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Merge remote branch 'paparazzi/master' into nav

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This commit is contained in:
Felix Ruess
2010-11-30 16:04:34 +01:00
parent 5ed955bf4f f3cd997e73
commit 00b8ad0490
31 changed files with 670 additions and 848 deletions
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conf/airframes/airframe.dtd
+1 -1
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@@ -26,7 +26,7 @@
<!ELEMENT param EMPTY>
<!ELEMENT flag EMPTY>
<!ELEMENT firmware (target|subsystem|define)*>
<!ELEMENT target (param|define)*>
<!ELEMENT target (param|define|subsystem)*>
<!ELEMENT subsystem (param)*>
<!ATTLIST include
conf/airframes/booz2_flixr.xml
+1 -6
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@@ -245,12 +245,7 @@
<define name="AUTO2" value="AP_MODE_HOVER_Z_HOLD" />
</section>
<makefile target="opening">
#empty
</makefile>
<makefile target="closure" location="after">
<makefile location="after">
ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c
sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c
</makefile>
conf/autopilot/fixedwing.makefile
+23 -19
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@@ -5,7 +5,7 @@
#
CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
@@ -16,36 +16,40 @@ SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
SRC_FIRMWARE=firmwares/fixedwing
SRC_SUBSYSTEMS=subsystems
FIXEDWING_INC = -I$(SRC_FIRMWARE) -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
FIXEDWING_INC = -I$(SRC_FIRMWARE) -I$(SRC_FIXEDWING)
# Standard Fixed Wing Code
include $(CFG_FIXEDWING)/autopilot.makefile
# automatically include correct actuators for the ap target
ifeq ($(TARGET),ap)
ifeq ($(ACTUATORS),)
ifeq ($(BOARD),tiny)
ifeq ($(BOARD_VERSION),1.1)
include $(CFG_FIXEDWING)/actuators_4015.makefile
else
ifeq ($(BOARD_VERSION),0.99)
include $(CFG_FIXEDWING)/actuators_4015.makefile
ifeq ($(ACTUATORS),)
ifeq ($(BOARD),tiny)
ifeq ($(BOARD_VERSION),1.1)
include $(CFG_SHARED)/actuators_4015.makefile
else
include $(CFG_FIXEDWING)/actuators_4017.makefile
ifeq ($(BOARD_VERSION),0.99)
include $(CFG_SHARED)/actuators_4015.makefile
else
include $(CFG_SHARED)/actuators_4017.makefile
endif
endif
endif
endif
ifeq ($(BOARD),twog)
include $(CFG_FIXEDWING)/actuators_4017.makefile
ifeq ($(BOARD),twog)
include $(CFG_SHARED)/actuators_4017.makefile
endif
ifeq ($(BOARD),lisa_l)
include $(CFG_SHARED)/actuators_direct.makefile
endif
else
include $(CFG_FIXEDWING)/$(ACTUATORS).makefile
endif
ifeq ($(BOARD),lisa_l)
include $(CFG_FIXEDWING)/actuators_direct.makefile
endif
else
include $(CFG_FIXEDWING)/$(ACTUATORS).makefile
endif
conf/autopilot/rotorcraft.makefile
+1
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@@ -30,6 +30,7 @@
# MODEM_BAUD
#
CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
SRC_BOOZ=booz
conf/autopilot/setup.makefile
+13 -15
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@@ -3,16 +3,14 @@
#
#
CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared
#CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/setup
SRC_ARCH=arch/$(ARCH)
SRC_FIRMWARE=firmwares/setup
CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/setup
SRC_SETUP=.
