[paparazzi-commits] [5719] Add overo_blmc_calibrate for setting auto throttle endpoints on castle creation pwm blmc via passthrough

[Allen Ibara]

Revision: 5719
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5719
Author:   aibara
Date:     2010-08-27 06:13:37 +0000 (Fri, 27 Aug 2010)
Log Message:
-----------
Add overo_blmc_calibrate for setting auto throttle endpoints on castle creation 
pwm blmc via passthrough

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c
    paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.h

Modified: paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile   2010-08-27 
06:11:49 UTC (rev 5718)
+++ paparazzi3/trunk/conf/autopilot/lisa_passthrough.makefile   2010-08-27 
06:13:37 UTC (rev 5719)
@@ -106,13 +106,6 @@
 # Battery monitor
 
 
-
-
-
-
-
-
-
 #
 #
 #
@@ -137,3 +130,19 @@
 overo_test_passthrough.CFLAGS  += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
 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
+overo_blmc_calibrate.CFLAGS  += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp 
-DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
+overo_blmc_calibrate.srcs     = $(SRC_FMS)/overo_blmc_calibrate.c
+overo_blmc_calibrate.CFLAGS  += -DFMS_PERIODIC_FREQ=512
+overo_blmc_calibrate.srcs    += $(SRC_FMS)/fms_periodic.c
+overo_blmc_calibrate.srcs    += $(SRC_FMS)/fms_spi_link.c
+#overo_blmc_calibrate.srcs    += $(SRC_FMS)/fms_gs_com.c
+#overo_blmc_calibrate.CFLAGS  += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
+#overo_blmc_calibrate.srcs    += $(SRC_FMS)/udp_transport2.c downlink.c
+overo_blmc_calibrate.srcs    += $(SRC_FMS)/fms_network.c

Added: paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c                     
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.c     2010-08-27 
06:13:37 UTC (rev 5719)
@@ -0,0 +1,126 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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.
+ *
+ */
+
+#include <stdint.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <event.h>
+
+#include "fms/overo_blmc_calibrate.h"
+
+#include "std.h"
+#include "fms_debug.h"
+#include "fms_periodic.h"
+
+/* stuff for io processor link */
+#include "fms_spi_link.h"
+#include "fms_autopilot_msg.h"
+
+struct OveroBLMCCalibrate blmc_calibrate;
+
+static void parse_command_line(int argc, char** argv);
+static void main_init(void);
+static void main_periodic(int my_sig_num);
+static void dialog_with_io_proc(void);
+
+
+int main(int argc, char *argv[]) {
+
+  parse_command_line(argc, argv);
+  
+  main_init();
+  TRACE(TRACE_DEBUG, "%s", "Entering mainloop\n");
+
+  /* Enter our mainloop */
+  event_dispatch();
+  
+  TRACE(TRACE_DEBUG, "%s", "leaving mainloop... goodbye!\n");
+
+  return 0;
+
+}
+
+static void main_periodic(int my_sig_num) {
+
+       static uint32_t counter = 0;
+  dialog_with_io_proc();
+
+       if (counter <= 4096) {
+               counter++;
+       } else if (counter > 4096) { 
+       for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 1000;
+               counter++;
+       } else if (counter > 8192) {
+       for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 1500;
+       }
+}
+
+
+
+static void dialog_with_io_proc() {
+
+  struct AutopilotMessageCRCFrame msg_in;
+  struct AutopilotMessageCRCFrame msg_out;
+  uint8_t crc_valid; 
+
+  for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
msg_out.payload.msg_down.pwm_outputs_usecs[i] = 
blmc_calibrate.servos_outputs_usecs[i];
+
+  spi_link_send(&msg_out, sizeof(struct AutopilotMessageCRCFrame), &msg_in, 
&crc_valid);
+
+}
+
+
+static void main_init(void) {
+
+  TRACE(TRACE_DEBUG, "%s", "Starting initialization\n");
+
+  /* Initalize our SPI link to IO processor */
+  if (spi_link_init()) {
+    TRACE(TRACE_ERROR, "%s", "failed to open SPI link \n");
+    return;
+  }
+  
+  /* Initalize the event library */
+  event_init();
+  
+  /* Initalize our \xF4 so accurate periodic timer */
+  if (fms_periodic_init(main_periodic)) {
+    TRACE(TRACE_ERROR, "%s", "failed to start periodic generator\n");
+    return; 
+  }
+  
+  /* Initialize blaaa */
+  for (uint8_t i=0; i<LISA_PWM_OUTPUT_NB; i++) 
blmc_calibrate.servos_outputs_usecs[i] = 2000;
+
+  TRACE(TRACE_DEBUG, "%s", "Initialization completed\n");
+}
+
+
+
+static void parse_command_line(int argc, char** argv) {
+
+}

Added: paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.h                     
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/fms/overo_blmc_calibrate.h     2010-08-27 
06:13:37 UTC (rev 5719)
@@ -0,0 +1,14 @@
+#ifndef OVERO_BLMC_CALIBRATE_H
+#define OVERO_BLMC_CALIBRATE_H
+
+#include "std.h"
+#include "fms/fms_autopilot_msg.h"
+
+struct OveroBLMCCalibrate {
+  /* our actuators          */
+  uint16_t servos_outputs_usecs[LISA_PWM_OUTPUT_NB]; /* FIXME */
+  };
+
+extern struct OveroBLMCCalibrate blmc_calibrate;
+
+#endif /* OVERO_BLMC_CALIBRATE_H */