mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 06:54:49 +08:00
Felix Ruess
666 lines
22 KiB
Makefile
666 lines
22 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# $Id$
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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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################################################################################
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#
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#
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# Test program for the Lisa/M and Lisa/L boards
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#
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#
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#
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#
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# every "firmware" makefile should have a description of available targets
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# possible options for each of them, susbsystems and associated params for each of them
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#
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#
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#
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#
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################################################################################
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ARCH=stm32
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SRC_ARCH=arch/$(ARCH)
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SRC_LISA=lisa
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SRC_LISA_ARCH=$(SRC_LISA)/arch/$(ARCH)
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#SRC_ROTORCRAFT=rotorcraft
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SRC_BOARD=boards/$(BOARD)
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SRC_FIRMWARE=firmwares/rotorcraft
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SRC_SUBSYSTEMS=subsystems
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SRC_AIRBORNE=.
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#
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# common test
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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PERIODIC_FREQUENCY = 512
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COMMON_TEST_CFLAGS = -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -DPERIPHERALS_AUTO_INIT
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COMMON_TEST_CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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COMMON_TEST_SRCS = $(SRC_AIRBORNE)/mcu.c \
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$(SRC_ARCH)/mcu_arch.c
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COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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COMMON_TEST_CFLAGS += -DUSE_SYS_TIME
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ifneq ($(SYS_TIME_LED),none)
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COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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COMMON_TEST_SRCS += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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COMMON_TEST_CFLAGS += -DUSE_LED
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COMMON_TEST_SRCS += $(SRC_ARCH)/led_hw.c
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COMMON_TELEMETRY_CFLAGS = -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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COMMON_TELEMETRY_CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
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COMMON_TELEMETRY_CFLAGS += -DDefaultPeriodic='&telemetry_Main'
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COMMON_TELEMETRY_SRCS = mcu_periph/uart.c
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COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/mcu_periph/uart_arch.c
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COMMON_TELEMETRY_SRCS += subsystems/datalink/pprz_transport.c subsystems/datalink/telemetry.c
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COMMON_TELEMETRY_SRCS += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/rotorcraft_telemetry.c
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#COMMON_TEST_SRCS += math/pprz_trig_int.c
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#
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# test leds
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#
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test_led.ARCHDIR = $(ARCH)
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test_led.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_led.srcs = $(COMMON_TEST_SRCS)
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test_led.CFLAGS += -I$(SRC_LISA)
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test_led.srcs += $(SRC_LISA)/test_led.c
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#
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# test sys_time
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#
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ifeq ($(BOARD), lisa_m)
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ifeq ($(BOARD_VERSION), 2.0)
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LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
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endif
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endif
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LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
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test_sys_time_timer.ARCHDIR = $(ARCH)
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test_sys_time_timer.CFLAGS = $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
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test_sys_time_timer.srcs = $(COMMON_TEST_SRCS)
