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[paparazzi-commits] [5452] Both target/subsystem compilers for makefile/
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5452] Both target/subsystem compilers for makefile/airframe.h are ready |
|
Date: |
Wed, 18 Aug 2010 12:38:06 +0000 |
Revision: 5452
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5452
Author: dewagter
Date: 2010-08-18 12:38:05 +0000 (Wed, 18 Aug 2010)
Log Message:
-----------
Both target/subsystem compilers for makefile/airframe.h are ready
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/airframes/airframe.dtd
paparazzi3/trunk/conf/airframes/microjet5.xml
paparazzi3/trunk/conf/airframes/microjet_example.xml
paparazzi3/trunk/conf/boards/tiny_2.1.makefile
paparazzi3/trunk/conf/boards/tiny_2.11.makefile
paparazzi3/trunk/sw/tools/gen_aircraft.ml
paparazzi3/trunk/sw/tools/gen_airframe.ml
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/fixedwing.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4015.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4017.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gyro.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/hum_baro_payload.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/joystick.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/testing.makefile
paparazzi3/trunk/conf/boards/twog_1.makefile
Removed Paths:
-------------
paparazzi3/trunk/conf/autopilot/fixed_wings.makefile
paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixed_wings/
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4015.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_joystick.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_navigation.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-18 12:38:05 UTC (rev 5452)
@@ -7,6 +7,7 @@
-->
<airframe name="Fixed Wing Lisa">
+
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
@@ -158,48 +159,36 @@
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
- <makefile>
-BOARD_CFG = \"tiny_2_1_1.h\"
-FLASH_MODE = IAP
+ <target name="fixedwing" board="tiny_2.11">
+ <subsystem name="autopilot"/>
+ <subsystem name="testing"/>
+ <subsystem name="radio_control" type="ppm"/>
+ <!-- Communication -->
+ <subsystem name="telemetry" type="transparent">
+ <param name="MODEM_BAUD" value="9600"/>
+ </subsystem>
+ <!-- Actuators -->
+ <subsystem name="actuators" type="4017"/>
+ <!-- Sensors -->
+ <subsystem name="gyro"/>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea4p"/>
+ <subsystem name="navigation">
+ <define name="AGR_CLIMB" value="1" />
+ <define name="LOITER_TRIM" value="1" />
+ <define name="WIND_INFO" value="1" />
+ </subsystem>
+ </target>
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+ <makefile location="after">
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN
+sim.CFLAGS += -DTRAFFIC_INFO
-# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment
if needed
-#GPS_UART_NR = 0
-#GPS_BAUD = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if
needed
-#MODEM_UART_NR = 1
-MODEM_BAUD = 9600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
-
-
-# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c
-
-######################################
-# Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
-DWIND_INFO -DTRAFFIC_INFO
-sim.srcs += traffic_info.c
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
+
</makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/airframe.dtd
===================================================================
--- paparazzi3/trunk/conf/airframes/airframe.dtd 2010-08-18 09:34:16 UTC
(rev 5451)
+++ paparazzi3/trunk/conf/airframes/airframe.dtd 2010-08-18 12:38:05 UTC
(rev 5452)
@@ -22,8 +22,9 @@
<!ELEMENT makefile (#PCDATA)>
<!ELEMENT modules (load)*>
<!ELEMENT load EMPTY>
+<!ELEMENT param EMPTY>
<!ELEMENT target (subsystem)*>
-<!ELEMENT subsystem (define)*>
+<!ELEMENT subsystem (define|param)*>
<!ATTLIST target
name CDATA #REQUIRED
@@ -89,6 +90,10 @@
unit CDATA #IMPLIED
integer CDATA #IMPLIED>
+<!ATTLIST param
+name CDATA #REQUIRED
+value CDATA #REQUIRED>
+
<!ATTLIST linear
name CDATA #REQUIRED
arity CDATA #REQUIRED
Modified: paparazzi3/trunk/conf/airframes/microjet5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet5.xml 2010-08-18 09:34:16 UTC
(rev 5451)
+++ paparazzi3/trunk/conf/airframes/microjet5.xml 2010-08-18 12:38:05 UTC
(rev 5452)
@@ -8,7 +8,7 @@
<airframe name="Microjet 5 Tiny 2.11">
- <target name="fixed_wings" board="tiny_2.11">
+ <target name="fixedwing" board="tiny_2.11">
