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cleanup a little, remove ARCHI

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This commit is contained in:
Felix Ruess
2010-09-22 23:59:57 +00:00
parent 049346b695
commit f36c6bccf3
42 changed files with 703 additions and 729 deletions
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conf/Makefile.stm32
+18 -21
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@@ -18,8 +18,8 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
# Boston, MA 02111-1307, USA.
#
#
# This is the common Makefile for the stm32-target.
@@ -69,13 +69,13 @@ endif
# input files
SRCS = $($(TARGET).srcs)
#ASRC =
#ASRC =
# object files
COBJ = $(SRCS:%.c=$(OBJDIR)/%.o)
COBJ = $(SRCS:%.c=$(OBJDIR)/%.o)
AOBJ = $(ASRC:%.S=$(OBJDIR)/%.o)
# linker script :
# linker script :
# if LDSCRIPT is defined in the airframe use that independantly of TARGET
# if not, and a TARGET.LDSCRIPT is defined, use that
# if not, use the default STM32f103re_flash.ld
@@ -87,7 +87,7 @@ LDSCRIPT = $($(TARGET).LDSCRIPT)
endif
endif
CFLAGS = -I. -I./$(ARCHI) $(INCLUDES) -D__thumb2__ -Wall -c -msoft-float -O$(OPT)
CFLAGS = -I. -I./$(ARCH) $(INCLUDES) -D__thumb2__ -Wall -c -msoft-float -O$(OPT)
CFLAGS += -Wl,gc-sections
CFLAGS += -mcpu=$(MCU) -mthumb -ansi
CFLAGS += -std=gnu99
@@ -100,7 +100,7 @@ CFLAGS += -Wpointer-arith -Wswitch
CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
CFLAGS += -Wnested-externs
CFLAGS += -Wmissing-prototypes
CFLAGS += -Wmissing-prototypes
CFLAGS += -Wstrict-prototypes
CFLAGS += -Wmissing-declarations
CFLAGS += -Wswitch-default
@@ -112,7 +112,7 @@ AFLAGS += -x assembler-with-cpp -Wa,-adhlns=$(OBJDIR)/$(<:.S=.lst),--g$(DEBUG)
LDFLAGS = -D__thumb2__ -T$(LDSCRIPT) -nostartfiles -L$(GCC_LIB_DIR) -O$(OPT) --gc-sections
LDFLAGS += -Wl,-Map=$(OBJDIR)/$(TARGET).map,--cref,--gc-sections
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32
LDLIBS += -lc -lm -lgcc -lcmsis -lstm32
CPFLAGS = -j .isr_vector -j .text -j .data
CPFLAGS_BIN = -Obinary
@@ -131,7 +131,7 @@ build: elf bin hex
elf: $(OBJDIR)/$(TARGET).elf
bin: $(OBJDIR)/$(TARGET).bin
hex: $(OBJDIR)/$(TARGET).hex
lss: $(OBJDIR)/$(TARGET).lss
lss: $(OBJDIR)/$(TARGET).lss
sym: $(OBJDIR)/$(TARGET).sym
# Display size of file.
@@ -176,7 +176,7 @@ sizeafter:
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
@echo CC $@
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
$(Q)$(CC) -c $(CFLAGS) $< -o $@
$(Q)$(CC) -c $(CFLAGS) $< -o $@
# Assemble: create object files from assembler source files. ARM/Thumb
$(AOBJ) : $(OBJDIR)/%.o : %.S
@@ -191,12 +191,12 @@ else ifeq ($(FLASH_MODE),JTAG)
upload: $(OBJDIR)/$(TARGET).bin
@echo -e " OOCD\t$<"
$(Q)$(OOCD) -f interface/$(OOCD_INTERFACE).cfg \
-f board/$(OOCD_BOARD).cfg \
-c init \
-c "reset halt" \
-c "flash write_image erase $(OBJDIR)/$(TARGET).bin 0x08000000" \
-c reset \
-c shutdown
-f board/$(OOCD_BOARD).cfg \
-c init \
-c "reset halt" \
-c "flash write_image erase $(OBJDIR)/$(TARGET).bin 0x08000000" \
-c reset \
-c shutdown
endif
@@ -258,11 +258,8 @@ $(OBJDIR)/.depend:
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
$(Q)$(CC) -MM -MG $(THUMB) $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),erase)
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(MAKECMDGOALS),erase)
-include $(OBJDIR)/.depend
endif
endif
conf/airframes/ENAC/quadrotor/booz2_g1.xml
-1
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@@ -211,7 +211,6 @@
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
conf/airframes/ENAC/quadrotor/mkk1.xml
-1
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@@ -222,7 +222,6 @@
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
FLASH_MODE=IAP
conf/airframes/Poine/antenna.xml
+2 -2
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@@ -8,8 +8,8 @@
<makefile>
ARCHI=avr
ant.ARCHDIR = $(ARCHI)
ARCH=avr
ant.ARCHDIR = $(ARCH)
ant.MCU = atmega128
conf/airframes/Poine/autoplato.xml
+2 -3
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@@ -6,12 +6,11 @@
ARCH=lpc21
BOARD_CFG = \"boards/olimex_lpc_h2148.h\"
ARCHI=arm7
FLASH_MODE = IAP
include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
test_usb.ARCHDIR = $(ARCHI)
test_usb.ARCHDIR = $(ARCH)
test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_usb.srcs += $(SRC_BOOZ_TEST)/atpt_main.c
@@ -40,4 +39,4 @@ test_usb.srcs += $(SRC_ARCH)/servos_direct_hw.c
</makefile>
</airframe>
</airframe>
conf/airframes/Poine/beth.xml
-1
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@@ -89,7 +89,6 @@
#
ARCH=stm32
ARCHI=stm32
#BOARD_CFG = \"boards/lisa_l_1.0.h\"
FLASH_MODE = JTAG
conf/airframes/Poine/bl_mc.xml
+2 -2
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@@ -3,9 +3,9 @@
<makefile>
ARCHI=avr
ARCH=avr
main.ARCHDIR=$(ARCHI)
main.ARCHDIR=$(ARCH)
main.MCU = atmega128
# internal RC 8MHz
conf/airframes/Poine/booz2_a2.xml
-1
View File
@@ -181,7 +181,6 @@
<makefile>
ARCH=lpc21
ARCHI=arm7
BOARD_CFG = \"boards/booz2_v1_0.h\"
# prevents motors from ever starting
conf/airframes/Poine/motor_bench.xml
+4 -4
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@@ -2,13 +2,13 @@
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE = IAP
MB=motor_bench
main.ARCHDIR = $(ARCHI)
main.ARCHDIR = $(ARCH)
main.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
main.srcs = $(MB)/main_motor_bench.c
@@ -52,7 +52,7 @@ main.srcs += $(MB)/mb_modes.c
#main.srcs += $(MB)/mb_static.c
#main.srcs += $(MB)/mb_mode_fixed_rpm.c
foo.ARCHDIR = $(ARCHI)
foo.ARCHDIR = $(ARCH)
foo.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
foo.srcs = $(MB)/main_foo.c
@@ -71,7 +71,7 @@ foo.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c $(MB)/mb_twi_controller_asctech.c
bar.ARCHDIR = $(ARCHI)
bar.ARCHDIR = $(ARCH)
bar.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
bar.srcs = $(MB)/main_bar.c
conf/airframes/Poine/pt_ant.xml
+3 -3
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@@ -8,17 +8,17 @@
<makefile>
tunnel.ARCHDIR = $(ARCHI)
tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"conf_demo.h\" -DLED -DTIME_LED=1
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
ARCHI=arm7
ARCH=lpc21
FLASH_MODE = IAP
PT_ANT = antenna
main.ARCHDIR = $(ARCHI)
main.ARCHDIR = $(ARCH)
main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" -I$(PT_ANT)
main.srcs = $(PT_ANT)/pt_ant_main.c
conf/airframes/Poine/turntable.xml
+1 -2
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@@ -2,13 +2,12 @@
<makefile>
ARCH=lpc21
ARCHI=arm7
FLASH_MODE = IAP
MB=motor_bench
main.ARCHDIR = $(ARCHI)
main.ARCHDIR = $(ARCH)
main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" -I$(MB)
main.CFLAGS += -DPERIPHERALS_AUTO_INIT
conf/airframes/UofAdelaide/A1000_BOOZ.xml
+165 -166
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@@ -2,221 +2,221 @@
<airframe name="A1000 BOOZ">
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
<define name="NB" value="4"/>
<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
<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="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<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}"/>
<define name="MIN_MOTOR" value="2"/>
<define name="MAX_MOTOR" value="210"/>
<define name="TRIM_A" value="0"/>
<define name="TRIM_E" value="0"/>
<define name="TRIM_R" value="0"/>
<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>
<section name="IMU" prefix="IMU_">
<!-- beginning of CRISTA IMU sign defines -->
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="GYRO_P_SIGN" value="-1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="-1"/>
<define name="ACCEL_Z_SIGN" value="1"/>
<define name="MAG_X_SIGN" value="-1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<define name="MAG_X_SIGN" value="-1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="-1"/>
<!-- end of crista imu sign defines -->
<define name="GYRO_P_CHAN" value="4"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="1"/>
<define name="GYRO_P_CHAN" value="4"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="1"/>
<!-- <define name="GYRO_P_NEUTRAL" value="32734"/>
<!-- <define name="GYRO_P_NEUTRAL" value="32734"/>
<define name="GYRO_Q_NEUTRAL" value="32272"/>
<define name="GYRO_R_NEUTRAL" value="32420"/> -->
<define name="GYRO_Q_NEUTRAL" value="32272"/>
<define name="GYRO_R_NEUTRAL" value="32420"/> -->
<define name="GYRO_P_NEUTRAL" value="30900"/>
<define name="GYRO_Q_NEUTRAL" value="32400"/>
<define name="GYRO_R_NEUTRAL" value="31800"/>
<define name="GYRO_Q_NEUTRAL" value="32400"/>
<define name="GYRO_R_NEUTRAL" value="31800"/>
<define name="GYRO_P_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
<define name="ACCEL_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="GYRO_P_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_Q_SENS" value=" 0.85" integer="16"/>
<define name="GYRO_R_SENS" value=" 0.85" integer="16"/>
<define name="ACCEL_X_SENS" value=" 6.29676358" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 6.07991732" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 6.62632272" integer="16"/>
<define name="ACCEL_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_X_NEUTRAL" value="40385"/>
<define name="ACCEL_Y_NEUTRAL" value="39223"/>
<define name="ACCEL_Z_NEUTRAL" value="38860"/>
<!-- test neutral <define name="ACCEL_Z_NEUTRAL" value="38900"/> -->
<define name="ACCEL_X_SENS" value=" 6.29676358" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 6.07991732" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 6.62632272" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="40385"/>
<define name="ACCEL_Y_NEUTRAL" value="39223"/>
<define name="ACCEL_Z_NEUTRAL" value="38860"/>
<!-- test neutral <define name="ACCEL_Z_NEUTRAL" value="38900"/> -->
<define name="MAG_X_CHAN" value="4"/> <!-- previously 0-->
<define name="MAG_Y_CHAN" value="0"/> <!-- previously 4-->
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_CHAN" value="4"/> <!-- previously 0-->
<define name="MAG_Y_CHAN" value="0"/> <!-- previously 4-->
<define name="MAG_Z_CHAN" value="2"/>
<!--
<!--
<define name="MAG_X_NEUTRAL" value="2339"/>
<define name="MAG_Y_NEUTRAL" value="2106"/>
