Fixedwing Autopilot Makefile Upgrade

Makefile.ac

@@ -66,6 +66,9 @@ demo:
 	$(SUPERVISION)
 
 all_ac_h: $(AIRFRAME_H) $(MODULES_H) $(SETTINGS_H) $(TUNING_H) $(MAKEFILE_AC) $(PERIODIC_H)
+	@echo -e "TARGET: $(TARGET)\n" > $(ACINCLUDE)/$(TARGET)_srcs.list
+	@echo -e "CFLAGS: $($(TARGET).CFLAGS)\n\n" >> $(ACINCLUDE)/$(TARGET)_srcs.list
+	@echo "srcs:  $($(TARGET).srcs)" >> $(ACINCLUDE)/$(TARGET)_srcs.list
 
 radio_ac_h : $(RADIO_H) $(CONF_RADIO_CONTROL_PPM_H)
 

conf/airframes/AirborneCodeReorg/TinyFw.xml

@@ -160,6 +160,15 @@
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
 
+  <modules>
+    <load name="light.xml">
+      <param name="LIGHT_LED_STROBE" value="3"/>
+      <param name="LIGHT_LED_NAV" value="4"/>
+      <param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+      <param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
+    </load>
+  </modules>
+
   <firmware name="fixedwing">
     <target name="ap" 			board="tiny_2.11">
       <define name="AGR_CLIMB" />

conf/autopilot/fixedwing.makefile

@@ -20,24 +20,28 @@ FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
 include $(CFG_FIXEDWING)/autopilot.makefile
 
 
-ifeq ($(BOARD),tiny)
+ifeq ($(ACTUATORS),)
-  ifeq ($(BOARD_VERSION),1.1)
+  ifeq ($(BOARD),tiny)
-    include $(CFG_FIXEDWING)/actuators_4015.makefile
+    ifeq ($(BOARD_VERSION),1.1)
-  else
-    ifeq ($(BOARD_VERSION),0.99)
       include $(CFG_FIXEDWING)/actuators_4015.makefile
     else
-      include $(CFG_FIXEDWING)/actuators_4017.makefile
+      ifeq ($(BOARD_VERSION),0.99)
+        include $(CFG_FIXEDWING)/actuators_4015.makefile
+      else
+        include $(CFG_FIXEDWING)/actuators_4017.makefile
+      endif
     endif
   endif
-endif
+  ifeq ($(BOARD),twog)
-
-ifeq ($(BOARD),twog)
 	include $(CFG_FIXEDWING)/actuators_4017.makefile
-endif
+  endif
 
-ifeq ($(BOARD),lisa_l)
+  ifeq ($(BOARD),lisa_l)
     include $(CFG_FIXEDWING)/actuators_direct.makefile
+  endif
+
+else
+  include $(CFG_FIXEDWING)/$(ACTUATORS).makefile
 endif
 
 

conf/autopilot/subsystems/fixedwing/autopilot.makefile

@@ -22,90 +22,177 @@
 #
 #
 
-# All targets need the board config
+######################################################################
-$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+##
+## COMMON FIXEDWING ALL TARGETS (SIM + AP + FBW ...)
+##
+
+#
+# Board config + Include paths
+#
+
+$(TARGET).CFLAGS 	+= -DBOARD_CONFIG=$(BOARD_CFG)
+$(TARGET).CFLAGS 	+= $(FIXEDWING_INC)
+
+#
+# Common Options 
+#
 
 ifeq ($(OPTIONS), minimal)
 else
-  $(TARGET).CFLAGS += -DWIND_INFO 
+  $(TARGET).CFLAGS 	+= -DWIND_INFO 
 endif
 
-$(TARGET).CFLAGS += -DTRAFFIC_INFO
+$(TARGET).CFLAGS 	+= -DTRAFFIC_INFO
-
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DLED
-sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
-
-
-
-ap.CFLAGS += $(FIXEDWING_INC)
-ap.srcs    = $(SRC_FIXEDWING)/main.c
-
-ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/plug_sys.c
-endif
-
-#
-# Interrupts
-#
-ifeq ($(ARCHI), arm7)
-ap.srcs += $(SRC_ARCH)/armVIC.c
-else ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
-ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
-endif
 
