new makefile section in airframe.xml

conf/airframes/twinstar1.xml

@@ -83,4 +83,8 @@
     <define name="THETA0" value="45" unit="deg"/>
     <define name="PHI0" value="-45" unit="deg"/>
   </section>
+  <makefile>
+LOCAL_CFLAGS += -DWAVECARD_ON_UART0
+$(TARGET).srcs += wavecard.c
+  </makefile>
 </airframe>

sw/airborne/autopilot/Makefile

@@ -1,6 +1,6 @@
 # 
 #  $Id$
-#  Copyright (C) 2003 Pascal Brisset, Antoine Drouin
+#  Copyright (C) 2003-2005 Pascal Brisset, Antoine Drouin
 #
 # This file is part of paparazzi.
 #
@@ -24,7 +24,7 @@
 FBW=../fly_by_wire
 
 
-LOCAL_CFLAGS= $(CTL_BRD_FLAGS) $(GPS_FLAGS) $(SIMUL_FLAGS) -DWAVECARD_ON_UART0
+LOCAL_CFLAGS= $(CTL_BRD_FLAGS) $(GPS_FLAGS) $(SIMUL_FLAGS)
 
 VARINCLUDE=$(PAPARAZZI_HOME)/var/include
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
@@ -63,8 +63,7 @@ $(TARGET).srcs	= \
 	mainloop.c \
 	cam.c \
 	traffic_info.c \
-	datalink.c \
-	wavecard.c
+	datalink.c
 
 ifeq ($(AIRCRAFT), Gorazoptere_brushless_ANALOG)
 	$(TARGET).srcs  += ahrs.S 
@@ -77,6 +76,7 @@ ifeq ($(AIRCRAFT), quadRotorJP)
 endif
 
 
+include $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/Makefile.ac
 include ../../../conf/Makefile.local
 include ../../../conf/Makefile.avr
 

sw/airborne/autopilot/mainloop.c

@@ -72,7 +72,7 @@ int main( void ) {
   nav_init();
   ir_init();
   estimator_init();
-#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG || WAVECARD_ON_UART0
+#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG || WAVECARD
   uart0_init();
 #endif //SECTION_IMU
   /** - start interrupt task */
@@ -114,10 +114,12 @@ int main( void ) {
 	gps_pos_available = FALSE;
       }
     }
+#ifdef WAVECARD
     if (wc_msg_received) {
       wc_parse_payload();
       wc_msg_received = FALSE;
     }
+#endif
     if (dl_msg_available) {
       dl_parse_msg();
       dl_msg_available = FALSE;

sw/airborne/autopilot/uart.c

@@ -121,7 +121,7 @@ SIGNAL(SIG_UART1_TRANS) {
 void uart0_init( void ) {
   /* Baudrate is 38.4k */
   UBRR0H = 0;
-#ifdef WAVECARD_ON_UART0
+#ifdef WAVECARD
   UBRR0L = 103; //9600
 #else
   UBRR0L = 25; // 38.4
@@ -133,7 +133,7 @@ void uart0_init( void ) {
   UCSR0B = _BV(RXEN) | _BV(TXEN);
   /* Set frame format: 8data, 1stop bit */ 
   UCSR0C = _BV(UCSZ1) | _BV(UCSZ0);
-#ifdef WAVECARD_ON_UART0
+#ifdef WAVECARD
   /* Enable uart receive interrupt */
   sbi(UCSR0B, RXCIE );
 #endif

sw/tools/extract_makefile.ml

@@ -0,0 +1,14 @@
+open Printf 
+
+let _ =
+  let f = Sys.argv.(1) in
+  let xml = Xml.parse_file f in
+  printf "# This file has been generated from %s\n" f;
+  printf "# Please DO NOT EDIT\n";
+  try
+    match Xml.children (ExtXml.child xml "makefile") with
+      [Xml.PCData s] -> 
+	printf "%s\n" s
+    | _ -> ()
+  with
+    _ -> ()

sw/tools/gen_airframe.ml

@@ -102,6 +102,7 @@ let parse_command = fun command ->
        printf "  int16_t _var_%s = %s;\\\n" var v       
    | _ -> xml_error "set|let"
 
+
 let parse_section = fun s ->
   match Xml.tag s with
     "section" ->
@@ -140,6 +141,9 @@ let parse_section = fun s ->
       printf "  uint16_t servo_value;\\\n";
       List.iter parse_command (Xml.children s);
       printf "}\n"
+  | "makefile" ->
+      ()
+      (** Ignoring this section *)
   | _ -> xml_error "param|servos|command"