[paparazzi-commits] [4832] dual lpc/stm32 compilation

[antoine drouin]

Revision: 4832
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4832
Author:   poine
Date:     2010-04-21 09:15:39 +0000 (Wed, 21 Apr 2010)
Log Message:
-----------
dual lpc/stm32 compilation

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_mkk.makefile
    paparazzi3/trunk/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
    
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_spektrum.makefile

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_mkk.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_mkk.makefile     
2010-04-21 09:15:04 UTC (rev 4831)
+++ paparazzi3/trunk/conf/autopilot/subsystems/booz2_actuators_mkk.makefile     
2010-04-21 09:15:39 UTC (rev 4832)
@@ -5,7 +5,7 @@
 # required xml:
 #  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
 #    <define name="NB" value="4"/>
-#    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58,  }"/>
+#    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
 #  </section>
 #
 #  <section name="SUPERVISION" prefix="SUPERVISION_">
@@ -15,22 +15,30 @@
 #    <define name="TRIM_E" value="-1"/>
 #    <define name="TRIM_R" value="3"/>
 #    <define name="NB_MOTOR" value="4"/>
+#    <define name="SCALE" value="256"/>
 #    <define name="ROLL_COEF"  value="{    0,    0, -256,  256}"/>
 #    <define name="PITCH_COEF" value="{  256, -256,    0,    0}"/>
 #    <define name="YAW_COEF"   value="{ -256, -256,  256,  256}"/>
+#    <define name="THRUST_COEF" value="{ 256,  256,  256,  256}"/>
 #  </section>
 #
 #
 
 
 #
+ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
 ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
-ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
-# on I2C0
+ap.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
+ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+
+ifeq ($(ARCHI), arm7)
 ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 ap.CFLAGS += -DI2C0_STOP_HANDLER=ActuatorsMkkI2cHandler
 ap.CFLAGS += -DI2C0_STOP_HANDLER_HEADER=\"actuators/booz_actuators_mkk.h\"
+else ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1  -DUSE_TIM2_IRQ
+ap.CFLAGS += -DUSE_I2C1
+endif
 
 # Simulator
 sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c

Modified: paparazzi3/trunk/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile        
2010-04-21 09:15:04 UTC (rev 4831)
+++ paparazzi3/trunk/conf/autopilot/subsystems/booz2_imu_b2v1_1.makefile        
2010-04-21 09:15:39 UTC (rev 4832)
@@ -49,19 +49,25 @@
 # imu Booz2 v1.1
 ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
 ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
-ap.CFLAGS += -DSSP_VIC_SLOT=9
 ap.srcs += $(SRC_BOOZ)/booz_imu.c                   \
            $(SRC_BOOZ)/imu/booz_imu_b2.c            \
            $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
 
-ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
            $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 
-ap.CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
 ap.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c \
            $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
 
+# FIXME : that would lpc21
+#ifeq ($(ap.ARCH), arm7tmdi)
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DSSP_VIC_SLOT=9
+ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
+ap.CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
+else ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+endif
 
 #
 # Simulator

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_spektrum.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_spektrum.makefile
    2010-04-21 09:15:04 UTC (rev 4831)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/booz2_radio_control_spektrum.makefile
    2010-04-21 09:15:39 UTC (rev 4832)
@@ -1,10 +1,19 @@
 #
 # Autopilot
 #
-ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
+ap.CFLAGS += -DUSE_RADIO_CONTROL
 ap.CFLAGS += 
-DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_spektrum.h\"
 ap.CFLAGS += 
-DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"radio_control/booz_radio_control_spektrum_dx7se.h\"
+
+ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
+           $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
+ifeq ($(ARCHI), arm7)
+ap.CFLAGS += -DRADIO_CONTROL_LED=1
 ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
 ap.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
-ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
-           $(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
+else ifeq ($(ARCHI), stm32) 
+ap.CFLAGS += -DRADIO_CONTROL_LED=4
+ap.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
+ap.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
+endif
+