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[paparazzi-commits] [5850] Fixedwing Autopilot Makefile Upgrade
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5850] Fixedwing Autopilot Makefile Upgrade |
|
Date: |
Fri, 10 Sep 2010 23:19:51 +0000 |
Revision: 5850
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5850
Author: dewagter
Date: 2010-09-10 23:19:50 +0000 (Fri, 10 Sep 2010)
Log Message:
-----------
Fixedwing Autopilot Makefile Upgrade
Modified Paths:
--------------
paparazzi3/trunk/Makefile.ac
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/autopilot/fixedwing.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
paparazzi3/trunk/sw/airborne/ap_downlink.h
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_xsens.makefile
paparazzi3/trunk/conf/boards/classix.makefile
paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml
Modified: paparazzi3/trunk/Makefile.ac
===================================================================
--- paparazzi3/trunk/Makefile.ac 2010-09-10 14:26:27 UTC (rev 5849)
+++ paparazzi3/trunk/Makefile.ac 2010-09-10 23:19:50 UTC (rev 5850)
@@ -66,6 +66,9 @@
$(SUPERVISION)
all_ac_h: $(AIRFRAME_H) $(MODULES_H) $(SETTINGS_H) $(TUNING_H) $(MAKEFILE_AC)
$(PERIODIC_H)
+ @echo -e "TARGET: $(TARGET)\n" > $(ACINCLUDE)/$(TARGET)_srcs.list
+ @echo -e "CFLAGS: $($(TARGET).CFLAGS)\n\n" >>
$(ACINCLUDE)/$(TARGET)_srcs.list
+ @echo "srcs: $($(TARGET).srcs)" >> $(ACINCLUDE)/$(TARGET)_srcs.list
radio_ac_h : $(RADIO_H) $(CONF_RADIO_CONTROL_PPM_H)
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-09-10 14:26:27 UTC (rev 5849)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-09-10 23:19:50 UTC (rev 5850)
@@ -160,6 +160,15 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
+ <modules>
+ <load name="light.xml">
+ <param name="LIGHT_LED_STROBE" value="3"/>
+ <param name="LIGHT_LED_NAV" value="4"/>
+ <param name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
+ <param name="NAV_LIGHT_MODE_DEFAULT" value="0"/>
+ </load>
+ </modules>
+
<firmware name="fixedwing">
<target name="ap" board="tiny_2.11">
<define name="AGR_CLIMB" />
Modified: paparazzi3/trunk/conf/autopilot/fixedwing.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-09-10 14:26:27 UTC
(rev 5849)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-09-10 23:19:50 UTC
(rev 5850)
@@ -20,24 +20,28 @@
include $(CFG_FIXEDWING)/autopilot.makefile
-ifeq ($(BOARD),tiny)
- ifeq ($(BOARD_VERSION),1.1)
- include $(CFG_FIXEDWING)/actuators_4015.makefile
- else
- ifeq ($(BOARD_VERSION),0.99)
+ifeq ($(ACTUATORS),)
+ ifeq ($(BOARD),tiny)
+ ifeq ($(BOARD_VERSION),1.1)
include $(CFG_FIXEDWING)/actuators_4015.makefile
else
- include $(CFG_FIXEDWING)/actuators_4017.makefile
+ ifeq ($(BOARD_VERSION),0.99)
+ include $(CFG_FIXEDWING)/actuators_4015.makefile
+ else
+ include $(CFG_FIXEDWING)/actuators_4017.makefile
+ endif
endif
endif
-endif
-
-ifeq ($(BOARD),twog)
+ ifeq ($(BOARD),twog)
include $(CFG_FIXEDWING)/actuators_4017.makefile
-endif
+ endif
-ifeq ($(BOARD),lisa_l)
+ ifeq ($(BOARD),lisa_l)
include $(CFG_FIXEDWING)/actuators_direct.makefile
+ endif
+
+else
+ include $(CFG_FIXEDWING)/$(ACTUATORS).makefile
endif
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-09-10 14:26:27 UTC (rev 5849)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-09-10 23:19:50 UTC (rev 5850)
@@ -22,90 +22,177 @@
#
#
-# All targets need the board config
-$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+######################################################################
+##
+## COMMON FIXEDWING ALL TARGETS (SIM + AP + FBW ...)
