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This commit is contained in:
Antoine Drouin
2008-04-11 10:20:36 +00:00
parent 0c6ceb4851
commit dc43879b9f
3 changed files with 62 additions and 53 deletions
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conf/autopilot/conf_booz.makefile
+59 -47
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@@ -26,6 +26,9 @@ ARCHI=arm7
FLASH_MODE = IAP
TL=coaxial
BOOZ=booz
BOOZ_ARCH=booz/arm7
#
# filter CPU
@@ -36,8 +39,13 @@ flt.ARCH = arm7tdmi
flt.TARGET = flt
flt.TARGETDIR = flt
flt.CFLAGS += -DBOOZ_FILTER_MCU -DCONFIG=\"pprz_imu.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./250.))'
flt.srcs = booz_filter_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
flt.CFLAGS += -I$(TL) -I$(BOOZ) -I$(BOOZ_ARCH)
flt.CFLAGS += -DBOOZ_FILTER_MCU -DCONFIG=\"pprz_imu.h\"
flt.srcs = $(BOOZ)/booz_filter_main.c
flt.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./250.))'
flt.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
flt.CFLAGS += -DLED
@@ -45,42 +53,42 @@ flt.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
flt.srcs += $(SRC_ARCH)/uart_hw.c
flt.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
flt.srcs += downlink.c pprz_transport.c booz_filter_telemetry.c
flt.srcs += downlink.c pprz_transport.c $(BOOZ)/booz_filter_telemetry.c
flt.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_1 -DUSE_AD0_2 -DUSE_AD0_3 -DUSE_AD0_4
flt.srcs += $(SRC_ARCH)/adc_hw.c
flt.srcs += booz_imu.c $(SRC_ARCH)/booz_imu_hw.c
flt.srcs += $(BOOZ)/booz_imu.c $(BOOZ_ARCH)/booz_imu_hw.c
flt.srcs += max1167.c $(SRC_ARCH)/max1167_hw.c
flt.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
flt.srcs += scp1000.c $(SRC_ARCH)/scp1000_hw.c
flt.srcs += booz_still_detection.c
flt.srcs += $(BOOZ)/booz_still_detection.c
flt.CFLAGS += -DFLOAT_T=float
flt.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_MULTITILT
flt.srcs += ahrs_multitilt.c booz_ahrs.c
flt.srcs += $(BOOZ)/ahrs_multitilt.c $(BOOZ)/booz_ahrs.c
#flt.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_QUATERNION
#flt.srcs += ahrs_quat_fast_ekf.c booz_ahrs.c
#flt.srcs += $(BOOZ)/ahrs_quat_fast_ekf.c booz_ahrs.c
#flt.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_EULER
#flt.srcs += ahrs_euler_fast_ekf.c booz_ahrs.c
#flt.srcs += $(BOOZ)/ahrs_euler_fast_ekf.c booz_ahrs.c
#flt.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_COMP_FILTER
#flt.srcs += ahrs_comp_filter.c booz_ahrs.c
#flt.srcs += $(BOOZ)/ahrs_comp_filter.c booz_ahrs.c
flt.srcs += booz_ins.c
flt.srcs += $(BOOZ)/booz_ins.c
flt.CFLAGS += -DDT_VFILTER="(1./250.)"
