mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
Remove unused makefiles to prevent confusion of downstream adopters
This commit is contained in:
Lorenz Meier
@@ -1,86 +0,0 @@
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PX4 Build System
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================
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The files in this directory implement the PX4 runtime firmware build system
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and configuration for the standard PX4 boards and software, in conjunction
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with Makefile in the parent directory.
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../Makefile
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Top-level makefile for the PX4 build system.
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This makefile supports building NuttX archives for the NuttX based
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configurations, as well as supervising the building of all
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of the defined PX4 firmware configurations.
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Try 'make help' in the parent directory for documentation.
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firmware.mk
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Manages the build for one specific firmware configuration.
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See the comments at the top of this file for detailed documentation.
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Builds modules, builtin command lists and the ROMFS (if configured).
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This is the makefile directly used by external build systems; it can
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be configured to compile modules both inside and outside the PX4
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source tree. When used in this mode, at least BOARD, MODULES and
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CONFIG_FILE must be set.
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firmware_nuttx.mk
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Called by firmware.mk to build NuttX based firmware.
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firmware_posix.mk
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Called by firmware.mk to build POSIX (non-ROS) based firmware.
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module.mk
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Called by firmware.mk to build individual modules.
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See the comments at the top of this file for detailed documentation.
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Not normally used other than by firmware.mk.
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nuttx.mk
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Called by ../Makefile to build or download the NuttX archives if
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PX4_TARGET_OS is set to "nuttx".
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posix.mk
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Called by ../Makefile to set POSIX specific parameters if
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PX4_TARGET_OS is set to "posix".
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upload.mk
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Called by ../Makefile to upload files to a target board. Can be used
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by external build systems as well. (NuttX targets only)
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setup.mk
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Provides common path and tool definitions. Implements host
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system-specific compatibility hacks. Sets PX4_TARGET_OS.
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board_<boardname>.mk
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Board-specific configuration for <boardname>. Typically sets
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CONFIG_ARCH and then includes the toolchain definition for the board.
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config_<boardname>_<configname>.mk
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Parameters for a specific configuration on a specific board.
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The board name is derived from the filename. Sets MODULES to select
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source modules to be included in the configuration, may also set
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ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
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commands (e.g. from NuttX)
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toolchain_<toolchainname>.mk
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Provides macros used to compile and link source files.
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Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
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EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
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additional flags to the C compiler, C++ compiler, assembler and linker
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respectively.
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Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
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macros that are used elsewhere in the build system.
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@@ -1,381 +0,0 @@
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Generic Makefile for PX4 firmware images.
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#
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# Requires:
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#
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# BOARD
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# Must be set to a board name known to the PX4 distribution (as
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# we need a corresponding NuttX export archive to link with).
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#
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# Optional:
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#
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# MODULES
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# Contains a list of module paths or path fragments used
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# to find modules. The names listed here are searched in
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# the following directories:
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# <absolute path>
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# $(MODULE_SEARCH_DIRS)
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# WORK_DIR
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# MODULE_SRC
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# PX4_MODULE_SRC
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#
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# Application directories are expected to contain a module.mk
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# file which provides build configuration for the module. See
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# makefiles/module.mk for more details.
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#
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# BUILTIN_COMMANDS
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# Contains a list of built-in commands not explicitly provided
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# by modules / libraries. Each entry in this list is formatted
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# as <command>.<priority>.<stacksize>.<entrypoint>
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#
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# PX4_BASE:
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# Points to a PX4 distribution. Normally determined based on the
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# path to this file.
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#
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# CONFIG:
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# Used when searching for the configuration file, and available
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# to module Makefiles to select optional features.
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# If not set, CONFIG_FILE must be set and CONFIG will be derived
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# automatically from it.
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#
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# CONFIG_FILE:
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# If set, overrides the configuration file search logic. Sets
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# CONFIG to the name of the configuration file, strips any
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# leading config_ prefix and any suffix. e.g. config_board_foo.mk
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# results in CONFIG being set to 'board_foo'.
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#
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# WORK_DIR:
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# Sets the directory in which the firmware will be built. Defaults
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# to the directory 'build' under the directory containing the
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# parent Makefile.
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#
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#
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# MODULE_SEARCH_DIRS:
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# Extra directories to search first for MODULES before looking in the
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# usual places.
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#
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################################################################################
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# Paths and configuration
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################################################################################
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#
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# Work out where this file is, so we can find other makefiles in the
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# same directory.
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#
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# If PX4_BASE wasn't set previously, work out what it should be
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# and set it here now.
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#
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MK_DIR ?= $(dir $(firstword $(MAKEFILE_LIST)))
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ifeq ($(PX4_BASE),)
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export PX4_BASE := $(abspath $(MK_DIR)/..)
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endif
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$(info % PX4_BASE = $(PX4_BASE))
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ifneq ($(words $(PX4_BASE)),1)
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$(error Cannot build when the PX4_BASE path contains one or more space characters.)
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endif
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#
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# Set a default target so that included makefiles or errors here don't
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# cause confusion.
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#
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# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
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# of the maintenance targets and set CONFIG based on it.
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#
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all: firmware
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#
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# Get path and tool config
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#
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include $(MK_DIR)/setup.mk
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#
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# Locate the configuration file
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#
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ifneq ($(CONFIG_FILE),)
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CONFIG := $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
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else
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CONFIG_FILE := $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_$(CONFIG).mk)
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endif
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ifeq ($(CONFIG),)
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$(error Missing configuration name or file (specify with CONFIG=<config>))
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endif
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export CONFIG
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include $(CONFIG_FILE)
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$(info % CONFIG = $(CONFIG))
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#
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# Sanity-check the BOARD variable and then get the board config.
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# If BOARD was not set by the configuration, extract it automatically.
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#
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# The board config in turn will fetch the toolchain configuration.
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#
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ifeq ($(BOARD),)
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BOARD := $(firstword $(subst _, ,$(CONFIG)))
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endif
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BOARD_FILE := $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk)
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ifeq ($(BOARD_FILE),)
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$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
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endif
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export BOARD
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export BOARD_FILE
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include $(BOARD_FILE)
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$(info % BOARD = $(BOARD))
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#
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# If WORK_DIR is not set, create a 'build' directory next to the
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# parent Makefile.
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#
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PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
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ifeq ($(WORK_DIR),)
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export WORK_DIR := $(dir $(PARENT_MAKEFILE))build/
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endif
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$(info % WORK_DIR = $(WORK_DIR))
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#
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# Things that, if they change, might affect everything
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#
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GLOBAL_DEPS += $(MAKEFILE_LIST)
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#
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# Extra things we should clean
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#
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EXTRA_CLEANS =
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#
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# Append the per-board driver directory to the header search path.
