mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-22 20:36:06 +08:00
Paul Cox
232 lines
8.0 KiB
XML
232 lines
8.0 KiB
XML
<airframe name="BETH">
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<section name="SUPERVISION" prefix="SUPERVISION_">
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<define name="MIN_MOTOR" value="2"/>
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<define name="MAX_MOTOR" value="210"/>
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<define name="TRIM_A" value="0"/>
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<define name="TRIM_E" value="0"/>
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<define name="TRIM_R" value="0"/>
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</section>
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<servos>
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<servo name="THROTTLE" no="0" min="1290" neutral="1290" max="1810"/>
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<servo name="ELEVATOR" no="1" min="1770" neutral="1457" max="970"/>
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<servo name="RUDDER" no="3" min="1040" neutral="1595" max="2040"/>
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<servo name="AILERON_LEFT" no="4" min="1000" neutral="1508" max="2000"/>
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<servo name="AILERON_RIGHT" no="5" min="1000" neutral="1527" max="2000"/>
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</servos>
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<!-- this is my crista -->
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="-1"/>
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<define name="GYRO_Q_SIGN" value="-1"/>
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<define name="GYRO_R_SIGN" value=" 1"/>
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<define name="GYRO_P_NEUTRAL" value="31288"/>
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<define name="GYRO_Q_NEUTRAL" value="32593"/>
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<define name="GYRO_R_NEUTRAL" value="32709"/>
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<define name="GYRO_P_SENS" value=" 0.943560" integer="16"/>
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<define name="GYRO_Q_SENS" value=" 0.926199" integer="16"/>
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<define name="GYRO_R_SENS" value=" 0.931912" integer="16"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="32857"/>
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<define name="ACCEL_Y_NEUTRAL" value="32429"/>
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<define name="ACCEL_Z_NEUTRAL" value="32593"/>
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<define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
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<define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
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<define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>
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<define name="MAG_X_SIGN" value="-43"/>
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<define name="MAG_Y_SIGN" value=" 49"/>
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<define name="MAG_Z_SIGN" value="-66"/>
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<define name="MAG_X_NEUTRAL" value="-43"/>
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<define name="MAG_Y_NEUTRAL" value=" 49"/>
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<define name="MAG_Z_NEUTRAL" value="-66"/>
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<define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
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<define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
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<define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
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<define name="BODY_TO_IMU_PSI" value="RadOfDeg( 45.)"/>
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<!-- 3 -->
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<define name="GYRO_P_CHAN" value="0"/>
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<define name="GYRO_Q_CHAN" value="4"/>
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<define name="GYRO_R_CHAN" value="1"/>
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<define name="ACCEL_X_CHAN" value="5"/>
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<define name="ACCEL_Y_CHAN" value="2"/>
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<define name="ACCEL_Z_CHAN" value="6"/>
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</section>
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<makefile>
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#
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# main STM32
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#
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ARCH=stm32
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ARCHI=stm32
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BOARD_CFG = \"boards/lisa_0.99.h\"
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FLASH_MODE = JTAG
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SRC_ARCH = $(ARCH)
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SRC_BETH=beth
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SRC_BOOZ=booz
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SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
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SRC_LISA=lisa
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SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
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main_stm32.ARCHDIR = stm32
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#main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
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main_stm32.TARGET = main_stm32
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main_stm32.TARGETDIR = main_stm32
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main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
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main_stm32.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
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$(SRC_ARCH)/stm32_exceptions.c \
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$(SRC_ARCH)/stm32_vector_table.c
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main_stm32.CFLAGS += -DUSE_LED
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main_stm32.srcs += $(SRC_ARCH)/led_hw.c
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main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=2
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main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
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main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
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main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
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main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
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main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
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main_stm32.srcs += downlink.c pprz_transport.c
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main_stm32.CFLAGS += -DUSE_OVERO_LINK
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main_stm32.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
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main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
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main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
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#booz IMU
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#main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
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#main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
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#main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
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#main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
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#main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
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#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
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#main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
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#main_stm32.srcs += math/pprz_trig_int.c
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#crista IMU
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main_stm32.srcs += math/pprz_trig_int.c
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main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_crista.h\" -DIMU_OVERRIDE_CHANNELS
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main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c \
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$(SRC_BOOZ)/imu/booz_imu_crista.c \
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$(SRC_BOOZ_ARCH)/imu/booz_imu_crista_arch.c
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main_stm32.CFLAGS += -DUSE_DMA1_C4_IRQ
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main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
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main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c
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#\
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# $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c
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main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
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# -DBOOZ_START_DELAY=3 -DUSE_TIM2_IRQ
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main_stm32.CFLAGS += -DUSE_I2C1
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main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
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#main_stm32.CFLAGS += -DUSE_I2C2
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#main_stm32.srcs += $(SRC_BETH)/bench_sensors_i2c.c
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main_stm32.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ
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main_stm32.srcs += can.c $(SRC_ARCH)/can_hw.c
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main_stm32.srcs += $(SRC_BETH)/bench_sensors_can.c
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#
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# Coders handled by a Olimex stm32h103 dev board
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#
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main_coders.ARCHDIR = stm32
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main_coders.LDSCRIPT = $(SRC_ARCH)/stm32f103rb_flash.ld
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main_coders.OOCD_INTERFACE = olimex-arm-usb-ocd
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#main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"
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main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/beth.h\"
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main_coders.TARGET = main_coders
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main_coders.TARGETDIR = main_coders
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main_coders.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
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main_coders.srcs = $(SRC_BETH)/main_coders.c \
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$(SRC_ARCH)/stm32_exceptions.c \
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$(SRC_ARCH)/stm32_vector_table.c
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main_coders.CFLAGS += -DUSE_LED
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main_coders.srcs += $(SRC_ARCH)/led_hw.c
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main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7
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main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
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main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
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main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
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main_coders.srcs += $(SRC_ARCH)/uart_hw.c
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main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
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main_coders.srcs += downlink.c pprz_transport.c
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#main_coders.CFLAGS += -DUSE_I2C2
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#main_coders.srcs += $(SRC_ARCH)/i2c_hw.c
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main_coders.CFLAGS += -DUSE_CAN1 -DUSE_USB_LP_CAN1_RX0_IRQ -DBLINKENLIGHTS
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main_coders.srcs += can.c $(SRC_ARCH)/can_hw.c
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main_coders.srcs += $(SRC_BETH)/bench_sensors_can.c
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#
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# main Overo
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#
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USER =
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#HOST = beth
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#HOST = overo
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#HOST = auto7
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HOST= regis
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TARGET_DIR = ~
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SRC_FMS=fms
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main_overo.ARCHDIR = omap
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main_overo.CFLAGS = -I. -I$(SRC_FMS)
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main_overo.srcs = $(SRC_BETH)/main_overo.c
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main_overo.CFLAGS += -DFMS_PERIODIC_FREQ=500
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main_overo.srcs += $(SRC_FMS)/fms_periodic.c
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main_overo.srcs += $(SRC_FMS)/fms_serial_port.c
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main_overo.LDFLAGS += -lrt
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main_overo.srcs += $(SRC_FMS)/fms_spi_link.c
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main_overo.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessageBethUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageBethDown
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main_overo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=UdpTransport
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main_overo.srcs += $(SRC_FMS)/udp_transport.c downlink.c
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main_overo.srcs += $(SRC_FMS)/fms_network.c
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main_overo.LDFLAGS += -levent
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#
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#
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#
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include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile
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</makefile>
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</airframe>
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