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Merge branch 'master' of github.com:paparazzi/paparazzi into CHIMU

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This commit is contained in:
Christophe De Wagter
2011-04-01 20:19:40 +02:00
parent 15761b8537 ed568625af
commit 23573cd2fa
195 changed files with 5884 additions and 1721 deletions
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TODO
-140
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@@ -1,140 +0,0 @@
This is so totally out of date....
.... it seems.
add date/time of generation in generated code
##############################################################
add an irc client to morphix - preconfigured for paparazzi channel
make clean doesn't delete boa config
make a "single node" mode where boa isn't needed and serve file:// URL
force ivybus to 127 in single node
default to that mode
######################################## obsolete ? ##############
dans flybywire
chop servo ne depends pas du servo
pour les missions
possibilité de "transformer" (rotation Z, translation XYZ) une mission
possibilitite de faire la meme chose pour une partie des waypoints (on en a une partie pour les evolutions et une partie pour le circuit d'atterissage. On deplace ceux du circuit d'atterissage pour qu'il colle a la piste. et on deplace ceux des evolution pour etre en face du jury :)
On stocke la/les transformations et on peut avoir des missions communes muret/ricou
des declarations de points locales aux blocs et des transformations par blocs
faire medit avec visu3d
proposer d'ajouter un waypoint en relatif par rapport a un autre - et en coordonnees polaires (dist, QDM)
l'interface du captureur de video - c'est aussi visu3d . Il a une liste de textures (photos) et on peut les transformer. La description est sauvées dans un fichier xml et peut etre rechargée. les photos vont dans var/photos
dans visu3d, il faudrait pouvoir pivoter en Z sur la position courante (en tenant compte du zoom )
######################
logger les simus comme les vols - y penser en refaisant receive - code commun
Pour les simus a plusieurs avions, il doit y avoir partage d'un certain nombre d'informations entre les differentes instances des simu (par exemple le vent)
Dans un circle, il faut afficher le QDR - calcul au sol??
Pour les missions, il faudrait pouvoir dire . faire un cercle pendant 180° ou faire un cercle pendant n secondes. Il faudrait donc disposer du temps depuis le block et du de l'angle parcouru depuis le debut du cercle.
C'est pour faire un palier en haut de la monté. Pour laisser le terme accumulateur se recaler avant la descente.
###########################################
Sujet : procedure automatique d'interuption de vol pour microdrone
-identifier des scenarios:
cause de l'interuption : autonomie, meteo, defaillance systeme
-modeliser la zone d'evolution et les autres contraintres (systemes defaillants, meteo)
(dans un meeting, on veut a tout prix eviter le public, les routes etc...)
- initialisation
- iteratif ?
#######################################
integrer les gazs pour estimer l'autonomie restante
###########################################
Sujet Drone Thales
Les eleves (1A ou 2A) construisent un avion et apprennent a le faire voler d'ici juillet.
commande PCB
commande composants radiospare/melexys/coronis/ublox
labo pour assembler (labo micro onde ?)
commande garat (avion, moteur, servos, batteries, radiocommande etc....)
achat de petit outillage (dremel, fer a souder etc...)
assemblage au labo drone
cours de pilotages sur le twinstar
On leur donne les petits projets pendant l'année sur Paparazzi.
############################################
mettre les projets enac sur la page web enac
############################################
Pourquoi on ne laisse pas message.xml modifiable, pour les taux de telemesure par exemple.
on split les Makefiles
###########
manque gerbmerge dans les dependance??? ha non ca n'existe pas... a packager !
>
>
> - Pitch should more be in degree than in radian in flight plan files.
>It could be in the future version of Paparazzi.
>
>
> - It's strange MIN_HEIGHT_CARROT and MAX_HEIGHT_CARROT are in the
>code. Shouldn't it be in a conf file so as to change it ?
>
- In the same way, MIN_SPEED_FOR_TAKEOFF should be in the airframe
conf file ?
conf/Makefile.stm32
+1 -1
View File
@@ -138,7 +138,7 @@ else
LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
endif
LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32 -lopencm3_stm32
CPFLAGS = -j .isr_vector -j .text -j .data
CPFLAGS_BIN = -Obinary
conf/airframes/ENAC/quadrotor/blender.xml
-3
View File
@@ -18,9 +18,6 @@
<target name="ap" board="booz_1.0">
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<define name="BOOZ_START_DELAY" value="3"/>
<!--define name="BOOZ_ACTUATORS_MAX_THRUST" value="160"/-->
<!--define name="BOOZ_THRUST_LOWPASS" value="17"/-->
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
conf/airframes/ENAC/quadrotor/booz2_g1.xml
+3 -1
View File
@@ -4,7 +4,9 @@
<!--load name="booz_pwm.xml"/-->
<!--load name="booz_drop.xml"/-->
<!--load name="booz_cam.xml"/-->
<!--load name="sonar_maxbotix_booz.xml"/-->
<!--load name="sonar_maxbotix_booz.xml">
<configure name="ADC_SONAR" value="ADC_0"/>
</load-->
<!--load name="adc_generic_booz.xml"/-->
<!--load name="sys_mon.xml"/-->
</modules>
conf/airframes/Poine/booz2_a7.xml
+70 -34
View File
@@ -61,14 +61,6 @@
<define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
<define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
<!-- old calibration
<define name="MAG_X_NEUTRAL" value="30"/>
