[paparazzi-commits] [5054] Copy all 6 PWM outputs in lisa stm passthrough

[Allen Ibara]

Revision: 5054
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5054
Author:   aibara
Date:     2010-07-15 18:07:48 +0000 (Thu, 15 Jul 2010)
Log Message:
-----------
Copy all 6 PWM outputs in lisa stm passthrough

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
    paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
    paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-07-15 
18:04:37 UTC (rev 5053)
+++ paparazzi3/trunk/sw/airborne/fms/fms_autopilot_msg.h        2010-07-15 
18:07:48 UTC (rev 5054)
@@ -5,7 +5,7 @@
 #include "math/pprz_algebra_int.h"
 #include "airframe.h"
 
-#define LISA_PWM_NB 6
+#define LISA_PWM_OUTPUT_NB 6
 
 /*
  * Testing

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-15 
18:04:37 UTC (rev 5053)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-07-15 
18:07:48 UTC (rev 5054)
@@ -138,7 +138,7 @@
 
 static void passthrough_down_fill(struct AutopilotMessagePTDown *msg_out)
 {
-  for (int i = 0; i < LISA_PWM_NB; i++) {
+  for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++) {
     msg_out->pwm_outputs_usecs[i] = actuators[i];
   }
 }

Modified: paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c       
2010-07-15 18:04:37 UTC (rev 5053)
+++ paparazzi3/trunk/sw/airborne/lisa/lisa_stm_passthrough_main.c       
2010-07-15 18:07:48 UTC (rev 5054)
@@ -28,6 +28,7 @@
 #include "booz/booz_actuators.h"
 #include "booz/booz_imu.h"
 #include "booz_radio_control.h"
+#include "actuators/booz_actuators_pwm.h"
 #include "lisa/lisa_overo_link.h"
 
 static inline void main_init(void);
@@ -57,16 +58,15 @@
 
        hw_init();
        sys_time_init();
-       actuators_init();
        booz_imu_init();
        radio_control_init();
+       booz_actuators_pwm_hw_init();
        overo_link_init();
 }
 
 static inline void main_periodic(void) {
 
        booz_imu_periodic();
-       actuators_set(FALSE);
        OveroLinkPeriodic(main_on_overo_link_lost);
        RunOnceEvery(10, {LED_PERIODIC(); DOWNLINK_SEND_ALIVE(DefaultChannel, 
16, MD5SUM);radio_control_periodic();});
 }
@@ -80,6 +80,7 @@
 
 static inline void main_on_overo_msg_received(void) {
        struct AutopilotMessagePTUp *msg_out = &overo_link.msg_out.uni.up;
+       struct AutopilotMessagePTDown *msg_in = &overo_link.msg_in.uni.down;
 
        msg_out->gyro.x = booz_imu.gyro.p;
        msg_out->gyro.y = booz_imu.gyro.q;
@@ -103,6 +104,10 @@
        msg_out->rc_aux3 = radio_control.values[RADIO_CONTROL_AUX3];
        msg_out->rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
        msg_out->rc_status = radio_control.status;
+
+       for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
+         booz_actuators_pwm_values[i] = msg_in->pwm_outputs_usecs[i];
+       booz_actuators_pwm_commit();
 }
 
 static inline void main_on_overo_link_lost(void) {