#define SetServo(x, v) {}
+
+#endif /* ACTUATORS */
+
+
+#endif /* ACTUATORS_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -1,8 +1,8 @@
-#include "booz/booz_actuators.h"
-#include "booz/actuators/booz_actuators_asctec.h"
+#include "actuators.h"
+#include "actuators/actuators_asctec.h"
#ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
-#include "booz/actuators/booz_supervision.h"
+#include "actuators/supervision.h"
#endif
#include "booz/booz2_commands.h"
@@ -10,7 +10,7 @@
#include "sys_time.h"
-struct ActuatorsAsctec actuators_asctec;
+struct ActuatorsAsctec actuators_asctec;
uint32_t actuators_delay_time;
bool_t actuators_delay_done;
@@ -124,11 +124,11 @@
actuators_asctec.i2c_trans.buf[1] = supervision.commands[SERVO_BACK];
actuators_asctec.i2c_trans.buf[2] = supervision.commands[SERVO_LEFT];
actuators_asctec.i2c_trans.buf[3] = supervision.commands[SERVO_RIGHT];
- actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0]
+ actuators_asctec.i2c_trans.buf[1] +
+ actuators_asctec.i2c_trans.buf[4] = 0xAA + actuators_asctec.i2c_trans.buf[0]
+ actuators_asctec.i2c_trans.buf[1] +
actuators_asctec.i2c_trans.buf[2]
+ actuators_asctec.i2c_trans.buf[3];
#endif
i2c_submit(&ACTUATORS_ASCTEC_DEVICE, &actuators_asctec.i2c_trans);
-
+
}
#endif /* ACTUATORS_ASCTEC_V2_PROTOCOL */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_ACTUATORS_ASCTEC_H
-#define BOOZ_ACTUATORS_ASCTEC_H
+#ifndef ACTUATORS_ASCTEC_H
+#define ACTUATORS_ASCTEC_H
#include "i2c.h"
@@ -55,17 +55,17 @@
extern struct ActuatorsAsctec actuators_asctec;
-#define booz_actuators_asctec_SetCommand(_v) { \
+#define actuators_asctec_SetCommand(_v) { \
actuators_asctec.cmd = _v; \
}
-#define booz_actuators_asctec_SetNewAddr(_v) { \
+#define actuators_asctec_SetNewAddr(_v) { \
actuators_asctec.new_addr = _v; \
}
-#define booz_actuators_asctec_SetCurAddr(_v) { \
+#define actuators_asctec_SetCurAddr(_v) { \
actuators_asctec.cur_addr = _v; \
}
-#endif /* BOOZ_ACTUATORS_ASCTEC_H */
+#endif /* ACTUATORS_ASCTEC_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -21,28 +21,28 @@
* Boston, MA 02111-1307, USA.
*/
-#include "booz/booz_actuators.h"
-#include "booz/actuators/booz_actuators_heli.h"
+#include "actuators.h"
+#include "actuators/actuators_heli.h"
#include "booz/booz2_commands.h"
/* let's start butchery now and use the actuators_pwm arch functions */
-#include "booz/actuators/booz_actuators_pwm.h"
+#include "actuators/actuators_pwm.h"
/* get SetActuatorsFromCommands() macro */
#include "airframe.h"
/* define the glue between control and SetActuatorsFromCommands */
-#define actuators booz_actuators_pwm_values
+#define actuators actuators_pwm_values
#define SERVOS_TICS_OF_USEC(_v) (_v)
#define ESC_STOPPED SERVOS_TICS_OF_USEC(1000)
-#define ESC_HOVER SERVOS_TICS_OF_USEC(1750)
-#define Actuator(_x) booz_actuators_pwm_values[_x]
+#define ESC_HOVER SERVOS_TICS_OF_USEC(1750)
+#define Actuator(_x) actuators_pwm_values[_x]
#define ChopServo(x,a,b) Chop(x, a, b)
-#define ActuatorsCommit booz_actuators_pwm_commit
+#define ActuatorsCommit actuators_pwm_commit
-int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
-void actuators_init(void) { booz_actuators_pwm_arch_init(); }
+void actuators_init(void) { actuators_pwm_arch_init(); }
void actuators_set(bool_t motors_on) {
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_heli.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -1,6 +1,6 @@
/*
* $Id: actuators_heli$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -22,9 +22,8 @@
*
*/
-#ifndef BOOZ_ACTUATORS_HELI_H
-#define BOOZ_ACTUATORS_HELI_H
+#ifndef ACTUATORS_HELI_H
+#define ACTUATORS_HELI_H
-#endif /* BOOZ_ACTUATORS_HELI_H */
-
+#endif /* ACTUATORS_HELI_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -21,8 +21,8 @@
* Boston, MA 02111-1307, USA.
