[paparazzi-commits] [5866] add jsbsim target for fixedwings

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[paparazzi-commits] [5866] add jsbsim target for fixedwings

From:	Felix Ruess
Subject:	[paparazzi-commits] [5866] add jsbsim target for fixedwings
Date:	Tue, 14 Sep 2010 21:57:31 +0000
Revision: 5866
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5866
Author:   flixr
Date:     2010-09-14 21:57:31 +0000 (Tue, 14 Sep 2010)
Log Message:
-----------
add jsbsim target for fixedwings

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/mentor_tum.xml
    paparazzi3/trunk/conf/autopilot/fixedwing.makefile
    
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.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/sim/jsbsim_hw.h

Modified: paparazzi3/trunk/conf/airframes/mentor_tum.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mentor_tum.xml      2010-09-14 21:50:06 UTC 
(rev 5865)
+++ paparazzi3/trunk/conf/airframes/mentor_tum.xml      2010-09-14 21:57:31 UTC 
(rev 5866)
@@ -24,6 +24,13 @@
       <define name="ALT_KALMAN"/>
     </target>
 
+    <target name="jsbsim"              board="pc">
+      <define name="AGR_CLIMB"/>
+      <define name="LOITER_TRIM"/>
+      <define name="WIND_INFO"/>
+      <define name="ALT_KALMAN"/>
+    </target>
+
     <subsystem name="radio_control" type="ppm"/>
     <!--<define name="TELEMETRY_MODE_FBW" value="1"/>-->
     <subsystem name="telemetry" type="transparent"/>

Modified: paparazzi3/trunk/conf/autopilot/fixedwing.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.makefile  2010-09-14 21:50:06 UTC 
(rev 5865)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.makefile  2010-09-14 21:57:31 UTC 
(rev 5866)
@@ -1,5 +1,5 @@
 #
-# fixed_wings.makefile
+# fixedwing.makefile
 #
 #
 

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile
===================================================================
--- 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile 
    2010-09-14 21:50:06 UTC (rev 5865)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/attitude_infrared.makefile 
    2010-09-14 21:57:31 UTC (rev 5866)
@@ -15,8 +15,8 @@
 ap.CFLAGS += -DADC_CHANNEL_IR_TOP=$(ADC_IR_TOP) -DUSE_$(ADC_IR_TOP)
 ap.CFLAGS += -DADC_CHANNEL_IR_NB_SAMPLES=$(ADC_IR_NB_SAMPLES)
 
-ap.CFLAGS += -DINFRARED
-ap.srcs += $(SRC_FIXEDWING)/infrared.c
+$(TARGET).CFLAGS += -DINFRARED
+$(TARGET).srcs += $(SRC_FIXEDWING)/infrared.c
 
-sim.CFLAGS += -DINFRARED
-sim.srcs += $(SRC_FIXEDWING)/infrared.c $(SRC_ARCH)/sim_ir.c
+sim.srcs += $(SRC_ARCH)/sim_ir.c
+jsbsim.srcs += $(SRC_ARCH)/jsbsim_ir.c

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile     
2010-09-14 21:50:06 UTC (rev 5865)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile     
2010-09-14 21:57:31 UTC (rev 5866)
@@ -35,12 +35,12 @@
 $(TARGET).CFLAGS       += $(FIXEDWING_INC)
 
 #
-# Common Options 
+# Common Options
 #
 
 ifeq ($(OPTIONS), minimal)
 else
-  $(TARGET).CFLAGS     += -DWIND_INFO 
+  $(TARGET).CFLAGS     += -DWIND_INFO
 endif
 
 $(TARGET).CFLAGS       += -DTRAFFIC_INFO
@@ -49,9 +49,11 @@
 # LEDs
 #
 
-$(TARGET).CFLAGS       += -DLED 
+$(TARGET).CFLAGS       += -DLED
 ifneq ($(ARCHI), arm7)
-  $(TARGET).srcs       += $(SRC_ARCH)/led_hw.c
+  ifneq ($(ARCHI), jsbsim)
+    $(TARGET).srcs     += $(SRC_ARCH)/led_hw.c
+  endif
 endif
 
 #
@@ -93,7 +95,7 @@
 # Main
 #
 
-ns_srcs        += $(SRC_FIXEDWING)/main.c
+ns_srcs                += $(SRC_FIXEDWING)/main.c
 
 #
 # LEDs
@@ -101,9 +103,9 @@
 
 ns_CFLAGS              += -DUSE_LED
 ifeq ($(ARCHI), stm32)
-  ns_CFLAGS            += -DSYS_TIME_LED=1
+  ns_CFLAGS    += -DSYS_TIME_LED=1
 else
- ns_CFLAGS             += -DTIME_LED=1
+  ns_CFLAGS    += -DTIME_LED=1
 endif
 
