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common part for all booz2 imu subsystem makefiles

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This commit is contained in:
Felix Ruess
2011-11-24 10:42:11 +01:00
parent 0f6fa1b7ec
commit 11bdcb672b
5 changed files with 96 additions and 146 deletions
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conf/autopilot/subsystems/shared/imu_b2_common.makefile
+77
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@@ -0,0 +1,77 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Common part for all Booz2 IMUs
#
#
# 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>
#
#
# for fixedwing firmware
imu_CFLAGS += -DUSE_IMU
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
else ifeq ($(ARCH), stm32)
#FIXME: untested
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
endif
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.CFLAGS += -DIMU_B2_VERSION_1_0
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/shared/imu_b2_v1.0.makefile
+5 -33
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@@ -1,3 +1,4 @@
# Hey Emacs, this is a -*- makefile -*-
# #
# Booz2 IMU booz2v1.0 # Booz2 IMU booz2v1.0
# #
@@ -34,33 +35,22 @@
# #
# #
# imu Booz2 v1.0
# for fixedwing firmware # common Booz2 IMU files
imu_CFLAGS += -DUSE_IMU include $(CFG_SHARED)/imu_b2_common.makefile
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\" # imu Booz2 v1.1
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
imu_CFLAGS += -DIMU_B2_VERSION_1_0 imu_CFLAGS += -DIMU_B2_VERSION_1_0
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
# Magnetometer
imu_CFLAGS += -DUSE_AMI601 imu_CFLAGS += -DUSE_AMI601
imu_srcs += peripherals/ami601.c imu_srcs += peripherals/ami601.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12 imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12
else ifeq ($(ARCH), stm32) else ifeq ($(ARCH), stm32)
#FIXME: untested #FIXME: untested
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
endif endif
@@ -68,21 +58,3 @@ endif
# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
ap.CFLAGS += $(imu_CFLAGS) ap.CFLAGS += $(imu_CFLAGS)
ap.srcs += $(imu_srcs) ap.srcs += $(imu_srcs)
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.CFLAGS += -DIMU_B2_VERSION_1_0
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/shared/imu_b2_v1.1.makefile
+4 -34
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@@ -1,3 +1,4 @@
# Hey Emacs, this is a -*- makefile -*-
# #
# Booz2 IMU booz2v1.1 # Booz2 IMU booz2v1.1
# #
@@ -38,54 +39,23 @@
# param: MAX_1168_DRDY_PORT # param: MAX_1168_DRDY_PORT
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
# imu Booz2 v1.1 # imu Booz2 v1.1
# for fixedwing firmware
imu_CFLAGS += -DUSE_IMU
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100
imu_CFLAGS += -DIMU_B2_VERSION_1_1 imu_CFLAGS += -DIMU_B2_VERSION_1_1
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
# Magnetometer
imu_srcs += peripherals/ms2100.c imu_srcs += peripherals/ms2100.c
imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12 imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
else ifeq ($(ARCH), stm32) else ifeq ($(ARCH), stm32)
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
endif endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets # 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 # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
ap.CFLAGS += $(imu_CFLAGS) ap.CFLAGS += $(imu_CFLAGS)
ap.srcs += $(imu_srcs) ap.srcs += $(imu_srcs)
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/shared/imu_b2_v1.2.makefile
+5 -37
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@@ -1,3 +1,4 @@
# Hey Emacs, this is a -*- makefile -*-
# #
# Booz2 IMU booz2v1.2 # Booz2 IMU booz2v1.2
# #
@@ -38,34 +39,21 @@
# param: MAX_1168_DRDY_PORT # param: MAX_1168_DRDY_PORT
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
# imu Booz2 v1.2 # imu Booz2 v1.2
# for fixedwing firmware
imu_CFLAGS += -DUSE_IMU
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843
imu_CFLAGS += -DIMU_B2_VERSION_1_2 imu_CFLAGS += -DIMU_B2_VERSION_1_2
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
# Magnetometer
imu_srcs += peripherals/hmc5843.c imu_srcs += peripherals/hmc5843.c
imu_srcs += $(SRC_ARCH)/peripherals/hmc5843_arch.c imu_srcs += $(SRC_ARCH)/peripherals/hmc5843_arch.c
ifeq ($(ARCH), lpc21) ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
#FIXME ms2100 not used on this imu #FIXME ms2100 not used on this imu
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12 #imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
else ifeq ($(ARCH), stm32) else ifeq ($(ARCH), stm32)
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
endif endif
@@ -73,23 +61,3 @@ endif
# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
ap.CFLAGS += $(imu_CFLAGS) ap.CFLAGS += $(imu_CFLAGS)
ap.srcs += $(imu_srcs) ap.srcs += $(imu_srcs)
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
#FIXME, should be HMC5843
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
#FIXME, should be verision 1.2
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/shared/imu_yai.makefile
+5 -42
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@@ -1,6 +1,6 @@
# Hey Emacs, this is a -*- makefile -*- # Hey Emacs, this is a -*- makefile -*-
# #
# Booz2 IMU booz2v1.2 # YAI IMU
# #
# #
# required xml: # required xml:
@@ -38,50 +38,13 @@
# #
# param: MAX_1168_DRDY_PORT # param: MAX_1168_DRDY_PORT
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
# imu YAI v1.0 # imu YAI v1.0
# no default channels and signs defined yet
#needed for fixedwing firmware # No Magnetometer
imu_CFLAGS += -DUSE_IMU
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
imu_srcs += peripherals/max1168.c
imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
else ifeq ($(ARCH), stm32)
#FIXME: untested!
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
endif
ap.srcs += $(imu_srcs) ap.srcs += $(imu_srcs)
ap.CFLAGS += $(imu_CFLAGS) ap.CFLAGS += $(imu_CFLAGS)
#
# Simulator
#
sim.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
#FIXME, should be HMC5843
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
#FIXME, should be verision 1.2
sim.CFLAGS += -DIMU_B2_VERSION_1_1
sim.srcs += $(SRC_SUBSYSTEMS)/imu.c
sim.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
sim.srcs += $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
sim.srcs += peripherals/max1168.c
sim.srcs += $(SRC_ARCH)/peripherals/max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += peripherals/ami601.c
sim.CFLAGS += -DUSE_I2C1