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#
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INCLUDE_DIRS += $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
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################################################################################
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# External library includes
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################################################################################
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INCLUDE_DIRS += $(PX4_BASE)src/lib/eigen/
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################################################################################
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# OS specific libraries and paths
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################################################################################
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include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/$(PX4_TARGET_OS).mk
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################################################################################
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# Modules
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################################################################################
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# where to look for modules
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MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
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# sort and unique the modules list
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MODULES := $(sort $(MODULES))
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# locate the first instance of a module by full path or by looking on the
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# module search path
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define MODULE_SEARCH
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$(firstword $(abspath $(wildcard $(1)/module.mk)) \
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$(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \
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MISSING_$1)
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endef
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# make a list of module makefiles and check that we found them all
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MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
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MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
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ifneq ($(MISSING_MODULES),)
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$(error Cant find module(s): $(MISSING_MODULES))
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endif
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# Make a list of the object files we expect to build from modules
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# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
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# preserved as it is used below to get the absolute path for the module.mk file correct.
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#
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MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o)
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# rules to build module objects
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.PHONY: $(MODULE_OBJS)
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$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
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$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
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$(MODULE_OBJS): workdir = $(@D)
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$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
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$(Q) $(MKDIR) -p $(workdir)
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$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
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--no-print-directory -C $(workdir) \
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MODULE_WORK_DIR=$(workdir) \
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MODULE_OBJ=$@ \
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MODULE_MK=$(mkfile) \
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MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
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module
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# make a list of phony clean targets for modules
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MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean)
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# rules to clean modules
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.PHONY: $(MODULE_CLEANS)
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$(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
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$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath))
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$(MODULE_CLEANS):
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@$(ECHO) %% cleaning using $(mkfile)
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$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
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MODULE_WORK_DIR=$(dir $@) \
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MODULE_MK=$(mkfile) \
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clean
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################################################################################
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# Libraries
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################################################################################
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# where to look for libraries
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LIBRARY_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
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# sort and unique the library list
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LIBRARIES := $(sort $(LIBRARIES))
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# locate the first instance of a library by full path or by looking on the
|
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# library search path
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define LIBRARY_SEARCH
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$(firstword $(abspath $(wildcard $(1)/library.mk)) \
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$(abspath $(foreach search_dir,$(LIBRARY_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/library.mk))) \
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MISSING_$1)
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endef
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# make a list of library makefiles and check that we found them all
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LIBRARY_MKFILES := $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
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MISSING_LIBRARIES := $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
|
||||
ifneq ($(MISSING_LIBRARIES),)
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||||
$(error Cant find library(s): $(MISSING_LIBRARIES))
|
||||
endif
|
||||
|
||||
# Make a list of the archive files we expect to build from libraries
|
||||
# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
|
||||
# preserved as it is used below to get the absolute path for the library.mk file correct.
|
||||
#
|
||||
LIBRARY_LIBS := $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)library.a)
|
||||
|
||||
# rules to build module objects
|
||||
.PHONY: $(LIBRARY_LIBS)
|
||||
$(LIBRARY_LIBS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
|
||||
$(LIBRARY_LIBS): mkfile = $(patsubst %library.a,%library.mk,$(relpath))
|
||||
$(LIBRARY_LIBS): workdir = $(@D)
|
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$(LIBRARY_LIBS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
|
||||
$(Q) $(MKDIR) -p $(workdir)
|
||||
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
|
||||
--no-print-directory -C $(workdir) \
|
||||
LIBRARY_WORK_DIR=$(workdir) \
|
||||
LIBRARY_LIB=$@ \
|
||||
LIBRARY_MK=$(mkfile) \
|
||||
LIBRARY_NAME=$(lastword $(subst /, ,$(workdir))) \
|
||||
library
|
||||
|
||||
# make a list of phony clean targets for modules
|
||||
LIBRARY_CLEANS := $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)/clean)
|
||||
|
||||
# rules to clean modules
|
||||
.PHONY: $(LIBRARY_CLEANS)
|
||||
$(LIBRARY_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
|
||||
$(LIBRARY_CLEANS): mkfile = $(patsubst %clean,%library.mk,$(relpath))
|
||||
$(LIBRARY_CLEANS):
|
||||
@$(ECHO) %% cleaning using $(mkfile)
|
||||
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
|
||||
LIBRARY_WORK_DIR=$(dir $@) \
|
||||
LIBRARY_MK=$(mkfile) \
|
||||
clean
|
||||
|
||||
################################################################################
|
||||
# ROMFS generation
|
||||
################################################################################
|
||||
ifeq ($(PX4_TARGET_OS),nuttx)
|
||||
include $(MK_DIR)/nuttx/nuttx_romfs.mk
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Default SRCS generation
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# If there are no SRCS, the build will fail; in that case, generate an empty
|
||||
# source file.
|
||||
#
|
||||
ifeq ($(SRCS),)
|
||||
EMPTY_SRC = $(WORK_DIR)empty.c
|
||||
$(EMPTY_SRC):
|
||||
$(Q) $(ECHO) '/* this is an empty file */' > $@
|
||||
|
||||
SRCS += $(EMPTY_SRC)
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Build rules
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# Object files we will generate from sources
|
||||
#
|
||||
OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o)
|
||||
|
||||
#
|
||||
# SRCS -> OBJS rules
|
||||
#
|
||||
|
||||
$(OBJS): $(GLOBAL_DEPS)
|
||||
|
||||
$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
|
||||
$(call COMPILE,$<,$@)
|
||||
|
||||
$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
|
||||
$(call COMPILEXX,$<,$@)
|
||||
|
||||
$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
|
||||
$(call ASSEMBLE,$<,$@)
|
||||
|
||||
# Include the OS specific build rules
|
||||
# The rules must define the "firmware" make target
|
||||
#
|
||||
|
||||
ifeq ($(PX4_TARGET_OS),nuttx)
|
||||
include $(MK_DIR)/nuttx/nuttx_px4.mk
|
||||
endif
|
||||
ifeq ($(PX4_TARGET_OS),posix)
|
||||
include $(MK_DIR)/posix/posix_elf.mk
|
||||
endif
|
||||
ifeq ($(PX4_TARGET_OS),posix-arm)
|
||||
include $(MK_DIR)/posix/posix_elf.mk
|
||||
endif
|
||||
ifeq ($(PX4_TARGET_OS),qurt)
|
||||
include $(MK_DIR)/qurt/qurt_elf.mk
|
||||
endif
|
||||
|
||||
#
|
||||
# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
|
||||
#
|
||||
-include $(DEP_INCLUDES)
|
||||
@@ -1,169 +0,0 @@
|
||||
#
|
||||
# Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Framework makefile for PX4 libraries
