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This commit is contained in:
Antoine Drouin
2006-04-17 20:53:25 +00:00
parent 292ea5f986
commit 1cfa447bf7
22 changed files with 67 additions and 78 deletions
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Makefile.ac
+10 -8
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@@ -24,17 +24,20 @@ include conf/Makefile.local
CONF=$(PAPARAZZI_HOME)/conf
CONF_XML=$(CONF)/conf.xml
MESSAGES_XML = $(CONF)/messages.xml
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
AIRFRAME_H=$(ACINCLUDE)/airframe.h
CONTROL_H=$(ACINCLUDE)/control.h
CONTROL_C=$(ACINCLUDE)/ap/control.c
FBW_DOWNLINK_H=$(ACINCLUDE)/fbw_downlink_gen.h
AP_DOWNLINK_H=$(ACINCLUDE)/ap_downlink_gen.h
RADIO_H=$(ACINCLUDE)/radio.h
FLIGHT_PLAN_H=$(ACINCLUDE)/flight_plan.h
FLIGHT_PLAN_XML=$(ACINCLUDE)/flight_plan.xml
INFLIGHT_CALIB_H=$(ACINCLUDE)/inflight_calib.h
MAKEFILE_AC=$(ACINCLUDE)/Makefile.ac
all: $(AIRFRAME_H) $(RADIO_H) $(CONTROL_H) $(CONTROL_C) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H) $(MAKEFILE_AC)
all: $(AIRFRAME_H) $(RADIO_H) $(CONTROL_H) $(CONTROL_C) $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML) $(INFLIGHT_CALIB_H) $(MAKEFILE_AC) $(FBW_DOWNLINK_H)
$(AIRFRAME_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
@@ -45,18 +48,17 @@ $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML)
$(TOOLS)/gen_radio.out $< > /tmp/radio.h
mv /tmp/radio.h $@
$(FBW_DOWNLINK_H) : $(MESSAGES_XML) $(CONF)/$(AIRFRAME) $(CONF_XML)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry_fbw > $$TMP_FILE;\
mv $$TMP_FILE $@
chmod a+r $@
$(CONTROL_H) : $(CONF)/$(AIRFRAME) $(CONF_XML)
# export TMPFILE=$(shell echo `tempfile`)
# echo =$(shell echo `echo $TMPFILE`)
# $(TOOLS)/gen_control.out h $< > $(shell echo $TMPFILE)
# mv $TMPFILE $@
$(TOOLS)/gen_control.out h $< > /tmp/control.h
mv /tmp/control.h $@
$(CONTROL_C) : $(CONF)/$(AIRFRAME) $(CONF_XML)
# TMPFILE=$(shell echo `tempfile`)
# $(TOOLS)/gen_control.out c $< > $(shell echo $TMPFILE)
# mv $TMPFILE $@
mkdir -p $(ACINCLUDE)/ap
$(TOOLS)/gen_control.out c $< > /tmp/control.c
mv /tmp/control.c $@
Makefile.gen
+1 -9
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@@ -35,10 +35,8 @@ UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
DL_PROTOCOL_H=$(STATICINCLUDE)/dl_protocol.h
MESSAGES_XML = $(CONF)/messages.xml
UBX_XML = $(CONF)/ubx.xml
FBW_MESSAGES_H=$(STATICINCLUDE)/fbw_messages.h
static: $(MESSAGES_H) $(MESSAGES_FBW_H) $(UBX_PROTOCOL_H) $(FBW_MESSAGES_H) $(DL_PROTOCOL_H)
static: $(MESSAGES_H) $(MESSAGES_FBW_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H)
$(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
@@ -54,12 +52,6 @@ $(MESSAGES_FBW_H) : $(MESSAGES_XML) $(CONF_XML)
mv $$TMP_FILE $@
chmod a+r $@
$(FBW_MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry_fbw > $$TMP_FILE;\
mv $$TMP_FILE $@
chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML)
