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Re: [Paparazzi-devel] Camera control with Lisa/M

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Camera control with Lisa/M
Date: Mon, 12 May 2014 19:25:01 +0200
Hi Jorn,

remove
      <define name = "LED_7_BANK"       value = "0"/>
      <define name = "LED_7_PIN"        value = "22"/>
      <define name = "USE_LED_7"        value = "1"/>
as this doesn't abuse the LED defines anymore as per https://github.com/paparazzi/paparazzi/pull/652

Aalso remove the the DC_PUSH and DC_RELEASE defines, since they now default to gpio_clear (low) for RELEASE and gpio_set (high) for PUSH.
Or if you want to reverse them, explicitly set them to the opposite behavior:
      <define name="DC_PUSH" value="gpio_clear"/>
      <define name="DC_RELEASE" value="gpio_set"/>

Cheers, Felix


On Fri, May 2, 2014 at 12:52 AM, Jorn Anke <address@hidden> wrote:
Hi,

I have just updated Ubuntu to 14.04, and paparazzi to latest master, and then noticed there have been made a few modifications to the paparazzi system.

I think I have figured most of the changes, but I still hove problems with how to re-configure the settings for a digital camera. My <modules> section now looks like this:

  <modules>
      <load     name = "baro_sim.xml"/>
      <load     name = "nav_survey_zamboni.xml"/>
      <load     name = "digital_cam.xml">
      <!-- <define name = "DC_SHUTTER_GPIO"   value = "7"/>  OLD-->
      <define name = "DC_SHUTTER_GPIO"   value = "GPIOC,GPIO7"/>
      <define name = "LED_7_BANK"       value = "0"/>
      <define name = "LED_7_PIN"        value = "22"/>
      <define name = "USE_LED_7"        value = "1"/>
      <define name = "DC_RELEASE"       value = "LED_ON"/> <!-- zero volt on startup -->
      <define name = "DC_PUSH"          value = "LED_OFF"/> <!-- 3.3 volt to trigger -->
      <define name = "DC_SHUTTER_DELAY" value = "4" unit = "quarter_second"/>
      <define name = "SENSOR_SYNC_SEND" value = "1"/>
      </load>
  </modules>

What changes should I make?


Cheers,

Jorn


-------------------- Output when compiling:
RUN 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker ap.compile '
make: Entering directory `/home/jorn/paparazzi'
-----------------------------------------------------------------------
Paparazzi version v5.1.0_testing-9-g3830f13-dirty
-----------------------------------------------------------------------
My_Lisa_Skywalker
BUILD My_Lisa_Skywalker, TARGET ap
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/airframe.h
##################################################
 AIRFRAME MODEL: My_Lisa_Skywalker
##################################################
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/modules.h
Module baro_sim unloaded, target ap not supported
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/periodic_telemetry.h
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/settings.h
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/autopilot_core.h
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/radio.h
##################################################
 RADIO MODEL: FASST TX Module
##################################################
make[1]: Leaving directory `/home/jorn/paparazzi'
make[1]: Entering directory `/home/jorn/paparazzi'
GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/generated/flight_plan.h
##################################################
 FLIGHT PLAN: Test zamboni
##################################################

Warning: low altitude (240<185+60) in <waypoint Y="160" X="-180" NAME="AF" ALT="240"/>


Warning: low altitude (170<185+60) in <waypoint Y="10" X="-20" NAME="TD" ALT="170.0"/>

GENERATE /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/flight_plan.xml
make[1]: Leaving directory `/home/jorn/paparazzi'
cd sw/airborne; make -j1 TARGET=ap all
Using "arch/stm32/lisa-m.ld" as ldscript for target "ap".
make[1]: Entering directory `/home/jorn/paparazzi/sw/airborne'

