mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
473 lines
14 KiB
Makefile
473 lines
14 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2013 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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#
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# Common test programs for the all LPC21 and STM32 boards
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#
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################################################################################
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SRC_ARCH=arch/$(ARCH)
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SRC_BOARD=boards/$(BOARD)
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SRC_SUBSYSTEMS=subsystems
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SRC_MODULES=modules
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CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
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#
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# common test
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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PERIODIC_FREQUENCY ?= 512
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COMMON_TEST_CFLAGS = -I$(SRC_BOARD) -DBOARD_CONFIG=$(BOARD_CFG)
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COMMON_TEST_CFLAGS += -DPERIPHERALS_AUTO_INIT
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COMMON_TEST_SRCS = mcu.c $(SRC_ARCH)/mcu_arch.c
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ifneq ($(SYS_TIME_LED),none)
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COMMON_TEST_CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
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endif
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COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
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COMMON_TEST_SRCS += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
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ifeq ($(ARCH), linux)
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# seems that we need to link agains librt for glibc < 2.17
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$(TARGET).LDFLAGS += -lrt
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endif
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COMMON_TEST_CFLAGS += -DUSE_LED
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ifeq ($(ARCH), lpc21)
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COMMON_TEST_SRCS += $(SRC_ARCH)/armVIC.c
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else ifeq ($(ARCH), stm32)
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COMMON_TEST_SRCS += $(SRC_ARCH)/led_hw.c
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COMMON_TEST_SRCS += $(SRC_ARCH)/mcu_periph/gpio_arch.c
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endif
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# pprz downlink/datalink
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COMMON_TELEMETRY_CFLAGS = -DDOWNLINK -DDOWNLINK_TRANSPORT=pprz_tp -DDATALINK=PPRZ
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COMMON_TELEMETRY_SRCS = subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
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# check if we are using UDP
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ifneq (,$(findstring UDP, $(MODEM_DEV)))
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include $(CFG_SHARED)/udp.makefile
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MODEM_PORT_OUT ?= 4242
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MODEM_PORT_IN ?= 4243
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MODEM_BROADCAST ?= TRUE
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UDP_MODEM_PORT_LOWER=$(shell echo $(MODEM_DEV) | tr A-Z a-z)
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COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_DEV) -D$(MODEM_DEV)_PORT_OUT=$(MODEM_PORT_OUT) -D$(MODEM_DEV)_PORT_IN=$(MODEM_PORT_IN)
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COMMON_TELEMETRY_CFLAGS += -D$(MODEM_DEV)_BROADCAST=$(MODEM_BROADCAST) -D$(MODEM_DEV)_HOST=\"$(MODEM_HOST)\"
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COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(UDP_MODEM_PORT_LOWER)
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COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=$(UDP_MODEM_PORT_LOWER)
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else
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# via UART
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#ifeq ($(MODEM_PORT),)
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#$(error MODEM_PORT not defined)
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#endif
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COMMON_TELEMETRY_MODEM_PORT_LOWER=$(shell echo $(MODEM_PORT) | tr A-Z a-z)
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COMMON_TELEMETRY_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
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COMMON_TELEMETRY_CFLAGS += -DPPRZ_UART=$(COMMON_TELEMETRY_MODEM_PORT_LOWER)
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COMMON_TELEMETRY_CFLAGS += -DDOWNLINK_DEVICE=$(COMMON_TELEMETRY_MODEM_PORT_LOWER)
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COMMON_TELEMETRY_SRCS += mcu_periph/uart.c
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COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/mcu_periph/uart_arch.c
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ifeq ($(ARCH), linux)
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COMMON_TELEMETRY_SRCS += $(SRC_ARCH)/serial_port.c
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endif
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endif #UART
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#COMMON_TEST_SRCS += math/pprz_trig_int.c
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#
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# test sys_time
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#
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ifeq ($(BOARD), lisa_m)
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ifeq ($(BOARD_VERSION), 2.0)
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LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
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endif
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endif
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ifeq ($(BOARD), navstik)
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LED_DEFINES = -DLED_RED=1 -DLED_GREEN=2
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endif
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ifeq ($(BOARD), cc3d)
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LED_DEFINES = -DLED_BLUE=1
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endif
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LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
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test_sys_time_timer.ARCHDIR = $(ARCH)
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test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
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test_sys_time_timer.srcs += $(COMMON_TEST_SRCS)
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test_sys_time_timer.srcs += test/mcu_periph/test_sys_time_timer.c
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test_sys_time_usleep.ARCHDIR = $(ARCH)