 #
@@ -160,20 +162,44 @@
 sim.CFLAGS             += $(fbw_CFLAGS) $(ap_CFLAGS)
 sim.srcs               += $(fbw_srcs) $(ap_srcs)
 
-sim.CFLAGS             += -DSITL 
+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 
+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
 
 ######################################################################
 ##
+## JSBSIM THREAD SPECIFIC
+##
+
+JSBSIM_ROOT = /opt/jsbsim
+JSBSIM_INC = $(JSBSIM_ROOT)/include/JSBSim
+JSBSIM_LIB = $(JSBSIM_ROOT)/lib
+jsbsim.ARCHDIR = $(ARCHI)
+#jsbsim.ARCH = sitl
+
+jsbsim.CFLAGS          += $(fbw_CFLAGS) $(ap_CFLAGS)
+jsbsim.srcs            += $(fbw_srcs) $(ap_srcs)
+
+jsbsim.CFLAGS          += -DSITL
+jsbsim.srcs            += $(SIMDIR)/sim_ac_jsbsim.c $(SIMDIR)/sim_ac_fw.c
+
+# external libraries
+jsbsim.CFLAGS          += -I$(SIMDIR) -I/usr/include -I$(JSBSIM_INC) 
`pkg-config glib-2.0 --cflags`
+jsbsim.LDFLAGS         += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy 
-L/usr/lib -L$(JSBSIM_LIB) -lJSBSim
+
+jsbsim.CFLAGS          += -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport
+jsbsim.srcs            += downlink.c datalink.c $(SRC_ARCH)/jsbsim_hw.c 
$(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/ivy_transport.c 
$(SRC_ARCH)/jsbsim_transport.c
+
+######################################################################
+##
 ## Final Target Allocations
 ##
 
 #
 # SINGLE MCU / DUAL MCU
-# 
+#
 
 ifeq ($(BOARD),classix)
   fbw.CFLAGS           += -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
@@ -182,12 +208,12 @@
   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) 
+  ap.CFLAGS            += $(fbw_CFLAGS)
+  ap.srcs              += $(fbw_srcs)
 endif
 
 #
-# No-Sim parameters 
+# No-Sim parameters
 #
 
 fbw.CFLAGS             += $(fbw_CFLAGS) $(ns_CFLAGS)
@@ -195,4 +221,3 @@
 
 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   
    2010-09-14 21:50:06 UTC (rev 5865)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea4p.makefile   
    2010-09-14 21:57:31 UTC (rev 5866)
@@ -6,6 +6,7 @@
 ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
 
-ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c 
$(SRC_FIXEDWING)/latlong.c
+ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c
 
-sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
+$(TARGET).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   
    2010-09-14 21:50:06 UTC (rev 5865)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/gps_ublox_lea5h.makefile   
    2010-09-14 21:57:31 UTC (rev 5866)
@@ -6,6 +6,6 @@
 ap.CFLAGS += -DUSE_UART$(GPS_UART_NR)
 ap.CFLAGS += -DUART$(GPS_UART_NR)_BAUD=$(GPS_BAUD)
 
-ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c $(SRC_FIXEDWING)/gps.c 
$(SRC_FIXEDWING)/latlong.c
+ap.srcs   += $(SRC_FIXEDWING)/gps_ubx.c
 
-sim.srcs += $(SRC_FIXEDWING)/gps.c $(SRC_FIXEDWING)/latlong.c
+$(TARGET).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 
    2010-09-14 21:50:06 UTC (rev 5865)
+++ 
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/radio_control_ppm.makefile 
    2010-09-14 21:57:31 UTC (rev 5866)
@@ -11,7 +11,10 @@
 
 ifeq ($(NORADIO), False)
   $(TARGET).CFLAGS     += -DRADIO_CONTROL
-  $(TARGET).srcs       += $(SRC_FIXEDWING)/radio_control.c $(SRC_ARCH)/ppm_hw.c
+  $(TARGET).srcs       += $(SRC_FIXEDWING)/radio_control.c
+  ifeq ($(ARCHI),arm7)
+    $(TARGET).srcs     += $(SRC_ARCH)/ppm_hw.c
+  endif
 endif
 
 

Modified: paparazzi3/trunk/sw/airborne/sim/jsbsim_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/sim/jsbsim_hw.h        2010-09-14 21:50:06 UTC 
(rev 5865)
+++ paparazzi3/trunk/sw/airborne/sim/jsbsim_hw.h        2010-09-14 21:57:31 UTC 
(rev 5866)
@@ -41,7 +41,6 @@
 #include "fw_h_ctl.h"
 #include "fw_v_ctl.h"
 #include "infrared.h"
-#include "cam.h"
 #include "commands.h"
 #include "main_ap.h"
 #include "ap_downlink.h"
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