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[sim] moving the old ocaml simulator to NPS (#3167)
- the exact same basic model is now a NPS FDM - sim target still woks, it is just an alias to NPS with the proper FDM - the old ocaml files are removed - AHRS and INS are bypassed, since the accelerations are not well calculated by the model
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Gautier Hattenberger
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GitHub
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dfb08fa733
commit
41451d5422
+1
-158
@@ -1,158 +1 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2006 Pascal Brisset, Antoine Drouin
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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# This is the common Makefile for the sim target.
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#
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# this should not be needed
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SRC_ARCH = arch/sim
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include $(PAPARAZZI_SRC)/sw/Makefile.ocaml
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CC = gcc
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SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
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CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
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PKG = -package glibivy,pprz
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LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz,pprzlink
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SIMSITLML = $(OBJDIR)/simsitl.ml
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SITLCMA = $(SIMDIR)/sitl.cma
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OPT ?= 2
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# Launch with "make Q=''" to get full command display
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Q=@
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#
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# End of configuration part.
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#
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INCLUDES += -I $(shell $(OCAMLC) -where)
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CFLAGS = -W -Wall
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CFLAGS += $(INCLUDES)
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CFLAGS += $($(TARGET).CFLAGS)
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CFLAGS += $(USER_CFLAGS) $(BOARD_CFLAGS)
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CFLAGS += -fPIC
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CFLAGS += -O$(OPT)
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CFLAGS += -g
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CFLAGS += -std=gnu99
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CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)
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CFLAGS += -D_GNU_SOURCE
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CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
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LDFLAGS = -lm
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LDFLAGS += $(BOARD_LDFLAGS)
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LIBFLAGS = -shared
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UNAME = $(shell uname -s)
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ifeq ($(UNAME),Darwin)
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LIBFLAGS = -dynamiclib -undefined suppress -flat_namespace
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endif
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# build sim in custom mode for ARM systems for now...
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MNAME = $(shell uname -m)
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ifneq (,$(findstring arm,$(MNAME)))
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SIMSITLCUSTOM=TRUE
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endif
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ifdef SIMSITLCUSTOM
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CAMLINCLUDES += $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format glibivy)
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CAMLCMAS = unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma
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endif
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#
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# General rules
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#
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$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
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$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
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$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
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all compile: $(OBJDIR) $(OBJDIR)/simsitl
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$(OBJDIR):
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@echo CREATING object dir $(OBJDIR)
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@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
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# shared library of the C autopilot part
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# Note: On darwin the file should actually have the .dylib ending but ocamlc
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# only assumes that .so files are shared libraries, even though this is only
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# correct on linux.
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autopilot.so : $($(TARGET).objs)
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@echo BUILD $@
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$(Q)$(CC) $(LIBFLAGS) $^ -o $(OBJDIR)/$@
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ifdef SIMSITLCUSTOM
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$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
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@echo LD $@
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$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ $(CAMLCMAS) $^
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else
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$(OBJDIR)/simsitl : autopilot.so $(SITLCMA) $(SIMSITLML)
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@echo LD $@
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$(Q)$(OCAMLC) -g $(CAMLINCLUDES) -o $@ $(LINKPKG) $^ -dllpath $(OBJDIR) -dllpath $(SIMDIR)
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endif
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# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
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$(SIMSITLML) : $(SIMDIR)/simsitl.ml
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@echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
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@cat $< >> $@
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%.s: %.c
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$(CC) $(CFLAGS) -S -o $@ $<
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%.s: %.cpp
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$(CC) $(CFLAGS) -S -o $@ $<
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$(OBJDIR)/%.s: %.c
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(CC) $(CFLAGS) -S -o $@ $<
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$(OBJDIR)/%.s: %.cpp
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(CC) $(CFLAGS) -S -o $@ $<
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$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
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$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
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@echo CC $@
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$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
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$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
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.PHONY: all compile
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#
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# Dependencies
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#
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DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
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ifneq ($(MAKECMDGOALS),clean)
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-include $(DEPS)
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endif
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include $(PAPARAZZI_SRC)/conf/Makefile.nps
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