|
||||
#
|
||||
# This makefile is invoked by firmware.mk to build each of the linraries
|
||||
# that will subsequently be linked into the firmware image.
|
||||
#
|
||||
# Applications are built as standard ar archives. Unlike modules,
|
||||
# all public symbols in library objects are visible across the entire
|
||||
# firmware stack.
|
||||
#
|
||||
# In general, modules should be preferred to libraries when possible.
|
||||
# Libraries may also be pre-built.
|
||||
#
|
||||
# IMPORTANT NOTE:
|
||||
#
|
||||
# This makefile assumes it is being invoked in the library's output directory.
|
||||
#
|
||||
|
||||
#
|
||||
# Variables that can be set by the library's library.mk:
|
||||
#
|
||||
#
|
||||
# SRCS (optional)
|
||||
#
|
||||
# Lists the .c, cpp and .S files that should be compiled/assembled to
|
||||
# produce the library.
|
||||
#
|
||||
# PREBUILT_LIB (optional)
|
||||
#
|
||||
# Names the prebuilt library in the source directory that should be
|
||||
# linked into the firmware.
|
||||
#
|
||||
# INCLUDE_DIRS (optional, must be appended, ignored if SRCS not set)
|
||||
#
|
||||
# The list of directories searched for include files. If non-standard
|
||||
# includes (e.g. those from another module) are required, paths to search
|
||||
# can be added here.
|
||||
#
|
||||
#
|
||||
|
||||
#
|
||||
# Variables visible to the library's library.mk:
|
||||
#
|
||||
# CONFIG
|
||||
# BOARD
|
||||
# LIBRARY_WORK_DIR
|
||||
# LIBRARY_LIB
|
||||
# LIBRARY_MK
|
||||
# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
|
||||
# Anything exported from config_$(CONFIG).mk
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# No user-serviceable parts below.
|
||||
################################################################################
|
||||
|
||||
ifeq ($(LIBRARY_MK),)
|
||||
$(error No library makefile specified)
|
||||
endif
|
||||
$(info %% LIBRARY_MK = $(LIBRARY_MK))
|
||||
|
||||
#
|
||||
# Get the board/toolchain config
|
||||
#
|
||||
include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk
|
||||
|
||||
#
|
||||
# Get the library's config
|
||||
#
|
||||
include $(LIBRARY_MK)
|
||||
LIBRARY_SRC := $(dir $(LIBRARY_MK))
|
||||
$(info % LIBRARY_NAME = $(LIBRARY_NAME))
|
||||
$(info % LIBRARY_SRC = $(LIBRARY_SRC))
|
||||
$(info % LIBRARY_LIB = $(LIBRARY_LIB))
|
||||
$(info % LIBRARY_WORK_DIR = $(LIBRARY_WORK_DIR))
|
||||
|
||||
#
|
||||
# Things that, if they change, might affect everything
|
||||
#
|
||||
GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||
|
||||
################################################################################
|
||||
# Build rules
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# What we're going to build
|
||||
#
|
||||
library: $(LIBRARY_LIB)
|
||||
|
||||
ifneq ($(PREBUILT_LIB),)
|
||||
|
||||
VPATH = $(LIBRARY_SRC)
|
||||
$(LIBRARY_LIB): $(PREBUILT_LIB) $(GLOBAL_DEPS)
|
||||
@$(ECHO) "PREBUILT: $(PREBUILT_LIB)"
|
||||
$(Q) $(COPY) $< $@
|
||||
|
||||
else
|
||||
|
||||
##
|
||||
## Object files we will generate from sources
|
||||
##
|
||||
|
||||
OBJS = $(addsuffix .o,$(SRCS))
|
||||
|
||||
#
|
||||
# SRCS -> OBJS rules
|
||||
#
|
||||
|
||||
$(OBJS): $(GLOBAL_DEPS)
|
||||
|
||||
vpath %.c $(LIBRARY_SRC)
|
||||
$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
|
||||
$(call COMPILE,$<,$@)
|
||||
|
||||
vpath %.cpp $(LIBRARY_SRC)
|
||||
$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
|
||||
$(call COMPILEXX,$<,$@)
|
||||
|
||||
vpath %.S $(LIBRARY_SRC)
|
||||
$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
|
||||
$(call ASSEMBLE,$<,$@)
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
|
||||
$(LIBRARY_LIB): $(OBJS) $(GLOBAL_DEPS)
|
||||
$(call ARCHIVE,$@,$(OBJS))
|
||||
|
||||
endif
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
clean:
|
||||
$(Q) $(REMOVE) $(LIBRARY_LIB) $(OBJS)
|
||||
@@ -1,234 +0,0 @@
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Framework makefile for PX4 modules