+##
+#
+# Board config + Include paths
+#
+
+$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
+$(TARGET).CFLAGS += $(FIXEDWING_INC)
+
+#
+# Common Options
+#
+
ifeq ($(OPTIONS), minimal)
else
- $(TARGET).CFLAGS += -DWIND_INFO
+ $(TARGET).CFLAGS += -DWIND_INFO
endif
-$(TARGET).CFLAGS += -DTRAFFIC_INFO
+$(TARGET).CFLAGS += -DTRAFFIC_INFO
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK
-DDOWNLINK_TRANSPORT=IvyTransport -DLED
-sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c
estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/sim_ap.c
$(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/ivy_transport.c
$(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
+#
+# LEDs
+#
+$(TARGET).CFLAGS += -DLED
+ifneq ($(ARCHI), arm7)
+ $(TARGET).srcs += $(SRC_ARCH)/led_hw.c
+endif
+#
+# Sys-time
+#
-ap.CFLAGS += $(FIXEDWING_INC)
-ap.srcs = $(SRC_FIXEDWING)/main.c
+$(TARGET).srcs += sys_time.c
-ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/plug_sys.c
-endif
+#
+# InterMCU & Commands
+#
+$(TARGET).CFLAGS += -DINTER_MCU
+$(TARGET).srcs += $(SRC_FIXEDWING)/inter_mcu.c
+
+######################################################################
+##
+## COMMON FOR ALL NON-SIMULATION TARGETS
+##
+
#
-# Interrupts
+# Interrupt Vectors
#
+
ifeq ($(ARCHI), arm7)
-ap.srcs += $(SRC_ARCH)/armVIC.c
+ ns_srcs += $(SRC_ARCH)/armVIC.c
else ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/stm32_exceptions.c
-ap.srcs += $(SRC_ARCH)/stm32_vector_table.c
+ ns_srcs += $(SRC_ARCH)/stm32_exceptions.c
+ ns_srcs += $(SRC_ARCH)/stm32_vector_table.c
+ ns_CFLAGS += -DPERIPHERALS_AUTO_INIT
endif
-#
-# LEDs
-#
-ap.CFLAGS += -DUSE_LED -DLED -DTIME_LED=1
ifeq ($(ARCHI), stm32)
-ap.srcs += $(SRC_ARCH)/led_hw.c
+ ns_srcs += lisa/plug_sys.c
endif
+
#
-# Systime
+# Main
#
-ap.CFLAGS += -DUSE_SYS_TIME
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
-#ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
-ifeq ($(ARCHI), stm32)
-ap.CFLAGS += -DSYS_TIME_LED=1 -DPERIPHERALS_AUTO_INIT
-endif
+ns_srcs += $(SRC_FIXEDWING)/main.c
#
-# FlyByWire Main
+# LEDs
#
-ap.CFLAGS += -DFBW
-ap.srcs += $(SRC_FIXEDWING)/main_fbw.c
+ns_CFLAGS += -DUSE_LED
+ifeq ($(ARCHI), stm32)
+ ns_CFLAGS += -DSYS_TIME_LED=1
+else
+ ns_CFLAGS += -DTIME_LED=1
+endif
+
#
-# AutoPilot Main
+# Sys-time
#
-ap.CFLAGS += -DAP
-ap.srcs += $(SRC_FIXEDWING)/main_ap.c
-ap.srcs += $(SRC_FIXEDWING)/estimator.c
+ns_CFLAGS += -DUSE_SYS_TIME
+ns_CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./60.))'
