diff --git a/.gitignore b/.gitignore index 56364c34ca..bd992a5421 100644 --- a/.gitignore +++ b/.gitignore @@ -19,6 +19,7 @@ /var /dox +/paparazzi # /conf/ /conf/conf.xml @@ -77,6 +78,7 @@ # /sw/simulator/ /sw/simulator/gaia /sw/simulator/simhitl +/sw/simulator/launchsitl # /sw/supervision/ /sw/supervision/gtk_process.ml diff --git a/Doxyfile b/Doxyfile index fb6c91fc1e..ac741f1ee6 100644 --- a/Doxyfile +++ b/Doxyfile @@ -1,4 +1,4 @@ -# Doxyfile 1.4.2 +# Doxyfile 1.6.3 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project @@ -14,524 +14,669 @@ # Project related configuration options #--------------------------------------------------------------------------- -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# http://www.gnu.org/software/libiconv for the list of possible encodings. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded # by quotes) that should identify the project. -PROJECT_NAME = Paparazzi3 +PROJECT_NAME = Paparazzi -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = 3 +PROJECT_NUMBER = 4 -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location # where doxygen was started. If left blank the current directory will be used. OUTPUT_DIRECTORY = dox -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 4096 sub-directories (in 2 levels) under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of -# source files, where putting all generated files in the same directory would +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would # otherwise cause performance problems for the file system. CREATE_SUBDIRS = NO -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, -# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, -# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, -# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, -# Swedish, and Ukrainian. +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional, +# Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German, +# Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English +# messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian, +# Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrilic, Slovak, +# Slovene, Spanish, Swedish, Ukrainian, and Vietnamese. OUTPUT_LANGUAGE = English -# This tag can be used to specify the encoding used in the generated output. -# The encoding is not always determined by the language that is chosen, -# but also whether or not the output is meant for Windows or non-Windows users. -# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES -# forces the Windows encoding (this is the default for the Windows binary), -# whereas setting the tag to NO uses a Unix-style encoding (the default for -# all platforms other than Windows). - -USE_WINDOWS_ENCODING = NO - -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). # Set to NO to disable this. BRIEF_MEMBER_DESC = YES -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the # brief descriptions will be completely suppressed. REPEAT_BRIEF = YES -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is -# used as the annotated text. Otherwise, the brief description is used as-is. -# If left blank, the following values are used ("$name" is automatically -# replaced with the name of the entity): "The $name class" "The $name widget" -# "The $name file" "is" "provides" "specifies" "contains" +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" # "represents" "a" "an" "the" -ABBREVIATE_BRIEF = +ABBREVIATE_BRIEF = -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief # description. ALWAYS_DETAILED_SEC = NO -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all -# inherited members of a class in the documentation of that class as if those -# members were ordinary class members. Constructors, destructors and assignment +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment # operators of the base classes will not be shown. INLINE_INHERITED_MEMB = NO -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set # to NO the shortest path that makes the file name unique will be used. FULL_PATH_NAMES = YES -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the # path to strip. -STRIP_FROM_PATH = +STRIP_FROM_PATH = -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that # are normally passed to the compiler using the -I flag. -STRIP_FROM_INC_PATH = +STRIP_FROM_INC_PATH = -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful is your file systems +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems # doesn't support long names like on DOS, Mac, or CD-ROM. SHORT_NAMES = NO -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like the Qt-style comments (thus requiring an -# explicit @brief command for a brief description. +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like regular Qt-style comments +# (thus requiring an explicit @brief command for a brief description.) JAVADOC_AUTOBRIEF = NO -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed +# If the QT_AUTOBRIEF tag is set to YES then Doxygen will +# interpret the first line (until the first dot) of a Qt-style +# comment as the brief description. If set to NO, the comments +# will behave just like regular Qt-style comments (thus requiring +# an explicit \brief command for a brief description.) + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed # description. Set this tag to YES if you prefer the old behaviour instead. MULTILINE_CPP_IS_BRIEF = NO -# If the DETAILS_AT_TOP tag is set to YES then Doxygen -# will output the detailed description near the top, like JavaDoc. -# If set to NO, the detailed description appears after the member -# documentation. - -DETAILS_AT_TOP = YES - -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it # re-implements. INHERIT_DOCS = YES -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. - -DISTRIBUTE_GROUP_DOC = NO - -# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce -# a new page for each member. If set to NO, the documentation of a member will +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will # be part of the file/class/namespace that contains it. SEPARATE_MEMBER_PAGES = NO -# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# The TAB_SIZE tag can be used to set the number of spaces in a tab. # Doxygen uses this value to replace tabs by spaces in code fragments. TAB_SIZE = 2 -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". # You can put \n's in the value part of an alias to insert newlines. -ALIASES = +ALIASES = -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C -# sources only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list # of all members will be omitted, etc. OPTIMIZE_OUTPUT_FOR_C = YES -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources -# only. Doxygen will then generate output that is more tailored for Java. -# For instance, namespaces will be presented as packages, qualified scopes -# will look different, etc. +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java +# sources only. Doxygen will then generate output that is more tailored for +# Java. For instance, namespaces will be presented as packages, qualified +# scopes will look different, etc. OPTIMIZE_OUTPUT_JAVA = NO -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources only. Doxygen will then generate output that is more tailored for +# Fortran. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for +# VHDL. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it parses. +# With this tag you can assign which parser to use for a given extension. +# Doxygen has a built-in mapping, but you can override or extend it using this tag. +# The format is ext=language, where ext is a file extension, and language is one of +# the parsers supported by doxygen: IDL, Java, Javascript, C#, C, C++, D, PHP, +# Objective-C, Python, Fortran, VHDL, C, C++. For instance to make doxygen treat +# .inc files as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. Note that for custom extensions you also need to set FILE_PATTERNS otherwise the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should +# set this tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. +# func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only. +# Doxygen will parse them like normal C++ but will assume all classes use public +# instead of private inheritance when no explicit protection keyword is present. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate getter +# and setter methods for a property. Setting this option to YES (the default) +# will make doxygen to replace the get and set methods by a property in the +# documentation. This will only work if the methods are indeed getting or +# setting a simple type. If this is not the case, or you want to show the +# methods anyway, you should set this option to NO. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using # the \nosubgrouping command. SUBGROUPING = YES +# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum +# is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically +# be useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. + +TYPEDEF_HIDES_STRUCT = NO + +# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to +# determine which symbols to keep in memory and which to flush to disk. +# When the cache is full, less often used symbols will be written to disk. +# For small to medium size projects (<1000 input files) the default value is +# probably good enough. For larger projects a too small cache size can cause +# doxygen to be busy swapping symbols to and from disk most of the time +# causing a significant performance penality. +# If the system has enough physical memory increasing the cache will improve the +# performance by keeping more symbols in memory. Note that the value works on +# a logarithmic scale so increasing the size by one will rougly double the +# memory usage. The cache size is given by this formula: +# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0, +# corresponding to a cache size of 2^16 = 65536 symbols + +SYMBOL_CACHE_SIZE = 0 + #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES EXTRACT_ALL = YES -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class # will be included in the documentation. EXTRACT_PRIVATE = YES -# If the EXTRACT_STATIC tag is set to YES all static members of a file +# If the EXTRACT_STATIC tag is set to YES all static members of a file # will be included in the documentation. EXTRACT_STATIC = YES -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. # If set to NO only classes defined in header files are included. EXTRACT_LOCAL_CLASSES = YES -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. # If set to NO (the default) only methods in the interface are included. EXTRACT_LOCAL_METHODS = NO -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base +# name of the file that contains the anonymous namespace. By default +# anonymous namespace are hidden. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_MEMBERS = NO -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = NO -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the # documentation. HIDE_FRIEND_COMPOUNDS = NO -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the # function's detailed documentation block. HIDE_IN_BODY_DOCS = NO -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. # Set it to YES to include the internal documentation. INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows # and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = YES -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen +# will list include files with double quotes in the documentation +# rather than with sharp brackets. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. INLINE_INFO = YES -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in # declaration order. SORT_MEMBER_DOCS = YES -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in # declaration order. SORT_BRIEF_DOCS = NO -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the (brief and detailed) documentation of class members so that constructors and destructors are listed first. If set to NO (the default) the constructors will appear in the respective orders defined by SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the +# hierarchy of group names into alphabetical order. If set to NO (the default) +# the group names will appear in their defined order. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the +# Note: This option applies only to the class list, not to the # alphabetical list. SORT_BY_SCOPE_NAME = NO -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo # commands in the documentation. GENERATE_TODOLIST = YES -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test # commands in the documentation. GENERATE_TESTLIST = YES -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug # commands in the documentation. GENERATE_BUGLIST = YES -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting # \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= YES -# The ENABLED_SECTIONS tag can be used to enable conditional +# The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. -ENABLED_SECTIONS = +ENABLED_SECTIONS = -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or define consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and defines in the -# documentation can be controlled using \showinitializer or \hideinitializer +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer # command in the documentation regardless of this setting. MAX_INITIALIZER_LINES = 30 -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = YES -# If the sources in your project are distributed over multiple directories -# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy -# in the documentation. +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is NO. SHOW_DIRECTORIES = YES -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from the -# version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the progam writes to standard output +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. +# This will remove the Files entry from the Quick Index and from the +# Folder Tree View (if specified). The default is YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the +# Namespaces page. +# This will remove the Namespaces entry from the Quick Index +# and from the Folder Tree View (if specified). The default is YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the program writes to standard output # is used as the file version. See the manual for examples. -FILE_VERSION_FILTER = +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed by +# doxygen. The layout file controls the global structure of the generated output files +# in an output format independent way. The create the layout file that represents +# doxygen's defaults, run doxygen with the -l option. You can optionally specify a +# file name after the option, if omitted DoxygenLayout.xml will be used as the name +# of the layout file. + +LAYOUT_FILE = #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- -# The QUIET tag can be used to turn on/off the messages that are generated +# The QUIET tag can be used to turn on/off the messages that are generated # by doxygen. Possible values are YES and NO. If left blank NO is used. QUIET = NO -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank # NO is used. WARNINGS = YES -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will # automatically be disabled. WARN_IF_UNDOCUMENTED = YES -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that # don't exist or using markup commands wrongly. WARN_IF_DOC_ERROR = YES -# This WARN_NO_PARAMDOC option can be abled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of # documentation. WARN_NO_PARAMDOC = NO -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could # be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written # to stderr. -WARN_LOGFILE = +WARN_LOGFILE = #--------------------------------------------------------------------------- # configuration options related to the input files #--------------------------------------------------------------------------- -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = sw/airborne/booz_priv sw/airborne/booz_priv/ sw/airborne/booz_priv/arm7 sw/airborne/ sw/airborne/arm7 +INPUT = sw/airborne -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx -# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is +# also the default input encoding. Doxygen uses libiconv (or the iconv built +# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for +# the list of possible encodings. -FILE_PATTERNS = +INPUT_ENCODING = UTF-8 -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py *.f90 + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. # If left blank NO is used. RECURSIVE = NO -# The EXCLUDE tag can be used to specify files and/or directories that should -# excluded from the INPUT source files. This way you can easily exclude a +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. -EXCLUDE = +EXCLUDE = var -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or -# directories that are symbolic links (a Unix filesystem feature) are excluded +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded # from the input. EXCLUDE_SYMLINKS = NO -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* -EXCLUDE_PATTERNS = +EXCLUDE_PATTERNS = -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see # the \include command). -EXAMPLE_PATH = +EXAMPLE_PATH = -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left # blank all files are included. -EXAMPLE_PATTERNS = +EXAMPLE_PATTERNS = -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. # Possible values are YES and NO. If left blank NO is used. EXAMPLE_RECURSIVE = NO -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see # the \image command). -IMAGE_PATH = +IMAGE_PATH = -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. +# If FILTER_PATTERNS is specified, this tag will be # ignored. -INPUT_FILTER = +INPUT_FILTER = -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. +# Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. +# The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER # is applied to all files. -FILTER_PATTERNS = +FILTER_PATTERNS = -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). FILTER_SOURCE_FILES = NO @@ -540,38 +685,54 @@ FILTER_SOURCE_FILES = NO # configuration options related to source browsing #--------------------------------------------------------------------------- -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also # VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = YES -# Setting the INLINE_SOURCES tag to YES will include the body +# Setting the INLINE_SOURCES tag to YES will include the body # of functions and classes directly in the documentation. INLINE_SOURCES = NO -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code # fragments. Normal C and C++ comments will always remain visible. STRIP_CODE_COMMENTS = YES -# If the REFERENCED_BY_RELATION tag is set to YES (the default) -# then for each documented function all documented +# If the REFERENCED_BY_RELATION tag is set to YES +# then for each documented function all documented # functions referencing it will be listed. REFERENCED_BY_RELATION = YES -# If the REFERENCES_RELATION tag is set to YES (the default) -# then for each documented function all documented entities +# If the REFERENCES_RELATION tag is set to YES +# then for each documented function all documented entities # called/used by that function will be listed. REFERENCES_RELATION = YES -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for +# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) +# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from +# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will +# link to the source code. +# Otherwise they will link to the documentation. + +REFERENCES_LINK_SOURCE = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for # which an include is specified. Set to NO to disable this. VERBATIM_HEADERS = YES @@ -580,279 +741,424 @@ VERBATIM_HEADERS = YES # configuration options related to the alphabetical class index #--------------------------------------------------------------------------- -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project # contains a lot of classes, structs, unions or interfaces. ALPHABETICAL_INDEX = NO -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns # in which this list will be split (can be a number in the range [1..20]) COLS_IN_ALPHA_INDEX = 5 -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that # should be ignored while generating the index headers. -IGNORE_PREFIX = +IGNORE_PREFIX = #--------------------------------------------------------------------------- # configuration options related to the HTML output #--------------------------------------------------------------------------- -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will # generate HTML output. GENERATE_HTML = YES -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `html' will be used as the default path. HTML_OUTPUT = html -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank # doxygen will generate files with .html extension. HTML_FILE_EXTENSION = .html -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a # standard header. -HTML_HEADER = +HTML_HEADER = -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a # standard footer. -HTML_FOOTER = +HTML_FOOTER = -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own # stylesheet in the HTML output directory as well, or it will be erased! -HTML_STYLESHEET = +HTML_STYLESHEET = -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting +# this to NO can help when comparing the output of multiple runs. + +HTML_TIMESTAMP = YES + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to # NO a bullet list will be used. HTML_ALIGN_MEMBERS = YES -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. For this to work a browser that supports +# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox +# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari). + +HTML_DYNAMIC_SECTIONS = YES + +# If the GENERATE_DOCSET tag is set to YES, additional index files +# will be generated that can be used as input for Apple's Xcode 3 +# integrated development environment, introduced with OSX 10.5 (Leopard). +# To create a documentation set, doxygen will generate a Makefile in the +# HTML output directory. Running make will produce the docset in that +# directory and running "make install" will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find +# it at startup. +# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html for more information. + +GENERATE_DOCSET = NO + +# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the +# feed. A documentation feed provides an umbrella under which multiple +# documentation sets from a single provider (such as a company or product suite) +# can be grouped. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that +# should uniquely identify the documentation set bundle. This should be a +# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen +# will append .docset to the name. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) # of the generated HTML documentation. GENERATE_HTMLHELP = NO -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be # written to the html output directory. -CHM_FILE = +CHM_FILE = -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run # the HTML help compiler on the generated index.hhp. -HHC_LOCATION = +HHC_LOCATION = -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that # it should be included in the master .chm file (NO). GENERATE_CHI = NO -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING +# is used to encode HtmlHelp index (hhk), content (hhc) and project file +# content. + +CHM_INDEX_ENCODING = + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a # normal table of contents (NO) in the .chm file. BINARY_TOC = NO -# The TOC_EXPAND flag can be set to YES to add extra items for group members +# The TOC_EXPAND flag can be set to YES to add extra items for group members # to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO -# The DISABLE_INDEX tag can be used to turn on/off the condensed index at -# top of each HTML page. The value NO (the default) enables the index and +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and QHP_VIRTUAL_FOLDER +# are set, an additional index file will be generated that can be used as input for +# Qt's qhelpgenerator to generate a Qt Compressed Help (.qch) of the generated +# HTML documentation. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can +# be used to specify the file name of the resulting .qch file. +# The path specified is relative to the HTML output folder. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#namespace + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating +# Qt Help Project output. For more information please see +# http://doc.trolltech.com/qthelpproject.html#virtual-folders + +QHP_VIRTUAL_FOLDER = doc + +# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to add. +# For more information please see +# http://doc.trolltech.com/qthelpproject.html#custom-filters + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the custom filter to add.For more information please see +# Qt Help Project / Custom Filters. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this project's +# filter section matches. +# Qt Help Project / Filter Attributes. + +QHP_SECT_FILTER_ATTRS = + +# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can +# be used to specify the location of Qt's qhelpgenerator. +# If non-empty doxygen will try to run qhelpgenerator on the generated +# .qhp file. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files +# will be generated, which together with the HTML files, form an Eclipse help +# plugin. To install this plugin and make it available under the help contents +# menu in Eclipse, the contents of the directory containing the HTML and XML +# files needs to be copied into the plugins directory of eclipse. The name of +# the directory within the plugins directory should be the same as +# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before the help appears. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have +# this name. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and # the value YES disables it. DISABLE_INDEX = NO -# This tag can be used to set the number of enum values (range [1..20]) +# This tag can be used to set the number of enum values (range [1..20]) # that doxygen will group on one line in the generated HTML documentation. ENUM_VALUES_PER_LINE = 4 -# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be -# generated containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, -# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are -# probably better off using the HTML help feature. +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. +# If the tag value is set to YES, a side panel will be generated +# containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). +# Windows users are probably better off using the HTML help feature. GENERATE_TREEVIEW = NO -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree +# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories, +# and Class Hierarchy pages using a tree view instead of an ordered list. + +USE_INLINE_TREES = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree # is shown. TREEVIEW_WIDTH = 250 +# Use this tag to change the font size of Latex formulas included +# as images in the HTML documentation. The default is 10. Note that +# when you change the font size after a successful doxygen run you need +# to manually remove any form_*.png images from the HTML output directory +# to force them to be regenerated. + +FORMULA_FONTSIZE = 10 + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for the HTML output. The underlying search engine uses javascript +# and DHTML and should work on any modern browser. Note that when using HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) there is already a search function so this one should +# typically be disabled. For large projects the javascript based search engine +# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be implemented using a PHP enabled web server instead of at the web client using Javascript. Doxygen will generate the search PHP script and index +# file to put on the web server. The advantage of the server based approach is that it scales better to large projects and allows full text search. The disadvances is that it is more difficult to setup +# and does not have live searching capabilities. + +SERVER_BASED_SEARCH = NO + #--------------------------------------------------------------------------- # configuration options related to the LaTeX output #--------------------------------------------------------------------------- -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will # generate Latex output. -GENERATE_LATEX = YES +GENERATE_LATEX = NO -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `latex' will be used as the default path. LATEX_OUTPUT = latex -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. If left blank `latex' will be used as the default command name. +# Note that when enabling USE_PDFLATEX this option is only used for +# generating bitmaps for formulas in the HTML output, but not in the +# Makefile that is written to the output directory. LATEX_CMD_NAME = latex -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the # default command name. MAKEINDEX_CMD_NAME = makeindex -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_LATEX = NO -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, a4wide, letter, legal and +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and # executive. If left blank a4wide will be used. PAPER_TYPE = a4wide -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX # packages that should be included in the LaTeX output. -EXTRA_PACKAGES = +EXTRA_PACKAGES = -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a # standard header. Notice: only use this tag if you know what you are doing! -LATEX_HEADER = +LATEX_HEADER = -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references # This makes the output suitable for online browsing using a pdf viewer. PDF_HYPERLINKS = NO -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a # higher quality PDF documentation. USE_PDFLATEX = NO -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. # This option is also used when generating formulas in HTML. LATEX_BATCHMODE = NO -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) # in the output. LATEX_HIDE_INDICES = NO +# If LATEX_SOURCE_CODE is set to YES then doxygen will include source code with syntax highlighting in the LaTeX output. Note that which sources are shown also depends on other settings such as SOURCE_BROWSER. + +LATEX_SOURCE_CODE = NO + #--------------------------------------------------------------------------- # configuration options related to the RTF output #--------------------------------------------------------------------------- -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `rtf' will be used as the default path. RTF_OUTPUT = rtf -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to # save some trees in general. COMPACT_RTF = NO -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. # Note: wordpad (write) and others do not support links. RTF_HYPERLINKS = NO -# Load stylesheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. -RTF_STYLESHEET_FILE = +RTF_STYLESHEET_FILE = -# Set optional variables used in the generation of an rtf document. +# Set optional variables used in the generation of an rtf document. # Syntax is similar to doxygen's config file. -RTF_EXTENSIONS_FILE = +RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # configuration options related to the man page output #--------------------------------------------------------------------------- -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will # generate man pages GENERATE_MAN = NO -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `man' will be used as the default path. MAN_OUTPUT = man -# The MAN_EXTENSION tag determines the extension that is added to +# The MAN_EXTENSION tag determines the extension that is added to # the generated man pages (default is the subroutine's section .3) MAN_EXTENSION = .3 -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command # would be unable to find the correct page. The default is NO. MAN_LINKS = NO @@ -861,33 +1167,33 @@ MAN_LINKS = NO # configuration options related to the XML output #--------------------------------------------------------------------------- -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of # the code including all documentation. GENERATE_XML = NO -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be # put in front of it. If left blank `xml' will be used as the default path. XML_OUTPUT = xml -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the # syntax of the XML files. -XML_SCHEMA = +XML_SCHEMA = -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the # syntax of the XML files. -XML_DTD = +XML_DTD = -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that # enabling this will significantly increase the size of the XML output. XML_PROGRAMLISTING = YES @@ -896,10 +1202,10 @@ XML_PROGRAMLISTING = YES # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental # and incomplete at the moment. GENERATE_AUTOGEN_DEF = NO @@ -908,311 +1214,341 @@ GENERATE_AUTOGEN_DEF = NO # configuration options related to the Perl module output #--------------------------------------------------------------------------- -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the # moment. GENERATE_PERLMOD = NO -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able # to generate