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[radio control] spektrum also usable for intermcu

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This commit is contained in:
Felix Ruess
2014-10-07 15:58:26 +02:00
parent efa1cb4027
commit 000e8bc07c
15 changed files with 181 additions and 129 deletions
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conf/airframes/CDW/classix.xml
+1 -3
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@@ -195,12 +195,9 @@
<define name="USE_AD1" value="1"/>
<configure name="ACTUATORS" value="actuators_ppm"/>
<define name="ADC_CHANNEL_VSUPPLY" value="AdcBank0\(6\)"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
</target>
@@ -212,6 +209,7 @@
<define name="LOITER_TRIM"/>
<define name="RADIO_CONTROL_AUTO1"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="xbee_api">
<configure name="MODEM_PORT" value="UART0"/>
conf/airframes/examples/separate_fbw_ap.xml
+6 -3
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@@ -253,6 +253,8 @@
</target>
<target name="fbw" board="lisa_m_2.0">
<configure name="SEPARATE_FBW" value="1"/>
<configure name="SYS_TIME_LED" value="2"/>
<define name="RADIO_CONTROL_LED" value="4"/>
<define name="LINK_MCU_LED" value="3"/>
@@ -260,8 +262,6 @@
<define name="OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP" value="1"/>
<define name="OUTBACK_CHALLENGE_VERY_DANGEROUS_RULE_AP_CAN_FORCE_FAILSAFE" value="1"/>
<subsystem name="radio_control" type="ppm"/>
<!-- split of ap/fbw specific subsystems for fbw -->
<subsystem name="actuators" type="pwm"/>
<subsystem name="intermcu" type="uart">
@@ -270,7 +270,6 @@
</target>
<target name="sim" board="pc">
<subsystem name="radio_control" type="ppm"/>
<subsystem name="control"/>
<subsystem name="navigation"/>
</target>
@@ -285,6 +284,10 @@
<define name="WIND_INFO_RET"/>
<define name="RADIO_CONTROL_AUTO1"/>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
</subsystem>
<!-- Communication -->
<subsystem name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B9600"/>
conf/boards/classix.makefile
+3
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@@ -46,3 +46,6 @@ GPS_BAUD ?= B38400
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_pwm
# always enable SEPARATE_FBW
SEPARATE_FBW = 1
conf/firmwares/subsystems/fixedwing/intermcu_can.makefile
+7 -2
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@@ -3,10 +3,15 @@
# InterMCU type CAN
ifneq ($(TARGET),sim)
# make sure that SEPARATE_FBW is configured
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
$(error Using intermcu via CAN, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
endif
$(TARGET).CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
$(TARGET).srcs += link_mcu_can.c
$(TARGET).srcs += mcu_periph/can.c
$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/can_arch.c
endif
SEPARATE_FBW=1
conf/firmwares/subsystems/fixedwing/intermcu_spi.makefile
+5 -1
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@@ -2,6 +2,11 @@
# InterMCU type SPI
# make sure that SEPARATE_FBW is configured
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
$(error Using intermcu via SPI, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
endif
ifeq ($(INTER_MCU_SPI),)
INTER_MCU_SPI = SPI1
endif
@@ -15,4 +20,3 @@ fbw.srcs += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_
ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
ap.CFLAGS += -DMCU_SPI_LINK -DUSE_$(INTER_MCU_SPI) -DSPI_MASTER -DUSE_SPI_$(INTER_MCU_SLAVE) -DUSE_SPI
ap.srcs += $(SRC_FIXEDWING)/link_mcu_spi.c mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
SEPARATE_FBW = 1
conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile
+4 -11
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@@ -2,6 +2,10 @@
# InterMCU type UART
# make sure that SEPARATE_FBW is configured
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
$(error Using intermcu via UART, so dual mcu with separate fbw. Please add <configure name="SEPARATE_FBW" value="1"/>)
endif
ifeq ($(TARGET),fbw)
ifeq ($(INTERMCU_PORT),none)
@@ -19,14 +23,3 @@ ifneq ($(TARGET),sim)
$(TARGET).CFLAGS += -DINTER_MCU -DMCU_UART_LINK
$(TARGET).srcs += ./link_mcu_usart.c
endif
#############################
# CAN:
# fbw.srcs += ./link_mcu_can.c ./mcu_periph/can.c ./arch/stm32/mcu_periph/can_arch.c
# fbw.CFLAGS += -DINTER_MCU -DMCU_CAN_LINK
# $(TARGET).CFLAGS += -DCAN_SJW_TQ=CAN_SJW_1tq -DCAN_BS1_TQ=CAN_BS1_3tq -DCAN_BS2_TQ=CAN_BS2_4tq -DCAN_PRESCALER=12 -DUSE_CAN -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DCAN_ERR_RESUME=DISABLE
SEPARATE_FBW=1
conf/firmwares/subsystems/shared/radio_control_datalink.makefile
+31 -29
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@@ -1,36 +1,38 @@
# Hey Emacs, this is a -*- makefile -*-
NORADIO = False
ifeq ($(BOARD),classix)
ifeq ($(TARGET),ap)
NORADIO = True
endif
endif
RADIO_CONTROL_DATALINK_LED ?= none
RADIO_CONTROL_LED ?= none
ifeq ($(NORADIO), False)
ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
endif
ifneq ($(RADIO_CONTROL_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
# arch only with sim target for compatibility (empty functions)
sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
ifneq ($(RADIO_CONTROL_DATALINK_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_DATALINK_LED=$(RADIO_CONTROL_DATALINK_LED)
endif
ifneq ($(RADIO_CONTROL_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/rc_datalink.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_DATALINK
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/rc_datalink.c
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
# Single MCU's run RC on ap target
$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
else
# Dual MCU case
fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
fbw.srcs += $(RC_SRCS)
# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
# but don't add source files
ap.CFLAGS += $(RC_CFLAGS)
endif
# arch only with sim target for compatibility (empty functions)
sim.srcs += $(SRC_ARCH)/subsystems/radio_control/rc_datalink.c
conf/firmwares/subsystems/shared/radio_control_ppm.makefile
+31 -25
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@@ -2,37 +2,43 @@
# Makefile for shared radio_control ppm subsystem
#
NORADIO = False
RADIO_CONTROL_LED ?= none
ifeq ($(BOARD),classix)
ifeq ($(TARGET),ap)
NORADIO = True
ifneq ($(RADIO_CONTROL_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_PPM
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
RC_SRCS += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
ifeq ($(ARCH),stm32)
ifdef RADIO_CONTROL_PPM_PIN
ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 UART1_RX))
$(TARGET).CFLAGS += -DPPM_CONFIG=1
else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 SERVO6))
$(TARGET).CFLAGS += -DPPM_CONFIG=2
endif
endif
endif
ifeq ($(NORADIO), False)
$(TARGET).CFLAGS += -DRADIO_CONTROL
ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
fbw.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_radio_control.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_PPM
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
$(TARGET).srcs += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
ifeq ($(ARCH),stm32)
ifdef RADIO_CONTROL_PPM_PIN
ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 UART1_RX))
$(TARGET).CFLAGS += -DPPM_CONFIG=1
else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 SERVO6))
$(TARGET).CFLAGS += -DPPM_CONFIG=2
endif
endif
endif
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
# Single MCU's run RC on ap target
$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
else
# Dual MCU case
fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
fbw.srcs += $(RC_SRCS)
# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
# but don't add source files
ap.CFLAGS += $(RC_CFLAGS)
endif
# dummy stuff so you don't have to unload superbitrf.xml settings file for simulators
conf/firmwares/subsystems/shared/radio_control_sbus.makefile
+18 -9
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@@ -8,22 +8,31 @@ ifneq ($(RADIO_CONTROL_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL
# convert SBUS_PORT to upper and lower case strings:
SBUS_PORT_UPPER=$(shell echo $(SBUS_PORT) | tr a-z A-Z)
SBUS_PORT_LOWER=$(shell echo $(SBUS_PORT) | tr A-Z a-z)
RC_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
RC_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
RC_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
RC_FBW_CFLAGS += -DUSE_$(SBUS_PORT_UPPER) -D$(SBUS_PORT_UPPER)_BAUD=B100000
RC_FBW_CFLAGS += -DSBUS_UART_DEV=$(SBUS_PORT_LOWER)
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
# Single MCU's run RC on ap target
$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
else
# Dual MCU case
fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
fbw.srcs += $(RC_SRCS)
# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
# but don't add source files
ap.CFLAGS += $(RC_CFLAGS)
endif
conf/firmwares/subsystems/shared/radio_control_sbus_dual.makefile
+24 -10
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@@ -14,8 +14,9 @@ ifneq ($(RADIO_CONTROL_LED),none)
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL
# convert SBUS_PORT to upper and lower case strings:
SBUS1_PORT_UPPER=$(shell echo $(SBUS1_PORT) | tr a-z A-Z)
@@ -23,13 +24,26 @@ SBUS1_PORT_LOWER=$(shell echo $(SBUS1_PORT) | tr A-Z a-z)
SBUS2_PORT_UPPER=$(shell echo $(SBUS2_PORT) | tr a-z A-Z)
SBUS2_PORT_LOWER=$(shell echo $(SBUS2_PORT) | tr A-Z a-z)
$(TARGET).CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
$(TARGET).CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
$(TARGET).CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
$(TARGET).CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
RC_FBW_CFLAGS += -DUSE_$(SBUS1_PORT_UPPER) -D$(SBUS1_PORT_UPPER)_BAUD=B100000