SRC_SETUP_ARCH=$(SRC_SETUP)/$(ARCH)
SRC_SETUP_TEST=$(SRC_SETUP)/
SETUP_INC = -I$(SRC_SETUP) -I$(SRC_SETUP_ARCH)
SETUP_INC = -I$(SRC_FIRMWARE)
# for the usb_tunnel we need to set PCLK higher
@@ -54,25 +52,25 @@ usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
ifeq ($(ACTUATORS),)
ifeq ($(BOARD),tiny)
ifeq ($(BOARD_VERSION),1.1)
include $(CFG_SETUP)/actuators_4015.makefile
include $(CFG_SHARED)/actuators_4015.makefile
else
ifeq ($(BOARD_VERSION),0.99)
include $(CFG_SETUP)/actuators_4015.makefile
include $(CFG_SHARED)/actuators_4015.makefile
else
include $(CFG_SETUP)/actuators_4017.makefile
include $(CFG_SHARED)/actuators_4017.makefile
endif
endif
endif
ifeq ($(BOARD),twog)
include $(CFG_SETUP)/actuators_4017.makefile
include $(CFG_SHARED)/actuators_4017.makefile
endif
ifeq ($(BOARD),lisa_l)
include $(CFG_SETUP)/actuators_direct.makefile
include $(CFG_SHARED)/actuators_direct.makefile
endif
else
include $(CFG_SETUP)/$(ACTUATORS).makefile
include $(CFG_SHARED)/$(ACTUATORS).makefile
endif
@@ -82,4 +80,4 @@ setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart
setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c setup_actuators.c $(SRC_ARCH)/uart_hw.c firmwares/fixedwing/main.c
setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/uart_hw.c firmwares/fixedwing/main.c
conf/autopilot/subsystems/fixedwing/actuators_4015.makefile
-6
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@@ -1,6 +0,0 @@
# for Tiny v1.1
ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c
ap.srcs += $(SRC_FIXEDWING)/actuators.c
conf/autopilot/subsystems/fixedwing/actuators_4017.makefile
-5
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@@ -1,5 +0,0 @@
# for Tiny v2 or Twog v1
ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
ap.srcs += $(SRC_ARCH)/servos_4017_hw.c $(SRC_FIXEDWING)/actuators.c
conf/autopilot/subsystems/fixedwing/actuators_direct.makefile
-13
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@@ -1,13 +0,0 @@
# for lisa_l
ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\" -DSERVOS_DIRECT
ap.srcs += $(SRC_ARCH)/servos_direct_hw.c $(SRC_FIXEDWING)/actuators.c
# TODO TODO UGLY HACK: We re-use the booz actuators: Should become universal actuator code!!
# Carefull: paths might get broken with this silly rotorcraft/fixedwing mixup of directories
ifeq ($(ARCH), stm32)
ap.srcs += firmwares/rotorcraft/actuators/arch/stm32/actuators_pwm_arch.c
ap.CFLAGS += -Ifirmwares/rotorcraft/actuators/arch/stm32
endif
conf/autopilot/subsystems/fixedwing/testing.makefile
+1 -1
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@@ -21,7 +21,7 @@ test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_
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
test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c
# pprz_transport.c
conf/autopilot/subsystems/rotorcraft/radio_control_ppm.makefile
-31
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@@ -1,31 +0,0 @@
#
# Autopilot
#
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/ppm.c \
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
ap.CFLAGS += -DUSE_TIM2_IRQ
#
# Simulator
#
sim.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=1
sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
sim.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/ppm.c \
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
#
# test_rc_ppm
#
# configuration
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
# RADIO_CONTROL_LED
#
conf/autopilot/subsystems/rotorcraft/radio_control_spektrum.makefile
-22
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@@ -1,22 +0,0 @@
#
# Makefile for radio_control susbsytem in rotorcraft firmware
#
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
endif
ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
ifeq ($(BOARD), booz)
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
endif
ifdef RADIO_CONTROL_LED
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
ap.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/spektrum.c \
$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
conf/autopilot/subsystems/setup/actuators_4015.makefile → conf/autopilot/subsystems/shared/actuators_4015.makefile
-1
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@@ -2,4 +2,3 @@
$(TARGET).CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
$(TARGET).srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c
conf/autopilot/subsystems/setup/actuators_4017.makefile → conf/autopilot/subsystems/shared/actuators_4017.makefile
-1
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@@ -2,4 +2,3 @@
