Merge branch 'master' of github.com:paparazzi/paparazzi into toytronics

paparazzi · Nov 9, 2011 · 0b095a6 · 0b095a6
2 parents f29463a + 222e235
commit 0b095a6
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diff --git a/.gitignore b/.gitignore
@@ -65,6 +65,8 @@
 # /sw/ground_segment/lpc21iap/
 /sw/ground_segment/lpc21iap/lpc21iap
 
+/sw/ground_segment/misc/ivy2serial
+
 # /sw/ground_segment/multimon/
 /sw/ground_segment/multimon/costabf.c
 /sw/ground_segment/multimon/mkcostab
@@ -82,8 +84,9 @@
 /sw/ground_segment/tmtc/ivy2udp
 /sw/ground_segment/tmtc/server
 /sw/ground_segment/tmtc/diadec
-/sw/ground_segment/misc/ivy2serial
+/sw/ground_segment/tmtc/ivy_serial_bridge
 /sw/ground_segment/tmtc/GSM/SMS_GS
+/sw/ground_segment/tmtc/gpsd2ivy
 
 # /sw/ground_segment/joystick
 /sw/ground_segment/joystick/input2ivy

diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32
@@ -162,9 +162,9 @@ printcommands:
 	@echo "Using SIZE = $(SIZE)"
 	@echo "Using OOCD = $(OOCD)"
 	@echo "GCC version:"
-	@$(CC) --version
+	@$(CC) --version | head -1
 	@echo "OOCD version:"
-	@$(OOCD) --version
+	@$(OOCD) --version | head -1
 
 ifeq ("$(MULTILIB)","yes")
 printmultilib:

diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
@@ -296,10 +296,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.0"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.0">
       <subsystem name="radio_control" type="ppm"/>

diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
@@ -265,10 +265,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.0"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.0">
       <subsystem name="radio_control" type="spektrum"/>

diff --git a/conf/airframes/Poine/booz2_a8.xml b/conf/airframes/Poine/booz2_a8.xml
@@ -193,24 +193,24 @@
     <target name="stm_passthrough"        board="lisa_l_1.0"		processor="stm32" >
     </target>
     <subsystem name="radio_control" type="spektrum">
-      <param name="RADIO_CONTROL_SPEKTRUM_MODEL"
+      <configure name="RADIO_CONTROL_SPEKTRUM_MODEL"
              value="\\\"subsystems/radio_control/spektrum_dx7se.h\\\""/>
     </subsystem>
     <subsystem name="imu" type="b2_v1.1"/>
 
 
     <target name="overo_test_passthrough" board="lisa_l_1.0" 		processor="omap" >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
 
   </firmware>
 
   <firmware name="lisa_l_test_progs">
     <target name="test_telemetry" board="lisa_l_1.0">
-      <param name="MODEM_PORT" value="UART2"/>
+      <configure name="MODEM_PORT" value="UART2"/>
     </target>
     <target name="test_baro"      board="lisa_l_1.0"/>
     <target name="test_spektrum"  board="lisa_l_1.0"/>

diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
@@ -29,7 +29,7 @@
     <target name="test_uart"           board="lisa_m_1.0"/>
     <target name="test_servos"         board="lisa_m_1.0"/>
     <target name="test_telemetry"      board="lisa_m_1.0">
-      <param name="MODEM_PORT" value="UART2"/>
+      <configure name="MODEM_PORT" value="UART2"/>
     </target>
     <target name="test_bmp085"         board="lisa_m_1.0"/>
     <target name="test_esc_mkk_simple" board="lisa_m_1.0"/>

diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -272,7 +272,7 @@ second attempt
 
  <firmware name="rotorcraft">
 	<target name="ap" board="booz_1.0">
-	  <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
+	  <configure  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
 	  <define name="RADIO_KILL_SWITCH" value="4"/>
 	  <define name="MODEM_BAUD" value = "B57600"/>
 	  <define name="GPS_LAG" value = "0.8"/>

diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -232,7 +232,7 @@
 
  <firmware name="rotorcraft">
 	<target name="ap" board="booz_1.0">
-	  <param  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
+	  <configure  name="FLASH_MODE" value="IAP"/>   <!-- default for the board but putting it here as example-->
 	  <define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
 	  <define name="MODEM_BAUD" value = "B57600"/>
 	  <define name="BOOZ_START_DELAY" value = "3"/>

diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
@@ -229,10 +229,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.1">
       <subsystem name="radio_control" type="spektrum"/>

diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -231,10 +231,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.1">
       <subsystem name="radio_control" type="spektrum"/>

diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -232,10 +232,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.1">
       <subsystem name="radio_control" type="spektrum"/>

diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
@@ -235,10 +235,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.1"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.1">
       <subsystem name="radio_control" type="spektrum"/>

diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
@@ -28,7 +28,7 @@
     <subsystem name="navigation_bomb"/>
 
