<firmware>

conf/airframes/AirborneCodeReorg/TinyFw.xml

@@ -160,36 +160,50 @@
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
 
-  <target name="fixedwing" board="tiny_2.11">
+  <firmware name="fixedwing">
+<!--
+    <target name="sim" 			board="pc" />
+-->
+    <target name="ap" 			board="tiny_2.11">
       <param name="FLASH_MODE" 		value="IAP" />
+      <define name="AGR_CLIMB" />
+      <define name="LOITER_TRIM" />
+      <define name="WIND_INFO" />
+    </target>
+
     <subsystem name="autopilot"/>
     <subsystem name="radio_control" 	type="ppm"/>
+
     <!-- Communication -->
     <subsystem name="telemetry" 	type="transparent">
       <param name="MODEM_BAUD" 		value="9600"/>
     </subsystem>
+
     <!-- Actuators -->
     <subsystem name="actuators" 	type="4017"/>
+
     <!-- Sensors -->
     <subsystem name="gyro"/>
     <subsystem name="attitude" 		type="infrared"/>
     <subsystem name="gps" 		type="ublox_lea4p"/>
-    <subsystem name="navigation">
+    <subsystem name="navigation"/>
-      <define name="AGR_CLIMB" value="1" />
+
-      <define name="LOITER_TRIM" value="1" />
+    <modules>
-      <define name="WIND_INFO" value="1" />
+    </modules>
-    </subsystem>
+
-    <subsystem name="testing"/>
+  </firmware>
-  </target>
+<!--
+  <firmware name="setup">
+    <target name="tunnel" 		board="tiny_2.11" />
+    <target name="setup_actuators" 	board="tiny_2.11" />
+  </firmware>
+-->
+
 
  <makefile location="after">
 
 ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN
 sim.CFLAGS += -DTRAFFIC_INFO
 
-
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
-
   </makefile>
 </airframe>

conf/airframes/airframe.dtd

@@ -1,6 +1,6 @@
 <!-- Paparazzi airframe DTD -->
 
-<!ELEMENT airframe (servos|commands|csc_boards|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|makefile|modules|target)*>
+<!ELEMENT airframe (servos|commands|csc_boards|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|makefile|modules|firmware)*>
 <!ELEMENT servos (servo)*>
 <!ELEMENT commands (axis)*>
 <!ELEMENT csc_boards (board)*>
@@ -23,8 +23,12 @@
 <!ELEMENT modules (load)*>
 <!ELEMENT load EMPTY>
 <!ELEMENT param EMPTY>
-<!ELEMENT target (subsystem|param)*>
+<!ELEMENT firmware (target|subsystem|modules)*>
-<!ELEMENT subsystem (define|param)*>
+<!ELEMENT target (param|define)*>
+<!ELEMENT subsystem (param)*>
+
+<!ATTLIST firmware
+name CDATA #REQUIRED>
 
 <!ATTLIST target
 name CDATA #REQUIRED
@@ -86,7 +90,7 @@ value CDATA #REQUIRED>
 
 <!ATTLIST define
 name CDATA #REQUIRED
-value CDATA #REQUIRED
+value CDATA #IMPLIED
 unit CDATA #IMPLIED
 integer CDATA #IMPLIED>
 

conf/autopilot/fixedwing.makefile

@@ -14,3 +14,10 @@ SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
 FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
 
 
+
+
+# Standard Fixed Wing Code
+
+include $(CFG_FIXEDWING)/autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+

conf/autopilot/setup.makefile

@@ -0,0 +1,23 @@
+#
+# fixed_wings.makefile
+#
+#
+
+
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+
+
+SRC_FIXEDWING=.
+SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
+SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
+
+FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
+
+
+
+
+# Standard Fixed Wing Code
+
+include $(CFG_FIXEDWING)/autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+

conf/boards/pc.makefile

@@ -0,0 +1,18 @@
+#
+# pc.makefile
+#
+# Linux PC
+#
+
+ARCH=sim
+ARCHI=sim
+BOARD_CFG = \"tiny.h\"
+
+
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = autopilot
+sim.TARGETDIR = autopilot
+
+
+

sw/tools/gen_aircraft.ml

@@ -150,29 +150,16 @@ let dump_makefile_section = fun xml makefile_ac airframe_infile print_if_loc_aft
     end)
     (Xml.children xml)
 