$(TARGET).CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017
$(TARGET).srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c
conf/autopilot/subsystems/setup/actuators_direct.makefile → conf/autopilot/subsystems/shared/actuators_direct.makefile
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conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile → conf/autopilot/subsystems/shared/radio_control_ppm.makefile
+9 -17
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@@ -1,3 +1,6 @@
#
# Makefile for shared radio_control ppm susbsytem
#
NORADIO = False
@@ -7,25 +10,11 @@ ifeq ($(BOARD),classix)
endif
endif
ifeq ($(ARCH),stm32)
ap.CFLAGS += -DRADIO_CONTROL
ifdef RADIO_CONTROL_LED
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
ap.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
$(SRC_SUBSYSTEMS)/radio_control/ppm.c \
$(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
ap.CFLAGS += -DUSE_TIM2_IRQ
NORADIO = True
endif
ifeq ($(NORADIO), False)
$(TARGET).CFLAGS += -DRADIO_CONTROL
ifdef RADIO_CONTROL_LED
ap.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
$(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_PPM
$(TARGET).srcs += $(SRC_SUBSYSTEMS)/radio_control.c
@@ -33,4 +22,7 @@ ifeq ($(NORADIO), False)
ifneq ($(ARCH),jsbsim)
$(TARGET).srcs += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
endif
ifeq ($(ARCH),stm32)
ap.CFLAGS += -DUSE_TIM2_IRQ
endif
endif
conf/autopilot/subsystems/fixedwing/radio_control_spektrum.makefile → conf/autopilot/subsystems/shared/radio_control_spektrum.makefile
+1 -1
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@@ -1,5 +1,5 @@
#
# Makefile for radio_control susbsytem in fixedwing firmware
# Makefile for shared radio_control spektrum susbsytem
#
ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"subsystems/radio_control/spektrum_dx7se.h\"
sw/airborne/setup_actuators.c → sw/airborne/firmwares/setup/setup_actuators.c
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sw/airborne/max1167.c
-15
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@@ -1,15 +0,0 @@
#include "max1167.h"
volatile uint8_t max1167_status;
uint16_t max1167_values[MAX1167_NB_CHAN];
extern void max1167_init( void ) {
max1167_hw_init();
uint8_t i;
for (i=0; i<MAX1167_NB_CHAN; i++)
max1167_values[i] = 0;
max1167_status = STA_MAX1167_IDLE;
}
sw/airborne/max1167.h
-24
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@@ -1,24 +0,0 @@
#ifndef MAX1167_H
#define MAX1167_H
#include "std.h"
#define MAX1167_NB_CHAN 4
extern void max1167_init( void );
extern void max1167_read( void );
#define STA_MAX1167_IDLE 0
#define STA_MAX1167_SENDING_REQ 1
#define STA_MAX1167_READING_RES 2
#define STA_MAX1167_DATA_AVAILABLE 3
extern volatile uint8_t max1167_status;
extern uint16_t max1167_values[MAX1167_NB_CHAN];
extern void max1167_hw_init( void );
#include "max1167_hw.h"
#endif /* MAX1167_H */
sw/airborne/arch/lpc21/max1167_hw.c → sw/airborne/obsolete/max1167_hw.c
View File
sw/airborne/arch/lpc21/max1167_hw.h → sw/airborne/obsolete/max1167_hw.h
View File
sw/airborne/nova_test_imu.c → sw/airborne/test/nova_test_imu.c
View File
sw/airborne/test_adcs.c → sw/airborne/test/test_adcs.c
View File
sw/ground_segment/cockpit/Makefile
+3
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@@ -102,6 +102,9 @@ LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
ant_track : ant_track.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
ant_track_pmm : ant_track_pmm.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
test_enose : test_enose.c sliding_plot.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS) -lgtkdatabox
sw/in_progress/antenna_track/ant_track_pmm.c → sw/ground_segment/cockpit/ant_track_pmm.c
View File
sw/in_progress/antenna_track/Makefile
-33
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@@ -1,33 +0,0 @@
#
# $Id$
#
# 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.
#
# Quiet compilation
Q=@
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags` $(FPIC)
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
ant_track_pmm : ant_track_pmm.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
clean:
rm -f *~* *.cm* *.o *.out *.opt .depend
sw/tools/gen_aircraft.ml
+269 -288
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File diff suppressed because it is too large Load Diff
sw/tools/gen_airframe.ml
+18 -18
View File
@@ -2,7 +2,7 @@
* $Id$
*
* XML preprocessing for airframe parameters
*
*
* Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -20,7 +20,7 @@
* 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.
* Boston, MA 02111-1307, USA.
