diff --git a/conf/airframes/booz2_a1.xml b/conf/airframes/booz2_a1.xml new file mode 100644 index 0000000000..ff75cacae7 --- /dev/null +++ b/conf/airframes/booz2_a1.xml @@ -0,0 +1,158 @@ + + + + + + + + + + + + + + + + + + +
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+ + + + + +include $(PAPARAZZI_SRC)/conf/autopilot/conf_booz2.makefile + + + + + diff --git a/conf/autopilot/conf_booz2_a1.makefile b/conf/autopilot/conf_booz2_a1.makefile new file mode 100644 index 0000000000..4a5ad23421 --- /dev/null +++ b/conf/autopilot/conf_booz2_a1.makefile @@ -0,0 +1,242 @@ +# +# $Id$ +# +# Copyright (C) 2008 Antoine Drouin +# +# This file is part of paparazzi. +# +# paparazzi is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2, or (at your option) +# any later version. +# +# paparazzi is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with paparazzi; see the file COPYING. If not, write to +# the Free Software Foundation, 59 Temple Place - Suite 330, +# Boston, MA 02111-1307, USA. +# +# + +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 + + +ap.ARCHDIR = $(ARCHI) +ap.ARCH = arm7tdmi +ap.TARGET = ap +ap.TARGETDIR = ap + +#ap.CFLAGS += -DKILL_MOTORS + +ap.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) +ap.srcs += $(BOOZ_PRIV)/booz2_main.c +ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 +ap.CFLAGS += -DLED +ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c + +ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 +ap.srcs += $(SRC_ARCH)/uart_hw.c + +ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 +ap.srcs += $(BOOZ_PRIV)/booz2_telemetry.c downlink.c pprz_transport.c + +ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0 +ap.srcs += $(BOOZ)/booz_datalink.c + +ap.srcs += commands.c + +ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=4 +ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c + +ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC +ap.srcs += $(BOOZ_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c +ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 +ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c + +#ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c +ap.srcs += $(BOOZ_PRIV)/booz2_imu_crista.c $(BOOZ_PRIV_ARCH)/booz2_imu_crista_hw.c +ap.CFLAGS += -DFLOAT_T=float +ap.srcs += $(BOOZ_PRIV)/booz2_imu.c + +ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=5 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))' +ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.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.srcs += $(BOOZ_PRIV)/booz2_autopilot.c + +ap.CFLAGS += -DFILTER_ALIGNER_LED=6 +ap.srcs += $(BOOZ_PRIV)/booz2_filter_aligner2.c +ap.srcs += $(BOOZ_PRIV)/booz2_filter_attitude_cmpl_euler.c +ap.srcs += $(BOOZ_PRIV)/booz_trig_int.c + +ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DUART1_VIC_SLOT=6 +ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7 +ap.srcs += $(BOOZ_PRIV)/booz2_gps.c +ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c +ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c + +#ap.CFLAGS += -DNAV_ENAC +ap.srcs += $(BOOZ_PRIV)/booz2_navigation.c + + +ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c +ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_rate.c +ap.srcs += $(BOOZ_PRIV)/booz2_stabilization_attitude.c +ap.srcs += $(BOOZ_PRIV)/booz_supervision_int.c + +# Joystick +ap.CFLAGS += -DBOOZ2_STICK + + + +# test leds +test_led.ARCHDIR = $(ARCHI) +test_led.ARCH = arm7tdmi +test_led.TARGET = test_led +test_led.TARGETDIR = test_led + +test_led.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV_ARCH) +test_led.srcs += $(BOOZ_PRIV)/test_led.c +test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1024.))' -DTIME_LED=1 +test_led.CFLAGS += -DLED +test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c + + + +# +# tunnel +# + +tunnel.ARCHDIR = $(ARCHI) +tunnel.ARCH = arm7tdmi +tunnel.TARGET = tunnel +tunnel.TARGETDIR = tunnel + +tunnel.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(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 + +# +# test GPS +# +test_gps.ARCHDIR = $(ARCHI) +test_gps.ARCH = arm7tdmi +test_gps.TARGET = test_gps +test_gps.TARGETDIR = test_gps + +test_gps.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) +test_gps.srcs += $(BOOZ_PRIV_TEST)/booz2_test_gps.c +test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 +test_gps.CFLAGS += -DLED +test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c + +test_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 +test_gps.srcs += $(SRC_ARCH)/uart_hw.c + +test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 +test_gps.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7 +test_gps.srcs += $(BOOZ_PRIV)/booz2_gps.c + + + + + +# +# test modem +# +test_modem.ARCHDIR = $(ARCHI) +test_modem.ARCH = arm7tdmi +test_modem.TARGET = test_modem +test_modem.TARGETDIR = test_modem + +test_modem.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -I$(BOOZ_PRIV_ARCH) +test_modem.srcs += $(BOOZ_PRIV)/test_modem.c +test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1024.))' -DTIME_LED=1 +test_modem.CFLAGS += -DLED +test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c + +test_modem.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 +test_modem.srcs += $(SRC_ARCH)/uart_hw.c + +test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 +test_modem.srcs += downlink.c pprz_transport.c + +test_modem.CFLAGS += -DBOOZ_ANALOG_BARO_LED=2 -DBOOZ_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))' +test_modem.srcs += $(BOOZ_PRIV)/booz_analog_baro.c + + +# +# test AMI +# +test_ami.ARCHDIR = $(ARCHI) +test_ami.ARCH = arm7tdmi +test_ami.TARGET = test_ami +test_ami.TARGETDIR = test_ami + +test_ami.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV_ARCH) +test_ami.srcs += $(BOOZ_PRIV_TEST)/booz2_test_ami.c +test_ami.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1 +test_ami.CFLAGS += -DLED +test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c + +test_ami.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 +test_ami.srcs += $(SRC_ARCH)/uart_hw.c + +test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 +test_ami.srcs += downlink.c pprz_transport.c + +test_ami.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16 +test_ami.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c +test_ami.CFLAGS += -DUSE_AMI601 +test_ami.srcs += AMI601.c + + +# +# test crista +# +test_crista.ARCHDIR = $(ARCHI) +test_crista.ARCH = arm7tdmi +test_crista.TARGET = test_crista +test_crista.TARGETDIR = test_crista + +test_crista.CFLAGS += -DCONFIG=\"booz2_v1_0.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) +test_crista.srcs += $(BOOZ_PRIV_TEST)/booz2_test_crista.c +test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1 +test_crista.CFLAGS += -DLED +test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c + +test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 +test_crista.srcs += $(SRC_ARCH)/uart_hw.c + +test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 +test_crista.srcs += downlink.c pprz_transport.c + +test_crista.CFLAGS += -DFLOAT_T=float +test_crista.srcs += $(BOOZ_PRIV)/booz2_imu.c +test_crista.srcs += $(BOOZ_PRIV)/booz2_imu_crista.c $(BOOZ_PRIV_ARCH)/booz2_imu_crista_hw.c + +