mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 05:42:49 +08:00
Felix Ruess
282 lines
7.0 KiB
Makefile
282 lines
7.0 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2008 Antoine Drouin
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#
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# This file is part of paparazzi.
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#tin
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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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## COMMON FIXEDWING ALL TARGETS (SIM + AP + FBW ...)
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##
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#
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# Board config + Include paths
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#
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$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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$(TARGET).CFLAGS += -DPERIPHERALS_AUTO_INIT
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$(TARGET).CFLAGS += $(FIXEDWING_INC)
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# would be better to auto-generate this
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$(TARGET).CFLAGS += -DFIRMWARE=FIXEDWING
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$(TARGET).srcs += mcu.c
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$(TARGET).srcs += $(SRC_ARCH)/mcu_arch.c
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#
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# Common Options
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#
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ifeq ($(OPTIONS), minimal)
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else
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$(TARGET).CFLAGS += -DWIND_INFO
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endif
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$(TARGET).CFLAGS += -DTRAFFIC_INFO
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#
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# LEDs
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#
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ifneq ($(ARCH), jsbsim)
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$(TARGET).CFLAGS += -DUSE_LED
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endif
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ifneq ($(ARCH), lpc21)
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ifneq ($(ARCH), jsbsim)
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$(TARGET).srcs += $(SRC_ARCH)/led_hw.c
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endif
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endif
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#
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# Sys-time
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#
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PERIODIC_FREQUENCY ?= 60
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$(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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TELEMETRY_FREQUENCY ?= 60
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$(TARGET).CFLAGS += -DTELEMETRY_FREQUENCY=$(TELEMETRY_FREQUENCY)
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$(TARGET).srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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$(TARGET).CFLAGS += -DUSE_SYS_TIME
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#
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# InterMCU & Commands
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#
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$(TARGET).CFLAGS += -DINTER_MCU
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$(TARGET).srcs += $(SRC_FIXEDWING)/inter_mcu.c
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#
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# Math functions
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#
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$(TARGET).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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#
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# I2C
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#
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$(TARGET).srcs += mcu_periph/i2c.c
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$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
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######################################################################
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##
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## COMMON FOR ALL NON-SIMULATION TARGETS
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##
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#
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# Interrupt Vectors
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#
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ifeq ($(ARCH), lpc21)
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ns_srcs += $(SRC_ARCH)/armVIC.c
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endif
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ifeq ($(ARCH), stm32)
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ns_srcs += lisa/plug_sys.c
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ns_srcs += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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endif
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#
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# Main
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#
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ns_srcs += $(SRC_FIRMWARE)/main.c
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#
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# LEDs
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#
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ns_CFLAGS += -DUSE_LED
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ifneq ($(SYS_TIME_LED),none)
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ns_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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#
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# UARTS
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#
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ns_srcs += mcu_periph/uart.c
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ns_srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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#
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# ANALOG
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#
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ns_CFLAGS += -DUSE_ADC
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ns_srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
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######################################################################
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##
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## FLY BY WIRE THREAD SPECIFIC
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##
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fbw_CFLAGS += -DFBW
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fbw_srcs += $(SRC_FIRMWARE)/main_fbw.c
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fbw_srcs += subsystems/electrical.c
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fbw_srcs += subsystems/commands.c
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fbw_srcs += subsystems/actuators.c
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fbw_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
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######################################################################
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##
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## AUTOPILOT THREAD SPECIFIC
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##
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ap_CFLAGS += -DAP
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ap_srcs += $(SRC_FIRMWARE)/main_ap.c
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ap_srcs += $(SRC_FIRMWARE)/autopilot.c