GCC version: arm-none-eabi-gcc (4.8.2-14ubuntu1+6) 4.8.2

CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/mcu.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/mcu_periph/sys_time.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_periph/sys_time_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/./inter_mcu.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/math/pprz_geodetic_int.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/math/pprz_geodetic_float.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/math/pprz_geodetic_double.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/math/pprz_trig_int.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/math/pprz_orientation_conversion.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/mcu_periph/i2c.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_periph/i2c_arch.o
arch/stm32/mcu_periph/i2c_arch.c: In function 'i2c_scl_set':
arch/stm32/mcu_periph/i2c_arch.c:1281:41: warning: unused parameter 'i2c' [-Wunused-parameter]
 static inline void i2c_scl_set(uint32_t i2c) {
                                         ^
arch/stm32/mcu_periph/i2c_arch.c: In function 'i2c_scl_clear':
arch/stm32/mcu_periph/i2c_arch.c:1296:43: warning: unused parameter 'i2c' [-Wunused-parameter]
 static inline void i2c_scl_clear(uint32_t i2c) {
                                           ^
arch/stm32/mcu_periph/i2c_arch.c: At top level:
arch/stm32/mcu_periph/i2c_arch.c:1314:13: warning: 'i2c_wd_check' defined but not used [-Wunused-function]
 static void i2c_wd_check(struct i2c_periph *periph) {
             ^
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/mcu_periph/spi.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_periph/spi_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/peripherals/ms5611.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/peripherals/ms5611_spi.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/boards/baro_board_ms5611_spi.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/main_fbw.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/electrical.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/commands.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/actuators.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/fbw_downlink.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/main_ap.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/autopilot.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/ap_downlink.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/datalink/telemetry.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/state.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/settings.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/subsystems/settings_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/air_data.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/./subsystems/ins.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/./subsystems/ins/ins_alt_float.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_periph/gpio_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/main.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/led_hw.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/mcu_periph/uart.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_periph/uart_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/mcu_periph/adc_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/subsystems/actuators/actuators_pwm_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/subsystems/actuators/actuators_shared_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/radio_control.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/radio_control/ppm.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/arch/stm32/subsystems/radio_control/ppm_arch.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/datalink/downlink.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/datalink/pprz_transport.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/datalink.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/stabilization/stabilization_attitude.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/firmwares/fixedwing/guidance/guidance_v.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/imu.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/imu/imu_aspirin_2_spi.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/peripherals/mpu60x0.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/peripherals/mpu60x0_spi.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/ahrs.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/ahrs/ahrs_aligner.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/ahrs/ahrs_float_dcm.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/gps/gps_ubx.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/gps.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/nav.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/navigation/common_flight_plan.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/navigation/traffic_info.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/subsystems/navigation/nav_survey_rectangle.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/modules/nav/nav_survey_zamboni.o
CC /home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/modules/digital_cam/gpio_cam_ctrl.o
modules/digital_cam/gpio_cam_ctrl.c: In function 'gpio_cam_ctrl_init':
modules/digital_cam/gpio_cam_ctrl.c:80:29: error: macro "LED_GPIO_ON" passed 2 arguments, but takes just 1
   DC_RELEASE(DC_SHUTTER_GPIO);
                             ^
modules/digital_cam/gpio_cam_ctrl.c:80:3: warning: implicit declaration of function 'LED_GPIO_ON' [-Wimplicit-function-declaration]
   DC_RELEASE(DC_SHUTTER_GPIO);
   ^
modules/digital_cam/gpio_cam_ctrl.c:80:3: warning: nested extern declaration of 'LED_GPIO_ON' [-Wnested-externs]