*
*)
@@ -59,7 +59,7 @@ let define_macro name n x =
| 2 -> printf "x1,x2) (%s*(x1)+ %s*(x2))\n" (a "coeff1") (a "coeff2")
| 3 -> printf "x1,x2,x3) (%s*(x1)+ %s*(x2)+%s*(x3))\n" (a "coeff1") (a "coeff2") (a "coeff3")
| _ -> failwith "define_macro"
let define_integer name v n =
let max_val = 1 lsl n in
let print = fun name num den ->
@@ -84,11 +84,11 @@ let define_integer name v n =
let parse_element = fun prefix s ->
match Xml.tag s with
"define" -> begin
try
define (prefix^ExtXml.attrib s "name") (ExtXml.display_entities (ExtXml.attrib s "value"));
define_integer (prefix^(ExtXml.attrib s "name")) (ExtXml.float_attrib s "value") (ExtXml.int_attrib s "integer");
with _ -> ();
end
try
define (prefix^ExtXml.attrib s "name") (ExtXml.display_entities (ExtXml.attrib s "value"));
define_integer (prefix^(ExtXml.attrib s "name")) (ExtXml.float_attrib s "value") (ExtXml.int_attrib s "integer");
with _ -> ();
end
| "linear" ->
let name = ExtXml.attrib s "name"
and n = int_of_string (ExtXml.attrib s "arity") in
@@ -107,7 +107,7 @@ let parse_servo = fun driver c ->
let min = fos (ExtXml.attrib c "min" )
and neutral = fos (ExtXml.attrib c "neutral")
and max = fos (ExtXml.attrib c "max" ) in
let travel_up = (max-.neutral) /. max_pprz
and travel_down = (neutral-.min) /. max_pprz in
@@ -153,7 +153,7 @@ let parse_command_laws = fun command ->
let var = a "var"
and value = a "value" in
let v = preprocess_value value "values" "COMMAND" in
printf " int16_t _var_%s = %s;\\\n" var v
printf " int16_t _var_%s = %s;\\\n" var v
| "define" ->
parse_element "" command
| _ -> xml_error "set|let"
@@ -162,7 +162,7 @@ let parse_csc_fields = fun csc_fields ->
let a = fun s -> ExtXml.attrib csc_fields s in
match Xml.tag csc_fields with
"field_map" ->
let servo_id = a "servo_id"
let servo_id = a "servo_id"
and field = a "field" in
printf " temp.%s = actuators[%s]; \\\n" field servo_id;
| _ -> xml_error "field_map"
@@ -171,8 +171,8 @@ let parse_csc_messages = (let msg_index_ref = ref 0 in fun csc_id csc_messages -
let a = fun s -> ExtXml.attrib csc_messages s in
match Xml.tag csc_messages with
"msg" ->
let msg_id = a "id"
and msg_type = a "type"
let msg_id = a "id"
and msg_type = a "type"
and msg_index = msg_index_ref.contents in
msg_index_ref.contents <- msg_index + 1;
printf "{\\\n struct Csc%s temp; \\\n" msg_type;
@@ -204,7 +204,7 @@ let parse_rc_commands = fun rc ->
let var = a "var"
and value = a "value" in
let v = preprocess_value value "rc_values" "RADIO" in
printf " int16_t _var_%s = %s;\\\n" var v
printf " int16_t _var_%s = %s;\\\n" var v
| "define" ->
parse_element "" rc
| _ -> xml_error "set|let"
@@ -221,7 +221,7 @@ let parse_ap_only_commands = fun ap_only ->
let parse_subsystem_defines = fun options ->
match Xml.tag options with
"param" ->
printf "// -param: %s\n" (ExtXml.attrib options "name")
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"
@@ -230,7 +230,7 @@ let parse_subsystem_defines = fun options ->
let parse_subsystems = fun subsystem ->
match Xml.tag subsystem with
"param" ->
printf "// subsystem parameter: %s\n" (ExtXml.attrib subsystem "name")
printf "// subsystem parameter: %s\n" (ExtXml.attrib subsystem "name")
| "subsystem" ->
printf "// -%s:\n" (ExtXml.attrib subsystem "name");
List.iter parse_subsystem_defines (Xml.children subsystem)
@@ -307,7 +307,7 @@ let rec parse_section = fun s ->
()
(** Ignoring this section *)
| _ -> ()
let h_name = "AIRFRAME_H"
@@ -319,7 +319,7 @@ let hex_to_bin = fun s ->
b.[4*i] <- '\\';
Scanf.sscanf (String.sub s (2*i) 2) "%2x"
(fun x ->
String.blit (sprintf "%03o" x) 0 b (4*i+1) 3)
String.blit (sprintf "%03o" x) 0 b (4*i+1) 3)
done;
b
sw/tools/gen_flight_plan.ml
+284 -285
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File diff suppressed because it is too large Load Diff
sw/tools/gen_modules.ml
+12 -12
View File
@@ -2,7 +2,7 @@
* $Id$
*
* XML preprocessing for modules
*
*
* Copyright (C) 2009 Gautier Hattenberger
*
* This file is part of paparazzi.