*/
-#include "booz/booz_actuators.h"
-#include "booz/actuators/booz_actuators_mkk.h"
+#include "actuators.h"
+#include "actuators/actuators_mkk.h"
#include "booz/booz2_commands.h"
#include "i2c.h"
@@ -46,7 +46,7 @@
actuators_mkk.trans[i].stop_after_transmit = TRUE;
actuators_mkk.trans[i].status = I2CTransSuccess;
}
-
+
#if defined BOOZ_START_DELAY && ! defined SITL
actuators_delay_done = FALSE;
SysTimeTimerStart(actuators_delay_time);
@@ -54,7 +54,7 @@
actuators_delay_done = TRUE;
actuators_delay_time = 0;
#endif
-
+
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -1,6 +1,6 @@
/*
- * $Id: actuators_buss_twi_blmc_hw.h 3847 2009-08-02 21:47:31Z poine $
- *
+ * $Id: actuators_mkk.h 3847 2009-08-02 21:47:31Z poine $
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,11 +18,11 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_ACTUATORS_MKK_H
-#define BOOZ_ACTUATORS_MKK_H
+#ifndef ACTUATORS_MKK_H
+#define ACTUATORS_MKK_H
#include "std.h"
#include "i2c.h"
@@ -34,11 +34,11 @@
struct i2c_transaction trans[ACTUATORS_MKK_NB];
};
-extern struct ActuatorsMkk actuators_mkk;
+extern struct ActuatorsMkk actuators_mkk;
-#include "actuators/booz_supervision.h"
+#include "actuators/supervision.h"
-#endif /* BOOZ_ACTUATORS_MKK_H */
+#endif /* ACTUATORS_MKK_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -1,7 +1,7 @@
-#include "actuators/booz_actuators_pwm.h"
+#include "actuators/actuators_pwm.h"
-int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
-void booz_actuators_init(void) {
- booz_actuators_pwm_arch_init();
+void actuators_init(void) {
+ actuators_pwm_arch_init();
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/actuators_pwm.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of Paparazzi.
@@ -18,19 +18,19 @@
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
-#ifndef BOOZ_ACTUATORS_PWM_H
-#define BOOZ_ACTUATORS_PWM_H
+#ifndef ACTUATORS_PWM_H
+#define ACTUATORS_PWM_H
#include "std.h"
-#define BOOZ_ACTUATORS_PWM_NB 6
-extern int32_t booz_actuators_pwm_values[BOOZ_ACTUATORS_PWM_NB];
+#define ACTUATORS_PWM_NB 6
+extern int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
-extern void booz_actuators_init(void);
+extern void actuators_init(void);
-#include "actuators/booz_actuators_pwm_arch.h"
+#include "actuators_pwm_arch.h"
-#endif /* BOOZ_ACTUATORS_PWM_H */
+#endif /* ACTUATORS_PWM_H */
Added:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
(rev 0)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -0,0 +1,3 @@
+#include "actuators/actuators_mkk.h"
+
+void actuators_mkk_arch_init(void) {}
Copied:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
(from rev 5978,
paparazzi3/trunk/sw/airborne/booz/arch/sim/actuators/booz_actuators_mkk_arch.h)
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
(rev 0)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/sim/actuators_mkk_arch.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -0,0 +1,29 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2009 Antoine Drouin <address@hidden>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#ifndef ACTUATORS_MKK_ARCH_H
+#define ACTUATORS_MKK_ARCH_H
+
+#define ActuatorsMkkArchSend() {}
+
+#endif /* ACTUATORS_MKK_ARCH_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -22,7 +22,7 @@
*
*/
-#include "booz/actuators/booz_actuators_pwm.h"
+#include "booz/actuators/actuators_pwm.h"
#include <stm32/gpio.h>
#include <stm32/rcc.h>
@@ -36,7 +36,7 @@
#define SERVO_HZ 40
#endif
-void booz_actuators_pwm_arch_init(void) {
+void actuators_pwm_arch_init(void) {
/* TIM3 and TIM4 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
@@ -114,11 +114,11 @@
}
/* set pulse widths from actuator values, assumed to be in us */
-void booz_actuators_pwm_commit(void) {