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test_sys_time_usleep.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
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test_sys_time_usleep.srcs += $(COMMON_TEST_SRCS)
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test_sys_time_usleep.srcs += test/mcu_periph/test_sys_time_usleep.c
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test_gpio.ARCHDIR = $(ARCH)
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test_gpio.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_gpio.srcs += $(COMMON_TEST_SRCS)
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test_gpio.srcs += test/mcu_periph/test_gpio.c
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#
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# test uart
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#
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# required configuration:
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# -DUSE_UARTx
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# -DUARTx_BAUD=B57600
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#
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test_uart.ARCHDIR = $(ARCH)
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test_uart.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_uart.srcs += $(COMMON_TEST_SRCS)
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#test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
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#test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
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#test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
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#test_uart.CFLAGS += -DUSE_UART5 -DUART5_BAUD=B57600
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test_uart.srcs += mcu_periph/uart.c
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test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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test_uart.srcs += test/mcu_periph/test_uart.c
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ifeq ($(ARCH), linux)
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test_uart.srcs += $(SRC_ARCH)/serial_port.c
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endif
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#
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# test uart_echo
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#
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# required configuration:
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# -DUSE_UARTx
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# -DUARTx_BAUD=B57600
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#
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test_uart_echo.ARCHDIR = $(ARCH)
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test_uart_echo.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_uart_echo.srcs += $(COMMON_TEST_SRCS)
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test_uart_echo.srcs += mcu_periph/uart.c
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test_uart_echo.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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test_uart_echo.srcs += test/mcu_periph/test_uart_echo.c
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ifeq ($(ARCH), linux)
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test_uart_echo.srcs += $(SRC_ARCH)/serial_port.c
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endif
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#
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# test uart_send
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#
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# required configuration:
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# -DUSE_UARTx
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# -DUARTx_BAUD=B57600
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#
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test_uart_send.ARCHDIR = $(ARCH)
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test_uart_send.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_uart_send.srcs += $(COMMON_TEST_SRCS)
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test_uart_send.srcs += mcu_periph/uart.c
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test_uart_send.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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test_uart_send.srcs += test/mcu_periph/test_uart_send.c
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ifeq ($(ARCH), linux)
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test_uart_send.srcs += $(SRC_ARCH)/serial_port.c
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endif
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#
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# test uart_recv
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#
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# required configuration:
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# -DUSE_UARTx
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# -DUARTx_BAUD=B57600
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#
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test_uart_recv.ARCHDIR = $(ARCH)
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test_uart_recv.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_uart_recv.srcs += $(COMMON_TEST_SRCS)
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test_uart_recv.srcs += mcu_periph/uart.c
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test_uart_recv.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
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test_uart_recv.srcs += test/mcu_periph/test_uart_recv.c
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ifeq ($(ARCH), linux)
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test_uart_recv.srcs += $(SRC_ARCH)/serial_port.c
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endif
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#
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# test_telemetry : Sends ALIVE telemetry messages
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#
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# configuration
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# MODEM_PORT :
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# MODEM_BAUD :
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#
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test_telemetry.ARCHDIR = $(ARCH)
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test_telemetry.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_telemetry.srcs += $(COMMON_TEST_SRCS)
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test_telemetry.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_telemetry.srcs += $(COMMON_TELEMETRY_SRCS)
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test_telemetry.srcs += test/test_telemetry.c
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#
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# test ms2100 mag
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#
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test_ms2100.ARCHDIR = $(ARCH)
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test_ms2100.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_ms2100.srcs += $(COMMON_TEST_SRCS)
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test_ms2100.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_ms2100.srcs += $(COMMON_TELEMETRY_SRCS)