<define name="MAG_Y_NEUTRAL" value="80"/>
<define name="MAG_Z_NEUTRAL" value="19"/>
<define name="MAG_X_SENS" value="4.73590916868" integer="16"/>
<define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
<define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
-->
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 135.)"/>
@@ -77,7 +69,7 @@
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_Z_HOLD"/>
</section>
@@ -124,7 +116,7 @@
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<!-- gaui props
<define name="PHI_PGAIN" value="-900"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-200"/>
@@ -137,16 +129,42 @@
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 200"/>
<define name="THETA_DDGAIN" value=" 200"/>
<define name="PSI_DDGAIN" value=" 200"/>
-->
<!-- feedback -->
<define name="PHI_PGAIN" value="-2000"/>
<define name="PHI_DGAIN" value="-400"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-2000"/>
<define name="THETA_DGAIN" value="-400"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="PSI_PGAIN" value="-2000"/>
<define name="PSI_DGAIN" value="-400"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="PROPAGATE_FREQUENCY" value="512"/>
<define name="H_X" value=" 0.51562740288882"/>
<define name="H_Y" value="-0.05707735220832"/>
<define name="H_Z" value=" 0.85490967783446"/>
</section>
<section name="INS" prefix="INS_">
<!-- <define name="BARO_SENS" value="15." integer="16"/> -->
<define name="BARO_SENS" value="10." integer="16"/>
<define name="UNTILT_ACCEL" value="1"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
@@ -155,21 +173,29 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<!--
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KI" value="0"/>
-->
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value ="0.2"/>
<!-- <define name="INV_M" value ="0.2"/> -->
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="-100"/>
<define name="PGAIN" value="-50"/>
<define name="DGAIN" value="-100"/>
<define name="IGAIN" value="-0"/>
<define name="IGAIN" value="-15"/>
<define name="NGAIN" value="-0"/>
</section>
<section name="MISC">
@@ -182,15 +208,19 @@
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<!-- -->
<!--
<modules main_freq="512">
<load name="vehicle_interface_overo_link.xml"/>
</modules>
<!-- -->
-->
<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">
<!-- <define name="BOOZ_START_DELAY" value="1"/> -->
<!-- <define name="USE_PERSISTENT_SETTINGS"/> -->
<!-- <define name="USE_INS_NAV_INIT"/> -->
<define name="USE_ADAPT_HOVER"/>
<define name="FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R"/>
<target name="ap" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="asctec"/>
</target>
@@ -201,29 +231,35 @@
</target>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="ahrs" type="cmpl"/>
<!-- <subsystem name="ahrs" type="ic"/> -->
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="lisa_l_test_progs">
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_led" board="lisa_l_1.0"/>
<target name="test_uart" board="lisa_l_1.0"/>
<target name="test_servos" board="lisa_l_1.0"/>
<target name="test_telemetry" board="lisa_l_1.0"/>
<target name="test_baro" board="lisa_l_1.0"/>
<target name="test_imu_b2" board="lisa_l_1.0"/>
<target name="test_imu_b2_2" board="lisa_l_1.0"/>
<target name="test_imu_aspirin" board="lisa_l_1.0"/>
<target name="test_rc_spektrum" board="lisa_l_1.0"/>
<target name="test_rc_ppm" board="lisa_l_1.0"/>
<target name="test_adc" board="lisa_l_1.0"/>
<target name="test_hmc5843" board="lisa_l_1.0"/>
<target name="test_itg3200" board="lisa_l_1.0"/>
<target name="test_adxl345" board="lisa_l_1.0"/>
<target name="test_esc_mkk_simple" board="lisa_l_1.0"/>
<target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
<target name="test_actuators_mkk" board="lisa_l_1.0"/>
<target name="test_actuators_asctecv1" board="lisa_l_1.0"/>
<target name="tunnel_sw" board="lisa_l_1.0"/>
<target name="tunnel_hw" board="lisa_l_1.0"/>
</firmware>
<firmware name="lisa_passthrough">
conf/airframes/Poine/test_settings.xml
+15
View File
@@ -0,0 +1,15 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
test settings
-->
<airframe name="test settings">
<firmware name="lisa_l_test_progs">
<target name="test_settings" board="lisa_m_1.0"/>
</firmware>
</airframe>
conf/airframes/booz2_flixr.xml
+8 -14
View File
@@ -4,28 +4,21 @@
<target name="ap" board="booz_1.0">
<!--<define name="KILL_MOTORS"/>--> <!-- prevent motors from ever starting -->
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>-->
<define name="USE_GPS_ACC4R"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc">
<subsystem name="fdm" type="nps"/>
</target>
<define name="USE_ADAPT_HOVER"/>
<define name="GUIDANCE_H_USE_REF"/>
<define name="NO_FUCKING_STARTUP_DELAY"/>
<subsystem name="telemetry" type="transparent_usb"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="actuators" type="mkk">
<configure name="MKK_I2C_SCL_TIME" value="150"/><!-- this is optional, 150 is default, e.g. use 50 for 8 motors-->
</subsystem>
<subsystem name="imu" type="b2_v1.0"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.0"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff">
<define name="GPS_LAG=0.2"/>
</subsystem>
</firmware>
<firmware name="booz2_test_progs">
@@ -33,6 +26,8 @@
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="tunnel" board="booz_1.0"/>
<target name="usb_tunnel_0" board="booz_1.0"/>
<target name="usb_tunnel_1" board="booz_1.0"/>
</firmware>
<modules main_freq="512">
@@ -213,8 +208,7 @@
<define name="MILLIAMP_PER_PERCENT" value="0.86" />