 #
 # LEDs
 #
-ap.CFLAGS += -DUSE_LED -DLED -DTIME_LED=1
+
-ifeq ($(ARCHI), stm32)
+$(TARGET).CFLAGS 	+= -DLED 
-ap.srcs += $(SRC_ARCH)/led_hw.c
+ifneq ($(ARCHI), arm7)
+  $(TARGET).srcs 	+= $(SRC_ARCH)/led_hw.c
 endif
 
 #
-# Systime
+# Sys-time
 #
-ap.CFLAGS += -DUSE_SYS_TIME
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-#ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
-ifeq ($(ARCHI), stm32)
-ap.CFLAGS += -DSYS_TIME_LED=1  -DPERIPHERALS_AUTO_INIT
-endif
 
-
+$(TARGET).srcs 		+= sys_time.c
-#
-# FlyByWire Main
-#
-ap.CFLAGS += -DFBW
-ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
-
-#
-# AutoPilot Main
-#
-ap.CFLAGS += -DAP
-ap.srcs += $(SRC_FIXEDWING)/main_ap.c
-ap.srcs += $(SRC_FIXEDWING)/estimator.c
 
 #
 # InterMCU & Commands
 #
 
-ap.CFLAGS += -DINTER_MCU
+$(TARGET).CFLAGS 	+= -DINTER_MCU
-ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c
+$(TARGET).srcs 		+= $(SRC_FIXEDWING)/inter_mcu.c
-ap.srcs += $(SRC_FIXEDWING)/commands.c
+
+######################################################################
+##
+## COMMON FOR ALL NON-SIMULATION TARGETS
+##
+
+#
+# Interrupt Vectors
+#
+
+ifeq ($(ARCHI), arm7)
+  ns_srcs 		+= $(SRC_ARCH)/armVIC.c
+else ifeq ($(ARCHI), stm32)
+  ns_srcs 		+= $(SRC_ARCH)/stm32_exceptions.c
+  ns_srcs 		+= $(SRC_ARCH)/stm32_vector_table.c
+  ns_CFLAGS 		+= -DPERIPHERALS_AUTO_INIT
+endif
+
+ifeq ($(ARCHI), stm32)
+  ns_srcs 		+= lisa/plug_sys.c
+endif
+
+
+#
+# Main
+#
+
+ns_srcs    	+= $(SRC_FIXEDWING)/main.c
+
+#
+# LEDs
+#
+
+ns_CFLAGS 		+= -DUSE_LED
+ifeq ($(ARCHI), stm32)
+  ns_CFLAGS 		+= -DSYS_TIME_LED=1
+else
+ ns_CFLAGS 		+= -DTIME_LED=1
+endif
+
+#
+# Sys-time
+#
+
+ns_CFLAGS 		+= -DUSE_SYS_TIME
+ns_CFLAGS 		+= -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
+ns_srcs 		+= $(SRC_ARCH)/sys_time_hw.c
+
 
 #
 # UARTS
 #
-ap.srcs += $(SRC_ARCH)/uart_hw.c
 
+ns_srcs 		+= $(SRC_ARCH)/uart_hw.c
+
+#
+# ANALOG
+#
 
 ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DADC
+  ns_CFLAGS 		+= -DADC
-ap.srcs += $(SRC_ARCH)/adc_hw.c
+  ns_srcs 		+= $(SRC_ARCH)/adc_hw.c
 else ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/lisa_analog_plug.c
+  ns_srcs 		+= lisa/lisa_analog_plug.c
 endif
 