PDF and DVI output from the Perl module output. PERLMOD_LATEX = NO -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. +# This is useful +# if you want to understand what is going on. +# On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller # and Perl will parse it just the same. PERLMOD_PRETTY = YES -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same # Makefile don't overwrite each other's variables. -PERLMOD_MAKEVAR_PREFIX = +PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- -# Configuration options related to the preprocessor +# Configuration options related to the preprocessor #--------------------------------------------------------------------------- -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include # files. ENABLE_PREPROCESSING = YES -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled # way by setting EXPAND_ONLY_PREDEF to YES. MACRO_EXPANSION = NO -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the -# PREDEFINED and EXPAND_AS_PREDEFINED tags. +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_DEFINED tags. EXPAND_ONLY_PREDEF = NO -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files # in the INCLUDE_PATH (see below) will be search if a #include is found. SEARCH_INCLUDES = YES -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by # the preprocessor. -INCLUDE_PATH = var/BOOZ2_flixr var/include sw/include sw/airborne/booz_priv sw/airborne/booz_priv/ sw/airborne/booz_priv/arm7 sw/airborne/ sw/airborne/arm7 var/BOOZ2_flixr +INCLUDE_PATH = sw/include \ + sw/airborne -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will # be used. -INCLUDE_FILE_PATTERNS = +INCLUDE_FILE_PATTERNS = -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator # instead of the = operator. -PREDEFINED = KILL_SWITCH USE_BUSS_TWI_BLMC USE_AMI601 +PREDEFINED = KILL_SWITCH \ + USE_BUSS_TWI_BLMC \ + USE_AMI601 -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. # Use the PREDEFINED tag if you want to use a different macro definition. -EXPAND_AS_DEFINED = +EXPAND_AS_DEFINED = -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all function-like macros that are alone -# on a line, have an all uppercase name, and do not end with a semicolon. Such -# function macros are typically used for boiler-plate code, and will confuse +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse # the parser if not removed. SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- -# Configuration::additions related to external references +# Configuration::additions related to external references #--------------------------------------------------------------------------- -# The TAGFILES option can be used to specify one or more tagfiles. -# Optionally an initial location of the external documentation -# can be added for each tagfile. The format of a tag file without -# this location is as follows: -# TAGFILES = file1 file2 ... -# Adding location for the tag files is done as follows: -# TAGFILES = file1=loc1 "file2 = loc2" ... -# where "loc1" and "loc2" can be relative or absolute paths or -# URLs. If a location is present for each tag, the installdox tool +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool # does not have to be run to correct the links. # Note that each tag file must have a unique name # (where the name does NOT include the path) -# If a tag file is not located in the directory in which doxygen +# If a tag file is not located in the directory in which doxygen # is run, you must also specify the path to the tagfile here. -TAGFILES = +TAGFILES = -# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# When a file name is specified after GENERATE_TAGFILE, doxygen will create # a tag file that is based on the input files it reads. -GENERATE_TAGFILE = +GENERATE_TAGFILE = -# If the ALLEXTERNALS tag is set to YES all external classes will be listed -# in the class index. If set to NO only the inherited external classes +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes # will be listed. ALLEXTERNALS = NO -# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed -# in the modules index. If set to NO, only the current project's groups will +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will # be listed. EXTERNAL_GROUPS = YES -# The PERL_PATH should be the absolute path and name of the perl script +# The PERL_PATH should be the absolute path and name of the perl script # interpreter (i.e. the result of `which perl'). PERL_PATH = /usr/bin/perl #--------------------------------------------------------------------------- -# Configuration options related to the dot tool +# Configuration options related to the dot tool #--------------------------------------------------------------------------- -# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base -# or super classes. Setting the tag to NO turns the diagrams off. Note that -# this option is superseded by the HAVE_DOT option below. This is only a -# fallback. It is recommended to install and use dot, since it yields more +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option is superseded by the HAVE_DOT option below. This is only a +# fallback. It is recommended to install and use dot, since it yields more # powerful graphs. CLASS_DIAGRAMS = YES -# If set to YES, the inheritance and collaboration graphs will hide -# inheritance and usage relations if the target is undocumented +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see +# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented # or is not a class. HIDE_UNDOC_RELATIONS = YES -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is -# available from the path. This tool is part of Graphviz, a graph visualization -# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section # have no effect if this option is set to NO (the default) HAVE_DOT = YES -# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect inheritance relations. Setting this tag to YES will force the +# By default doxygen will write a font called FreeSans.ttf to the output +# directory and reference it in all dot files that doxygen generates. This +# font does not include all possible unicode characters however, so when you need +# these (or just want a differently looking font) you can specify the font name +# using DOT_FONTNAME. You need need to make sure dot is able to find the font, +# which can be done by putting it in a standard location or by setting the +# DOTFONTPATH environment variable or by setting DOT_FONTPATH to the directory +# containing the font. + +DOT_FONTNAME = FreeSans + +# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. +# The default size is 10pt. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the output directory to look for the +# FreeSans.ttf font (which doxygen will put there itself). If you specify a +# different font using DOT_FONTNAME you can set the path where dot +# can find it using this tag. + +DOT_FONTPATH = + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the # the CLASS_DIAGRAMS tag to NO. CLASS_GRAPH = YES -# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect implementation dependencies (inheritance, containment, and +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and # class references variables) of the class with other documented classes. COLLABORATION_GRAPH = YES -# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen # will generate a graph for groups, showing the direct groups dependencies GROUP_GRAPHS = YES -# If the UML_LOOK tag is set to YES doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling # Language. UML_LOOK = NO -# If set to YES, the inheritance and collaboration graphs will show the +# If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. TEMPLATE_RELATIONS = NO -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT -# tags are set to YES then doxygen will generate a graph for each documented -# file showing the direct and indirect include dependencies of the file with +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with # other documented files. INCLUDE_GRAPH = YES -# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and -# HAVE_DOT tags are set to YES then doxygen will generate a graph for each -# documented header file showing the documented files that directly or +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or # indirectly include this file. INCLUDED_BY_GRAPH = YES -# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will -# generate a call dependency graph for every global function or class method. -# Note that enabling this option will significantly increase the time of a run. -# So in most cases it will be better to enable call graphs for selected -# functions only using the \callgraph command. +# If the CALL_GRAPH and HAVE_DOT options are set to YES then +# doxygen will generate a call dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable call graphs +# for selected functions only using the \callgraph command. -CALL_GRAPH = NO +CALL_GRAPH = YES -# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# If the CALLER_GRAPH and HAVE_DOT tags are set to YES then +# doxygen will generate a caller dependency graph for every global function +# or class method. Note that enabling this option will significantly increase +# the time of a run. So in most cases it will be better to enable caller +# graphs for selected functions only using the \callergraph command. + +CALLER_GRAPH = YES + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES -# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES -# then doxygen will show the dependencies a directory has on other directories +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories # in a graphical way. The dependency relations are determined by the #include # relations between the files in the directories. DIRECTORY_GRAPH = YES -# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif # If left blank png will be used. -DOT_IMAGE_FORMAT = png +DOT_IMAGE_FORMAT = gif -# The tag DOT_PATH can be used to specify the path where the dot tool can be +# The tag DOT_PATH can be used to specify the path where the dot tool can be # found. If left blank, it is assumed the dot tool can be found in the path. -DOT_PATH = +DOT_PATH = -# The DOTFILE_DIRS tag can be used to specify one or more directories that -# contain dot files that are included in the documentation (see the +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the # \dotfile command). -DOTFILE_DIRS = +DOTFILE_DIRS = -# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width -# (in pixels) of the graphs generated by dot. If a graph becomes larger than -# this value, doxygen will try to truncate the graph, so that it fits within -# the specified constraint. Beware that most browsers cannot cope with very -# large images. +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of +# nodes that will be shown in the graph. If the number of nodes in a graph +# becomes larger than this value, doxygen will truncate the graph, which is +# visualized by representing a node as a red box. Note that doxygen if the +# number of direct children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note +# that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. -MAX_DOT_GRAPH_WIDTH = 1024 +DOT_GRAPH_MAX_NODES = 50 -# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height -# (in pixels) of the graphs generated by dot. If a graph becomes larger than -# this value, doxygen will try to truncate the graph, so that it fits within -# the specified constraint. Beware that most browsers cannot cope with very -# large images. - -MAX_DOT_GRAPH_HEIGHT = 1024 - -# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the -# graphs generated by dot. A depth value of 3 means that only nodes reachable -# from the root by following a path via at most 3 edges will be shown. Nodes -# that lay further from the root node will be omitted. Note that setting this -# option to 1 or 2 may greatly reduce the computation time needed for large -# code bases. Also note that a graph may be further truncated if the graph's -# image dimensions are not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH -# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default), -# the graph is not depth-constrained. +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. MAX_DOT_GRAPH_DEPTH = 0 -# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent -# background. This is disabled by default, which results in a white background. -# Warning: Depending on the platform used, enabling this option may lead to -# badly anti-aliased labels on the edges of a graph (i.e. they become hard to -# read). +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not +# seem to support this out of the box. Warning: Depending on the platform used, +# enabling this option may lead to badly anti-aliased labels on the edges of +# a graph (i.e. they become hard to read). DOT_TRANSPARENT = NO -# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output -# files in one run (i.e. multiple -o and -T options on the command line). This -# makes dot run faster, but since only newer versions of dot (>1.8.10) +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) # support this, this feature is disabled by default. DOT_MULTI_TARGETS = NO -# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will -# generate a legend page explaining the meaning of the various boxes and +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. GENERATE_LEGEND = YES -# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will -# remove the intermediate dot files that are used to generate +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES - -#--------------------------------------------------------------------------- -# Configuration::additions related to the search engine -#--------------------------------------------------------------------------- - -# The SEARCHENGINE tag specifies whether or not a search engine should be -# used. If set to NO the values of all tags below this one will be ignored. - -SEARCHENGINE = NO diff --git a/Makefile b/Makefile index d1f4c2f58e..accca2e3df 100644 --- a/Makefile +++ b/Makefile @@ -60,14 +60,14 @@ XSENS_XML = $(CONF)/xsens_MTi-G.xml TOOLS=$(PAPARAZZI_SRC)/sw/tools HAVE_ARM_NONE_EABI_GCC := $(shell which arm-none-eabi-gcc) ifeq ($(strip $(HAVE_ARM_NONE_EABI_GCC)),) -#ARMGCC=/opt/paparazzi/bin/arm-elf-gcc -ARMGCC=/usr/bin/arm-elf-gcc +ARMGCC=$(shell which arm-elf-gcc) else ARMGCC=$(HAVE_ARM_NONE_EABI_GCC) endif +OCAML=$(shell which ocaml) +OCAMLRUN=$(shell which ocamlrun) - -all: static conf +all: commands static conf static : lib center tools cockpit multimon tmtc logalizer lpc21iap sim_static static_h usb_lib @@ -211,6 +211,7 @@ clean: rm -f $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(DL_PROTOCOL_H) find . -mindepth 2 -name Makefile -exec sh -c '$(MAKE) -C `dirname {}` $@' \; find . -name '*~' -exec rm -f {} \; + rm -f paparazzi sw/simulator/launchsitl cleanspaces: find ./sw/airborne -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \; @@ -226,9 +227,17 @@ ab_clean: find sw/airborne -name '*~' -exec rm -f {} \; test_all_example_airframes: - $(MAKE) AIRCRAFT=BOOZ2_A2 clean_ac ap - $(MAKE) AIRCRAFT=MJ5 clean_ac ap sim - $(MAKE) AIRCRAFT=TJ1 clean_ac ap sim - $(MAKE) AIRCRAFT=HITL clean_ac ap - $(MAKE) AIRCRAFT=DM clean_ac ap sim - $(MAKE) AIRCRAFT=CSC clean_ac ap + $(MAKE) AIRCRAFT=BOOZ2_A1 clean_ac ap sim + $(MAKE) AIRCRAFT=Microjet clean_ac ap sim + $(MAKE) AIRCRAFT=Tiny_IMU clean_ac ap + $(MAKE) AIRCRAFT=EasyStar_ETS clean_ac ap sim + +commands: paparazzi sw/simulator/launchsitl + +paparazzi: + cat src/paparazzi | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@ + chmod a+x $@ + +sw/simulator/launchsitl: + cat src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@ + chmod a+x $@ diff --git a/Makefile.ac b/Makefile.ac index 02cf338b77..3e8d6c7ec1 100644 --- a/Makefile.ac +++ b/Makefile.ac @@ -59,7 +59,7 @@ AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5 Q=@ init: - @[ -d $(PAPARAZZI_HOME) ] || (echo "Copying config example in your $(PAPARAZZI_HOME) directory"; mkdir -p $(PAPARAZZI_HOME); cp -a conf $(PAPARAZZI_HOME); cp -a data $(PAPARAZZI_HOME); mkdir -p $(PAPARAZZI_HOME)/var/maps; mv $(PAPARAZZI_HOME)/data/maps/trtqtttqtsrrt*.jpg $(PAPARAZZI_HOME)/var/maps; mkdir -p $(PAPARAZZI_HOME)/var/include) + @[ -d $(PAPARAZZI_HOME) ] || (echo "Copying config example in your $(PAPARAZZI_HOME) directory"; mkdir -p $(PAPARAZZI_HOME); cp -a conf $(PAPARAZZI_HOME); cp -a data $(PAPARAZZI_HOME); mkdir -p $(PAPARAZZI_HOME)/var/maps; mkdir -p $(PAPARAZZI_HOME)/var/include) demo: $(SUPERVISION) diff --git a/Makefile.install b/Makefile.install index c973665dd3..1acf59704f 100644 --- a/Makefile.install +++ b/Makefile.install @@ -19,13 +19,11 @@ install_data: $(INSTALL) -d $(DESTDIR)/data/maps $(INSTALLDATA) data/maps/muret_UTM.xml data/maps/muret_UTM.gif $(DESTDIR)/data/maps $(INSTALL) -d $(DESTDIR)/data/pictures/gcs_icons - $(INSTALLDATA) var/maps/trtqtttqtsrrtstq*.jpg var/maps/trtqtttqtsrrttsr*.jpg $(DESTDIR)/data/maps $(INSTALLDATA) data/pictures/*.gif data/pictures/*.svg data/pictures/*.jpg data/pictures/*.png $(DESTDIR)/data/pictures $(INSTALLDATA) data/pictures/gcs_icons/*.png $(DESTDIR)/data/pictures/gcs_icons $(INSTALL) -d $(PREFIX)/usr/share/pixmaps $(INSTALLDATA) data/pictures/penguin_icon.png $(PREFIX)/usr/share/pixmaps/paparazzi.png $(INSTALL) -d $(DESTDIR)/data/srtm - $(INSTALLDATA) data/srtm/N43E001.hgt.bz2 $(DESTDIR)/data/srtm install_conf: @@ -40,7 +38,6 @@ install_conf: $(INSTALLDATA) conf/airframes/microjet_example.xml $(DESTDIR)/conf/airframes $(INSTALLDATA) conf/airframes/twinstar_example.xml $(DESTDIR)/conf/airframes $(INSTALLDATA) conf/airframes/twinjet_example.xml $(DESTDIR)/conf/airframes - $(INSTALLDATA) conf/airframes/tiny_hitl.xml $(DESTDIR)/conf/airframes $(INSTALLDATA) conf/airframes/example_twog_analogimu.xml $(DESTDIR)/conf/airframes $(INSTALL) -d $(DESTDIR)/conf/autopilot $(INSTALLDATA) conf/autopilot/*.makefile $(DESTDIR)/conf/autopilot diff --git a/conf/Makefile.sim b/conf/Makefile.sim index fea3dd1379..8830edd81d 100644 --- a/conf/Makefile.sim +++ b/conf/Makefile.sim @@ -35,7 +35,7 @@ CC = g++ endif OCAMLC = ocamlc SIMDIR = $(PAPARAZZI_SRC)/sw/simulator -CAMLINCLUDES = -I +lablgtk2 -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR) -I +xml-light +CAMLINCLUDES = $(shell ocamlfind query -r -i-format lablgtk2) -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR) $(shell ocamlfind query -r -i-format xml-light) SIMSITLML = $(OBJDIR)/simsitl.ml MYGTKINITCMO = myGtkInit.cmo SITLCMA = $(SIMDIR)/sitl.cma diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32 index c361279f28..4517382f6d 100644 --- a/conf/Makefile.stm32 +++ b/conf/Makefile.stm32 @@ -53,6 +53,18 @@ SIZE = $(GCC_BIN_PREFIX)-size RM = rm OOCD = $(TOOLCHAIN_DIR)/bin/openocd +# If we can't find the toolchain then try picking up the compilers from the path +ifeq ($(TOOLCHAIN_DIR),) +CC = $(shell which arm-none-eabi-gcc) +LD = $(shell which arm-none-eabi-gcc) +CP = $(shell which arm-none-eabi-objcopy) +DMP = $(shell which arm-none-eabi-objdump) +NM = $(shell which arm-none-eabi-nm) +SIZE = $(shell which arm-none-eabi-size) +OOCD = $(shell which openocd) +GCC_LIB_DIR=$(shell dirname `which arm-none-eabi-gcc`)/../arm-none-eabi/lib +endif + LOADER=/home/poine/work/stm32/stm32loader-a3c51c26ad6c/stm32loader.py ifndef $(TARGET).OOCD_INTERFACE @@ -123,7 +135,17 @@ ODFLAGS = -S # Default target. -all: sizebefore build sizeafter +all: printcommands sizebefore build sizeafter + +printcommands: + $(Q)echo "Using CC = $(CC)" + $(Q)echo "Using LD = $(LD)" + $(Q)echo "Using CP = $(CP)" + $(Q)echo "Using DMP = $(DMP)" + $(Q)echo "Using NM = $(NM)" + $(Q)echo "Using SIZE = $(SIZE)" + $(Q)echo "Using RM = $(RM)" + $(Q)echo "Using OOCD = $(OOCD)" build: elf bin hex # lss sym diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml index d212e13626..a10debf64c 100644 --- a/conf/airframes/ENAC/fixed-wing/funjet2.xml +++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml @@ -106,8 +106,8 @@
- - + + diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml index 153f9e63bf..714f48dc14 100644 --- a/conf/airframes/ENAC/fixed-wing/minimag1.xml +++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml @@ -1,19 +1,54 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - - - + + @@ -51,11 +86,9 @@
-
- - - - +
+ +
@@ -98,7 +131,6 @@
- @@ -123,7 +155,6 @@ -
@@ -138,7 +169,6 @@ -
@@ -155,64 +185,14 @@ -
- +
-
- -
- -
- - -include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile - -FLASH_MODE=IAP - -ap.CFLAGS += -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1 -ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c - -ap.srcs += commands.c - -ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT -ap.srcs += $(SRC_ARCH)/servos_4015_MAT_hw.c actuators.c - -ap.CFLAGS += -DRADIO_CONTROL -ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c - -ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c - -#TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600 -#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c - - -ap.CFLAGS += -DINTER_MCU -ap.srcs += inter_mcu.c - -ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_4 -ap.srcs += $(SRC_ARCH)/adc_hw.c - -ap.CFLAGS += -DUSE_GPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B19200 - -ap.srcs += gps_ubx.c gps.c latlong.c - -ap.CFLAGS += -DUSE_INFRARED -DALT_KALMAN -ap.srcs += infrared.c estimator.c - -ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM -ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c - -# Config for SITL simulation -include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile -sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN -sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c - - + + diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml index 6dced6002b..72313de308 100644 --- a/conf/airframes/ENAC/quadrotor/blender.xml +++ b/conf/airframes/ENAC/quadrotor/blender.xml @@ -28,6 +28,7 @@ + diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml index fc931a4f60..0df16e15f0 100644 --- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml +++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml @@ -26,6 +26,7 @@ + diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml index 3a1ef13ea5..37229f6b1d 100644 --- a/conf/airframes/ENAC/quadrotor/mkk1.xml +++ b/conf/airframes/ENAC/quadrotor/mkk1.xml @@ -12,6 +12,7 @@ + diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml index 56529b3cc7..e894ef65de 100644 --- a/conf/airframes/ENAC/quadrotor/nova1.xml +++ b/conf/airframes/ENAC/quadrotor/nova1.xml @@ -11,6 +11,7 @@ + diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml index 45a9557b29..8c08511f7b 100644 --- a/conf/airframes/LAAS/mmlaas_N1.xml +++ b/conf/airframes/LAAS/mmlaas_N1.xml @@ -18,15 +18,15 @@ - + - - - + + + diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml index ede0969eaf..018c4551cf 100644 --- a/conf/airframes/LAAS/mmlaas_N2.xml +++ b/conf/airframes/LAAS/mmlaas_N2.xml @@ -18,15 +18,15 @@ - + - - - + + + diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml index 1b9d0c563d..5f75acae18 100644 --- a/conf/airframes/LAAS/mmlaas_N3.xml +++ b/conf/airframes/LAAS/mmlaas_N3.xml @@ -18,15 +18,15 @@ - + - - - + + + diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml index 9b53f79224..395583d8e9 100644 --- a/conf/airframes/Poine/booz2_a1.xml +++ b/conf/airframes/Poine/booz2_a1.xml @@ -202,6 +202,7 @@ + diff --git a/conf/airframes/Poine/booz2_a6.xml b/conf/airframes/Poine/booz2_a6.xml index aa4ceda472..478600ab30 100644 --- a/conf/airframes/Poine/booz2_a6.xml +++ b/conf/airframes/Poine/booz2_a6.xml @@ -181,7 +181,7 @@ - + diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml index 1ec3206aaf..091401ebed 100644 --- a/conf/airframes/Poine/booz2_a7.xml +++ b/conf/airframes/Poine/booz2_a7.xml @@ -199,7 +199,7 @@ - + diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml index 3bd37f4813..66b39fd1ed 100644 --- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml +++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml @@ -289,6 +289,7 @@ second attempt + diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml index e6f8ac8831..36dde5dd6d 100644 --- a/conf/airframes/UofAdelaide/A1000_LISA.xml +++ b/conf/airframes/UofAdelaide/A1000_LISA.xml @@ -198,6 +198,7 @@ --> + diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml index fe7204faf8..9847fa9a0e 100644 --- a/conf/airframes/UofAdelaide/A1000_NOVA.xml +++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml @@ -248,6 +248,7 @@ + diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml index 61477393a2..38255e1429 100644 --- a/conf/airframes/booz2_flixr.xml +++ b/conf/airframes/booz2_flixr.xml @@ -16,6 +16,7 @@ + @@ -35,6 +36,9 @@ + + + @@ -233,9 +237,4 @@ - - ap.srcs += $(SRC_BOOZ_ARCH)/booz2_pwm_hw.c - sim.srcs += $(SRC_BOOZ_SIM)/booz2_pwm_hw.c - - diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml index 83cc07e368..b0ec00deec 100644 --- a/conf/airframes/booz2_ppzuav.xml +++ b/conf/airframes/booz2_ppzuav.xml @@ -204,6 +204,7 @@ + diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml index 09561d3c9a..a011e5177f 100644 --- a/conf/airframes/esden/lisa_asctec.xml +++ b/conf/airframes/esden/lisa_asctec.xml @@ -16,6 +16,12 @@ + +
+ + +
+
@@ -32,42 +38,46 @@
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
- - + +
@@ -114,27 +124,27 @@ - - + + - - - + + + - - + + - - - + + +
- +
@@ -164,49 +174,72 @@
+
+ + + +
- + + + + + + + + + + + + + + + + + + + + + + + + -USER = root -HOST = 192.168.1.3 -#HOST = overo -#HOST = beth -#HOST = asctec_lisa -TARGET_DIR = ~ + + + + + + + + + + + + + + + + + + + + -SRC_FMS=fms + + + + + + + + + + + + -ARCH=stm32 -BOARD_CFG=\"boards/lisa_0.99.h\" -FLASH_MODE = JTAG - -ap.CFLAGS += -DMODEM_BAUD=B57600 - -ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7se_joby.h\" - -include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile -include $(CFG_BOOZ)/booz2_autopilot.makefile - -include $(CFG_BOOZ)/subsystems/booz2_radio_control_spektrum.makefile -include $(CFG_BOOZ)/subsystems/booz2_actuators_asctec_v2.makefile -include $(CFG_BOOZ)/subsystems/booz2_imu_b2v1_1.makefile -#include $(CFG_BOOZ)/subsystems/booz2_gps.makefile -include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile - - -include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile - -CONFIG_PASSTHROUGH = $(PAPARAZZI_SRC)/conf/autopilot/subsystems/lisa_passthrough -SERVOS_REFRESH_FREQ=200 - -include $(PAPARAZZI_SRC)/conf/autopilot/lisa_passthrough.makefile - -RADIO_CONTROL_SPEKTRUM_MODEL=\"booz/radio_control/booz_radio_control_joby.h\" -include $(CONFIG_PASSTHROUGH)/radio_control_joby.makefile - - - diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml new file mode 100644 index 0000000000..6aa143ec58 --- /dev/null +++ b/conf/airframes/esden/lisa_asctec_aspirin.xml @@ -0,0 +1,245 @@ + + + + + + + + + + + + + + + + + + + +
+ + +
+ + +
+ + + + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ + + +
+ +
+ + + +
+ + +
+ + + + + + + + + +
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +
+ +
+ +
+ + + + + + + + + + + + + +
+ + +
+ + + +
+ +
+ +
+ +
+ + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml index 7b2f1d6d0b..67fe2f0a1a 100644 --- a/conf/airframes/jsbsim.xml +++ b/conf/airframes/jsbsim.xml @@ -34,7 +34,7 @@ - + @@ -52,7 +52,7 @@ - + @@ -80,13 +80,13 @@
- - + + - +
@@ -94,7 +94,7 @@
- +
@@ -107,7 +107,7 @@
- +
@@ -188,7 +188,7 @@
- +
@@ -199,7 +199,7 @@ #### Config for SITL simulation include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile -sim.CFLAGS += -DBOARD_CONFIG=\"tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN +sim.CFLAGS += -DBOARD_CONFIG=\"boards/tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c @@ -207,7 +207,7 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re SRC_FIRMWARE = firmwares/fixedwing include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile -jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN +jsbsim.CFLAGS += -DBOARD_CONFIG=\"boards/tiny_sim.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN jsbsim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml index 81c4f76a00..409ec50983 100644 --- a/conf/airframes/mm/rotor/qmk1.xml +++ b/conf/airframes/mm/rotor/qmk1.xml @@ -198,7 +198,7 @@ - + diff --git a/conf/airframes/csc.xml b/conf/airframes/obsolete/csc.xml similarity index 100% rename from conf/airframes/csc.xml rename to conf/airframes/obsolete/csc.xml diff --git a/conf/airframes/csc_ap.xml b/conf/airframes/obsolete/csc_ap.xml similarity index 100% rename from conf/airframes/csc_ap.xml rename to conf/airframes/obsolete/csc_ap.xml diff --git a/conf/airframes/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml similarity index 100% rename from conf/airframes/hitl_usb.xml rename to conf/airframes/obsolete/hitl_usb.xml diff --git a/conf/airframes/logger_sd.xml b/conf/airframes/obsolete/logger_sd.xml similarity index 100% rename from conf/airframes/logger_sd.xml rename to conf/airframes/obsolete/logger_sd.xml diff --git a/conf/airframes/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml similarity index 100% rename from conf/airframes/tiny_hitl.xml rename to conf/airframes/obsolete/tiny_hitl.xml diff --git a/conf/airframes/vor.xml b/conf/airframes/obsolete/vor.xml similarity index 100% rename from conf/airframes/vor.xml rename to conf/airframes/obsolete/vor.xml diff --git a/conf/airframes/whirly.xml b/conf/airframes/obsolete/whirly.xml similarity index 100% rename from conf/airframes/whirly.xml rename to conf/airframes/obsolete/whirly.xml diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml old mode 100755 new mode 100644 diff --git a/conf/autopilot/fixedwing.makefile b/conf/autopilot/fixedwing.makefile index 0ead7d26d4..d4e98b98c4 100644 --- a/conf/autopilot/fixedwing.makefile +++ b/conf/autopilot/fixedwing.makefile @@ -33,27 +33,13 @@ endif ifeq ($(TARGET),$(ACTUATOR_TARGET)) ifeq ($(ACTUATORS),) - ifeq ($(BOARD),tiny) - ifeq ($(BOARD_VERSION),1.1) - include $(CFG_SHARED)/actuators_4015.makefile - else - ifeq ($(BOARD_VERSION),0.99) - include $(CFG_SHARED)/actuators_4015.makefile - else - include $(CFG_SHARED)/actuators_4017.makefile - endif - endif - endif - ifeq ($(BOARD),twog) - include $(CFG_SHARED)/actuators_4017.makefile - endif ifeq ($(BOARD),lisa_l) include $(CFG_SHARED)/actuators_direct.makefile endif else - include $(CFG_FIXEDWING)/$(ACTUATORS).makefile + include $(CFG_SHARED)/$(ACTUATORS).makefile endif endif diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile index b2e0aaa9ae..5f2261a54b 100644 --- a/conf/autopilot/lisa_l_test_progs.makefile +++ b/conf/autopilot/lisa_l_test_progs.makefile @@ -387,7 +387,7 @@ test_imu_b2_2.srcs += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/ test_imu_b2_2.srcs += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c test_imu_b2_2.CFLAGS += -DUSE_I2C2 test_imu_b2_2.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c -test_imu_b2_2.srcs += peripherals/hmc5843.c $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c +test_imu_b2_2.srcs += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c test_imu_b2_2.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5 diff --git a/conf/autopilot/conf_dc_mc.h b/conf/autopilot/obsolete/conf_dc_mc.h similarity index 100% rename from conf/autopilot/conf_dc_mc.h rename to conf/autopilot/obsolete/conf_dc_mc.h diff --git a/conf/autopilot/conf_wt.h b/conf/autopilot/obsolete/conf_wt.h similarity index 100% rename from conf/autopilot/conf_wt.h rename to conf/autopilot/obsolete/conf_wt.h diff --git a/conf/autopilot/csc.makefile b/conf/autopilot/obsolete/csc.makefile similarity index 100% rename from conf/autopilot/csc.makefile rename to conf/autopilot/obsolete/csc.makefile diff --git a/conf/autopilot/csc_ap.makefile b/conf/autopilot/obsolete/csc_ap.makefile similarity index 100% rename from conf/autopilot/csc_ap.makefile rename to conf/autopilot/obsolete/csc_ap.makefile diff --git a/conf/autopilot/csc_baro.makefile b/conf/autopilot/obsolete/csc_baro.makefile similarity index 100% rename from conf/autopilot/csc_baro.makefile rename to conf/autopilot/obsolete/csc_baro.makefile diff --git a/conf/autopilot/csc_board_v1_0.h b/conf/autopilot/obsolete/csc_board_v1_0.h similarity index 100% rename from conf/autopilot/csc_board_v1_0.h rename to conf/autopilot/obsolete/csc_board_v1_0.h diff --git a/conf/autopilot/mercury.makefile b/conf/autopilot/obsolete/mercury.makefile similarity index 100% rename from conf/autopilot/mercury.makefile rename to conf/autopilot/obsolete/mercury.makefile diff --git a/conf/autopilot/mercury_csc.makefile b/conf/autopilot/obsolete/mercury_csc.makefile similarity index 100% rename from conf/autopilot/mercury_csc.makefile rename to conf/autopilot/obsolete/mercury_csc.makefile diff --git a/conf/autopilot/pwm_input.makefile b/conf/autopilot/obsolete/pwm_input.makefile similarity index 100% rename from conf/autopilot/pwm_input.makefile rename to conf/autopilot/obsolete/pwm_input.makefile diff --git a/conf/autopilot/vane_sensor.makefile b/conf/autopilot/obsolete/vane_sensor.makefile similarity index 100% rename from conf/autopilot/vane_sensor.makefile rename to conf/autopilot/obsolete/vane_sensor.makefile diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile index f027256de4..7ac8e8e763 100644 --- a/conf/autopilot/rotorcraft.makefile +++ b/conf/autopilot/rotorcraft.makefile @@ -23,13 +23,6 @@ # # -# -# Expected from board file or overriden as xml param : -# -# MODEM_PORT -# MODEM_BAUD -# - CFG_SHARED=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/shared CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft @@ -79,12 +72,16 @@ ifeq ($(ARCH), stm32) ap.srcs += $(SRC_ARCH)/led_hw.c endif +# frequency of main periodic +ifndef PERIODIC_FREQUENCY +PERIODIC_FREQUENCY = 512 +endif +$(TARGET).CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQUENCY).))' -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY) # # Systime # ap.CFLAGS += -DUSE_SYS_TIME ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c -ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' ifeq ($(ARCH), stm32) ap.