modules/digital_cam/gpio_cam_ctrl.c:80:29: error: macro "LED_GPIO" passed 2 arguments, but takes just 1
   DC_RELEASE(DC_SHUTTER_GPIO);
                             ^
In file included from ./led.h:34:0,
                 from modules/digital_cam/dc.h:42,
                 from modules/digital_cam/gpio_cam_ctrl.c:40:
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:54:34: error: 'LED_GPIO' undeclared (first use in this function)
 #define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                  ^
<command-line>:0:12: note: in expansion of macro 'LED_ON'
modules/digital_cam/gpio_cam_ctrl.c:80:3: note: in expansion of macro 'DC_RELEASE'
   DC_RELEASE(DC_SHUTTER_GPIO);
   ^
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:54:34: note: each undeclared identifier is reported only once for each function it appears in
 #define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                  ^
<command-line>:0:12: note: in expansion of macro 'LED_ON'
modules/digital_cam/gpio_cam_ctrl.c:80:3: note: in expansion of macro 'DC_RELEASE'
   DC_RELEASE(DC_SHUTTER_GPIO);
   ^
modules/digital_cam/gpio_cam_ctrl.c:80:29: error: macro "LED_GPIO_PIN" passed 2 arguments, but takes just 1
   DC_RELEASE(DC_SHUTTER_GPIO);
                             ^
In file included from ./led.h:34:0,
                 from modules/digital_cam/dc.h:42,
                 from modules/digital_cam/gpio_cam_ctrl.c:40:
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:54:47: error: 'LED_GPIO_PIN' undeclared (first use in this function)
 #define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                               ^
<command-line>:0:12: note: in expansion of macro 'LED_ON'
modules/digital_cam/gpio_cam_ctrl.c:80:3: note: in expansion of macro 'DC_RELEASE'
   DC_RELEASE(DC_SHUTTER_GPIO);
   ^
modules/digital_cam/gpio_cam_ctrl.c: In function 'gpio_cam_ctrl_periodic':
modules/digital_cam/gpio_cam_ctrl.c:110:31: error: macro "LED_GPIO_ON" passed 2 arguments, but takes just 1
     DC_RELEASE(DC_SHUTTER_GPIO);
                               ^
modules/digital_cam/gpio_cam_ctrl.c:110:31: error: macro "LED_GPIO" passed 2 arguments, but takes just 1
In file included from ./led.h:34:0,
                 from modules/digital_cam/dc.h:42,
                 from modules/digital_cam/gpio_cam_ctrl.c:40:
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:54:34: error: 'LED_GPIO' undeclared (first use in this function)
 #define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                  ^
<command-line>:0:12: note: in expansion of macro 'LED_ON'
modules/digital_cam/gpio_cam_ctrl.c:110:5: note: in expansion of macro 'DC_RELEASE'
     DC_RELEASE(DC_SHUTTER_GPIO);
     ^
modules/digital_cam/gpio_cam_ctrl.c:110:31: error: macro "LED_GPIO_PIN" passed 2 arguments, but takes just 1
     DC_RELEASE(DC_SHUTTER_GPIO);
                               ^
In file included from ./led.h:34:0,
                 from modules/digital_cam/dc.h:42,
                 from modules/digital_cam/gpio_cam_ctrl.c:40:
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:54:47: error: 'LED_GPIO_PIN' undeclared (first use in this function)
 #define LED_ON(i) LED_GPIO_ON(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                               ^
<command-line>:0:12: note: in expansion of macro 'LED_ON'
modules/digital_cam/gpio_cam_ctrl.c:110:5: note: in expansion of macro 'DC_RELEASE'
     DC_RELEASE(DC_SHUTTER_GPIO);
     ^
modules/digital_cam/gpio_cam_ctrl.c: In function 'dc_send_command':
modules/digital_cam/gpio_cam_ctrl.c:136:30: error: macro "LED_GPIO_OFF" passed 2 arguments, but takes just 1
       DC_PUSH(DC_SHUTTER_GPIO);
                              ^
modules/digital_cam/gpio_cam_ctrl.c:136:7: warning: implicit declaration of function 'LED_GPIO_OFF' [-Wimplicit-function-declaration]
       DC_PUSH(DC_SHUTTER_GPIO);
       ^
modules/digital_cam/gpio_cam_ctrl.c:136:7: warning: nested extern declaration of 'LED_GPIO_OFF' [-Wnested-externs]
modules/digital_cam/gpio_cam_ctrl.c:136:30: error: macro "LED_GPIO" passed 2 arguments, but takes just 1
       DC_PUSH(DC_SHUTTER_GPIO);
                              ^
In file included from ./led.h:34:0,
                 from modules/digital_cam/dc.h:42,
                 from modules/digital_cam/gpio_cam_ctrl.c:40:
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:55:36: error: 'LED_GPIO' undeclared (first use in this function)
 #define LED_OFF(i) LED_GPIO_OFF(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                    ^
<command-line>:0:9: note: in expansion of macro 'LED_OFF'
modules/digital_cam/gpio_cam_ctrl.c:136:7: note: in expansion of macro 'DC_PUSH'
       DC_PUSH(DC_SHUTTER_GPIO);
       ^
modules/digital_cam/gpio_cam_ctrl.c:136:30: error: macro "LED_GPIO_PIN" passed 2 arguments, but takes just 1
       DC_PUSH(DC_SHUTTER_GPIO);
                              ^
In file included from ./led.h:34:0,
                 from modules/digital_cam/dc.h:42,
                 from modules/digital_cam/gpio_cam_ctrl.c:40:
/home/jorn/paparazzi/sw/airborne/arch/stm32/led_hw.h:55:49: error: 'LED_GPIO_PIN' undeclared (first use in this function)
 #define LED_OFF(i) LED_GPIO_OFF(i)(LED_GPIO(i), LED_GPIO_PIN(i))
                                                 ^
<command-line>:0:9: note: in expansion of macro 'LED_OFF'
modules/digital_cam/gpio_cam_ctrl.c:136:7: note: in expansion of macro 'DC_PUSH'
       DC_PUSH(DC_SHUTTER_GPIO);
       ^
make[1]: *** [/home/jorn/paparazzi/var/aircrafts/My_Lisa_Skywalker/ap/modules/digital_cam/gpio_cam_ctrl.o] Error 1
make[1]: Leaving directory `/home/jorn/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/jorn/paparazzi'

FAILED 'make -C /home/jorn/paparazzi -f Makefile.ac AIRCRAFT=My_Lisa_Skywalker ap.compile' with code 2

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