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test_ms2100.srcs += test/peripherals/test_ms2100.c
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test_ms2100.srcs += peripherals/ms2100.c $(SRC_ARCH)/peripherals/ms2100_arch.c
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test_ms2100.CFLAGS += -DUSE_SPI -DSPI_MASTER
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test_ms2100.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
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ifeq ($(ARCH), lpc21)
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test_ms2100.CFLAGS += -DUSE_SPI1
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test_ms2100.CFLAGS += -DUSE_SPI_SLAVE1
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test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=1
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test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi1
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test_ms2100.CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
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else ifeq ($(ARCH), stm32)
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test_ms2100.CFLAGS += -DUSE_SPI2
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test_ms2100.CFLAGS += -DUSE_SPI_SLAVE4
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test_ms2100.CFLAGS += -DMS2100_SLAVE_IDX=4
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test_ms2100.CFLAGS += -DMS2100_SPI_DEV=spi2
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endif
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#
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# test lis302dl accelerometer
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#
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test_lis302dl.ARCHDIR = $(ARCH)
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test_lis302dl.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_lis302dl.srcs += $(COMMON_TEST_SRCS)
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test_lis302dl.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_lis302dl.srcs += $(COMMON_TELEMETRY_SRCS)
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test_lis302dl.srcs += test/peripherals/test_lis302dl_spi.c
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test_lis302dl.srcs += peripherals/lis302dl_spi.c
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test_lis302dl.CFLAGS += -DUSE_SPI -DSPI_MASTER
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test_lis302dl.srcs += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
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test_lis302dl.CFLAGS += -DUSE_SPI1
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test_lis302dl.CFLAGS += -DUSE_SPI_SLAVE2
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test_lis302dl.CFLAGS += -DLIS302DL_SLAVE_IDX=2
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test_lis302dl.CFLAGS += -DLIS302DL_SPI_DEV=spi1
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##
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## test can interface
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##
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test_can.ARCHDIR = $(ARCH)
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test_can.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_can.srcs += $(COMMON_TEST_SRCS)
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test_can.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_can.srcs += $(COMMON_TELEMETRY_SRCS)
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test_can.srcs += test/test_can.c
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test_can.srcs += mcu_periph/can.c $(SRC_ARCH)/mcu_periph/can_arch.c
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#
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# test PWM actuators by changing the value for each channel via settings
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#
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test_actuators_pwm.ARCHDIR = $(ARCH)
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test_actuators_pwm.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_actuators_pwm.srcs += $(COMMON_TEST_SRCS)
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test_actuators_pwm.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_actuators_pwm.srcs += $(COMMON_TELEMETRY_SRCS)
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test_actuators_pwm.srcs += test/test_actuators_pwm.c
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test_actuators_pwm.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c $(SRC_ARCH)/subsystems/actuators/actuators_shared_arch.c
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# only add this so it doesn't fail to build if you also have setup_actuators.xml settings file loaded
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# remove me again when we have auto loading of settings according to subsystem/module/target...
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test_actuators_pwm.srcs += subsystems/actuators.c
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#
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# test PWM actuators by simply moving each one from 1ms to 2ms
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#
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test_actuators_pwm_sin.ARCHDIR = $(ARCH)
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test_actuators_pwm_sin.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_actuators_pwm_sin.srcs += $(COMMON_TEST_SRCS)
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test_actuators_pwm_sin.srcs += test/test_actuators_pwm_sin.c
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test_actuators_pwm_sin.srcs += $(SRC_ARCH)/subsystems/actuators/actuators_pwm_arch.c $(SRC_ARCH)/subsystems/actuators/actuators_shared_arch.c
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#
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# simple test of mikrokopter motor controllers
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#
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test_esc_mkk_simple.ARCHDIR = $(ARCH)
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test_esc_mkk_simple.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_esc_mkk_simple.srcs += $(COMMON_TEST_SRCS)
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test_esc_mkk_simple.srcs += test/test_esc_mkk_simple.c
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test_esc_mkk_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
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test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
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#
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# simple test of asctec v1 motor controllers
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#
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test_esc_asctecv1_simple.ARCHDIR = $(ARCH)
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test_esc_asctecv1_simple.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_esc_asctecv1_simple.srcs += $(COMMON_TEST_SRCS)
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test_esc_asctecv1_simple.srcs += test/test_esc_asctecv1_simple.c
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test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
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#
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# Test manual : a simple test with rc and servos