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED) endif @@ -92,21 +89,12 @@ endif # # Telemetry/Datalink # +# include subsystems/rotorcraft/telemetry_transparent.makefile +# or +# include subsystems/rotorcraft/telemetry_xbee_api.makefile +# ap.srcs += mcu_periph/uart.c ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c -ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT) -ap.srcs += $(SRC_FIRMWARE)/telemetry.c -ap.srcs += downlink.c -ap.srcs += pprz_transport.c -ap.CFLAGS += -DDATALINK=PPRZ -ap.CFLAGS += -DPPRZ_UART=$(MODEM_PORT) -ap.srcs += $(SRC_FIRMWARE)/datalink.c -ap.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) - -ifeq ($(ARCH), lpc21) -ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6 -endif ap.srcs += $(SRC_BOOZ)/booz2_commands.c @@ -213,7 +201,7 @@ ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodeti # vertical filter float version ap.srcs += $(SRC_SUBSYSTEMS)/ins/vf_float.c -ap.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)' +ap.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./$(PERIODIC_FREQUENCY).)' ap.srcs += $(SRC_FIRMWARE)/navigation.c diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile index c1ec32d90a..b71b547167 100644 --- a/conf/autopilot/setup.makefile +++ b/conf/autopilot/setup.makefile @@ -23,7 +23,7 @@ tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c # for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK # a configuration program to access both uart through usb -usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 +usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200 -DPERIPHERALS_AUTO_INIT usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c @@ -31,7 +31,7 @@ usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdre usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c -usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 +usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 -DPERIPHERALS_AUTO_INIT usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile index 657350bb5c..5fda288b9b 100644 --- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile +++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile @@ -68,8 +68,11 @@ endif # # Sys-time # - -$(TARGET).srcs += sys_time.c +ifndef PERIODIC_FREQUENCY +PERIODIC_FREQUENCY = 60 +endif +$(TARGET).CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQUENCY).))' -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY) +$(TARGET).srcs += sys_time.c # # InterMCU & Commands @@ -122,11 +125,6 @@ endif # ns_CFLAGS += -DUSE_SYS_TIME -ifdef PERIODIC_FREQUENCY -ns_CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQUENCY).))' -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY) -else -ns_CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))' -endif ns_srcs += $(SRC_ARCH)/sys_time_hw.c @@ -173,6 +171,12 @@ ap_srcs += $(SRC_FIXEDWING)/estimator.c ## SIMULATOR THREAD SPECIFIC ## +UNAME = $(shell uname -s) +ifeq ("$(UNAME)","Darwin") + sim.CFLAGS += -I/opt/local/include/ +endif + +sim.CFLAGS += $(CPPFLAGS) sim.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS) sim.srcs += $(fbw_srcs) $(ap_srcs) diff --git a/conf/autopilot/subsystems/rotorcraft/imu_aspirin.makefile b/conf/autopilot/subsystems/rotorcraft/imu_aspirin.makefile new file mode 100644 index 0000000000..d328823c55 --- /dev/null +++ b/conf/autopilot/subsystems/rotorcraft/imu_aspirin.makefile @@ -0,0 +1,62 @@ +# +# Booz2 IMU booz2v1.2 +# +# +# required xml: +#
+# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +#
+# +# + +# +# param: MAX_1168_DRDY_PORT + + + +# imu aspirin + +imu_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_OVERRIDE_CHANNELS +imu_srcs += $(SRC_SUBSYSTEMS)/imu.c +imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c +imu_srcs += $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c +#imu_srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c + +#imu_srcs += peripherals/max1168.c +#imu_srcs += $(SRC_ARCH)/peripherals/max1168_arch.c + +imu_srcs += peripherals/hmc5843.c +imu_srcs += $(SRC_ARCH)/peripherals/hmc5843_arch.c + +imu_CFLAGS += -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_EXTI15_10_IRQ +imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ + +# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets +# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example +ap.CFLAGS += $(imu_CFLAGS) +ap.srcs += $(imu_srcs) diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile b/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile new file mode 100644 index 0000000000..fbc1b89c2e --- /dev/null +++ b/conf/autopilot/subsystems/rotorcraft/telemetry_transparent.makefile @@ -0,0 +1,18 @@ +# +# Expected from board file or overriden as xml param : +# +# MODEM_PORT +# MODEM_BAUD +# + +ap.CFLAGS += -DUSE_$(MODEM_PORT) +ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) + +ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DPPRZ_UART=$(MODEM_PORT) +ap.CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ +ap.srcs += downlink.c pprz_transport.c +ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c + +ifeq ($(ARCH), lpc21) +ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6 +endif diff --git a/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile b/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile new file mode 100644 index 0000000000..a10f3fa95e --- /dev/null +++ b/conf/autopilot/subsystems/rotorcraft/telemetry_xbee_api.makefile @@ -0,0 +1,19 @@ +# XBee modems in API mode +# +# Expected from board file or overriden as xml param : +# +# MODEM_PORT +# MODEM_BAUD +# + +ap.CFLAGS += -DUSE_$(MODEM_PORT) +ap.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD) + +ap.CFLAGS += -DDOWNLINK -DDOWNLINK_DEVICE=$(MODEM_PORT) -DXBEE_UART=$(MODEM_PORT) +ap.CFLAGS += -DDOWNLINK_TRANSPORT=XBeeTransport -DDATALINK=XBEE +ap.srcs += downlink.c xbee.c +ap.srcs += $(SRC_FIRMWARE)/datalink.c $(SRC_FIRMWARE)/telemetry.c + +ifeq ($(ARCH), lpc21) +ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6 +endif diff --git a/conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile b/conf/autopilot/subsystems/shared/actuators_ppm.makefile similarity index 75% rename from conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile rename to conf/autopilot/subsystems/shared/actuators_ppm.makefile index ffa7bef601..99171e4448 100644 --- a/conf/autopilot/subsystems/fixedwing/actuators_ppm.makefile +++ b/conf/autopilot/subsystems/shared/actuators_ppm.makefile @@ -5,6 +5,6 @@ # The PPM is output on the SERV_CLK pin. The PPM frame rate, pulse width, and number of channels # can be adjusted in the "servos_ppm_hw.h" file to suit your particular receiver. -ap.CFLAGS += -DACTUATORS=\"servos_ppm_hw.h\" -DSERVOS_PPM_MAT -ap.srcs += $(SRC_ARCH)/servos_ppm_hw.c $(SRC_FIXEDWING)/actuators.c +$(TARGET).CFLAGS += -DACTUATORS=\"servos_ppm_hw.h\" -DSERVOS_PPM_MAT +$(TARGET).srcs += $(SRC_ARCH)/servos_ppm_hw.c actuators.c diff --git a/conf/boards/pc.makefile b/conf/boards/pc.makefile index 4e8976f4f4..df5c1bbe3c 100644 --- a/conf/boards/pc.makefile +++ b/conf/boards/pc.makefile @@ -8,10 +8,7 @@ ARCH=sim BOARD = pc BOARD_VERSION= - -# TODO: update board -BOARD_CFG = \"tiny_sim.h\" - +BOARD_CFG = \"boards/tiny_sim.h\" $(TARGET).ARCHDIR = $(ARCH) diff --git a/conf/boards/tiny_0.99.makefile b/conf/boards/tiny_0.99.makefile index 1b077c6b40..f3879c0b70 100644 --- a/conf/boards/tiny_0.99.makefile +++ b/conf/boards/tiny_0.99.makefile @@ -16,3 +16,5 @@ BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" GPS_PORT = UART1 GPS_LED = none MODEM_PORT = UART0 + +ACTUATORS = actuators_4015 diff --git a/conf/boards/tiny_1.1.makefile b/conf/boards/tiny_1.1.makefile index 7250804216..04cb4feaff 100644 --- a/conf/boards/tiny_1.1.makefile +++ b/conf/boards/tiny_1.1.makefile @@ -16,3 +16,5 @@ BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" GPS_PORT = UART1 GPS_LED = none MODEM_PORT = UART0 + +ACTUATORS = actuators_4015 diff --git a/conf/boards/tiny_2.11.makefile b/conf/boards/tiny_2.11.makefile index 392eb13482..33c35ec77c 100644 --- a/conf/boards/tiny_2.11.makefile +++ b/conf/boards/tiny_2.11.makefile @@ -49,3 +49,4 @@ ADC_GENERIC_NB_SAMPLES = 16 # All targets on the TINY board run on the same processor achitecture $(TARGET).ARCHDIR = $(ARCH) +ACTUATORS = actuators_4017 diff --git a/conf/conf.xml.example b/conf/conf.xml.example index a9b4cd6263..86c4d30d5d 100644 --- a/conf/conf.xml.example +++ b/conf/conf.xml.example @@ -90,7 +90,6 @@ settings="settings/tuning_ins.xml" gui_color="blue" /> - - - - - - - - diff --git a/conf/control_panel.xml.example b/conf/control_panel.xml.example index e97471def0..e9a2ea99a1 100644 --- a/conf/control_panel.xml.example +++ b/conf/control_panel.xml.example @@ -64,7 +64,7 @@
- + @@ -78,7 +78,16 @@ - + + + + + + + + + + diff --git a/conf/control_panel.xml.example.booz b/conf/control_panel.xml.example.booz index fe52d43e0b..5ec2b32ed9 100644 --- a/conf/control_panel.xml.example.booz +++ b/conf/control_panel.xml.example.booz @@ -55,7 +55,7 @@ - + @@ -64,7 +64,6 @@ - @@ -75,7 +74,6 @@ - @@ -170,7 +168,7 @@ - + diff --git a/conf/modules/booz_pwm.xml b/conf/modules/booz_pwm.xml new file mode 100644 index 0000000000..2c5481c50c --- /dev/null +++ b/conf/modules/booz_pwm.xml @@ -0,0 +1,18 @@ + + + + + +
+ +
+ + + + + + diff --git a/conf/modules/ins_vn100.xml b/conf/modules/ins_vn100.xml index 09809157af..8ceda17cb8 100644 --- a/conf/modules/ins_vn100.xml +++ b/conf/modules/ins_vn100.xml @@ -6,7 +6,7 @@ - + diff --git a/conf/settings/tuning_basic_ins.xml b/conf/settings/tuning_basic_ins.xml new file mode 100644 index 0000000000..b052c9be53 --- /dev/null +++ b/conf/settings/tuning_basic_ins.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/paparazzi.osx b/paparazzi.osx deleted file mode 100755 index 7efa9dc9a6..0000000000 --- a/paparazzi.osx +++ /dev/null @@ -1,15 +0,0 @@ -#!/opt/local/bin/ocamlrun /opt/local/bin/ocaml -#load "unix.cma";; -let (//) = Filename.concat -let dirname = Filename.dirname Sys.argv.(0) -let dirname = if Filename.is_relative dirname && dirname <> Filename.current_dir_name then Sys.getcwd () // dirname else dirname -let env = - Array.map (fun var -> - let value = try Sys.getenv var with _ -> dirname in - let value = if value = "." then Sys.getcwd () else value in - Printf.sprintf "%s=%s" var value) - [|"PAPARAZZI_SRC"; "PAPARAZZI_HOME"|] -let com = dirname // "sw/supervision/paparazzicenter";; -Sys.argv.(0) <- com;; -let env = Array.append env (Unix.environment ());; -Unix.execve com Sys.argv env diff --git a/sw/simulator/launchsitl b/src/launchsitl similarity index 96% rename from sw/simulator/launchsitl rename to src/launchsitl index d6dbb69d89..261de6c477 100755 --- a/sw/simulator/launchsitl +++ b/src/launchsitl @@ -1,4 +1,4 @@ -#!/usr/bin/ocamlrun /usr/bin/ocaml +#!OCAMLRUN OCAML #load "unix.cma";; let (//) = Filename.concat let paparazzi_home = diff --git a/paparazzi b/src/paparazzi similarity index 94% rename from paparazzi rename to src/paparazzi index cc39f72a8c..8895cccacb 100755 --- a/paparazzi +++ b/src/paparazzi @@ -1,4 +1,4 @@ -#!/usr/bin/ocamlrun /usr/bin/ocaml +#!OCAMLRUN OCAML #load "unix.cma";; let (//) = Filename.concat let dirname = Filename.dirname Sys.argv.(0) diff --git a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c index 7d8541121d..378337c50b 100644 --- a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c @@ -318,6 +318,10 @@ void i2c1_hw_init ( void ) { #endif /* USE_I2C1 */ +bool_t i2c_idle(struct i2c_periph* p) { + return p->status == I2CIdle; +} + bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) { uint8_t idx; diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c index cd16065446..3aaa5ca976 100644 --- a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c @@ -2,4 +2,5 @@ void i2c_hw_init ( void ) {} +bool_t i2c_idle(struct i2c_periph *p) { return TRUE; } bool_t i2c_submit(struct i2c_periph* p __attribute__ ((unused)), struct i2c_transaction* t __attribute__ ((unused))) { return TRUE;} diff --git a/sw/airborne/booz/arch/sim/booz2_pwm_hw.c b/sw/airborne/arch/sim/modules/core/booz_pwm_arch.c similarity index 91% rename from sw/airborne/booz/arch/sim/booz2_pwm_hw.c rename to sw/airborne/arch/sim/modules/core/booz_pwm_arch.c index 1ff53d6faa..e3768ca9c9 100644 --- a/sw/airborne/booz/arch/sim/booz2_pwm_hw.c +++ b/sw/airborne/arch/sim/modules/core/booz_pwm_arch.c @@ -22,8 +22,8 @@ * */ -#include "booz2_pwm_hw.h" +#include "modules/core/booz_pwm_arch.h" -void booz2_pwm_init_hw( void ) {} +void booz_pwm_init_arch( void ) {} diff --git a/sw/airborne/booz/arch/sim/booz2_pwm_hw.h b/sw/airborne/arch/sim/modules/core/booz_pwm_arch.h similarity index 76% rename from sw/airborne/booz/arch/sim/booz2_pwm_hw.h rename to sw/airborne/arch/sim/modules/core/booz_pwm_arch.h index 3c8f3d00e1..d3d5229b99 100644 --- a/sw/airborne/booz/arch/sim/booz2_pwm_hw.h +++ b/sw/airborne/arch/sim/modules/core/booz_pwm_arch.h @@ -22,11 +22,15 @@ * */ -#ifndef BOOZ2_PWM_HW_H -#define BOOZ2_PWM_HW_H +#ifndef BOOZ_PWM_ARCH_H +#define BOOZ_PWM_ARCH_H -extern void booz2_pwm_init_hw(void); +extern void booz_pwm_init_arch(void); -#define Booz2SetPwmValue(_v) {} +// Default PWM is PWM0 +#define BoozSetPwmValue(_v) BoozSetPwm0Value(_v) -#endif /* BOOZ2_PWM_HW_H */ +#define BoozSetPwm0Value(_v) {} +#define BoozSetPwm1Value(_v) {} + +#endif /* BOOZ_PWM_ARCH_H */ diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c index 2099326c6c..7a922aeabb 100644 --- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c +++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c @@ -42,7 +42,6 @@ struct i2c_errors i2c1_errors; #define I2C1_ABORT_AND_RESET() { \ struct i2c_transaction* trans2 = i2c1.trans[i2c1.trans_extract_idx]; \ trans2->status = I2CTransFailed; \ - i2c1.status = I2CFailed; \ I2C_ITConfig(I2C1, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); \ I2C_Cmd(I2C1, DISABLE); \ I2C_DeInit(I2C1); \ @@ -275,7 +274,7 @@ void i2c2_hw_init(void) { /* Configure and enable I2C2 event interrupt --------------------------------*/ NVIC_InitStructure.NVIC_IRQChannel = I2C2_EV_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); @@ -349,14 +348,34 @@ static inline void on_status_restart_requested(struct i2c_transaction* trans, ui #define I2C2_ABORT_AND_RESET() { \ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx]; \ - trans->status = I2CTransFailed; \ + trans->status = I2CTransFailed; \ I2C_ITConfig(I2C2, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); \ + I2C_ClearITPendingBit(I2C2, 0xFF); \ I2C_Cmd(I2C2, DISABLE); \ I2C_DeInit(I2C2); \ - I2C_Cmd(I2C2, ENABLE); \ I2C2_APPLY_CONFIG(); \ + I2C_Cmd(I2C2, ENABLE); \ + /* do something to unstuck the bus */ \ + GPIO_InitTypeDef GPIO_InitStructure; \ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; \ + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; \ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; \ + GPIO_Init(GPIOB, &GPIO_InitStructure); \ + for (__IO int i = 0; i < 10; i++) {\ + for (__IO int j = 0; j < 50; j++); \ + GPIOB->BSRR = GPIO_Pin_10; \ + for (__IO int j = 0; j < 50; j++); \ + GPIOB->BRR = GPIO_Pin_10; \ + } \ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; \ + GPIO_Init(GPIOB, &GPIO_InitStructure); \ + I2C_Cmd(I2C2, DISABLE); \ + I2C_DeInit(I2C2); \ + I2C2_APPLY_CONFIG(); \ + I2C_Cmd(I2C2, ENABLE); \ + I2C_ClearITPendingBit(I2C2, 0xFF); \ I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE); \ - I2C2_END_OF_TRANSACTION(); \ + I2C2_END_OF_TRANSACTION(); \ } @@ -423,6 +442,8 @@ static inline void on_status_sending_byte(struct i2c_transaction* trans, uint32_ I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE); if (trans->type == I2CTransTx) { I2C_GenerateSTOP(I2C2, ENABLE); + /* Make sure that the STOP bit is cleared by Hardware */ + while ((I2C2->CR1&0x200) == 0x200); i2c2.status = I2CStopRequested; } else { @@ -486,6 +507,8 @@ static inline void on_status_addr_rd_sent(struct i2c_transaction* trans, uint32_ if(trans->len_r == 1) { // If we're going to read only one byte I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure it's gonna be nacked I2C_GenerateSTOP(I2C2, ENABLE); // and followed by a stop + /* Make sure that the STOP bit is cleared by Hardware */ + while ((I2C2->CR1&0x200) == 0x200); i2c2.status = I2CReadingLastByte; // and remember we did } else { @@ -512,6 +535,8 @@ static inline void on_status_reading_byte(struct i2c_transaction* trans, uint32_ if (i2c2.idx_buf >= trans->len_r-1) { // We're reading our last byte I2C_AcknowledgeConfig(I2C2, DISABLE); // give them a nack once it's done I2C_GenerateSTOP(I2C2, ENABLE); // and follow with a stop + /* Make sure that the STOP bit is cleared by Hardware */ + while ((I2C2->CR1&0x200) == 0x200); i2c2.status = I2CStopRequested; // remember we