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test_sys_time_timer.srcs += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_timer.c
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test_sys_time_usleep.ARCHDIR = $(ARCH)
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test_sys_time_usleep.CFLAGS = $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
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test_sys_time_usleep.srcs = $(COMMON_TEST_SRCS)
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test_sys_time_usleep.srcs += $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time_usleep.c
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#
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# test uart
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#
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test_uart.ARCHDIR = $(ARCH)
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test_uart.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_uart.srcs = $(COMMON_TEST_SRCS)
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test_uart.CFLAGS += -I$(SRC_LISA) -DUSE_UART
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test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
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test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
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test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
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test_uart.srcs += mcu_periph/uart.c
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test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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ifeq ($(BOARD), lisa_m)
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test_uart.srcs += $(SRC_LISA)/test_uart_lisam.c
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test_uart.CFLAGS += -DUSE_UART5 -DUART5_BAUD=B57600
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else ifeq ($(BOARD), lisa_l)
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test_uart.srcs += $(SRC_LISA)/test_uart_lisal.c
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endif
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#
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# test servos
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#
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test_servos.ARCHDIR = $(ARCH)
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test_servos.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_servos.srcs = $(COMMON_TEST_SRCS)
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test_servos.CFLAGS += -I$(SRC_LISA)
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test_servos.LDFLAGS += -lm
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test_servos.srcs += $(SRC_LISA)/test_servos.c
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test_servos.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
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ifeq ($(BOARD), lisa_m)
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test_servos.CFLAGS += -DUSE_SERVOS_7AND8
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endif
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#
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# test_telemetry : Sends ALIVE telemetry messages
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#
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# configuration
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# MODEM_PORT :
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# MODEM_BAUD :
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#
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test_telemetry.ARCHDIR = $(ARCH)
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test_telemetry.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_telemetry.srcs = $(COMMON_TEST_SRCS)
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test_telemetry.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_telemetry.srcs += $(COMMON_TELEMETRY_SRCS)
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test_telemetry.CFLAGS += -I$(SRC_LISA)
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test_telemetry.srcs += test/test_telemetry.c
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#
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# test_baro : reads barometers and sends values over telemetry
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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test_baro.ARCHDIR = $(ARCH)
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test_baro.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_baro.srcs = $(COMMON_TEST_SRCS)
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test_baro.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_baro.srcs += $(COMMON_TELEMETRY_SRCS)
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test_baro.CFLAGS += -I$(SRC_LISA)
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ifeq ($(BOARD), lisa_l)
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test_baro.CFLAGS += -DUSE_I2C2
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test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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test_baro.srcs += $(SRC_BOARD)/baro_board.c
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test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
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# Lisa/M baro
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else ifeq ($(BOARD), lisa_m)
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# defaults to i2c baro bmp085 on the board
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LISA_M_BARO ?= BARO_BOARD_BMP085
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ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
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include $(CFG_SHARED)/spi_master.makefile
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test_baro.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