$(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
mv /tmp/ubx.h $@
conf/Makefile.arm7
-1
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@@ -24,7 +24,6 @@
#
# This is the common Makefile for the arm7-target.
# Edit the configuration part to suit your local install
#
OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
conf/airframes/twinstar5.xml
+23 -6
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@@ -112,13 +112,30 @@
<section name="DOWNLINK" prefix="DOWNLINK_">
<define name="FBW_DEVICE" value="uart0"/>
<fbw_rates>
<message name="PPM" period="1"/>
<message name="RC" period="1"/>
<message name="SERVOS" period="1"/>
<message name="FBW_STATUS" period="1"/>
</fbw_rates>
<!--
<fbw_messages>
<mode name="NORMAL">
<message name="FBW_STATUS" period="1"/>
</mode>
<mode name="DEBUG">
<message name="FBW_STATUS" period="1"/>
<message name="PPM" period="1"/>
<message name="RC" period="1"/>
<message name="SERVOS" period="1"/>
</mode>
</fbw_messages>
-->
<define name="AP_DEVICE" value="uart0"/>
<!--
<ap_messages>
<mode name="NORMAL">
<messages name="PPRZ_MODE" period="5"/>
</mode>
<mode name="DEBUG">
<messages name="PPRZ_MODE" period="1"/>
</mode>
</ap_messages>
-->
</section>
sw/airborne/arm7/config_classix.h → conf/autopilot/classix.h
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conf/autopilot/classix.makefile
+2 -2
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@@ -6,7 +6,7 @@ ap.ARCHDIR = $(ARCHI)
ap.ARCH = arm7tdmi
ap.TARGET = autopilot
ap.TARGETDIR = autopilot
ap.CFLAGS += -DAP -DCONFIG=\"config_classix.h\" -DLED -DTIME_LED=1
ap.CFLAGS += -DAP -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap_2.c main.c
@@ -14,5 +14,5 @@ fbw.ARCHDIR = $(ARCHI)
fbw.ARCH = arm7tdmi
fbw.TARGET = fbw
fbw.TARGETDIR = fbw
fbw.CFLAGS += -DFBW -DCONFIG=\"config_classix.h\" -DLED -DTIME_LED=1
fbw.CFLAGS += -DFBW -DCONFIG=\"classix.h\" -DLED -DTIME_LED=1
fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
sw/airborne/avr/config_discboard.h → conf/autopilot/disc_board.h
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conf/autopilot/disc_board.makefile
+1 -1
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@@ -8,6 +8,6 @@ ap.LOW_FUSE = a0
ap.HIGH_FUSE = 99
ap.EXT_FUSE = ff
ap.LOCK_FUSE = ff
ap.CFLAGS += -DFBW -DCONFIG=\"config_discboard.h\"
ap.CFLAGS += -DFBW -DCONFIG=\"discboard.h\"
ap.srcs = inter_mcu.c $(SRC_ARCH)/adc_hw.c sys_time.c main_fbw.c main.c
# pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
conf/autopilot/robostix.h
+21
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@@ -0,0 +1,21 @@
#ifndef CONFIG_ROBOSTIX_H
#define CONFIG_ROBOSTIX_H
#define LED_1_BANK G
#define LED_1_PIN 4
#define LED_2_BANK G
#define LED_2_PIN 3
#define LED_3_BANK B
#define LED_3_PIN 4
/* clock in MHz */
#define CLOCK 16
/* PPM input on mega128 ICP (PD4) */
#define PPM_DDR DDRD
#define PPM_PORT PORTD
#define PPM_PIN PD4
#endif /* CONFIG_ROBOSTIX_H */
conf/autopilot/robostix.makefile
+1 -1
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@@ -10,6 +10,6 @@ ap.LOW_FUSE = 0xbf
ap.HIGH_FUSE = 0xc9
ap.EXT_FUSE = ff
ap.LOCK_FUSE = ff
ap.CFLAGS += -DFBW -DCONFIG=\"config_robostix.h\" -DLED
ap.CFLAGS += -DFBW -DCONFIG=\"robostix.h\" -DLED
ap.srcs = sys_time.c $(SRC_ARCH)/adc_hw.c main_fbw.c main.c
# ap.srcs += main_ap.c
conf/autopilot/test_v1_2_1.makefile
-14
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@@ -1,14 +0,0 @@
ARCHI=avr
fbw.ARCHDIR = $(ARCHI)
fbw.ARCH = atmega8
fbw.TARGET = fbw
fbw.TARGETDIR = fbw
fbw.LOW_FUSE = 2e
fbw.HIGH_FUSE = cb
fbw.EXT_FUSE = ff
fbw.LOCK_FUSE = ff
fbw.CFLAGS += -DFBW -DACTUATORS
fbw.srcs = $(SRC_ARCH)/servos_4017.c sys_time.c main_fbw_2.c main.c
LOCAL_CFLAGS += -DCONFIG=\"config_v1_2_1.h\"
sw/airborne/arm7/config_tiny.h → conf/autopilot/tiny.h
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conf/autopilot/tiny.makefile
+1 -1
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@@ -6,7 +6,7 @@ ap.ARCHDIR = $(ARCHI)
ap.ARCH = arm7tdmi
ap.TARGET = autopilot
ap.TARGETDIR = autopilot
ap.CFLAGS += -DFBW -DCONFIG=\"config_tiny.h\"
ap.CFLAGS += -DFBW -DCONFIG=\"tiny.h\"
ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