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V" />
<define name="MAX_BAT_LEVEL" value="12.0" unit="V" />
<define name="BATTERY_SENS" value="0.246" integer="16" />
<define name="BATTERY_OFFSET" value="0" />
<define name="VoltageOfAdc(adc)" value="(0.0246*adc)"/>
</section>
<section name="MISC">
conf/airframes/esden/lisa_m_pwm.xml
+4 -3
View File
@@ -226,11 +226,12 @@
<firmware name="lisa_m_test_progs">
<target name="test_led" board="lisa_m_1.0"/>
<target name="test_uart_lisam" board="lisa_m_1.0"/>
<!--target name="test_servos" board="lisa_m_1.0"/>
<target name="test_servos" board="lisa_m_1.0"/>
<target name="test_telemetry" board="lisa_m_1.0"/>
<target name="test_baro" board="lisa_m_1.0"/>
<target name="test_imu" board="lisa_m_1.0"/>
<target name="test_imu_aspirin" board="lisa_m_1.0"/>
<target name="test_rc_spektrum" board="lisa_m_1.0"/>
<target name="test_baro" board="lisa_m_1.0"/>
<!--<target name="test_imu" board="lisa_m_1.0"/>
<target name="test_rc_ppm" board="lisa_m_1.0"/>
<target name="test_adc" board="lisa_m_1.0"/>
<target name="test_hmc5843" board="lisa_m_1.0"/>
conf/airframes/esden/lisa_pwm_aspirin.xml
+17 -14
View File
@@ -1,6 +1,6 @@
<!-- this is a microkopter frame equiped with Lisa/L and generic china pwm motor controllers -->
<airframe name="lisa_asctec">
<airframe name="lisa_pwm_aspirin">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
@@ -90,7 +90,7 @@
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_RC_CLIMB"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/>
</section>
@@ -138,15 +138,15 @@
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-550"/>
<define name="PHI_DGAIN" value="-210"/>
<define name="PHI_IGAIN" value="-200"/>
<define name="PHI_PGAIN" value="-250"/>
<define name="PHI_DGAIN" value="-200"/>
<define name="PHI_IGAIN" value="-150"/>
<define name="THETA_PGAIN" value="-550"/>
<define name="THETA_DGAIN" value="-210"/>
<define name="THETA_IGAIN" value="-200"/>
<define name="THETA_PGAIN" value="-250"/>
<define name="THETA_DGAIN" value="-200"/>
<define name="THETA_IGAIN" value="-150"/>
<define name="PSI_PGAIN" value="-600"/>
<define name="PSI_PGAIN" value="-900"/>
<define name="PSI_DGAIN" value="-200"/>
<define name="PSI_IGAIN" value="-10"/>
@@ -167,14 +167,15 @@
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="-500"/>
<define name="HOVER_KD" value="-200"/>
<define name="HOVER_KI" value="-100"/>
<define name="HOVER_KP" value="-150"/>
<define name="HOVER_KD" value="-80"/>
<!--define name="HOVER_KI" value="-100"/-->
<define name="HOVER_KI" value="0"/>
<!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
<define name="RC_CLIMB_COEF" value ="163"/>
<!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
<define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
<define name="INV_M" value ="0.2"/>
<define name="INV_M" value ="0.15"/>
</section>
@@ -220,7 +221,9 @@
</target>
<subsystem name="imu" type="aspirin"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="gps" type="ublox">
<configure name="GPS_BAUD" value="B57600"/>
</subsystem>
<subsystem name="ahrs" type="cmpl"/>
</firmware>
conf/airframes/twinjet_example.xml
+1 -1
View File
@@ -36,7 +36,7 @@
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1" />
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_7" />
</load>
</modules>
conf/autopilot/booz2_test_progs.makefile
+24
View File
@@ -131,6 +131,29 @@ tunnel_bb.CFLAGS += -DUSE_LED
tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#
# usb tunnels
#
usb_tunnel_0.ARCHDIR = $(ARCH)
usb_tunnel_0.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
usb_tunnel_1.ARCHDIR = $(ARCH)
usb_tunnel_1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DPERIPHERALS_AUTO_INIT
usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
#
# test GPS
@@ -189,6 +212,7 @@ test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1
test_usb.CFLAGS += -DUSE_LED
test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_usb.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
#test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
conf/autopilot/fixedwing.makefile
+3
View File
@@ -37,6 +37,9 @@ ifeq ($(TARGET),$(ACTUATOR_TARGET))
ifeq ($(BOARD),lisa_l)
include $(CFG_SHARED)/actuators_direct.makefile
endif
ifeq ($(BOARD),lisa_m)
include $(CFG_SHARED)/actuators_direct.makefile
endif
else
include $(CFG_SHARED)/$(ACTUATORS).makefile
conf/autopilot/lisa_l_test_progs.makefile
+201 -155
View File
@@ -276,11 +276,11 @@ test_adc.ARCHDIR = $(ARCH)
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adc.srcs = $(SRC_AIRBORNE)/mcu.c \
test_adc.srcs = $(SRC_LISA)/test_adc.c \
$(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_LISA)/test_adc.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_adc.CFLAGS += -DUSE_LED
test_adc.srcs += $(SRC_ARCH)/led_hw.c
@@ -299,138 +299,175 @@ test_adc.srcs += downlink.c pprz_transport.c
test_adc.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
#test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_3
test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
#
# test IMU b2
# common test
#
# configuration
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
#
PERIODIC_FREQUENCY = 512
COMMON_TEST_CFLAGS = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
COMMON_TEST_CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
COMMON_TEST_SRCS = $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
COMMON_TEST_CFLAGS += -DUSE_LED
COMMON_TEST_SRCS += $(SRC_ARCH)/led_hw.c
COMMON_TEST_CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
COMMON_TEST_CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQUENCY).))'
COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
COMMON_TEST_SRCS += sys_time.c $(SRC_ARCH)/sys_time_hw.c
COMMON_TEST_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/uart_arch.c
COMMON_TEST_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
COMMON_TEST_SRCS += downlink.c pprz_transport.c
COMMON_TEST_SRCS += math/pprz_trig_int.c
#
# test IMU b2 v1.1
#
IMU_B2_CFLAGS = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
IMU_B2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 -DIMU_B2_VERSION_1_1
IMU_B2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
IMU_B2_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
IMU_B2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
IMU_B2_SRCS += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
IMU_B2_SRCS += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
test_imu_b2.ARCHDIR = $(ARCH)
test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_b2.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_b2.srcs = test/subsystems/test_imu.c
test_imu_b2.CFLAGS = $(COMMON_TEST_CFLAGS)
test_imu_b2.srcs += $(COMMON_TEST_SRCS)
test_imu_b2.CFLAGS += $(IMU_B2_CFLAGS)
test_imu_b2.srcs += $(IMU_B2_SRCS)
test_imu_b2.CFLAGS += -DUSE_LED
test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
test_imu_b2.CFLAGS += -DUSE_SYS_TIME
test_imu_b2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += math/pprz_trig_int.c
test_imu_b2.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
test_imu_b2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 -DIMU_B2_VERSION_1_1
test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu.c
test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
test_imu_b2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
test_imu_b2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
test_imu_b2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
test_imu_b2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
test_imu_b2.srcs += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
#
# test IMU b2 1.2
#
# configuration
# SYS_TIME_LED
# MODEM_PORT
# MODEM_BAUD
# test IMU b2 v1.2
#
IMU_B2_2_CFLAGS = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
IMU_B2_2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2
IMU_B2_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
IMU_B2_2_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
IMU_B2_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
IMU_B2_2_SRCS += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
IMU_B2_2_CFLAGS += -DUSE_I2C2
IMU_B2_2_SRCS += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
IMU_B2_2_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_B2_2_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
test_imu_b2_2.ARCHDIR = $(ARCH)
test_imu_b2_2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2_2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_b2_2.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_b2_2.srcs = test/subsystems/test_imu.c
test_imu_b2_2.CFLAGS = $(COMMON_TEST_CFLAGS)
test_imu_b2_2.srcs += $(COMMON_TEST_SRCS)
test_imu_b2_2.CFLAGS += $(IMU_B2_2_CFLAGS)
test_imu_b2_2.srcs += $(IMU_B2_2_SRCS)
test_imu_b2_2.CFLAGS += -DUSE_LED
test_imu_b2_2.srcs += $(SRC_ARCH)/led_hw.c
test_imu_b2_2.CFLAGS += -DUSE_SYS_TIME
test_imu_b2_2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_imu_b2_2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_imu_b2_2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_b2_2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_imu_b2_2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_imu_b2_2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_imu_b2_2.srcs += downlink.c pprz_transport.c
test_imu_b2_2.srcs += math/pprz_trig_int.c
test_imu_b2_2.CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
test_imu_b2_2.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2
test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu.c
test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
test_imu_b2_2.CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
test_imu_b2_2.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
test_imu_b2_2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
test_imu_b2_2.CFLAGS += -DUSE_I2C2
test_imu_b2_2.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_imu_b2_2.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
#
# test IMU aspirin
#
IMU_ASPIRIN_CFLAGS = -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
IMU_ASPIRIN_SRCS += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_aspirin.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_aspirin.srcs = test/subsystems/test_imu.c
test_imu_aspirin.CFLAGS = $(COMMON_TEST_CFLAGS)
test_imu_aspirin.srcs += $(COMMON_TEST_SRCS)
test_imu_aspirin.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
test_imu_aspirin.srcs += $(IMU_ASPIRIN_SRCS)
test_imu_aspirin.CFLAGS += -DUSE_LED
test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#
# test AHRS
#
test_ahrs.ARCHDIR = $(ARCH)
test_ahrs.srcs = test/subsystems/test_ahrs.c
test_ahrs.CFLAGS = $(COMMON_TEST_CFLAGS)
test_ahrs.srcs += $(COMMON_TEST_SRCS)
test_ahrs.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
test_ahrs.srcs += $(IMU_ASPIRIN_SRCS)
test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#AHRS = ice
AHRS = icq
#AHRS = flq
#AHRS = fcr
#AHRS = fcr2
#AHRS = fcq
test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_imu_aspirin.srcs += downlink.c pprz_transport.c
test_ahrs.srcs += subsystems/ahrs.c \
subsystems/ahrs/ahrs_aligner.c
test_imu_aspirin.srcs += math/pprz_trig_int.c
ifeq ($(AHRS), ice)
test_ahrs.CFLAGS += -DFACE_REINJ_1=1024
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
test_ahrs.srcs += subsystems/ahrs/ahrs_int_cmpl_euler.c \
lisa/plug_sys.c
endif
test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
test_imu_aspirin.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
ifeq ($(AHRS), icq)
#test_ahrs.CFLAGS += -DAHRS_TYPE=\"ICQ\"
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
test_ahrs.srcs +=subsystems/ahrs/ahrs_int_cmpl.c
endif
test_imu_aspirin.CFLAGS += -DUSE_I2C2
test_imu_aspirin.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
ifeq ($(AHRS), flq)
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_lkf_quat.h\"
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
test_ahrs.srcs += subsystems/ahrs/ahrs_float_lkf_quat.c
endif
ifeq ($(AHRS), fcr)
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
test_ahrs.CFLAGS += -DINS_ROLL_NEUTRAL_DEFAULT=0
test_ahrs.CFLAGS += -DINS_PITCH_NEUTRAL_DEFAULT=0
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
test_ahrs.CFLAGS += -DDCM_UPDATE_AFTER_PROPAGATE
test_ahrs.srcs += subsystems/ahrs/ahrs_float_dcm.c
endif
ifeq ($(AHRS), fcr2)
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_rmat.c
