mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Antoine Drouin
160 lines
4.3 KiB
Makefile
160 lines
4.3 KiB
Makefile
# Paparazzi simulator $Id$
|
|
#
|
|
# Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
|
|
#
|
|
# 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.
|
|
|
|
# Quiet compilation
|
|
Q=@
|
|
|
|
include ../../conf/Makefile.local
|
|
|
|
SIMML = stdlib.ml data.ml flightModel.ml gps.ml
|
|
SIMHML = $(SIMML) hitl.ml sim.ml
|
|
SIMHCMO=$(SIMHML:%.ml=%.cmo)
|
|
SIMSML = $(SIMML) sitl.ml sim.ml
|
|
SIMSCMO=$(SIMSML:%.ml=%.cmo)
|
|
SIMSCMX=$(SIMSML:%.ml=%.cmx)
|
|
|
|
|
|
OCAMLC = ocamlc -g
|
|
OCAMLOPT=ocamlopt
|
|
INCLUDES= -I +lablgtk2 -I ../lib/ocaml -I +xml-light
|
|
|
|
AIRBORNE = ../airborne
|
|
VARINCLUDE=$(PAPARAZZI_HOME)/var/include
|
|
ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
|
|
LAUNCHSITL = launchsitl
|
|
|
|
all : gaia sitl.cma simhitl $(LAUNCHSITL)
|
|
@chmod a+x $(LAUNCHSITL)
|
|
|
|
simhitl : fg.o $(SIMHCMO) simhitl.cmo
|
|
@echo OL $@
|
|
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ str.cma xml-light.cma unix.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $^
|
|
|
|
sitl.cma : fg.o $(SIMSCMO)
|
|
@echo OL $@
|
|
$(Q)ocamlmklib -o sitl $^
|
|
|
|
sitl.cmxa : $(SIMSCMX)
|
|
ocamlopt -o $@ -a $^
|
|
|
|
gaia : gaia.cmo
|
|
@echo OL $@
|
|
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $<
|
|
|
|
diffusion : stdlib.cmo diffusion.cmo
|
|
@echo OL $@
|
|
$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $^
|
|
|
|
%.cmo : %.ml ../lib/ocaml/lib-pprz.cma
|
|
@echo OC $<
|
|
$(Q)$(OCAMLC) $(INCLUDES) -c $<
|
|
|
|
%.o : %.c
|
|
@echo OC $<
|
|
$(Q)$(OCAMLC) -c $<
|
|
|
|
%.cmx : %.ml
|
|
@echo OOC $<
|
|
$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
|
|
|
|
%.cmi : %.mli ../lib/ocaml/lib-pprz.cma
|
|
@echo OC $<
|
|
$(Q)$(OCAMLC) $(INCLUDES) -c $<
|
|
|
|
clean :
|
|
rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia simhitl booz_sim
|
|
|
|
#
|
|
# Dependencies
|
|
#
|
|
|
|
.depend:
|
|
ocamldep *.ml* > .depend
|
|
|
|
ifneq ($(MAKECMDGOALS),clean)
|
|
-include .depend
|
|
endif
|
|
|
|
AB=../airborne
|
|
AB_ARCH=$(AB)/sim
|
|
|
|
CC = gcc
|
|
CFLAGS= -g -Wall `pkg-config glib-2.0 --cflags` -I /usr/include/meschach -I$(AB) -I../include -I../../var/BOOZ -I../../var/include -I../../conf/autopilot -I$(AB_ARCH)
|
|
LDFLAGS=`pkg-config glib-2.0 --libs` -lm -lmeschach
|
|
|
|
|
|
BOOZ_SIM_SRCS = main_booz_sim.c \
|
|
booz_flight_model.c \
|
|
booz_flight_model_utils.c \
|
|
booz_sensors_model.c \
|
|
booz_flightgear.c \
|
|
booz_joystick.c \
|
|
|
|
CFLAGS += -DSITL
|
|
CFLAGS += -DCONTROLLER
|
|
CFLAGS += -DCONFIG=\"conf_booz.h\"
|
|
|
|
BOOZ_AB_SRCS += $(AB)/booz_controller_main.c
|
|
|
|
BOOZ_AB_SRCS += $(AB)/sys_time.c
|
|
|
|
CFLAGS += -DRADIO_CONTROL
|
|
BOOZ_AB_SRCS += $(AB)/radio_control.c \
|
|
$(AB_ARCH)/ppm_hw.c
|
|
|
|
CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\"
|
|
BOOZ_AB_SRCS += $(AB)/actuators.c \
|
|
$(AB_ARCH)/actuators_buss_twi_blmc_hw.c \
|
|
$(AB)/i2c.c $(AB_ARCH)/i2c_hw.c
|
|
|
|
CFLAGS += -DDOWNLINK
|
|
BOOZ_AB_SRCS += $(AB)/booz_telemetry.c \
|
|
$(AB)/downlink.c
|
|
|
|
#CFLAGS += -DDOWNLINK_TRANSPORT=PprzTransport -DPPRZ_UART=SimUart -DDOWNLINK_DEVICE=SimUart -DSIM_UART
|
|
#BOOZ_AB_SRCS += ../airborne/pprz_transport.c ../airborne/sim/sim_uart.c
|
|
|
|
CFLAGS += -DDOWNLINK_TRANSPORT=IvyTransport
|
|
BOOZ_AB_SRCS += $(AB_ARCH)/ivy_transport.c
|
|
LDFLAGS += -lglibivy
|
|
|
|
#../airborne/link_imu.c
|
|
#CFLAGS += -DDATALINK=PPRZ
|
|
#BOOZ_AB_SRCS += ../airborne/datalink.c
|
|
|
|
BOOZ_AB_SRCS += $(AB)/booz_estimator.c
|
|
BOOZ_AB_SRCS += $(AB)/booz_control.c
|
|
BOOZ_AB_SRCS += $(AB)/booz_autopilot.c
|
|
BOOZ_AB_SRCS += $(AB)/commands.c
|
|
|
|
BOOZ_AB_SRCS += $(AB)/booz_filter_main.c
|
|
|
|
CFLAGS += -DADC_CHANNEL_AX=1 -DADC_CHANNEL_AY=2 -DADC_CHANNEL_AZ=3 -DADC_CHANNEL_BAT=4
|
|
BOOZ_AB_SRCS += $(AB)/imu_v3.c $(AB_ARCH)/imu_v3_hw.c $(AB_ARCH)/adc_hw.c
|
|
|
|
BOOZ_AB_SRCS += $(AB)/booz_filter_telemetry.c
|
|
|
|
BOOZ_AB_SRCS += $(AB)/multitilt.c
|
|
|
|
|
|
booz_sim: $(BOOZ_SIM_SRCS) $(BOOZ_AB_SRCS)
|
|
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
|