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[paparazzi-commits] [5491] ap - tunnel - sim
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5491] ap - tunnel - sim |
|
Date: |
Thu, 19 Aug 2010 18:47:19 +0000 |
Revision: 5491
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5491
Author: dewagter
Date: 2010-08-19 18:47:18 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
ap - tunnel - sim
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/airframes/microjet5.xml
paparazzi3/trunk/conf/autopilot/fixedwing.makefile
paparazzi3/trunk/conf/autopilot/setup.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
paparazzi3/trunk/conf/boards/tiny_2.11.makefile
paparazzi3/trunk/sw/tools/gen_aircraft.ml
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-19 15:39:05 UTC (rev 5490)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-19 18:47:18 UTC (rev 5491)
@@ -161,12 +161,16 @@
</section>
<firmware name="fixedwing">
- <target name="sim" board="pc" />
+ <target name="sim" board="pc" >
+ <define name="TRAFFIC_INFO" />
+ </target>
<target name="ap" board="tiny_2.11">
<param name="FLASH_MODE" value="IAP" />
<define name="AGR_CLIMB" />
<define name="LOITER_TRIM" />
<define name="WIND_INFO" />
+ <define name="TRAFFIC_INFO" />
+ <define name="ALT_KALMAN" />
</target>
<subsystem name="radio_control" type="ppm"/>
@@ -190,18 +194,12 @@
</firmware>
-<!--
+
<firmware name="setup">
<target name="tunnel" board="tiny_2.11" />
<target name="setup_actuators" board="tiny_2.11" />
</firmware>
--->
- <makefile location="after">
-ap.CFLAGS += -DTRAFFIC_INFO -DALT_KALMAN
-sim.CFLAGS += -DTRAFFIC_INFO
-
- </makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/microjet5.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/microjet5.xml 2010-08-19 15:39:05 UTC
(rev 5490)
+++ paparazzi3/trunk/conf/airframes/microjet5.xml 2010-08-19 18:47:18 UTC
(rev 5491)
@@ -7,11 +7,11 @@
-->
<airframe name="Microjet 5 Tiny 2.11">
-
+<!--
<target name="fixedwing" board="tiny_2.11">
<subsystem name="radio_control" type="ppm"/>
</target>
-
+-->
<servos>
<servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
<servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
Modified: paparazzi3/trunk/conf/autopilot/fixedwing.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-08-19 15:39:05 UTC
(rev 5490)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-08-19 18:47:18 UTC
(rev 5491)
@@ -17,7 +17,5 @@
# Standard Fixed Wing Code
-
include $(CFG_FIXEDWING)/autopilot.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
Modified: paparazzi3/trunk/conf/autopilot/setup.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/setup.makefile 2010-08-19 15:39:05 UTC
(rev 5490)
+++ paparazzi3/trunk/conf/autopilot/setup.makefile 2010-08-19 18:47:18 UTC
(rev 5491)
@@ -1,23 +1,25 @@
#
-# fixed_wings.makefile
+# setup.makefile
#
#
-CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+CFG_SETUP=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/SETUP
-SRC_FIXEDWING=.
-SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
-SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
+SRC_SETUP=.
+SRC_SETUP_ARCH=$(SRC_SETUP)/$(ARCH)
+SRC_SETUP_TEST=$(SRC_SETUP)/
-FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
+SETUP_INC = -I$(SRC_SETUP) -I$(SRC_SETUP_ARCH)
-# Standard Fixed Wing Code
-include $(CFG_FIXEDWING)/autopilot.makefile
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+# a test program to tunnel between both uart
+tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED
+tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+
+
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-08-19 15:39:05 UTC (rev 5490)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/autopilot.makefile
2010-08-19 18:47:18 UTC (rev 5491)
@@ -22,13 +22,12 @@
#
#
-ap.ARCHDIR = $(ARCHI)
-# this is supposedly ignored by the stm32 makefile
-ap.ARCH = arm7tdmi
-ap.TARGET = ap
-ap.TARGETDIR = ap
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DLED -DWIND_INFO
+sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c
infrared.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c
$(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c
$(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c
