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Re: [Paparazzi-devel] LED test on Lisa M2

From: Christophe De Wagter
Subject: Re: [Paparazzi-devel] LED test on Lisa M2
Date: Fri, 28 Sep 2012 08:47:54 +0200

Dear Gerard,

The test programs were written during the very first stages of development every time paparazzi switched to a new architecture/microcontroller. The firmware has greatly advanced since then and since almost nobody really needs the test programs I guess they ended up being very outdated (might not even compile as files were moved and renamed).

These test programs should be considered more like "developpers initial debugging" programs than programs to actually test your hardware.

It also makes sense that test program are more up-to-date in master, since in master we just switched to a brand new lowlevel library (libopencm3) for the stm32. In order to test this, the test programs were re-used. 

I would say: if you upload normal AP (autopilot) code and you have a blinking LED1 at 1Hz, than the hardware is OK: 1) you can compile correctly, 2) you can even upload code and 3) your code even runs ... => All Good.

Next would be to check that servo's are being driven, then check you have communication with transparent protocol direct to your ground station via a FTDI cable, then check you have GPS looking at telemetry data (even indoors with no GPS you need to see the time running in the GPS message) etc...


On Fri, Sep 28, 2012 at 2:40 AM, Gerard Toonstra <address@hidden> wrote:

I've found a way to make it work, but don't know the root cause.

As I'm just getting started with paparazzi, I followed this guide to get the main paparazzi center:

Which basically uses:
git clone
AP's compiled here *seem* to work (periodic led on) and there's some output from telemetry.

I went to bleeding edge master:
git checkout master
Which downloaded a couple of other external remotes:

Submodule path 'sw/ext/libopencm3': checked out '7011d47c70076f995e8470c59eeaa8f3efcc9f05'
Cloning into 'sw/ext/luftboot'...
Submodule path 'sw/ext/luftboot': checked out '805d290c28bb74e7cfb1a6daccc18c5646423f80'
Cloning into 'sw/ext/stm32loader'...
Submodule path 'sw/ext/stm32loader':

Then started paparazzi again and this time the LED test worked. So it looks like the default version is picking up different
libraries or tools from other places (toolchain?) I've cloned the main paparazzi.git again in /tmp to reconfirm and
then restarted there to verify. The LED test failed there again, so it's not anything I changed in v4.0.



On Thu, Sep 27, 2012 at 4:48 PM, Christophe De Wagter <address@hidden> wrote:

@Felix: I think it would be nice if the build script would show the paparazzi version, what do you think?

On Sep 27, 2012 9:42 PM, "Gerard Toonstra" <address@hidden> wrote:

I've acquired 2 Lisa M2 boards from TRI and don't think I'm getting the correct results for the LED test.
The LED's remain on for the entire time and there's no single one blinking or any other following a kind of

When the AP is loaded, the red led is blinking @ 1Hz and the AHRS led blinks a while, then remains lit. This tells
me the timer is working. I've also been able to get serial output/input, as the GCS is showing a couple of messages
up to the GPS block (GPS is not yet configured).

With the tunnel firmware (in an attempt to configure my SkyTraq GPS), I'm getting no output whatsoever.
When the UART test is uploaded, all LEDs also turn on and remain fixed, but there's no output from the serial connector.

I've removed all other peripherals at this time and only use the USB to power the device.

Here's the output of the build and upload cycle:

CC /work/paparazzi/var/Maja/test_led/./mcu.o
CC /work/paparazzi/var/Maja/test_led/arch/stm32/mcu_arch.o
CC /work/paparazzi/var/Maja/test_led/arch/stm32/stm32_exceptions.o
CC /work/paparazzi/var/Maja/test_led/arch/stm32/stm32_vector_table.o
arch/stm32/stm32_vector_table.c:206:5: warning: taking address of _expression_ of type 'void' [enabled by default]
CC /work/paparazzi/var/Maja/test_led/mcu_periph/sys_time.o
CC /work/paparazzi/var/Maja/test_led/arch/stm32/mcu_periph/sys_time_arch.o
CC /work/paparazzi/var/Maja/test_led/arch/stm32/led_hw.o
CC /work/paparazzi/var/Maja/test_led/lisa/test_led.o
LD /work/paparazzi/var/Maja/test_led/test_led.elf
OBJCB /work/paparazzi/var/Maja/test_led/test_led.bin
OBJCH /work/paparazzi/var/Maja/test_led/test_led.hex

Current size:
/work/paparazzi/var/Maja/test_led/test_led.elf  :
section             size         addr
.isr_vector        0x130    0x8002000
.text              0x61c    0x8002130
.data                0x8   0x20000000
.bss                0xac   0x20000008
._usrstack         0x800   0x200000b4
.comment            0x3c          0x0
.ARM.attributes     0x31          0x0
.debug_aranges     0x588          0x0
.debug_info       0x3685          0x0
.debug_abbrev      0xfdd          0x0
.debug_line       0x1ee4          0x0
.debug_frame       0xa38          0x0
.debug_str        0x16d2          0x0
.debug_loc        0x106b          0x0
.debug_ranges      0x4f0          0x0
Total             0xb1a0

make[1]: Leaving directory `/work/paparazzi/sw/airborne'
make: Leaving directory `/work/paparazzi'

DONE (exec make -C /work/paparazzi -f AIRCRAFT=Maja test_led.compile  2>&1)

Run 'make -C /work/paparazzi -f AIRCRAFT=Maja test_led.upload '
make: Entering directory `/work/paparazzi'
cd sw/airborne; make PAPARAZZI_SRC=/work/paparazzi PAPARAZZI_HOME=/work/paparazzi TARGET=test_led all
make[1]: Entering directory `/work/paparazzi/sw/airborne'
Using CC   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
Using LD   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-gcc
Using CP   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objcopy
Using DMP  = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-objdump
Using NM   = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-nm
Using SIZE = /opt/paparazzi/arm-multilib/bin/arm-none-eabi-size
GCC version:
arm-none-eabi-gcc (Linaro GCC 4.6-2011.09-1) 4.6.2 20110908 (prerelease)
*** Using multilib ***

make[1]: Leaving directory `/work/paparazzi/sw/airborne'
cd sw/airborne; make PAPARAZZI_SRC=/work/paparazzi PAPARAZZI_HOME=/work/paparazzi TARGET=test_led upload
make[1]: Entering directory `/work/paparazzi/sw/airborne'
Using stm32 mem dfu loader
/usr/bin/python /work/paparazzi/sw/tools/dfu/ /work/paparazzi/var/Maja/test_led/test_led.bin

USB Device Firmware Upgrade - Host Utility -- version 1.2
Copyright (C) 2011  Black Sphere Technologies
Copyright (C) 2012  Transition Robotics Inc.
License GPLv3+: GNU GPL version 3 or later <>

Device 032: ID 1d50:600f Transition Robotics Inc. - Lisa/M (Upgrade) V1.0 - LM2-152 35FFDA053256383326432143
Programming memory at 0x08002000
All operations complete!


Any ideas or pointers?   Is it possible this is related to a configuration issue in the XML file?
Trying this on the other board, I'm getting exactly the same results.



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