<define name="MAG_Z_NEUTRAL" value="1902"/>
<define name="MAG_Y_NEUTRAL" value="2106"/>
<define name="MAG_Z_NEUTRAL" value="1902"/>
<define name="MAG_X_SENS" value=" 4.4039655" integer="16"/>
<define name="MAG_Y_SENS" value=" 4.2959321" integer="16"/>
<define name="MAG_Z_SENS" value=" 4.0988408" integer="16"/> -->
<define name="MAG_X_SENS" value=" 4.4039655" integer="16"/>
<define name="MAG_Y_SENS" value=" 4.2959321" integer="16"/>
<define name="MAG_Z_SENS" value=" 4.0988408" integer="16"/> -->
<!--
second attempt
<define name="MAG_X_NEUTRAL" value="2169"/>
<define name="MAG_Y_NEUTRAL" value="2263"/>
<define name="MAG_Z_NEUTRAL" value="1673"/>
<define name="MAG_X_NEUTRAL" value="2169"/>
<define name="MAG_Y_NEUTRAL" value="2263"/>
<define name="MAG_Z_NEUTRAL" value="1673"/>
-->
<!-- Second Attempt
<define name="MAG_X_SENS" value="3.77021943193" integer="16"/>
<define name="MAG_Y_SENS" value="3.4884990526" integer="16"/>
<define name="MAG_Z_SENS" value="3.52031672283" integer="16"/>
<define name="MAG_X_SENS" value="3.77021943193" integer="16"/>
<define name="MAG_Y_SENS" value="3.4884990526" integer="16"/>
<define name="MAG_Z_SENS" value="3.52031672283" integer="16"/>
-->
<define name="MAG_X_NEUTRAL" value="2110"/>
<define name="MAG_Y_NEUTRAL" value="2168"/>
<define name="MAG_Z_NEUTRAL" value="1612"/>
<define name="MAG_Y_NEUTRAL" value="2168"/>
<define name="MAG_Z_NEUTRAL" value="1612"/>
<define name="MAG_45_HACK" value="1"/>
<define name="MAG_45_HACK" value="1"/>
<define name="MAG_X_SENS" value="2.828427125" integer="16"/>
<define name="MAG_Y_SENS" value="2.973101172" integer="16"/>
<define name="MAG_Z_SENS" value="3.88650043" integer="16"/>
<define name="MAG_X_SENS" value="2.828427125" integer="16"/>
<define name="MAG_Y_SENS" value="2.973101172" integer="16"/>
<define name="MAG_Z_SENS" value="3.88650043" integer="16"/>
<!--
<define name="MAG_X_SENS" value="2.665947727" integer="16"/>
<define name="MAG_Y_SENS" value="2.466741336" integer="16"/>
<define name="MAG_Z_SENS" value="3.4884990526" integer="16"/>
<define name="MAG_X_SENS" value="2.665947727" integer="16"/>
<define name="MAG_Y_SENS" value="2.466741336" integer="16"/>
<define name="MAG_Z_SENS" value="3.4884990526" integer="16"/>
<define name="MAG_45_HACK" value="1"/>
<define name="MAG_45_HACK" value="1"/>
-->
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 2.9 )"/> <!-- previously 1.5-->
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -3.7 )"/> <!-- previously -1.5-->
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 2.9 )"/> <!-- previously 1.5-->
<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -3.7 )"/> <!-- previously -1.5-->
<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 0. )"/>
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<!-- new section from the NOVA -->
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
<!-- original values
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/> -->
<!-- original values
<define name="GAIN_P" value="-400"/>
<define name="GAIN_Q" value="-400"/>
<define name="GAIN_R" value="-350"/> -->
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(90.)"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(500)"/> <!--originally 800-->
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(500)"/> <!--originally 800-->
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(500)"/> <!-- originally 800-->
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(500)"/> <!-- originally 800-->
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(700)"/> <!-- originally 500-->
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(700)"/> <!-- originally 500-->
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="14.9" integer="16"/>
<define name="BARO_SENS" value="14.9" integer="16"/>
</section>
<section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
@@ -259,7 +259,7 @@ second attempt
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
<define name="NOMINAL_AIRSPEED" value="1"/>
<define name="NOMINAL_AIRSPEED" value="1"/>
</section>
@@ -271,50 +271,49 @@ second attempt
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/>
<define name="GPS_LAG" value = "0.8"/>
<define name="BOOZ_START_DELAY" value = "3"/>
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/>
<define name="GPS_LAG" value = "0.8"/>
<define name="BOOZ_START_DELAY" value = "3"/>
<!-- <define name="KILL_MOTORS"/> -->
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="crista"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="crista"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<!-- old makefile section
<!-- old makefile section
<makefile>
ARCHI=arm7
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
conf/airframes/UofAdelaide/A1000_NOVA.xml
+133 -134
View File
@@ -1,153 +1,153 @@
<airframe name="A1000 NOVA">
<!-- BOOZ2_NoVa
BOOZ2_MAIN_002 main board
BOOZ2_IMU_002 IMU
BOOZ2_GPS_002 LEA-5H GPS
Datamodems configured for 57600 baud
ZEF100 Speed Controllers
-->
BOOZ2_MAIN_002 main board
BOOZ2_IMU_002 IMU
BOOZ2_GPS_002 LEA-5H GPS
Datamodems configured for 57600 baud
ZEF100 Speed Controllers
-->
<servos min="0" neutral="0" max="0xff">
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
<servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
<servo name="BACK" no="1" min="0" neutral="0" max="255"/>
<servo name="RIGHT" no="2" min="0" neutral="0" max="255"/>
<servo name="LEFT" no="3" min="0" neutral="0" max="255"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="0"/>
<define name="GYRO_R_CHAN" value="2"/>
<define name="GYRO_P_NEUTRAL" value="31675"/>
<define name="GYRO_Q_NEUTRAL" value="31650"/>
<define name="GYRO_R_NEUTRAL" value="31475"/>
<define name="GYRO_P_NEUTRAL" value="31675"/>
<define name="GYRO_Q_NEUTRAL" value="31650"/>
<define name="GYRO_R_NEUTRAL" value="31475"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_Q_SENS" value=" 1.01" integer="16"/>
<define name="GYRO_R_SENS" value=" 1.01" integer="16"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_CHAN" value="5"/>
<define name="ACCEL_Y_CHAN" value="3"/>
<define name="ACCEL_Z_CHAN" value="4"/>
<define name="ACCEL_X_SENS" value=" 2.57091959" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 2.55833628" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 2.57095664" integer="16"/>
<define name="ACCEL_X_SENS" value=" 2.57091959" integer="16"/>
<define name="ACCEL_Y_SENS" value=" 2.55833628" integer="16"/>
<define name="ACCEL_Z_SENS" value=" 2.57095664" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="32875"/>
<define name="ACCEL_Y_NEUTRAL" value="32516"/>
<define name="ACCEL_Z_NEUTRAL" value="32398"/>
<define name="ACCEL_X_NEUTRAL" value="32875"/>
<define name="ACCEL_Y_NEUTRAL" value="32516"/>
<define name="ACCEL_Z_NEUTRAL" value="32398"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="1"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="-22"/>
<define name="MAG_Y_NEUTRAL" value="-14"/>
<define name="MAG_Z_NEUTRAL" value="16"/>
<define name="MAG_X_NEUTRAL" value="-22"/>
<define name="MAG_Y_NEUTRAL" value="-14"/>
<define name="MAG_Z_NEUTRAL" value="16"/>
<define name="MAG_X_SENS" value="4.79355327494" integer="16"/>
<define name="MAG_Y_SENS" value=" 5.04941795802" integer="16"/>
<define name="MAG_Z_SENS" value=" 2.98000294999" integer="16"/>
<define name="MAG_X_SENS" value="4.79355327494" integer="16"/>
<define name="MAG_Y_SENS" value=" 5.04941795802" integer="16"/>
<define name="MAG_Z_SENS" value=" 2.98000294999" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-90.)"/>
<define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-90.)"/>
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
<!-- setpoints -->
<!-- setpoints -->
<define name="SP_MAX_P" value="10000" />
<define name="SP_MAX_Q" value="10000" />
<define name="SP_MAX_R" value="10000" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<define name="DEADBAND_P" value="0" />
<define name="DEADBAND_Q" value="0" />
<define name="DEADBAND_R" value="200" />
<define name="REF_TAU" value="4" />
<!-- feedback -->
<!-- feedback -->
<define name="GAIN_P" value="-400" />
<define name="GAIN_Q" value="-400" />
<define name="GAIN_R" value="-350" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<define name="IGAIN_P" value="-75" />
<define name="IGAIN_Q" value="-75" />
<define name="IGAIN_R" value="-50" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
<!-- feedforward -->
<define name="DDGAIN_P" value="300" />
<define name="DDGAIN_Q" value="300" />
<define name="DDGAIN_R" value="300" />
</section>
<section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
<define name="DEADBAND_R" value="250"/>
<!-- setpoints -->
<define name="SP_MAX_PHI" value="RadOfDeg(45.)"/>
<define name="SP_MAX_THETA" value="RadOfDeg(45.)"/>
<define name="SP_MAX_R" value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="RadOfDeg(800)"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="RadOfDeg(300.)"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="RadOfDeg(800)"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="RadOfDeg(300.)"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<define name="REF_OMEGA_R" value="RadOfDeg(500)"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="RadOfDeg(180.)"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<!--
<define name="PHI_PGAIN" value="-400"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-400"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
<define name="PSI_PGAIN" value="-380"/>
<define name="PSI_DGAIN" value="-320"/>
<define name="PSI_IGAIN" value="-75"/>
-->
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="PHI_PGAIN" value="-1000"/>
<define name="PHI_DGAIN" value="-300"/>
<define name="PHI_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="THETA_PGAIN" value="-1000"/>
<define name="THETA_DGAIN" value="-300"/>
<define name="THETA_IGAIN" value="-100"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<define name="PSI_PGAIN" value="-1000"/>
<define name="PSI_DGAIN" value="-350"/>
<define name="PSI_IGAIN" value="-10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value=" 300"/>