<subsystem name="radio_control" type="ppm"/>
</target>
Modified: paparazzi3/trunk/conf/airframes/microjet_example.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-18
09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/airframes/microjet_example.xml 2010-08-18
12:38:05 UTC (rev 5452)
@@ -8,7 +8,7 @@
<airframe name="Microjet Tiny 1.1">
- <target name="fixed_wings" board="tiny_2.11">
+ <target name="fixedwing" board="tiny_1.1">
<subsystem name="radio_control" type="ppm"/>
</target>
@@ -172,26 +172,26 @@
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing.makefile
+include $(CFG_FIXEDWING)/autopilot.makefile
+include $(CFG_FIXEDWING)/navigation.makefile
# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4015.makefile
+include $(CFG_FIXEDWING)/actuators_4015.makefile
# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
+include $(CFG_FIXEDWING)/attitude_infrared.makefile
+include $(CFG_FIXEDWING)/gyro.makefile
### (UART 0, 38400baud) are the default GPS parameters, change and uncomment
if needed
#GPS_UART_NR = 0
#GPS_BAUD = 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+include $(CFG_FIXEDWING)/gps_ublox_lea5h.makefile
### (UART 1, 57600baud) are default modem parameters, change and uncomment if
needed
#MODEM_UART_NR = 1
#MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_xbee_api.makefile
+include $(CFG_FIXEDWING)/telemetry_xbee_api.makefile
# Special options
Deleted: paparazzi3/trunk/conf/autopilot/fixed_wings.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixed_wings.makefile 2010-08-18
09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/fixed_wings.makefile 2010-08-18
12:38:05 UTC (rev 5452)
@@ -1,5 +0,0 @@
-#
-# fixed_wings.makefile
-#
-#
-CFG_FIXED_WINGS=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixed_wings
\ No newline at end of file
Copied: paparazzi3/trunk/conf/autopilot/fixedwing.makefile (from rev 5451,
paparazzi3/trunk/conf/autopilot/fixed_wings.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-08-18 12:38:05 UTC
(rev 5452)
@@ -0,0 +1,16 @@
+#
+# fixed_wings.makefile
+#
+#
+
+
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+
+
+SRC_FIXEDWING=.
+SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
+SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
+
+FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
+
+
Deleted: paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,122 +0,0 @@
-#
-# $Id: booz2_autopilot.makefile 4827 2010-04-21 08:02:18Z poine $
-#
-# Copyright (C) 2008 Antoine Drouin
-#
-# 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.
-#
-#
-
-ap.ARCHDIR = $(ARCHI)
-# this is supposedly ignored by the stm32 makefile
-ap.ARCH = arm7tdmi
-ap.TARGET = ap
-ap.TARGETDIR = ap
-
-
-ap.CFLAGS += $(FIXEDWING_INC)
-ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-ap.srcs = $(SRC_FIXEDWING)/main.c
-
-ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/plug_sys.c
-endif
-
-#
-# Interrupts
-#
-ifeq ($(ARCHI), arm7)
-ap.srcs += $(SRC_ARCH)/armVIC.c
-else ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
-ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
-endif
-
-#
-# LEDs
-#
-ap.CFLAGS += -DUSE_LED -DLED -DTIME_LED=1
-ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/led_hw.c
-endif
-
-#
-# Systime
-#
-ap.CFLAGS += -DUSE_SYS_TIME
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-#ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
-ifeq ($(ARCHI), stm32)
-ap.CFLAGS += -DSYS_TIME_LED=1 -DPERIPHERALS_AUTO_INIT
-endif
-
-
-#
-# FlyByWire Main
-#
-ap.CFLAGS += -DFBW
-ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
-
-#
-# AutoPilot Main
-#
-ap.CFLAGS += -DAP
-ap.srcs += $(SRC_FIXEDWING)/main_ap.c
-ap.srcs += $(SRC_FIXEDWING)/estimator.c
-
-#
-# InterMCU & Commands
-#
-
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c
-ap.srcs += $(SRC_FIXEDWING)/commands.c
-
-#
-# UARTS
-#
-ap.srcs += $(SRC_ARCH)/uart_hw.c
-
-
-ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DADC
-ap.srcs += $(SRC_ARCH)/adc_hw.c
-else ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/lisa_analog_plug.c
-endif
-
-
-#
-# GPS choice
-#
-# include fixedwing_gps_ublox_lea5h.makefile
-# or
-# include fixedwing_gps_ublox_lea4p.makefile
-# or
-# nothing
-#
-
-
-#
-# AHRS choice
-#
-# include fixedwing_attitude_infrared.makefile
-# or
-# not done yet
-#
Deleted: paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile 2010-08-18
09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/fixedwing_common.makefile 2010-08-18
12:38:05 UTC (rev 5452)
@@ -1,10 +0,0 @@
-
-
-
-SRC_FIXEDWING=.
-SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
-SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
-
-CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot
-
-FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4015.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4015.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4015.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4015.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,5 @@
+# for Tiny v1.1
+
+ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
+ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4015_MAT_hw.c
$(SRC_FIXEDWING)/actuators.c
+
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4017.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4017.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_4017.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,5 @@
+# for Tiny v2 or Twog v1
+
+ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
+ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4017_hw.c $(SRC_FIXEDWING)/actuators.c
+
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_ppm.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,10 @@
+# to output standard PPM to a R/C receiver
+#
+# This is used in the case where you want to directly drive a receiver which
has a microcontroller
+# to do the decoding and driving of the servos (not a 4015 or 4017 decoder
chip).
+# The PPM is output on the SERV_CLK pin. The PPM frame rate, pulse width, and
number of channels
+# can be adjusted in the "servos_ppm_hw.h" file to suit your particular
receiver.
+
+ap.CFLAGS += -DACTUATORS=\"servos_ppm_hw.h\" -DSERVOS_PPM_MAT
+ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_ppm_hw.c $(SRC_FIXEDWING)/actuators.c
+
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,20 @@
+# attitude via IR sensors
+
+#
+# default values for tiny and twog are:
+# ADC_IR1 = ADC_1
+# ADC_IR2 = ADC_2
+# ADC_IR_TOP = ADC_0
+# ADC_IR_NB_SAMPLES = 16
+#
+# to change just redefine these before including this file
+#
+
+ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
+ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
+ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
+ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
+
+ap.CFLAGS += -DINFRARED
+ap.srcs += $(SRC_FIXEDWING)/infrared.c
+
Copied: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
(from rev 5451, paparazzi3/trunk/conf/autopilot/fixedwing_autopilot.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,122 @@
+#
+# $Id: booz2_autopilot.makefile 4827 2010-04-21 08:02:18Z poine $
+#
+# Copyright (C) 2008 Antoine Drouin
+#
+# This file is part of paparazzi.
+#tin
+# 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.
+#
+#
+
+ap.ARCHDIR = $(ARCHI)
+# this is supposedly ignored by the stm32 makefile
+ap.ARCH = arm7tdmi
+ap.TARGET = ap
+ap.TARGETDIR = ap
+
+
+ap.CFLAGS += $(FIXEDWING_INC)
+ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+ap.srcs = $(SRC_FIXEDWING)/main.c
+
+ifeq ($(ARCHI), stm32)
+ap.srcs += lisa/plug_sys.c
+endif
+
+#
+# Interrupts
+#
+ifeq ($(ARCHI), arm7)
+ap.srcs += $(SRC_ARCH)/armVIC.c
+else ifeq ($(ARCHI), stm32)
+ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
+ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
+endif
+
+#
+# LEDs
+#
+ap.CFLAGS += -DUSE_LED -DLED -DTIME_LED=1
+ifeq ($(ARCHI), stm32)
+ap.srcs += $(SRC_ARCH)/led_hw.c
+endif
+
+#
+# Systime
+#
+ap.CFLAGS += -DUSE_SYS_TIME
+ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
+ifeq ($(ARCHI), stm32)
+ap.CFLAGS += -DSYS_TIME_LED=1 -DPERIPHERALS_AUTO_INIT
+endif
+
+
+#
+# FlyByWire Main
+#
+ap.CFLAGS += -DFBW
+ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
+
+#
+# AutoPilot Main
+#
+ap.CFLAGS += -DAP
+ap.srcs += $(SRC_FIXEDWING)/main_ap.c
+ap.srcs += $(SRC_FIXEDWING)/estimator.c
+
+#
+# InterMCU & Commands
+#
+
+ap.CFLAGS += -DINTER_MCU
+ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c
+ap.srcs += $(SRC_FIXEDWING)/commands.c
+
+#
+# UARTS
+#
+ap.srcs += $(SRC_ARCH)/uart_hw.c
+
+
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DADC
+ap.srcs += $(SRC_ARCH)/adc_hw.c
+else ifeq ($(ARCHI), stm32)
+ap.srcs += lisa/lisa_analog_plug.c
+endif
+
+
+#
+# GPS choice
+#
+# include fixedwing_gps_ublox_lea5h.makefile
+# or
+# include fixedwing_gps_ublox_lea4p.makefile
+# or
+# nothing
+#
+
+
+#
+# AHRS choice
+#
+# include fixedwing_attitude_infrared.makefile
+# or
+# not done yet
+#
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/ets_airspeed.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,6 @@