-(** 
+(** Firnware Children **)
-   Search and dump the target section 
+
- **)
+let parse_firmware = fun makefile_ac tag firmware ->
-let dump_target_section = fun xml makefile_ac ->
+   match Xml.tag firmware with
-  List.iter (fun tag ->
+    "subsystem" ->
-    if ExtXml.tag_is tag "target" then begin
         begin try
-        fprintf makefile_ac "\n# makefile target '%s' board '%s'\n" (Xml.attrib tag "name") (Xml.attrib tag "board");
+          fprintf makefile_ac "# -subsystem: '%s' \n" (Xml.attrib firmware "name");
-	let print_if_subsystem = (fun c ->
-          if ExtXml.tag_is c "param" then begin
-            fprintf makefile_ac "%s = %s\n"
-            (String.uppercase(Xml.attrib c "name"))
-            (Xml.attrib c "value")
-          end) in
-	List.iter print_if_subsystem (Xml.children tag);
-        fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib tag "board");
-        fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
-        fprintf makefile_ac "\n# Subsystems:'\n";
-	let print_if_subsystem = (fun c ->
-          if ExtXml.tag_is c "subsystem" then begin
           let has_subtype = ref false in
           begin try
-              has_subtype := not (String.compare (Xml.attrib c "type") "" = 0)
+            has_subtype := not (String.compare (Xml.attrib firmware "type") "" = 0)
           with _ -> () end;
           let print_if_subsystem_define = (fun d ->
             if ExtXml.tag_is d "param" then begin
@@ -180,17 +167,40 @@ let dump_target_section = fun xml makefile_ac ->
               (String.uppercase(Xml.attrib d "name"))
               (Xml.attrib d "value");
             end) in
-            List.iter print_if_subsystem_define (Xml.children c);
+          List.iter print_if_subsystem_define (Xml.children firmware);
           fprintf makefile_ac "include $(CFG_%s)/%s" 
    	    (String.uppercase(Xml.attrib tag "name"))
-	        (Xml.attrib c "name");
+	    (Xml.attrib firmware "name");
           if !has_subtype then
             fprintf makefile_ac "_%s" 
-	        (Xml.attrib c "type");
+	      (Xml.attrib firmware "type");
-            
           fprintf makefile_ac ".makefile\n"
+        with _ -> () end;
+   | "target" ->
+        begin try
+          fprintf makefile_ac "\n###########\n# -target: '%s' \n" (Xml.attrib firmware "name"); 
+  	  let print_if_subsystem = (fun c ->
+            if ExtXml.tag_is c "param" then begin
+              fprintf makefile_ac "%s = %s\n"
+                (String.uppercase(Xml.attrib c "name"))
+                (Xml.attrib c "value")
             end) in
-	List.iter print_if_subsystem (Xml.children tag)
+	  List.iter print_if_subsystem (Xml.children firmware);
+          fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib firmware "board")
+        with _ -> () end;
+   | _ -> ()
+
+
+(** 
+   Search and dump the firmware section 
+ **)
+let dump_target_section = fun xml makefile_ac ->
+  List.iter (fun tag ->
+    if ExtXml.tag_is tag "firmware" then begin
+      begin try
+        fprintf makefile_ac "\n######################\n# makefile firmware '%s' \n" (Xml.attrib tag "name");
+        fprintf makefile_ac "include $(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
+	List.iter (parse_firmware makefile_ac tag) (Xml.children tag )
       with _ -> () end;
     end)
     (Xml.children xml)