- TIM_SetCompare1(TIM3, booz_actuators_pwm_values[0]);
- TIM_SetCompare2(TIM3, booz_actuators_pwm_values[1]);
- TIM_SetCompare3(TIM3, booz_actuators_pwm_values[2]);
- TIM_SetCompare4(TIM3, booz_actuators_pwm_values[3]);
- TIM_SetCompare3(TIM4, booz_actuators_pwm_values[4]);
- TIM_SetCompare4(TIM4, booz_actuators_pwm_values[5]);
+void actuators_pwm_commit(void) {
+ TIM_SetCompare1(TIM3, actuators_pwm_values[0]);
+ TIM_SetCompare2(TIM3, actuators_pwm_values[1]);
+ TIM_SetCompare3(TIM3, actuators_pwm_values[2]);
+ TIM_SetCompare4(TIM3, actuators_pwm_values[3]);
+ TIM_SetCompare3(TIM4, actuators_pwm_values[4]);
+ TIM_SetCompare4(TIM4, actuators_pwm_values[5]);
}
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
2010-09-27 22:56:54 UTC (rev 5978)
+++
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -26,10 +26,10 @@
* STM32 PWM servos handling
*/
-#ifndef BOOZ_ACTUATORS_PWM_ARCH_H
-#define BOOZ_ACTUATORS_PWM_ARCH_H
+#ifndef ACTUATORS_PWM_ARCH_H
+#define ACTUATORS_PWM_ARCH_H
-extern void booz_actuators_pwm_arch_init(void);
-extern void booz_actuators_pwm_commit(void);
+extern void actuators_pwm_arch_init(void);
+extern void actuators_pwm_commit(void);
-#endif /* BOOZ_ACTUATORS_PWM_ARCH_H */
+#endif /* ACTUATORS_PWM_ARCH_H */
Modified:
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators/supervision.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -22,7 +22,7 @@
*
*/
-#include "actuators/booz_supervision.h"
+#include "actuators/supervision.h"
//#include <stdint.h>
#ifndef INT32_MIN
Copied: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators.h (from rev
5978, paparazzi3/trunk/sw/airborne/booz/booz_actuators.h)
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators.h
(rev 0)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/actuators.h
2010-09-27 22:57:03 UTC (rev 5979)
@@ -0,0 +1,13 @@
+#ifndef ACTUATORS_H
+#define ACTUATORS_H
+
+//#include ACTUATORS
+//#include "booz2_servos_direct_hw.h"
+//#include "booz2_control_surfaces.h"
+
+#include "std.h"
+
+extern void actuators_init(void);
+extern void actuators_set(bool_t motors_on);
+
+#endif /* ACTUATORS_H */
Modified: paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/main.c 2010-09-27
22:57:03 UTC (rev 5979)
@@ -35,7 +35,7 @@
#include "datalink.h"
#include "booz2_commands.h"
-#include "booz_actuators.h"
+#include "actuators.h"
#include "booz_radio_control.h"
#include "imu.h"
Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -26,8 +26,8 @@
#include "sys_time.h"
#include "downlink.h"
#include "booz/booz2_commands.h"
-#include "booz/booz_actuators.h"
-#include "booz/actuators/booz_actuators_pwm.h"
+#include "actuators.h"
+#include "actuators/actuators_pwm.h"
#include "imu.h"
#include "booz/booz_radio_control.h"
#include "lisa/lisa_overo_link.h"
@@ -71,8 +71,8 @@
extern uint8_t adc_new_data_trigger;
-#define ActuatorsCommit() booz_actuators_pwm_commit();
-#define actuators booz_actuators_pwm_values
+#define ActuatorsCommit() actuators_pwm_commit();
+#define actuators actuators_pwm_values
int main(void) {
@@ -94,7 +94,7 @@
imu_init();
baro_init();
radio_control_init();
- booz_actuators_init();
+ actuators_init();
overo_link_init();
cscp_init();
adc_init();
@@ -212,12 +212,12 @@
/* pwm acuators down */
if (radio_control.values[RADIO_CONTROL_MODE] <= 150) {
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
- booz_actuators_pwm_values[i] =
overo_link.down.msg.pwm_outputs_usecs[i];
+ actuators_pwm_values[i] =
overo_link.down.msg.pwm_outputs_usecs[i];
}
if (radio_control.values[RADIO_CONTROL_KILL] > 150) {
actuators[SERVO_THROTTLE] = SERVO_THROTTLE_MIN;
}
- booz_actuators_pwm_commit();
+ actuators_pwm_commit();
}
}
Modified: paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
