[paparazzi-commits] [6118] update rotorcraft subsystem makefile for booz2 imu v1.2

[Allen Ibara]

Revision: 6118
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6118
Author:   aibara
Date:     2010-10-08 22:29:39 +0000 (Fri, 08 Oct 2010)
Log Message:
-----------
update rotorcraft subsystem makefile for booz2 imu v1.2

Modified Paths:
--------------
    paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile

Modified: 
paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
===================================================================
--- paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile  
2010-10-08 22:18:44 UTC (rev 6117)
+++ paparazzi3/trunk/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile  
2010-10-08 22:29:39 UTC (rev 6118)
@@ -12,7 +12,7 @@
 #    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
 #    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
 #    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
-# 
+#
 #    <define name="ACCEL_X_NEUTRAL" value="32081"/>
 #    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
 #    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
@@ -22,13 +22,13 @@
 #    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
 #
 #    <define name="MAG_X_NEUTRAL" value="2358"/>
-#    <define name="MAG_Y_NEUTRAL" value="2362"/> 
+#    <define name="MAG_Y_NEUTRAL" value="2362"/>
 #    <define name="MAG_Z_NEUTRAL" value="2119"/>
 #
 #    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
 #    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
 #    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
-#    <define name="MAG_45_HACK" value="1"/> 
+#    <define name="MAG_45_HACK" value="1"/>
 #
 #  </section>
 #
@@ -39,30 +39,34 @@
 
 
 
-# imu Booz2 v1.2
-imu_CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
+# imu Booz2 v1.1
+
+# add imu arch to include directories
+imu_CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
+imu_CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
 imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843
 imu_CFLAGS += -DIMU_B2_VERSION_1_2
-imu_srcs += $(SRC_BOOZ)/booz_imu.c                   \
-           $(SRC_BOOZ)/imu/booz_imu_b2.c            \
-           $(SRC_BOOZ_ARCH)/imu/booz_imu_b2_arch.c
+imu_srcs += $(SRC_FIRMWARE)/imu.c                   \
+           $(SRC_FIRMWARE)/imu/imu_b2.c            \
+           $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
 imu_srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
-           $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
+            $(SRC_BOOZ_ARCH)/peripherals/booz_max1168_arch.c
 
-imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c 
-          # $(SRC_BOOZ_ARCH)/peripherals/booz_ms2001_arch.c
+imu_srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+imu_srcs += $(SRC_BOOZ)/peripherals/booz_hmc5843.c \
+            $(SRC_BOOZ_ARCH)/peripherals/hmc5843_arch.c
 
-# FIXME : that would lpc21
-#ifeq ($(ap.ARCH), arm7tmdi)
-ifeq ($(ARCHI), arm7)
+ifeq ($(ARCH), lpc21)
 imu_CFLAGS += -DSSP_VIC_SLOT=9
 imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
 imu_CFLAGS += -DMS2001_DRDY_VIC_SLOT=11
-else ifeq ($(ARCHI), stm32) 
+else ifeq ($(ARCH), stm32)
 imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
 imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
 imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
 endif
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other 
targets
@@ -74,17 +78,19 @@
 # Simulator
 #
 
-sim.CFLAGS += -DBOOZ_IMU_TYPE_H=\"imu/booz_imu_b2.h\"
-sim.CFLAGS += -DIMU_B2_VERSION_1_2
+# add imu arch to include directories
+sim.CFLAGS += -I$(SRC_FIRMWARE)/imu/arch/$(ARCH)
+
+sim.CFLAGS += -DIMU_TYPE_H=\"imu/imu_b2.h\"
+sim.CFLAGS += -DIMU_B2_VERSION_1_1
 sim.CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_AMI601
-sim.srcs += $(SRC_BOOZ)/booz_imu.c                 \
-            $(SRC_BOOZ)/imu/booz_imu_b2.c          \
-            $(SRC_BOOZ_SIM)/imu/booz_imu_b2_arch.c
+sim.srcs += $(SRC_FIRMWARE)/imu.c                   \
+            $(SRC_FIRMWARE)/imu/imu_b2.c            \
+            $(SRC_FIRMWARE)/imu/arch/$(ARCH)/imu_b2_arch.c
 
-
 sim.srcs += $(SRC_BOOZ)/peripherals/booz_max1168.c \
             $(SRC_BOOZ_SIM)/peripherals/booz_max1168_arch.c
 
 sim.CFLAGS += -DUSE_AMI601
-sim.srcs += $(SRC_BOOZ)/peripherals/booz_ami601.c
+sim.srcs   += $(SRC_BOOZ)/peripherals/booz_ami601.c
 sim.CFLAGS += -DUSE_I2C1