endif
ifeq ($(AHRS), fcq)
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl_rmat.h\"
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_quat.c
endif
@@ -663,65 +700,74 @@ test_bmp085.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
#
# Test manual : a simple test with rc and servos - I want to fly lisa/M
# tunnel sw
#
test_manual.ARCHDIR = $(ARCH)
test_manual.CFLAGS = -I$(SRC_FIRMWARE) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_manual.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_manual.srcs = $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
test/test_manual.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_manual.CFLAGS += -DUSE_LED
test_manual.srcs += $(SRC_ARCH)/led_hw.c
test_manual.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
test_manual.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_manual.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_manual.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_manual.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_manual.srcs += downlink.c pprz_transport.c
test_manual.srcs += $(SRC_BOOZ)/booz2_commands.c
test_manual.CFLAGS += -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH)
#test_manual.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c
test_manual.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
test_manual.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c
tunnel_sw.ARCHDIR = $(ARCH)
tunnel_sw.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel_sw.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel_sw.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_LISA)/tunnel_hw.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
tunnel_sw.CFLAGS += -DUSE_LED
tunnel_sw.srcs += $(SRC_ARCH)/led_hw.c
tunnel_sw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
tunnel_sw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
tunnel_sw.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_manual.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ)/arch/$(ARCH)
test_manual.CFLAGS += -DRADIO_CONTROL
ifdef RADIO_CONTROL_LED
test_manual.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
test_manual.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
test_manual.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
test_manual.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
subsystems/radio_control/spektrum.c \
$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
#
# tunnel hw
#
tunnel_hw.ARCHDIR = $(ARCH)
tunnel_hw.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel_hw.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel_hw.srcs += lisa/test/lisa_tunnel.c \
$(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
tunnel_hw.CFLAGS += -DUSE_LED
tunnel_hw.srcs += $(SRC_ARCH)/led_hw.c
tunnel_hw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
tunnel_hw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
tunnel_hw.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
tunnel_hw.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
tunnel_hw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
tunnel_hw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#
# tunnel
# test_settings :
#
tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_LISA)/tunnel_hw.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
tunnel.CFLAGS += -DUSE_LED
tunnel.srcs += $(SRC_ARCH)/led_hw.c
tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
# configuration
# MODEM_PORT :
# MODEM_BAUD :
#
test_settings.ARCHDIR = $(ARCH)
test_settings.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
test_settings.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_settings.srcs = test/subsystems/test_settings.c \
$(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_settings.CFLAGS += -DUSE_LED
test_settings.srcs += $(SRC_ARCH)/led_hw.c
test_settings.CFLAGS += -DUSE_SYS_TIME
test_settings.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_settings.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_settings.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_settings.CFLAGS += -DUSE_$(MODEM_PORT)
test_settings.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_settings.srcs += downlink.c pprz_transport.c
test_settings.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_settings.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_settings.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
test_settings.srcs += subsystems/settings.c
test_settings.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
test_settings.CFLAGS += -DUSE_PERSISTENT_SETTINGS
conf/autopilot/lisa_m_test_progs.makefile
+130 -134
View File
@@ -92,6 +92,7 @@ test_uart_lisam.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_uart_lisam.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_uart_lisam.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_uart_lisam.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
test_uart_lisam.CFLAGS += -DUSE_UART5 -DUART5_BAUD=B57600
test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -101,22 +102,22 @@ test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#
#SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
#
#test_servos.ARCHDIR = $(ARCH)
#test_servos.CFLAGS = -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
#test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
#test_servos.LDFLAGS += -lm
#test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \
# $(SRC_ARCH)/mcu_arch.c \
# $(SRC_LISA)/test_servos.c \
# $(SRC_ARCH)/stm32_exceptions.c \
# $(SRC_ARCH)/stm32_vector_table.c
#test_servos.CFLAGS += -DUSE_LED
#test_servos.srcs += $(SRC_ARCH)/led_hw.c
#test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
#test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
#test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#
#test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
test_servos.ARCHDIR = $(ARCH)
test_servos.CFLAGS = -I$(SRC_FIRMWARE)/actuators/arch/$(ARCH) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_servos.LDFLAGS += -lm
test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_LISA)/test_servos.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_servos.CFLAGS += -DUSE_LED
test_servos.srcs += $(SRC_ARCH)/led_hw.c
test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) -DUSE_SERVOS_7AND8
test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
#
#
##
@@ -126,25 +127,25 @@ test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
## MODEM_PORT :
## MODEM_BAUD :
##
#test_telemetry.ARCHDIR = $(ARCH)
#test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
#test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
#test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \
