|
| From: | ustuav |
| Subject: | Re: [Paparazzi-devel] Lisa M v2 Barometer (MS5611) on pprz 4.2 |
| Date: | Tue, 26 Mar 2013 17:07:56 -0500 |
Here's my setup:
Airframe file:
<load name="baro_ms5611_i2c.xml">
<define name="SENSOR_SYNC_SEND"/>
</load>
conf/message.xml:
<message name="BARO_MS5611" id="116">
<field name="d1" type="uint32"/>
<field name="d2" type="uint32"/>
<field name="pressure" type="float" unit="hPa" format="%.2f"/>
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
</message>
<message name="MS5611_COEFF" id="117">
<field name="c0" type="uint16"/>
<field name="c1" type="uint16"/>
<field name="c2" type="uint16"/>
<field name="c3" type="uint16"/>
<field name="c4" type="uint16"/>
<field name="c5" type="uint16"/>
<field name="c6" type="uint16"/>
<field name="c7" type="uint16"/>
</message>
Telemetry file: (Adding this caused errors. But I figure it's not sending messages back because I didn't define this before)
<message name="BARO_MS5611" period="1"/>
The end of the build messages after altering my telemetry file:
firmwares/fixedwing/main_ap.c:422:1: warning: implicit declaration of function 'PERIODIC_SEND_BARO_MS5611' [-Wimplicit-function-declaration]
firmwares/fixedwing/main_ap.c:422:1: warning: nested extern declaration of 'PERIODIC_SEND_BARO_MS5611' [-Wnested-externs]
firmwares/fixedwing/main_ap.c:422:1: error: 'PprzTransport' undeclared (first use in this function)
firmwares/fixedwing/main_ap.c:422:1: note: each undeclared identifier is reported only once for each function it appears in
firmwares/fixedwing/main_ap.c:422:1: error: 'UART2' undeclared (first use in this function)
make[1]: *** [/home/uav/Desktop/paparazzi/var/UST_AC/ap/firmwares/fixedwing/main_ap.o] Error 1On Wed, Mar 20, 2013 at 10:24 AM, Felix Ruess <address@hidden> wrote:
Hi,well... what exactly did you configure? The baro_ms5611_i2c module only reads the sensor and nothing more...If you want to send a BARO_MS5611 message with the values down, <define name="SENSOR_SYNC_SEND"/>If you want to use it for altitude estimation in the autopilot: <define name="USE_BARO_MS5611"/>Also see http://paparazzi.enac.fr/wiki/Module/Meas_Spec_MS5611_I2C and http://paparazzi.github.com/docs/latest/module__baro_ms5611_i2c.htmlCheers, FelixOn Mon, Mar 18, 2013 at 12:10 AM, ustuav <address@hidden> wrote:
Thanks Felix!
I configured everything to use i2c2 and got it to build with no errors! :)
I still have a problem though. I am not getting any barometer messages back. Any ideas? I do have it set to use raw sensors.
Thanks,
ust-uavOn Wed, Mar 13, 2013 at 4:29 PM, Felix Ruess <address@hidden> wrote:
Hi,The STM32(F1) doesn't have an i2c0, (but i2c1 and i2c2). Aspirin (and hence the baro) is connected to i2c2.You can take a look at the schematics on http://paparazzi.enac.fr/wiki/Lisa/M_v20#SchematicCheers, FelixOn Wed, Mar 13, 2013 at 9:55 PM, ustuav <address@hidden> wrote:
Hi everyone,
There's another problem.
I have the new version of paparazzi 4.2.
Now I am getting the following errors:
/home/uav/Desktop/paparazzi/var/UST_AC/ap/mcu_periph/i2c.o: In function `i2c0_init':
/home/uav/Desktop/paparazzi/sw/airborne/mcu_periph/i2c.c:9: undefined reference to `i2c0_hw_init'
collect2: ld returned 1 exit status
make[1]: *** [/home/uav/Desktop/paparazzi/var/UST_AC/ap/ap.elf] Error 1
make[1]: Leaving directory `/home/uav/Desktop/paparazzi/sw/airborne'
make: *** [ap.compile] Error 2
make: Leaving directory `/home/uav/Desktop/paparazzi'
I followed the errors and found this out:
The i2c.c file includes the header i2c.h. The i2c.h file includes the i2c_arch.h file.
The i2c_arch.h file doesn't exist in that directory.
Since the Lisa is an STM32 architecture I did a search for the i2c_arch.h file and found the STM32 version. Inside that file there is no i2c0_hw_init definition. There is only i2c1_hw_init and i2c2_hw_init.
Looking through the code, I'm assuming the barometer is on i2c0 and that I shouldn't change the code to try and use i2c1 or i2c2.
Does anyone know what files are missing to get this to build?
Thanks,
the UST-UAV teamOn Sun, Mar 10, 2013 at 9:39 PM, ustuav <address@hidden> wrote:
Hi Martin. Thanks for the reply! Also, thank you for committing the new changes to the ms5611 driver. I will be in the lab tomorrow to verify that it works. Thanks again!On Sat, Mar 9, 2013 at 4:27 PM, Martin Mueller <address@hidden> wrote:
Hi,The nav.h was missing for ground_alt in the ms5611 driver, added that to v4.2. Also changed the default I2C address to match a low CSB\ as most boards (Aspirin2.1, FreeIMU 0.4.3, ...) have that pin low.
I'm trying to get the Barometer (MS5611) from the Aspirin 2.1 to work
with Paparazzi 4.2.
What I've tried:
* Adding the module "baro_ms5611_i2c.xml" to my airframe file.
-- this gave me errors such as 'i2c0' undeclared and 'ground_alt'
undeclared.
* After getting that error I added <define name="I2C0" /> to my airframe
file.
-- that got rid of the first error but I still get the ground_alt
undeclared error.
* I also tried adding the I2C sub-module but that didn't do anything.
Has anyone been able to get the Aspirin 2.1 onboard barometer to work?
I really don't want to upgrade to the master branch.
You add i2c0 by having USE_I2C0 in your airframe file.
<target name="ap" board="<your_board_type>">
<define name="USE_I2C0"/>
...
Martin
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