2010-09-27 22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
2010-09-27 22:57:03 UTC (rev 5979)
@@ -25,10 +25,10 @@
#include "init_hw.h"
#include "sys_time.h"
#include "booz2_commands.h"
-#include "booz_actuators.h"
+#include "actuators.h"
#include "downlink.h"
-#include "actuators/booz_actuators_asctec.h"
+#include "actuators/actuators_asctec.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
Modified: paparazzi3/trunk/sw/airborne/lisa/test/test_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test/test_board.c 2010-09-27 22:56:54 UTC
(rev 5978)
+++ paparazzi3/trunk/sw/airborne/lisa/test/test_board.c 2010-09-27 22:57:03 UTC
(rev 5979)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include <inttypes.h>
@@ -39,7 +39,7 @@
#include "settings.h"
#include "lisa/lisa_baro.h"
-#include "booz/actuators/booz_actuators_pwm.h"
+#include "actuators/actuators_pwm.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -101,10 +101,10 @@
hw_init();
sys_time_init();
led_init();
-
+
baro_init();
- booz_actuators_init();
-
+ actuators_init();
+
// cur_test = TestTypeNone;
cur_test = TestTypeBldc;
@@ -124,7 +124,7 @@
DatalinkEvent();
tests[cur_test]._event();
-
+
}
void start_test(void) {
@@ -153,26 +153,26 @@
static inline void test_baro_on_baro_diff(void);
static inline void test_baro_on_baro_abs(void);
static void test_baro_start(void) {all_led_green();}
-static void test_baro_periodic(void) {
+static void test_baro_periodic(void) {
RunOnceEvery(2, {baro_periodic();});
RunOnceEvery(100,{
- DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
- &i2c2_errors.ack_fail_cnt,
- &i2c2_errors.miss_start_stop_cnt,
- &i2c2_errors.arb_lost_cnt,
- &i2c2_errors.over_under_cnt,
- &i2c2_errors.pec_recep_cnt,
- &i2c2_errors.timeout_tlow_cnt,
- &i2c2_errors.smbus_alert_cnt,
- &i2c2_errors.unexpected_event_cnt,
- &i2c2_errors.last_unexpected_event);
+ DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+ &i2c2_errors.ack_fail_cnt,
+ &i2c2_errors.miss_start_stop_cnt,
+ &i2c2_errors.arb_lost_cnt,
+ &i2c2_errors.over_under_cnt,
+ &i2c2_errors.pec_recep_cnt,
+ &i2c2_errors.timeout_tlow_cnt,
+ &i2c2_errors.smbus_alert_cnt,
+ &i2c2_errors.unexpected_event_cnt,
+ &i2c2_errors.last_unexpected_event);
});
}
static void test_baro_event(void) {BaroEvent(test_baro_on_baro_abs,
test_baro_on_baro_diff);}
static inline void test_baro_on_baro_abs(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw,
&baro.diff_raw);});
}
-static inline void test_baro_on_baro_diff(void) {
+static inline void test_baro_on_baro_diff(void) {
RunOnceEvery(5,{DOWNLINK_SEND_BOOZ_BARO2_RAW(DefaultChannel, &baro.abs_raw,
&baro.diff_raw);});
}
@@ -190,16 +190,16 @@
i2c1_transmit(0x58, 1, NULL);
RunOnceEvery(100,{
- DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
- &i2c1_errors.ack_fail_cnt,
- &i2c1_errors.miss_start_stop_cnt,
- &i2c1_errors.arb_lost_cnt,
- &i2c1_errors.over_under_cnt,
- &i2c1_errors.pec_recep_cnt,
- &i2c1_errors.timeout_tlow_cnt,
- &i2c1_errors.smbus_alert_cnt,
- &i2c1_errors.unexpected_event_cnt,
- &i2c1_errors.last_unexpected_event);
+ DOWNLINK_SEND_I2C_ERRORS(DefaultChannel,
+ &i2c1_errors.ack_fail_cnt,
+ &i2c1_errors.miss_start_stop_cnt,
+ &i2c1_errors.arb_lost_cnt,
+ &i2c1_errors.over_under_cnt,
+ &i2c1_errors.pec_recep_cnt,
+ &i2c1_errors.timeout_tlow_cnt,
+ &i2c1_errors.smbus_alert_cnt,
+ &i2c1_errors.unexpected_event_cnt,
+ &i2c1_errors.last_unexpected_event);
});
}
@@ -217,8 +217,8 @@
foo += 0.0025;
int32_t bar = 1500 + 500. * sin(foo);
for (uint8_t i=0; i<6; i++)
- booz_actuators_pwm_values[i] = bar;
- booz_actuators_pwm_commit();
+ actuators_pwm_values[i] = bar;
+ actuators_pwm_commit();
}
static void test_srvo_event(void) {}
@@ -243,7 +243,7 @@
}
static void test_uart_periodic(void) {
-
+
