moving stuff around

2026-06-05 23:49:00 +08:00 · 2010-04-27 18:15:57 +00:00
parent d03408b7d2
commit 8978d94ee0
11 changed files with 157 additions and 44 deletions
@@ -0,0 +1,111 @@
+<airframe name="BETH">
+
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_NEUTRAL" value="31489"/>
+    <define name="GYRO_Q_NEUTRAL" value="31814"/>
+    <define name="GYRO_R_NEUTRAL" value="32752"/>
+
+    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
+    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
+    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>
+
+
+    <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="32857"/>
+    <define name="ACCEL_Y_NEUTRAL" value="32429"/>
+    <define name="ACCEL_Z_NEUTRAL" value="32593"/>
+
+    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+    <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-43"/>
+    <define name="MAG_Y_NEUTRAL" value=" 49"/>
+    <define name="MAG_Z_NEUTRAL" value="-66"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 90.)"/>
+
+  </section>
+
+
+  <makefile>
+
+
+#
+# main STM32
+#
+
+ARCH=stm32
+ARCHI=stm32
+BOARD_CFG = \"boards/lisa_0.99.h\"
+FLASH_MODE = JTAG
+
+SRC_ARCH = $(ARCH)
+SRC_BETH=beth
+SRC_BOOZ=booz
+SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
+SRC_LISA=lisa
+SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
+
+main_stm32.ARCHDIR = stm32
+main_stm32.TARGET = main_stm32
+main_stm32.TARGETDIR = main_stm32
+main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
+main_stm32.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
+                  $(SRC_ARCH)/stm32_exceptions.c   \
+                  $(SRC_ARCH)/stm32_vector_table.c
+main_stm32.CFLAGS += -DUSE_LED
+main_stm32.srcs += $(SRC_ARCH)/led_hw.c
+main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
+main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
+main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+
+main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
+main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
+main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
+main_stm32.srcs += downlink.c pprz_transport.c
+
+main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_TYPE=AutopilotMessageBeth
+main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
+main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
+
+main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
+main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
+main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+main_stm32.srcs += math/pprz_trig_int.c
+
+
+#
+# main Overo
+#
+
+USER =
+HOST = beth
+HOST = overo
+TARGET_DIR = ~
+SRC_FMS=fms
+
+main_overo.ARCHDIR = omap
+main_overo.CFLAGS = -I. -I$(SRC_FMS)
+main_overo.srcs  = $(SRC_BETH)/main_overo.c
+main_overo.srcs += $(SRC_FMS)/fms_spi_link.c
+
+
+
+
+
+  </makefile>
+
+</airframe>