Both target/subsystem compilers for makefile/airframe.h are ready

conf/airframes/AirborneCodeReorg/TinyFw.xml

@@ -7,6 +7,7 @@
 -->
 
 <airframe name="Fixed Wing Lisa">
+
   <servos>
     <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
     <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
@@ -158,48 +159,36 @@
     	<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
 	<define name="HOME_RADIUS" value="100" unit="m"/>
   </section>
- <makefile>
 
-BOARD_CFG	= \"tiny_2_1_1.h\"
-FLASH_MODE	= IAP
+  <target name="fixedwing" board="tiny_2.11">
+    <subsystem name="autopilot"/>
+    <subsystem name="testing"/>
+    <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">
+      <define name="AGR_CLIMB" value="1" />
+      <define name="LOITER_TRIM" value="1" />
+      <define name="WIND_INFO" value="1" />
+    </subsystem>
+  </target>
 
-# Board Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
+ <makefile location="after">
 
-# Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
-
-# IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_radio_control_ppm.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4017.makefile
-
-# Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
-
-### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
-#GPS_UART_NR	= 0
-#GPS_BAUD	= 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea4p.makefile
-
-### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
-#MODEM_UART_NR = 1
-MODEM_BAUD = 9600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_transparent.makefile
+ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN
+sim.CFLAGS += -DTRAFFIC_INFO
 
 
-# Special options
-ap.CFLAGS += -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO
-
-ap.CFLAGS += -DTRAFFIC_INFO
-ap.srcs += traffic_info.c
-
-######################################
-# Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -DWIND_INFO -DTRAFFIC_INFO
-sim.srcs += traffic_info.c
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
+
   </makefile>
 </airframe>

conf/airframes/airframe.dtd

@@ -22,8 +22,9 @@
 <!ELEMENT makefile (#PCDATA)>
 <!ELEMENT modules (load)*>
 <!ELEMENT load EMPTY>
+<!ELEMENT param EMPTY>
 <!ELEMENT target (subsystem)*>
-<!ELEMENT subsystem (define)*>
+<!ELEMENT subsystem (define|param)*>
 
 <!ATTLIST target
 name CDATA #REQUIRED
@@ -89,6 +90,10 @@ value CDATA #REQUIRED
 unit CDATA #IMPLIED
 integer CDATA #IMPLIED>
 
+<!ATTLIST param
+name CDATA #REQUIRED
+value CDATA #REQUIRED>
+
 <!ATTLIST linear
 name CDATA #REQUIRED
 arity CDATA #REQUIRED

conf/airframes/microjet5.xml

@@ -8,7 +8,7 @@
 
 <airframe name="Microjet 5 Tiny 2.11">
 
-  <target name="fixed_wings" board="tiny_2.11">
+  <target name="fixedwing" board="tiny_2.11">
     <subsystem name="radio_control" type="ppm"/>
   </target>
 

conf/airframes/microjet_example.xml

@@ -8,7 +8,7 @@
 
 <airframe name="Microjet Tiny 1.1">
 
-  <target name="fixed_wings" board="tiny_2.11">
+  <target name="fixedwing" board="tiny_1.1">
     <subsystem name="radio_control" type="ppm"/>
   </target>
 
@@ -172,26 +172,26 @@ FLASH_MODE=IAP
 include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 # Fixed Wing Specifics
-include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing_common.makefile
-include $(CFG_FIXEDWING)/fixedwing_autopilot.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_navigation.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/fixedwing.makefile
+include $(CFG_FIXEDWING)/autopilot.makefile
+include $(CFG_FIXEDWING)/navigation.makefile
 
 # IO Options
-include $(CFG_FIXEDWING)/subsystems/fixedwing_actuators_4015.makefile
+include $(CFG_FIXEDWING)/actuators_4015.makefile
 
 # Sensors
-include $(CFG_FIXEDWING)/subsystems/fixedwing_attitude_infrared.makefile
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gyro.makefile
+include $(CFG_FIXEDWING)/attitude_infrared.makefile
+include $(CFG_FIXEDWING)/gyro.makefile
 