+# EagleTree sensors (altimeter and airspeed)
+ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
+ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
+
+sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
+sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,9 @@
+# UBlox LEA 4P
+
+
+ap.CFLAGS += -DGPS -DUBX
+ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
+ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
+ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
+
+ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,9 @@
+# UBlox LEA 5H
+
+
+ap.CFLAGS += -DGPS -DUBX -DGPS_USE_LATLONG
+ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
+ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
+ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
+
+ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
Copied: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gyro.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gyro.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gyro.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,15 @@
+# roll stabilization with gyro
+
+#
+# default values for tiny and twog are:
+# ADC_GYRO_ROLL = ADC_3
+# ADC_GYRO_NB_SAMPLES = 16
+#
+# to change just redefine these before including this file
+#
+
+ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL)
+ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
+
+ap.CFLAGS += -DGYRO -DADXRS150
+ap.srcs += $(SRC_FIXEDWING)/gyro.c
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/hum_baro_payload.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/hum_baro_payload.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/hum_baro_payload.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,7 @@
+# Payload: Sensirion humidity/temp, VTI pressure/temp
+
+ap.srcs += humid_sht.c
+ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
+
+ap.srcs += baro_scp.c
+ap.CFLAGS += -DUSE_BARO_SCP
Copied: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/joystick.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_joystick.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/joystick.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/joystick.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,7 @@
+# joystick for fixedwings
+
+ap.srcs += joystick.c
+ap.CFLAGS += -DUSE_JOYSTICK
+
+sim.srcs += joystick.c
+sim.CFLAGS += -DUSE_JOYSTICK
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile (from
rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_navigation.makefile)
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,13 @@
+# Standard fixed wing navigation
+
+ap.CFLAGS += -DNAV
+ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
+ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
+ap.srcs += traffic_info.c
+
+
+
+sim.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
+sim.srcs += traffic_info.c
+
+
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixed_wings/radio_control_ppm.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,2 +0,0 @@
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixed_wings/radio_control_ppm.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,2 @@
+ap.CFLAGS += -DRADIO_CONTROL
+ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_transparent.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,12 @@
+
+
+ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
+ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
+
+MODEM_UART = Uart$(MODEM_UART_NR)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART)
-DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
+ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c
$(SRC_FIXEDWING)/pprz_transport.c
+
+
Copied:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile
(from rev 5451,
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile)
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile
(rev 0)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/telemetry_xbee_api.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,10 @@
+# XBee modems in API mode
+
+ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
+ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
+
+MODEM_UART = Uart$(MODEM_UART_NR)
+
+ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART)
-DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DXBEE_UART=$(MODEM_UART)
+ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
+ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c
$(SRC_FIXEDWING)/xbee.c