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ap_srcs += $(SRC_FIRMWARE)/ap_downlink.c
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ap_srcs += state.c
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ap_srcs += subsystems/settings.c
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ap_srcs += $(SRC_ARCH)/subsystems/settings_arch.c
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# BARO
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ifeq ($(BOARD), umarim)
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ifeq ($(BOARD_VERSION), 1.0)
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ap_srcs += boards/umarim/baro_board.c
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ap_CFLAGS += -DUSE_I2C1 -DUSE_ADS1114_1
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ap_CFLAGS += -DADS1114_I2C_DEV=i2c1
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ap_srcs += peripherals/ads1114.c
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endif
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else ifeq ($(BOARD), lisa_l)
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ap_CFLAGS += -DUSE_I2C2
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endif
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# ahrs frequencies if configured
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ifdef AHRS_PROPAGATE_FREQUENCY
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ap_CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
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endif
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ifdef AHRS_CORRECT_FREQUENCY
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ap_CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
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endif
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######################################################################
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##
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## SIMULATOR THREAD SPECIFIC
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##
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UNAME = $(shell uname -s)
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ifeq ("$(UNAME)","Darwin")
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sim.CFLAGS += $(shell if test -d /opt/paparazzi/include; then echo "-I/opt/paparazzi/include"; elif test -d /opt/local/include; then echo "-I/opt/local/include"; fi)
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endif
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sim.CFLAGS += $(CPPFLAGS)
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sim.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS)
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sim.srcs += $(fbw_srcs) $(ap_srcs)
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sim.CFLAGS += -DSITL
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sim.srcs += $(SRC_ARCH)/sim_ap.c
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sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
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sim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c
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sim.srcs += subsystems/settings.c
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sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
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# hack: always compile some of the sim functions, so ocaml sim does not complain about no-existing functions
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sim.srcs += $(SRC_ARCH)/sim_ahrs.c $(SRC_ARCH)/sim_ir.c
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######################################################################
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##
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## JSBSIM THREAD SPECIFIC
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##
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JSBSIM_ROOT ?= /opt/jsbsim
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JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
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JSBSIM_LIB = $(JSBSIM_ROOT)/lib
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# use the paparazzi-jsbsim package if it is installed,
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# otherwise look for JSBsim under /opt/jsbsim
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JSBSIM_PKG ?= $(shell pkg-config JSBSim --exists && echo 'yes')
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ifeq ($(JSBSIM_PKG), yes)
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jsbsim.CFLAGS += $(shell pkg-config JSBSim --cflags)
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jsbsim.LDFLAGS += $(shell pkg-config JSBSim --libs)
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else
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JSBSIM_PKG = no
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jsbsim.CFLAGS += -I$(JSBSIM_INC)
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jsbsim.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
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endif
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jsbsim.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS)
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jsbsim.srcs += $(fbw_srcs) $(ap_srcs)
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jsbsim.CFLAGS += -DSITL -DUSE_JSBSIM
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jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c $(SIMDIR)/sim_ac_flightgear.c
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# external libraries
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jsbsim.CFLAGS += -I/usr/include $(shell pkg-config glib-2.0 --cflags)
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jsbsim.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lglibivy -lm
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jsbsim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
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jsbsim.srcs += subsystems/datalink/downlink.c $(SRC_FIRMWARE)/datalink.c $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ahrs.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/jsbsim_transport.c
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jsbsim.srcs += subsystems/settings.c
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jsbsim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
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######################################################################
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##
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## Final Target Allocations
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##
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#
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# SINGLE MCU / DUAL MCU
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#
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ifeq ($(BOARD),classix)
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include $(CFG_FIXEDWING)/intermcu_spi.makefile
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else
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# Single MCU's run both
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ifeq ($(SEPARATE_FBW),)
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ap.CFLAGS += $(fbw_CFLAGS)
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ap.srcs += $(fbw_srcs)
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else
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# avoid fbw_telemetry_mode error
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ap_srcs += $(SRC_FIRMWARE)/fbw_downlink.c
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endif
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endif
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#
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# No-Sim parameters
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#
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fbw.CFLAGS += $(fbw_CFLAGS) $(ns_CFLAGS)
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fbw.srcs += $(fbw_srcs) $(ns_srcs)
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ap.CFLAGS += $(ap_CFLAGS) $(ns_CFLAGS)
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ap.srcs += $(ap_srcs) $(ns_srcs)
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