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test_baro.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
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test_baro.srcs += $(SRC_LISA)/test_baro_spi.c
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else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
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test_baro.CFLAGS += -DUSE_I2C2
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test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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test_baro.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
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test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
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else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
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test_baro.CFLAGS += -DUSE_I2C2
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test_baro.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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test_baro.srcs += $(SRC_BOARD)/baro_board.c
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test_baro.srcs += $(SRC_LISA)/test_baro_i2c.c
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endif
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test_baro.CFLAGS += -D$(LISA_M_BARO)
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endif
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#
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# test_rc_spektrum : sends RADIO_CONTROL messages on telemetry
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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# RADIO_CONTROL_LED
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# RADIO_CONROL_SPEKTRUM_PRIMARY_PORT
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#
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test_rc_spektrum.ARCHDIR = $(ARCH)
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test_rc_spektrum.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_rc_spektrum.srcs = $(COMMON_TEST_SRCS)
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test_rc_spektrum.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_rc_spektrum.srcs += $(COMMON_TELEMETRY_SRCS)
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test_rc_spektrum.srcs += test/subsystems/test_radio_control.c
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test_rc_spektrum.CFLAGS += -DRADIO_CONTROL
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ifneq ($(RADIO_CONTROL_LED),none)
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test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
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test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
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test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
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test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_SECONDARY_PORT=SPEKTRUM_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)
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test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER
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test_rc_spektrum.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT)_IRQ_HANDLER
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test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c
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test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control/spektrum.c
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test_rc_spektrum.srcs += $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
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#
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# test_rc_ppm
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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# RADIO_CONTROL_LED
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#
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test_rc_ppm.ARCHDIR = $(ARCH)
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test_rc_ppm.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_rc_ppm.srcs = $(COMMON_TEST_SRCS)
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test_rc_ppm.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_rc_ppm.srcs += $(COMMON_TELEMETRY_SRCS)
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test_rc_ppm.srcs += test/subsystems/test_radio_control.c
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test_rc_ppm.CFLAGS += -DRADIO_CONTROL
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ifneq ($(RADIO_CONTROL_LED),none)
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test_rc_ppm.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
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endif
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test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/ppm.h\"
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test_rc_ppm.CFLAGS += -DRADIO_CONTROL_TYPE_PPM
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test_rc_ppm.srcs += $(SRC_SUBSYSTEMS)/radio_control.c
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test_rc_ppm.srcs += $(SRC_SUBSYSTEMS)/radio_control/ppm.c
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test_rc_ppm.srcs += $(SRC_ARCH)/subsystems/radio_control/ppm_arch.c
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test_rc_ppm.CFLAGS += -DUSE_PPM_TIM2
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#
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# test_adc
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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test_adc.ARCHDIR = $(ARCH)
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test_adc.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_adc.srcs = $(COMMON_TEST_SRCS)
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test_adc.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_adc.srcs += $(COMMON_TELEMETRY_SRCS)