<define name="THETA_DDGAIN" value=" 300"/>
<define name="PSI_DDGAIN" value=" 300"/>
</section>
@@ -171,7 +171,7 @@
</section>
<section name="INS" prefix="BOOZ_INS_">
<define name="BARO_SENS" value="14.9" integer="16"/>
<define name="BARO_SENS" value="14.9" integer="16"/>
</section>
@@ -216,57 +216,56 @@
<define name="BOOZ2_MODE_AUTO2" value="BOOZ2_AP_MODE_NAV"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
<define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
</section>
<section name="MISC">
<define name="BOOZ2_FACE_REINJ_1" value="1024"/>
</section>
<firmware name="rotorcraft">
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/>
<define name="BOOZ_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> -->
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
<target name="ap" board="booz_1.0">
<param name="FLASH_MODE" value="IAP"/> <!-- default for the board but putting it here as example-->
<define name="RADIO_CONTROL_KILL_SWITCH" value="RADIO_CONTROL_SWITCH1"/>
<define name="MODEM_BAUD" value = "B57600"/>
<define name="BOOZ_START_DELAY" value = "3"/>
<define name="GPS_LAG" value = "0.8"/>
<!-- <define name="KILL_MOTORS"/> -->
<define name="BOOZ_FAILSAFE_GROUND_DETECT"/>
<define name="USE_GPS_ACC4R" />
<define name="GPS_USE_LATLONG"/>
<define name="USE_ADAPT_HOVER"/>
<define name="USE_INS_NAV_INIT"/>
</target>
<target name="sim" board="pc"/>
<subsystem name="fdm" type="nps"/>
<subsystem name="radio_control" type="ppm"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="imu" type="b2_v1.1"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="ahrs" type="cmpl"/>
<subsystem name="ins" type="hff"/>
</firmware>
<firmware name="booz_test_progs">
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
<target name="test_telemetry" board="booz_1.0"/>
<target name="test_baro" board="booz_1.0"/>
<target name="test_spektrum" board="booz_1.0"/>
</firmware>
<!-- old makefile version
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE=IAP
BOARD_CFG = \"boards/booz2_v1_0.h\"
@@ -294,14 +293,14 @@ include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
include $(CFG_BOOZ)/subsystems/booz2_ins_hff.makefile
#set GPS lag for horizontal filter
ap.CFLAGS += -DGPS_LAG=0.8
ap.CFLAGS += -DGPS_LAG=0.8
#-DUSE_GPS_ACC4R
ap.CFLAGS += -DGPS_USE_LATLONG
ap.CFLAGS += -DUSE_ADAPT_HOVER -DUSE_INS_NAV_INIT -DBOOZ_START_DELAY=3
</makefile>
-->
-->
</airframe>
conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
-1
View File
@@ -222,7 +222,6 @@
</section>
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE=IAP
BOARD_CFG = \"boards/booz2_v1_0.h\"
conf/airframes/UofAdelaide/booz2_a1000.xml
-1
View File
@@ -275,7 +275,6 @@ second attempt
<makefile>
ARCHI=arm7
ARCH=lpc21
BOARD_CFG = \"boards/booz2_v1_0.h\"
conf/airframes/UofAdelaide/lisa_a1000.xml
-1
View File
@@ -169,7 +169,6 @@
ARCH=stm32
ARCHI=stm32
BOARD_CFG=\"boards/lisa_0.99.h\"
FLASH_MODE = JTAG
conf/airframes/booz2_NoVa_001.xml
-1
View File
@@ -222,7 +222,6 @@
</section>
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE=IAP
BOARD_CFG = \"boards/booz2_v1_0.h\"
conf/airframes/booz2_NoVa_002.xml
-1
View File
@@ -222,7 +222,6 @@
</section>
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE=IAP
BOARD_CFG = \"boards/booz2_v1_0.h\"
conf/airframes/demo.xml
+8 -8
View File
@@ -2,7 +2,7 @@
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE = IAP
@@ -10,7 +10,7 @@ FLASH_MODE = IAP
#
# simple emtpy demo
#
demo1.ARCHDIR = $(ARCHI)
demo1.ARCHDIR = $(ARCH)
demo1.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo1.srcs = main_demo1.c
@@ -18,7 +18,7 @@ demo1.srcs = main_demo1.c
#
# hardware init ( pll ), system time and LEDs
#
demo2.ARCHDIR = $(ARCHI)
demo2.ARCHDIR = $(ARCH)
demo2.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo2.srcs = main_demo2.c
@@ -31,7 +31,7 @@ demo2.CFLAGS += -DLED
#
# UART (interrupts) and formated ascii printing
#
demo3.ARCHDIR = $(ARCHI)
demo3.ARCHDIR = $(ARCH)
demo3.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo3.srcs = main_demo3.c
@@ -50,7 +50,7 @@ demo3.srcs += $(SRC_ARCH)/uart_hw.c
# DOWNLINK : send formated messages according to messages.xml description
# requires "link" to run on the other side of the serial link
#
demo4.ARCHDIR = $(ARCHI)
demo4.ARCHDIR = $(ARCH)
demo4.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo4.srcs = main_demo4.c
@@ -73,7 +73,7 @@ demo4.srcs += downlink.c pprz_transport.c
# which lets you adjust variables described in the settings.xml file
# IvySendMsg("1ME RAW_DATALINK 144 SETTING;0;0;%d", foo_value);
#
demo5.ARCHDIR = $(ARCHI)
demo5.ARCHDIR = $(ARCH)
demo5.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo5.srcs = main_demo5.c
@@ -97,7 +97,7 @@ demo5.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart0
#
# Serial link over USB
#
demo6.ARCHDIR = $(ARCHI)
demo6.ARCHDIR = $(ARCH)
demo6.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
demo6.srcs = main_demo6.c
@@ -124,7 +124,7 @@ demo6.srcs += downlink.c pprz_transport.c
#
#
#
test_spk.ARCHDIR = $(ARCHI)
test_spk.ARCHDIR = $(ARCH)
test_spk.CFLAGS += -DBOARD_CONFIG=\"booz2_board_usb.h\"
test_spk.srcs = main_test_spk.c
conf/airframes/esden/lisa_asctec.xml
-1
View File
@@ -180,7 +180,6 @@ SRC_FMS=fms
ARCH=stm32
ARCHI=stm32
BOARD_CFG=\"boards/lisa_0.99.h\"
FLASH_MODE = JTAG
conf/airframes/hitl_usb.xml
+72 -72
View File
@@ -4,110 +4,110 @@
<!-- commands section -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
</commands>
<section name="INFRARED" prefix="IR_">
<define name="LATERAL_CORRECTION" value="0.75"/>
<define name="LONGITUDINAL_CORRECTION" value="0.75"/>
<define name="VERTICAL_CORRECTION" value="1.5"/>
<define name="LATERAL_CORRECTION" value="0.75"/>
<define name="LONGITUDINAL_CORRECTION" value="0.75"/>
<define name="VERTICAL_CORRECTION" value="1.5"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="2" unit="deg"/>
<define name="CORRECTION_UP" value="1.0"/>
<define name="CORRECTION_DOWN" value="1.0"/>
<define name="CORRECTION_LEFT" value="1.0"/>
<define name="CORRECTION_RIGHT" value="1.0"/>
<define name="CORRECTION_UP" value="1.0"/>
<define name="CORRECTION_DOWN" value="1.0"/>
<define name="CORRECTION_LEFT" value="1.0"/>
<define name="CORRECTION_RIGHT" value="1.0"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.3" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_RATE" value="60" unit="Hz"/>
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
<define name="GLIDE_AIRSPEED" value="10"/>
<define name="GLIDE_VSPEED" value="3."/>
<define name="GLIDE_PITCH" value="45" unit="deg"/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="-1.10800004005"/>
<define name="COURSE_PGAIN" value="-1.10800004005"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
<define name="PITCH_PGAIN" value="-15184.5644531"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="PITCH_PGAIN" value="-15184.5644531"/>
<define name="PITCH_DGAIN" value="1.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
<define name="ROLL_SLEW" value="0.1"/>
<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
<define name="ROLL_RATE_GAIN" value="-1500"/>
</section>
<section name="NAV">
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
<define name="NAV_PITCH" value="0."/>
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="1.00"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.3"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.25"/><!-- Pitch for Aggressive Decent -->
<define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
<define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
</section>
<makefile>
CONFIG=\"tiny_2_1_1_usb.h\"
include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
@@ -134,7 +134,7 @@ ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
ap.CFLAGS += -DINTER_MCU
ap.srcs += inter_mcu.c
ap.srcs += inter_mcu.c
ap.CFLAGS += -DGPS -DUBX
@@ -153,7 +153,7 @@ ap.CFLAGS += -DHITL
ap.CFLAGS += -DGPS_USE_LATLONG # simulating LEA 5H
# Config for SITL simulation
sim.ARCHDIR = $(ARCHI)
sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED
sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
conf/airframes/mm/fixed-wing/merlin.xml
+1 -1
View File
@@ -224,7 +224,7 @@ ap.srcs += snav.c
# Config for SITL simulation
# include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
sim.ARCHDIR = $(ARCHI)
sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
conf/airframes/test_i2c.xml
+2 -2
View File
@@ -7,8 +7,8 @@
<makefile>
ARCHI=arm7
mb.ARCHDIR = $(ARCHI)
ARCH=lpc21
mb.ARCHDIR = $(ARCH)
LPC21ISP_BAUD = 38400
LPC21ISP_XTAL = 12000
conf/airframes/vor.xml
+2 -2
View File
@@ -2,12 +2,12 @@
<makefile>
ARCHI=arm7
ARCH=lpc21
VOR=vor
FLASH_MODE = IAP
main.ARCHDIR = $(ARCHI)
main.ARCHDIR = $(ARCH)
main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
main.srcs = $(VOR)/lpc_vor_main.c
conf/airframes/wind_tunnel.xml
+3 -3
View File
@@ -2,14 +2,14 @@
<makefile>
ARCHI=arm7
ARCH=lpc21
FLASH_MODE = IAP
WIND_TUNNEL=wind_tunnel
ap.ARCHDIR = $(ARCHI)
ap.ARCHDIR = $(ARCH)
ap.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" -I$(WIND_TUNNEL)
ap.srcs = $(WIND_TUNNEL)/main.c
@@ -39,7 +39,7 @@ ap.srcs += $(WIND_TUNNEL)/wt_servo.c
MB=motor_bench
mb.ARCHDIR = $(ARCHI)
mb.ARCHDIR = $(ARCH)
mb.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" -I$(WIND_TUNNEL) -I$(MB)
mb.srcs = $(WIND_TUNNEL)/main_mb.c
conf/autopilot/booz2_test_progs.makefile
+47 -47
View File
@@ -1,6 +1,6 @@
#
# $id$
#
#
# Copyright (C) 2008 Antoine Drouin (poinix@gmail.com)
#
# This file is part of paparazzi.
@@ -18,14 +18,14 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
# Boston, MA 02111-1307, USA.
#
#
#
# test_led : blinks all leds
#
test_led.ARCHDIR = $(ARCHI)
test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_led.CFLAGS += -DPERIPHERALS_AUTO_INIT
@@ -37,7 +37,7 @@ test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#
# test_downlink : sends a TIME message
#
test_downlink.ARCHDIR = $(ARCHI)
test_downlink.ARCHDIR = $(ARCH)
test_downlink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_downlink.CFLAGS += -DPERIPHERALS_AUTO_INIT
@@ -49,14 +49,14 @@ test_downlink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.