 
+######################################################################
+##
+## FLY BY WIRE THREAD SPECIFIC
+##
+
+fbw_CFLAGS		+= -DFBW
+fbw_srcs 		+= $(SRC_FIXEDWING)/main_fbw.c
+fbw_srcs 		+= $(SRC_FIXEDWING)/commands.c
+
+######################################################################
+##
+## AUTOPILOT THREAD SPECIFIC
+##
+
+ap_CFLAGS 		+= -DAP
+ap_srcs 		+= $(SRC_FIXEDWING)/main_ap.c
+ap_srcs 		+= $(SRC_FIXEDWING)/estimator.c
+
+
+######################################################################
+##
+## SIMULATOR THREAD SPECIFIC
+##
+
+sim.CFLAGS 		+= $(fbw_CFLAGS) $(ap_CFLAGS)
+sim.srcs 		+= $(fbw_srcs) $(ap_srcs)
+
+sim.CFLAGS 		+= -DSITL 
+sim.srcs 		+= $(SRC_ARCH)/sim_ap.c
+
+sim.CFLAGS 		+= -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport 
+sim.srcs 		+= downlink.c datalink.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c 
+
+######################################################################
+##
+## Final Target Allocations
+##
+
+#
+# SINGLE MCU / DUAL MCU
+# 
+
+ifeq ($(BOARD),classix)
+  fbw.CFLAGS 		+= -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
+  fbw.srcs 		+= $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c $(SRC_ARCH)/spi_hw.c
+  ap.CFLAGS 		+= -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
+  ap.srcs 		+= $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c $(SRC_ARCH)/spi_hw.c
+else
+  # Single MCU's run both
+  ap.CFLAGS 		+= $(fbw_CFLAGS) 
+  ap.srcs 		+= $(fbw_srcs) 
+endif
+
+#
+# No-Sim parameters 
+#
+
+fbw.CFLAGS 		+= $(fbw_CFLAGS) $(ns_CFLAGS)
+fbw.srcs 		+= $(fbw_srcs) $(ns_srcs)
+
+ap.CFLAGS 		+= $(ap_CFLAGS) $(ns_CFLAGS)
+ap.srcs 		+= $(ap_srcs) $(ns_srcs)
+

conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile

@@ -7,3 +7,5 @@ ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
 
 ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
+
+sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c

conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile

@@ -7,3 +7,5 @@ ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
 
 ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
+
+sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c

conf/autopilot/subsystems/fixedwing/gps_xsens.makefile

@@ -0,0 +1,8 @@
+# XSens Mti-G
+
+
+# ap.CFLAGS += -DGPS
+
+ap.srcs   += $(SRC_FIXEDWING)/gps_xsens.c $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
+
+sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c

conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile

@@ -1,4 +1,17 @@
 
+NORADIO = False
+
+ifeq ($(BOARD),classix)
+  ifeq ($(TARGET),ap)
+    NODRADIO = True
+  endif
+endif
+
+
+
+ifeq ($(NORADIO), False)
+  $(TARGET).CFLAGS 	+= -DRADIO_CONTROL
+  $(TARGET).srcs 	+= $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c
+endif
+
 
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c

conf/boards/classix.makefile

@@ -0,0 +1,40 @@
+#
+# classix.makefile
+#
+# http://paparazzi.enac.fr/wiki/Classix
+#
+# TODO: move all to new directories
+# ARCH=lpc21
+ARCH=arm7
+ARCHI=arm7
+
+
+BOARD=classix
+BOARD_VERSION=1.0
+
+#BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+# TODO: update syntax
+BOARD_CFG = \"classix.h\"
+
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+
+### default settings for classix
+GPS_BAUD	= B38400
+
+# All targets on the TINY board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCHI)
+$(TARGET).ARCH = arm7tdmi
+$(TARGET).TARGET = $(TARGET)
+$(TARGET).TARGETDIR = $(TARGET)
+
+# Battery Voltage
+fbw.CFLAGS +=  -DUSE_AD0
+

conf/modules/ins_xsens_MTiG_fixedwing.xml

@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ins">
+  <!-- <depend conflict="ins" -->
+  <!-- <depend require="gps_xsens" -->
+  <header>
+    <file name="ins.h"/>
+  </header>
+  <init fun="ins_init()"/>
+  <periodic fun="ins_periodic_task()" freq="60"/>
+  <event fun="InsEventCheckAndHandle(handle_ins_msg())"/>
+  <makefile>
+    <flag name="USE_UART1"/>
+    <flag name="INS_LINK" value="Uart1"/>
+    <flag name="UART1_BAUD" value="B115200"/>
+    <flag name="USE_GPS_XSENS"/>
+    <file name="ins_xsens.c"/>
+  </makefile>
+</module>
+

sw/airborne/ap_downlink.h

@@ -57,7 +57,7 @@
 #define PERIODIC_SEND_ALIVE(_chan)  DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM);
 
 #define PERIODIC_SEND_BAT(_chan) { \
-	uint16_t zero; \
+	uint16_t zero = 0; \
 	Downlink({ int16_t e = energy; \
 			   DOWNLINK_SEND_BAT(_chan, \
 								 &v_ctl_throttle_slewed, \