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test_adc.CFLAGS += -I$(SRC_LISA)
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test_adc.srcs += $(SRC_LISA)/test_adc.c
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test_adc.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
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test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1 -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
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##################################################
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# IMU B2
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#################################################
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# common for IMU b2
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# max1168 via SPI
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#
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IMU_B2_COMMON_CFLAGS = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
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IMU_B2_COMMON_SRCS = $(SRC_SUBSYSTEMS)/imu.c
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IMU_B2_COMMON_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
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IMU_B2_COMMON_SRCS += math/pprz_trig_int.c
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IMU_B2_COMMON_CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI2
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# SLAVE2 is on PB12 (NSS) (MAX1168)
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IMU_B2_COMMON_CFLAGS += -DUSE_SPI_SLAVE2
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IMU_B2_COMMON_CFLAGS += -DMAX1168_SPI_DEV=spi2 -DMAX1168_SLAVE_IDX=2
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IMU_B2_COMMON_SRCS += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
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IMU_B2_COMMON_SRCS += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
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#
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# test IMU b2 without mag
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#
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IMU_B2_NOMAG_CFLAGS += -DIMU_B2_VERSION_1_1
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IMU_B2_NOMAG_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_NONE
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test_imu_b2_nomag.ARCHDIR = $(ARCH)
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test_imu_b2_nomag.srcs = test/subsystems/test_imu.c
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test_imu_b2_nomag.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_imu_b2_nomag.srcs += $(COMMON_TEST_SRCS)
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test_imu_b2_nomag.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_imu_b2_nomag.srcs += $(COMMON_TELEMETRY_SRCS)
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test_imu_b2_nomag.CFLAGS += $(IMU_B2_COMMON_CFLAGS)
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test_imu_b2_nomag.srcs += $(IMU_B2_COMMON_SRCS)
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test_imu_b2_nomag.CFLAGS += $(IMU_B2_NOMAG_CFLAGS)
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test_imu_b2_nomag.srcs += $(IMU_B2_NOMAG_SRCS)
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#
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# test IMU b2 v1.1
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#
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IMU_B2_CFLAGS = -DIMU_B2_VERSION_1_1
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# mag stuff on SPI
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IMU_B2_CFLAGS += -DUSE_SPI_SLAVE4 -DMS2100_SLAVE_IDX=4 -DMS2100_SPI_DEV=spi2
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IMU_B2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100
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IMU_B2_SRCS = peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
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test_imu_b2.ARCHDIR = $(ARCH)
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test_imu_b2.srcs = test/subsystems/test_imu.c
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test_imu_b2.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_imu_b2.srcs += $(COMMON_TEST_SRCS)
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test_imu_b2.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_imu_b2.srcs += $(COMMON_TELEMETRY_SRCS)
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test_imu_b2.CFLAGS += $(IMU_B2_COMMON_CFLAGS)
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test_imu_b2.srcs += $(IMU_B2_COMMON_SRCS)
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test_imu_b2.CFLAGS += $(IMU_B2_CFLAGS)
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test_imu_b2.srcs += $(IMU_B2_SRCS)
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#
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# test IMU b2 v1.2
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#
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IMU_B2_2_CFLAGS = -DIMU_B2_VERSION_1_2
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# mag stuff
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IMU_B2_2_CFLAGS += -DIMU_B2_I2C_DEV=i2c2 -DUSE_I2C2
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IMU_B2_2_SRCS = mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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IMU_B2_2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC58XX
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IMU_B2_2_SRCS += peripherals/hmc58xx.c
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test_imu_b2_2.ARCHDIR = $(ARCH)
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test_imu_b2_2.srcs = test/subsystems/test_imu.c
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test_imu_b2_2.CFLAGS = $(COMMON_TEST_CFLAGS)
