paparazzi/conf/airframes/Poine/beth.xml

<airframe name="BETH">

  <commands>
    <axis name="PITCH"  failsafe_value="0"/>
    <axis name="ROLL"   failsafe_value="0"/>
    <axis name="YAW"    failsafe_value="0"/>
    <axis name="THRUST" failsafe_value="0"/>
  </commands>

  <section name="SUPERVISION" prefix="SUPERVISION_">
    <define name="MIN_MOTOR" value="2"/>
    <define name="MAX_MOTOR" value="210"/>
    <define name="TRIM_A" value="0"/>
    <define name="TRIM_E" value="0"/>
    <define name="TRIM_R" value="0"/>
  </section>



  <section name="IMU" prefix="IMU_">

    <define name="GYRO_P_NEUTRAL" value="31489"/>
    <define name="GYRO_Q_NEUTRAL" value="31814"/>
    <define name="GYRO_R_NEUTRAL" value="32752"/>

    <define name="GYRO_P_SENS" value=" 1.01" integer="16"/>
    <define name="GYRO_Q_SENS" value="-1.01" integer="16"/>
    <define name="GYRO_R_SENS" value="-1.01" integer="16"/>


    <define name="ACCEL_X_SENS" value="-2.58273701242" integer="16"/>
    <define name="ACCEL_Y_SENS" value="-2.54076215332" integer="16"/>
    <define name="ACCEL_Z_SENS" value="-2.57633620646" integer="16"/>

    <define name="ACCEL_X_NEUTRAL" value="32857"/>
    <define name="ACCEL_Y_NEUTRAL" value="32429"/>
    <define name="ACCEL_Z_NEUTRAL" value="32593"/>

    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
    <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
    <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>

    <define name="MAG_X_NEUTRAL" value="-43"/>
    <define name="MAG_Y_NEUTRAL" value=" 49"/>
    <define name="MAG_Z_NEUTRAL" value="-66"/>

    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 90.)"/>

  </section>


  <makefile>


#
# main STM32
#

ARCH=stm32
ARCHI=stm32
BOARD_CFG = \"boards/lisa_0.99.h\"
FLASH_MODE = JTAG

SRC_ARCH = $(ARCH)
SRC_BETH=beth
SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
SRC_LISA=lisa
SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)

main_stm32.ARCHDIR = stm32
#main_stm32.LDSCRIPT = $(SRC_ARCH)/stm32f103re_flash.ld
main_stm32.TARGET = main_stm32
main_stm32.TARGETDIR = main_stm32
main_stm32.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
main_stm32.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
                  $(SRC_ARCH)/stm32_exceptions.c   \
                  $(SRC_ARCH)/stm32_vector_table.c
main_stm32.CFLAGS += -DUSE_LED
main_stm32.srcs += $(SRC_ARCH)/led_hw.c
main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
main_stm32.srcs += downlink.c pprz_transport.c

main_stm32.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageBeth
main_stm32.CFLAGS += -DOVERO_LINK_LED_OK=5 -DOVERO_LINK_LED_KO=4 -DUSE_DMA1_C2_IRQ
main_stm32.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c

main_stm32.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
main_stm32.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2001
main_stm32.srcs += $(SRC_BOOZ)/booz_imu.c
main_stm32.CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
main_stm32.srcs += $(SRC_BOOZ)/imu/booz_imu_b2.c $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
main_stm32.srcs += $(SRC_BOOZ)/peripherals/booz_ms2001.c  $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
main_stm32.srcs += math/pprz_trig_int.c

main_stm32.srcs += $(SRC_BOOZ)/booz2_commands.c
main_stm32.srcs += $(SRC_BOOZ)/actuators/booz_actuators_asctec.c 
#\
#                              $(SRC_BOOZ_ARCH)/actuators/booz_actuators_asctec_arch.c
main_stm32.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c1
# -DBOOZ_START_DELAY=3
#  -DUSE_TIM2_IRQ
main_stm32.CFLAGS += -DUSE_I2C1
main_stm32.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c

main_stm32.CFLAGS += -DUSE_I2C2
main_stm32.srcs += $(SRC_BETH)/bench_sensors.c



#
# Coders handled by a Olimex stm32h103 dev board
#

main_coders.ARCHDIR = stm32
main_coders.LDSCRIPT = $(SRC_ARCH)/stm32f103rb_flash.ld
main_coders.OOCD_INTERFACE = olimex-arm-usb-ocd
main_coders.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_stm32-h103.h\"

main_coders.TARGET = main_coders
main_coders.TARGETDIR = main_coders
main_coders.CFLAGS += -I$(SRC_LISA) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -DPERIPHERALS_AUTO_INIT
main_coders.srcs = $(SRC_BETH)/main_coders.c \
                   $(SRC_ARCH)/stm32_exceptions.c   \
                   $(SRC_ARCH)/stm32_vector_table.c
main_coders.CFLAGS += -DUSE_LED
main_coders.srcs += $(SRC_ARCH)/led_hw.c
main_coders.CFLAGS += -DUSE_SYS_TIME
# -DSYS_TIME_LED=1
main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c

main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
main_coders.srcs += $(SRC_ARCH)/uart_hw.c
main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
main_coders.srcs += downlink.c pprz_transport.c

main_coders.CFLAGS += -DUSE_I2C2


#
# main Overo
#

USER =
#HOST = beth
#HOST = overo
HOST = auto7
TARGET_DIR = ~
SRC_FMS=fms

main_overo.ARCHDIR = omap
main_overo.CFLAGS = -I. -I$(SRC_FMS)
main_overo.srcs  = $(SRC_BETH)/main_overo.c
main_overo.srcs += $(SRC_FMS)/fms_spi_link.c


#
#
#
include $(PAPARAZZI_SRC)/conf/autopilot/lisa_test_progs.makefile

  </makefile>

</airframe>