test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_downlink.srcs += $(SRC_ARCH)/uart_hw.c
test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_downlink.srcs += downlink.c pprz_transport.c
#
# test_max1168 : samples gyros and mags, sends values
# test_max1168 : samples gyros and mags, sends values
#
test_max1168.ARCHDIR = $(ARCHI)
test_max1168.ARCHDIR = $(ARCH)
test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_max1168.CFLAGS += -DPERIPHERALS_AUTO_INIT
@@ -68,17 +68,17 @@ test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_max1168.srcs += downlink.c pprz_transport.c
test_max1168.CFLAGS += -DMAX1168_EOC_VIC_SLOT=8 -DSSP_VIC_SLOT=9
test_max1168.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
$(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
#
# test MICROMAG
#
test_micromag.ARCHDIR = $(ARCHI)
test_micromag.ARCHDIR = $(ARCH)
test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
@@ -89,7 +89,7 @@ test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_micromag.srcs += $(SRC_ARCH)/uart_hw.c
test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_micromag.srcs += downlink.c pprz_transport.c
#test_micromag.CFLAGS += -I$(BOOZ)
@@ -103,7 +103,7 @@ test_micromag.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
#
# tunnel hw
#
tunnel.ARCHDIR = $(ARCHI)
tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
tunnel.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel.c
@@ -119,7 +119,7 @@ tunnel.srcs += $(SRC_ARCH)/uart_hw.c
#
# tunnel bit banging
#
tunnel_bb.ARCHDIR = $(ARCHI)
tunnel_bb.ARCHDIR = $(ARCH)
tunnel_bb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
tunnel_bb.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel_bb.c
@@ -132,7 +132,7 @@ tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#
# test GPS
#
test_gps.ARCHDIR = $(ARCHI)
test_gps.ARCHDIR = $(ARCH)
test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c
@@ -143,7 +143,7 @@ test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_gps.srcs += $(SRC_ARCH)/uart_hw.c
test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_gps.srcs += downlink.c pprz_transport.c
test_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
@@ -157,7 +157,7 @@ test_gps.srcs += $(SRC_BOOZ)/booz2_gps.c
#
# test modem
#
test_modem.ARCHDIR = $(ARCHI)
test_modem.ARCHDIR = $(ARCH)
test_modem.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_modem.srcs += $(SRC_BOOZ_TEST)/booz2_test_modem.c
@@ -168,7 +168,7 @@ test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_modem.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_modem.srcs += $(SRC_ARCH)/uart_hw.c
test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_modem.srcs += downlink.c pprz_transport.c
#test_modem.CFLAGS += -DBOOZ_ANALOG_BARO_LED=2 -DBOOZ_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
@@ -178,7 +178,7 @@ test_modem.srcs += downlink.c pprz_transport.c
#
# test USB telemetry
#
test_usb.ARCHDIR = $(ARCHI)
test_usb.ARCHDIR = $(ARCH)
test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c
@@ -189,7 +189,7 @@ test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_usb.srcs += $(SRC_ARCH)/uart_hw.c
#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_usb.srcs += downlink.c pprz_transport.c
test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
@@ -207,7 +207,7 @@ test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
#
# test AMI
#
test_ami.ARCHDIR = $(ARCHI)
test_ami.ARCHDIR = $(ARCH)
test_ami.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_ami.srcs += $(SRC_BOOZ_TEST)/booz2_test_ami.c
@@ -218,7 +218,7 @@ test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_ami.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_ami.srcs += $(SRC_ARCH)/uart_hw.c
test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_ami.srcs += downlink.c pprz_transport.c
test_ami.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
@@ -230,7 +230,7 @@ test_ami.srcs += AMI601.c
#
# test crista
#
test_crista.ARCHDIR = $(ARCHI)
test_crista.ARCHDIR = $(ARCH)
test_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_crista.c
@@ -241,7 +241,7 @@ test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
test_crista.srcs += $(SRC_ARCH)/uart_hw.c
test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
test_crista.srcs += downlink.c pprz_transport.c
test_crista.CFLAGS += -DFLOAT_T=float -DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
@@ -254,7 +254,7 @@ test_crista.srcs += $(SRC_BOOZ)/booz2_imu_crista.c $(SRC_BOOZ_ARCH)/booz2_imu_cr
#
# test MICROMAG
#
test_micromag2.ARCHDIR = $(ARCHI)
test_micromag2.ARCHDIR = $(ARCH)
test_micromag2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_micromag2.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag_2.c
@@ -267,7 +267,7 @@ test_micromag2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_micromag2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_micromag2.srcs += $(SRC_ARCH)/uart_hw.c
test_micromag2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_micromag2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_micromag2.srcs += downlink.c pprz_transport.c
@@ -278,7 +278,7 @@ test_micromag2.srcs += downlink.c pprz_transport.c
#
# test IMU b2
#
test_imu_b2.ARCHDIR = $(ARCHI)
test_imu_b2.ARCHDIR = $(ARCH)
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c
@@ -289,7 +289,7 @@ test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += $(SRC_BOOZ)/booz_trig_int.c
@@ -307,7 +307,7 @@ test_imu_b2.srcs += $(SRC_BOOZ)/booz2_imu.c
# test rc spektrum
#
test_rc_spektrum.ARCHDIR = $(ARCHI)
test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
test_rc_spektrum.CFLAGS += -DPERIPHERALS_AUTO_INIT
@@ -318,7 +318,7 @@ test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC
#test_rc_spektrum.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_rc_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
#test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_rc_spektrum.srcs += downlink.c pprz_transport.c
test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
test_rc_spektrum.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
@@ -332,14 +332,14 @@ test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"booz_radio_control
test_rc_spektrum.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/booz_radio_control_spektrum.c \
$(SRC_ARCH)/uart_hw.c
$(SRC_BOOZ)/booz_radio_control_spektrum.c \
$(SRC_ARCH)/uart_hw.c
#
# test rc ppm
#
test_rc_ppm.ARCHDIR = $(ARCHI)
test_rc_ppm.ARCHDIR = $(ARCH)
test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) $(BOOZ_CFLAGS)
test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
@@ -350,7 +350,7 @@ test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#test_rc_ppm.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
#test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
#test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
#test_rc_ppm.srcs += downlink.c pprz_transport.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
test_rc_ppm.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
@@ -362,14 +362,14 @@ test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=1
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/$(IMPL)/booz_radio_control_ppm.c \
$(SRC_BOOZ)/$(IMPL)/$(ARCH)/booz_radio_control_ppm_arch.c \
$(SRC_BOOZ)/$(IMPL)/booz_radio_control_ppm.c \
$(SRC_BOOZ)/$(IMPL)/$(ARCH)/booz_radio_control_ppm_arch.c \
#
# test MC
#
test_mc.ARCHDIR = $(ARCHI)
test_mc.ARCHDIR = $(ARCH)
test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_mc.srcs += $(SRC_BOOZ_TEST)/booz2_test_mc.c
@@ -380,7 +380,7 @@ test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_mc.srcs += $(SRC_ARCH)/uart_hw.c
test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_mc.srcs += downlink.c pprz_transport.c
test_mc.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
@@ -393,7 +393,7 @@ test_mc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test BUSS BLDC
#
test_buss_bldc.ARCHDIR = $(ARCHI)
test_buss_bldc.ARCHDIR = $(ARCH)
test_buss_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_buss_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
@@ -405,7 +405,7 @@ test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_buss_bldc.srcs += $(SRC_ARCH)/uart_hw.c
test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_buss_bldc.srcs += downlink.c pprz_transport.c
test_buss_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
@@ -416,9 +416,9 @@ test_buss_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test asctec BLMC
#
test_amc.ARCHDIR = $(ARCHI)
test_amc.ARCHDIR = $(ARCH)
test_amc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_amc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_amc.srcs += $(SRC_BOOZ_TEST)/booz2_test_amc.c
test_amc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_amc.CFLAGS += -DLED
@@ -437,15 +437,15 @@ test_amc.srcs += $(SRC_BOOZ_ARCH)/actuators_asctec_twi_blmc_hw.c actuators.c
test_amc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
test_amc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_amc.CFLAGS += -DFLOAT_T=float
test_amc.CFLAGS += -DFLOAT_T=float
#-DBOOZ2_IMU_TYPE=\"booz2_imu_crista.h\"
#
# test_mkk_bldc :
# test_mkk_bldc :
#
test_mkk_bldc.ARCHDIR = $(ARCHI)
test_mkk_bldc.ARCHDIR = $(ARCH)
test_mkk_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
test_mkk_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
@@ -460,7 +460,7 @@ test_mkk_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test 24 bits baro
#
test_baro_24.ARCHDIR = $(ARCHI)
test_baro_24.ARCHDIR = $(ARCH)
test_baro_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
test_baro_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_baro_24.c
@@ -472,7 +472,7 @@ test_baro_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_baro_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
test_baro_24.srcs += $(SRC_ARCH)/uart_hw.c
test_baro_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_baro_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
test_baro_24.srcs += downlink.c pprz_transport.c
test_baro_24.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
@@ -482,7 +482,7 @@ test_baro_24.srcs += $(SRC_BOOZ)/booz2_baro_24.c
#
# test_coders : blinks all leds
#
test_coder.ARCHDIR = $(ARCHI)
test_coder.ARCHDIR = $(ARCH)
test_coder.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" $(BOOZ_CFLAGS)
