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rotorcraft.makefile
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rotorcraft.makefile
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# Hey Emacs, this is a -*- makefile -*-
#
# Copyright (C) 2010 The Paparazzi Team
#
# This file is part of Paparazzi.
#
# Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
#
CFG_SHARED=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/shared
CFG_ROTORCRAFT=$(PAPARAZZI_SRC)/conf/firmwares/subsystems/rotorcraft
SRC_BOARD=boards/$(BOARD)
SRC_FIRMWARE=firmwares/rotorcraft
SRC_SUBSYSTEMS=subsystems
SRC_MODULES=modules
SRC_ARCH=arch/$(ARCH)
ROTORCRAFT_INC = -I$(SRC_FIRMWARE) -I$(SRC_BOARD)
ap.ARCHDIR = $(ARCH)
ap.CFLAGS += $(ROTORCRAFT_INC)
ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
ap.srcs = $(SRC_FIRMWARE)/main.c
ap.srcs += mcu.c
ap.srcs += $(SRC_ARCH)/mcu_arch.c
#
# Math functions
#
ap.srcs += math/pprz_geodetic_int.c math/pprz_geodetic_float.c math/pprz_geodetic_double.c math/pprz_trig_int.c math/pprz_orientation_conversion.c
#
# Interrupts
#
ifeq ($(ARCH), lpc21)
ap.srcs += $(SRC_ARCH)/armVIC.c
endif
ifeq ($(ARCH), stm32)
ap.srcs += $(SRC_ARCH)/mcu_periph/gpio_arch.c
endif
#
# LEDs
#
ap.CFLAGS += -DUSE_LED
ifeq ($(ARCH), stm32)
ap.srcs += $(SRC_ARCH)/led_hw.c
endif
ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
ap.srcs += $(SRC_BOARD)/gpio_ardrone.c
endif
# frequency of main periodic
PERIODIC_FREQUENCY ?= 512
ap.CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
#
# Systime
#
ap.CFLAGS += -DUSE_SYS_TIME
ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
ifneq ($(SYS_TIME_LED),none)
ap.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
endif
#
# Telemetry/Datalink
#
# include subsystems/rotorcraft/telemetry_transparent.makefile
# or
# include subsystems/rotorcraft/telemetry_xbee_api.makefile
#
ap.srcs += subsystems/settings.c
ap.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
ap.srcs += mcu_periph/uart.c
ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
ifeq ($(ARCH), omap)
ap.srcs += $(SRC_ARCH)/serial_port.c
endif
# I2C is needed for speed controllers and barometers on lisa
ifeq ($(TARGET), ap)
$(TARGET).srcs += mcu_periph/i2c.c
$(TARGET).srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
endif
ap.srcs += subsystems/commands.c
ap.srcs += subsystems/actuators.c
#
# Radio control choice
#
# include subsystems/rotorcraft/radio_control_ppm.makefile
# or
# include subsystems/rotorcraft/radio_control_spektrum.makefile
#
#
# Actuator choice
#
# include subsystems/rotorcraft/actuators_mkk.makefile
# or
# include subsystems/rotorcraft/actuators_asctec.makefile
# or
# include subsystems/rotorcraft/actuators_asctec_v2.makefile
#
#
# IMU choice
#
# include subsystems/rotorcraft/imu_b2v1.makefile
# or
# include subsystems/rotorcraft/imu_b2v1_1.makefile
# or
# include subsystems/rotorcraft/imu_crista.makefile
#
#
# AIR DATA and BARO (if needed)
#
ap.srcs += subsystems/air_data.c
#
# Analog Backend
#
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DUSE_ADC
ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ap.srcs += subsystems/electrical.c
# baro has variable offset amplifier on booz board
ifeq ($(BOARD), booz)
ap.CFLAGS += -DUSE_DAC
ap.srcs += $(SRC_ARCH)/mcu_periph/dac_arch.c
endif
else ifeq ($(ARCH), stm32)
ap.CFLAGS += -DUSE_ADC
ap.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
ap.srcs += subsystems/electrical.c
else ifeq ($(BOARD)$(BOARD_TYPE), ardronesdk)
ap.srcs += $(SRC_BOARD)/electrical_dummy.c
else ifeq ($(BOARD)$(BOARD_TYPE), ardroneraw)
ap.srcs += $(SRC_BOARD)/electrical_raw.c
endif
#
# GPS choice
#
# include subsystems/rotorcraft/gps_ubx.makefile
# or
# include subsystems/rotorcraft/gps_skytraq.makefile
# or
# nothing
#
#
# AHRS choice
#
# include subsystems/rotorcraft/ahrs_cmpl.makefile
# or
# include subsystems/rotorcraft/ahrs_lkf.makefile
#
ap.srcs += $(SRC_FIRMWARE)/autopilot.c
ap.srcs += state.c
ap.srcs += $(SRC_FIRMWARE)/stabilization.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_none.c
ap.srcs += $(SRC_FIRMWARE)/stabilization/stabilization_rate.c
ap.CFLAGS += -DUSE_NAVIGATION
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_h_ref.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_ref.c
ap.srcs += $(SRC_FIRMWARE)/guidance/guidance_v_adapt.c
#
# INS choice
#
# include subsystems/rotorcraft/ins.makefile
# or
# include subsystems/rotorcraft/ins_extended.makefile
#
# extra:
# include subsystems/rotorcraft/ins_hff.makefile
#
ap.srcs += $(SRC_FIRMWARE)/navigation.c
ap.srcs += subsystems/navigation/common_flight_plan.c