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compilation of a new plane now works from the system

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This commit is contained in:
Pascal Brisset
2005-02-24 17:06:26 +00:00
parent c1622f28ed
commit fc00c0022c
9 changed files with 85 additions and 41 deletions
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Makefile
+1 -1
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@@ -61,7 +61,7 @@ configurator: lib
cd $(CONFIGURATOR); $(MAKE)
sim_static :
cd $(SIMULATOR); $(MAKE)
cd $(SIMULATOR); $(MAKE) PAPARAZZI_SRC=$(PAPARAZZI_SRC)
sim_sitl :
cd $(SIMULATOR); $(MAKE) sim_sitl PAPARAZZI_HOME=$(PAPARAZZI_SRC) PAPARAZZI_SRC=$(PAPARAZZI_SRC) AIRCRAFT=$(AIRCRAFT)
Makefile.gen
+2
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@@ -41,11 +41,13 @@ $(MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry_ap > $$TMP_FILE;\
mv $$TMP_FILE $@
chmod a+r $@
$(FBW_MESSAGES_H) : $(MESSAGES_XML) $(CONF_XML)
TMP_FILE=`mktemp`;\
$(TOOLS)/gen_messages.out $< telemetry_fbw > $$TMP_FILE;\
mv $$TMP_FILE $@
chmod a+r $@
$(UBX_PROTOCOL_H) : $(UBX_XML) $(CONF_XML)
$(TOOLS)/gen_ubx.out $< > /tmp/ubx.h
Makefile.sys
+52
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@@ -0,0 +1,52 @@
# Paparazzi main $Id$
# Copyright (C) 2004 Pascal Brisset Antoine Drouin
#
# This file is part of paparazzi.
#
# paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# 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.
PAPARAZZI_DIR=/usr/share/paparazzi
ifeq ($(PAPARAZZI_HOME),)
PAPARAZZI_HOME=$(HOME)/paparazzi
endif
ac: ac_h sim_ac ap fbw
sim_ac : sim_sitl
ac_h :
$(PAPARAZZI_DIR)/bin/gen_aircraft.out $(AIRCRAFT)
sim_sitl :
cd $(PAPARAZZI_DIR)/sw/simulator; $(MAKE) sim_sitl AIRCRAFT=$(AIRCRAFT)
clean_ac :
rm -fr $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
run_sitl :
$(PAPARAZZI_HOME)/var/$(AIRCRAFT)/sim/simsitl
ap:
cd $(PAPARAZZI_DIR)/sw/airborne/autopilot; $(MAKE) all
fbw:
cd $(PAPARAZZI_DIR)/sw/airborne/fly_by_wire; $(MAKE) all
upload_ap:
cd $(PAPARAZZI_DIR)/sw/airborne/autopilot; $(MAKE) upload
upload_fbw:
cd $(PAPARAZZI_DIR)/sw/airborne/fly_by_wire; $(MAKE) upload
conf/install.xml
+11 -16
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@@ -15,8 +15,8 @@
<file name="sw/ground_segment/tmtc/receive"/>
<file name="sw/ground_segment/visu3d/mapGL"/>
<file name="sw/logalizer/play"/>
<file name="sw/simulator/gen_downlink"/>
<file name="sw/simulator/simsitl.pl"/>
<file name="sw/tools/gen_sim_downlink.out"/>
<file name="sw/tools/gen_aircraft.out"/>
<file name="sw/tools/gen_airframe.out"/>
<file name="sw/tools/gen_calib.out"/>
@@ -115,7 +115,8 @@
</section>
<section name="main_makefiles" dest="share/paparazzi/">
<file name="Makefile"/>
<file name="Makefile.sys"/>
<file name="pprz_src_test.sh"/>
<file name="Makefile.gen"/>
<file name="Makefile.ac"/>
</section>
@@ -141,6 +142,7 @@
<section name="sw_tools" dest="share/paparazzi/sw/tools" comment="ocaml objects">
<file name="sw/tools/gen_aircraft.ml"/>
<file name="sw/tools/gen_sim_downlink.ml"/>
<file name="sw/tools/gen_airframe.ml"/>
<file name="sw/tools/gen_calib.ml"/>
