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This commit is contained in:
Antoine Drouin
2008-12-11 19:52:37 +00:00
parent 332be0256e
commit 651dc7c2ef
8 changed files with 48 additions and 164 deletions
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conf/airframes/booz2_a1.xml
+2 -21
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@@ -129,27 +129,8 @@
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
# mikrokopter controllers
ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
# imu Booz2 v1
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
ap.CFLAGS += -DSSP_VIC_SLOT=9
ap.srcs += $(BOOZ_PRIV)/booz2_imu_b2.c $(BOOZ_PRIV_ARCH)/booz2_imu_b2_hw.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
ap.srcs += $(BOOZ_PRIV)/booz2_max1168.c $(BOOZ_PRIV_ARCH)/booz2_max1168_hw.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
conf/airframes/booz2_a2.xml
+2 -18
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@@ -126,25 +126,9 @@
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
# asctec controllers
ap.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_asctec.makefile
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
# imu Booz2 v1
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
ap.CFLAGS += -DSSP_VIC_SLOT=9
ap.srcs += $(BOOZ_PRIV)/booz2_imu_b2.c $(BOOZ_PRIV_ARCH)/booz2_imu_b2_hw.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
ap.srcs += $(BOOZ_PRIV)/booz2_max1168.c $(BOOZ_PRIV_ARCH)/booz2_max1168_hw.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
conf/airframes/booz2_flixr.xml
+4 -19
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@@ -130,30 +130,15 @@
# prevents motors from ever starting
#ap.CFLAGS += -DKILL_MOTORS
# mikrokopter controllers
ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ap.srcs += actuators.c $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_actuators_buss.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_b2v1.makefile
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
# IMU v3
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_v3.h\"
ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
ap.CFLAGS += -DFLOAT_T=float
# IXME: remove that, uneeded
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_imu_v3.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_autopilot.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_test_progs.makefile
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_simulator.makefile
</makefile>
</airframe>
conf/autopilot/booz2_actuators_asctec.makefile
+13
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@@ -0,0 +1,13 @@
# asctec controllers
ap.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
# asctec controllers
sim.CFLAGS += -DACTUATORS=\"actuators_asctec_twi_blmc_hw.h\"
sim.srcs += $(BOOZ_PRIV_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
# supervision
sim.srcs += $(BOOZ_PRIV)/booz_supervision_int_nomix.c
conf/autopilot/booz2_actuators_buss.makefile
+5
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@@ -0,0 +1,5 @@
# mikrokopter controllers
ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ap.srcs += $(BOOZ_PRIV_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
# supervision
ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c
conf/autopilot/booz2_imu_b2v1.makefile
+12
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@@ -0,0 +1,12 @@
# imu Booz2 v1
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
ap.CFLAGS += -DSSP_VIC_SLOT=9
ap.srcs += $(BOOZ_PRIV)/booz2_imu_b2.c $(BOOZ_PRIV_ARCH)/booz2_imu_b2_hw.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
ap.srcs += $(BOOZ_PRIV)/booz2_max1168.c $(BOOZ_PRIV_ARCH)/booz2_max1168_hw.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
conf/autopilot/booz2_imu_v3.makefile
+9 -105
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@@ -22,109 +22,13 @@
#
#
ARCHI=arm7
FLASH_MODE = IAP
BOOZ=booz
BOOZ_PRIV=booz_priv
BOOZ_PRIV_ARCH=booz_priv/arm7
BOOZ_PRIV_TEST=booz_priv/test
BOOZ_ARCH=booz/arm7
#
# IMU V3 MCU
#
imu.ARCHDIR = $(ARCHI)
imu.ARCH = arm7tdmi
imu.TARGET = imu
imu.TARGETDIR = imu
imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
imu.srcs += $(BOOZ_PRIV)/imu_v3_main.c
imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1
imu.CFLAGS += -DLED
imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
imu.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
imu.srcs += $(SRC_ARCH)/uart_hw.c
imu.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
imu.srcs += downlink.c pprz_transport.c $(BOOZ_PRIV)/imu_v3_telemetry.c
imu.CFLAGS += -DIMU_SENSORS_SPI1_VIC_SLOT=7
imu.srcs += $(BOOZ_PRIV)/imu_v3_sensors.c $(BOOZ_PRIV_ARCH)/imu_v3_sensors_hw.c
imu.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DAD0_VIC_SLOT=2
imu.srcs += $(SRC_ARCH)/adc_hw.c
imu.CFLAGS += -DMAX1167_EOC_VIC_SLOT=8
imu.srcs += max1167.c $(SRC_ARCH)/max1167_hw.c
imu.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9
imu.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
imu.CFLAGS += -DIMU_CLIENT_LINK_SPI0_VIC_SLOT=3
imu.srcs += $(BOOZ_PRIV)/imu_v3_client_link.c $(BOOZ_PRIV_ARCH)/imu_v3_client_link_hw.c
#
# IMU V3 MCU tests
#
#
# test micromag
#
imu_test_micromag.ARCHDIR = $(ARCHI)
imu_test_micromag.ARCH = arm7tdmi
imu_test_micromag.TARGET = imu_test_micromag
imu_test_micromag.TARGETDIR = imu_test_micromag
imu_test_micromag.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
imu_test_micromag.srcs += $(BOOZ_PRIV_TEST)/imu_v3_test_micromag.c
imu_test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1
imu_test_micromag.CFLAGS += -DLED
imu_test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
imu_test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
imu_test_micromag.srcs += $(SRC_ARCH)/uart_hw.c
imu_test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
imu_test_micromag.srcs += downlink.c pprz_transport.c
imu_test_micromag.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=9
imu_test_micromag.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
#
# Controller MCU tests
#
#
# test GPS, aka tunnel
#
tunnel.ARCHDIR = $(ARCHI)
tunnel.ARCH = arm7tdmi
tunnel.TARGET = tunnel
tunnel.TARGETDIR = tunnel
tunnel.CFLAGS += -DCONFIG=\"booz2_board_proto.h\" -I$(BOOZ_PRIV_ARCH)
tunnel.srcs += $(BOOZ_PRIV_TEST)/booz2_tunnel.c
tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
tunnel.CFLAGS += -DLED
tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
tunnel.srcs += $(SRC_ARCH)/uart_hw.c
# IMU v3
ap.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_v3.h\"
ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
ap.CFLAGS += -DFLOAT_T=float
# IXME: remove that, uneeded
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
conf/autopilot/booz2_simulator.makefile
+1 -1
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@@ -64,7 +64,7 @@ sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DBOOZ2_IMU_TYPE=IMU_B2
sim.CFLAGS += -DBOOZ2_IMU_TYPE=\"booz2_imu_b2.h\"
sim.srcs += $(BOOZ_PRIV)/booz2_imu.c \
$(BOOZ_PRIV)/booz2_imu_b2.c \
$(BOOZ_PRIV_SIM)/booz2_imu_b2_hw.c \