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making passthrough configurable - first step is RC

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This commit is contained in:
Antoine Drouin
2010-08-15 15:06:12 +00:00
parent a354a9a3c1
commit 3d3ff3ca36
3 changed files with 63 additions and 62 deletions
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conf/autopilot/lisa_passthrough.makefile
+48 -47
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@@ -4,68 +4,69 @@
#
#
pt.ARCHDIR = stm32
pt.TARGET = pt
pt.TARGETDIR = pt
pt.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
pt.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
pt.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
stm_passthrough.ARCHDIR = stm32
stm_passthrough.TARGET = stm_passthrough
stm_passthrough.TARGETDIR = stm_passthrough
stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
# Leds
pt.CFLAGS += -DUSE_LED
pt.srcs += $(SRC_ARCH)/led_hw.c
stm_passthrough.CFLAGS += -DUSE_LED
stm_passthrough.srcs += $(SRC_ARCH)/led_hw.c
# Sys time
pt.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
pt.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
pt.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
stm_passthrough.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
stm_passthrough.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
# Telemetry
pt.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
pt.srcs += $(SRC_ARCH)/uart_hw.c
pt.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
pt.srcs += downlink.c pprz_transport.c
stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c
stm_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
stm_passthrough.srcs += downlink.c pprz_transport.c
# Link Overo
pt.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
pt.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
pt.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
stm_passthrough.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \
$(SRC_LISA_ARCH)/lisa_overo_link_arch.c
# IMU
pt.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
pt.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
pt.srcs += $(SRC_BOOZ)/booz_imu.c
pt.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
pt.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
pt.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
pt.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
pt.srcs += math/pprz_trig_int.c
stm_passthrough.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
stm_passthrough.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
stm_passthrough.srcs += $(SRC_BOOZ)/booz_imu.c
stm_passthrough.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
stm_passthrough.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
stm_passthrough.srcs += math/pprz_trig_int.c
pt.srcs += $(SRC_BOOZ)/booz2_commands.c
stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c
# Radio control
pt.CFLAGS += -DUSE_RADIO_CONTROL
pt.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
pt.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
pt.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_joby.c
pt.CFLAGS += -DRADIO_CONTROL_LED=6
pt.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
#
# include subsystem/lisa_passthrough/radio_control_joby.makefile
# or
# include subsystem/lisa_passthrough/radio_control_spektrum.makefile
#
# Actuators
#pt.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
#pt.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
#pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
#pt.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
#stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
#stm_passthrough.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
#pt.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
#pt.CFLAGS += -DUSE_I2C1
#stm_passthrough.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
#stm_passthrough.CFLAGS += -DUSE_I2C1
# PWM actuator
pt.CFLAGS += -DSERVO_HZ=200
#pt.CFLAGS += -DSERVO_HZ=50
pt.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
pt.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_hw.c
ifndef SERVOS_REFRESH_FREQ
SERVOS_REFRESH_FREQ 50
endif
stm_passthrough.CFLAGS += -DSERVO_HZ=$(SERVOS_REFRESH_FREQ)
stm_passthrough.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c
stm_passthrough.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_pwm_hw.c
conf/autopilot/subsystems/lisa_passthrough/radio_control_joby.makefile
+7 -7
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@@ -1,13 +1,13 @@
# Radio control
pt.CFLAGS += -DUSE_RADIO_CONTROL
pt.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
pt.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
pt.srcs += $(SRC_BOOZ)/booz_radio_control.c \
stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL
stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_joby.h\"
stm_passthrough.CFLAGS += -DRADIO_CONTROL_JOBY_MODEL_H=\"radio_control/booz_radio_control_joby_9ch.h\"
stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_joby.c
pt.CFLAGS += -DRADIO_CONTROL_LED=6
pt.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=6
stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
conf/autopilot/subsystems/lisa_passthrough/radio_control_spektrum.makefile
+8 -8
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@@ -5,13 +5,13 @@ ifndef RADIO_CONTROL_SPEKTRUM_MODEL
RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_spektrum_dx7se.h\"
endif
pt.CFLAGS += -DUSE_RADIO_CONTROL
pt.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
pt.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
pt.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
pt.CFLAGS += -DRADIO_CONTROL_LED=4
pt.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
pt.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
stm_passthrough.CFLAGS += -DUSE_RADIO_CONTROL
stm_passthrough.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz/radio_control/booz_radio_control_spektrum.h\"
stm_passthrough.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=$(RADIO_CONTROL_SPEKTRUM_MODEL)
stm_passthrough.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LED=4
stm_passthrough.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
stm_passthrough.CFLAGS += -DRADIO_CONTROL_LINK=Uart3