RC_FBW_CFLAGS += -DUSE_$(SBUS2_PORT_UPPER) -D$(SBUS2_PORT_UPPER)_BAUD=B100000
RC_FBW_CFLAGS += -DSBUS1_UART_DEV=$(SBUS1_PORT_LOWER)
RC_FBW_CFLAGS += -DSBUS2_UART_DEV=$(SBUS2_PORT_LOWER)
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/sbus_dual.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL_TYPE_SBUS
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_dual.c
RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control/sbus_common.c
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
# Single MCU's run RC on ap target
$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
else
# Dual MCU case
fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
fbw.srcs += $(RC_SRCS)
# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
# but don't add source files
ap.CFLAGS += $(RC_CFLAGS)
endif
conf/firmwares/subsystems/shared/radio_control_spektrum.makefile
+30 -16
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@@ -4,26 +4,29 @@
RADIO_CONTROL_LED ?= none
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
endif
RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
ifeq ($(ARCH), lpc21)
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif
ifneq ($(RADIO_CONTROL_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
ifeq ($(ARCH), lpc21)
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
endif
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif
RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
# enable the second spektrum port if so configured
ifdef USE_SECONDARY_SPEKTRUM_RECEIVER
ifneq ($(USE_SECONDARY_SPEKTRUM_RECEIVER),0)
RC_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
RC_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
RC_FBW_CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
RC_FBW_CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
endif
endif
@@ -31,8 +34,19 @@ RC_SRCS += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/spektrum.c \
$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
$(TARGET).CFLAGS += $(RC_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
# Single MCU's run RC on ap target
$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
else
# Dual MCU case
fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
fbw.srcs += $(RC_SRCS)
# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
# but don't add source files
ap.CFLAGS += $(RC_CFLAGS)
endif
test_radio_control.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
conf/firmwares/subsystems/shared/radio_control_superbitrf_rc.makefile
+17 -8
View File
@@ -3,21 +3,30 @@
#
RADIO_CONTROL_LED ?= none
RC_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
RC_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
ifneq ($(RADIO_CONTROL_LED),none)
RC_CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
RC_CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/superbitrf_rc.h\"
RC_FBW_CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE_SUPERBITRF
RC_FBW_CFLAGS += -DUSE_SUPERBITRF -DUSE_SPI2 -DUSE_SPI_SLAVE2
RC_SRCS += peripherals/cyrf6936.c \
$(SRC_SUBSYSTEMS)/datalink/superbitrf.c\
$(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/superbitrf_rc.c
ap.CFLAGS += $(RC_CFLAGS)
ap.srcs += $(RC_SRCS)
test_radio_control.CFLAGS += $(RC_CFLAGS)
test_radio_control.srcs += $(RC_SRCS)
ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))
# Single MCU's run RC on ap target
$(TARGET).CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
$(TARGET).srcs += $(RC_SRCS)
else
# Dual MCU case
fbw.CFLAGS += $(RC_CFLAGS) $(RC_FBW_CFLAGS)
fbw.srcs += $(RC_SRCS)
# define RADIO_CONTROL_TYPE for ap in dual_mcu case to get defines
# but don't add source files
ap.CFLAGS += $(RC_CFLAGS)
endif
sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c
+1 -1
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@@ -28,7 +28,7 @@
#include "subsystems/radio_control.h"
#include "subsystems/radio_control/spektrum.h"
#include "std.h"
#include <inttypes.h>
#if USE_NPS
sw/airborne/inter_mcu.h
-8
View File
@@ -45,14 +45,6 @@
#include "subsystems/electrical.h"
#include "firmwares/fixedwing/main_fbw.h"
#ifndef SINGLE_MCU
// If radio_control defines
#ifdef RADIO_CONTROL_NB_CHANNEL
#undef RADIO_CONTROL_NB_CHANNEL
#endif
#include "generated/radio.h"
#define RADIO_CONTROL_NB_CHANNEL RADIO_CTL_NB
#endif
/** Data structure shared by fbw and ap processes */
struct fbw_state {
sw/airborne/subsystems/radio_control.h
+3 -3
View File
@@ -23,14 +23,14 @@
#ifndef RADIO_CONTROL_H
#define RADIO_CONTROL_H
#if defined RADIO_CONTROL
#include "led.h"
#include "generated/airframe.h"
#include "paparazzi.h"
/* underlying hardware */
/* underlying hardware, also include if RADIO_CONTROL is not defined for ap in dual mcu case */
#include RADIO_CONTROL_TYPE_H
#if defined RADIO_CONTROL
/* must be defined by underlying hardware */
extern void radio_control_impl_init(void);
/* RADIO_CONTROL_NB_CHANNEL has to be defined by the implementation */