# $(SRC_ARCH)/mcu_arch.c \
# test/test_telemetry.c \
# $(SRC_ARCH)/stm32_exceptions.c \
# $(SRC_ARCH)/stm32_vector_table.c
#test_telemetry.CFLAGS += -DUSE_LED
#test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
#test_telemetry.CFLAGS += -DUSE_SYS_TIME
#test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
#test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
#test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
#test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
#test_telemetry.srcs += downlink.c pprz_transport.c
#test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
#test_telemetry.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_telemetry.ARCHDIR = $(ARCH)
test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
test/test_telemetry.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_telemetry.CFLAGS += -DUSE_LED
test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
test_telemetry.CFLAGS += -DUSE_SYS_TIME
test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_telemetry.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_telemetry.srcs += downlink.c pprz_transport.c
test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_telemetry.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#
#
##
@@ -155,27 +156,27 @@ test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
## MODEM_PORT
## MODEM_BAUD
##
#test_baro.ARCHDIR = $(ARCH)
#test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
#test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
#test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
# $(SRC_ARCH)/mcu_arch.c \
# $(SRC_BOARD)/test_baro.c \
# $(SRC_ARCH)/stm32_exceptions.c \
# $(SRC_ARCH)/stm32_vector_table.c
#test_baro.CFLAGS += -DUSE_LED
#test_baro.srcs += $(SRC_ARCH)/led_hw.c
#test_baro.CFLAGS += -DUSE_SYS_TIME
#test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
#test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
#test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
#test_baro.srcs += downlink.c pprz_transport.c
#test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
#test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#test_baro.srcs += $(SRC_BOARD)/baro_board.c
#test_baro.CFLAGS += -DUSE_I2C2
#test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_baro.ARCHDIR = $(ARCH)
test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_BOARD)/test_baro.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_baro.CFLAGS += -DUSE_LED
test_baro.srcs += $(SRC_ARCH)/led_hw.c
test_baro.CFLAGS += -DUSE_SYS_TIME
test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_baro.srcs += downlink.c pprz_transport.c
test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_baro.srcs += $(SRC_BOARD)/baro_board.c
test_baro.CFLAGS += -DUSE_I2C2
test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
#
#
##
@@ -188,39 +189,41 @@ test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
## RADIO_CONTROL_LED
## RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
##
#test_rc_spektrum.ARCHDIR = $(ARCH)
#
#test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
#test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
#test_rc_spektrum.srcs += $(SRC_AIRBORNE)/mcu.c \
# $(SRC_ARCH)/mcu_arch.c \
# $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
# $(SRC_ARCH)/stm32_exceptions.c \
# $(SRC_ARCH)/stm32_vector_table.c
#
#test_rc_spektrum.CFLAGS += -DUSE_LED
#test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
#test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
#test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
#test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
#test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
#test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
#test_rc_spektrum.srcs += downlink.c pprz_transport.c
#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL
#ifdef RADIO_CONTROL_LED
#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
#endif
#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
#test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
#test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
#test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
# subsystems/radio_control/spektrum.c \
# $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
#
#
test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.srcs += $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
booz/test/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_spektrum.srcs += downlink.c pprz_transport.c
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL
ifdef RADIO_CONTROL_LED
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
endif
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
subsystems/radio_control/spektrum.c \
$(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
##
## test_rc_ppm
##
@@ -388,52 +391,45 @@ test_uart_lisam.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#
#
##
## test IMU aspirin
## test_imu_aspirin : test aspirin imu
##
#test_imu_aspirin.ARCHDIR = $(ARCH)
#test_imu_aspirin.CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
#test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
#test_imu_aspirin.srcs += $(SRC_AIRBORNE)/mcu.c \
# $(SRC_ARCH)/mcu_arch.c \
# $(SRC_BOOZ_TEST)/booz_test_imu.c \
# $(SRC_ARCH)/stm32_exceptions.c \
# $(SRC_ARCH)/stm32_vector_table.c
#
#test_imu_aspirin.CFLAGS += -DUSE_LED
#test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
#
#test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
#test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
#test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#
#test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
#test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#
#test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
#test_imu_aspirin.srcs += downlink.c pprz_transport.c
#
#test_imu_aspirin.srcs += math/pprz_trig_int.c
#
#test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
#test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
# $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
# $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
#test_imu_aspirin.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
#
#test_imu_aspirin.CFLAGS += -DUSE_I2C2
#test_imu_aspirin.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
#test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
#test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
#test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
#test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
#
#
#
#
#
#
#
## configuration
## MODEM_PORT :
## MODEM_BAUD :
##
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_aspirin.srcs = $(SRC_AIRBORNE)/mcu.c \
$(SRC_ARCH)/mcu_arch.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c\