test_coder.CFLAGS += -DPERIPHERALS_AUTO_INIT
conf/autopilot/booz_test_progs.makefile
+27 -27
View File
@@ -18,7 +18,7 @@
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
# Boston, MA 02111-1307, USA.
#
#
@@ -32,15 +32,15 @@
#
# every "firmware" makefile should have a description of available targets
# possible options for each of them, susbsystems and associated params for each of them
#
#
#
#
#
################################################################################
ARCHI=arm7
ARCH=lpc21
SRC_ARCH=$(ARCHI)
SRC_ARCH=arch/$(ARCH)
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/lpc21
SRC_BOARD=boards/$(BOARD)
@@ -50,7 +50,7 @@ BOARD_CFG=\"boards/booz_1.0.h\"
#
# default configuration expected from board files
#
# SYS_TIME_LED = 1
# SYS_TIME_LED = 1
# MODEM_PORT = UART1
# MODEM_BAUD = B57600
@@ -63,11 +63,11 @@ BOARD_CFG=\"boards/booz_1.0.h\"
# MODEM_PORT :
# MODEM_BAUD :
#
test_telemetry.ARCHDIR = $(ARCHI)
test_telemetry.ARCHDIR = $(ARCH)
test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_telemetry.srcs += test/test_telemetry.c \
$(SRC_ARCH)/armVIC.c
$(SRC_ARCH)/armVIC.c
test_telemetry.CFLAGS += -DUSE_LED
test_telemetry.CFLAGS += -DUSE_SYS_TIME
test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
@@ -88,12 +88,12 @@ test_telemetry.srcs += $(SRC_ARCH)/uart_hw.c
# MODEM_PORT
# MODEM_BAUD
#
test_baro.ARCHDIR = $(ARCHI)
test_baro.ARCHDIR = $(ARCH)
test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_baro.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_ARCH) -I$(SRC_BOARD)
test_baro.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_baro.srcs = $(SRC_BOARD)/test_baro.c \
$(SRC_ARCH)/armVIC.c
$(SRC_ARCH)/armVIC.c
test_baro.CFLAGS += -DUSE_LED
test_baro.CFLAGS += -DUSE_SYS_TIME
test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
@@ -108,7 +108,7 @@ test_baro.CFLAGS += -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
test_baro.CFLAGS += -DADC0_VIC_SLOT=2
test_baro.CFLAGS += -DADC1_VIC_SLOT=3
test_baro.srcs += $(SRC_BOOZ)/booz2_analog.c \
$(SRC_BOOZ_ARCH)/booz2_analog_hw.c
$(SRC_BOOZ_ARCH)/booz2_analog_hw.c
# tell me why this shit needs to know battery !!!!
test_baro.CFLAGS += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
test_baro.srcs += $(SRC_BOOZ)/booz2_battery.c
@@ -118,9 +118,9 @@ test_baro.srcs += $(SRC_BOOZ)/booz2_battery.c
# test_rc_spektrum :
#
# TODO
#
#
#
#
#
#
#
@@ -134,7 +134,7 @@ test_baro.srcs += $(SRC_BOOZ)/booz2_battery.c
# MODEM_BAUD
# RADIO_CONTROL_LED
#
test_rc_ppm.ARCHDIR = $(ARCHI)
test_rc_ppm.ARCHDIR = $(ARCH)
test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
@@ -147,25 +147,25 @@ test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.srcs += downlink.c pprz_transport.c
test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.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
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
#
# simple test of mikrokopter motor controllers
#
test_esc_mkk_simple.ARCHDIR = $(ARCHI)
test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_esc_mkk_simple.ARCHDIR = $(ARCH)
test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
$(SRC_ARCH)/armVIC.c
test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
$(SRC_ARCH)/armVIC.c
test_esc_mkk_simple.CFLAGS += -DUSE_LED
test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
@@ -179,11 +179,11 @@ test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators mkk
#
test_actuators_mkk.ARCHDIR = $(ARCHI)
test_actuators_mkk.ARCHDIR = $(ARCH)
test_actuators_mkk.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_mkk.srcs = test/test_actuators.c \
$(SRC_ARCH)/armVIC.c
$(SRC_ARCH)/armVIC.c
test_actuators_mkk.CFLAGS += -DUSE_LED
@@ -194,7 +194,7 @@ test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_actuators_mkk.srcs += downlink.c pprz_transport.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
@@ -210,11 +210,11 @@ test_actuators_mkk.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_V
#
# test ami601
#
test_ami601.ARCHDIR = $(ARCHI)
test_ami601.ARCHDIR = $(ARCH)
test_ami601.CFLAGS = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_ami601.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_ami601.srcs = test/peripherals/test_ami601.c \
$(SRC_ARCH)/armVIC.c
$(SRC_ARCH)/armVIC.c
test_ami601.CFLAGS += -DUSE_LED
@@ -225,7 +225,7 @@ test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_ami601.srcs += $(SRC_ARCH)/uart_hw.c
test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_ami601.srcs += downlink.c pprz_transport.c
test_ami601.CFLAGS += -DUSE_AMI601
conf/autopilot/classix.makefile
+7 -7
View File
@@ -1,19 +1,19 @@
# Makefile for the Classix board (2 arm7tdmi)
ARCHI=arm7
ARCH=arm7
ap.ARCHDIR = $(ARCHI)
ap.ARCHDIR = $(ARCH)
fbw.ARCHDIR = $(ARCHI)
fbw.ARCHDIR = $(ARCH)
test.ARCHDIR = $(ARCHI)
test.ARCHDIR = $(ARCH)
LPC21ISP_BAUD = 38400
LPC21ISP_XTAL = 12000
# A test program to monitor the ADC values
test_adcs.ARCHDIR = $(ARCHI)
test_adcs.ARCHDIR = $(ARCH)
test_adcs.CFLAGS += -DAP -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2 -DADC -DUSE_AD1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4 -DUSE_AD1_5 -DUSE_AD1_6 -DUSE_AD1_7
test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
@@ -21,10 +21,10 @@ test_adcs.srcs += downlink.c $(SRC_ARCH)/uart_hw.c
test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c test_adcs.c
# a test program to setup actuators
# a test program to setup actuators
# Message to send on Ivy bus, 1500 on servo 3 for aircraft 16
# xxx RAW_DATALINK 16 SET_ACTUATOR;1500;3
setup_actuators.ARCHDIR = $(ARCHI)
setup_actuators.ARCHDIR = $(ARCH)
setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING -DUSE_UART0 -DUART0_BAUD=B57600 -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_4017_hw.c main.c
conf/autopilot/classix_proto1.makefile
+4 -4
View File
@@ -1,10 +1,10 @@
# Makefile for the Classix board (2 arm7tdmi)
ARCHI=arm7
ARCH=lpc21
ap.ARCHDIR = $(ARCHI)
ap.ARCHDIR = $(ARCH)
fbw.ARCHDIR = $(ARCHI)
fbw.ARCHDIR = $(ARCH)