#ap.CFLAGS += -DAP -DLED -DGPS -DUBX
#ap.srcs = main_ap_2.c
conf/autopilot/tiny_test.makefile
-17
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@@ -1,17 +0,0 @@
# Configuration for a Tiny board (1 arm7tdmi, 1 LEA-LA)
ARCHI=arm7
ap.ARCHDIR = $(ARCHI)
ap.ARCH = arm7tdmi
ap.TARGET = autopilot
ap.TARGETDIR = autopilot
ap.CFLAGS += -DAP -DFBW -DCONFIG=\"config_tiny.h\" -DLED -DACTUATORS=\"servos_4015_hw.h\"
ap.srcs = $(SRC_ARCH)/armVIC.c sys_time.c main_fbw.c main_ap.c main.c $(SRC_ARCH)/servos_4015_hw.c
#ap.CFLAGS += -DMODEM
# -DGPS -DUBX -DDOWNLINK
#ap.srcs = inter_mcu.c pid.c estimator.c cam.c main_ap.c mainloop.c main.c $(SRC_ARCH)/uart.c $(SRC_ARCH)/armVIC.c
#ap.srcs += nav.c $(SRC_ARCH)/modem_hw.c $(SRC_ARCH)/servos_hw.c
# ap.srcs += gps_ubx.c gps.c
# ap.srcs += $(SRC_ARCH)/modem_hw.c $(SRC_ARCH)/adc_ap.c $(SRC_ARCH)/uart_ap.c $(SRC_ARCH)/servo.c
sw/airborne/avr/config_v1_2.h → conf/autopilot/v1_2.h
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conf/autopilot/v1_2.makefile
+1 -1
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@@ -1,3 +1,3 @@
include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile
LOCAL_CFLAGS += -DCTL_BRD_V1_2 -DCONFIG=\"config_v1_2.h\"
LOCAL_CFLAGS += -DCTL_BRD_V1_2 -DCONFIG=\"v1_2.h\"
sw/airborne/avr/config_v1_2_1.h → conf/autopilot/v1_2_1.h
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conf/autopilot/v1_2_1.makefile
+1 -1
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@@ -1,3 +1,3 @@
include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile
LOCAL_CFLAGS += -DCTL_BRD_V1_2_1 -DCONFIG=\"config_v1_2_1.h\"
LOCAL_CFLAGS += -DCTL_BRD_V1_2_1 -DCONFIG=\"v1_2_1.h\"
conf/messages.xml
+2 -12
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@@ -239,18 +239,7 @@
<message name="RC" ID="0x02" period="1">
<field name="nb_channels" type="uint8"/>
<field name="pprz01" type="int16" unit="pprz"/>
<field name="pprz02" type="int16" unit="pprz"/>
<field name="pprz03" type="int16" unit="pprz"/>
<field name="pprz04" type="int16" unit="pprz"/>
<field name="pprz05" type="int16" unit="pprz"/>
<field name="pprz06" type="int16" unit="pprz"/>
<field name="pprz07" type="int16" unit="pprz"/>
<field name="pprz08" type="int16" unit="pprz"/>
<field name="pprz09" type="int16" unit="pprz"/>
<field name="pprz10" type="int16" unit="pprz"/>
<field name="pprz11" type="int16" unit="pprz"/>
<field name="pprz12" type="int16" unit="pprz"/>
<field name="values" type="int16" unit="pprz" len="7"/>
</message>
<message name="SERVOS" ID="0x03" period="1">
@@ -272,6 +261,7 @@
<field name="rc_status" type="uint8" values="OK|LOST|REALLY_LOST"/>
<field name="mode" type="uint8" values="MANUAL|AUTO|FAILSAFE"/>
</message>
</class>
sw/airborne/Makefile
+1 -1
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@@ -24,7 +24,7 @@
VARINCLUDE=$(PAPARAZZI_HOME)/var/include
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
INCLUDES = -I ../include -I $(VARINCLUDE) -I $(ACINCLUDE) -I $(ARCHI) -I $(PAPARAZZI_SRC)/sw/airborne
INCLUDES = -I $(PAPARAZZI_SRC)/sw/include -I $(PAPARAZZI_SRC)/sw/airborne -I $(PAPARAZZI_SRC)/conf/autopilot -I $(PAPARAZZI_SRC)/sw/airborne/$(ARCHI) -I $(VARINCLUDE) -I $(ACINCLUDE)
SRC_ARCH = $(PAPARAZZI_SRC)/sw/airborne/$(ARCHDIR)
sw/airborne/fbw_downlink.h
+1 -2
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@@ -37,10 +37,9 @@
#include "downlink.h"
#define PERIODIC_SEND_PPM() {}
//#define PERIODIC_SEND_SERVOS() { Uart0PrintString("SERVOS\n");}
#define PERIODIC_SEND_SERVOS() {}
#define PERIODIC_SEND_FBW_STATUS() {DOWNLINK_SEND_FBW_STATUS(&fbw_mode, &rc_status, &fbw_mode)}
#define PERIODIC_SEND_RC() {}
#define PERIODIC_SEND_RC() {DOWNLINK_SEND_RC(&fbw_mode, rc_values)}
sw/ground_segment/tmtc/maxstream.ml
+1 -1
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@@ -25,7 +25,7 @@
open Latlong
open Printf
module W = Wavecard
module Tm_Pprz = Pprz.Protocol(struct let name = "telemetry_ap" end)
module Tm_Pprz = Pprz.Protocol(struct let name = "telemetry_fbw" end)
module Ground_Pprz = Pprz.Protocol(struct let name = "ground" end)
module Dl_Pprz = Pprz.Protocol(struct let name = "datalink" end)
module PprzTransport = Serial.Transport(Tm_Pprz)