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# add the desired actuators and radio_control subsystem to this target
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#
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test_manual.ARCHDIR = $(ARCH)
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test_manual.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_manual.srcs += $(COMMON_TEST_SRCS)
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test_manual.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_manual.srcs += $(COMMON_TELEMETRY_SRCS)
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test_manual.srcs += subsystems/commands.c
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test_manual.srcs += subsystems/actuators.c
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test_manual.srcs += test/test_manual.c
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ifeq ($(TARGET), test_manual)
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ifeq ($(ACTUATORS),)
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$(error ACTUATORS not configured, if your board file has no default, configure in your airframe file)
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else
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include $(CFG_SHARED)/$(ACTUATORS).makefile
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endif
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endif
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#
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# test_baro_board : reads barometers and sends values over telemetry
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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test_baro_board.ARCHDIR = $(ARCH)
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test_baro_board.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_baro_board.srcs += $(COMMON_TEST_SRCS)
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test_baro_board.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_baro_board.srcs += $(COMMON_TELEMETRY_SRCS)
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test_baro_board.srcs += test/test_baro_board.c
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test_baro_board.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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ifeq ($(TARGET),test_baro_board)
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include $(CFG_SHARED)/baro_board.makefile
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endif
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test_baro_board.CFLAGS += $(BARO_BOARD_CFLAGS)
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test_baro_board.srcs += $(BARO_BOARD_SRCS)
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#
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# test_adc
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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test_adc.ARCHDIR = $(ARCH)
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test_adc.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_adc.srcs += $(COMMON_TEST_SRCS)
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test_adc.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_adc.srcs += $(COMMON_TELEMETRY_SRCS)
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test_adc.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
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test_adc.srcs += test/mcu_periph/test_adc.c
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#
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# test_imu
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#
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# add imu subsystem to test_imu target!
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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# MODEM_BAUD
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#
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test_imu.ARCHDIR = $(ARCH)
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test_imu.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_imu.srcs += $(COMMON_TEST_SRCS)
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test_imu.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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test_imu.srcs += $(COMMON_TELEMETRY_SRCS)
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test_imu.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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test_imu.srcs += state.c
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test_imu.srcs += test/subsystems/test_imu.c
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test_imu.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 math/pprz_algebra_int.c math/pprz_algebra_float.c math/pprz_algebra_double.c
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#
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# test_ahrs
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#
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# add imu and ahrs subsystems to test_ahrs target!
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#
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# configuration
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# SYS_TIME_LED
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# MODEM_PORT
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|
# MODEM_BAUD
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|
#
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test_ahrs.ARCHDIR = $(ARCH)
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test_ahrs.CFLAGS += $(COMMON_TEST_CFLAGS)
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test_ahrs.srcs += $(COMMON_TEST_SRCS)
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test_ahrs.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
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|
test_ahrs.srcs += $(COMMON_TELEMETRY_SRCS)
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|
test_ahrs.srcs += subsystems/datalink/telemetry.c
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test_ahrs.CFLAGS += -DPERIODIC_TELEMETRY
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test_ahrs.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
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|
test_ahrs.srcs += test/subsystems/test_ahrs.c
|
|
test_ahrs.srcs += state.c
|
|
test_ahrs.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 math/pprz_algebra_int.c math/pprz_algebra_float.c math/pprz_algebra_double.c
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|
|
|
|
|
#
|
|
# test_radio_control
|
|
#
|
|
# add appropriate radio_control subsystem to target!
|
|
#
|
|
test_radio_control.ARCHDIR = $(ARCH)
|
|
test_radio_control.CFLAGS += $(COMMON_TEST_CFLAGS)
|
|
test_radio_control.srcs += $(COMMON_TEST_SRCS)
|
|
test_radio_control.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_radio_control.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
test_radio_control.srcs += test/subsystems/test_radio_control.c
|
|
|
|
|
|
#
|
|
# test_settings :
|
|
#
|
|
# configuration
|
|
# MODEM_PORT :
|
|
# MODEM_BAUD :
|
|
#
|
|
test_settings.ARCHDIR = $(ARCH)
|
|
test_settings.CFLAGS += $(COMMON_TEST_CFLAGS)
|
|
test_settings.srcs += $(COMMON_TEST_SRCS)
|
|
test_settings.CFLAGS += $(COMMON_TELEMETRY_CFLAGS)
|
|
test_settings.srcs += $(COMMON_TELEMETRY_SRCS)
|
|
test_settings.srcs += subsystems/settings.c
|
|
test_settings.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
|
|
test_settings.srcs += test/subsystems/test_settings.c
|
|
test_settings.CFLAGS += -DUSE_PERSISTENT_SETTINGS
|