Added: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/testing.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/testing.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/testing.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -0,0 +1,58 @@
+## TODO This file probably needs to move to the board specific folder
+
+# a test program to setup actuators
+setup_actuators.ARCHDIR = $(ARCHI)
+setup_actuators.ARCH = arm7tdmi
+setup_actuators.TARGET = setup_actuators
+setup_actuators.TARGETDIR = setup_actuators
+
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
-DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600
-DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c
$(SRC_ARCH)/servos_4015_hw.c main.c
+
+
+# a test program to tunnel between both uart
+tunnel.ARCHDIR = $(ARCHI)
+tunnel.ARCH = arm7tdmi
+tunnel.TARGET = tunnel
+tunnel.TARGETDIR = tunnel
+
+tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED
+tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+
+
+# A test program to monitor the ADC values
+test_adcs.ARCHDIR = $(ARCHI)
+test_adcs.ARCH = arm7tdmi
+test_adcs.TARGET = test_adcs
+test_adcs.TARGETDIR = test_adcs
+
+test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC
-DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5
-DUSE_ADC_6 -DUSE_ADC_7
+test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport
-DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0
-DDATALINK=XBEE -DUART0_BAUD=B9600
+test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
+
+test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c
$(SRC_ARCH)/armVIC.c test_adcs.c
+# pprz_transport.c
+
+
+# a configuration program to access both uart through usb
+usb_tunnel_0.ARCHDIR = $(ARCHI)
+usb_tunnel_0.ARCH = arm7tdmi
+usb_tunnel_0.TARGET = usb_tunnel_0
+usb_tunnel_0.TARGETDIR = usb_tunnel_0
+usb_tunnel_0.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART0
-DUART0_BAUD=B115200
+usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c
$(SRC_ARCH)/uart_hw.c
+usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c
$(SRC_ARCH)/lpcusb/usbinit.c
+usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c
$(SRC_ARCH)/lpcusb/usbstdreq.c
+usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+usb_tunnel_1.ARCHDIR = $(ARCHI)
+usb_tunnel_1.ARCH = arm7tdmi
+usb_tunnel_1.TARGET = usb_tunnel_1
+usb_tunnel_1.TARGETDIR = usb_tunnel_1
+usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1
-DUART1_BAUD=B115200
+usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c
$(SRC_ARCH)/uart_hw.c
+usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c
$(SRC_ARCH)/lpcusb/usbinit.c
+usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c
$(SRC_ARCH)/lpcusb/usbstdreq.c
+usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4015.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4015.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4015.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,5 +0,0 @@
-# for Tiny v1.1
-
-ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
-ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4015_MAT_hw.c
$(SRC_FIXEDWING)/actuators.c
-
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_4017.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,5 +0,0 @@
-# for Tiny v2 or Twog v1
-
-ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
-ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_4017_hw.c $(SRC_FIXEDWING)/actuators.c
-
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_ppm.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_ppm.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_actuators_ppm.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,10 +0,0 @@
-# to output standard PPM to a R/C receiver
-#
-# This is used in the case where you want to directly drive a receiver which
has a microcontroller
-# to do the decoding and driving of the servos (not a 4015 or 4017 decoder
chip).
-# The PPM is output on the SERV_CLK pin. The PPM frame rate, pulse width, and
number of channels
-# can be adjusted in the "servos_ppm_hw.h" file to suit your particular
receiver.
-
-ap.CFLAGS += -DACTUATORS=\"servos_ppm_hw.h\" -DSERVOS_PPM_MAT
-ap.srcs += $(SRC_FIXEDWING_ARCH)/servos_ppm_hw.c $(SRC_FIXEDWING)/actuators.c
-
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_attitude_infrared.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,20 +0,0 @@
-# attitude via IR sensors
-
-#
-# default values for tiny and twog are:
-# ADC_IR1 = ADC_1
-# ADC_IR2 = ADC_2
-# ADC_IR_TOP = ADC_0
-# ADC_IR_NB_SAMPLES = 16
-#
-# to change just redefine these before including this file
-#
-