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test_imu_b2_2.srcs += $(COMMON_TEST_SRCS)
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test_imu_b2_2.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_imu_b2_2.srcs += $(COMMON_TELEMETRY_SRCS)
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test_imu_b2_2.CFLAGS += $(IMU_B2_COMMON_CFLAGS)
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test_imu_b2_2.srcs += $(IMU_B2_COMMON_SRCS)
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test_imu_b2_2.CFLAGS += $(IMU_B2_2_CFLAGS)
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test_imu_b2_2.srcs += $(IMU_B2_2_SRCS)
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#
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# test IMU aspirin
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#
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IMU_ASPIRIN_CFLAGS = -DIMU_TYPE_H=\"imu/imu_aspirin.h\" -DIMU_ASPIRIN_VERSION_1_5
|
|
IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c
|
|
IMU_ASPIRIN_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin.c
|
|
#IMU_ASPIRIN_SRCS += $(SRC_ARCH)/subsystems/imu/imu_aspirin_arch.c
|
|
IMU_ASPIRIN_CFLAGS += -DASPIRIN_ARCH_INDEP
|
|
IMU_ASPIRIN_SRCS += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
|
|
IMU_ASPIRIN_SRCS += math/pprz_trig_int.c
|
|
#IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
|
|
IMU_ASPIRIN_SRCS += peripherals/hmc58xx.c
|
|
IMU_ASPIRIN_SRCS += peripherals/adxl345_spi.c
|
|
IMU_ASPIRIN_SRCS += peripherals/itg3200.c
|
|
IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
|
|
IMU_ASPIRIN_SRCS += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
IMU_ASPIRIN_CFLAGS += -DUSE_SPI -DSPI_MASTER
|
|
IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
|
|
# SLAVE2 is on PB12 (NSS) (ADXL345 CS)
|
|
IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
|
|
|
|
test_imu_aspirin.ARCHDIR = $(ARCH)
|
|
test_imu_aspirin.srcs = test/subsystems/test_imu.c
|
|
test_imu_aspirin.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_imu_aspirin.srcs += $(COMMON_TEST_SRCS)
|
|
test_imu_aspirin.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_imu_aspirin.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
test_imu_aspirin.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
|
|
test_imu_aspirin.srcs += $(IMU_ASPIRIN_SRCS)
|
|
|
|
|
|
#
|
|
# test AHRS
|
|
#
|
|
test_ahrs.ARCHDIR = $(ARCH)
|
|
test_ahrs.srcs = test/subsystems/test_ahrs.c
|
|
test_ahrs.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_ahrs.srcs += $(COMMON_TEST_SRCS)
|
|
test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_ahrs.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
test_ahrs.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
|
|
test_ahrs.srcs += $(IMU_ASPIRIN_SRCS)
|
|
|
|
#AHRS = ice
|
|
AHRS = icq
|
|
#AHRS = flq
|
|
#AHRS = fcr
|
|
#AHRS = fcr2
|
|
#AHRS = fcq
|
|
|
|
test_ahrs.srcs += $(SRC_SUBSYSTEMS)/ahrs.c
|
|
test_ahrs.srcs += $(SRC_SUBSYSTEMS)/ahrs/ahrs_aligner.c
|
|
|
|
ifeq ($(AHRS), ice)
|
|
test_ahrs.CFLAGS += -DFACE_REINJ_1=1024
|
|
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_euler.h\"
|
|
test_ahrs.srcs += subsystems/ahrs/ahrs_int_cmpl_euler.c \
|
|
lisa/plug_sys.c
|
|
endif
|
|
|
|
ifeq ($(AHRS), icq)
|
|
#test_ahrs.CFLAGS += -DAHRS_TYPE=\"ICQ\"
|
|
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
|
|
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_int_cmpl_quat.h\"
|
|
test_ahrs.srcs +=subsystems/ahrs/ahrs_int_cmpl_quat.c
|
|
endif
|
|
|
|
ifeq ($(AHRS), flq)
|
|
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_lkf_quat.h\"
|
|
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
|
|
test_ahrs.srcs += subsystems/ahrs/ahrs_float_lkf_quat.c
|
|
endif
|
|
|
|
ifeq ($(AHRS), fcr)
|
|
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_dcm.h\"
|
|
test_ahrs.CFLAGS += -DINS_ROLL_NEUTRAL_DEFAULT=0
|
|
test_ahrs.CFLAGS += -DINS_PITCH_NEUTRAL_DEFAULT=0
|
|
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
|
|
test_ahrs.CFLAGS += -DDCM_UPDATE_AFTER_PROPAGATE
|
|
test_ahrs.srcs += subsystems/ahrs/ahrs_float_dcm.c
|
|
endif
|
|
|
|
ifeq ($(AHRS), fcr2)
|
|
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
|
|
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
|
|
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
|
|
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl.c
|
|
endif
|
|
|
|
ifeq ($(AHRS), fcq)
|
|
test_ahrs.CFLAGS += -DAHRS_TYPE_H=\"subsystems/ahrs/ahrs_float_cmpl.h\"
|
|
test_ahrs.CFLAGS += -DAHRS_H_X=0.51562740288882 -DAHRS_H_Y=-0.05707735220832 -DAHRS_H_Z=0.85490967783446
|
|
test_ahrs.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=512
|
|
test_ahrs.srcs += subsystems/ahrs/ahrs_float_cmpl_quat.c
|
|
endif
|
|
|
|
|
|
|
|
|
|
#
|
|
# test ms2100 mag
|
|
#
|
|
test_ms2100.ARCHDIR = $(ARCH)
|
|
test_ms2100.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_ms2100.srcs = $(COMMON_TEST_SRCS)
|
|
test_ms2100.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_ms2100.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_ms2100.CFLAGS += -I$(SRC_LISA)
|
|
test_ms2100.srcs += test/peripherals/test_ms2100.c
|
|
test_ms2100.srcs += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
|
|
test_ms2100.CFLAGS += -DUSE_SPI_SLAVE4 -DMS2100_SLAVE_IDX=4 -DMS2100_SPI_DEV=spi2
|
|
test_ms2100.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI2
|
|
test_ms2100.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
|
|
|
|
#
|
|
# test hmc5843
|
|
#
|
|
test_hmc5843.ARCHDIR = $(ARCH)
|
|
test_hmc5843.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_hmc5843.srcs = $(COMMON_TEST_SRCS)
|
|
test_hmc5843.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_hmc5843.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_hmc5843.CFLAGS += -I$(SRC_LISA)
|
|
test_hmc5843.srcs += lisa/test/lisa_test_hmc5843.c
|
|
test_hmc5843.CFLAGS += -DUSE_I2C2
|
|
test_hmc5843.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
|
|
#
|
|
# test ITG3200
|
|
#
|
|
test_itg3200.ARCHDIR = $(ARCH)
|
|