|
||||
#
|
||||
# This makefile is invoked by firmware.mk to build each of the modules
|
||||
# that will subsequently be linked into the firmware image.
|
||||
#
|
||||
# Modules are built as prelinked objects with a limited set of exported
|
||||
# symbols, as the global namespace is shared between all modules. Normally an
|
||||
# module will just export one or more <command>_main functions.
|
||||
#
|
||||
# IMPORTANT NOTE:
|
||||
#
|
||||
# This makefile assumes it is being invoked in the module's output directory.
|
||||
#
|
||||
|
||||
#
|
||||
# Variables that can be set by the module's module.mk:
|
||||
#
|
||||
#
|
||||
# SRCS (required)
|
||||
#
|
||||
# Lists the .c, cpp and .S files that should be compiled/assembled to
|
||||
# produce the module.
|
||||
#
|
||||
# MODULE_COMMAND (optional)
|
||||
# MODULE_ENTRYPOINT (optional if MODULE_COMMAND is set)
|
||||
# MODULE_STACKSIZE (optional if MODULE_COMMAND is set)
|
||||
# MODULE_PRIORITY (optional if MODULE_COMMAND is set)
|
||||
#
|
||||
# Defines a single builtin command exported by the module.
|
||||
# MODULE_COMMAND must be unique for any configuration, but need not be the
|
||||
# same as the module directory name.
|
||||
#
|
||||
# If MODULE_ENTRYPOINT is set, it names the function (which must be exported)
|
||||
# that will be the entrypoint for the builtin command. It defaults to
|
||||
# $(MODULE_COMMAND)_main.
|
||||
#
|
||||
# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
|
||||
# allocated for the builtin command. If it is not set, it defaults
|
||||
# to CONFIG_PTHREAD_STACK_DEFAULT.
|
||||
#
|
||||
# If MODULE_PRIORITY is set, it is the thread priority for the builtin
|
||||
# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
|
||||
#
|
||||
# MODULE_COMMANDS (optional if MODULE_COMMAND is not set)
|
||||
#
|
||||
# Defines builtin commands exported by the module. Each word in
|
||||
# the list should be formatted as:
|
||||
# <command>.<priority>.<stacksize>.<entrypoint>
|
||||
#
|
||||
# INCLUDE_DIRS (optional, must be appended)
|
||||
#
|
||||
# The list of directories searched for include files. If non-standard
|
||||
# includes (e.g. those from another module) are required, paths to search
|
||||
# can be added here.
|
||||
#
|
||||
# DEFAULT_VISIBILITY (optional)
|
||||
#
|
||||
# If not set, global symbols defined in a module will not be visible
|
||||
# outside the module. Symbols that should be globally visible must be
|
||||
# marked __EXPORT.
|
||||
# If set, global symbols defined in a module will be globally visible.
|
||||
#
|
||||
|
||||
#
|
||||
# Variables visible to the module's module.mk:
|
||||
#
|
||||
# CONFIG
|
||||
# BOARD
|
||||
# BOARD_FILE
|
||||
# MODULE_WORK_DIR
|
||||
# MODULE_OBJ
|
||||
# MODULE_MK
|
||||
# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
|
||||
# Anything exported from config_$(CONFIG).mk
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# No user-serviceable parts below.
|
||||
################################################################################
|
||||
|
||||
ifeq ($(MODULE_MK),)
|
||||
$(error No module makefile specified)
|
||||
endif
|
||||
ifeq ($(V),1)
|
||||
$(info %% MODULE_MK = $(MODULE_MK))
|
||||
endif
|
||||
|
||||
#
|
||||
# Get the board/toolchain config
|
||||
#
|
||||
include $(BOARD_FILE)
|
||||
|
||||
#
|
||||
# Get the module's config
|
||||
#
|
||||
include $(MODULE_MK)
|
||||
MODULE_SRC := $(dir $(MODULE_MK))
|
||||
ifeq ($(V),1)
|
||||
$(info % MODULE_NAME = $(MODULE_NAME))
|
||||
$(info % MODULE_SRC = $(MODULE_SRC))
|
||||
$(info % MODULE_OBJ = $(MODULE_OBJ))
|
||||
$(info % MODULE_WORK_DIR = $(MODULE_WORK_DIR))
|
||||
endif
|
||||
|
||||
#
|
||||
# Things that, if they change, might affect everything
|
||||
#
|
||||
GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||
|
||||
################################################################################
|
||||
# Builtin command definitions
|
||||
################################################################################
|
||||
|
||||
ifneq ($(MODULE_COMMAND),)
|
||||
MODULE_ENTRYPOINT ?= $(MODULE_COMMAND)_main
|
||||
MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
|
||||
MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT
|
||||
MODULE_COMMANDS += $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
|
||||
CXXFLAGS += -DPX4_MAIN=$(MODULE_COMMAND)_app_main
|
||||
endif
|
||||
|
||||
ifneq ($(MODULE_COMMANDS),)
|
||||
MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
|
||||
|
||||
# Create the command files
|
||||
# Ensure that there is only one entry for each command
|
||||
#
|
||||
.PHONY: $(MODULE_COMMAND_FILES)
|
||||
$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
|
||||
$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
|
||||
$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
|
||||
@$(REMOVE) -f $(exclude)
|
||||
@$(MKDIR) -p $(dir $@)
|
||||
@$(ECHO) "CMD: $(command)"
|
||||
$(Q) $(TOUCH) $@
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Adjust compilation flags to implement EXPORT
|
||||
################################################################################
|
||||
|
||||
ifeq ($(DEFAULT_VISIBILITY),)
|
||||
DEFAULT_VISIBILITY = hidden
|
||||
else
|
||||
DEFAULT_VISIBILITY = default
|
||||
endif
|
||||
|
||||
CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
|
||||
CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
|
||||
|
||||
################################################################################
|
||||
# Build rules
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# What we're going to build
|
||||
#
|
||||
module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES)
|
||||
|
||||
#
|
||||
# Object files we will generate from sources
|
||||
#
|
||||
OBJS = $(addsuffix .o,$(SRCS))
|
||||
|
||||
#
|
||||
# Dependency files that will be auto-generated
|
||||
#
|
||||
DEPS = $(addsuffix .d,$(SRCS))
|
||||
|
||||
#
|
||||
# SRCS -> OBJS rules
|
||||
#
|
||||
|
||||
$(OBJS): $(GLOBAL_DEPS)
|
||||
|
||||
vpath %.c $(MODULE_SRC)
|
||||
$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
|
||||
$(call COMPILE,$<,$@)
|
||||
|
||||
vpath %.cpp $(MODULE_SRC)
|
||||
$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
|
||||
$(call COMPILEXX,$<,$@)
|
||||
|
||||
vpath %.S $(MODULE_SRC)
|
||||
$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
|
||||
$(call ASSEMBLE,$<,$@)
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
|
||||
$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS)
|
||||
$(call PRELINK,$@,$(OBJS))
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
clean:
|
||||
$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
|
||||
|
||||
-include $(DEPS)
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the Gumstix AeroCore
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = AEROCORE
|
||||
|
||||
include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4_STM32F4DISCOVERY
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = PX4_STM32F4DISCOVERY
|
||||
|
||||
include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4FMU
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = PX4FMU_V1
|
||||
|
||||
include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4FMUv2
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = PX4FMU_V2
|
||||
|
||||
include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4IO
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM3
|
||||
CONFIG_BOARD = PX4IO_V1
|
||||
|
||||
include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the PX4IOv2
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM3
|
||||
CONFIG_BOARD = PX4IO_V2
|
||||
|
||||
include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
|
||||
@@ -1,126 +0,0 @@
|
||||
#
|
||||
# Makefile for the AeroCore *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/aerocore
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/ver
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF / other filters)
|
||||
#
|
||||
# Too high RAM usage due to static allocations
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, hello, , 2048, hello_main) \
|
||||
$(call _B, i2c, , 2048, i2c_main)
|
||||
@@ -1,92 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the PX4_STM32F4DISCOVERY firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES =
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/boards/px4-stm32f4discovery
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/conversion
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -1,159 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/px4fmu-v1
|
||||
MODULES += drivers/ardrone_interface
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/ll40ls
|
||||