already trigered the stop } } // else { something very wrong has happened } @@ -645,6 +670,8 @@ void i2c2_er_irq_handler(void) { i2c2_errors.ack_fail_cnt++; I2C_ClearITPendingBit(I2C2, I2C_IT_AF); I2C_GenerateSTOP(I2C2, ENABLE); + /* Make sure that the STOP bit is cleared by Hardware */ + while ((I2C2->CR1&0x200) == 0x200); } if (I2C_GetITStatus(I2C2, I2C_IT_BERR)) { /* Misplaced Start or Stop condition */ i2c2_errors.miss_start_stop_cnt++; @@ -684,6 +711,11 @@ void i2c2_er_irq_handler(void) { +bool_t i2c_idle(struct i2c_periph* p) +{ + return !I2C_GetFlagStatus(p->reg_addr, I2C_FLAG_BUSY); +} + bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) { uint8_t temp; diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c index 3bf8cc2a20..11829b5acf 100644 --- a/sw/airborne/boards/lisa_l/baro_board.c +++ b/sw/airborne/boards/lisa_l/baro_board.c @@ -26,6 +26,7 @@ void baro_init(void) { void baro_periodic(void) { // check i2c_done + if (!i2c_idle(&i2c2)) return; switch (baro_board.status) { case LBS_UNINITIALIZED: baro_board_send_reset(); diff --git a/conf/autopilot/tiny_sim.h b/sw/airborne/boards/tiny_sim.h similarity index 100% rename from conf/autopilot/tiny_sim.h rename to sw/airborne/boards/tiny_sim.h diff --git a/sw/airborne/booz/test/booz_test_imu.c b/sw/airborne/booz/test/booz_test_imu.c index 0747c0300c..fa4bd2591d 100644 --- a/sw/airborne/booz/test/booz_test_imu.c +++ b/sw/airborne/booz/test/booz_test_imu.c @@ -42,6 +42,7 @@ static inline void main_periodic_task( void ); static inline void main_event_task( void ); static inline void on_gyro_accel_event(void); +static inline void on_accel_event(void); static inline void on_mag_event(void); int main( void ) { @@ -92,13 +93,32 @@ static inline void main_periodic_task( void ) { static inline void main_event_task( void ) { - ImuEvent(on_gyro_accel_event, on_mag_event); + ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event); } +static inline void on_accel_event(void) { + ImuScaleAccel(imu); + + static uint8_t cnt; + cnt++; + if (cnt > 15) cnt = 0; + if (cnt == 0) { + DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, + &imu.accel_unscaled.x, + &imu.accel_unscaled.y, + &imu.accel_unscaled.z); + } + else if (cnt == 7) { + DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel, + &imu.accel.x, + &imu.accel.y, + &imu.accel.z); + } +} + static inline void on_gyro_accel_event(void) { ImuScaleGyro(imu); - ImuScaleAccel(imu); LED_TOGGLE(2); static uint8_t cnt; @@ -110,22 +130,12 @@ static inline void on_gyro_accel_event(void) { &imu.gyro_unscaled.p, &imu.gyro_unscaled.q, &imu.gyro_unscaled.r); - - DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, - &imu.accel_unscaled.x, - &imu.accel_unscaled.y, - &imu.accel_unscaled.z); } else if (cnt == 7) { DOWNLINK_SEND_BOOZ2_GYRO(DefaultChannel, &imu.gyro.p, &imu.gyro.q, &imu.gyro.r); - - DOWNLINK_SEND_BOOZ2_ACCEL(DefaultChannel, - &imu.accel.x, - &imu.accel.y, - &imu.accel.z); } } diff --git a/sw/airborne/datalink.h b/sw/airborne/datalink.h index 690b06462a..9baa824a92 100644 --- a/sw/airborne/datalink.h +++ b/sw/airborne/datalink.h @@ -78,8 +78,8 @@ EXTERN void dl_parse_msg(void); #elif DATALINK == XBEE #define DatalinkEvent() { \ - if (XbeeBuffer()) { \ - ReadXbeeBuffer(); \ + if (XBeeBuffer()) { \ + ReadXBeeBuffer(); \ if (xbee_msg_received) { \ xbee_parse_payload(); \ xbee_msg_received = FALSE; \ diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c index bec7f05419..ee5aca10d2 100644 --- a/sw/airborne/firmwares/beth/main_stm32.c +++ b/sw/airborne/firmwares/beth/main_stm32.c @@ -40,6 +40,7 @@ static inline void main_periodic( void ); static inline void main_event( void ); static inline void on_gyro_accel_event(void); +static inline void on_accel_event(void); static inline void on_mag_event(void); static inline void main_on_overo_msg_received(void); @@ -114,7 +115,7 @@ static inline void main_periodic( void ) { } static inline void main_event( void ) { - ImuEvent(on_gyro_accel_event, on_mag_event); + ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event); OveroLinkEvent(main_on_overo_msg_received,main_on_overo_link_error); } @@ -150,6 +151,10 @@ static inline void main_on_overo_link_lost(void) { } +static inline void on_accel_event(void) { + +} + static inline void on_gyro_accel_event(void) { ImuScaleGyro(imu); ImuScaleAccel(imu); diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c index a7d89aa737..9ff099da95 100644 --- a/sw/airborne/firmwares/fixedwing/main_ap.c +++ b/sw/airborne/firmwares/fixedwing/main_ap.c @@ -75,6 +75,7 @@ #include "subsystems/ahrs/ahrs_aligner.h" #include "subsystems/ahrs/ahrs_float_dcm.h" static inline void on_gyro_accel_event( void ); +static inline void on_accel_event( void ); static inline void on_mag_event( void ); #endif @@ -376,10 +377,11 @@ static void navigation_task( void ) { void periodic_task_ap( void ) { - static uint8_t _20Hz = 0; - static uint8_t _10Hz = 0; - static uint8_t _4Hz = 0; - static uint8_t _1Hz = 0; + static uint8_t _60Hz = 0; + static uint8_t _20Hz = 0; + static uint8_t _10Hz = 0; + static uint8_t _4Hz = 0; + static uint8_t _1Hz = 0; #ifdef USE_IMU // Run at PERIODIC_FREQUENCY (60Hz if not defined) @@ -387,10 +389,10 @@ void periodic_task_ap( void ) { #endif // USE_IMU - -#ifdef PERIODIC_FREQUENCY -#warning Using HighSpeed Periodic: Manually check to make sure PERIODIC_FREQUENCY is a multiple of 60. - static uint8_t _60Hz = 0; +#define _check_periodic_freq_ PERIODIC_FREQUENCY % 60 +#if _check_periodic_freq_ +#error Using HighSpeed Periodic: PERIODIC_FREQUENCY has to be a multiple of 60! +#endif _60Hz++; if (_60Hz >= (PERIODIC_FREQUENCY / 60)) { @@ -400,8 +402,6 @@ void periodic_task_ap( void ) { { return; } -#endif - // Rest of the periodic function still runs at 60Hz like always @@ -591,7 +591,7 @@ void event_task_ap( void ) { #endif #ifdef USE_AHRS - ImuEvent(on_gyro_accel_event, on_mag_event); + ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event); #endif // USE_AHRS #ifdef USE_GPS @@ -624,33 +624,8 @@ void event_task_ap( void ) { #endif /** USE_GPS */ -#if defined DATALINK + DatalinkEvent(); -#if DATALINK == PPRZ - if (PprzBuffer()) { - ReadPprzBuffer(); - if (pprz_msg_received) { - pprz_parse_payload(); - pprz_msg_received = FALSE; - } - } -#elif DATALINK == XBEE - if (XBeeBuffer()) { - ReadXBeeBuffer(); - if (xbee_msg_received) { - xbee_parse_payload(); - xbee_msg_received = FALSE; - } - } -#else -#error "Unknown DATALINK" -#endif - - if (dl_msg_available) { - dl_parse_msg(); - dl_msg_available = FALSE; - } -#endif /** DATALINK */ #ifdef MCU_SPI_LINK link_mcu_event_task(); @@ -666,6 +641,9 @@ void event_task_ap( void ) { } /* event_task_ap() */ #ifdef USE_AHRS +static inline void on_accel_event( void ) { +} + static inline void on_gyro_accel_event( void ) { #ifdef AHRS_CPU_LED @@ -682,7 +660,7 @@ static inline void on_gyro_accel_event( void ) { return; } -#ifndef PERIODIC_FREQUENCY +#if PERIODIC_FREQUENCY == 60 ImuScaleGyro(imu); ImuScaleAccel(imu); @@ -693,12 +671,11 @@ static inline void on_gyro_accel_event( void ) { #else //PERIODIC_FREQUENCY static uint8_t _reduced_propagation_rate = 0; static uint8_t _reduced_correction_rate = 0; - static struct Int32Vect3 acc_avg, gyr_avg; + static struct Int32Vect3 acc_avg; + static struct Int32Rates gyr_avg; - gyr_avg.x += imu.gyro_unscaled.p; - gyr_avg.y += imu.gyro_unscaled.q; - gyr_avg.z += imu.gyro_unscaled.r; - INT32_VECT3_ADD(acc_avg, imu.accel_unscaled); + RATES_ADD(gyr_avg, imu.gyro_unscaled); + VECT3_ADD(acc_avg, imu.accel_unscaled); _reduced_propagation_rate++; if (_reduced_propagation_rate < (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY)) @@ -708,11 +685,8 @@ static inline void on_gyro_accel_event( void ) { { _reduced_propagation_rate = 0; - INT32_VECT3_SDIV(gyr_avg, gyr_avg, (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY) ); - imu.gyro_unscaled.p = gyr_avg.x; - imu.gyro_unscaled.q = gyr_avg.y; - imu.gyro_unscaled.r = gyr_avg.z; - INT_VECT3_ZERO(gyr_avg); + RATES_SDIV(imu.gyro_unscaled, gyr_avg, (PERIODIC_FREQUENCY / AHRS_PROPAGATE_FREQUENCY) ); + INT_RATES_ZERO(gyr_avg); ImuScaleGyro(imu); @@ -722,8 +696,7 @@ static inline void on_gyro_accel_event( void ) { if (_reduced_correction_rate >= (AHRS_PROPAGATE_FREQUENCY / AHRS_CORRECT_FREQUENCY)) { _reduced_correction_rate = 0; - INT32_VECT3_SDIV(acc_avg, acc_avg, (PERIODIC_FREQUENCY / AHRS_CORRECT_FREQUENCY) ); - INT32_VECT3_COPY(imu.accel_unscaled, acc_avg); + VECT3_SDIV(imu.accel_unscaled, acc_avg, (PERIODIC_FREQUENCY / AHRS_CORRECT_FREQUENCY) ); INT_VECT3_ZERO(acc_avg); ImuScaleAccel(imu); ahrs_update_accel(); diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c index 60205f57e1..ad0bf0e3c0 100644 --- a/sw/airborne/firmwares/rotorcraft/main.c +++ b/sw/airborne/firmwares/rotorcraft/main.c @@ -32,6 +32,7 @@ #include "downlink.h" #include "firmwares/rotorcraft/telemetry.h" #include "datalink.h" +#include "xbee.h" #include "booz2_commands.h" #include "firmwares/rotorcraft/actuators.h" @@ -63,7 +64,8 @@ #include "generated/modules.h" -static inline void on_gyro_accel_event( void ); +static inline void on_gyro_event( void ); +static inline void on_accel_event( void ); static inline void on_baro_abs_event( void ); static inline void on_baro_dif_event( void ); static inline void on_gps_event( void ); @@ -100,6 +102,10 @@ STATIC_INLINE void main_init( void ) { actuators_init(); radio_control_init(); +#if DATALINK == XBEE + xbee_init(); +#endif + booz2_analog_init(); baro_init(); @@ -192,7 +198,7 @@ STATIC_INLINE void main_event( void ) { RadioControlEvent(autopilot_on_rc_frame); } - ImuEvent(on_gyro_accel_event, on_mag_event); + ImuEvent(on_gyro_event, on_accel_event, on_mag_event); BaroEvent(on_baro_abs_event, on_baro_dif_event); @@ -208,10 +214,17 @@ STATIC_INLINE void main_event( void ) { } -static inline void on_gyro_accel_event( void ) { +static inline void on_accel_event( void ) { + ImuScaleAccel(imu); + + if (ahrs.status != AHRS_UNINIT) { + ahrs_update_accel(); + } +} + +static inline void on_gyro_event( void ) { ImuScaleGyro(imu); - ImuScaleAccel(imu); if (ahrs.status == AHRS_UNINIT) { ahrs_aligner_run(); @@ -220,7 +233,6 @@ static inline void on_gyro_accel_event( void ) { } else { ahrs_propagate(); - ahrs_update_accel(); #ifdef SITL if (nps_bypass_ahrs) sim_overwrite_ahrs(); #endif diff --git a/sw/airborne/latlong.c b/sw/airborne/latlong.c index f0f158ad48..9aff7963cc 100644 --- a/sw/airborne/latlong.c +++ b/sw/airborne/latlong.c @@ -69,15 +69,13 @@ static inline float inverse_isometric_latitude(float lat, float e, float epsilon return phi0; } -/** us on arm7@60MHz, i.e. % of cputime at 4Hz +/** use on ARM7 at 60MHz, i.e. percentage of cputime at 4Hz specialize CSin: 951us i.e. One CSin: 120us init: - iso_lat: 155, 172 + iso_lat: 155, 172 for loop: 258 - - - %*/ +*/ #define LambdaOfUtmZone(utm_zone) RadOfDeg((utm_zone-1)*6-180+3) diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c index c27e002e1d..2a23a7c705 100644 --- a/sw/airborne/lisa/lisa_stm_passthrough_main.c +++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c @@ -55,6 +55,7 @@ static inline void main_periodic(void); static inline void main_event(void); static inline void on_gyro_accel_event(void); +static inline void on_accel_event(void); static inline void on_mag_event(void); static inline void on_overo_link_msg_received(void); @@ -284,6 +285,9 @@ static inline void on_overo_link_lost(void) { static inline void on_overo_link_crc_failed(void) { } +static inline void on_accel_event(void) { +} + static inline void on_gyro_accel_event(void) { ImuScaleGyro(imu); ImuScaleAccel(imu); @@ -337,7 +341,7 @@ static inline void main_on_baro_abs(void) { static inline void main_event(void) { - ImuEvent(on_gyro_accel_event, on_mag_event); + ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event); BaroEvent(main_on_baro_abs, main_on_baro_diff); OveroLinkEvent(on_overo_link_msg_received, on_overo_link_crc_failed); RadioControlEvent(on_rc_message); diff --git a/sw/airborne/lisa/test/hs_gyro.c b/sw/airborne/lisa/test/hs_gyro.c index e82e1dd4be..544e4579c2 100644 --- a/sw/airborne/lisa/test/hs_gyro.c +++ b/sw/airborne/lisa/test/hs_gyro.c @@ -45,6 +45,7 @@ static inline void main_periodic_task( void ); static inline void main_event_task( void ); static inline void on_gyro_accel_event(void); +static inline void on_accel_event(void); static inline void on_mag_event(void); int main( void ) { @@ -77,10 +78,14 @@ static inline void main_periodic_task( void ) { static inline void main_event_task( void ) { - ImuEvent(on_gyro_accel_event, on_mag_event); + ImuEvent(on_gyro_accel_event, on_accel_event, on_mag_event); } + +static inline void on_accel_event(void) { +} + #define NB_SAMPLES 20 static inline void on_gyro_accel_event(void) { diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h index 1070af6a0a..43753823ce 100644 --- a/sw/airborne/mcu_periph/i2c.h +++ b/sw/airborne/mcu_periph/i2c.h @@ -128,6 +128,7 @@ extern void i2c2_init(void); #endif /* USE_I2C2 */ extern void i2c_init(struct i2c_periph* p); +extern bool_t i2c_idle(struct i2c_periph* p); extern bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t); #define I2CReceive(_p, _t, _s_addr, _len) { \ diff --git a/sw/airborne/modules/ins/fw_ins_vn100.c b/sw/airborne/modules/ins/fw_ins_vn100.c index 1b08545606..a8524a7f03 100644 --- a/sw/airborne/modules/ins/fw_ins_vn100.c +++ b/sw/airborne/modules/ins/fw_ins_vn100.c @@ -28,9 +28,19 @@ #include "modules/ins/ins_vn100.h" #include "mcu_periph/spi.h" +#include "estimator.h" +#include "generated/airframe.h" + +#ifndef INS_YAW_NEUTRAL_DEFAULT +#define INS_YAW_NEUTRAL_DEFAULT 0. +#endif void ins_init( void ) { + ins_roll_neutral = INS_ROLL_NEUTRAL_DEFAULT; + ins_pitch_neutral = INS_PITCH_NEUTRAL_DEFAULT; + ins_yaw_neutral = INS_YAW_NEUTRAL_DEFAULT; + /* SPI polarity = 1 - data sampled on rising edge */ SpiSetCPOL(); /* SPI phase = 1 - SCK idle high */ @@ -100,6 +110,11 @@ void ins_event_task( void ) { if (spi_message_received) { spi_message_received = FALSE; parse_ins_msg(); +#ifndef INS_VN100_READ_ONLY + // Update estimator + // FIXME Use a proper rotation matrix here + EstimatorSetAtt((ins_eulers.phi - ins_roll_neutral), ins_eulers.psi, (ins_eulers.theta - ins_pitch_neutral)); +#endif //uint8_t s = 4+VN100_REG_QMR_SIZE; //DOWNLINK_SEND_DEBUG(DefaultChannel,s,spi_buffer_input); } diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c index d0670ca565..576272072d 100644 --- a/sw/airborne/modules/ins/ins_vn100.c +++ b/sw/airborne/modules/ins/ins_vn100.c @@ -34,6 +34,11 @@ #include "downlink.h" #include "messages.h" +/* neutrals */ +float ins_roll_neutral; +float ins_pitch_neutral; +float ins_yaw_neutral; + struct FloatEulers ins_eulers; struct FloatQuat ins_quat; struct FloatRates ins_rates; @@ -176,6 +181,9 @@ void parse_ins_msg( void ) { } +#ifndef DOWNLINK_DEVICE +#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE +#endif #include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/ins/ins_vn100.h b/sw/airborne/modules/ins/ins_vn100.h index f60f485de3..20d58f153f 100644 --- a/sw/airborne/modules/ins/ins_vn100.h +++ b/sw/airborne/modules/ins/ins_vn100.h @@ -35,6 +35,11 @@ #include "VN100.h" #include "math/pprz_algebra_float.h" +/* neutrals */ +extern float ins_roll_neutral; +extern float ins_pitch_neutral; +extern float ins_yaw_neutral; + /* state */ extern struct FloatEulers ins_eulers; extern struct FloatQuat ins_quat; diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c index d922cff51b..ecd698bbed 100644 --- a/sw/airborne/modules/sensors/baro_MS5534A.c +++ b/sw/airborne/modules/sensors/baro_MS5534A.c @@ -235,19 +235,19 @@ void baro_MS5534A_event_task( void ) { baro_MS5534A_available = TRUE; break; - case STATUS_RESET: - break; + case STATUS_RESET: + break; default: /* Init status */ words[status] = Uint16(buf_input); if (status == STATUS_INIT4) { - calibration(); + calibration(); } } } /* else nothing to read */ NextStatus(); if (!status_read_data) { - /* Ask next conversion now */ + /* Ask next conversion now */ baro_MS5534A_send(); } } @@ -261,9 +261,8 @@ void baro_MS5534A_event( void ) { baro_MS5534A_available = FALSE; baro_MS5534A_z = ground_alt +((float)baro_MS5534A_ground_pressure - baro_MS5534A_pressure)*0.084; if (alt_baro_enabled) { - EstimatorSetAlt(baro_MS5534A_z); + EstimatorSetAlt(baro_MS5534A_z); } } } } - diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c index 8cc888dc60..a4321049ae 100644 --- a/sw/airborne/modules/sensors/baro_scp.c +++ b/sw/airborne/modules/sensors/baro_scp.c @@ -3,9 +3,6 @@ #include "led.h" #include "mcu.h" -#ifndef DOWNLINK_DEVICE -#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE -#endif #include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c index 9a8d848f70..1c85bb5d16 100644 --- a/sw/airborne/modules/sensors/baro_scp_i2c.c +++ b/sw/airborne/modules/sensors/baro_scp_i2c.c @@ -11,9 +11,6 @@ #include "mcu_periph/i2c.h" #include "led.h" -#ifndef DOWNLINK_DEVICE -#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE -#endif #include "mcu_periph/uart.h" #include "messages.h" #include "downlink.h" diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c index a5b24b983f..3f5c63f9f3 100644 --- a/sw/airborne/peripherals/hmc5843.c +++ b/sw/airborne/peripherals/hmc5843.c @@ -45,7 +45,7 @@ static void send_config(void) void hmc5843_idle_task(void) { if (hmc5843.initialized && hmc5843.ready_for_read && (hmc5843.i2c_trans.status == I2CTransSuccess || hmc5843.i2c_trans.status == I2CTransFailed)) { - if (i2c2.status == I2CIdle) { + if (i2c2.status == I2CIdle && i2c_idle(&i2c2)) { hmc5843.i2c_trans.type = I2CTransRx; hmc5843.i2c_trans.len_r = 7; i2c_submit(&i2c2, &hmc5843.i2c_trans); @@ -72,6 +72,11 @@ void hmc5843_periodic(void) hmc5843.initialized = TRUE; } else if (hmc5843.timeout++ > HMC5843_TIMEOUT) { hmc5843_arch_reset(); + hmc5843.i2c_trans.type = I2CTransRx; + hmc5843.i2c_trans.len_r = 7; + i2c_submit(&i2c2, &hmc5843.i2c_trans); + hmc5843.reading = TRUE; + hmc5843.ready_for_read = FALSE; hmc5843.timeout = 0; } } diff --git a/sw/airborne/print.h b/sw/airborne/print.h index 902d29b45c..8f51c6286d 100644 --- a/sw/airborne/print.h +++ b/sw/airborne/print.h @@ -64,10 +64,20 @@ #define Uart0PrintHex32(c) _PrintHex32(uart0_transmit, c) #define Uart0PrintString(s) _PrintString(uart0_transmit, s) +#define UART0PrintHex Uart0PrintHex +#define UART0PrintHex16 Uart0PrintHex16 +#define UART0PrintHex32 Uart0PrintHex32 +#define UART0PrintString Uart0PrintString + #define Uart1PrintHex(c) _PrintHex(uart1_transmit, c) #define Uart1PrintHex16(c) _PrintHex16(uart1_transmit, c) #define Uart1PrintString(s) _PrintString(uart1_transmit, s) +#define UART1PrintHex Uart1PrintHex +#define UART1PrintHex16 Uart1PrintHex16 +#define UART1PrintHex32 Uart1PrintHex32 +#define UART1PrintString Uart1PrintString + #define UsbSPrintHex(c) _PrintHex(VCOM_putchar, c) #define UsbSPrintHex16(c) _PrintHex16(VCOM_putchar, c) #define UsbSPrintString(s) _PrintString(VCOM_putchar, s) diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c index 7b3630e4cb..935eb98970 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c +++ b/sw/airborne/subsystems/ahrs/ahrs_aligner.c @@ -29,7 +29,8 @@ struct AhrsAligner ahrs_aligner; -#define SAMPLES_NB 512 +#define SAMPLES_NB PERIODIC_FREQUENCY + static struct Int32Rates gyro_sum; static struct Int32Vect3 accel_sum; static struct Int32Vect3 mag_sum; @@ -47,7 +48,9 @@ void ahrs_aligner_init(void) { ahrs_aligner.low_noise_cnt = 0; } +#ifndef LOW_NOISE_THRESHOLD #define LOW_NOISE_THRESHOLD 90000 +#endif #define LOW_NOISE_TIME 5 void ahrs_aligner_run(void) { diff --git a/sw/airborne/subsystems/imu/imu_analog.h b/sw/airborne/subsystems/imu/imu_analog.h index 2337aa7d6f..c7f7270fbf 100644 --- a/sw/airborne/subsystems/imu/imu_analog.h +++ b/sw/airborne/subsystems/imu/imu_analog.h @@ -29,10 +29,11 @@ extern volatile bool_t analog_imu_available; extern int imu_overrun; -#define ImuEvent(_gyro_accel_handler, _mag_handler) { \ +#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \ if (analog_imu_available) { \ analog_imu_available = FALSE; \ - _gyro_accel_handler(); \ + _gyro_handler(); \ + _accel_handler(); \ } \ ImuMagEvent(_mag_handler); \ } diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c index 41462201ca..adb77c13a5 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.c +++ b/sw/airborne/subsystems/imu/imu_aspirin.c @@ -10,6 +10,18 @@ static void configure_gyro(void); static void configure_mag(void); static void configure_accel(void); +static void send_i2c_msg_with_retry(struct i2c_transaction* t) { + uint8_t max_retry = 8; + uint8_t nb_retry = 0; + do { + i2c_submit(&i2c2, t); + while(I2C_GetFlagStatus(I2C2, I2C_FLAG_BUSY)); + while (t->status == I2CTransPending || t->status == I2CTransRunning); + if (t->status == I2CTransFailed) + nb_retry++; + } + while (t->status != I2CTransSuccess && nb_retry < max_retry); +} void imu_impl_init(void) { @@ -35,12 +47,12 @@ void imu_periodic(void) { } else imu_aspirin.gyro_available_blaaa = TRUE; + } /* sends a serie of I2C commands to configure the ITG3200 gyro */ static void configure_gyro(void) { - struct i2c_transaction t; t.type = I2CTransTx; t.slave_addr = ITG3200_ADDR; @@ -48,37 +60,22 @@ static void configure_gyro(void) { t.buf[0] = ITG3200_REG_DLPF_FS; t.buf[1] = (0x03<<3); t.len_w = 2; - i2c_submit(&i2c2,&t); - while (t.status != I2CTransSuccess); + send_i2c_msg_with_retry(&t); /* set sample rate to 533Hz */ t.buf[0] = ITG3200_REG_SMPLRT_DIV; t.buf[1] = 0x0E; - i2c_submit(&i2c2,&t); - while (t.status != I2CTransSuccess); + send_i2c_msg_with_retry(&t); /* switch to gyroX clock */ t.buf[0] = ITG3200_REG_PWR_MGM; t.buf[1] = 0x01; - i2c_submit(&i2c2,&t); - while (t.status != I2CTransSuccess); + send_i2c_msg_with_retry(&t); /* enable interrupt on data ready, idle hight */ t.buf[0] = ITG3200_REG_INT_CFG; t.buf[1] = (0x01 | 0x01<<7); - i2c_submit(&i2c2,&t); - while (t.status != I2CTransSuccess); + send_i2c_msg_with_retry(&t); } -static void send_i2c_msg_with_retry(struct i2c_transaction* t) { - uint8_t max_retry = 8; - uint8_t nb_retry = 0; - do { - i2c_submit(&i2c2, t); - while (t->status == I2CTransPending || t->status == I2CTransRunning); - if (t->status == I2CTransFailed) - nb_retry++; - } - while (t->status != I2CTransSuccess || nb_retry < max_retry); -} static void configure_accel(void) { diff --git a/sw/airborne/subsystems/imu/imu_aspirin.h b/sw/airborne/subsystems/imu/imu_aspirin.h index 7d703092a8..a76b8659c3 100644 --- a/sw/airborne/subsystems/imu/imu_aspirin.h +++ b/sw/airborne/subsystems/imu/imu_aspirin.h @@ -88,17 +88,17 @@ extern struct ImuAspirin imu_aspirin; } \ } -#define ImuEvent(_gyro_accel_handler, _mag_handler) { \ +#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \ ImuMagEvent(_mag_handler); \ if (imu_aspirin.status == AspirinStatusReadingGyro && \ - imu_aspirin.i2c_trans_gyro.status == I2CTransSuccess) { \ + imu_aspirin.i2c_trans_gyro.status == I2CTransSuccess && i2c_idle(&i2c2)) { \ int16_t gp = imu_aspirin.i2c_trans_gyro.buf[0]<<8 | imu_aspirin.i2c_trans_gyro.buf[1]; \ int16_t gq = imu_aspirin.i2c_trans_gyro.buf[2]<<8 | imu_aspirin.i2c_trans_gyro.buf[3]; \ int16_t gr = imu_aspirin.i2c_trans_gyro.buf[4]<<8 | imu_aspirin.i2c_trans_gyro.buf[5]; \ RATES_ASSIGN(imu.gyro_unscaled, gp, gq, gr); \ imu_aspirin.status = AspirinStatusIdle; \ } \ - if (imu_aspirin.gyro_eoc && i2c2.status == I2CIdle) { \ + if (imu_aspirin.gyro_eoc && i2c2.status == I2CIdle && i2c_idle(&i2c2)) { \ imu_aspirin.i2c_trans_gyro.type = I2CTransTxRx; \ imu_aspirin.i2c_trans_gyro.buf[0] = ITG3200_REG_GYRO_XOUT_H; \ imu_aspirin.i2c_trans_gyro.slave_addr = ITG3200_ADDR; \ @@ -109,7 +109,7 @@ extern struct ImuAspirin imu_aspirin; } \ if (imu_aspirin.gyro_available_blaaa) { \ imu_aspirin.gyro_available_blaaa = FALSE; \ - _gyro_accel_handler(); \ + _gyro_handler(); \ } \ if (imu_aspirin.accel_available) { \ imu_aspirin.accel_available = FALSE; \ @@ -117,7 +117,7 @@ extern struct ImuAspirin imu_aspirin; const int16_t ay = imu_aspirin.accel_rx_buf[3] | (imu_aspirin.accel_rx_buf[4]<<8); \ const int16_t az = imu_aspirin.accel_rx_buf[5] | (imu_aspirin.accel_rx_buf[6]<<8); \ VECT3_ASSIGN(imu.accel_unscaled, ax, ay, az); \ - _gyro_accel_handler(); \ + _accel_handler(); \ } \ } diff --git a/sw/airborne/subsystems/imu/imu_b2.h b/sw/airborne/subsystems/imu/imu_b2.h index 7d8b354ff0..bf9fd84ddf 100644 --- a/sw/airborne/subsystems/imu/imu_b2.h +++ b/sw/airborne/subsystems/imu/imu_b2.h @@ -184,7 +184,7 @@ #endif -#define ImuEvent(_gyro_accel_handler, _mag_handler) { \ +#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \ if (max1168_status == STA_MAX1168_DATA_AVAILABLE) { \ imu.gyro_unscaled.p = max1168_values[IMU_GYRO_P_CHAN]; \ imu.gyro_unscaled.q = max1168_values[IMU_GYRO_Q_CHAN]; \ @@ -193,7 +193,8 @@ imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN]; \ imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN]; \ max1168_status = STA_MAX1168_IDLE; \ - _gyro_accel_handler(); \ + _gyro_handler(); \ + _accel_handler(); \ } \ ImuMagEvent(_mag_handler); \ } diff --git a/sw/airborne/subsystems/imu/imu_crista.h b/sw/airborne/subsystems/imu/imu_crista.h index 7f19861efa..6d7c1ab85a 100644 --- a/sw/airborne/subsystems/imu/imu_crista.h +++ b/sw/airborne/subsystems/imu/imu_crista.h @@ -31,7 +31,7 @@ extern uint16_t ADS8344_values[ADS8344_NB_CHANNELS]; extern volatile bool_t ADS8344_available; -#define ImuEvent(_gyro_accel_handler, _mag_handler) { \ +#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \ if (ADS8344_available) { \ ADS8344_available = FALSE; \ imu.gyro_unscaled.p = ADS8344_values[IMU_GYRO_P_CHAN]; \ @@ -41,7 +41,8 @@ extern volatile bool_t ADS8344_available; imu.accel_unscaled.y = ADS8344_values[IMU_ACCEL_Y_CHAN]; \ imu.accel_unscaled.z = ADS8344_values[IMU_ACCEL_Z_CHAN]; \ /* spare 3, temp 7 */ \ - _gyro_accel_handler(); \ + _gyro_handler(); \ + _accel_handler(); \ } \ ImuMagEvent(_mag_handler); \ } diff --git a/sw/airborne/xbee.h b/sw/airborne/xbee.h index fa6f3e8870..28b8493047 100644 --- a/sw/airborne/xbee.h +++ b/sw/airborne/xbee.h @@ -57,20 +57,15 @@ extern uint8_t xbee_ovrn, xbee_error; #define XBEE_MY_ADDR AC_ID void xbee_init( void ); -#define __XBeeLink(dev, _x) dev##_x -#define _XBeeLink(dev, _x) __XBeeLink(dev, _x) -#define XBeeLink(_x) _XBeeLink(XBEE_UART, _x) +#define __Link(dev, _x) dev##_x +#define _Link(dev, _x) __Link(dev, _x) +#define Link(_x) _Link(DOWNLINK_DEVICE, _x) -#define XBeeBuffer() XBeeLink(ChAvailable()) -#define ReadXBeeBuffer() { while (XBeeLink(ChAvailable())&&!xbee_msg_received) parse_xbee(XBeeLink(Getch())); } - -#define XBeePrintString(s) XBeeLink(PrintString(s)) -#define XBeePrintHex16(x) XBeeLink(PrintHex16(x)) -#define XBeeTransportPut1Byte(x) XBeeLink(Transmit(x)) -#define XBeeTransportCheckFreeSpace(x) XBeeLink(CheckFreeSpace(x)) +#define XBeeTransportPut1Byte(x) Link(Transmit(x)) +#define XBeeTransportCheckFreeSpace(x) Link(CheckFreeSpace(x)) /* 5 = Start + len_msb + len_lsb + API_id + checksum */ #define XBeeAPISizeOf(_x) (_x+5) -#define XBeeTransportSendMessage() XBeeLink(SendMessage()) +#define XBeeTransportSendMessage() Link(SendMessage()) #define XBeeTransportPutUint8(_x) { \ xbee_cs += _x; \ @@ -225,4 +220,14 @@ static inline void xbee_parse_payload(void) { } } +#define __XBeeLink(dev, _x) dev##_x +#define _XBeeLink(dev, _x) __XBeeLink(dev, _x) +#define XBeeLink(_x) _XBeeLink(XBEE_UART, _x) + +#define XBeeBuffer() XBeeLink(ChAvailable()) +#define ReadXBeeBuffer() { while (XBeeLink(ChAvailable())&&!xbee_msg_received) parse_xbee(XBeeLink(Getch())); } + +#define XBeePrintString(s) XBeeLink(PrintString(s)) +#define XBeePrintHex16(x) XBeeLink(PrintHex16(x)) + #endif /* XBEE_H */ diff --git a/sw/ground_segment/cockpit/compass.ml b/sw/ground_segment/cockpit/compass.ml index 43aeac96bd..2a0b62f7c8 100644 --- a/sw/ground_segment/cockpit/compass.ml +++ b/sw/ground_segment/cockpit/compass.ml @@ -113,10 +113,9 @@ let draw = fun (da_object:Gtk_tools.pixmap_in_drawin_area) desired_course course (*********************** Main ************************************************) let _ = - let ivy_bus = ref "127.255.255.255:2010" in - + let ivy_bus = ref Defivybus.default_ivy_bus in Arg.parse - [ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.255:2010"] + [ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf " Default is %s" !ivy_bus)] (fun x -> prerr_endline ("WARNING: don't do anything with "^x)) "Usage: "; diff --git a/sw/ground_segment/cockpit/gcs.ml b/sw/ground_segment/cockpit/gcs.ml index c2d765dd60..22a147a0f4 100644 --- a/sw/ground_segment/cockpit/gcs.ml +++ b/sw/ground_segment/cockpit/gcs.ml @@ -320,7 +320,7 @@ let keys_help = fun () -> (***************** MAIN ******************************************************) -let ivy_bus = ref "127.255.255.255:2010" +let ivy_bus = ref Defivybus.default_ivy_bus and geo_ref = ref "" and map_files = ref [] and center = ref "" @@ -340,7 +340,7 @@ and srtm = ref false let options = [ "-auto_ortho", Arg.Set auto_ortho, "IGN tiles path"; - "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.25:2010"; + "-b", Arg.String (fun x -> ivy_bus := x),(sprintf " Default is %s" !ivy_bus); "-center", Arg.Set_string center, "Initial map center (e.g. 'WGS84 43.605 1.443')"; "-center_ac", Arg.Set auto_center_new_ac, "Centers the map on any new A/C"; "-edit", Arg.Unit (fun () -> edit := true; layout_file := "editor.xml"), "Flight plan editor"; diff --git a/sw/ground_segment/joystick/Makefile b/sw/ground_segment/joystick/Makefile index a82d224c96..7c56f9f226 100644 --- a/sw/ground_segment/joystick/Makefile +++ b/sw/ground_segment/joystick/Makefile @@ -26,7 +26,7 @@ Q=@ OCAMLC = ocamlc OCAMLLIB = ../../lib/ocaml TOOLSDIR = ../../tools -OCAMLINCLUDES= -I $(OCAMLLIB) -I +lablgtk2 -I +xml-light -I $(TOOLSDIR) +OCAMLINCLUDES= -I $(OCAMLLIB) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) -I $(TOOLSDIR) LIBPPRZCMA=$(OCAMLLIB)/lib-pprz.cma all: test_stick input2ivy diff --git a/sw/ground_segment/joystick/input2ivy.ml b/sw/ground_segment/joystick/input2ivy.ml index 65b2ebeb36..926a5dc729 100644 --- a/sw/ground_segment/joystick/input2ivy.ml +++ b/sw/ground_segment/joystick/input2ivy.ml @@ -314,14 +314,14 @@ let execute_actions = fun actions ac_id -> (************************************* MAIN **********************************) let () = - let ivy_bus = ref "127.255.255.255:2010" in +let ivy_bus = Defivybus.default_ivy_bus in let device_name = ref "" and ac_name = ref "MYAC" and xml_descr = ref "" in let anon_fun = (fun x -> xml_descr := x) in let speclist = - [ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.255:2010"; + [ "-b", Arg.String (fun x -> ivy_bus := x),(sprintf " Default is %s" !ivy_bus); "-ac", Arg.Set_string ac_name, ""; "-d", Arg.Set_string device_name, ""; "-v", Arg.Set verbose, "Verbose mode (useful to identify the channels of an input device)"; diff --git a/sw/ground_segment/tmtc/150m.ml b/sw/ground_segment/tmtc/150m.ml index c340af1e9c..db16831947 100644 --- a/sw/ground_segment/tmtc/150m.ml +++ b/sw/ground_segment/tmtc/150m.ml @@ -61,7 +61,7 @@ let get_gps_message = fun label _sender vs -> (********************************* Main *********************************************) let () = - let ivy_bus = ref "127.255.255.255:2010" in + let ivy_bus = Defivybus.default_ivy_bus in (** Connect to the Ivy bus *) Ivy.init "Paparazzi 150m" "READY" (fun _ _ -> ()); diff --git a/sw/ground_segment/tmtc/broadcaster.ml b/sw/ground_segment/tmtc/broadcaster.ml index 42a0520062..720c1f636c 100644 --- a/sw/ground_segment/tmtc/broadcaster.ml +++ b/sw/ground_segment/tmtc/broadcaster.ml @@ -1,8 +1,8 @@ open Printf let () = - let ivy_bus = ref "127.255.255.255:2010" in - + let ivy_bus = ref Defivybus.default_ivy_bus in + let port = ref 4242 and ivy_from = ref "DL" and ivy_to = ref "TM" in diff --git a/sw/ground_segment/tmtc/dia.ml b/sw/ground_segment/tmtc/dia.ml index 9cfe6501b4..691e7dd189 100644 --- a/sw/ground_segment/tmtc/dia.ml +++ b/sw/ground_segment/tmtc/dia.ml @@ -89,7 +89,7 @@ let fp_msg = fun _sender vs -> let _ = - let ivy_bus = ref "127.255.255.255:2010" + let ivy_bus = ref Defivybus.default_ivy_bus and port = ref "/dev/dsp" in let options = [ "-b", Arg.Set_string ivy_bus, (sprintf " Default is %s" !ivy_bus); diff --git a/sw/ground_segment/tmtc/ihm.ml b/sw/ground_segment/tmtc/ihm.ml index 65ace6c35d..2b3a9c10f2 100644 --- a/sw/ground_segment/tmtc/ihm.ml +++ b/sw/ground_segment/tmtc/ihm.ml @@ -271,7 +271,9 @@ let listen = fun () -> (*** Options ***) -let ivy_bus = ref "127.255.255.255:2010" + +let ivy_bus = Defivybus.default_ivy_bus + let options = [ "-b", Arg.String (fun x -> ivy_bus := x), (Printf.sprintf "Bus\tDefault is %s" !ivy_bus)] diff --git a/sw/ground_segment/tmtc/ivy2udp.ml b/sw/ground_segment/tmtc/ivy2udp.ml index 1501d37ee8..e54b41a663 100644 --- a/sw/ground_segment/tmtc/ivy2udp.ml +++ b/sw/ground_segment/tmtc/ivy2udp.ml @@ -33,7 +33,7 @@ module PprzTransport = Serial.Transport(Pprz.Transport) open Printf let () = - let ivy_bus = ref "127.255.255.255:2010" in + let ivy_bus = ref Defivybus.default_ivy_bus in let host = ref "85.214.48.162" and port = ref 4242 and datalink_port = ref 4243 diff --git a/sw/ground_segment/tmtc/ivy_tcp_aircraft.ml b/sw/ground_segment/tmtc/ivy_tcp_aircraft.ml index f18689efd7..083902273b 100644 --- a/sw/ground_segment/tmtc/ivy_tcp_aircraft.ml +++ b/sw/ground_segment/tmtc/ivy_tcp_aircraft.ml @@ -5,7 +5,7 @@ module PprzTransport = Serial.Transport(Pprz.Transport) open Printf let () = - let ivy_bus = ref "127.255.255.255:2010" in + let ivy_bus = ref Defivybus.default_ivy_bus in let host = ref "10.31.1.98" and port = ref 4242 and id = ref "6" in diff --git a/sw/ground_segment/tmtc/ivy_tcp_controller.ml b/sw/ground_segment/tmtc/ivy_tcp_controller.ml index 87358de8b8..9b346beaea 100644 --- a/sw/ground_segment/tmtc/ivy_tcp_controller.ml +++ b/sw/ground_segment/tmtc/ivy_tcp_controller.ml @@ -6,7 +6,7 @@ module PprzTransport = Serial.Transport(Pprz.Transport) let () = let host = ref "10.31.1.98" - and