<file name="sw/tools/gen_radio.ml"/>
@@ -182,29 +184,16 @@
<section name="sw_simulator" dest="share/paparazzi/sw/simulator" comment="ocaml objects and C hooks for airborne code simulation">
<file name="sw/simulator/Makefile"/>
<file name="sw/simulator/data.ml"/>
<file name="sw/simulator/events.ml"/>
<file name="sw/simulator/flightModel.ml"/>
<file name="sw/simulator/flightModel.mli"/>
<file name="sw/simulator/flightModelHeli.ml.sav"/>
<file name="sw/simulator/gps.ml"/>
<file name="sw/simulator/gui.ml"/>
<file name="sw/simulator/hitl.ml"/>
<file name="sw/simulator/hitl.mli"/>
<file name="sw/simulator/sim.cmi"/>
<file name="sw/simulator/sim_ap.c"/>
<file name="sw/simulator/sim_gps.c"/>
<file name="sw/simulator/sim_ir.c"/>
<file name="sw/simulator/simhitl.ml"/>
<file name="sw/simulator/simsitl.ml"/>
<file name="sw/simulator/simsitl.pl"/>
<file name="sw/simulator/sirf.ml"/>
<file name="sw/simulator/sitl.cma"/>
<file name="sw/simulator/sitl.cmi"/>
<file name="sw/simulator/stdlib.ml"/>
<file name="sw/simulator/timer.h"/>
<file name="sw/simulator/types.ml"/>
<file name="sw/simulator/gen_downlink.ml"/>
</section>
<section name="sw_include" dest="share/paparazzi/sw/include" comment="common headers for airborne code">
@@ -267,7 +256,13 @@
</section>
<section name="var_log" dest="share/paparazzi/var/logs">
<!-- <file name="var/logs/04_12_29__15_11_08.log"/> -->
<file name="var/logs/04_12_29__15_11_08.log"/>
</section>
<section name="var_include" dest="share/paparazzi/var/include">
<file name="var/include/fbw_messages.h"/>
<file name="var/include/messages.h"/>
<file name="var/include/ubx_protocol.h"/>
</section>
<section name="var_Thon1_sim" dest="share/paparazzi/var/Thon1/sim">
sw/airborne/autopilot/Makefile
+5 -5
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@@ -82,11 +82,11 @@ warn_conf :
@echo
.depend : $(VARINCLUDE)/messages.h $(ACINCLUDE)/flight_plan.h $(VARINCLUDE)/ubx_protocol.h $(ACINCLUDE)/inflight_calib.h $(ACINCLUDE)/airframe.h $(ACINCLUDE)/radio.h
main.o : $(VARINCLUDE)/messages.h
nav.o : $(ACINCLUDE)/flight_plan.h
gps_ubx.o : $(VARINCLUDE)/ubx_protocol.h
if_calib.o : $(ACINCLUDE)/inflight_calib.h
$(OBJDIR)/.depend : $(VARINCLUDE)/messages.h $(ACINCLUDE)/flight_plan.h $(VARINCLUDE)/ubx_protocol.h $(ACINCLUDE)/inflight_calib.h $(ACINCLUDE)/airframe.h $(ACINCLUDE)/radio.h
$(OBJDIR)/main.o : $(VARINCLUDE)/messages.h
$(OBJDIR)/nav.o : $(ACINCLUDE)/flight_plan.h
$(OBJDIR)/gps_ubx.o : $(VARINCLUDE)/ubx_protocol.h
$(OBJDIR)/if_calib.o : $(ACINCLUDE)/inflight_calib.h
clean : avr_clean
rm -f *.out *.cm* messages.h flight_plan.h ubx_protocol.h inflight_calib.h
sw/airborne/fly_by_wire/Makefile
+1 -1
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@@ -71,7 +71,7 @@ warn_conf :
@echo
main.o .depend : $(ACINCLUDE)/radio.h $(ACINCLUDE)/airframe.h
$(OBJDIR)/main.o $(OBJDIR)/.depend : $(ACINCLUDE)/radio.h $(ACINCLUDE)/airframe.h
clean : avr_clean
sw/simulator/Makefile
+11 -16
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@@ -47,7 +47,7 @@ VARINCLUDE=$(PAPARAZZI_HOME)/var/include
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
MESSAGES = ../../conf/messages.xml