flt.srcs += tl_vfilter.c
flt.srcs += $(TL)/tl_vfilter.c
flt.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
flt.CFLAGS += -DGPS -DUBX -DGPS_LINK=Uart0 -DDOWNLINK_GPS_DEVICE=Uart1 -DGPS_BAUD=38400
flt.srcs += gps_ubx.c gps.c latlong.c
flt.srcs += booz_inter_mcu.c
flt.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
flt.srcs += $(BOOZ)/booz_inter_mcu.c
flt.srcs += $(BOOZ)/booz_link_mcu.c $(BOOZ_ARCH)/booz_link_mcu_hw.c
#
@@ -92,47 +100,49 @@ ctl.ARCH = arm7tdmi
ctl.TARGET = ctl
ctl.TARGETDIR = ctl
ctl.CFLAGS += -I$(BOOZ) -I$(BOOZ_ARCH)
ctl.CFLAGS += -DBOOZ_CONTROLLER_MCU -DCONFIG=\"conf_booz.h\"
ctl.srcs = booz_controller_main.c
ctl.srcs = $(BOOZ)/booz_controller_main.c
ctl.CFLAGS += -DLED
ctl.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(4e-3)' -DTIME_LED=1
ctl.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./250.))' -DTIME_LED=1
ctl.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
ctl.srcs += $(SRC_ARCH)/armVIC.c
ctl.CFLAGS += -DUSE_ADC_BAT
ctl.srcs += booz_energy.c $(SRC_ARCH)/adc_hw.c
ctl.srcs += $(BOOZ)/booz_energy.c $(SRC_ARCH)/adc_hw.c
ctl.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
ctl.srcs += $(SRC_ARCH)/uart_hw.c
ctl.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
ctl.srcs += booz_controller_telemetry.c downlink.c pprz_transport.c
ctl.srcs += $(BOOZ)/booz_controller_telemetry.c downlink.c pprz_transport.c
ctl.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
ctl.srcs += booz_datalink.c
ctl.srcs += $(BOOZ)/booz_datalink.c
ctl.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ctl.srcs += $(SRC_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
ctl.srcs += $(BOOZ_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
ctl.CFLAGS += -DI2C_SCLL=150 -DI2C_SCLH=150 -DI2C_VIC_SLOT=10
ctl.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ctl.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA -DRC_LED=4
ctl.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ctl.srcs += booz_inter_mcu.c
ctl.srcs += $(BOOZ)/booz_inter_mcu.c
ctl.CFLAGS += -DFLOAT_T=float
ctl.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
ctl.srcs += $(BOOZ)/booz_link_mcu.c $(BOOZ_ARCH)/booz_link_mcu_hw.c
ctl.srcs += commands.c
ctl.CFLAGS += -DNAV_VERTICAL
ctl.srcs += booz_estimator.c \
booz_control.c \
booz_nav.c \
booz_nav_hover.c \
booz_autopilot.c
ctl.srcs += $(BOOZ)/booz_estimator.c \
$(BOOZ)/booz_control.c \
$(BOOZ)/booz_nav.c \
$(BOOZ)/booz_nav_hover.c \
$(BOOZ)/booz_autopilot.c
#
# SITL Simulator
@@ -142,8 +152,10 @@ SIM_TYPE = BOOZ
sim.ARCHDIR = $(ARCHI)
sim.ARCH = sitl
sim.TARGET = main
sim.TARGETDIR = main
sim.TARGET = sim
sim.TARGETDIR = sim
sim.CFLAGS += -I$(BOOZ) -I$(TL)
sim.srcs = $(SIMDIR)/main_booz_sim.c \
$(SIMDIR)/booz_flight_model.c \
@@ -164,12 +176,12 @@ sim.CFLAGS += -DSITL
sim.CFLAGS += -DBOOZ_CONTROLLER_MCU
sim.CFLAGS += -DCONFIG=\"conf_booz.h\"
sim.srcs += booz_controller_main.c
sim.srcs += $(BOOZ)/booz_controller_main.c
sim.srcs += sys_time.c
sim.CFLAGS += -DUSE_ADC_BAT
sim.srcs += booz_energy.c
sim.srcs += $(BOOZ)/booz_energy.c