@@ -20,7 +20,7 @@
* 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.
* Boston, MA 02111-1307, USA.
*
*)
@@ -102,7 +102,7 @@ let remove_dup = fun l ->
match l with
[] | [_] -> l
| x::((x'::_) as xs) ->
if x = x' then loop xs else x::loop xs in
if x = x' then loop xs else x::loop xs in
loop (List.sort compare l)
let print_periodic_functions = fun modules ->
@@ -117,7 +117,7 @@ let print_periodic_functions = fun modules ->
let functions_modulo = List.flatten (List.map (fun m ->
let periodic = List.filter (fun i -> (String.compare (Xml.tag i) "periodic") == 0) (Xml.children m) in
let module_name = ExtXml.attrib m "name" in
List.map (fun x ->
List.map (fun x ->
try
let p = float_of_string (Xml.attrib x "period") in
let _ = try let _ = Xml.attrib x "freq" in fprintf stderr "Warning: both period and freq are defined but only period is used for function %s\n" (ExtXml.attrib x "fun") with _ -> () in
@@ -178,7 +178,7 @@ let print_periodic_functions = fun modules ->
lprintf out_h "}\n";
end
end
else
else
begin
if (test_delay func) then begin
(** Delay is set by user *)
@@ -229,7 +229,7 @@ let print_event_functions = fun modules ->
let print_datalink_functions = fun modules ->
lprintf out_h "\n#include \"messages.h\"\n";
lprintf out_h "#include \"airframe.h\"\n";
lprintf out_h "#include \"generated/airframe.h\"\n";
lprintf out_h "static inline void modules_parse_datalink(uint8_t msg_id __attribute__ ((unused))) {\n";
right ();
let else_ = ref "" in
@@ -267,16 +267,16 @@ let get_modules = fun dir m ->
let name = ExtXml.attrib m "name" in
let xml = Xml.parse_file (dir^name) in
xml
end
end
| _ -> xml_error "load"
let test_section_modules = fun xml ->
List.fold_right (fun x r -> ExtXml.tag_is x "modules" || r) (Xml.children xml) false
List.fold_right (fun x r -> ExtXml.tag_is x "modules" || r) (Xml.children xml) false
(** Check dependencies *)
let pipe_regexp = Str.regexp "|"
let dep_of_field = fun field att ->
try
try
Str.split pipe_regexp (Xml.attrib field att)
with
_ -> []
@@ -310,7 +310,7 @@ let write_settings = fun xml_file out_set modules ->
match Xml.tag i with
"periodic" ->
if not (is_status_lock i) then begin
if (not !setting_exist) then begin
if (not !setting_exist) then begin
fprintf out_set " <dl_settings name=\"Modules\">\n";
setting_exist := true;
end;
@@ -326,7 +326,7 @@ let write_settings = fun xml_file out_set modules ->
let get_targets_of_module = fun m ->
let pipe_regexp = Str.regexp "|" in
let targets_of_field = fun field -> try
let targets_of_field = fun field -> try
Str.split pipe_regexp (ExtXml.attrib_or_default field "target" "ap|sim") with _ -> [] in
let rec singletonize = fun l ->
match l with
@@ -380,7 +380,7 @@ let () =
freq := main_freq;
let modules_list = List.map (get_modules modules_dir) (Xml.children modules) in
let modules_list = unload_unused_modules modules_list in
let modules_name =
let modules_name =
(List.map (fun l -> try Xml.attrib l "name" with _ -> "") (Xml.children modules)) @
(List.map (fun m -> try Xml.attrib m "name" with _ -> "") modules_list) in
check_dependencies modules_list modules_name;
sw/tools/gen_settings.ml
+34 -34
View File
@@ -2,7 +2,7 @@
* $Id$
*
* XML preprocessing for dynamic tuning
*
*
* Copyright (C) 2006 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
@@ -20,7 +20,7 @@
* 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.