LPC21ISP_BAUD = 115200
LPC21ISP_XTAL = 14746
LPC21ISP_XTAL = 14746
conf/autopilot/lisa_l_test_progs.makefile
+76 -77
View File
@@ -18,7 +18,7 @@
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
# Boston, MA 02111-1307, USA.
#
#
@@ -32,18 +32,18 @@
#
# every "firmware" makefile should have a description of available targets
# possible options for each of them, susbsystems and associated params for each of them
#
#
#
#
#
################################################################################
ARCHI=stm32
SRC_ARCH=$(ARCHI)
ARCH=stm32
SRC_ARCH=$(ARCH)
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCHI)
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCHI)
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_BOOZ_TEST = $(SRC_BOOZ)/test
#SRC_ROTORCRAFT=rotorcraft
SRC_BOARD=boards/$(BOARD)
@@ -53,7 +53,7 @@ BOARD_CFG=\"boards/lisa_l_1.0.h\"
#
# default configuration expected from the board files
#
# SYS_TIME_LED = 1
# SYS_TIME_LED = 1
# MODEM_PORT = UART2
# MODEM_BAUD = B57600
@@ -65,12 +65,12 @@ BOARD_CFG=\"boards/lisa_l_1.0.h\"
# MODEM_PORT :
# MODEM_BAUD :
#
test_telemetry.ARCHDIR = $(ARCHI)
test_telemetry.ARCHDIR = $(ARCH)
test_telemetry.CFLAGS += -I$(SRC_LISA) -I$(SRC_ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry.srcs = test/test_telemetry.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_telemetry.CFLAGS += -DUSE_LED
test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
test_telemetry.CFLAGS += -DUSE_SYS_TIME
@@ -92,12 +92,12 @@ test_telemetry.srcs += $(SRC_ARCH)/uart_hw.c
# MODEM_PORT
# MODEM_BAUD
#
test_baro.ARCHDIR = $(ARCHI)
test_baro.ARCHDIR = $(ARCH)
test_baro.CFLAGS = -I$(SRC_LISA) -I$(SRC_ARCH) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_baro.srcs = $(SRC_BOARD)/test_baro.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_baro.srcs = $(SRC_BOARD)/test_baro.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_baro.CFLAGS += -DUSE_LED
test_baro.srcs += $(SRC_ARCH)/led_hw.c
test_baro.CFLAGS += -DUSE_SYS_TIME
@@ -123,13 +123,13 @@ test_baro.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
# RADIO_CONTROL_LED
# RADIO_CONROL_LINK
#
test_rc_spektrum.ARCHDIR = $(ARCHI)
test_rc_spektrum.ARCHDIR = $(ARCH)
test_rc_spektrum.CFLAGS += -I$(SRC_ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_spektrum.CFLAGS += -DUSE_LED
test_rc_spektrum.srcs += $(SRC_ARCH)/led_hw.c
@@ -147,8 +147,8 @@ test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_con
test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM1_UP_IRQ
test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c \
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
$(SRC_BOOZ)/radio_control/booz_radio_control_spektrum.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_spektrum_arch.c
#
@@ -160,14 +160,14 @@ test_rc_spektrum.srcs += $(SRC_BOOZ)/booz_radio_control.c
# MODEM_BAUD
# RADIO_CONTROL_LED
#
test_rc_ppm.ARCHDIR = $(ARCHI)
test_rc_ppm.ARCHDIR = $(ARCH)
test_rc_ppm.CFLAGS += -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
test_rc_ppm.srcs += $(SRC_BOOZ)/test/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_rc_ppm.CFLAGS += -DUSE_LED
test_rc_ppm.srcs += $(SRC_ARCH)/led_hw.c
@@ -177,15 +177,15 @@ test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_rc_ppm.srcs += downlink.c pprz_transport.c
test_rc_ppm.CFLAGS += -DUSE_RADIO_CONTROL
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"radio_control/booz_radio_control_ppm.h\"
test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
test_rc_ppm.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
$(SRC_BOOZ)/radio_control/booz_radio_control_ppm.c \
$(SRC_BOOZ_ARCH)/radio_control/booz_radio_control_ppm_arch.c
test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
#
@@ -196,18 +196,18 @@ test_rc_ppm.CFLAGS += -DUSE_TIM2_IRQ
# MODEM_PORT
# MODEM_BAUD
#
test_adc.ARCHDIR = $(ARCHI)
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_adc.ARCHDIR = $(ARCH)
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adc.srcs = $(SRC_LISA)/test_adc.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_adc.CFLAGS += -DUSE_LED
test_adc.srcs += $(SRC_ARCH)/led_hw.c
test_adc.CFLAGS += -DUSE_SYS_TIME
test_adc.CFLAGS += -DUSE_SYS_TIME
test_adc.CFLAGS +=-DSYS_TIME_LED=$(SYS_TIME_LED)
test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -216,7 +216,7 @@ test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_adc.srcs += $(SRC_ARCH)/uart_hw.c
test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_adc.srcs += downlink.c pprz_transport.c
test_adc.srcs += $(SRC_ARCH)/adc_hw.c
@@ -231,17 +231,17 @@ test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
# MODEM_PORT
# MODEM_BAUD
#
test_imu_b2.ARCHDIR = $(ARCHI)
test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.ARCHDIR = $(ARCH)
test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_b2.CFLAGS += -DUSE_LED
test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
test_imu_b2.CFLAGS += -DUSE_SYS_TIME
test_imu_b2.CFLAGS += -DUSE_SYS_TIME
test_imu_b2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
@@ -249,7 +249,7 @@ test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_imu_b2.srcs += downlink.c pprz_transport.c
test_imu_b2.srcs += math/pprz_trig_int.c
@@ -269,12 +269,12 @@ test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peri
#
# test IMU aspirin
#
test_imu_aspirin.ARCHDIR = $(ARCHI)
test_imu_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_aspirin.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_imu_aspirin.CFLAGS += -DUSE_LED
test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
@@ -293,8 +293,8 @@ test_imu_aspirin.srcs += math/pprz_trig_int.c
test_imu_aspirin.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS
test_imu_aspirin.srcs += $(SRC_BOOZ)/booz_imu.c \
$(SRC_BOOZ)/imu/booz_imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
$(SRC_BOOZ)/imu/booz_imu_aspirin.c \
$(SRC_BOOZ_ARCH)/imu/booz_imu_aspirin_arch.c
test_imu_aspirin.CFLAGS += -DUSE_I2C2
test_imu_aspirin.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -314,12 +314,12 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# test hmc5843
#
test_hmc5843.ARCHDIR = $(ARCHI)
test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -Ibooz -DPERIPHERALS_AUTO_INIT
test_hmc5843.ARCHDIR = $(ARCH)
test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT
test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_hmc5843.srcs = lisa/test/lisa_test_hmc5843.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_hmc5843.CFLAGS += -DUSE_LED
test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
@@ -329,7 +329,7 @@ test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
test_hmc5843.srcs += downlink.c pprz_transport.c
test_hmc5843.CFLAGS += -DUSE_I2C2
@@ -341,12 +341,12 @@ test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
#
# test ITG3200
#
test_itg3200.ARCHDIR = $(ARCHI)
test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_itg3200.ARCHDIR = $(ARCH)
test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_itg3200.srcs += lisa/test/lisa_test_itg3200.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_itg3200.CFLAGS += -DUSE_LED
test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
@@ -369,12 +369,12 @@ test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
#
# test adxl345 with DMA
#
test_adxl345.ARCHDIR = $(ARCHI)
test_adxl345.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_adxl345.ARCHDIR = $(ARCH)
test_adxl345.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_adxl345.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adxl345.srcs += lisa/test/lisa_test_adxl345_dma.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_adxl345.CFLAGS += -DUSE_LED
test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
@@ -397,12 +397,12 @@ test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# simple test of mikrokopter motor controllers
#
test_esc_mkk_simple.ARCHDIR = $(ARCHI)
test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_esc_mkk_simple.ARCHDIR = $(ARCH)
test_esc_mkk_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_esc_mkk_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_esc_mkk_simple.CFLAGS += -DUSE_LED
test_esc_mkk_simple.srcs += $(SRC_ARCH)/led_hw.c
test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -415,12 +415,12 @@ test_esc_mkk_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# simple test of asctec v1 motor controllers
#
test_esc_asctecv1_simple.ARCHDIR = $(ARCHI)
test_esc_asctecv1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_esc_asctecv1_simple.ARCHDIR = $(ARCH)
test_esc_asctecv1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_esc_asctecv1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_esc_asctecv1_simple.srcs = test/test_esc_asctecv1_simple.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_esc_asctecv1_simple.CFLAGS += -DUSE_LED
test_esc_asctecv1_simple.srcs += $(SRC_ARCH)/led_hw.c
test_esc_asctecv1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
@@ -433,12 +433,12 @@ test_esc_asctecv1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators mkk
#
test_actuators_mkk.ARCHDIR = $(ARCHI)
test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_mkk.ARCHDIR = $(ARCH)
test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_mkk.srcs = test/test_actuators.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_actuators_mkk.CFLAGS += -DUSE_LED
test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
@@ -450,7 +450,7 @@ test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_actuators_mkk.srcs += downlink.c pprz_transport.c
test_actuators_mkk.srcs += $(SRC_BOOZ)/booz2_commands.c
@@ -463,12 +463,12 @@ test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators asctecv1
#
test_actuators_asctecv1.ARCHDIR = $(ARCHI)
test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_asctecv1.ARCHDIR = $(ARCH)
test_actuators_asctecv1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_asctecv1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_asctecv1.srcs = test/test_actuators.c \
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
$(SRC_ARCH)/stm32_exceptions.c \
$(SRC_ARCH)/stm32_vector_table.c
test_actuators_asctecv1.CFLAGS += -DUSE_LED
test_actuators_asctecv1.srcs += $(SRC_ARCH)/led_hw.c
@@ -480,7 +480,7 @@ test_actuators_asctecv1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
test_actuators_asctecv1.srcs += $(SRC_ARCH)/uart_hw.c
test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_actuators_asctecv1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
test_actuators_asctecv1.srcs += downlink.c pprz_transport.c
test_actuators_asctecv1.srcs += $(SRC_BOOZ)/booz2_commands.c
@@ -488,4 +488,3 @@ test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
test_actuators_asctecv1.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
test_actuators_asctecv1.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
conf/autopilot/lisa_test_progs.makefile
+97 -97
View File
@@ -116,12 +116,12 @@ overo_test_passthrough.srcs += $(SRC_FMS)/fms_network.c
#
################################################################################
ARCHI=stm32
SRC_ARCH=$(ARCHI)
ARCH=stm32
SRC_ARCH=$(ARCH)
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCHI)
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCHI)
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
#BOARD_CFG=\"boards/olimex_stm32-h103.h\"
BOARD_CFG=\"boards/lisa_l_1.0.h\"
@@ -131,8 +131,8 @@ FLASH_MODE = JTAG
#
# test leds
#
test_led.ARCHDIR = $(ARCHI)
test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_led.ARCHDIR = $(ARCH)
test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_led.srcs += $(SRC_LISA)/test_led.c \
$(SRC_ARCH)/led_hw.c \
@@ -144,8 +144,8 @@ test_led.CFLAGS += -DUSE_LED
#
# test leds2
#
test_led2.ARCHDIR = $(ARCHI)
test_led2.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_led2.ARCHDIR = $(ARCH)
test_led2.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_led2.CFLAGS += -DBOARD_CONFIG=\"boards/lisa_0.99.h\"
test_led2.srcs += $(SRC_LISA)/test_led2.c \
$(SRC_LISA)/exceptions.c \
@@ -156,8 +156,8 @@ test_led2.CFLAGS += -DUSE_LED
#
# test periodic
#
test_periodic.ARCHDIR = $(ARCHI)
test_periodic.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_periodic.ARCHDIR = $(ARCH)