     <subsystem name="gyro" type="roll">
-      <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+      <configure name="ADC_GYRO_ROLL" value="ADC_3"/>
     </subsystem>
   </firmware>
 

diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -27,7 +27,7 @@
     <subsystem name="navigation"/>
 
     <subsystem name="gyro" type="roll">
-      <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+      <configure name="ADC_GYRO_ROLL" value="ADC_3"/>
     </subsystem>
   </firmware>
 

diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -28,15 +28,15 @@
     <subsystem name="navigation"/>
 
     <subsystem name="gyro" type="roll">
-      <param name="ADC_GYRO_ROLL" value="ADC_3"/>
+      <configure name="ADC_GYRO_ROLL" value="ADC_3"/>
     </subsystem>
   </firmware>
 
   <!-- modules -->
   <modules>
     <load name="airspeed_ets.xml">
-      <!--param name="USE_AIRSPEED" value="1"/-->
-      <param name="SENSOR_SYNC_SEND" value="1"/>
+      <!--define name="USE_AIRSPEED" value="1"/-->
+      <define name="SENSOR_SYNC_SEND" value="1"/>
     </load>
     <load name="infrared_adc.xml"/>
   </modules>

diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
@@ -230,10 +230,10 @@
 
   <firmware name="lisa_passthrough">
     <target name="overo_test_passthrough" board="lisa_l_1.0"  >
-      <param name="HOST"          value="A7"/>
-      <param name="USER"          value=""/>
-      <param name="TARGET_DIR"    value="~"/>
-      <param name="PERIODIC_FREQ" value="512"/>
+      <configure name="HOST"          value="A7"/>
+      <configure name="USER"          value=""/>
+      <configure name="TARGET_DIR"    value="~"/>
+      <configure name="PERIODIC_FREQ" value="512"/>
     </target>
     <target name="stm_passthrough" board="lisa_l_1.0">
       <subsystem name="radio_control" type="spektrum"/>

diff --git a/conf/airframes/osam_xsens_twog.xml b/conf/airframes/osam_xsens_twog.xml
@@ -25,7 +25,7 @@
 
     <!-- Communication -->
     <subsystem name="telemetry"        type="transparent">
-      <param name="MODEM_BAUD"         value="B38400"/>
+      <configure name="MODEM_BAUD"         value="B38400"/>
     </subsystem>
 
     <!-- Actuators are automatically chosen according to board-->

diff --git a/conf/autopilot/subsystems/fixedwing/imu_analog.makefile b/conf/autopilot/subsystems/fixedwing/imu_analog.makefile
@@ -5,12 +5,12 @@
 #
 #
 # <subsystem name="imu" type="analog">
-#   <param name="GYRO_P" value="ADC_0"/>
-#   <param name="GYRO_Q" value="ADC_1"/>
-#   <param name="GYRO_R" value="ADC_2"/>
-#   <param name="ACCEL_X" value="ADC_5"/>
-#   <param name="ACCEL_Y" value="ADC_6"/>
-#   <param name="ACCEL_Z" value="ADC_7"/>
+#   <configure name="GYRO_P" value="ADC_0"/>
+#   <configure name="GYRO_Q" value="ADC_1"/>
+#   <configure name="GYRO_R" value="ADC_2"/>
+#   <configure name="ACCEL_X" value="ADC_5"/>
+#   <configure name="ACCEL_Y" value="ADC_6"/>
+#   <configure name="ACCEL_Z" value="ADC_7"/>
 # </subsystem>
 #
 # required xml:

diff --git a/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile b/conf/autopilot/subsystems/fixedwing/radio_control_datalink.makefile
@@ -11,11 +11,11 @@ endif
 
 
 ifeq ($(NORADIO), False)
-  $(TARGET).CFLAGS	+= -DRADIO_CONTROL
-	$(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
-	$(TARGET).CFLAGS 	+= -DRADIO_CONTROL_TYPE_DATALINK
-  $(TARGET).srcs		+= $(SRC_SUBSYSTEMS)/radio_control.c
-  $(TARGET).srcs		+= $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
+  $(TARGET).CFLAGS += -DRADIO_CONTROL
+  $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
+  $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
+  $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
+  $(TARGET).srcs   += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
 # arch only with sim target for compatibility (empty functions)
-	sim.srcs					+= $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
+  sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
 endif
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -78,7 +78,7 @@
    <message name="BAT" id="12">
      <field name="throttle" type="int16" unit="pprz"/>
      <field name="voltage" type="uint8" unit="1e-1V" alt_unit="V" alt_unit_coef="0.1"/>
-     <field name="amps" type="int16" unit="A" alt_unit="A" />
+     <field name="amps" type="int16" unit="1e-2A" alt_unit="A" alt_unit_coef="0.01"/>
      <field name="flight_time" type="uint16" unit="s"/>
      <field name="kill_auto_throttle" type="uint8" unit="bool"/>
      <field name="block_time" type="uint16" unit="s"/>