 ### (UART 0, 38400baud) are the default GPS parameters, change and uncomment if needed
 #GPS_UART_NR	= 0
 #GPS_BAUD	= 38400
-include $(CFG_FIXEDWING)/subsystems/fixedwing_gps_ublox_lea5h.makefile
+include $(CFG_FIXEDWING)/gps_ublox_lea5h.makefile
 
 ### (UART 1, 57600baud) are default modem parameters, change and uncomment if needed
 #MODEM_UART_NR = 1
 #MODEM_BAUD = 57600
-include $(CFG_FIXEDWING)/subsystems/fixedwing_telemetry_xbee_api.makefile
+include $(CFG_FIXEDWING)/telemetry_xbee_api.makefile
 
 
 # Special options

conf/autopilot/fixed_wings.makefile

@@ -1,5 +0,0 @@
-#
-# fixed_wings.makefile
-#
-#
-CFG_FIXED_WINGS=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixed_wings

conf/autopilot/fixedwing.makefile

@@ -1,10 +1,16 @@
+#
+# fixed_wings.makefile
+#
+#
 
 
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+
 
 SRC_FIXEDWING=.
 SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
 SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
 
-CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot
-
 FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
+
+

conf/autopilot/subsystems/fixedwing/autopilot.makefile

@@ -4,7 +4,7 @@
 # Copyright (C) 2008 Antoine Drouin
 #
 # This file is part of paparazzi.
-#
+#tin
 # 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)

conf/autopilot/subsystems/fixedwing/navigation.makefile

@@ -3,5 +3,11 @@
 ap.CFLAGS += -DNAV
 ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c $(SRC_FIXEDWING)/fw_v_ctl.c
 ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
+ap.srcs += traffic_info.c
+
+
 
 sim.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
+sim.srcs += traffic_info.c
+
+

conf/autopilot/subsystems/fixedwing/testing.makefile

@@ -0,0 +1,58 @@
+## TODO This file probably needs to move to the board specific folder
+
+# a test program to setup actuators
+setup_actuators.ARCHDIR = $(ARCHI)
+setup_actuators.ARCH = arm7tdmi
+setup_actuators.TARGET = setup_actuators
+setup_actuators.TARGETDIR = setup_actuators
+
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+
+
+# a test program to tunnel between both uart
+tunnel.ARCHDIR = $(ARCHI)
+tunnel.ARCH = arm7tdmi
+tunnel.TARGET = tunnel
+tunnel.TARGETDIR = tunnel
+
+tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED
+tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+
+
+# A test program to monitor the ADC values
+test_adcs.ARCHDIR = $(ARCHI)
+test_adcs.ARCH = arm7tdmi
+test_adcs.TARGET = test_adcs
+test_adcs.TARGETDIR = test_adcs
+
+test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
+test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
+
+test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_adcs.c
+# pprz_transport.c
+
+
+# a configuration program to access both uart through usb
+usb_tunnel_0.ARCHDIR = $(ARCHI)
+usb_tunnel_0.ARCH = arm7tdmi
+usb_tunnel_0.TARGET = usb_tunnel_0
+usb_tunnel_0.TARGETDIR = usb_tunnel_0
+usb_tunnel_0.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART0 -DUART0_BAUD=B115200
+usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
+usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
+usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+
+usb_tunnel_1.ARCHDIR = $(ARCHI)
+usb_tunnel_1.ARCH = arm7tdmi
+usb_tunnel_1.TARGET = usb_tunnel_1
+usb_tunnel_1.TARGETDIR = usb_tunnel_1
+usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200
+usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
+usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
+usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c

conf/autopilot/subsystems/fixedwing_radio_control_ppm.makefile

@@ -1,5 +0,0 @@
-
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c
-
-

conf/boards/tiny_2.1.makefile

@@ -3,3 +3,7 @@
 #
 # http://paparazzi.enac.fr/wiki/Tiny_v2
 #
+
+include tiny_2.11.makefile
+
+

