diff --git a/conf/airframes/hitl_usb.xml b/conf/airframes/hitl_usb.xml new file mode 100644 index 0000000000..d9bc38c9a9 --- /dev/null +++ b/conf/airframes/hitl_usb.xml @@ -0,0 +1,219 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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+ + +CONFIG=\"tiny_2_1_1_usb.h\" +include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile + +FLASH_MODE=IAP + +ap.CFLAGS += -DFBW -DAP -DCONFIG=$(CONFIG) -DLED -DTIME_LED=1 +ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c + +ap.srcs += commands.c + +ap.CFLAGS += -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 +ap.srcs += $(SRC_ARCH)/servos_4017_hw.c actuators.c + +# 41.200MHz +ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +# Through USB +ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL +ap.CFLAGS += -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ +ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c datalink.c pprz_transport.c +ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c +ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c + +ap.CFLAGS += -DINTER_MCU +ap.srcs += inter_mcu.c + +ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 +ap.srcs += $(SRC_ARCH)/adc_hw.c + +ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 +ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400 + +ap.srcs += gps_ubx.c gps.c latlong.c + +ap.CFLAGS += -DINFRARED +ap.srcs += infrared.c estimator.c + +ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO +ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c + +ap.srcs += nav_line.c nav_survey_rectangle.c + +# Configuration for Hardware In The Loop +ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600 + +# Config for SITL simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile +sim.CFLAGS += -DCONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN +sim.srcs += nav_survey_rectangle.c nav_line.c traffic_info.c + + +