[vms_ecu] Updated board config and added test module

paparazzi · Mar 19, 2017 · f87debe · f87debe
1 parent 476b426
commit f87debe
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Showing 8 changed files with 467 additions and 66 deletions.
diff --git a/conf/airframes/AGGIEAIR/aggieair_conf.xml b/conf/airframes/AGGIEAIR/aggieair_conf.xml
@@ -29,7 +29,7 @@
    telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_mlkf.xml modules/imu_common.xml modules/gps.xml"
+   settings_modules="modules/vms_ecu_demo.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_mlkf.xml modules/imu_common.xml modules/gps.xml"
    gui_color="#00009e93ffff"
   />
   <aircraft

diff --git a/conf/airframes/AGGIEAIR/aggieair_ecu_example.xml b/conf/airframes/AGGIEAIR/aggieair_ecu_example.xml
@@ -33,6 +33,7 @@ Viking Motorsports ECU example
 
   <modules>
     <module name="sys_mon"/>
+    <module name="vms_ecu_demo"/>
   </modules>
 
   <!-- commands section -->

diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
@@ -67,7 +67,7 @@
   />
   <aircraft
    name="Iris"
-   ac_id="67"
+   ac_id="44"
    airframe="airframes/TUDELFT/tudelft_iris_indi.xml"
    radio="radios/FrSky3dr.xml"
    telemetry="telemetry/default_rotorcraft_slow.xml"
@@ -78,7 +78,7 @@
   />
   <aircraft
    name="Iris_chibios"
-   ac_id="66"
+   ac_id="45"
    airframe="airframes/AGGIEAIR/aggieair_iris_indi.xml"
    radio="radios/AGGIEAIR/aggieair_FrSky3dr.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_iris.xml"
@@ -265,7 +265,7 @@
   />
   <aircraft
    name="Quad_Lia_chibios"
-   ac_id="68"
+   ac_id="46"
    airframe="airframes/AGGIEAIR/aggieair_ark_quad_lia.xml"
    radio="radios/AGGIEAIR/aggieair_taranis.xml"
    telemetry="telemetry/AGGIEAIR/aggieair_rotorcraft.xml"
@@ -373,6 +373,17 @@
    settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
    gui_color="blue"
   />
+  <aircraft
+   name="VMS_ECU"
+   ac_id="47"
+   airframe="airframes/AGGIEAIR/aggieair_ecu_example.xml"
+   radio="radios/AGGIEAIR/aggieair_taranis.xml"
+   telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
+   flight_plan="flight_plans/basic.xml"
+   settings="settings/fixedwing_basic.xml"
+   settings_modules="modules/vms_ecu_demo.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_mlkf.xml modules/imu_common.xml modules/gps.xml"
+   gui_color="#00009e93ffff"
+  />
   <aircraft
    name="Yapa2_XSens"
    ac_id="29"

diff --git a/conf/firmwares/subsystems/shared/baro_board.makefile b/conf/firmwares/subsystems/shared/baro_board.makefile
@@ -256,6 +256,16 @@ else ifeq ($(BOARD), chimera)
   BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
   BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
 
+else ifeq ($(BOARD), vms_ecu)
+  BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
+  include $(CFG_SHARED)/spi_master.makefile
+  BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
+  BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
+  BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
+  BARO_BOARD_SRCS += peripherals/ms5611.c
+  BARO_BOARD_SRCS += peripherals/ms5611_spi.c
+  BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
+
 endif # check board
 