test_periodic.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_periodic.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_periodic.srcs += $(SRC_LISA)/test_periodic.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -172,8 +172,8 @@ test_periodic.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#
# test uart
#
test_uart.ARCHDIR = $(ARCHI)
test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_uart.ARCHDIR = $(ARCH)
test_uart.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_uart.srcs = $(SRC_LISA)/test_uart.c \
$(SRC_LISA)/exceptions.c \
@@ -190,8 +190,8 @@ test_uart.srcs += $(SRC_ARCH)/uart_hw.c
#
# test telemetry1
#
test_telemetry1.ARCHDIR = $(ARCHI)
test_telemetry1.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry1.ARCHDIR = $(ARCH)
test_telemetry1.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry1.srcs = $(SRC_LISA)/test_telemetry.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -210,8 +210,8 @@ test_telemetry1.srcs += downlink.c pprz_transport.c
#
# test telemetry2
#
test_telemetry2.ARCHDIR = $(ARCHI)
test_telemetry2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry2.ARCHDIR = $(ARCH)
test_telemetry2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry2.srcs = $(SRC_LISA)/test_telemetry.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -230,8 +230,8 @@ test_telemetry2.srcs += downlink.c pprz_transport.c
#
# test telemetry3
#
test_telemetry3.ARCHDIR = $(ARCHI)
test_telemetry3.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_telemetry3.ARCHDIR = $(ARCH)
test_telemetry3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_telemetry3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_telemetry3.srcs = $(SRC_LISA)/test_telemetry.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -249,8 +249,8 @@ test_telemetry3.srcs += downlink.c pprz_transport.c
#
# test datalink
#
test_datalink.ARCHDIR = $(ARCHI)
test_datalink.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_datalink.ARCHDIR = $(ARCH)
test_datalink.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_datalink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_datalink.srcs = $(SRC_LISA)/test_datalink.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -270,8 +270,8 @@ test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
#
# tunnel
#
tunnel.ARCHDIR = $(ARCHI)
tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
tunnel.ARCHDIR = $(ARCH)
tunnel.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
tunnel.srcs += $(SRC_LISA)/test/lisa_tunnel.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -300,8 +300,8 @@ tunnel.srcs += $(SRC_ARCH)/uart_hw.c
#
# test float
#
test_float.ARCHDIR = $(ARCHI)
test_float.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_float.ARCHDIR = $(ARCH)
test_float.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_float.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_float.srcs = $(SRC_LISA)/test_float.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -320,8 +320,8 @@ test_float.srcs += lisa/plug_sys.c
#
# test bswap
#
test_bswap.ARCHDIR = $(ARCHI)
test_bswap.CFLAGS = -I$(SRC_LISA) -I$(ARCHI)
test_bswap.ARCHDIR = $(ARCH)
test_bswap.CFLAGS = -I$(SRC_LISA) -I$(ARCH)
test_bswap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_bswap.srcs = $(SRC_LISA)/test/test_bswap.c \
@@ -334,8 +334,8 @@ test_bswap.srcs = $(SRC_LISA)/test/test_bswap.c \
SRC_BOOZ = booz
SRC_BOOZ_TEST = $(SRC_BOOZ)/test
test_rc_24.ARCHDIR = $(ARCHI)
test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
test_rc_24.ARCHDIR = $(ARCH)
test_rc_24.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -DPERIPHERALS_AUTO_INIT
test_rc_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_rc_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -367,10 +367,10 @@ test_rc_24.srcs += $(SRC_BOOZ)/booz_radio_control.c \
# test servos
#
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCHI)
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
test_servos.ARCHDIR = $(ARCHI)
test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_servos.ARCHDIR = $(ARCH)
test_servos.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_servos.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_servos.LDFLAGS += -lm
test_servos.srcs += $(SRC_LISA)/test_servos.c \
@@ -398,8 +398,8 @@ test_servos.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/
#
# test IMU b2
#
test_imu_b2.ARCHDIR = $(ARCHI)
test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.ARCHDIR = $(ARCH)
test_imu_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -432,8 +432,8 @@ test_imu_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peri
#
# test IMU crista
#
test_imu_crista.ARCHDIR = $(ARCHI)
test_imu_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_crista.ARCHDIR = $(ARCH)
test_imu_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_crista.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -464,8 +464,8 @@ test_imu_crista.CFLAGS += -DUSE_DMA1_C4_IRQ
#
# test IMU aspirin
#
test_imu_aspirin.ARCHDIR = $(ARCHI)
test_imu_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_imu_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_imu_aspirin.srcs += $(SRC_BOOZ_TEST)/booz_test_imu.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -507,8 +507,8 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# test motor controllers
#
test_mc.ARCHDIR = $(ARCHI)
test_mc.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_mc.ARCHDIR = $(ARCH)
test_mc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_mc.srcs = $(SRC_LISA)/test_mc.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -523,8 +523,8 @@ test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#
# test motor controllers with interrupts
#
test_mc2.ARCHDIR = $(ARCHI)
test_mc2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_mc2.ARCHDIR = $(ARCH)
test_mc2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_mc2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_mc2.srcs = $(SRC_LISA)/test_mc2.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -541,8 +541,8 @@ test_mc2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test motor controllers asctec with interrupts
#
test_mc_asctec_v1_simple.ARCHDIR = $(ARCHI)
test_mc_asctec_v1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_mc_asctec_v1_simple.ARCHDIR = $(ARCH)
test_mc_asctec_v1_simple.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_mc_asctec_v1_simple.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_mc_asctec_v1_simple.srcs = $(SRC_LISA)/test/test_mc_asctec_v1_simple.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -564,8 +564,8 @@ test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c
#
# test motor controllers asctec2 with interrupts
#
test_mc5.ARCHDIR = $(ARCHI)
test_mc5.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_mc5.ARCHDIR = $(ARCH)
test_mc5.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_mc5.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_mc5.srcs = $(SRC_LISA)/test_mc5.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -584,8 +584,8 @@ test_mc5.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators mkk
#
test_actuators_mkk.ARCHDIR = $(ARCHI)
test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_mkk.ARCHDIR = $(ARCH)
test_actuators_mkk.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_mkk.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_mkk.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -618,8 +618,8 @@ test_actuators_mkk.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test actuators asctec
#
test_actuators_asctec.ARCHDIR = $(ARCHI)
test_actuators_asctec.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_asctec.ARCHDIR = $(ARCH)
test_actuators_asctec.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_actuators_asctec.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_actuators_asctec.srcs = $(SRC_LISA)/test/lisa_test_actuators_mkk.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -656,8 +656,8 @@ test_actuators_asctec.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test motor controllers asctec
#
test_mc3.ARCHDIR = $(ARCHI)
test_mc3.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_mc3.ARCHDIR = $(ARCH)
test_mc3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_mc3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_mc3.srcs = $(SRC_LISA)/test_mc3.c \
$(SRC_LISA)/exceptions.c \
@@ -673,8 +673,8 @@ test_mc3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
#
# test baro
#
test_baro.ARCHDIR = $(ARCHI)
test_baro.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_baro.ARCHDIR = $(ARCH)
test_baro.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_baro.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_baro.srcs = $(SRC_LISA)/test_baro.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -695,8 +695,8 @@ test_baro.srcs += downlink.c pprz_transport.c
#
# test baro with interrupts
#
test_baro2.ARCHDIR = $(ARCHI)
test_baro2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_baro2.ARCHDIR = $(ARCH)
test_baro2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_baro2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_baro2.srcs = $(SRC_LISA)/test_baro2.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -721,8 +721,8 @@ test_baro2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# another baro test with interrupts
#
test_baro3.ARCHDIR = $(ARCHI)
test_baro3.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_baro3.ARCHDIR = $(ARCH)
test_baro3.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_baro3.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_baro3.srcs = $(SRC_LISA)/test_baro3.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -747,8 +747,8 @@ test_baro3.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
#
# test spi slave ( hardcoded SPI without DMA )
#
test_spi_slave.ARCHDIR = $(ARCHI)
test_spi_slave.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_spi_slave.ARCHDIR = $(ARCH)
test_spi_slave.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_spi_slave.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_spi_slave.srcs = $(SRC_LISA)/test_spi_slave.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -768,8 +768,8 @@ test_spi_slave.srcs += downlink.c pprz_transport.c
#
# test spi slave2 ( hardcoded SPI with DMA )
#
test_spi_slave2.ARCHDIR = $(ARCHI)
test_spi_slave2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_spi_slave2.ARCHDIR = $(ARCH)
test_spi_slave2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_spi_slave2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_spi_slave2.srcs = $(SRC_LISA)/test_spi_slave2.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -789,8 +789,8 @@ test_spi_slave2.srcs += downlink.c pprz_transport.c
#
# test spi link between overo and stm32
#
stm_test_spi_link.ARCHDIR = $(ARCHI)
stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCHI) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
stm_test_spi_link.ARCHDIR = $(ARCH)
stm_test_spi_link.CFLAGS += -Ilisa -Ilisa/arch/$(ARCH) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
stm_test_spi_link.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
stm_test_spi_link.srcs += lisa/stm_test_spi_link.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -817,8 +817,8 @@ stm_test_spi_link.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link
#
# test static
#
test_static.ARCHDIR = $(ARCHI)
test_static.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_static.ARCHDIR = $(ARCH)
test_static.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_static.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_static.srcs = $(SRC_LISA)/test_static.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -829,8 +829,8 @@ test_static.srcs = $(SRC_LISA)/test_static.c \
#
# test SC18IS600
#
test_sc18is600.ARCHDIR = $(ARCHI)
test_sc18is600.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_sc18is600.ARCHDIR = $(ARCH)
test_sc18is600.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_sc18is600.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_sc18is600.srcs += lisa/test/lisa_test_sc18is600.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -859,8 +859,8 @@ test_sc18is600.srcs += $(SRC_BOOZ)/peripherals/booz_sc18is600.c \
#
# test Max1168
#
test_max1168.ARCHDIR = $(ARCHI)
test_max1168.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_max1168.ARCHDIR = $(ARCH)