MODULES += drivers/trone
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/px4flow
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/gpio_led
|
||||
MODULES += modules/land_detector
|
||||
|
||||
#
|
||||
# Estimation modules (EKF / other filters)
|
||||
#
|
||||
# Too high RAM usage due to static allocations
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += modules/unit_test
|
||||
#MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
#MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -1,182 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the px4iov2 firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/mpu9250
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/sf0x
|
||||
MODULES += drivers/ll40ls
|
||||
MODULES += drivers/trone
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/hott
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/px4flow
|
||||
MODULES += drivers/oreoled
|
||||
MODULES += drivers/gimbal
|
||||
MODULES += drivers/pwm_input
|
||||
MODULES += drivers/camera_trigger
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/gpio_led
|
||||
MODULES += modules/uavcan
|
||||
MODULES += modules/land_detector
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
# Removed from build due to large static allocations
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
MODULES += modules/vtol_att_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# OBC challenge
|
||||
#
|
||||
MODULES += modules/bottle_drop
|
||||
|
||||
#
|
||||
# PX4 flow estimator, good for indoors
|
||||
#
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Rover apps
|
||||
#
|
||||
MODULES += examples/rover_steering_control
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/px4_simple_app
|
||||
#MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://px4.io/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -1,168 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the px4iov2 firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
# MODULES += drivers/sf0x
|
||||
MODULES += drivers/ll40ls
|
||||
# MODULES += drivers/trone
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/hott
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
# MODULES += drivers/blinkm
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/px4flow
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/gpio_led
|
||||
# MODULES += modules/uavcan
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
#MODULES += modules/fw_pos_control_l1
|
||||
#MODULES += modules/fw_att_control
|
||||
# MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_att_control_multiplatform
|
||||
MODULES += examples/subscriber
|
||||
MODULES += examples/publisher
|
||||
# MODULES += modules/mc_pos_control
|
||||
MODULES += modules/mc_pos_control_multiplatform
|
||||
MODULES += modules/vtol_att_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# OBC challenge
|
||||
#
|
||||
MODULES += modules/bottle_drop
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
#MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -1,116 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/pca8574
|
||||
MODULES += drivers/roboclaw
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/ver
|
||||
MODULES += systemcmds/top
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# Example modules
|
||||
#
|
||||
MODULES += examples/matlab_csv_serial
|
||||
MODULES += examples/subscriber
|
||||
MODULES += examples/publisher
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/conversion
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# Example modules to test-build
|
||||
#
|
||||
MODULES += examples/flow_position_estimator
|
||||
MODULES += examples/fixedwing_control
|
||||
MODULES += examples/hwtest
|
||||
MODULES += examples/matlab_csv_serial
|
||||
MODULES += examples/px4_daemon_app
|
||||
MODULES += examples/px4_mavlink_debug
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
#
|
||||
# Drivers / modules to test build, but not useful for test environment
|
||||
#
|
||||
MODULES += drivers/pca8574
|
||||
|
||||
#
|
||||
# Tests
|
||||
#
|
||||
|
||||
MODULES += modules/unit_test
|
||||
MODULES += modules/mavlink/mavlink_tests
|
||||
MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main )
|
||||
@@ -1,10 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4io_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/boards/px4io-v1
|
||||
MODULES += modules/px4iofirmware
|
||||
@@ -1,10 +0,0 @@
|
||||
#
|
||||
# Makefile for the px4iov2_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/boards/px4io-v2
|
||||
MODULES += modules/px4iofirmware
|
||||
@@ -1,121 +0,0 @@
|
||||
#
|
||||
# Built products
|
||||
#
|
||||
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
|
||||
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
|
||||
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
|
||||
|
||||
all: $(DESIRED_FIRMWARES)
|
||||
|
||||
#
|
||||
# Copy FIRMWARES into the image directory.
|
||||
#
|
||||
# XXX copying the .bin files is a hack to work around the PX4IO uploader
|
||||
# not supporting .px4 files, and it should be deprecated onced that
|
||||
# is taken care of.
|
||||
#
|
||||
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||
@$(ECHO) %% Copying $@
|
||||
$(Q) $(COPY) $< $@
|
||||
$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
|
||||
|
||||
#
|
||||
# Generate FIRMWARES.
|
||||
#
|
||||
.PHONY: $(FIRMWARES)
|
||||
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
|
||||
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: checkgitversion generateuorbtopicheaders checksubmodules
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
$(Q) $(MKDIR) -p $(work_dir)
|
||||
$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
|
||||
-f $(PX4_MK_DIR)firmware.mk \
|
||||
CONFIG=$(config) \
|
||||
WORK_DIR=$(work_dir) \
|
||||
$(FIRMWARE_GOAL)
|
||||
|
||||
#
|
||||
# Make FMU firmwares depend on the corresponding IO firmware.
|
||||
#
|
||||
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
|
||||
# and forces the _default config in all cases. There has to be a better way to do this...
|
||||
#
|
||||
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
|
||||
define FMU_DEP
|
||||
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
|
||||
endef
|
||||
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
|
||||
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
|
||||
|
||||
#
|
||||
# Build the NuttX export archives.
|
||||
#
|
||||
# Note that there are no explicit dependencies extended from these
|
||||
# archives. If NuttX is updated, the user is expected to rebuild the
|
||||
# archives/build area manually. Likewise, when the 'archives' target is
|
||||
# invoked, all archives are always rebuilt.
|
||||
#
|
||||
# XXX Should support fetching/unpacking from a separate directory to permit
|
||||
# downloads of the prebuilt archives as well...
|
||||
#
|
||||
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
|
||||
.PHONY: archives
|
||||
archives: checksubmodules $(NUTTX_ARCHIVES)
|
||||
|
||||
# We cannot build these parallel; note that we also force -j1 for the
|
||||
# sub-make invocations.
|
||||
ifneq ($(filter archives,$(MAKECMDGOALS)),)
|
||||
.NOTPARALLEL:
|
||||
endif
|
||||
|
||||
J?=1
|
||||
|
||||
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
|
||||
$(ARCHIVE_DIR)%.export: configuration = nsh
|
||||
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(board)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
|
||||
@$(ECHO) %% Exporting NuttX for $(board)
|
||||
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
|
||||
$(Q) $(MKDIR) -p $(dir $@)
|
||||
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
|
||||
|
||||
#
|
||||
# The user can run the NuttX 'menuconfig' tool for a single board configuration with
|
||||
# make BOARDS=<boardname> menuconfig
|
||||
#
|
||||
ifeq ($(MAKECMDGOALS),menuconfig)
|
||||
ifneq ($(words $(BOARDS)),1)
|
||||
$(error BOARDS must specify exactly one board for the menuconfig goal)
|
||||
endif
|
||||
BOARD = $(BOARDS)
|
||||
menuconfig: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(BOARD)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
|
||||
@$(ECHO) %% Running menuconfig for $(BOARD)
|
||||
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
|
||||
$(Q) $(MAKE) -r -j$(J) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
|
||||
@$(ECHO) %% Saving configuration file
|
||||
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
|
||||
else
|
||||
menuconfig:
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
|
||||
@$(ECHO) ""
|
||||
|
||||
endif
|
||||
|
||||
$(NUTTX_SRC): checkgitversion checksubmodules
|
||||
|
||||
$(UAVCAN_DIR):
|
||||
$(Q) (./Tools/check_submodules.sh)