sim.CFLAGS += -DRADIO_CONTROL
sim.srcs += radio_control.c \
@@ -181,57 +193,57 @@ sim.srcs += actuators.c \
i2c.c $(SRC_ARCH)/i2c_hw.c
sim.CFLAGS += -DDOWNLINK
sim.srcs += booz_controller_telemetry.c \
sim.srcs += $(BOOZ)/booz_controller_telemetry.c \
downlink.c
sim.CFLAGS += -DDOWNLINK_TRANSPORT=IvyTransport
sim.srcs += $(SRC_ARCH)/ivy_transport.c
sim.srcs += booz_inter_mcu.c
sim.srcs += booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
sim.srcs += $(BOOZ)/booz_inter_mcu.c
sim.srcs += $(BOOZ)/booz_link_mcu.c $(SRC_ARCH)/booz_link_mcu_hw.c
sim.srcs += booz_estimator.c
sim.srcs += booz_control.c
sim.srcs += $(BOOZ)/booz_estimator.c
sim.srcs += $(BOOZ)/booz_control.c
sim.CFLAGS += -DNAV_VERTICAL
sim.srcs += booz_nav.c
sim.srcs += booz_nav_hover.c
sim.srcs += $(BOOZ)/booz_nav.c
sim.srcs += $(BOOZ)/booz_nav_hover.c
sim.srcs += booz_autopilot.c
sim.srcs += $(BOOZ)/booz_autopilot.c
sim.srcs += commands.c
sim.CFLAGS += -DBOOZ_FILTER_MCU
sim.srcs += booz_filter_main.c
sim.srcs += $(BOOZ)/booz_filter_main.c
sim.CFLAGS += -DADC_CHANNEL_AX=1 -DADC_CHANNEL_AY=2 -DADC_CHANNEL_AZ=3 -DADC_CHANNEL_BAT=4
sim.srcs += $(SRC_ARCH)/adc_hw.c
sim.srcs += booz_filter_telemetry.c
sim.srcs += $(BOOZ)/booz_filter_telemetry.c
sim.srcs += booz_imu.c $(SRC_ARCH)/booz_imu_hw.c
sim.srcs += $(BOOZ)/booz_imu.c $(SRC_ARCH)/booz_imu_hw.c
sim.srcs += max1167.c $(SRC_ARCH)/max1167_hw.c
sim.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
sim.srcs += scp1000.c $(SRC_ARCH)/scp1000_hw.c
sim.srcs += booz_still_detection.c
sim.srcs += $(BOOZ)/booz_still_detection.c
sim.CFLAGS += -DFLOAT_T=float
#sim.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_MULTITILT
#sim.srcs += ahrs_multitilt.c booz_ahrs.c
#sim.srcs += $(BOOZ)/ahrs_multitilt.c $(BOOZ)/booz_ahrs.c
#sim.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_QUATERNION
#sim.CFLAGS += -DEKF_UPDATE_DISCRETE
#sim.CFLAGS += -DEKF_PREDICT_ONLY
#sim.srcs += ahrs_quat_fast_ekf.c
#sim.srcs += $(BOOZ)/ahrs_quat_fast_ekf.c
sim.CFLAGS += -DBOOZ_AHRS_TYPE=BOOZ_AHRS_COMP_FILTER
sim.srcs += ahrs_comp_filter.c booz_ahrs.c
sim.srcs += $(BOOZ)/ahrs_comp_filter.c $(BOOZ)/booz_ahrs.c
sim.srcs += gps.c latlong.c $(SRC_ARCH)/gps_hw.c
sim.srcs += booz_ins.c
sim.srcs += $(BOOZ)/booz_ins.c
sim.CFLAGS += -DDT_VFILTER="(1./250.)"
sim.srcs += tl_vfilter.c
sim.srcs += $(TL)/tl_vfilter.c
conf/autopilot/conf_motor_bench.h
+2 -5
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@@ -13,11 +13,8 @@
/* Peripheral bus clock freq. */
#define PCLK (CCLK / PBSD_VAL)
#define LED_1_BANK 0
#define LED_1_PIN 12
#define LED_2_BANK 0
#define LED_2_PIN 13
#define LED_1_BANK 1
#define LED_1_PIN 24
/* ADC */
#define ADC_0 AdcBank0(4)
sw/ground_segment/tmtc/settings.ml
+1 -1
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@@ -74,7 +74,7 @@ let _ =
"Usage: ";
(** Connect to the Ivy bus *)
Ivy.init "Paparazzi messages" "READY" (fun _ _ -> ());
Ivy.init "Paparazzi settings" "READY" (fun _ _ -> ());
Ivy.start !ivy_bus;
(** Open the window container with its notebook*)