diff --git a/conf/modules/mcp355x.xml b/conf/modules/mcp355x.xml
@@ -0,0 +1,17 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="mcp355x" dir="adcs">
+  <header>
+    <file name="mcp355x.h"/>
+  </header>
+  <init fun="mcp355x_init()"/>
+  <periodic fun="mcp355x_read()" freq="10"/>
+  <event fun="mcp355x_event()"/>
+  <makefile target="ap">
+    <file name="mcp355x.c" dir="peripherals"/>
+    <define name="USE_SPI_SLAVE0"/>
+    <define name="SPI_MASTER"/>
+  </makefile>
+</module>
+
+
diff --git a/conf/modules/servo_switch.xml b/conf/modules/servo_switch.xml
@@ -10,9 +10,11 @@
 
 <!-- these parameters should be set for that module in the airframe file unless you want the defaults
      Servo value in usec
+  <load name="servo_switch.xml">
     <define name="SERVO_SWITCH_ON_VALUE"  value="2000"/>
     <define name="SERVO_SWITCH_OFF_VALUE" value="1000"/>
     <define name="SERVO_SWITCH_SERVO"     value="SERVO_SWITCH"/>
+  </load>
 -->
 
     <file name="servo_switch.c"/>

diff --git a/conf/settings/basic.xml b/conf/settings/basic.xml
@@ -22,6 +22,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
     </dl_settings>
 

diff --git a/conf/settings/basic_infrared.xml b/conf/settings/basic_infrared.xml
@@ -22,6 +22,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
     </dl_settings>
 

diff --git a/conf/settings/basic_ins.xml b/conf/settings/basic_ins.xml
@@ -22,6 +22,7 @@
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
       <dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="downlink" values="Default|Debug"/>
       <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
     </dl_settings>
 

diff --git a/conf/telemetry/default_fixedwing_imu_9k6.xml b/conf/telemetry/default_fixedwing_imu_9k6.xml
@@ -3,34 +3,34 @@
 <telemetry>
   <process name="Ap">
     <mode name="default">
-      <message name="AIRSPEED"            period="1"/>
+      <message name="AIRSPEED"            period="1.4"/>
       <message name="ALIVE"               period="5"/>
       <message name="GPS"                 period="0.5"/>
       <message name="NAVIGATION"          period="1."/>
-      <message name="ATTITUDE"            period="0.1"/>
-      <message name="ESTIMATOR"           period="0.5"/>
+      <message name="ATTITUDE"            period="0.7"/>
+      <message name="ESTIMATOR"           period="0.6"/>
       <message name="ENERGY"              period="2.5"/>
-      <message name="WP_MOVED"            period="0.75"/>
+      <message name="WP_MOVED"            period="1.1"/>
       <message name="CIRCLE"              period="1.05"/>
       <message name="DESIRED"             period="1.05"/>
       <message name="BAT"                 period="1.1"/>
-      <message name="BARO_MS5534A"        period="1.0"/>
-      <message name="SCP_STATUS"          period="1.0"/>
+      <message name="BARO_MS5534A"        period="1.4"/>
+      <message name="SCP_STATUS"          period="1.3"/>
       <message name="SEGMENT"             period="1.2"/>
       <message name="CALIBRATION"         period="2.1"/>
       <message name="NAVIGATION_REF"      period="9."/>
       <message name="PPRZ_MODE"           period="5."/>
       <message name="SETTINGS"            period="5."/>
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DOWNLINK"            period="5.1"/>
-      <message name="DL_VALUE"            period="1.5"/>
+      <message name="DL_VALUE"            period="1.2"/>
       <message name="IR_SENSORS"          period="1.2"/>
-      <message name="GYRO_RATES"          period="1.1"/>
+      <message name="GYRO_RATES"          period="1.3"/>
       <message name="SURVEY"              period="2.1"/>
       <message name="GPS_SOL"             period="2.0"/>
       <message name="IMU_ACCEL"           period=".8"/>
       <message name="IMU_GYRO"            period=".9"/>
-      <message name="IMU_MAG"             period="1.3"/>
+      <message name="IMU_MAG"             period="1.9"/>
     </mode>
     <mode name="minimal">
       <message name="ALIVE"               period="5"/>