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now almost completely makefile-free

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This commit is contained in:
Antoine Drouin
2010-08-18 01:44:25 +00:00
parent 6e093c9144
commit a82ac229a5
6 changed files with 187 additions and 9 deletions
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conf/airframes/Poine/booz2_a1.xml
+12 -9
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@@ -220,6 +220,10 @@ ap.CFLAGS += -DUSE_ADAPT_HOVER
<target name="baloo" board="booz">
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2v1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
</target>
@@ -227,18 +231,17 @@ ap.CFLAGS += -DUSE_ADAPT_HOVER
#
#include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
#include $(CFG_BOOZ)/booz2_autopilot.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
#include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
#include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
#include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
#include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
#include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
# FIXME: make fms a module
include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
include $(CFG_BOOZ)/booz2_test_progs.makefile
include $(CFG_BOOZ)/booz2_simulator_nps.makefile
#include $(CFG_BOOZ)/subsystems/booz2_radio_control_ppm.makefile
include $(CFG_BOOZ)/subsystems/booz2_actuators_mkk.makefile
include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1.makefile
include $(CFG_BOOZ)/subsystems/booz_gps_ublox.makefile
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_fms_test_signal.makefile
</makefile>
</airframe>
conf/autopilot/subsystems/baloo/actuators_mkk.makefile
+48
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@@ -0,0 +1,48 @@
#
# Booz Mikrokopter Actuators
#
#
# required xml:
# <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
# <define name="NB" value="4"/>
# <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
# </section>
#
# <section name="SUPERVISION" prefix="SUPERVISION_">
# <define name="MIN_MOTOR" value="2"/>
# <define name="MAX_MOTOR" value="210"/>
# <define name="TRIM_A" value="2"/>
# <define name="TRIM_E" value="-1"/>
# <define name="TRIM_R" value="3"/>
# <define name="NB_MOTOR" value="4"/>
# <define name="SCALE" value="256"/>
# <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
# <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
# <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
# <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
# </section>
#
#
#
ap.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
ap.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
ap.srcs += $(SRC_BOOZ_ARCH)/actuators/booz_actuators_mkk_arch.c
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ifeq ($(ARCHI), arm7)
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.CFLAGS += -DI2C0_STOP_HANDLER=ActuatorsMkkI2cHandler
ap.CFLAGS += -DI2C0_STOP_HANDLER_HEADER=\"actuators/booz_actuators_mkk.h\"
else ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1 -DUSE_TIM2_IRQ
ap.CFLAGS += -DUSE_I2C1
endif
# Simulator
sim.srcs += $(SRC_BOOZ)/actuators/booz_supervision.c
sim.srcs += $(SRC_BOOZ)/actuators/booz_actuators_mkk.c
sim.srcs += $(SRC_BOOZ_SIM)/actuators/booz_actuators_mkk_arch.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/subsystems/baloo/ahrs_cmpl.makefile
+13
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@@ -0,0 +1,13 @@
#
# Complementary filter for attitude estimation
#
ap.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
ap.srcs += $(SRC_BOOZ)/booz_ahrs.c
ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
sim.CFLAGS += -DUSE_AHRS_CMPL -DAHRS_ALIGNER_LED=3 -DBOOZ_AHRS_FIXED_POINT
sim.srcs += $(SRC_BOOZ)/booz_ahrs.c
sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
sim.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c
conf/autopilot/subsystems/baloo/gps_ublox.makefile
+13
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@@ -0,0 +1,13 @@
ap.srcs += $(SRC_BOOZ)/booz_gps.c
ap.CFLAGS += -DBOOZ_GPS_TYPE_H=\"gps/booz_gps_ubx.h\"
ap.srcs += $(SRC_BOOZ)/gps/booz_gps_ubx.c
ifeq ($(ARCHI), arm7)
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400 -DUART0_VIC_SLOT=5
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart0 -DGPS_LED=4
else ifeq ($(ARCHI), stm32)
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
ap.CFLAGS += -DUSE_GPS -DGPS_LINK=Uart1 -DGPS_LED=3
endif
sim.CFLAGS += -DUSE_GPS
sim.srcs += $(SRC_BOOZ)/booz_gps.c
conf/autopilot/subsystems/baloo/imu_b2v1.makefile
+82
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@@ -0,0 +1,82 @@
#
# Booz2 IMU booz2v1
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_X_CHAN" value="1"/>
# <define name="GYRO_Y_CHAN" value="0"/>
# <define name="GYRO_Z_CHAN" value="2"/>
#
# <define name="GYRO_X_NEUTRAL" value="33924"/>
# <define name="GYRO_Y_NEUTRAL" value="33417"/>
# <define name="GYRO_Z_NEUTRAL" value="32809"/>
#
# <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
# <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
# <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
#
# <define name="ACCEL_X_CHAN" value="3"/>
# <define name="ACCEL_Y_CHAN" value="5"/>
# <define name="ACCEL_Z_CHAN" value="6"/>
#
# <define name="ACCEL_X_NEUTRAL" value="32081"/>
# <define name="ACCEL_Y_NEUTRAL" value="33738"/>
# <define name="ACCEL_Z_NEUTRAL" value="32441"/>
#
# <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
# <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
# <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
#
# <define name="MAG_X_CHAN" value="4"/>
# <define name="MAG_Y_CHAN" value="0"/>
# <define name="MAG_Z_CHAN" value="2"/>
#
# <define name="MAG_X_NEUTRAL" value="2358"/>
# <define name="MAG_Y_NEUTRAL" value="2362"/>
# <define name="MAG_Z_NEUTRAL" value="2119"/>
#
# <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
# <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
# <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
# <define name="MAG_45_HACK" value="1"/>
#
# </section>
#
#
# imu Booz2 v1
ap.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
ap.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
ap.CFLAGS += -DSSP_VIC_SLOT=9
ap.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_b2.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
ap.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
ap.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
ap.CFLAGS += -DUSE_AMI601
ap.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#
# Simulator
#
sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
sim.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_b2.c \
$(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
$(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
sim.CFLAGS += -DUSE_AMI601
sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
sim.CFLAGS += -DUSE_I2C1
conf/autopilot/subsystems/baloo/radio_control_ppm.makefile
+19
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@@ -0,0 +1,19 @@
#
# Autopilot
#
ap.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
ap.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
ap.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
ap.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
#
# Simulator
#
sim.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
sim.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
sim.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
sim.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
$(SRC_BOOZ_SIM)/radio_control/booz_radio_control_ppm_arch.c