+ns_srcs += $(SRC_ARCH)/sys_time_hw.c
+
+
#
-# InterMCU & Commands
+# UARTS
#
-ap.CFLAGS += -DINTER_MCU
-ap.srcs += $(SRC_FIXEDWING)/inter_mcu.c
-ap.srcs += $(SRC_FIXEDWING)/commands.c
+ns_srcs += $(SRC_ARCH)/uart_hw.c
#
-# UARTS
+# ANALOG
#
-ap.srcs += $(SRC_ARCH)/uart_hw.c
-
ifeq ($(ARCHI), arm7)
-ap.CFLAGS += -DADC
-ap.srcs += $(SRC_ARCH)/adc_hw.c
+ ns_CFLAGS += -DADC
+ ns_srcs += $(SRC_ARCH)/adc_hw.c
else ifeq ($(ARCHI), stm32)
-ap.srcs += lisa/lisa_analog_plug.c
+ ns_srcs += lisa/lisa_analog_plug.c
endif
+######################################################################
+##
+## FLY BY WIRE THREAD SPECIFIC
+##
+
+fbw_CFLAGS += -DFBW
+fbw_srcs += $(SRC_FIXEDWING)/main_fbw.c
+fbw_srcs += $(SRC_FIXEDWING)/commands.c
+
+######################################################################
+##
+## AUTOPILOT THREAD SPECIFIC
+##
+
+ap_CFLAGS += -DAP
+ap_srcs += $(SRC_FIXEDWING)/main_ap.c
+ap_srcs += $(SRC_FIXEDWING)/estimator.c
+
+
+######################################################################
+##
+## SIMULATOR THREAD SPECIFIC
+##
+
+sim.CFLAGS += $(fbw_CFLAGS) $(ap_CFLAGS)
+sim.srcs += $(fbw_srcs) $(ap_srcs)
+
+sim.CFLAGS += -DSITL
+sim.srcs += $(SRC_ARCH)/sim_ap.c
+
+sim.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+sim.srcs += downlink.c datalink.c $(SRC_ARCH)/sim_gps.c
$(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c
+
+######################################################################
+##
+## Final Target Allocations
+##
+
+#
+# SINGLE MCU / DUAL MCU
+#
+
+ifeq ($(BOARD),classix)
+ fbw.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
+ fbw.srcs += $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c
$(SRC_ARCH)/spi_hw.c
+ ap.CFLAGS += -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
-DUSE_SPI_SLAVE0
+ ap.srcs += $(SRC_FIXEDWING)/link_mcu.c $(SRC_FIXEDWING)/spi.c
$(SRC_ARCH)/spi_hw.c
+else
+ # Single MCU's run both
+ ap.CFLAGS += $(fbw_CFLAGS)
+ ap.srcs += $(fbw_srcs)
+endif
+
+#
+# No-Sim parameters
+#
+
+fbw.CFLAGS += $(fbw_CFLAGS) $(ns_CFLAGS)
+fbw.srcs += $(fbw_srcs) $(ns_srcs)
+
+ap.CFLAGS += $(ap_CFLAGS) $(ns_CFLAGS)
+ap.srcs += $(ap_srcs) $(ns_srcs)
+
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
2010-09-10 14:26:27 UTC (rev 5849)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile
2010-09-10 23:19:50 UTC (rev 5850)
@@ -7,3 +7,5 @@
ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
+
+sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
2010-09-10 14:26:27 UTC (rev 5849)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile
2010-09-10 23:19:50 UTC (rev 5850)
@@ -7,3 +7,5 @@
ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
ap.srcs += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
+
+sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
Added: paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_xsens.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_xsens.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_xsens.makefile
2010-09-10 23:19:50 UTC (rev 5850)
@@ -0,0 +1,8 @@
+# XSens Mti-G
+
+
+# ap.CFLAGS += -DGPS
+
+ap.srcs += $(SRC_FIXEDWING)/gps_xsens.c $(SRC_FIXEDWING)/gps.c
