-
Notifications
You must be signed in to change notification settings - Fork 1.1k
/
actuators_mkk.makefile
55 lines (51 loc) · 1.88 KB
/
actuators_mkk.makefile
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
#
# Mikrokopter Actuators
#
# enable the subsystem for your firmware:
# <firmware name="rotorcraft">
# ...
# <subsystem name="actuators" type="mkk">
# <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
# </firmware>
#
#
# required xml configuration:
# <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
# <define name="NB" value="4"/>
# <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
# </section>
#
# <section name="SUPERVISION" prefix="SUPERVISION_">
# <define name="MIN_MOTOR" value="2"/>
# <define name="MAX_MOTOR" value="210"/>
# <define name="TRIM_A" value="2"/>
# <define name="TRIM_E" value="-1"/>
# <define name="TRIM_R" value="3"/>
# <define name="NB_MOTOR" value="4"/>
# <define name="SCALE" value="256"/>
# <define name="ROLL_COEF" value="{ 0, 0, -256, 256}"/>
# <define name="PITCH_COEF" value="{ 256, -256, 0, 0}"/>
# <define name="YAW_COEF" value="{ -256, -256, 256, 256}"/>
# <define name="THRUST_COEF" value="{ 256, 256, 256, 256}"/>
# </section>
#
#
# set default i2c timing if not already configured
ifeq ($(MKK_I2C_SCL_TIME), )
MKK_I2C_SCL_TIME=150
endif
ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
ifeq ($(ARCH), lpc21)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10
else ifeq ($(ARCH), stm32)
ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
ap.CFLAGS += -DUSE_I2C1
endif
# Simulator
sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
sim.srcs += mcu_periph/i2c.c
sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c