test_max1168.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_max1168.srcs = $(SRC_LISA)/test/lisa_test_max1168.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -886,8 +886,8 @@ test_max1168.srcs += downlink.c pprz_transport.c
#
# test ms2001
#
test_ms2001.ARCHDIR = $(ARCHI)
test_ms2001.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_ms2001.ARCHDIR = $(ARCH)
test_ms2001.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_ms2001.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_ms2001.srcs = $(SRC_LISA)/test/lisa_test_ms2001.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -915,8 +915,8 @@ test_ms2001.srcs += downlink.c pprz_transport.c
#
# test adxl345
#
test_adxl345.ARCHDIR = $(ARCHI)
test_adxl345.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_adxl345.ARCHDIR = $(ARCH)
test_adxl345.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_adxl345.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adxl345.srcs += lisa/test/lisa_test_adxl345.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -940,8 +940,8 @@ test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ # Acc Int on PD2
#
# test adxl345 with DMA
#
test_adxl345_dma.ARCHDIR = $(ARCHI)
test_adxl345_dma.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_adxl345_dma.ARCHDIR = $(ARCH)
test_adxl345_dma.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_adxl345_dma.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adxl345_dma.srcs += lisa/test/lisa_test_adxl345_dma.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -969,8 +969,8 @@ test_adxl345_dma.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# test ITG3200
#
test_itg3200.ARCHDIR = $(ARCHI)
test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_itg3200.ARCHDIR = $(ARCH)
test_itg3200.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_itg3200.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_itg3200.srcs += lisa/test/lisa_test_itg3200.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -997,8 +997,8 @@ test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
#
# test hmc5843
#
test_hmc5843.ARCHDIR = $(ARCHI)
test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -Ibooz -DPERIPHERALS_AUTO_INIT
test_hmc5843.ARCHDIR = $(ARCH)
test_hmc5843.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -Ibooz -DPERIPHERALS_AUTO_INIT
test_hmc5843.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_hmc5843.srcs = lisa/test/lisa_test_hmc5843.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -1027,8 +1027,8 @@ test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
#
# test Aspirin ( rewired ) no sc18is600
#
test_aspirin.ARCHDIR = $(ARCHI)
test_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_aspirin.ARCHDIR = $(ARCH)
test_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_aspirin.srcs += lisa/test/lisa_test_aspirin.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -1124,8 +1124,8 @@ ptw.CFLAGS += -DUSE_I2C1
#
# test csc servo
#
test_csc_servo.ARCHDIR = $(ARCHI)
test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_csc_servo.ARCHDIR = $(ARCH)
test_csc_servo.CFLAGS = -I $(SRC_CSC) -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_csc_servo.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_csc_servo.srcs = $(SRC_CSC)/csc_protocol.c \
$(SRC_LISA)/test_csc_servo.c \
@@ -1163,8 +1163,8 @@ test_csc_servo.srcs += can.c $(SRC_ARCH)/can_hw.c
#
# test GPS
#
test_gps.ARCHDIR = $(ARCHI)
test_gps.CFLAGS = -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_gps.ARCHDIR = $(ARCH)
test_gps.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -1194,8 +1194,8 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
#
# test ADC
#
# test_adc.ARCHDIR = $(ARCHI)
# test_adc.CFLAGS = -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
# test_adc.ARCHDIR = $(ARCH)
# test_adc.CFLAGS = -I$(ARCH) -DPERIPHERALS_AUTO_INIT
# test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
# test_adc.srcs += $(SRC_LISA)/test/lisa_test_adc.c \
# $(SRC_ARCH)/stm32_exceptions.c \
@@ -1217,8 +1217,8 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
#
# test adc
#
test_adc.ARCHDIR = $(ARCHI)
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -DPERIPHERALS_AUTO_INIT
test_adc.ARCHDIR = $(ARCH)
test_adc.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
test_adc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_adc.srcs = $(SRC_ARCH)/adc_hw.c \
$(SRC_LISA)/test_adc.c \
@@ -1246,8 +1246,8 @@ test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
#
#
################################################################################
test_board.ARCHDIR = $(ARCHI)
test_board.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_board.ARCHDIR = $(ARCH)
test_board.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
test_board.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
test_board.srcs = $(SRC_LISA)/test/test_board.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -1290,8 +1290,8 @@ test_board.srcs += $(SRC_BOOZ)/actuators/booz_actuators_pwm.c $(SRC_BOOZ_ARCH)/a
#
# Spits every samples of one axis of gyro on IMU aspirin
#
hs_gyro_aspirin.ARCHDIR = $(ARCHI)
hs_gyro_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_aspirin.ARCHDIR = $(ARCH)
hs_gyro_aspirin.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_aspirin.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
hs_gyro_aspirin.srcs += lisa/test/hs_gyro.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -1328,8 +1328,8 @@ hs_gyro_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
#
# Spits every samples of one axis of gyro on IMU b2
#
hs_gyro_b2.ARCHDIR = $(ARCHI)
hs_gyro_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_b2.ARCHDIR = $(ARCH)
hs_gyro_b2.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
hs_gyro_b2.srcs += lisa/test/hs_gyro.c \
$(SRC_ARCH)/stm32_exceptions.c \
@@ -1361,8 +1361,8 @@ hs_gyro_b2.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/perip
#
# Spits every samples of one axis of gyro on IMU crista
#
hs_gyro_crista.ARCHDIR = $(ARCHI)
hs_gyro_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCHI) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_crista.ARCHDIR = $(ARCH)
hs_gyro_crista.CFLAGS = -I$(SRC_LISA) -I$(ARCH) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
hs_gyro_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
hs_gyro_crista.srcs += lisa/test/hs_gyro.c \
$(SRC_ARCH)/stm32_exceptions.c \
conf/autopilot/mercury_csc.makefile
+11 -11
View File
@@ -1,6 +1,6 @@
#
# $Id$
#
#
# Copyright (C) 2009 Antoine Drouin
#
# This file is part of paparazzi.
@@ -18,11 +18,11 @@
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
# Boston, MA 02111-1307, USA.
#
#
ARCHI=lpc21
ARCH=lpc21
FLASH_MODE = ISP
LPC21ISP_PORT = /dev/ttyUSB0
@@ -40,9 +40,9 @@ BOARD_CFG = \"csc_board_v1_0.h\"
SRC_CSC=csc
SRC_CSC_ARCH=$(SRC_CSC)/$(ARCHI)
SRC_CSC_ARCH=$(SRC_CSC)/$(ARCH)
ap.ARCHDIR = $(ARCHI)
ap.ARCHDIR = $(ARCH)
ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_CSC_ARCH)
ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
@@ -51,7 +51,7 @@ ap.CFLAGS += -DLED -DTIME_LED=1
ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
ap.CFLAGS += -DUSE_PWM_INPUT
ap.CFLAGS += -DUSE_PWM_INPUT
ap.CFLAGS += -DUSE_PWM_INPUT1
ap.CFLAGS += -DUSE_PWM_INPUT2
ap.CFLAGS += -DUSE_VANE_SENSOR
@@ -66,7 +66,7 @@ ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
#ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
# -DDOWNLINK_DEVICE=Uart0
# -DDOWNLINK_DEVICE=Uart0
#ap.srcs += downlink.c pprz_transport.c
@@ -74,7 +74,7 @@ ap.CFLAGS += -DAP_LINK_CAN -DCAN_LED=2
ap.CFLAGS += -DUSE_CAN1 #-DCAN1_BTR=CANBitrate125k_3MHz
ap.CFLAGS += -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
ap.srcs += $(SRC_CSC)/csc_can.c
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUART0_VIC_SLOT=5
ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUART0_VIC_SLOT=5
#ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
@@ -92,7 +92,7 @@ ap.CFLAGS += -DERROR_LED=4
#
# test uart
#
test_uart.ARCHDIR = $(ARCHI)
test_uart.ARCHDIR = $(ARCH)
test_uart.CFLAGS += -I$(SRC_CSC)
@@ -108,7 +108,7 @@ test_uart.srcs += $(SRC_ARCH)/uart_hw.c
test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
-DDOWNLINK_DEVICE=Uart1
-DDOWNLINK_DEVICE=Uart1
test_uart.srcs += downlink.c pprz_transport.c
@@ -116,7 +116,7 @@ test_uart.srcs += downlink.c pprz_transport.c
# TEST CAN1
#
test_can1.ARCHDIR = $(ARCHI)
test_can1.ARCHDIR = $(ARCH)
test_can1.CFLAGS += -I$(SRC_CSC)
conf/autopilot/sitl.makefile
+1 -1
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@@ -1,4 +1,4 @@
sim.ARCHDIR = $(ARCHI)
sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
conf/autopilot/sitl_jsbsim.makefile
+2 -3
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@@ -1,14 +1,13 @@
jsbsim.ARCHDIR = $(ARCHI)
jsbsim.ARCHDIR = $(ARCH)
# external libraries
jsbsim.CFLAGS = -I$(SIMDIR) -I/usr/include `pkg-config glib-2.0 --cflags`
jsbsim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/usr/lib -lJSBSim
jsbsim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c
jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c
jsbsim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c
# Choose in your airframe file type of airframe
# jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
# jsbsim.srcs += $(SIMDIR)/sim_ac_booz.c
conf/autopilot/sitl_link_pprz.makefile
+2 -2
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@@ -1,3 +1,3 @@
sim.ARCHDIR = $(ARCHI)
sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DINFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DDOWNLINK_AP_DEVICE=SimUart -DDOWNLINK_FBW_DEVICE=SimUart -DDATALINK=PPRZ
sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c datalink.c
sim.srcs = radio_control.c downlink.c pprz_transport.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c datalink.c
conf/autopilot/sitl_link_xbee.makefile
+2 -2
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@@ -1,3 +1,3 @@
sim.ARCHDIR = $(ARCHI)
sim.ARCHDIR = $(ARCH)
sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DINFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DSIM_XBEE -DXBEE_UART=SimUart
sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c
sim.srcs = radio_control.c downlink.c xbee.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c cam.c sys_time.c main_fbw.c main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/sim_uart.c
conf/autopilot/twin_avr.makefile
+4 -4
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@@ -1,6 +1,6 @@
ARCHI=avr
ARCH=avr
ap.ARCHDIR = $(ARCHI)
ap.ARCHDIR = $(ARCH)
ap.MCU = atmega128
ap.LOW_FUSE = a0
ap.HIGH_FUSE = 99
@@ -8,7 +8,7 @@ ap.EXT_FUSE = ff
ap.LOCK_FUSE = ff
ap.CFLAGS += -DAP
fbw.ARCHDIR = $(ARCHI)
fbw.ARCHDIR = $(ARCH)
fbw.MCU = atmega8
fbw.LOW_FUSE = 2e
fbw.HIGH_FUSE = cb
@@ -16,6 +16,6 @@ fbw.EXT_FUSE = ff
fbw.LOCK_FUSE = ff
fbw.CFLAGS += -DFBW
tunnel.ARCHDIR = $(ARCHI)
tunnel.ARCHDIR = $(ARCH)
tunnel.MCU = atmega128
tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
conf/boards/booz_1.0.makefile
-1
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@@ -4,7 +4,6 @@
# http://paparazzi.enac.fr/wiki/Booz
#
ARCH=lpc21
ARCHI=lpc21
BOARD=booz
BOARD_VERSION=1.0
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
conf/boards/classix.makefile
-1
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@@ -5,7 +5,6 @@
#
ARCH=lpc21
ARCHI=arm7
BOARD=classix
conf/boards/lisa_l_1.0.makefile
+3 -4
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@@ -11,16 +11,15 @@ BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
# -----------------------------------------------------------------------
ifeq ($(BOARD_PROCESSOR),'omap')
ARCHI = omap
ARCH = omap
$(TARGET).LDFLAGS += -levent -lm
# -----------------------------------------------------------------------
else
ARCH=stm32
ARCHI=stm32
$(TARGET).ARCHDIR = $(ARCHI)
$(TARGET).ARCHDIR = $(ARCH)
# not needed?
endif
@@ -59,4 +58,4 @@ GPS_LED = 3
MAX_1168_DRDY_PORT = _GPIOD
MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOD
# v1.1
#MAX_1168_DRDY_PORT = GPIOB
#MAX_1168_DRDY_PORT = GPIOB
conf/boards/pc.makefile
+1 -2
View File
@@ -5,7 +5,6 @@
#
ARCH=sim
ARCHI=sim
BOARD = pc
BOARD_VERSION=
@@ -14,5 +13,5 @@ BOARD_VERSION=
BOARD_CFG = \"tiny.h\"
$(TARGET).ARCHDIR = $(ARCHI)
$(TARGET).ARCHDIR = $(ARCH)
conf/boards/tiny_2.11.makefile
+1 -4
View File
@@ -3,11 +3,8 @@
#
# http://paparazzi.enac.fr/wiki/Tiny_v2
#
# TODO: move all to new directories
# ARCH=lpc21
ARCH=lpc21
ARCHI=arm7
ARCH=lpc21
BOARD=tiny
BOARD_VERSION=2.11