conf/boards/tiny_2.11.makefile

@@ -3,3 +3,42 @@
 #
 # http://paparazzi.enac.fr/wiki/Tiny_v2
 #
+# TODO: move all to new directories
+# ARCH=lpc21
+ARCH=arm7
+ARCHI=arm7
+BOARD_CFG = \"tiny_2_1_1.h\"
+
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+ap.ARCHDIR = $(ARCHI)
+ap.ARCH = arm7tdmi
+ap.TARGET = autopilot
+ap.TARGETDIR = autopilot
+
+fbw.ARCHDIR = $(ARCHI)
+fbw.ARCH = arm7tdmi
+fbw.TARGET = autopilot
+fbw.TARGETDIR = autopilot
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+
+### default settings for tiny and twog
+GPS_UART_NR	= 0
+GPS_BAUD	= 38400
+MODEM_UART_NR = 1
+MODEM_BAUD = 57600
+
+ADC_IR1 = ADC_1
+ADC_IR2 = ADC_2
+ADC_IR_TOP = ADC_0
+ADC_IR_NB_SAMPLES = 16
+ADC_GYRO_ROLL = ADC_3
+ADC_GYRO_NB_SAMPLES = 16
+
+

conf/boards/twog_1.makefile

@@ -0,0 +1,9 @@
+#
+# tiny_2.1.makefile
+#
+# http://paparazzi.enac.fr/wiki/Tiny_v2
+#
+
+include tiny_2.11.makefile
+
+

sw/tools/gen_aircraft.ml

@@ -157,16 +157,26 @@ let dump_target_section = fun xml makefile_ac ->
   List.iter (fun tag ->
     if ExtXml.tag_is tag "target" then begin
       begin try
-        fprintf makefile_ac "\n# makefile target '%s' board '%s'\n\n" (Xml.attrib tag "name") (Xml.attrib tag "board");
+        fprintf makefile_ac "\n# makefile target '%s' board '%s'\n" (Xml.attrib tag "name") (Xml.attrib tag "board");
         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
-            fprintf makefile_ac "include $(CFG_%s)/%s_%s.makefile\n" 
-	      (String.uppercase(Xml.attrib tag "name"))
-	      (Xml.attrib c "name") (Xml.attrib c "type");
+            let has_subtype = ref false in
+            begin try
+              has_subtype := not (String.compare (Xml.attrib c "type") "" = 0)
+            with _ -> () end;
+            fprintf makefile_ac "include $(CFG_%s)/%s" 
+   	        (String.uppercase(Xml.attrib tag "name"))
+	        (Xml.attrib c "name");
+            if !has_subtype then
+              fprintf makefile_ac "_%s" 
+	        (Xml.attrib c "type");
+            
+	    fprintf makefile_ac ".makefile\n";
             let print_if_subsystem_define = (fun d ->
-              if ExtXml.tag_is d "define" then begin
+              if ExtXml.tag_is d "param" then begin
                 fprintf makefile_ac "%s = %s\n"
                 (String.uppercase(Xml.attrib d "name"))
                 (Xml.attrib d "value");

sw/tools/gen_airframe.ml

@@ -218,6 +218,23 @@ let parse_ap_only_commands = fun ap_only ->
    | _ -> xml_error "copy"
 
 
+let parse_subsystem_defines = fun options ->
+  match Xml.tag options with
+    "param" ->
+      printf "//   -param: %s\n"  (ExtXml.attrib options "name") 
+   | "define" ->
+      printf "#define %s %s\n"  (ExtXml.attrib options "name")  (ExtXml.attrib options "value")
+   | _ -> xml_error "define|param"
+
+
+let parse_subsystems = fun subsystem ->
+  match Xml.tag subsystem with
+    "subsystem" ->
+      printf "// -%s:\n"  (ExtXml.attrib subsystem "name");
+      List.iter parse_subsystem_defines (Xml.children subsystem)
+   | _ -> xml_error "subsystem"
+
+
 let parse_command = fun command no ->
    let command_name = "COMMAND_"^ExtXml.attrib command "name" in
    define command_name (string_of_int no);
@@ -281,6 +298,10 @@ let parse_section = fun s ->
   | "makefile" ->
       ()
       (** Ignoring this section *)
+  | "target" ->
+      printf "// Subsystems \n";
+      List.iter parse_subsystems (Xml.children s);
+      printf "// End Subsystems\n\n"
   | _ -> ()