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
# JTAG for the STM32F4x chip used on the Gumstix AeroCore is available on
|
||||
# the first interface of a Quad FTDI chip. nTRST is bit 4.
|
||||
interface ftdi
|
||||
ftdi_vid_pid 0x0403 0x6011
|
||||
|
||||
ftdi_layout_init 0x0000 0x001b
|
||||
ftdi_layout_signal nTRST -data 0x0010
|
||||
|
||||
source [find target/stm32f4x.cfg]
|
||||
reset_config trst_only
|
||||
@@ -1,85 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Rules and definitions related to handling the NuttX export archives when
|
||||
# building firmware.
|
||||
#
|
||||
|
||||
MODULES += platforms/nuttx/px4_layer platforms/common
|
||||
|
||||
#
|
||||
# Check that the NuttX archive for the selected board is available.
|
||||
#
|
||||
NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
|
||||
ifeq ($(NUTTX_ARCHIVE),)
|
||||
$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
|
||||
endif
|
||||
|
||||
#
|
||||
# The NuttX config header should always be present in the NuttX archive, and
|
||||
# if it changes, everything should be rebuilt. So, use it as the trigger to
|
||||
# unpack the NuttX archive.
|
||||
#
|
||||
NUTTX_EXPORT_DIR = $(WORK_DIR)nuttx-export/
|
||||
NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h
|
||||
$(info % NUTTX_EXPORT_DIR = $(NUTTX_EXPORT_DIR))
|
||||
$(info % NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER))
|
||||
|
||||
|
||||
GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER)
|
||||
|
||||
#
|
||||
# Use the linker script from the NuttX export
|
||||
#
|
||||
LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script
|
||||
|
||||
#
|
||||
# Add directories from the NuttX export to the relevant search paths
|
||||
#
|
||||
INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \
|
||||
$(NUTTX_EXPORT_DIR)include/cxx \
|
||||
$(NUTTX_EXPORT_DIR)arch/chip \
|
||||
$(NUTTX_EXPORT_DIR)arch/common
|
||||
|
||||
LIB_DIRS += $(NUTTX_EXPORT_DIR)libs
|
||||
LIBS += -lapps -lnuttx
|
||||
NUTTX_LIBS = $(NUTTX_EXPORT_DIR)libs/libapps.a \
|
||||
$(NUTTX_EXPORT_DIR)libs/libnuttx.a
|
||||
LINK_DEPS += $(NUTTX_LIBS)
|
||||
|
||||
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
|
||||
@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
|
||||
$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
|
||||
$(Q) $(TOUCH) $@
|
||||
|
||||
$(LDSCRIPT): $(NUTTX_CONFIG_HEADER)
|
||||
$(NUTTX_LIBS): $(NUTTX_CONFIG_HEADER)
|
||||
@@ -1,89 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# What we're going to build.
|
||||
#
|
||||
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
|
||||
PRODUCT_BIN = $(WORK_DIR)firmware.bin
|
||||
PRODUCT_ELF = $(WORK_DIR)firmware.elf
|
||||
PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
|
||||
PRODUCT_AIRFRAMEXML = $(WORK_DIR)/airframes.xml
|
||||
|
||||
.PHONY: firmware
|
||||
firmware: $(PRODUCT_BUNDLE)
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
|
||||
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
|
||||
@$(ECHO) %% Generating $@
|
||||
ifdef GEN_PARAM_XML
|
||||
$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
|
||||
$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_airframes.py -a $(PX4_BASE)/ROMFS/px4fmu_common/init.d/ --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
|
||||
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
|
||||
--git_identity $(PX4_BASE) \
|
||||
--parameter_xml $(PRODUCT_PARAMXML) \
|
||||
--airframe_xml $(PRODUCT_AIRFRAMEXML) \
|
||||
--image $< > $@
|
||||
else
|
||||
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
|
||||
--git_identity $(PX4_BASE) \
|
||||
--image $< > $@
|
||||
endif
|
||||
|
||||
$(PRODUCT_BIN): $(PRODUCT_ELF)
|
||||
$(call SYM_TO_BIN,$<,$@)
|
||||
|
||||
$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
|
||||
$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
.PHONY: upload
|
||||
upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
|
||||
$(Q) $(MAKE) -f $(PX4_MK_DIR)/nuttx/upload.mk \
|
||||
METHOD=serial \
|
||||
CONFIG=$(CONFIG) \
|
||||
BOARD=$(BOARD) \
|
||||
BUNDLE=$(PRODUCT_BUNDLE) \
|
||||
BIN=$(PRODUCT_BIN)
|
||||
|
||||
.PHONY: clean
|
||||
clean: $(MODULE_CLEANS)
|
||||
@$(ECHO) %% cleaning
|
||||
$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
|
||||
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
|
||||
$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
|
||||
|
||||
@@ -1,163 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# ROMFS generation
|
||||
################################################################################
|
||||
|
||||
ifneq ($(ROMFS_ROOT),)
|
||||
ifeq ($(wildcard $(ROMFS_ROOT)),)
|
||||
$(error ROMFS_ROOT specifies a directory that does not exist)
|
||||
endif
|
||||
|
||||
#
|
||||
# Note that there is no support for more than one root directory or constructing
|
||||
# a root from several templates. That would be a nice feature.
|
||||
#
|
||||
|
||||
# Add dependencies on anything in the ROMFS root directory
|
||||
ROMFS_FILES += $(wildcard \
|
||||
$(ROMFS_ROOT)/* \
|
||||
$(ROMFS_ROOT)/*/* \
|
||||
$(ROMFS_ROOT)/*/*/* \
|
||||
$(ROMFS_ROOT)/*/*/*/* \
|
||||
$(ROMFS_ROOT)/*/*/*/*/* \
|
||||
$(ROMFS_ROOT)/*/*/*/*/*/*)
|
||||
ifeq ($(ROMFS_FILES),)
|
||||
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
|
||||
endif
|
||||
ROMFS_DEPS += $(ROMFS_FILES)
|
||||
|
||||
# Extra files that may be copied into the ROMFS /extras directory
|
||||
# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
|
||||
ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
|
||||
ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
|
||||
|
||||
ROMFS_IMG = romfs.img
|
||||
ROMFS_SCRATCH = romfs_scratch
|
||||
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
|
||||
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
|
||||
LIBS += $(ROMFS_OBJ)
|
||||
LINK_DEPS += $(ROMFS_OBJ)
|
||||
|
||||
# Add autostart script
|
||||
ROMFS_AUTOSTART = $(PX4_BASE)/Tools/px_process_airframes.py
|
||||
|
||||
# Remove all comments from startup and mixer files
|
||||
ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
|
||||
|
||||
# Turn the ROMFS image into an object file
|
||||
$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
|
||||
$(call BIN_TO_OBJ,$<,$@,romfs_img)
|
||||
|
||||
# Generate the ROMFS image from the root
|
||||
$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
@$(ECHO) "ROMFS: $@"
|
||||
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
|
||||
|
||||
# Construct the ROMFS scratch root from the canonical root
|
||||
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
|
||||
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
|
||||
# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
|
||||
$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
|
||||
ifneq ($(ROMFS_EXTRA_FILES),)
|
||||
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
|
||||
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
|
||||
endif
|
||||
$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART) -a $(ROMFS_ROOT)/init.d/ -s $(ROMFS_SCRATCH)/init.d/rc.autostart
|
||||
# Execute in standard dir as well
|
||||
# so developers notice the generated file
|
||||
$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART) -a $(ROMFS_ROOT)/init.d/ -s $(ROMFS_ROOT)/init.d/rc.autostart
|
||||
$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
|
||||
|
||||
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
|
||||
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Builtin command list generation
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# Builtin commands can be generated by the configuration, in which case they