$(SRC_ARCH)/led_hw.c
+
+
ap.CFLAGS += $(FIXEDWING_INC)
ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
ap.srcs = $(SRC_FIXEDWING)/main.c
Modified:
paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
2010-08-19 15:39:05 UTC (rev 5490)
+++ paparazzi3/trunk/conf/autopilot/subsystems/fixedwing/navigation.makefile
2010-08-19 18:47:18 UTC (rev 5491)
@@ -1,13 +1,11 @@
# Standard fixed wing navigation
-ap.CFLAGS += -DNAV
-ap.srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
-ap.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
-ap.srcs += traffic_info.c
+#add these to all targets
+$(TARGET).CFLAGS += -DNAV
+$(TARGET).srcs += $(SRC_FIXEDWING)/nav.c $(SRC_FIXEDWING)/fw_h_ctl.c
$(SRC_FIXEDWING)/fw_v_ctl.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/traffic_info.c
+$(TARGET).srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c
$(SRC_FIXEDWING)/nav_line.c
-sim.srcs += $(SRC_FIXEDWING)/nav_survey_rectangle.c $(SRC_FIXEDWING)/nav_line.c
-sim.srcs += traffic_info.c
-
Modified: paparazzi3/trunk/conf/boards/tiny_2.11.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/tiny_2.11.makefile 2010-08-19 15:39:05 UTC
(rev 5490)
+++ paparazzi3/trunk/conf/boards/tiny_2.11.makefile 2010-08-19 18:47:18 UTC
(rev 5491)
@@ -14,16 +14,11 @@
endif
-ap.ARCHDIR = $(ARCHI)
-ap.ARCH = arm7tdmi
-ap.TARGET = autopilot
-ap.TARGETDIR = autopilot
+$(TARGET).ARCHDIR = $(ARCHI)
+$(TARGET).ARCH = arm7tdmi
+$(TARGET).TARGET = $(TARGET)
+$(TARGET).TARGETDIR = $(TARGET)
-fbw.ARCHDIR = $(ARCHI)
-fbw.ARCH = arm7tdmi
-fbw.TARGET = autopilot
-fbw.TARGETDIR = autopilot
-
LPC21ISP_BAUD = 38400
LPC21ISP_XTAL = 12000
Modified: paparazzi3/trunk/sw/tools/gen_aircraft.ml
===================================================================
--- paparazzi3/trunk/sw/tools/gen_aircraft.ml 2010-08-19 15:39:05 UTC (rev
5490)
+++ paparazzi3/trunk/sw/tools/gen_aircraft.ml 2010-08-19 18:47:18 UTC (rev
5491)
@@ -150,9 +150,9 @@
end)
(Xml.children xml)
-(** Firnware Children **)
+(** Firmware Children **)
-let parse_firmware = fun makefile_ac tag firmware ->
+let parse_subsystems = fun makefile_ac tag firmware ->
match Xml.tag firmware with
"subsystem" ->
begin try
@@ -176,25 +176,32 @@
(Xml.attrib firmware "type");
fprintf makefile_ac ".makefile\n"
with _ -> () end;
+ | _ -> ()
+
+let parse_targets = fun makefile_ac tag target ->
+ match Xml.tag target with
| "target" ->
begin try
- fprintf makefile_ac "\n###########\n# -target: '%s' \n" (Xml.attrib
firmware "name");
+ fprintf makefile_ac "\n###########\n# -target: '%s' \n" (Xml.attrib
target "name");
+ fprintf makefile_ac "ifeq ($(TARGET), %s) \n" (Xml.attrib target
"name");
let print_if_subsystem = (fun c ->
if ExtXml.tag_is c "param" then begin
fprintf makefile_ac "%s = %s\n"
(String.uppercase(Xml.attrib c "name"))
(Xml.attrib c "value")
end) in
- List.iter print_if_subsystem (Xml.children firmware);
-(** let print_if_subsystem = (fun c ->
- if ExtXml.tag_is c "define" then begin
+ List.iter print_if_subsystem (Xml.children target);
+ fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib target "board");
+ fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
+ let print_if_subsystem = (fun d ->
+ if ExtXml.tag_is d "define" then begin
fprintf makefile_ac "%s.CFLAGS += -D%s\n"
- (String.uppercase(Xml.attrib tag "name"))
- (Xml.attrib c "value")
+ (Xml.attrib target "name")
+ (Xml.attrib d "name")
end) in
- List.iter print_if_subsystem (Xml.children firmware);
-**) fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib firmware "board");
- fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
+ List.iter print_if_subsystem (Xml.children target);
+ List.iter (parse_subsystems makefile_ac tag) (Xml.children tag );
+ fprintf makefile_ac "endif\n\n";
with _ -> () end;
| _ -> ()
@@ -207,7 +214,7 @@
if ExtXml.tag_is tag "firmware" then begin
begin try
fprintf makefile_ac "\n######################\n# makefile firmware
'%s' \n" (Xml.attrib tag "name");
- List.iter (parse_firmware makefile_ac tag) (Xml.children tag )
+ List.iter (parse_targets makefile_ac tag) (Xml.children tag )
with _ -> () end;
end)
(Xml.children xml)
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