-ap.CFLAGS += -DADC_CHANNEL_IR1=$(ADC_IR1) -DUSE_$(ADC_IR1)
-ap.CFLAGS += -DADC_CHANNEL_IR2=$(ADC_IR2) -DUSE_$(ADC_IR2)
-ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
-ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
-
-ap.CFLAGS += -DINFRARED
-ap.srcs += $(SRC_FIXEDWING)/infrared.c
-
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_ets_airspeed.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,6 +0,0 @@
-# EagleTree sensors (altimeter and airspeed)
-ap.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
-ap.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
-
-sim.CFLAGS += -DUSE_AIRSPEED_ETS -DUSE_AIRSPEED -DUSE_BARO_ETS -DUSE_I2C0
-sim.srcs += airspeed.c airspeed_ets.c baro_ets.c i2c.c $(SRC_ARCH)/i2c_hw.c
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea4p.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,9 +0,0 @@
-# UBlox LEA 4P
-
-
-ap.CFLAGS += -DGPS -DUBX
-ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
-ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
-ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
-
-ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gps_ublox_lea5h.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,9 +0,0 @@
-# UBlox LEA 5H
-
-
-ap.CFLAGS += -DGPS -DUBX -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_LINK=Uart$(GPS_UART_NR)
-ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
-ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=B$(GPS_BAUD)
-
-ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
Deleted: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_gyro.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,15 +0,0 @@
-# roll stabilization with gyro
-
-#
-# default values for tiny and twog are:
-# ADC_GYRO_ROLL = ADC_3
-# ADC_GYRO_NB_SAMPLES = 16
-#
-# to change just redefine these before including this file
-#
-
-ap.CFLAGS += -DADC_CHANNEL_GYRO_ROLL=$(ADC_GYRO_ROLL) -DUSE_$(ADC_GYRO_ROLL)
-ap.CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
-
-ap.CFLAGS += -DGYRO -DADXRS150
-ap.srcs += $(SRC_FIXEDWING)/gyro.c
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_hum_baro_payload.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,7 +0,0 @@
-# Payload: Sensirion humidity/temp, VTI pressure/temp
-
-ap.srcs += humid_sht.c
-ap.CFLAGS += -DUSE_HUMID_SHT -DDAT_PIN=3 -DSCK_PIN=2
-
-ap.srcs += baro_scp.c
-ap.CFLAGS += -DUSE_BARO_SCP
Deleted: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_joystick.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_joystick.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_joystick.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,7 +0,0 @@
-# joystick for fixedwings
-
-ap.srcs += joystick.c
-ap.CFLAGS += -DUSE_JOYSTICK
-
-sim.srcs += joystick.c
-sim.CFLAGS += -DUSE_JOYSTICK
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_navigation.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_navigation.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_navigation.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,7 +0,0 @@
-# Standard fixed wing navigation
-
-ap.CFLAGS += -DNAV
-ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
-ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
-
-sim.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,5 +0,0 @@
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_transparent.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,12 +0,0 @@
-
-
-ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
-ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
-
-MODEM_UART = Uart$(MODEM_UART_NR)
-
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART)
-DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DPPRZ_UART=$(MODEM_UART)
-ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
-ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c
$(SRC_FIXEDWING)/pprz_transport.c
-
-
Deleted:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
2010-08-18 09:34:16 UTC (rev 5451)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing_telemetry_xbee_api.makefile
2010-08-18 12:38:05 UTC (rev 5452)
@@ -1,10 +0,0 @@
-# XBee modems in API mode
-
-ap.CFLAGS += -DUSE_UART$(MODEM_UART_NR)
-ap.CFLAGS += -DUART$(MODEM_UART_NR)_BAUD=B$(MODEM_BAUD)
-
-MODEM_UART = Uart$(MODEM_UART_NR)
-
-ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=$(MODEM_UART)
-DDOWNLINK_AP_DEVICE=$(MODEM_UART) -DXBEE_UART=$(MODEM_UART)
-ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
-ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIXEDWING)/datalink.c
$(SRC_FIXEDWING)/xbee.c