* Boston, MA 02111-1307, USA.
*
*)
@@ -44,50 +44,50 @@ let rec flatten = fun xml r ->
match Xml.children xml with
[] -> r
| x::xs ->
List.iter (fun y -> assert(ExtXml.tag_is y (Xml.tag x))) xs;
List.fold_right flatten (x::xs) r
List.iter (fun y -> assert(ExtXml.tag_is y (Xml.tag x))) xs;
List.fold_right flatten (x::xs) r
module StringSet = Set.Make(struct type t = string let compare = compare end)
let print_dl_settings = fun settings ->
let settings = flatten settings [] in
(** include headers **)
let modules = ref StringSet.empty in
List.iter
List.iter
(fun s ->
try
modules := StringSet.add (ExtXml.attrib s "module") !modules
modules := StringSet.add (ExtXml.attrib s "module") !modules
with ExtXml.Error e -> ()
)
)
settings;
lprintf "\n";
StringSet.iter (fun m -> lprintf "#include \"%s.h\"\n" m) !modules;
lprintf "#include \"modules.h\"\n";
lprintf "#include \"generated/modules.h\"\n";
lprintf "\n";
(** Macro to call to set one variable *)
lprintf "#define DlSetting(_idx, _value) { \\\n";
right ();
lprintf "switch (_idx) { \\\n";
right ();
let idx = ref 0 in
List.iter
List.iter
(fun s ->
let v = ExtXml.attrib s "var" in
begin
try
let h = ExtXml.attrib s "handler" and
m = ExtXml.attrib s "module" in
lprintf "case %d: %s_%s( _value ); _value = %s; break;\\\n" !idx (Filename.basename m) h v
with
ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v
end;
incr idx
)
begin
try
let h = ExtXml.attrib s "handler" and
m = ExtXml.attrib s "module" in
lprintf "case %d: %s_%s( _value ); _value = %s; break;\\\n" !idx (Filename.basename m) h v
with
ExtXml.Error e -> lprintf "case %d: %s = _value; break;\\\n" !idx v
end;
incr idx
)
settings;
lprintf "default: break;\\\n";
left ();
@@ -106,10 +106,10 @@ let print_dl_settings = fun settings ->
let idx = ref 0 in
lprintf "switch (i) { \\\n";
right ();
List.iter
List.iter
(fun s ->
let v = ExtXml.attrib s "var" in
lprintf "case %d: var = %s; break;\\\n" !idx v; incr idx)
let v = ExtXml.attrib s "var" in
lprintf "case %d: var = %s; break;\\\n" !idx v; incr idx)
settings;
lprintf "default: var = 0.; break;\\\n";
left ();
@@ -126,16 +126,16 @@ let print_dl_settings = fun settings ->
let idx = ref 0 in
lprintf "switch (i) { \\\n";
right ();
List.iter
List.iter
(fun s ->
let v = ExtXml.attrib s "var" in
lprintf "case %d: return %s;\n" !idx v; incr idx)
lprintf "case %d: return %s;\n" !idx v; incr idx)
settings;
lprintf "default: return 0.;\n";
lprintf "}\n";
left ();
lprintf "}\n"
@@ -190,12 +190,12 @@ let join_xml_files = fun xml_files ->
and rc_settings = ref [] in
List.iter (fun xml_file ->
let xml = Xml.parse_file xml_file in
let these_rc_settings =
let these_rc_settings =
try Xml.children (ExtXml.child xml "rc_settings") with
Not_found -> [] in
let these_dl_settings =
try Xml.children (ExtXml.child xml "dl_settings") with
Not_found -> [] in
Not_found -> [] in
let these_dl_settings =
try Xml.children (ExtXml.child xml "dl_settings") with
Not_found -> [] in
rc_settings := these_rc_settings @ !rc_settings;
dl_settings := these_dl_settings @ !dl_settings)
xml_files;
@@ -211,11 +211,11 @@ let _ =
for i = 2 to Array.length Sys.argv - 1 do
xml_files := Sys.argv.(i) :: !xml_files;
done;
try
printf "/* This file has been generated from %s */\n" (String.concat " " !xml_files);
printf "/* Please DO NOT EDIT */\n\n";
printf "#ifndef %s\n" h_name;
define h_name "";
nl ();