 BARO_LED ?= none

diff --git a/conf/modules/vms_ecu_demo.xml b/conf/modules/vms_ecu_demo.xml
@@ -0,0 +1,44 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="vms_ecu_demo" dir="fsae_electric">
+  <doc>
+    <description>
+    A simple module for Viking Motorsports Engine Control Unit demonstration,
+    showing it usability for Formula SAE student competition.
+    More info at https://wiki.paparazziuav.org/wiki/VMS_ECU
+    </description>
+
+    <section name="ECU">
+       <!-- optionally define parameters here -->
+    </section>
+  </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="ECU">
+        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ams_status" type="bool" shortname="AMS_EN" module="modules/fsae_electric/vms_ecu_demo"/>
+        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="pwr_ready" type="bool" shortname="PWR_READY" module="modules/fsae_electric/vms_ecu_demo"/>
+        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="pwr_stdby" type="bool" shortname="PWR_STDBY" module="modules/fsae_electric/vms_ecu_demo"/>
+        <dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="rtds" type="bool" shortname="RTDS" module="modules/fsae_electric/vms_ecu_demo"/>
+        <dl_setting min="0" max="4095" step="1"  var="dac_1" type="uint16" shortname="DAC_1" module="modules/fsae_electric/vms_ecu_demo" handler="UpdateDac1"/>
+        <dl_setting min="0" max="4095" step="1"  var="dac_2" type="uint16" shortname="DAC_2" module="modules/fsae_electric/vms_ecu_demo" handler="UpdateDac2"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
+  <header>
+    <file name="vms_ecu_demo.h"/>
+  </header>
+  <init fun="vms_ecu_demo_init()"/>
+  <periodic fun="vms_ecu_demo_periodic()" freq="10."/>
+  <makefile>
+    <file name="vms_ecu_demo.c"/>
+    <define name="USE_DAC1" value="1" />
+    <define name="USE_DAC2" value="1" />
+
+    <define name="USE_CAN1" value="1" />
+    <define name="USE_CAN2" value="1" />
+
+  </makefile>
+</module>
+
diff --git a/sw/airborne/boards/vms_ecu/chibios/v1.0/board.h b/sw/airborne/boards/vms_ecu/chibios/v1.0/board.h
@@ -1074,50 +1074,7 @@
 /*
  * LEDs
  */
-/* 1 red, on PA8 */
-#ifndef USE_LED_1
-#define USE_LED_1 1
-#endif
-#define LED_1_GPIO GPIOA
-#define LED_1_GPIO_PIN 8
-#define LED_1_GPIO_ON gpio_clear
-#define LED_1_GPIO_OFF gpio_set
-
-/* 2 green, shared with JTAG_TRST */
-#ifndef USE_LED_2
-#define USE_LED_2 1
-#endif
-#define LED_2_GPIO GPIOB
-#define LED_2_GPIO_PIN 4
-#define LED_2_GPIO_ON gpio_clear
-#define LED_2_GPIO_OFF gpio_set
-
-/* 3 green, shared with ADC12 (ADC_6 on connector ANALOG2) */
-#ifndef USE_LED_3
-#define USE_LED_3 1
-#endif
-#define LED_3_GPIO GPIOC
-#define LED_3_GPIO_PIN 2
-#define LED_3_GPIO_ON gpio_clear
-#define LED_3_GPIO_OFF gpio_set
-
-/* 4 red, shared with ADC15 (ADC_4 on connector ANALOG2) */
-#ifndef USE_LED_4
-#define USE_LED_4 1
-#endif
-#define LED_4_GPIO GPIOC
-#define LED_4_GPIO_PIN 5
-#define LED_4_GPIO_ON gpio_clear
-#define LED_4_GPIO_OFF gpio_set
-
-/* 5 green, on PC15 */
-#ifndef USE_LED_5
-#define USE_LED_5 0
-#endif
-#define LED_5_GPIO GPIOC
-#define LED_5_GPIO_PIN 15
-#define LED_5_GPIO_ON gpio_set
-#define LED_5_GPIO_OFF gpio_clear
+// no LEDS here
 
 /*
  * ADCs
@@ -1199,6 +1156,7 @@
 
 /*
  * PWM defines
+ * no PWM outputs used
  */
 #ifndef USE_PWM0
 #define USE_PWM0 1
@@ -1263,6 +1221,7 @@
 
 /**
  * PPM radio defines
+ * no ppm inputs used
  */
 #define RC_PPM_TICKS_PER_USEC 6
 #define PPM_TIMER_FREQUENCY 6000000
@@ -1271,6 +1230,7 @@
 
 /**
  * I2C defines
+ * No I2C devices used
  */
 #define I2C1_CLOCK_SPEED 400000
 #define I2C1_CFG_DEF {       \
@@ -1289,29 +1249,26 @@
 /**
  * SPI Config
  */
-#define SPI1_GPIO_AF GPIO_AF5
-#define SPI1_GPIO_PORT_MISO GPIOA
-#define SPI1_GPIO_MISO GPIO6
-#define SPI1_GPIO_PORT_MOSI GPIOA
-#define SPI1_GPIO_MOSI GPIO7
-#define SPI1_GPIO_PORT_SCK GPIOA
-#define SPI1_GPIO_SCK GPIO5
-
-// SLAVE0 on SPI connector
+// SLAVE0  - unconnected
 #define SPI_SELECT_SLAVE0_PORT GPIOB
 #define SPI_SELECT_SLAVE0_PIN 9
-// SLAVE1 on AUX1
+// SLAVE1  - unconnected
 #define SPI_SELECT_SLAVE1_PORT GPIOB
 #define SPI_SELECT_SLAVE1_PIN 1
-// SLAVE2 on AUX2
-#define SPI_SELECT_SLAVE2_PORT GPIOC
-#define SPI_SELECT_SLAVE2_PIN 5
-// SLAVE3 on AUX3
-#define SPI_SELECT_SLAVE3_PORT GPIOC
-#define SPI_SELECT_SLAVE3_PIN 4
-// SLAVE4 on AUX4
+// SLAVE2 is ASPIRIN MPU600 CS
+#define SPI_SELECT_SLAVE2_PORT GPIOB
+#define SPI_SELECT_SLAVE2_PIN 12
+// SLAVE3 is BARO_CS
+#define SPI_SELECT_SLAVE3_PORT GPIOE
+#define SPI_SELECT_SLAVE3_PIN 3
+// SLAVE4 - unconnected
 #define SPI_SELECT_SLAVE4_PORT GPIOB
-#define SPI_SELECT_SLAVE4_PIN 5
+#define SPI_SELECT_SLAVE4_PIN 2
+
+/**
+ * SD card
+ * TODO: add defines for SD log
+ */
 
 /**
  * Baro