if (idx_tx<sizeof(buf_src)) {
switch (direction) {
case OneToThree : uart1_transmit(buf_src[idx_tx]); break;
@@ -256,21 +256,21 @@
}
static void test_uart_event(void) {
-
+
if (Uart3ChAvailable()) {
buf_dest[idx_rx] = Uart3Getch();
if (idx_rx<sizeof(buf_src)) {
DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest);
idx_rx++;
if (idx_rx == sizeof(buf_src)) {
- if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
- all_led_red(); // test failed
- }
- else { // start test in other direction
- idx_rx = 0;
- idx_tx = 0;
- direction = ThreeToOne;
- }
+ if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
+ all_led_red(); // test failed
+ }
+ else { // start test in other direction
+ idx_rx = 0;
+ idx_tx = 0;
+ direction = ThreeToOne;
+ }
}
}
}
@@ -281,12 +281,12 @@
DOWNLINK_SEND_DEBUG(DefaultChannel, sizeof(buf_src), buf_dest);
idx_rx++;
if (idx_rx == sizeof(buf_src)) {
- if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
- all_led_red();
- }
- else {
- all_led_green();
- }
+ if ( memcmp(buf_dest, buf_src, sizeof(buf_src)) ) {
+ all_led_red();
+ }
+ else {
+ all_led_green();
+ }
}
}
}
@@ -348,4 +348,3 @@
break;
}
}
-
Modified: paparazzi3/trunk/sw/airborne/lisa/test_servos.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/test_servos.c 2010-09-27 22:56:54 UTC
(rev 5978)
+++ paparazzi3/trunk/sw/airborne/lisa/test_servos.c 2010-09-27 22:57:03 UTC
(rev 5979)
@@ -25,7 +25,7 @@
#include "init_hw.h"
#include "sys_time.h"
-#include "actuators/booz_actuators_pwm.h"
+#include "actuators/actuators_pwm.h"
static inline void main_init( void );
static inline void main_periodic( void );
@@ -43,20 +43,20 @@
static inline void main_init( void ) {
hw_init();
sys_time_init();
- booz_actuators_init();
+ actuators_init();
}
static inline void main_periodic( void ) {
static float foo = 0.;
foo += 0.0025;
int32_t bar = 1500 + 500. * sin(foo);
- booz_actuators_pwm_values[0] = bar;
- booz_actuators_pwm_values[1] = bar;
- booz_actuators_pwm_values[2] = bar;
- booz_actuators_pwm_values[3] = bar;
- booz_actuators_pwm_values[4] = bar;
- booz_actuators_pwm_values[5] = bar;
- booz_actuators_pwm_commit();
+ actuators_pwm_values[0] = bar;
+ actuators_pwm_values[1] = bar;
+ actuators_pwm_values[2] = bar;
+ actuators_pwm_values[3] = bar;
+ actuators_pwm_values[4] = bar;
+ actuators_pwm_values[5] = bar;
+ actuators_pwm_commit();
LED_PERIODIC();
}
Modified: paparazzi3/trunk/sw/airborne/test/test_actuators.c
===================================================================
--- paparazzi3/trunk/sw/airborne/test/test_actuators.c 2010-09-27 22:56:54 UTC
(rev 5978)
+++ paparazzi3/trunk/sw/airborne/test/test_actuators.c 2010-09-27 22:57:03 UTC
(rev 5979)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
@@ -28,7 +28,7 @@
#include "i2c.h"
#include "booz/booz2_commands.h"
-#include "booz/booz_actuators.h"
+#include "actuators.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
@@ -55,7 +55,7 @@
static inline void main_periodic_task( void ) {
-
+
booz2_commands[COMMAND_ROLL]=0;
booz2_commands[COMMAND_PITCH]=0;
booz2_commands[COMMAND_YAW]=0;
Modified: paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c
===================================================================
--- paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-09-27
22:56:54 UTC (rev 5978)
+++ paparazzi3/trunk/sw/simulator/nps/nps_autopilot_booz.c 2010-09-27
22:57:03 UTC (rev 5979)
@@ -7,7 +7,7 @@
#include "imu.h"
#include "firmwares/rotorcraft/baro.h"
-#include "actuators/booz_supervision.h"
+#include "actuators/supervision.h"
struct NpsAutopilot autopilot;
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- [paparazzi-commits] [5979] move and rename booz actuators,
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