$(SRC_FIXEDWING)/latlong.c
+
+sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
===================================================================
---
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
2010-09-10 14:26:27 UTC (rev 5849)
+++
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile
2010-09-10 23:19:50 UTC (rev 5850)
@@ -1,4 +1,17 @@
+NORADIO = False
-ap.CFLAGS += -DRADIO_CONTROL
-ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
+ifeq ($(BOARD),classix)
+ ifeq ($(TARGET),ap)
+ NODRADIO = True
+ endif
+endif
+
+
+
+ifeq ($(NORADIO), False)
+ $(TARGET).CFLAGS += -DRADIO_CONTROL
+ $(TARGET).srcs += $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c
+endif
+
+
Added: paparazzi3/trunk/conf/boards/classix.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/classix.makefile
(rev 0)
+++ paparazzi3/trunk/conf/boards/classix.makefile 2010-09-10 23:19:50 UTC
(rev 5850)
@@ -0,0 +1,40 @@
+#
+# classix.makefile
+#
+# http://paparazzi.enac.fr/wiki/Classix
+#
+# TODO: move all to new directories
+# ARCH=lpc21
+ARCH=arm7
+ARCHI=arm7
+
+
+BOARD=classix
+BOARD_VERSION=1.0
+
+#BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+# TODO: update syntax
+BOARD_CFG = \"classix.h\"
+
+ifndef FLASH_MODE
+FLASH_MODE = IAP
+endif
+
+
+LPC21ISP_BAUD = 38400
+LPC21ISP_XTAL = 12000
+
+
+### default settings for classix
+GPS_BAUD = B38400
+
+# All targets on the TINY board run on the same processor achitecture
+$(TARGET).ARCHDIR = $(ARCHI)
+$(TARGET).ARCH = arm7tdmi
+$(TARGET).TARGET = $(TARGET)
+$(TARGET).TARGETDIR = $(TARGET)
+
+# Battery Voltage
+fbw.CFLAGS += -DUSE_AD0
+
Added: paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml
===================================================================
--- paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml
(rev 0)
+++ paparazzi3/trunk/conf/modules/ins_xsens_MTiG_fixedwing.xml 2010-09-10
23:19:50 UTC (rev 5850)
@@ -0,0 +1,20 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="ins">
+ <!-- <depend conflict="ins" -->
+ <!-- <depend require="gps_xsens" -->
+ <header>
+ <file name="ins.h"/>
+ </header>
+ <init fun="ins_init()"/>
+ <periodic fun="ins_periodic_task()" freq="60"/>
+ <event fun="InsEventCheckAndHandle(handle_ins_msg())"/>
+ <makefile>
+ <flag name="USE_UART1"/>
+ <flag name="INS_LINK" value="Uart1"/>
+ <flag name="UART1_BAUD" value="B115200"/>
+ <flag name="USE_GPS_XSENS"/>
+ <file name="ins_xsens.c"/>
+ </makefile>
+</module>
+
Modified: paparazzi3/trunk/sw/airborne/ap_downlink.h
===================================================================
--- paparazzi3/trunk/sw/airborne/ap_downlink.h 2010-09-10 14:26:27 UTC (rev
5849)
+++ paparazzi3/trunk/sw/airborne/ap_downlink.h 2010-09-10 23:19:50 UTC (rev
5850)
@@ -57,7 +57,7 @@
#define PERIODIC_SEND_ALIVE(_chan) DOWNLINK_SEND_ALIVE(_chan, 16, MD5SUM);
#define PERIODIC_SEND_BAT(_chan) { \
- uint16_t zero; \
+ uint16_t zero = 0; \
Downlink({ int16_t e = energy; \
DOWNLINK_SEND_BAT(_chan, \
&v_ctl_throttle_slewed, \
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- [paparazzi-commits] [5850] Fixedwing Autopilot Makefile Upgrade,
Christophe De Wagter <=