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made IMU configurable

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This commit is contained in:
Antoine Drouin
2010-08-21 20:41:48 +00:00
parent 066ced69f5
commit 92f357fa53
1 changed files with 15 additions and 13 deletions
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conf/autopilot/lisa_passthrough.makefile
+15 -13
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@@ -17,8 +17,9 @@ CFG_LISA_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrou
stm_passthrough.ARCHDIR = stm32
stm_passthrough.TARGET = stm_passthrough
stm_passthrough.TARGETDIR = stm_passthrough
stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
stm_passthrough.CFLAGS += -I$(SRC_LISA) -I$(SRC_LISA_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
stm_passthrough.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_passthrough.CFLAGS += -DPERIPHERALS_AUTO_INIT
stm_passthrough.srcs = $(SRC_LISA)/lisa_stm_passthrough_main.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
@@ -28,31 +29,32 @@ stm_passthrough.CFLAGS += -DUSE_LED
stm_passthrough.srcs += $(SRC_ARCH)/led_hw.c
# Sys time
stm_passthrough.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
stm_passthrough.CFLAGS += -DUSE_SYS_TIME
stm_passthrough.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
stm_passthrough.CFLAGS += -DSYS_TIME_LED=1
stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
# Telemetry
stm_passthrough.CFLAGS += -DDOWNLINK
stm_passthrough.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
stm_passthrough.srcs += downlink.c pprz_transport.c
stm_passthrough.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
stm_passthrough.srcs += $(SRC_ARCH)/uart_hw.c
stm_passthrough.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
stm_passthrough.srcs += downlink.c pprz_transport.c
# Link Overo
stm_passthrough.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
stm_passthrough.CFLAGS += -DUSE_OVERO_LINK
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \
$(SRC_LISA_ARCH)/lisa_overo_link_arch.c
# IMU
stm_passthrough.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
stm_passthrough.CFLAGS += -DIMU_B2_VERSION_1_1
stm_passthrough.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
stm_passthrough.srcs += $(SRC_BOOZ)/booz_imu.c
stm_passthrough.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
stm_passthrough.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
stm_passthrough.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
#
# include subsystem/lisa_passthrough/imu_b2_v1_1.makefile
#
stm_passthrough.srcs += math/pprz_trig_int.c
stm_passthrough.srcs += $(SRC_BOOZ)/booz2_commands.c