mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
Felix Ruess
297 lines
7.1 KiB
Makefile
297 lines
7.1 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 = $(ARCH)
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# would be better to auto-generate this
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$(TARGET).CFLAGS += -DFIRMWARE=ROTORCRAFT
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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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TELEMETRY_FREQUENCY ?= 60
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ap.CFLAGS += -DTELEMETRY_FREQUENCY=$(TELEMETRY_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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# BARO
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#
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# booz baro
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ifeq ($(BOARD), booz)
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ap.srcs += $(SRC_BOARD)/baro_board.c
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else ifeq ($(BOARD), lisa_l)
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ap.CFLAGS += -DUSE_I2C2
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ap.srcs += $(SRC_BOARD)/baro_board.c
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# Ardrone baro
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else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
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ap.srcs += $(SRC_BOARD)/baro_board.c
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else ifeq ($(BOARD)$(BOARD_TYPE), ardronesdk)
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ap.srcs += $(SRC_BOARD)/baro_board_dummy.c
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# Lisa/M baro
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else ifeq ($(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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ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
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ap.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
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else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
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ap.CFLAGS += -DUSE_I2C2
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ap.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
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else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
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ap.srcs += $(SRC_BOARD)/baro_board.c
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ap.CFLAGS += -DUSE_I2C2
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endif
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ap.CFLAGS += -D$(LISA_M_BARO)
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# Lia baro (no bmp onboard)
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else ifeq ($(BOARD), lia)
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# fixme, reuse the baro drivers in lisa_m dir
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LIA_BARO ?= BARO_MS5611_SPI
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ifeq ($(LIA_BARO), BARO_MS5611_SPI)
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include $(CFG_SHARED)/spi_master.makefile
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ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
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ap.srcs += boards/lisa_m/baro_ms5611_spi.c
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else ifeq ($(LIA_BARO), BARO_MS5611_I2C)
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ap.CFLAGS += -DUSE_I2C2
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ap.srcs += boards/lisa_m/baro_ms5611_i2c.c
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endif
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ap.CFLAGS += -D$(LIA_BARO)
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# navgo baro
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else ifeq ($(BOARD), navgo)
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include $(CFG_SHARED)/spi_master.makefile
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ap.CFLAGS += -DUSE_SPI_SLAVE0
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ap.CFLAGS += -DUSE_SPI1
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ap.srcs += peripherals/mcp355x.c
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ap.srcs += $(SRC_BOARD)/baro_board.c
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# krooz baro
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else ifeq ($(BOARD), krooz)
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ap.srcs += $(SRC_BOARD)/baro_board.c
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# apogee baro
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else ifeq ($(BOARD), apogee)
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ap.CFLAGS += -DUSE_I2C1
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ap.CFLAGS += -DMPL3115_I2C_DEV=i2c1
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ap.CFLAGS += -DMPL3115_ALT_MODE=0
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ap.srcs += peripherals/mpl3115.c
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ap.srcs += $(SRC_BOARD)/baro_board.c
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endif
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ifneq ($(BARO_LED),none)
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ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED)
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endif
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#
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# Analog Backend
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#
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ifeq ($(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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