|
||||
# must refer to commands that already exist, or indirectly generated by modules
|
||||
# when they are built.
|
||||
#
|
||||
# The configuration supplies builtin command information in the BUILTIN_COMMANDS
|
||||
# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
|
||||
# filename contains the same information.
|
||||
#
|
||||
# In each case, the command information consists of four fields separated with a
|
||||
# period. These fields are the command's name, its thread priority, its stack size
|
||||
# and the name of the function to call when starting the thread.
|
||||
#
|
||||
BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c
|
||||
|
||||
# command definitions from modules (may be empty at Makefile parsing time...)
|
||||
MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
|
||||
|
||||
# We must have at least one pre-defined builtin command in order to generate
|
||||
# any of this.
|
||||
#
|
||||
ifneq ($(BUILTIN_COMMANDS),)
|
||||
|
||||
# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
|
||||
define BUILTIN_PROTO
|
||||
$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
|
||||
endef
|
||||
|
||||
# (BUILTIN_DEF,<cmdspec>,<outputfile>)
|
||||
define BUILTIN_DEF
|
||||
$(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
|
||||
endef
|
||||
|
||||
# Don't generate until modules have updated their command files
|
||||
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
|
||||
@$(ECHO) "CMDS: $@"
|
||||
$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
|
||||
$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
|
||||
$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
|
||||
$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
|
||||
$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
|
||||
$(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@
|
||||
$(Q) $(ECHO) '};' >> $@
|
||||
$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
|
||||
|
||||
SRCS += $(BUILTIN_CSRC)
|
||||
|
||||
EXTRA_CLEANS += $(BUILTIN_CSRC)
|
||||
|
||||
endif
|
||||
|
||||
@@ -1,342 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Definitions for a generic GNU ARM-EABI toolchain
|
||||
#
|
||||
|
||||
#$(info TOOLCHAIN gnu-arm-eabi)
|
||||
|
||||
# Toolchain commands. Normally only used inside this file.
|
||||
#
|
||||
CROSSDEV = arm-none-eabi-
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 4.9.3
|
||||
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
|
||||
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
|
||||
endif
|
||||
|
||||
|
||||
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||
|
||||
MAXOPTIMIZATION ?= -O3
|
||||
|
||||
# Base CPU flags for each of the supported architectures.
|
||||
#
|
||||
ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfloat-abi=soft
|
||||
|
||||
ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
|
||||
-mthumb \
|
||||
-march=armv7-m \
|
||||
-mfloat-abi=soft
|
||||
|
||||
# Enabling stack checks if OS was build with them
|
||||
#
|
||||
TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
|
||||
TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
|
||||
ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
|
||||
ifeq ("$(ENABLE_STACK_CHECKS)","0")
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions -ffixed-r10
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
|
||||
else
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM4F =
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 =
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
|
||||
endif
|
||||
|
||||
# Pick the right set of flags for the architecture.
|
||||
#
|
||||
ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
|
||||
ifeq ($(ARCHCPUFLAGS),)
|
||||
$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
|
||||
endif
|
||||
|
||||
# Set the board flags
|
||||
#
|
||||
ifeq ($(CONFIG_BOARD),)
|
||||
$(error Board config does not define CONFIG_BOARD)
|
||||
endif
|
||||
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) -D__PX4_NUTTX
|
||||
|
||||
# optimisation flags
|
||||
#
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-g3 \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
# note - requires corresponding support in NuttX
|
||||
INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
|
||||
|
||||
LIBC := $(shell ${CC} ${ARCHCPUFLAGS} -print-file-name=libc.a)
|
||||
|
||||
# Language-specific flags
|
||||
#
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
|
||||
|
||||
#
|
||||
# Provide defaults, but allow for module override
|
||||
WFRAME_LARGER_THAN ?= 1024
|
||||
|
||||
|
||||
|
||||
# Generic warnings
|
||||
#
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Werror \
|
||||
-Wdouble-promotion \
|
||||
-Wshadow \
|
||||
-Wfloat-equal \
|
||||
-Wpointer-arith \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter \
|
||||
-Werror=format-security \
|
||||
-Werror=array-bounds \
|
||||
-Wfatal-errors \
|
||||
-Wformat=1 \
|
||||
-Werror=unused-but-set-variable \
|
||||
-Werror=unused-variable \
|
||||
-Werror=double-promotion \
|
||||
-Werror=reorder \
|
||||
-Werror=uninitialized \
|
||||
-Werror=init-self
|
||||
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
# C-specific warnings
|
||||
#
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs
|
||||
|
||||
# C++-specific warnings
|
||||
#
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-missing-field-initializers
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# Flags we pass to the C compiler
|
||||
#
|
||||
CFLAGS = $(ARCHCFLAGS) \
|
||||
$(ARCHCWARNINGS) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACFLAGS) \
|
||||
-fno-common \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the C++ compiler
|
||||
#
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHWARNINGSXX) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHXXINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
-DCONFIG_WCHAR_BUILTIN \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACXXFLAGS) \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the assembler
|
||||
#
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRAAFLAGS)
|
||||
|
||||
# Flags we pass to the linker
|
||||
#
|
||||
LDFLAGS += --warn-common \
|
||||
--gc-sections \
|
||||
$(EXTRALDFLAGS) \
|
||||
$(addprefix -T,$(LDSCRIPT)) \
|
||||
$(addprefix -L,$(LIB_DIRS))
|
||||
|
||||
# Compiler support library
|
||||
#
|
||||
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
|
||||
|
||||
# Files that the final link depends on
|
||||
#
|
||||
LINK_DEPS += $(LDSCRIPT)
|
||||
|
||||
# Files to include to get automated dependencies
|
||||
#
|
||||
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
|
||||
|
||||
# Compile C source $1 to object $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILE
|
||||
@$(ECHO) "CC: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Compile C++ source $1 to $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILEXX
|
||||
@$(ECHO) "CXX: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Assemble $1 into $2
|
||||
#
|
||||
define ASSEMBLE
|
||||
@$(ECHO) "AS: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
define PRELINK
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
# Update the archive $1 with the files in $2
|
||||
#
|
||||
define ARCHIVE
|
||||
@$(ECHO) "AR: $2"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the binary $1
|
||||
#
|
||||
define LINK
|
||||
@$(ECHO) "LINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
|
||||
endef
|
||||
|
||||
# Convert $1 from a linked object to a raw binary in $2
|
||||
#
|
||||
define SYM_TO_BIN
|
||||
@$(ECHO) "BIN: $2"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(OBJCOPY) -O binary $1 $2
