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Antoine Drouin
2007-11-06 06:38:18 +00:00
parent 9425da8b64
commit c92c5cb1ca
11 changed files with 70 additions and 104 deletions
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sw/simulator/Makefile
-85
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@@ -92,88 +92,3 @@ clean :
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
AB=../airborne
AB_ARCH=$(AB)/sim
CC = gcc
CFLAGS= -g -Wall `pkg-config glib-2.0 --cflags` -I /usr/include/meschach -I$(AB) -I../include -I../../var/BOOZ -I../../var/include -I../../conf/autopilot -I$(AB_ARCH)
LDFLAGS=`pkg-config glib-2.0 --libs` -lm -lmeschach -lpcre
BOOZ_SIM_SRCS = main_booz_sim.c \
booz_flight_model.c \
booz_flight_model_utils.c \
booz_sensors_model.c \
booz_flightgear.c \
booz_joystick.c \
CFLAGS += -DSITL
CFLAGS += -DBOOZ_CONTROLLER_MCU
CFLAGS += -DCONFIG=\"conf_booz.h\"
BOOZ_AB_SRCS += $(AB)/booz_controller_main.c
BOOZ_AB_SRCS += $(AB)/sys_time.c
CFLAGS += -DRADIO_CONTROL
BOOZ_AB_SRCS += $(AB)/radio_control.c \
$(AB_ARCH)/ppm_hw.c
CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\"
BOOZ_AB_SRCS += $(AB)/actuators.c \
$(AB_ARCH)/actuators_buss_twi_blmc_hw.c \
$(AB)/i2c.c $(AB_ARCH)/i2c_hw.c
CFLAGS += -DDOWNLINK
BOOZ_AB_SRCS += $(AB)/booz_controller_telemetry.c \
$(AB)/downlink.c
#CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=SimUart -DDOWNLINK_DEVICE=SimUart -DSIM_UART
#BOOZ_AB_SRCS += ../airborne/pprz_transport.c ../airborne/sim/sim_uart.c
CFLAGS += -DDOWNLINK_TRANSPORT=IvyTransport
BOOZ_AB_SRCS += $(AB_ARCH)/ivy_transport.c
LDFLAGS += -lglibivy
BOOZ_AB_SRCS += $(AB)/booz_inter_mcu.c
CFLAGS += -DUSE_SPI
BOOZ_AB_SRCS += $(AB)/booz_link_mcu.c $(AB_ARCH)/booz_link_mcu_hw.c
BOOZ_AB_SRCS += $(AB)/spi.c $(AB_ARCH)/spi_hw.c
#CFLAGS += -DDATALINK=PPRZ
#BOOZ_AB_SRCS += ../airborne/datalink.c
BOOZ_AB_SRCS += $(AB)/booz_estimator.c
BOOZ_AB_SRCS += $(AB)/booz_control.c
BOOZ_AB_SRCS += $(AB)/booz_nav.c
BOOZ_AB_SRCS += $(AB)/booz_nav_hover.c
BOOZ_AB_SRCS += $(AB)/booz_autopilot.c
BOOZ_AB_SRCS += $(AB)/commands.c
CFLAGS += -DBOOZ_FILTER_MCU
BOOZ_AB_SRCS += $(AB)/booz_filter_main.c
CFLAGS += -DADC_CHANNEL_AX=1 -DADC_CHANNEL_AY=2 -DADC_CHANNEL_AZ=3 -DADC_CHANNEL_BAT=4
BOOZ_AB_SRCS += $(AB_ARCH)/adc_hw.c
BOOZ_AB_SRCS += $(AB)/booz_filter_telemetry.c
BOOZ_AB_SRCS += $(AB)/max1167.c $(AB_ARCH)/max1167_hw.c
BOOZ_AB_SRCS += $(AB)/micromag.c $(AB_ARCH)/micromag_hw.c
BOOZ_AB_SRCS += $(AB)/imu_v3.c $(AB_ARCH)/imu_v3_hw.c
BOOZ_AB_SRCS += $(AB)/booz_ahrs.c
CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_MULTITILT
BOOZ_AB_SRCS += $(AB)/multitilt.c
#CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_QUATERNION -DEKF_UPDATE_DISCRETE
#BOOZ_AB_SRCS += $(AB)/ahrs_quat_fast_ekf.c
#$(OBJDIR)/%.c: %.o
# $(CC) $(CFLAGS) -c -o $@ $<
booz_sim: $(BOOZ_SIM_SRCS) $(BOOZ_AB_SRCS)
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)