GEN_DOWNLINK = ./gen_downlink
GEN_DOWNLINK = $(TOOLS)/gen_sim_downlink.out
SIMDIR=$(shell echo `pwd`)
@@ -71,7 +71,7 @@ $(OBJDIR)/$(SIMSA) : $(SIMSO)
touch $(OBJDIR)/dummy.ml
cd $(OBJDIR); ocamlmklib -o sims $^ dummy.ml
$(OBJDIR)/simsitl : $(OBJDIR)/$(SIMSA) sitl.cma $(OBJDIR)/simsitl.ml
$(OBJDIR)/simsitl : $(OBJDIR)/$(SIMSA) $(OBJDIR)/simsitl.ml
$(OCAMLC) $(INCLUDES) -o $@ glibivy-ocaml.cma xml-light.cma unix.cma lib-pprz.cma lablgtk.cma gtkInit.cmo -I $(OBJDIR) $(SIMSA) sitl.cma $(OBJDIR)/simsitl.ml # To check
cat ../../pprz_src_test.sh > $@
echo 'lablgtk2 -I $$PAPARAZZI_SRC/sw/lib/ocaml -I $(OBJDIR) glibivy-ocaml.cma xml-light.cma lib-pprz.cma $(SIMSA) $$PAPARAZZI_SRC/sw/simulator/sitl.cma -I $$PAPARAZZI_SRC/sw/simulator $(OBJDIR)/simsitl.ml $$*' >> $@
@@ -89,7 +89,7 @@ $(OBJDIR)/%.o : $(AP)/%.c
$(OBJDIR)/main.o : $(OBJDIR)/main.c
$(OCAMLCC) -c -o $@ -I $(SIMDIR) -I $(FBW) -I $(AP) -I ../include -I $(VARINCLUDE) $<
sim_gps.o nav.o main.o sim_ir.o sim_ap.o pid.o estimator.o : $(ACINCLUDE)/flight_plan.h $(ACINCLUDE)/airframe.h
$(OBJDIR)/sim_gps.o $(OBJDIR)/nav.o $(OBJDIR)/main.o $(OBJDIR)/sim_ir.o $(OBJDIR)/sim_ap.o $(OBJDIR)/pid.o $(OBJDIR)/estimator.o : $(ACINCLUDE)/flight_plan.h $(ACINCLUDE)/airframe.h
$(OBJDIR)/main.c : $(OBJDIR)/downlink.h
cp $(AP)/main.c $(@)
@@ -97,12 +97,6 @@ $(OBJDIR)/main.c : $(OBJDIR)/downlink.h
$(OBJDIR)/downlink.h : $(MESSAGES) $(GEN_DOWNLINK)
$(GEN_DOWNLINK) $< > $@
$(GEN_DOWNLINK) : gen_downlink.ml
$(OCAMLC) $(INCLUDES) -o $@ str.cma xml-light.cma lib-pprz.cma $< # To check
cat ../../pprz_src_test.sh > $@
echo 'ocaml -I $$PAPARAZZI_SRC/sw/lib/ocaml str.cma xml-light.cma lib-pprz.cma $$PAPARAZZI_SRC/sw/simulator/$< $$*' >> $@
chmod a+x $@
$(OBJDIR)/simsitl.cmo : $(OBJDIR)/simsitl.ml
$(OCAMLC) $(INCLUDES) -c -o $@ $<
@@ -123,11 +117,12 @@ $(OBJDIR)/simsitl.ml : simsitl.ml
$(OCAMLC) $(INCLUDES) -c $<
clean :
\rm -f *.cm* *~ *.out .depend *.o $(GEN_DOWNLINK)
\rm -f *.cm* *~ *.out .depend *.o
.depend:
ocamldep *.ml* > .depend
ifneq ($(MAKECMDGOALS),clean)
-include .depend
endif
flightModel.cmo: flightModel.cmi
hitl.cmo: hitl.cmi
sim.cmo: flightModel.cmi sim.cmi
simhitl.cmo: hitl.cmi sim.cmi
simsitl.cmo: sim.cmi sitl.cmi
sitl.cmo: sitl.cmi
sitl.cmi: sim.cmi
sw/tools/Makefile
+1 -1
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@@ -3,7 +3,7 @@ OCAMLC=ocamlc -g -I ../lib/ocaml
OCAMLLEX=ocamllex
OCAMLYACC=ocamlyacc
all: gen_aircraft.out gen_airframe.out gen_calib.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out
all: gen_aircraft.out gen_airframe.out gen_calib.out gen_messages.out gen_ubx.out gen_flight_plan.out gen_radio.out gen_sim_downlink.out
FP_CMO = fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.ml
ABS_FP = $(FP_CMO:%=$$PAPARAZZI_SRC/sw/tools/%)
sw/tools/gen_aircraft.ml
+1 -1
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@@ -11,7 +11,7 @@ let mkdir = fun d ->
let _ =
if Array.length Sys.argv <> 2 then
failwith (sprintf "Usage: %s <xml_airframe_file>" Sys.argv.(0));
failwith (sprintf "Usage: %s <A/C ident (conf.xml)>" Sys.argv.(0));
let aircraft = Sys.argv.(1) in
let conf = Xml.parse_file conf_xml in
let aircraft_xml =