[paparazzi-commits] [6087] Add some passthrough makefiles, and imu 1.2 makefile

[Allen Ibara]

Revision: 6087
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6087
Author:   aibara
Date:     2010-10-06 05:12:24 +0000 (Wed, 06 Oct 2010)
Log Message:
-----------
Add some passthrough makefiles, and imu 1.2 makefile

Added Paths:
-----------
    
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile
    
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile  
                            (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile  
    2010-10-06 05:12:24 UTC (rev 6087)
@@ -0,0 +1,8 @@
+#
+# Complementary filter for attitude estimation
+#
+
+ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) 
-DAHRS_FIXED_POINT
+stm_passthrough.srcs += $(SRC_FIRMWARE)/ahrs.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/ahrs/ahrs_aligner.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/ahrs/ahrs_cmpl_euler.c

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile
                         (rev 0)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/lisa_passthrough/booz_stabilization_int.makefile
 2010-10-06 05:12:24 UTC (rev 6087)
@@ -0,0 +1,21 @@
+stm_passthrough.srcs += $(SRC_FIRMWARE)/autopilot.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
+
+stm_passthrough.srcs += $(SRC_FIRMWARE)/stabilization.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
+
+stm_passthrough.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
+
+stm_passthrough.CFLAGS += -DUSE_NAVIGATION
+stm_passthrough.srcs += $(SRC_FIRMWARE)/ins.c
+stm_passthrough.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c 
math/pprz_geodetic_double.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/navigation.c
+stm_passthrough.srcs += $(SRC_FIRMWARE)/ins/vf_float.c
+stm_passthrough.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)'
+
+stm_passthrough.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
+stm_passthrough.CFLAGS += 
-DSTABILISATION_ATTITUDE_H=\"stabilization/stabilization_attitude_int.h\"
+stm_passthrough.CFLAGS += 
-DSTABILISATION_ATTITUDE_REF_H=\"stabilization/stabilization_attitude_ref_euler_int.h\"
+stm_passthrough.srcs += 
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_ref_euler_int.c
+stm_passthrough.srcs += 
$(SRC_FIRMWARE)/stabilization/stabilization_attitude_euler_int.c

Added: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile  
                        (rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile  
2010-10-06 05:12:24 UTC (rev 6087)
@@ -0,0 +1,90 @@
+#
+# Booz2 IMU booz2v1.1
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <define name="GYRO_X_NEUTRAL" value="33924"/>
+#    <define name="GYRO_Y_NEUTRAL" value="33417"/>
+#    <define name="GYRO_Z_NEUTRAL" value="32809"/>
+#
+#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+# 
+#    <define name="ACCEL_X_NEUTRAL" value="32081"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
+#
+#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#
+#    <define name="MAG_X_NEUTRAL" value="2358"/>
+#    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+#    <define name="MAG_Z_NEUTRAL" value="2119"/>
+#
+#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_45_HACK" value="1"/> 
+#
+#  </section>
+#
+#
+
+#
+# param: MAX_1168_DRDY_PORT
+
+
+
+# imu Booz2 v1.2
+imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843
+imu_CFLAGS += -DIMU_B2_VERSION_1_2
+imu_srcs += $(SRC_BOOZ)/booz_imu.c                   \
+           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
+           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+
+imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+           $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+
+imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c 
+          # $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+
+# FIXME : that would lpc21
+#ifeq ($(ap.ARCH), arm7tmdi)
+ifeq ($(ARCHI), arm7)
+imu_CFLAGS += -DSSP_VIC_SLOT=9
+imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
+imu_CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
+else ifeq ($(ARCHI), stm32) 
+imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
+imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+endif
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other 
targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for 
example
+ap.CFLAGS += $(imu_CFLAGS)
+ap.srcs += $(imu_srcs)
+
+#
+# Simulator
+#
+
+sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_VERSION_1_2
+sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
+sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
+            $(SRC_BOOZ)/imu/booz_imu_b2.c          \
+            $(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
+
+
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
+            $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
+
+sim.CFLAGS += -DUSE_AMI601
+sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.CFLAGS += -DUSE_I2C1