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[paparazzi-commits] [5481] <firmware>
|
From: |
Christophe De Wagter |
|
Subject: |
[paparazzi-commits] [5481] <firmware> |
|
Date: |
Thu, 19 Aug 2010 14:26:20 +0000 |
Revision: 5481
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5481
Author: dewagter
Date: 2010-08-19 14:26:20 +0000 (Thu, 19 Aug 2010)
Log Message:
-----------
<firmware>
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
paparazzi3/trunk/conf/airframes/airframe.dtd
paparazzi3/trunk/conf/autopilot/fixedwing.makefile
paparazzi3/trunk/sw/tools/gen_aircraft.ml
Added Paths:
-----------
paparazzi3/trunk/conf/autopilot/setup.makefile
paparazzi3/trunk/conf/boards/pc.makefile
Modified: paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-19 14:17:24 UTC (rev 5480)
+++ paparazzi3/trunk/conf/airframes/AirborneCodeReorg/TinyFw.xml
2010-08-19 14:26:20 UTC (rev 5481)
@@ -160,36 +160,50 @@
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
- <target name="fixedwing" board="tiny_2.11">
- <param name="FLASH_MODE" value="IAP"/>
+ <firmware name="fixedwing">
+<!--
+ <target name="sim" board="pc" />
+-->
+ <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" />
+ </target>
+
<subsystem name="autopilot"/>
- <subsystem name="radio_control" type="ppm"/>
+ <subsystem name="radio_control" type="ppm"/>
+
<!-- Communication -->
- <subsystem name="telemetry" type="transparent">
- <param name="MODEM_BAUD" value="9600"/>
+ <subsystem name="telemetry" type="transparent">
+ <param name="MODEM_BAUD" value="9600"/>
</subsystem>
+
<!-- Actuators -->
- <subsystem name="actuators" type="4017"/>
+ <subsystem name="actuators" type="4017"/>
+
<!-- Sensors -->
<subsystem name="gyro"/>
- <subsystem name="attitude" type="infrared"/>
- <subsystem name="gps" type="ublox_lea4p"/>
- <subsystem name="navigation">
- <define name="AGR_CLIMB" value="1" />
- <define name="LOITER_TRIM" value="1" />
- <define name="WIND_INFO" value="1" />
- </subsystem>
- <subsystem name="testing"/>
- </target>
+ <subsystem name="attitude" type="infrared"/>
+ <subsystem name="gps" type="ublox_lea4p"/>
+ <subsystem name="navigation"/>
+ <modules>
+ </modules>
+
+ </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
-
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\"
-
</makefile>
</airframe>
Modified: paparazzi3/trunk/conf/airframes/airframe.dtd
===================================================================
--- paparazzi3/trunk/conf/airframes/airframe.dtd 2010-08-19 14:17:24 UTC
(rev 5480)
+++ paparazzi3/trunk/conf/airframes/airframe.dtd 2010-08-19 14:26:20 UTC
(rev 5481)
@@ -1,6 +1,6 @@
<!-- Paparazzi airframe DTD -->
-<!ELEMENT airframe
(servos|commands|csc_boards|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|makefile|modules|target)*>
+<!ELEMENT airframe
(servos|commands|csc_boards|rc_commands|auto_rc_commands|ap_only_commands|command_laws|section|makefile|modules|firmware)*>
<!ELEMENT servos (servo)*>
<!ELEMENT commands (axis)*>
<!ELEMENT csc_boards (board)*>
@@ -23,9 +23,13 @@
<!ELEMENT modules (load)*>
<!ELEMENT load EMPTY>
<!ELEMENT param EMPTY>
-<!ELEMENT target (subsystem|param)*>
-<!ELEMENT subsystem (define|param)*>
+<!ELEMENT firmware (target|subsystem|modules)*>
+<!ELEMENT target (param|define)*>
+<!ELEMENT subsystem (param)*>
+<!ATTLIST firmware
+name CDATA #REQUIRED>
+
<!ATTLIST target
name CDATA #REQUIRED
board CDATA #REQUIRED>
@@ -86,7 +90,7 @@
<!ATTLIST define
name CDATA #REQUIRED
-value CDATA #REQUIRED
+value CDATA #IMPLIED
unit CDATA #IMPLIED
integer CDATA #IMPLIED>
Modified: paparazzi3/trunk/conf/autopilot/fixedwing.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-08-19 14:17:24 UTC
(rev 5480)
+++ paparazzi3/trunk/conf/autopilot/fixedwing.makefile 2010-08-19 14:26:20 UTC
(rev 5481)
@@ -14,3 +14,10 @@
FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
+
+
+# Standard Fixed Wing Code
+
+include $(CFG_FIXEDWING)/autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+
Added: paparazzi3/trunk/conf/autopilot/setup.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/setup.makefile
(rev 0)
+++ paparazzi3/trunk/conf/autopilot/setup.makefile 2010-08-19 14:26:20 UTC
(rev 5481)
@@ -0,0 +1,23 @@
+#
+# fixed_wings.makefile
+#
+#
+
+
+CFG_FIXEDWING=$(PAPARAZZI_SRC)/conf/autopilot/subsystems/fixedwing
+
+
+SRC_FIXEDWING=.