booz/test/booz_test_imu.c
test_imu_aspirin.CFLAGS += -DUSE_LED
test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME
test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_imu_aspirin.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT)
test_imu_aspirin.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_imu_aspirin.srcs += downlink.c pprz_transport.c
test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
test_imu_aspirin.srcs += math/pprz_trig_int.c
test_imu_aspirin.CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
test_imu_aspirin.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
test_imu_aspirin.CFLAGS += -DUSE_I2C2
test_imu_aspirin.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
test_imu_aspirin.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
test_imu_aspirin.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
test_imu_aspirin.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
##
## test hmc5843
conf/autopilot/rotorcraft.makefile
+16 -6
View File
@@ -93,6 +93,8 @@ endif
# or
# include subsystems/rotorcraft/telemetry_xbee_api.makefile
#
ap.srcs += subsystems/settings.c
ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
# I2C is needed for speed controllers and barometers on lisa
@@ -134,7 +136,7 @@ ap.srcs += $(SRC_BOOZ)/booz2_commands.c
#
ap.srcs += $(SRC_BOARD)/baro_board.c
ifeq ($(BOARD), booz)
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED) -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
else ifeq ($(BOARD), lisa_l)
ap.CFLAGS += -DUSE_I2C2
endif
@@ -142,18 +144,26 @@ endif
#
# Analog Backend
#
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
ap.srcs += $(SRC_FIRMWARE)/battery.c
ap.CFLAGS += -DADC0_VIC_SLOT=2
ap.CFLAGS += -DADC1_VIC_SLOT=3
ap.srcs += $(SRC_BOOZ)/booz2_analog.c \
$(SRC_BOOZ_ARCH)/booz2_analog_hw.c
ap.CFLAGS += -DUSE_ADC
ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ap.srcs += subsystems/electrical.c
# baro has variable offset amplifier on booz board
ap.CFLAGS += -DUSE_DAC
ap.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
else ifeq ($(ARCH), stm32)
ap.srcs += lisa/lisa_analog_plug.c
ap.CFLAGS += -DUSE_ADC
ap.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
ap.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ap.srcs += subsystems/electrical.c
endif
#
# GPS choice
#
conf/autopilot/setup.makefile
+4
View File
@@ -23,6 +23,7 @@ tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
# a configuration program to access both uart through usb
ifeq ($(ARCH), lpc21)
usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -38,6 +39,9 @@ usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
else
$(error usb_tunnel currently only implemented for the lpc21)
endif
conf/autopilot/subsystems/fixedwing/autopilot.makefile
+1
View File
@@ -142,6 +142,7 @@ ns_srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
#ifeq ($(ARCH), lpc21)
ns_srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ifeq ($(ARCH), stm32)
ns_CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
ns_CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
endif
conf/autopilot/subsystems/fixedwing/control_new.makefile
+1 -1
View File
@@ -1,4 +1,4 @@
# new fixed wing control loops with merged auto pitch and auto throttle, adaptive horizontal control
$(TARGET).srcs += $(SRC_FIRMWARE)/stabilization/stabilization_adaptive.c $(SRC_FIRMWARE)/guidance/guidance_v_n.c
$(TARGET).srcs += $(SRC_FIXEDWING)/fw_h_ctl_a.c $(SRC_FIXEDWING)/fw_v_ctl_n.c
conf/autopilot/subsystems/fixedwing/telemetry_transparent_usb.makefile
+6
View File
@@ -1,9 +1,15 @@
#serial USB (e.g. /dev/ttyACM0)
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL -DUSE_USB_HIGH_PCLK
ap.srcs += $(SRC_FIXEDWING)/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_FIXEDWING)/pprz_transport.c
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
else
ifneq ($(ARCH), sim)
$(error telemetry_transparent_usb currently only implemented for the lpc21)
endif
endif
conf/autopilot/subsystems/lisa_passthrough/ahrs_cmpl.makefile
+1 -1
View File
@@ -2,7 +2,7 @@
# Complementary filter for attitude estimation
#
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DAHRS_FIXED_POINT
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
stm_passthrough.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
+1 -1
View File
@@ -14,7 +14,7 @@ endif
# Simulator
sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11
sim.srcs += mcu_periph/i2c.c
sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
+1 -1
View File
@@ -22,7 +22,7 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=11
endif
ifeq ($(ARCH), stm32)
conf/autopilot/subsystems/rotorcraft/actuators_dummy.makefile
+5
View File
@@ -0,0 +1,5 @@
#
# empty dummy actuators for testing
#
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_dummy.c
conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+1 -1
View File
@@ -41,7 +41,7 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=11
else ifeq ($(ARCH), stm32)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
ap.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/rotorcraft/ahrs_cmpl.makefile
+3 -4
View File
@@ -3,15 +3,14 @@
#
ifdef AHRS_ALIGNER_LED
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED) -DAHRS_FIXED_POINT
else
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_FIXED_POINT
ap.CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
ap.CFLAGS += -DUSE_AHRS_CMPL
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
ap.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DAHRS_FIXED_POINT
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
sim.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_int_cmpl_euler.c
conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+10 -6
View File
@@ -22,7 +22,7 @@ sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DNPS
sim.CFLAGS += `pkg-config glib-2.0 --cflags` -I /usr/include/meschach
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre -lglibivy
sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -lgsl -lgslcblas
sim.CFLAGS += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOOZ) -I$(SRC_BOOZ_SIM) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
# use the paparazzi-jsbsim package if it is installed, otherwise look for JSBsim under /opt/jsbsim
@@ -65,7 +65,6 @@ sim.srcs += math/pprz_trig_int.c \
sim.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
sim.srcs += $(SRC_BOOZ_SIM)/booz2_unsimulated_peripherals.c
sim.srcs += firmwares/rotorcraft/main.c
sim.srcs += mcu.c
sim.srcs += $(SRC_ARCH)/mcu_arch.c
@@ -75,6 +74,8 @@ sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
#sim.CFLAGS += -DUSE_LED
sim.srcs += sys_time.c
sim.srcs += subsystems/settings.c
sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