test_itg3200.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_itg3200.srcs = $(COMMON_TEST_SRCS)
|
|
test_itg3200.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_itg3200.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_itg3200.CFLAGS += -I$(SRC_LISA)
|
|
test_itg3200.srcs += lisa/test/lisa_test_itg3200.c
|
|
test_itg3200.CFLAGS += -DUSE_I2C2
|
|
test_itg3200.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
|
|
|
|
#
|
|
# test adxl345 with DMA
|
|
#
|
|
test_adxl345.ARCHDIR = $(ARCH)
|
|
test_adxl345.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_adxl345.srcs = $(COMMON_TEST_SRCS)
|
|
test_adxl345.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_adxl345.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_adxl345.CFLAGS += -I$(SRC_LISA)
|
|
test_adxl345.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI2 -DUSE_SPI_SLAVE2
|
|
test_adxl345.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
|
|
test_adxl345.srcs += lisa/test/lisa_test_adxl345_dma.c
|
|
|
|
|
|
|
|
#
|
|
# simple test of mikrokopter motor controllers
|
|
#
|
|
test_esc_mkk_simple.ARCHDIR = $(ARCH)
|
|
test_esc_mkk_simple.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_esc_mkk_simple.srcs = $(COMMON_TEST_SRCS)
|
|
test_esc_mkk_simple.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_esc_mkk_simple.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_esc_mkk_simple.srcs += test/test_esc_mkk_simple.c
|
|
test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
|
|
test_esc_mkk_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
|
|
|
|
|
|
#
|
|
# simple test of asctec v1 motor controllers
|
|
#
|
|
test_esc_asctecv1_simple.ARCHDIR = $(ARCH)
|
|
test_esc_asctecv1_simple.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_esc_asctecv1_simple.srcs = $(COMMON_TEST_SRCS)
|
|
test_esc_asctecv1_simple.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_esc_asctecv1_simple.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_esc_asctecv1_simple.srcs += test/test_esc_asctecv1_simple.c
|
|
test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
|
|
test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
|
|
|
|
#
|
|
# test actuators mkk
|
|
#
|
|
test_actuators_mkk.ARCHDIR = $(ARCH)
|
|
test_actuators_mkk.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_actuators_mkk.srcs = $(COMMON_TEST_SRCS)
|
|
test_actuators_mkk.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_actuators_mkk.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_actuators_mkk.srcs += test/test_actuators.c
|
|
test_actuators_mkk.srcs += subsystems/commands.c
|
|
test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
|
|
test_actuators_mkk.CFLAGS += -DACTUATORS_MKK_I2C_DEV=i2c1
|
|
test_actuators_mkk.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
|
|
test_actuators_mkk.CFLAGS += -DUSE_I2C1
|
|
test_actuators_mkk.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
|
|
|
|
#
|
|
# test actuators asctecv1
|
|
#
|
|
test_actuators_asctecv1.ARCHDIR = $(ARCH)
|
|
test_actuators_asctecv1.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_actuators_asctecv1.srcs = $(COMMON_TEST_SRCS)
|
|
test_actuators_asctecv1.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_actuators_asctecv1.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
|
|
test_actuators_asctecv1.srcs += test/test_actuators.c
|
|
test_actuators_asctecv1.srcs += subsystems/commands.c
|
|
test_actuators_asctecv1.CFLAGS += -DACTUATORS_ASCTEC_I2C_DEV=i2c1
|
|
test_actuators_asctecv1.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
|
|
test_actuators_asctecv1.CFLAGS += -DUSE_I2C1
|
|
test_actuators_asctecv1.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
|
|
|
|
##
|
|
## test bmp085
|
|
##
|
|
#test_bmp085.ARCHDIR = $(ARCH)
|
|
#test_bmp085.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
#test_bmp085.srcs = $(COMMON_TEST_SRCS)
|
|
#test_bmp085.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
#test_bmp085.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
#
|
|
#test_bmp085.CFLAGS += -I$(SRC_LISA)
|
|
#test_bmp085.srcs += lisa/test/lisa_test_bmp085.c
|
|
#test_bmp085.CFLAGS += -DUSE_I2C2
|
|
#test_bmp085.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
|
|
|
|
|
|
|
|
##
|
|
## Test manual : a simple test with rc and servos - I want to fly lisa/M
|
|
##
|
|
#test_manual.ARCHDIR = $(ARCH)
|
|
#test_manual.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
#test_manual.srcs = $(COMMON_TEST_SRCS)
|
|
#test_manual.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
#test_manual.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
#
|
|
#test_manual.srcs += test/test_manual.c
|
|
#test_manual.srcs += subsystems/commands.c
|
|
##test_manual.srcs += subsystems/actuators/actuators_pwm.c
|
|
#test_manual.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c
|
|
#
|
|
#test_manual.CFLAGS += -DRADIO_CONTROL
|
|
#ifneq ($(RADIO_CONTROL_LED),none)
|
|
#test_manual.CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
|
|
#endif
|
|
#test_manual.CFLAGS += -DRADIO_CONTROL_BIND_IMPL_FUNC=radio_control_spektrum_try_bind
|
|
#test_manual.CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/radio_control/spektrum.h\"
|
|
#test_manual.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_PRIMARY_PORT=$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)
|
|
#test_manual.CFLAGS += -DOVERRIDE_$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)_IRQ_HANDLER -DUSE_TIM6_IRQ
|
|
#test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control.c
|
|
#test_manual.srcs += $(SRC_SUBSYSTEMS)/radio_control/spektrum.c
|
|
#test_manual.srcs += $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
|
|
|
|
##
|
|
## test can interface
|
|
##
|
|
test_can.ARCHDIR = $(ARCH)
|
|
test_can.CFLAGS = $(COMMON_TEST_CFLAGS)
|
|
test_can.srcs = $(COMMON_TEST_SRCS)
|
|
test_can.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_can.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
test_can.CFLAGS += -I$(SRC_LISA)
|
|
|
|
test_can.CFLAGS += -I$(SRC_LISA)
|
|
test_can.srcs += lisa/test_can.c
|
|
test_can.srcs += mcu_periph/can.c $(SRC_ARCH)/mcu_periph/can_arch.c
|