ivy_bus = ref "127.255.255.255:2010" in + and ivy_bus = ref Defivybus.default_ivy_bus in let port = ref 4243 in let options = [ diff --git a/sw/ground_segment/tmtc/link.ml b/sw/ground_segment/tmtc/link.ml index 426da505c3..e6689f1740 100644 --- a/sw/ground_segment/tmtc/link.ml +++ b/sw/ground_segment/tmtc/link.ml @@ -423,7 +423,7 @@ let send_ping_msg = fun device -> (** Main *********************************************************************) let () = - let ivy_bus = ref "127.255.255.255:2010" + let ivy_bus = ref Defivybus.default_ivy_bus and port = ref "/dev/ttyUSB0" and baudrate = ref "9600" and transport = ref "pprz" diff --git a/sw/ground_segment/tmtc/messages.ml b/sw/ground_segment/tmtc/messages.ml index 476347aa68..8d657693db 100644 --- a/sw/ground_segment/tmtc/messages.ml +++ b/sw/ground_segment/tmtc/messages.ml @@ -183,12 +183,14 @@ let rec one_class = fun (notebook:GPack.notebook) (ident, xml_class, sender) -> List.iter (fun m -> ignore (one_page sender_name class_name class_notebook bind m)) messages + + (*********************** Main ************************************************) let _ = - let ivy_bus = ref "127.255.255.255:2010" in + let ivy_bus = ref Defivybus.default_ivy_bus in let classes = ref ["telemetry:*"] in Arg.parse - [ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.255:2010"; + [ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf " Default is %s" !ivy_bus); "-c", Arg.String (fun x -> classes := x :: !classes), "class name"] (fun x -> prerr_endline ("WARNING: don't do anything with "^x)) "Usage: "; diff --git a/sw/ground_segment/tmtc/server.ml b/sw/ground_segment/tmtc/server.ml index a66e209bad..cdc31f6daa 100644 --- a/sw/ground_segment/tmtc/server.ml +++ b/sw/ground_segment/tmtc/server.ml @@ -64,12 +64,25 @@ let send_aircrafts_msg = fun _asker _values -> let names = String.concat "," (Hashtbl.fold (fun k _v r -> k::r) aircrafts []) ^ "," in ["ac_list", Pprz.String names] + +let expand_aicraft x = + let ac_name = ExtXml.attrib x "name" in + try + Env.expand_ac_xml x + with Failure msg -> + begin + prerr_endline ("A failure occurred while processing aircraft '"^ac_name^"'"); + prerr_endline "Please remove it from 'conf.xml' or fix its parameter(s)"; + flush stderr; + failwith msg + end + let make_element = fun t a c -> Xml.Element (t,a,c) let log_xml = fun timeofday data_file -> let conf_children = List.map - (fun x -> if Xml.tag x = "aircraft" then Env.expand_ac_xml x else x) + (fun x -> if Xml.tag x = "aircraft" then expand_aicraft x else x) (Xml.children conf_xml) in let expanded_conf = make_element (Xml.tag conf_xml) (Xml.attribs conf_xml) conf_children in make_element @@ -652,7 +665,7 @@ let ground_to_uplink = fun logging -> (* main loop *) let () = - let ivy_bus = ref "127.255.255.255:2010" + let ivy_bus = ref Defivybus.default_ivy_bus and logging = ref true and http = ref false in diff --git a/sw/ground_segment/tmtc/settings.ml b/sw/ground_segment/tmtc/settings.ml index 73642add5b..f7725daa01 100644 --- a/sw/ground_segment/tmtc/settings.ml +++ b/sw/ground_segment/tmtc/settings.ml @@ -23,6 +23,7 @@ * Boston, MA 02111-1307, USA. * *) +open Printf module Ground_Pprz = Pprz.Messages(struct let name = "ground" end) module Tele_Pprz = Pprz.Messages(struct let name = "telemetry" end) @@ -78,10 +79,11 @@ let one_ac = fun (notebook:GPack.notebook) ac_name -> let _ = - let ivy_bus = ref "127.255.255.255:2010" in + + let ivy_bus = ref Defivybus.default_ivy_bus in let acs = ref [] in Arg.parse - [ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.255:2010"; + [ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf " Default is %s" !ivy_bus); "-ac", Arg.String (fun x -> acs := x :: !acs), "A/C name"] (fun x -> prerr_endline ("WARNING: don't do anything with "^x)) "Usage: "; diff --git a/sw/ground_segment/tmtc/stereo_demod.ml b/sw/ground_segment/tmtc/stereo_demod.ml index be2d05deb5..740fc66bd7 100644 --- a/sw/ground_segment/tmtc/stereo_demod.ml +++ b/sw/ground_segment/tmtc/stereo_demod.ml @@ -112,7 +112,7 @@ let send_modem_msg = fun status -> (* main loop *) let _ = - let ivy_bus = ref "127.255.255.255:2010" in + let ivy_bus = Defivybus.default_ivy_bus in let port = ref "/dev/dsp" in let options = [ "-b", Arg.Set_string ivy_bus, (sprintf "Ivy bus (%s)" !ivy_bus); diff --git a/sw/ground_segment/visu3d/Makefile b/sw/ground_segment/visu3d/Makefile index 4bf6b5a338..707d9f2684 100644 --- a/sw/ground_segment/visu3d/Makefile +++ b/sw/ground_segment/visu3d/Makefile @@ -1,7 +1,7 @@ OCAMLOPT0 = ocamlopt -OCAMLC = ocamlc -I +xml-light +OCAMLC = ocamlc $(shell ocamlfind query -r -i-format xml-light) -MLFLAGS = -I +lablgtk2 -I +lablGL -I +camlimages -I ../../lib/ocaml +MLFLAGS = $(shell ocamlfind query -r -i-format lablGL) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format camlimages) -I ../../lib/ocaml OCAMLOPT = $(OCAMLOPT0) $(OCAMLOPT_OPTIONS) diff --git a/sw/ground_segment/visu3d/mapGL.ml b/sw/ground_segment/visu3d/mapGL.ml index f93e3b68c6..4ecfd04286 100644 --- a/sw/ground_segment/visu3d/mapGL.ml +++ b/sw/ground_segment/visu3d/mapGL.ml @@ -511,11 +511,11 @@ let build_interface = fun map_file mission_file -> (* = Programme principal = *) (* ========================================================================= *) let _ = - let ivy_bus = ref "127.255.255.255:2010" and + let ivy_bus = Defivybus.default_ivy_bus and map_file = ref "" and mission_file = ref "" in let options = - [ "-b", Arg.String (fun x -> ivy_bus := x), "Bus\tDefault is 127.255.255.25:2010"; + [ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf " Default is %s" !ivy_bus); "-m", Arg.String (fun x -> map_file := x), "Map description file"; "-f", Arg.String (fun x -> mission_file := x), "Mission description file"] in Arg.parse (options) diff --git a/sw/in_progress/button/Makefile b/sw/in_progress/button/Makefile index ab2a4195aa..73b93e66ae 100644 --- a/sw/in_progress/button/Makefile +++ b/sw/in_progress/button/Makefile @@ -25,7 +25,7 @@ Q=@ OCAMLC = ocamlc OCAMLOPT = ocamlopt -INCLUDES= -I +xml-light -I +lablgtk2 -I ../../lib/ocaml +INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../../lib/ocaml all: panic diff --git a/sw/lib/ocaml/Makefile b/sw/lib/ocaml/Makefile index f69a0df8ae..7f073c1045 100644 --- a/sw/lib/ocaml/Makefile +++ b/sw/lib/ocaml/Makefile @@ -39,7 +39,7 @@ OCAMLYACC=ocamlyacc OCAMLLIBDIR=$(shell ocamlc -where) -SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml logpprz.ml xmlCom.ml editAirframe.ml +SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml gm.ml iGN.ml geometry_2d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml logpprz.ml xmlCom.ml editAirframe.ml defivybus.ml CMO = $(SRC:.ml=.cmo) CMX = $(SRC:.ml=.cmx) diff --git a/sw/lib/ocaml/defivybus.ml b/sw/lib/ocaml/defivybus.ml new file mode 100644 index 0000000000..56ed92608a --- /dev/null +++ b/sw/lib/ocaml/defivybus.ml @@ -0,0 +1,51 @@ +(* + * $Id$ + * + * Default ivy bus address selection + * + * Copyright (C) 2011 Eric Parsonage + * + * 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. + * + *) + +let read_process_output command = + let buffer_size = 2048 in + let buffer = Buffer.create buffer_size in + let string = String.create buffer_size in + let in_channel = Unix.open_process_in command in + let chars_read = ref 1 in + while !chars_read <> 0 do + chars_read := input in_channel string 0 buffer_size; + Buffer.add_substring buffer string 0 !chars_read + done; + ignore (Unix.close_process_in in_channel); + Buffer.contents buffer + +let contains s substring = + try ignore (Str.search_forward (Str.regexp_string substring) s 0); true + with Not_found -> false + +let default_ivy_bus = String.copy ( + try (Sys.getenv "IVY_BUS" ) + with Not_found -> + (if contains (read_process_output "uname") "Darwin" then + "224.255.255.255:2010" + else + "127.255.255.255:2010")) + diff --git a/sw/lib/ocaml/defivybus.mli b/sw/lib/ocaml/defivybus.mli new file mode 100644 index 0000000000..36578f90c5 --- /dev/null +++ b/sw/lib/ocaml/defivybus.mli @@ -0,0 +1 @@ +val default_ivy_bus : string \ No newline at end of file diff --git a/sw/lib/ocaml/gm.ml b/sw/lib/ocaml/gm.ml index 3af720cae4..00d266b78d 100644 --- a/sw/lib/ocaml/gm.ml +++ b/sw/lib/ocaml/gm.ml @@ -196,7 +196,7 @@ let ms_key = fun key -> done; (ms_key, ms_key.[n-2]) -let google_version = 65 +let google_version = 76 let url_of_tile_key = fun maps_source s -> let (x, y, z) = xyz_of_qsrt s in diff --git a/sw/logalizer/play_core.ml b/sw/logalizer/play_core.ml index 749901e3ab..132e42c1ae 100644 --- a/sw/logalizer/play_core.ml +++ b/sw/logalizer/play_core.ml @@ -118,7 +118,8 @@ let load_log = fun xml_file -> let timer = ref None let was_running = ref false -let bus = ref "127.255.255.255:2010" + +let bus = ref Defivybus.default_ivy_bus let port = ref "/dev/ttyUSB0" let baudrate = ref "9600" let file_to_load = ref "" @@ -173,7 +174,7 @@ let play = fun ?(no_gui=false) serial_port adj speed -> let init = fun () -> Arg.parse - [ "-b", Arg.String (fun x -> bus := x), "Bus\tDefault is 127.255.255.25:2010"; + [ "-b", Arg.String (fun x -> bus := x), (sprintf " Default is %s" !bus); "-d", Arg.Set_string port, (sprintf " Default is %s" !port); "-o", Arg.Set output_on_serial, "Output binary messages on serial port"; "-s", Arg.Set_string baudrate, (sprintf " Default is %s" !baudrate)] diff --git a/sw/logalizer/plotter.ml b/sw/logalizer/plotter.ml index 4880bfb996..ab796a1405 100644 --- a/sw/logalizer/plotter.ml +++ b/sw/logalizer/plotter.ml @@ -522,7 +522,7 @@ let rec plot_window = fun window -> let _ = - let ivy_bus = ref "127.255.255.255:2010" + let ivy_bus = ref Defivybus.default_ivy_bus and init = ref [default_window] in let add_init = fun s -> @@ -541,7 +541,7 @@ let _ = | x::xs -> init := {x with geometry = s} :: xs in Arg.parse - [ "-b", Arg.String (fun x -> ivy_bus := x), " Bus\tDefault is 127.255.255.255:2010"; + [ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf " Default is %s" !ivy_bus); "-c", Arg.String (fun x -> add_init x), " Add a curve (e.g. '*:telemetry:BAT:voltage'). The curve is inserted into the last open window (cf -n option)"; (* no code yet *) diff --git a/sw/simulator/Makefile b/sw/simulator/Makefile index c0e61dc230..f0f124b9d1 100644 --- a/sw/simulator/Makefile +++ b/sw/simulator/Makefile @@ -1,6 +1,5 @@ - # Paparazzi simulator $Id$ -# +# # Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin # # This file is part of paparazzi. @@ -18,14 +17,14 @@ # 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. # Quiet compilation Q=@ LBITS := $(shell getconf LONG_BIT) ifeq ($(LBITS),64) - FPIC = -ccopt -fPIC + FPIC = -ccopt -fPIC else FPIC = endif @@ -42,6 +41,8 @@ SIMSCMX=$(SIMSML:%.ml=%.cmx) OCAMLC = ocamlc -g OCAMLOPT=ocamlopt +OCAML=$(shell which ocaml) +OCAMLRUN=$(shell which ocamlrun) INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml $(shell ocamlfind query -r -i-format xml-light) AIRBORNE = ../airborne @@ -58,10 +59,10 @@ simhitl : fg.o $(SIMHCMO) simhitl.cmo sitl.cma : fg.o $(SIMSCMO) @echo OL $@ - $(Q)ocamlmklib -o sitl $^ + $(Q)ocamlmklib -o sitl $^ sitl.cmxa : $(SIMSCMX) - ocamlopt -o $@ -a $^ + ocamlopt -o $@ -a $^ gaia : gaia.cmo @echo OL $@ @@ -90,6 +91,9 @@ diffusion : stdlib.cmo diffusion.cmo clean : rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia simhitl booz_sim test2 +launchsitl : + cat ../../src/$(@F) | sed s#OCAMLRUN#$(OCAMLRUN)# | sed s#OCAML#$(OCAML)# > $@ + chmod a+x $@ # @@ -99,6 +103,6 @@ clean : .depend: ocamldep *.ml* > .depend -ifneq ($(MAKECMDGOALS),clean) +ifneq ($(MAKECMDGOALS),clean) -include .depend endif diff --git a/sw/simulator/diffusion.ml b/sw/simulator/diffusion.ml index cfe0b76f49..47c4d829e7 100644 --- a/sw/simulator/diffusion.ml +++ b/sw/simulator/diffusion.ml @@ -27,8 +27,8 @@ let mixing_length = 5. (* m/s *) let wind_x = ref 0. let wind_y = ref 0. -let ivy_bus = ref "127.255.255.255:2010" +let ivy_bus = Defivybus.default_ivy_bus let plumes = Hashtbl.create 97 let t = ref 0 diff --git a/sw/simulator/flight_gear.h b/sw/simulator/flight_gear.h index c51349f384..ecea3debbe 100644 --- a/sw/simulator/flight_gear.h +++ b/sw/simulator/flight_gear.h @@ -207,6 +207,11 @@ struct FGNetMiniFDM { #define FG_NET_GUI_VERSION 7 #define FG_NET_GUI_MAX_TANKS 4 + +#ifdef __x86_64__ +#pragma pack(push) +#pragma pack(4) +#endif struct FGNetGUI { uint32_t version; // increment when data values change @@ -241,6 +246,11 @@ struct FGNetGUI { float course_deviation_deg; // degrees off target course float gs_deviation_deg; // degrees off target glide slope }; +#ifdef __x86_64__ +#pragma pack(push) +#pragma pack(pop) +#endif + extern void net_fdm_dump (struct FGNetFDM* fdm); extern void net_fdm_ntoh (struct FGNetFDM* fdm); diff --git a/sw/simulator/gaia.ml b/sw/simulator/gaia.ml index d145f7de84..6ccc2b99a8 100644 --- a/sw/simulator/gaia.ml +++ b/sw/simulator/gaia.ml @@ -32,7 +32,7 @@ let sending_period = 5000 (* ms *) module Ground_Pprz = Pprz.Messages(struct let name = "ground" end) -let ivy_bus = ref "127.255.255.255:2010" +let ivy_bus = ref Defivybus.default_ivy_bus let parse_args = fun () -> let options = diff --git a/sw/simulator/nps/nps_flightgear.c b/sw/simulator/nps/nps_flightgear.c index 59083cca44..af165b94f1 100644 --- a/sw/simulator/nps/nps_flightgear.c +++ b/sw/simulator/nps/nps_flightgear.c @@ -7,55 +7,14 @@ #include #include + #include "std.h" - -#define FG_NET_GUI_VERSION 7 -#define FG_NET_GUI_MAX_TANKS 4 -struct FGNetGUI { - uint32_t version; // increment when data values change - - // Positions - double longitude; // geodetic (radians) - double latitude; // geodetic (radians) - float altitude; // above sea level (meters) - float agl; // above ground level (meters) - float phi; // roll (radians) - float theta; // pitch (radians) - float psi; // yaw or true heading (radians) - - // Velocities - float vcas; - float climb_rate; // feet per second - - // Consumables - uint32_t num_tanks; // Max number of fuel tanks - float fuel_quantity[FG_NET_GUI_MAX_TANKS]; - - // Environment - uint32_t cur_time; // current unix time - // FIXME: make this uint64_t before 2038 - uint32_t warp; // offset in seconds to unix time - float ground_elev; // ground elev (meters) - - // Approach - float tuned_freq; // currently tuned frequency - float nav_radial; // target nav radial - uint32_t in_range; // tuned navaid is in range? - float dist_nm; // distance to tuned navaid in nautical miles - float course_deviation_deg; // degrees off target course - float gs_deviation_deg; // degrees off target glide slope -}; - - - - +#include "../flight_gear.h" #include "nps_fdm.h" static struct { int socket; struct sockaddr_in addr; - - } flightgear; diff --git a/sw/simulator/sim.ml b/sw/simulator/sim.ml index e600d781b9..06fb54418f 100644 --- a/sw/simulator/sim.ml +++ b/sw/simulator/sim.ml @@ -77,7 +77,7 @@ external fg_msg : string -> float -> float -> float -> float -> float -> float - let ac_name = ref "A/C not set" -let ivy_bus = ref "127.255.255.255:2010" +let ivy_bus = ref Defivybus.default_ivy_bus let fg_client = ref "" @@ -86,7 +86,7 @@ let autolaunch = ref false let noground = ref false let common_options = [ - "-b", Arg.Set_string ivy_bus, "Bus\tDefault is 127.255.255.25:2010"; + "-b", Arg.Set_string ivy_bus, (sprintf " Default is %s" !ivy_bus); "-boot", Arg.Set autoboot, "Boot the A/C on start"; "-launch", Arg.Set autolaunch, "Launch the A/C on start"; "-noground", Arg.Set noground, "Disable ground detection"; diff --git a/sw/supervision/pc_aircraft.ml b/sw/supervision/pc_aircraft.ml index 05a5326e51..97d54c82a8 100644 --- a/sw/supervision/pc_aircraft.ml +++ b/sw/supervision/pc_aircraft.ml @@ -40,7 +40,7 @@ let aircraft_sample = fun name ac_id -> Xml.Element ("aircraft", ["name", name; "ac_id", ac_id; - "airframe", "airframes/microjet5.xml"; + "airframe", "airframes/microjet_example.xml"; "radio", "radios/cockpitSX.xml"; "telemetry", "telemetry/default.xml"; "flight_plan", "flight_plans/basic.xml"; diff --git a/sw/tools/wiki_gen/Makefile b/sw/tools/wiki_gen/Makefile index dcecff4d3b..c4e2cd54f3 100644 --- a/sw/tools/wiki_gen/Makefile +++ b/sw/tools/wiki_gen/Makefile @@ -13,7 +13,7 @@ Q=@ OCAML=ocaml OCAMLC=ocamlc -INCLUDES=-I ../../lib/ocaml -I +xml-light +INCLUDES=-I ../../lib/ocaml $(shell ocamlfind query -r -i-format xml-light) OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring) @@ -22,7 +22,7 @@ OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring) @echo OC $< $(Q)$(OCAMLC) $(INCLUDES) -o $@ unix.cma str.cma ivy-ocaml.cma xml-light.cma lib-pprz.cma $< @cat ../../../pprz_src_test.sh > $@ - @echo '$(OCAML) -I +xml-light $(OCAMLNETINCLUDES) -I $$PAPARAZZI_SRC/sw/lib/ocaml unix.cma str.cma ivy-ocaml.cma xml-light.cma $(OCAMLNETCMA) lib-pprz.cma $$PAPARAZZI_BIN/$< $$*' >> $@ + @echo '$(OCAML) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES) -I $$PAPARAZZI_SRC/sw/lib/ocaml unix.cma str.cma ivy-ocaml.cma xml-light.cma $(OCAMLNETCMA) lib-pprz.cma $$PAPARAZZI_BIN/$< $$*' >> $@ @chmod a+x $@ %.cmo : %.ml ../lib/ocaml/lib-pprz.cma