sim.srcs += $(SRC_FIRMWARE)/telemetry.c \
@@ -90,13 +91,16 @@ sim.srcs += $(SRC_FIRMWARE)/datalink.c
#
sim.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=2 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
sim.CFLAGS += -DROTORCRAFT_BARO_LED=2
sim.srcs += $(SRC_BOARD)/baro_board.c
sim.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
sim.srcs += $(SRC_FIRMWARE)/battery.c
sim.CFLAGS += -DUSE_ADC
sim.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
sim.srcs += subsystems/electrical.c
# baro has variable offset amplifier on booz board
#sim.CFLAGS += -DUSE_DAC
#sim.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
sim.srcs += $(SRC_BOOZ)/booz2_analog.c $(SRC_BOOZ_SIM)/booz2_analog_hw.c
#sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
#sim.CFLAGS += -DIMU_B2_VERSION_1_1
conf/autopilot/subsystems/rotorcraft/gps_skytraq.makefile
-5
View File
@@ -10,10 +10,5 @@ ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -D$(GPS_PORT)_VIC_SLOT=5
endif
sim.CFLAGS += -DUSE_GPS
sim.srcs += $(SRC_BOOZ)/booz_gps.c
conf/autopilot/subsystems/rotorcraft/gps_ublox.makefile
-4
View File
@@ -10,9 +10,5 @@ ifneq ($(GPS_LED),none)
ap.CFLAGS += -DGPS_LED=$(GPS_LED)
endif
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -D$(GPS_PORT)_VIC_SLOT=5
endif
sim.CFLAGS += -DUSE_GPS
sim.srcs += $(SRC_BOOZ)/booz_gps.c
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+1 -1
View File
@@ -50,7 +50,7 @@ imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
imu_CFLAGS += -DUSE_AMI601
imu_srcs += peripherals/ami601.c
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+1 -1
View File
@@ -57,7 +57,7 @@ imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=11
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
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)
conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
+1 -1
View File
@@ -58,7 +58,7 @@ ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
#FIXME ms2100 not used on this imu
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=11
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
else ifeq ($(ARCH), stm32)
imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
conf/autopilot/subsystems/rotorcraft/imu_crista.makefile
+1 -1
View File
@@ -70,7 +70,7 @@ imu_srcs += peripherals/ami601.c
imu_CFLAGS += -DUSE_I2C1
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
imu_CFLAGS += -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12 -DI2C1_BUF_LEN=16
else ifeq ($(ARCH), stm32)
#FIXME
endif
conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile
-4
View File
@@ -12,7 +12,3 @@ ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
ap.srcs += downlink.c pprz_transport.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
endif
conf/autopilot/subsystems/rotorcraft/telemetry_transparent_usb.makefile
+16
View File
@@ -0,0 +1,16 @@
#serial USB (e.g. /dev/ttyACM0)
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS
ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ -DUSE_USB_SERIAL
ap.srcs += downlink.c pprz_transport.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
ap.srcs += $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
else
ifneq ($(ARCH), sim)
$(error telemetry_transparent_usb currently only implemented for the lpc21)
endif
endif
conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile
-4
View File
@@ -13,7 +13,3 @@ ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT
ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE
ap.srcs += downlink.c xbee.c
ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
endif
conf/autopilot/subsystems/shared/ahrs_ic.makefile
+22
View File
@@ -0,0 +1,22 @@
#
# AHRS_PROPAGATE_FREQUENCY
# AHRS_H_X
# AHRS_H_Y
# AHRS_H_Z
#
AHRS_CFLAGS = -DUSE_AHRS
ifdef AHRS_ALIGNER_LED
AHRS_CFLAGS += -DAHRS_ALIGNER_LED=$(AHRS_ALIGNER_LED)
endif
AHRS_CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl.h\"
AHRS_SRCS += subsystems/ahrs.c
AHRS_SRCS += subsystems/ahrs/ahrs_int_cmpl.c
AHRS_SRCS += subsystems/ahrs/ahrs_aligner.c
ap.CFLAGS += $(AHRS_CFLAGS)
ap.srcs += $(AHRS_SRCS)
sim.CFLAGS += $(AHRS_CFLAGS)
sim.srcs += $(AHRS_SRCS)
conf/autopilot/subsystems/shared/imu_aspirin.makefile
+17
View File
@@ -0,0 +1,17 @@
IMU_ASPIRIN_CFLAGS = -DUSE_IMU
IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
$(SRC_SUBSYSTEMS)/imu/imu_aspirin.c \
$(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c \
math/pprz_trig_int.c
IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
IMU_ASPIRIN_SRCS += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
ap.srcs += $(IMU_ASPIRIN_SRCS)
conf/flight_plans/EMAV2008.xml
+3 -3
View File
@@ -84,7 +84,7 @@
</block>
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<!-- <exception cond="ground_alt + 6 > estimator_z" deroute="flare"/> -->
@@ -130,7 +130,7 @@
</block>
<block name="bomb">
<call fun="nav_compute_baseleg(WP_START, WP_DROP, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10)" wp="BASELEG"/>
</block>
<block name="align">
<go approaching_time="0" from="START" hmode="route" wp="DROP"/>
@@ -149,7 +149,7 @@
</block>
<block name="bombfake">
<call fun="nav_compute_baseleg(WP_START, WP_DROP, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10)" wp="BASELEG"/>
</block>
<block name="alignfake">
<go approaching_time="0" from="START" hmode="route" wp="DROP"/>
conf/flight_plans/IS.xml
+1 -1
View File
@@ -148,7 +148,7 @@
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="nav_radius"
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
wp="BASELEG"/>
</block>
conf/flight_plans/basic.xml
+1 -1
View File
@@ -78,7 +78,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/ccc_gl.xml
+1 -1
View File
@@ -112,7 +112,7 @@
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/fp_tp_auto.xml
+1 -1
View File
@@ -111,7 +111,7 @@
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/grosslobke_demo.xml
+1 -1
View File
@@ -77,7 +77,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/joystick.xml
+1 -1
View File
@@ -80,7 +80,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/landing.xml
+1 -1
View File
@@ -18,7 +18,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/mav07.xml
+1 -1
View File
@@ -130,7 +130,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/mav08.xml
+1 -1
View File
@@ -98,7 +98,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/nordlys.xml
+1 -1
View File
@@ -85,7 +85,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/poles.xml
+1 -1
View File
@@ -70,7 +70,7 @@
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
conf/flight_plans/slayer_training.xml
+1 -1
View File
@@ -75,7 +75,7 @@
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
<set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>

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