mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Felix Ruess
143 lines
4.3 KiB
Makefile
143 lines
4.3 KiB
Makefile
#
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# $Id$
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#
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# Copyright (C) 2009 Antoine Drouin, Allen H. Ibara
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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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ARCHI=arm7
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FLASH_MODE = ISP
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LPC21ISP_PORT = /dev/ttyUSB0
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LPC21ISP_BAUD = 38400
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LPC21ISP_XTAL = 12000
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LPC21ISP_CONTROL = -control
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LDSCRIPT=$(SRC_ARCH)/LPC2129-ROM.ld
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BOARD_CFG = \"csc_board_v1_0.h\"
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PERIODIC_FREQ = 512
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SRC_CSC=csc
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SRC_CSC_ARCH=$(SRC_CSC)/$(ARCHI)
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SRC_BOOZ=booz
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ap.ARCHDIR = $(ARCHI)
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ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_BOOZ) -I$(SRC_CSC_ARCH)
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ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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ap.srcs += $(SRC_CSC)/mercury_main.c
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ap.CFLAGS += -DLED -DTIME_LED=1
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ap.CFLAGS += -DAHRS_ALIGNER_LED=2
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ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
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ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
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ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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ap.srcs += $(SRC_ARCH)/uart_hw.c
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ap.srcs += $(SRC_ARCH)/adc_hw.c
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ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
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ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B230400 -DUART0_VIC_SLOT=5
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ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
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ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
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-DDOWNLINK_DEVICE=Uart1
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ap.srcs += downlink.c pprz_transport.c $(SRC_CSC)/csc_telemetry.c
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ap.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart1
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ap.srcs += $(SRC_CSC)/csc_datalink.c
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ap.CFLAGS += -DPPRZ_TRIG_CONST=const
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ap.srcs += $(SRC_CSC)/mercury_xsens.c $(SRC_BOOZ)/booz_imu.c math/pprz_trig_int.c
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ap.CFLAGS += -DXSENS1_LINK=Uart0 -DBOOZ_IMU_TYPE_H=\"mercury_xsens.h\"
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ap.srcs += $(SRC_BOOZ)/ahrs/booz_ahrs_cmpl_euler.c $(SRC_BOOZ)/ahrs/booz_ahrs_aligner.c
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ap.CFLAGS += -DFLOAT_T=float
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ap.srcs += $(SRC_BOOZ)/booz_stabilization.c
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ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_rate.c
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ap.CFLAGS += -DSTABILISATION_ATTITUDE_TYPE_INT
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ap.CFLAGS += -DSTABILISATION_ATTITUDE_H=\"stabilization/booz_stabilization_attitude_int.h\"
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ap.CFLAGS += -DSTABILISATION_ATTITUDE_REF_H=\"stabilization/booz_stabilization_attitude_ref_euler_int.h\"
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ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_ref_euler_int.c
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ap.srcs += $(SRC_BOOZ)/stabilization/booz_stabilization_attitude_euler_int.c
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# AHI copied from booz w/ light modifications for vertical control
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ap.CFLAGS += -DUSE_VFF -DDT_VFILTER="(1./512.)" -DFLOAT_T=float
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ap.srcs += $(SRC_CSC)/csc_booz2_ins.c $(SRC_CSC)/csc_booz2_hf_float.c $(SRC_CSC)/csc_booz2_vf_float.c
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ap.srcs += $(SRC_CSC)/csc_booz2_guidance_v.c
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ap.CFLAGS += -DAP_LINK_CAN # -DCAN_LED=2
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ap.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_3MHz
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ap.CFLAGS += -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
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ap.srcs += $(SRC_CSC)/csc_can.c
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#ap.CFLAGS += -DUSE_CAN2 -DCAN2_BTR=CANBitrate125k_2MHz -DCAN2_VIC_SLOT=4
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ap.srcs += $(SRC_CSC)/csc_ap_link.c
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ap.srcs += $(SRC_CSC)/csc_adc.c
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ap.srcs += $(SRC_ARCH)/servos_csc.c
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ap.CFLAGS += -DACTUATORS=\"servos_csc.h\"
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ap.srcs += commands.c actuators.c
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ap.srcs += $(SRC_CSC_ARCH)/props_csc.c
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ap.CFLAGS += -DRADIO_CONTROL
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ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
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ap.srcs += $(SRC_CSC)/mercury_ap.c
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ap.srcs += $(SRC_CSC)/mercury_supervision.c
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ap.CFLAGS += -DERROR_LED=4
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#
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#
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# test uart
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#
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test_uart.ARCHDIR = $(ARCHI)
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test_uart.CFLAGS += -I$(SRC_CSC)
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test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
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test_uart.CFLAGS += -DLED
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# -DTIME_LED=1
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test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
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test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
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test_uart.srcs += $(SRC_ARCH)/uart_hw.c
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test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
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test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
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-DDOWNLINK_DEVICE=Uart1
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test_uart.srcs += downlink.c pprz_transport.c
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