mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
13c9f3b7ca
Defines don't work this way... Was only used in gps_ubx_ucenter, replace it with GPS_UBX_UCENTER_SLOW_NAV_SOL flag to set a lower NAV_SOL message rate (currently not set anywhere). So you get full NAV_SOL messages rate for fixedwings as well (just like before since the test for rotorcraft firmware was non-functional and always true).
226 lines
5.1 KiB
Makefile
226 lines
5.1 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2010 The Paparazzi Team
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#
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# This file is part of Paparazzi.
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#
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# Paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# Paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with Paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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#
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#
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CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
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CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/rotorcraft
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SRC_BOOZ_TEST=$(SRC_BOOZ)/test
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SRC_BOOZ_PRIV=booz_priv
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SRC_BOARD=boards/$(BOARD)
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SRC_FIRMWARE=firmwares/rotorcraft
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SRC_SUBSYSTEMS=subsystems
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SRC_ARCH=arch/$(ARCH)
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CFG_BOOZ=$(PAPARAZZI_SRC)/conf/firmwares/
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ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
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ap.ARCHDIR = $(ARCH)
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ap.CFLAGS += $(ROTORCRAFT_INC)
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ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
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ap.srcs = $(SRC_FIRMWARE)/main.c
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ap.srcs += mcu.c
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ap.srcs += $(SRC_ARCH)/mcu_arch.c
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#
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# Math functions
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#
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ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c math/pprz_orientation_conversion.c
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ifeq ($(ARCH), stm32)
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ap.srcs += lisa/plug_sys.c
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endif
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#
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# Interrupts
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#
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ifeq ($(ARCH), lpc21)
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ap.srcs += $(SRC_ARCH)/armVIC.c
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endif
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ifeq ($(ARCH), stm32)
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ap.srcs += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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endif
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#
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# LEDs
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#
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ap.CFLAGS += -DUSE_LED
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ifeq ($(ARCH), stm32)
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ap.srcs += $(SRC_ARCH)/led_hw.c
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endif
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ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
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ap.srcs += $(SRC_BOARD)/gpio_ardrone.c
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endif
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# frequency of main periodic
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PERIODIC_FREQUENCY ?= 512
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ap.CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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#
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# Systime
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#
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ap.CFLAGS += -DUSE_SYS_TIME
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ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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ifneq ($(SYS_TIME_LED),none)
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ap.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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#
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# Telemetry/Datalink
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#
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# include subsystems/rotorcraft/telemetry_transparent.makefile
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# or
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# include subsystems/rotorcraft/telemetry_xbee_api.makefile
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#
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ap.srcs += subsystems/settings.c
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ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
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ap.srcs += mcu_periph/uart.c
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ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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ifeq ($(ARCH), omap)
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ap.srcs += $(SRC_ARCH)/serial_port.c
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endif
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# I2C is needed for speed controllers and barometers on lisa
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ifeq ($(TARGET), ap)
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$(TARGET).srcs += mcu_periph/i2c.c
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$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
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endif
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ap.srcs += subsystems/commands.c
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ap.srcs += subsystems/actuators.c
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#
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# Radio control choice
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#
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# include subsystems/rotorcraft/radio_control_ppm.makefile
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# or
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# include subsystems/rotorcraft/radio_control_spektrum.makefile
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#
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#
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# Actuator choice
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#
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# include subsystems/rotorcraft/actuators_mkk.makefile
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# or
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# include subsystems/rotorcraft/actuators_asctec.makefile
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# or
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# include subsystems/rotorcraft/actuators_asctec_v2.makefile
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#
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#
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# IMU choice
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#
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# include subsystems/rotorcraft/imu_b2v1.makefile
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# or
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# include subsystems/rotorcraft/imu_b2v1_1.makefile
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# or
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# include subsystems/rotorcraft/imu_crista.makefile
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#
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#
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# AIR DATA and BARO (if needed)
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#
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ap.srcs += subsystems/air_data.c
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include $(CFG_SHARED)/baro_board.makefile
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#
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# Analog Backend
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#
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ifeq ($(ARCH), lpc21)
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ap.CFLAGS += -DUSE_ADC
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ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
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ap.srcs += subsystems/electrical.c
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# baro has variable offset amplifier on booz board
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ifeq ($(BOARD), booz)
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ap.CFLAGS += -DUSE_DAC
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ap.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
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endif
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else ifeq ($(ARCH), stm32)
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ap.CFLAGS += -DUSE_ADC
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ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
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ap.srcs += subsystems/electrical.c
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else ifeq ($(BOARD)$(BOARD_TYPE), ardronesdk)
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ap.srcs += $(SRC_BOARD)/electrical_dummy.c
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else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
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ap.srcs += $(SRC_BOARD)/electrical_raw.c
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endif
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#
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# GPS choice
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#
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# include subsystems/rotorcraft/gps_ubx.makefile
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# or
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# include subsystems/rotorcraft/gps_skytraq.makefile
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# or
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# nothing
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#
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#
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# AHRS choice
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#
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# include subsystems/rotorcraft/ahrs_cmpl.makefile
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# or
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# include subsystems/rotorcraft/ahrs_lkf.makefile
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#
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ap.srcs += $(SRC_FIRMWARE)/autopilot.c
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ap.srcs += state.c
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ap.srcs += $(SRC_FIRMWARE)/stabilization.c
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ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
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ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
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ap.CFLAGS += -DUSE_NAVIGATION
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ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
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ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h_ref.c
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ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
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ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_ref.c
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ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_adapt.c
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#
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# INS choice
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#
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# include subsystems/rotorcraft/ins.makefile
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# or
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# include subsystems/rotorcraft/ins_extended.makefile
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#
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# extra:
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# include subsystems/rotorcraft/ins_hff.makefile
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#
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ap.srcs += $(SRC_FIRMWARE)/navigation.c
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ap.srcs += subsystems/navigation/common_flight_plan.c
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