Handling of gorrazopteres while compiling

conf/airframes/gorazoptere_brushless_3DMG.xml

@@ -1,6 +1,5 @@
 <airframe name="Gorazoptere_brushless_3DMG" ctl_board="V1_2_1" gps="SAM_LS">
-  <section name="imu" prefix="IMU_">
+  <section name="IMU_3DMG" prefix="IMU_">
-    <define name="TYPE_3DMG" value="1"/>
   </section>
   <section name="rate_loop">
     <define name="ROLL_DOT_PGAIN" value="-192."/>

conf/airframes/gorazoptere_brushless_ANALOG.xml

@@ -1,11 +1,10 @@
 <airframe name="Gorazoptere_brushless_ANALOG" ctl_board="V1_2_1" gps="SAM_LS">
-  <section name="imu" prefix="IMU_">
+  <section name="IMU_ANALOG" prefix="IMU_">
-    <define name="TYPE_ANALOG" value="1"/>
     <define name="ADC_ROLL_DOT" value="1"/>
     <define name="ADC_PITCH_DOT" value="2"/>
     <define name="ADC_YAW_DOT" value="3"/>
   </section>
-  <section name="rate_loop">
+  <section name="RATE_LOOP">
     <define name="ROLL_DOT_PGAIN" value="-192."/>
     <define name="ROLL_DOT_IGAIN" value="0."/>
     <define name="ROLL_DOT_DGAIN" value="0."/>

sw/airborne/autopilot/autopilot.h

@@ -70,15 +70,6 @@ extern uint8_t ir_estim_mode;
 #define STICK_PUSHED(pprz) (pprz < TRESHOLD1 || pprz > TRESHOLD2)
 
 
-#define TRIM_PPRZ(pprz) (pprz <  MIN_PPRZ ? MIN_PPRZ :  \
-                         (pprz >  MAX_PPRZ ? MAX_PPRZ : \
-                                   pprz))
-
-#define TRIM_UPPRZ(pprz) (pprz <  0 ? 0 :  \
-                          (pprz >  MAX_PPRZ ? MAX_PPRZ : \
-                                    pprz))
-
-
 #define FLOAT_OF_PPRZ(pprz, center, travel) ((float)pprz / (float)MAX_PPRZ * travel + center)
 
 extern uint8_t fatal_error_nb;

sw/airborne/fly_by_wire/3dmg.c

@@ -1,4 +1,32 @@
+/*
+ * Paparazzi $Id$
+ *  
+ * Copyright (C) 2005 Pascal Brisset, 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. 
+ *
+ */
 
+#include "airframe.h"
+
+#ifdef SECTION_IMU_3DMG
+
+#warning "Compiling 3dmg.c"
 
 #include "std.h"
 #include <avr/interrupt.h>
@@ -138,3 +166,5 @@ static inline void on_3dmg_receive(uint8_t c) {
 
 
 ReceiveUart(on_3dmg_receive);
+
+#endif // IMU_3DMG

sw/airborne/fly_by_wire/3dmg.h

@@ -6,6 +6,8 @@
 
 void _3dmg_capture_gyro_bias ( void );
 void _3dmg_set_continuous_mode ( void );
+void _3dmg_capture_neutral ( void );
+
 extern volatile bool_t _3dmg_data_ready;
 extern int16_t         _3dmg_roll, _3dmg_pitch, _3dmg_yaw;
 extern int16_t         _3dmg_roll_dot, _3dmg_pitch_dot, _3dmg_yaw_dot;

sw/airborne/fly_by_wire/control.c

@@ -1,11 +1,35 @@
-#include "control.h"
+/*
-#include "imu.h"
+ * Paparazzi $Id$
+ *  
+ * Copyright (C) 2005 Pascal Brisset, 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. 
+ *
+ */
+
 #include "airframe.h"
 
-/* WARNING : taken from ../autopilot/autopilot.h */
+#ifdef SECTION_RATE_LOOP
-#define TRIM_PPRZ(pprz) (pprz <  MIN_PPRZ ? MIN_PPRZ :  \
+#warning "Compiling control.c"
-                         (pprz >  MAX_PPRZ ? MAX_PPRZ : \
+
-                                   pprz))
+#include "control.h"
+#include "imu.h"
+
 
 int16_t desired_roll_dot;
 float   roll_dot_pgain = ROLL_DOT_PGAIN;
@@ -73,3 +97,5 @@ void control_set_desired ( const pprz_t values[] ) {
   desired_yaw_dot   =  DESIRED_OF_RADIO_YAW_DOT*values[RADIO_YAW];
   desired_throttle  =  values[RADIO_THROTTLE];
 }
+
+#endif

sw/airborne/fly_by_wire/imu.c

@@ -1,10 +1,39 @@
-#include "imu.h"
+/*
+ * Paparazzi $Id$
+ *  
+ * Copyright (C) 2005 Pascal Brisset, 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. 
+ *
+ */
 
 #include "airframe.h"
 
+#if defined(SECTION_IMU_3DMG) && defined(SECTION_IMU_ANALOG)
+#error "IMU_3DMG and IMU_ANALOG cannot be defined simultaneously
+#endif
+
+#include "imu.h"
+
 int16_t roll_dot, pitch_dot, yaw_dot;
 
-#ifdef IMU_TYPE_3DMG
+#ifdef SECTION_IMU_3DMG
+#warning "Compiling imu.c for 3DMG"
 #include "3dmg.h"
 int16_t roll, pitch, yaw;
 
@@ -26,9 +55,10 @@ void imu_capture_neutral ( void ) {
   _3dmg_capture_neutral();
 }
 
-#endif
+#endif // 3DMG
 
-#ifdef IMU_TYPE_ANALOG
+#ifdef SECTION_IMU_ANALOG
+#warning "Compiling imu.c for ANALOG"
 #include "adc_fbw.h"
 
 struct adc_buf buf_roll_dot;
@@ -64,4 +94,5 @@ void imu_capture_neutral ( void ) {
   raw_yaw_dot_neutral = raw_yaw_dot;
 }
 
-#endif
+#endif // ANALOG
+

sw/airborne/fly_by_wire/link_autopilot.h

@@ -40,6 +40,13 @@ typedef int16_t pprz_t; // type of commands
 /* !!!!!!!!!!!!!!!!!!! Value used in gen_airframe.ml !!!!!!!!!!!!!!!!! */
 #define MAX_PPRZ (600 * CLOCK)
 #define MIN_PPRZ -MAX_PPRZ
+#define TRIM_PPRZ(pprz) (pprz <  MIN_PPRZ ? MIN_PPRZ :  \
+                         (pprz >  MAX_PPRZ ? MAX_PPRZ : \
+                                   pprz))
+#define TRIM_UPPRZ(pprz) (pprz <  0 ? 0 :  \
+                          (pprz >  MAX_PPRZ ? MAX_PPRZ : \
+                                    pprz))
+
 
 struct inter_mcu_msg {
   pprz_t channels[RADIO_CTL_NB];  

sw/tools/gen_airframe.ml

@@ -106,6 +106,7 @@ let parse_section = fun s ->
   match Xml.tag s with
     "section" ->
       let prefix = ExtXml.attrib_or_default s "prefix" "" in
+      define ("SECTION_"^ExtXml.attrib s "name") "1";
       List.iter (parse_element prefix) (Xml.children s);
       nl ()
   | "servos" ->