Modified: paparazzi3/trunk/conf/boards/tiny_2.1.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/tiny_2.1.makefile 2010-08-18 09:34:16 UTC
(rev 5451)
+++ paparazzi3/trunk/conf/boards/tiny_2.1.makefile 2010-08-18 12:38:05 UTC
(rev 5452)
@@ -3,3 +3,7 @@
#
# http://paparazzi.enac.fr/wiki/Tiny_v2
#
+
+include tiny_2.11.makefile
+
+
Modified: paparazzi3/trunk/conf/boards/tiny_2.11.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/tiny_2.11.makefile 2010-08-18 09:34:16 UTC
(rev 5451)
+++ paparazzi3/trunk/conf/boards/tiny_2.11.makefile 2010-08-18 12:38:05 UTC
(rev 5452)
@@ -3,3 +3,42 @@
#
# http://paparazzi.enac.fr/wiki/Tiny_v2
#
+# TODO: move all to new directories
+# ARCH=lpc21
+ARCH=arm7
+ARCHI=arm7
+BOARD_CFG = \"tiny_2_1_1.h\"
+
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+ap.ARCHDIR = $(ARCHI)
+ap.ARCH = arm7tdmi
+ap.TARGET = autopilot
+ap.TARGETDIR = autopilot
+
+fbw.ARCHDIR = $(ARCHI)
+fbw.ARCH = arm7tdmi
+fbw.TARGET = autopilot
+fbw.TARGETDIR = autopilot
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+
+### default settings for tiny and twog
+GPS_UART_NR = 0
+GPS_BAUD = 38400
+MODEM_UART_NR = 1
+MODEM_BAUD = 57600
+
+ADC_IR1 = ADC_1
+ADC_IR2 = ADC_2
+ADC_IR_TOP = ADC_0
+ADC_IR_NB_SAMPLES = 16
+ADC_GYRO_ROLL = ADC_3
+ADC_GYRO_NB_SAMPLES = 16
+
+
Added: paparazzi3/trunk/conf/boards/twog_1.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/twog_1.makefile
(rev 0)
+++ paparazzi3/trunk/conf/boards/twog_1.makefile 2010-08-18 12:38:05 UTC
(rev 5452)
@@ -0,0 +1,9 @@
+#
+# tiny_2.1.makefile
+#
+# http://paparazzi.enac.fr/wiki/Tiny_v2
+#
+
+include tiny_2.11.makefile
+
+
Modified: paparazzi3/trunk/sw/tools/gen_aircraft.ml
===================================================================
--- paparazzi3/trunk/sw/tools/gen_aircraft.ml 2010-08-18 09:34:16 UTC (rev
5451)
+++ paparazzi3/trunk/sw/tools/gen_aircraft.ml 2010-08-18 12:38:05 UTC (rev
5452)
@@ -157,16 +157,26 @@
List.iter (fun tag ->
if ExtXml.tag_is tag "target" then begin
begin try
- fprintf makefile_ac "\n# makefile target '%s' board '%s'\n\n"
(Xml.attrib tag "name") (Xml.attrib tag "board");
+ fprintf makefile_ac "\n# makefile target '%s' board '%s'\n"
(Xml.attrib tag "name") (Xml.attrib tag "board");
fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib tag "board");
fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
+ fprintf makefile_ac "\n# Subsystems:'\n";
let print_if_subsystem = (fun c ->
if ExtXml.tag_is c "subsystem" then begin
- fprintf makefile_ac "include $(CFG_%s)/%s_%s.makefile\n"
- (String.uppercase(Xml.attrib tag "name"))
- (Xml.attrib c "name") (Xml.attrib c "type");
+ let has_subtype = ref false in
+ begin try
+ has_subtype := not (String.compare (Xml.attrib c "type") "" = 0)
+ with _ -> () end;
+ fprintf makefile_ac "include $(CFG_%s)/%s"
+ (String.uppercase(Xml.attrib tag "name"))
+ (Xml.attrib c "name");
+ if !has_subtype then
+ fprintf makefile_ac "_%s"
+ (Xml.attrib c "type");
+
+ fprintf makefile_ac ".makefile\n";
let print_if_subsystem_define = (fun d ->
- if ExtXml.tag_is d "define" then begin
+ if ExtXml.tag_is d "param" then begin
fprintf makefile_ac "%s = %s\n"
(String.uppercase(Xml.attrib d "name"))
(Xml.attrib d "value");
Modified: paparazzi3/trunk/sw/tools/gen_airframe.ml
===================================================================
--- paparazzi3/trunk/sw/tools/gen_airframe.ml 2010-08-18 09:34:16 UTC (rev
5451)
+++ paparazzi3/trunk/sw/tools/gen_airframe.ml 2010-08-18 12:38:05 UTC (rev
5452)
@@ -218,6 +218,23 @@
| _ -> xml_error "copy"
+let parse_subsystem_defines = fun options ->
+ match Xml.tag options with
+ "param" ->
+ printf "// -param: %s\n" (ExtXml.attrib options "name")
+ | "define" ->
+ printf "#define %s %s\n" (ExtXml.attrib options "name") (ExtXml.attrib
options "value")
+ | _ -> xml_error "define|param"
+
+
+let parse_subsystems = fun subsystem ->
+ match Xml.tag subsystem with
+ "subsystem" ->
+ printf "// -%s:\n" (ExtXml.attrib subsystem "name");
+ List.iter parse_subsystem_defines (Xml.children subsystem)
+ | _ -> xml_error "subsystem"
+
+
let parse_command = fun command no ->
let command_name = "COMMAND_"^ExtXml.attrib command "name" in
define command_name (string_of_int no);
@@ -281,6 +298,10 @@
| "makefile" ->
()
(** Ignoring this section *)
+ | "target" ->
+ printf "// Subsystems \n";
+ List.iter parse_subsystems (Xml.children s);
+ printf "// End Subsystems\n\n"
| _ -> ()
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- [paparazzi-commits] [5452] Both target/subsystem compilers for makefile/airframe.h are ready,
Christophe De Wagter <=