mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
Felix Ruess
225 lines
5.1 KiB
Makefile
225 lines
5.1 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# $Id$
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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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#
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# Expected from board file or overriden as xml param :
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#
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# MODEM_PORT
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# MODEM_BAUD
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#
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CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/rotorcraft
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SRC_BOOZ=booz
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SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCH)
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SRC_BOOZ_TEST=$(SRC_BOOZ)/test
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SRC_BOARD=boards/$(BOARD)
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SRC_FIRMWARE=firmwares/rotorcraft
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SRC_BOOZ_PRIV=booz_priv
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SRC_ARCH=arch/$(ARCH)
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CFG_BOOZ=$(PAPARAZZI_SRC)/conf/autopilot/
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BOOZ_INC = -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) -I$(SRC_BOARD)
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ap.ARCHDIR = $(ARCH)
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ap.CFLAGS += $(BOOZ_INC)
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ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
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ap.srcs = $(SRC_FIRMWARE)/main.c
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ifeq ($(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 += $(SRC_ARCH)/armVIC.c
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else ifeq ($(ARCH), stm32)
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ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
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ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
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endif
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#
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# LEDs
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#
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ap.CFLAGS += -DUSE_LED
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ifeq ($(ARCH), stm32)
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ap.srcs += $(SRC_ARCH)/led_hw.c
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endif
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#
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# Systime
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#
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ap.CFLAGS += -DUSE_SYS_TIME
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ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
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ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
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ifeq ($(ARCH), stm32)
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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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ap.srcs += $(SRC_ARCH)/uart_hw.c
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ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
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ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT)
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ap.srcs += $(SRC_BOOZ)/booz2_telemetry.c \
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downlink.c \
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pprz_transport.c
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ap.CFLAGS += -DDATALINK=PPRZ
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ap.CFLAGS += -DPPRZ_UART=$(MODEM_PORT)
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ap.srcs += $(SRC_BOOZ)/booz2_datalink.c
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ap.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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ifeq ($(ARCH), lpc21)
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ap.CFLAGS += -D$(MODEM_PORT)_VIC_SLOT=6
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endif
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ap.srcs += $(SRC_BOOZ)/booz2_commands.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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ap.srcs += $(SRC_BOARD)/baro_board.c
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ifeq ($(BOARD), booz)
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ap.CFLAGS += -DROTORCRAFT_BARO_LED=$(BARO_LED) -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
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else ifeq ($(BOARD), lisa_l)
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ap.CFLAGS += -DUSE_I2C2
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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 += -DBOOZ2_ANALOG_BATTERY_PERIOD='SYS_TICS_OF_SEC((1./10.))'
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ap.srcs += $(SRC_BOOZ)/booz2_battery.c
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ap.CFLAGS += -DADC0_VIC_SLOT=2
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ap.CFLAGS += -DADC1_VIC_SLOT=3
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ap.srcs += $(SRC_BOOZ)/booz2_analog.c \
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$(SRC_BOOZ_ARCH)/booz2_analog_hw.c
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else ifeq ($(ARCH), stm32)
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ap.srcs += lisa/lisa_analog_plug.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_BOOZ)/booz2_autopilot.c
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ap.srcs += math/pprz_trig_int.c
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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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ap.CFLAGS += -DUSE_NAVIGATION
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ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_h.c
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ap.srcs += $(SRC_BOOZ)/guidance/booz2_guidance_v.c
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ap.srcs += $(SRC_BOOZ)/booz2_ins.c
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ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c
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#
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# INS choice
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#
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# include subsystems/rotorcraft/ins_hff.makefile
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# or
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# nothing
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#
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# vertical filter float version
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ap.srcs += $(SRC_BOOZ)/ins/booz2_vf_float.c
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ap.CFLAGS += -DUSE_VFF -DDT_VFILTER='(1./512.)'
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ap.srcs += $(SRC_BOOZ)/booz2_navigation.c
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#
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# FMS choice
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#
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# include booz2_fms_test_signal.makefile
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# or
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# include booz2_fms_datalink.makefile
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# or
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# nothing
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#
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