+SRC_FIXEDWING_ARCH=$(SRC_FIXEDWING)/$(ARCH)
+SRC_FIXEDWING_TEST=$(SRC_FIXEDWING)/
+
+FIXEDWING_INC = -I$(SRC_FIXEDWING) -I$(SRC_FIXEDWING_ARCH)
+
+
+
+
+# Standard Fixed Wing Code
+
+include $(CFG_FIXEDWING)/autopilot.makefile
+include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+
Added: paparazzi3/trunk/conf/boards/pc.makefile
===================================================================
--- paparazzi3/trunk/conf/boards/pc.makefile (rev 0)
+++ paparazzi3/trunk/conf/boards/pc.makefile 2010-08-19 14:26:20 UTC (rev
5481)
@@ -0,0 +1,18 @@
+#
+# pc.makefile
+#
+# Linux PC
+#
+
+ARCH=sim
+ARCHI=sim
+BOARD_CFG = \"tiny.h\"
+
+
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = autopilot
+sim.TARGETDIR = autopilot
+
+
+
Modified: paparazzi3/trunk/sw/tools/gen_aircraft.ml
===================================================================
--- paparazzi3/trunk/sw/tools/gen_aircraft.ml 2010-08-19 14:17:24 UTC (rev
5480)
+++ paparazzi3/trunk/sw/tools/gen_aircraft.ml 2010-08-19 14:26:20 UTC (rev
5481)
@@ -150,47 +150,57 @@
end)
(Xml.children xml)
+(** Firnware Children **)
+
+let parse_firmware = fun makefile_ac tag firmware ->
+ match Xml.tag firmware with
+ "subsystem" ->
+ begin try
+ fprintf makefile_ac "# -subsystem: '%s' \n" (Xml.attrib firmware
"name");
+ let has_subtype = ref false in
+ begin try
+ has_subtype := not (String.compare (Xml.attrib firmware "type") ""
= 0)
+ with _ -> () end;
+ let print_if_subsystem_define = (fun d ->
+ if ExtXml.tag_is d "param" then begin
+ fprintf makefile_ac "%s = %s\n"
+ (String.uppercase(Xml.attrib d "name"))
+ (Xml.attrib d "value");
+ end) in
+ List.iter print_if_subsystem_define (Xml.children firmware);
+ fprintf makefile_ac "include $(CFG_%s)/%s"
+ (String.uppercase(Xml.attrib tag "name"))
+ (Xml.attrib firmware "name");
+ if !has_subtype then
+ fprintf makefile_ac "_%s"
+ (Xml.attrib firmware "type");
+ fprintf makefile_ac ".makefile\n"
+ with _ -> () end;
+ | "target" ->
+ begin try
+ fprintf makefile_ac "\n###########\n# -target: '%s' \n" (Xml.attrib
firmware "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);
+ fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib firmware "board")
+ with _ -> () end;
+ | _ -> ()
+
+
(**
- Search and dump the target section
+ Search and dump the firmware section
**)
let dump_target_section = fun xml makefile_ac ->
List.iter (fun tag ->
- if ExtXml.tag_is tag "target" then begin
+ if ExtXml.tag_is tag "firmware" then begin
begin try
- fprintf makefile_ac "\n# makefile target '%s' board '%s'\n"
(Xml.attrib tag "name") (Xml.attrib tag "board");
- 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 tag);
- fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/boards/%s.makefile\n" (Xml.attrib tag "board");
+ fprintf makefile_ac "\n######################\n# makefile firmware
'%s' \n" (Xml.attrib tag "name");
fprintf makefile_ac "include
$(PAPARAZZI_SRC)/conf/autopilot/%s.makefile\n" (Xml.attrib tag "name");
- fprintf makefile_ac "\n# Subsystems:'\n";
- let print_if_subsystem = (fun c ->
- if ExtXml.tag_is c "subsystem" then begin
- let has_subtype = ref false in
- begin try
- has_subtype := not (String.compare (Xml.attrib c "type") "" = 0)
- with _ -> () end;
- let print_if_subsystem_define = (fun d ->
- if ExtXml.tag_is d "param" then begin
- fprintf makefile_ac "%s = %s\n"
- (String.uppercase(Xml.attrib d "name"))
- (Xml.attrib d "value");
- end) in
- List.iter print_if_subsystem_define (Xml.children c);
- fprintf makefile_ac "include $(CFG_%s)/%s"
- (String.uppercase(Xml.attrib tag "name"))
- (Xml.attrib c "name");
- if !has_subtype then
- fprintf makefile_ac "_%s"
- (Xml.attrib c "type");
-
- fprintf makefile_ac ".makefile\n"
- end) in
- List.iter print_if_subsystem (Xml.children tag)
+ List.iter (parse_firmware makefile_ac tag) (Xml.children tag )
with _ -> () end;
end)
(Xml.children xml)
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