|
||||
endef
|
||||
|
||||
# Take the raw binary $1 and make it into an object file $2.
|
||||
# The symbol $3 points to the beginning of the file, and $3_len
|
||||
# gives its length.
|
||||
#
|
||||
# - compile an empty file to generate a suitable object file
|
||||
# - relink the object and insert the binary file
|
||||
# - extract the length
|
||||
# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
|
||||
# - link the two generated object files together
|
||||
# - edit symbol names to suit
|
||||
#
|
||||
# NOTE: exercise caution using this with absolute pathnames; it looks
|
||||
# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
|
||||
# the path:
|
||||
#
|
||||
# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
|
||||
#
|
||||
# is assigned symbols like:
|
||||
#
|
||||
# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
|
||||
#
|
||||
# when we would expect
|
||||
#
|
||||
# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
|
||||
#
|
||||
define BIN_SYM_PREFIX
|
||||
_binary_$(subst /,_,$(subst .,_,$1))
|
||||
endef
|
||||
define BIN_TO_OBJ
|
||||
@$(ECHO) "OBJ: $2"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(ECHO) > $2.c
|
||||
$(call COMPILE,$2.c,$2.c.o)
|
||||
$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
|
||||
$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
|
||||
$(call COMPILE,$2.c,$2.c.o)
|
||||
$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
|
||||
$(Q) $(OBJCOPY) $2 \
|
||||
--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
|
||||
--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
|
||||
--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
|
||||
--rename-section .data=.rodata
|
||||
$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
|
||||
endef
|
||||
@@ -1,50 +0,0 @@
|
||||
#
|
||||
# Rules and tools for uploading firmware to various PX4 boards.
|
||||
#
|
||||
|
||||
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
|
||||
SYSTYPE := $(shell uname -s)
|
||||
|
||||
#
|
||||
# Serial port defaults.
|
||||
#
|
||||
# XXX The uploader should be smarter than this.
|
||||
#
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
SERIAL_PORTS ?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
|
||||
endif
|
||||
ifeq ($(SYSTYPE),Linux)
|
||||
SERIAL_PORTS ?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
|
||||
endif
|
||||
ifeq ($(SERIAL_PORTS),)
|
||||
SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
|
||||
endif
|
||||
|
||||
.PHONY: all upload-$(METHOD)-$(BOARD)
|
||||
all: upload-$(METHOD)-$(BOARD)
|
||||
|
||||
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
upload-serial-aerocore:
|
||||
openocd -f $(PX4_BASE)/makefiles/nuttx/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
|
||||
|
||||
upload-serial-px4-stm32f4discovery: $(BUNDLE) $(UPLOADER)
|
||||
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||
|
||||
#
|
||||
# JTAG firmware uploading with OpenOCD
|
||||
#
|
||||
JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
|
||||
|
||||
upload-jtag-px4fmu: all
|
||||
@$(ECHO) Attempting to flash PX4FMU board via JTAG
|
||||
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
||||
|
||||
upload-jtag-px4io: all
|
||||
@$(ECHO) Attempting to flash PX4IO board via JTAG
|
||||
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the POSIX port of PX4
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXA8
|
||||
CONFIG_BOARD = EAGLE
|
||||
|
||||
include $(PX4_MK_DIR)/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
|
||||
@@ -1,57 +0,0 @@
|
||||
#
|
||||
# Makefile for the EAGLE *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
#
|
||||
# Linux port
|
||||
#
|
||||
MODULES += platforms/posix/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
|
||||
#
|
||||
# muorb fastrpc changes.
|
||||
#
|
||||
MODULES += modules/muorb/krait
|
||||
@@ -1,79 +0,0 @@
|
||||
#
|
||||
# Makefile for the EAGLE *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/led
|
||||
MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/ver
|
||||
#MODULES += systemcmds/topic_listener
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/navigator
|
||||
MODULES += modules/mc_pos_control
|
||||
MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
MODULES += modules/sdlog2
|
||||
MODULES += modules/simulator
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/controllib
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
#
|
||||
# Linux port
|
||||
#
|
||||
MODULES += platforms/posix/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += platforms/posix/tests/hello
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# muorb fastrpc changes.
|
||||
#
|
||||
#MODULES += $(PX4_BASE)../muorb_krait
|
||||
@@ -1,88 +0,0 @@
|
||||
#
|
||||
# Makefile for the POSIXTEST *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/boards/sitl
|
||||
#MODULES += drivers/blinkm
|
||||
#MODULES += drivers/pwm_out_sim
|
||||
#MODULES += drivers/rgbled
|
||||
MODULES += drivers/led
|
||||
#MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
#MODULES += systemcmds/mixer
|
||||
#MODULES += systemcmds/topic_listener
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/navigator
|
||||
#MODULES += modules/mc_pos_control
|
||||
#MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
#MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
MODULES += modules/sdlog2
|
||||
MODULES += modules/simulator
|
||||
MODULES += modules/commander
|
||||
#MODULES += modules/controllib
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# Linux port
|
||||
#
|
||||
MODULES += platforms/posix/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
#MODULES += platforms/posix/drivers/tonealrmsim
|
||||
#MODULES += platforms/posix/drivers/airspeedsim
|
||||
#MODULES += platforms/posix/drivers/gpssim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += platforms/posix/tests/hello
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# muorb fastrpc changes.
|
||||
#
|
||||
MODULES += modules/muorb/krait
|
||||
@@ -1,90 +0,0 @@
|
||||
#
|
||||
# Makefile for the POSIXTEST *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
#MODULES += drivers/blinkm
|
||||
#MODULES += drivers/pwm_out_sim
|
||||
#MODULES += drivers/rgbled
|
||||
#MODULES += drivers/led
|
||||
#MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
#MODULES += systemcmds/param
|
||||
#MODULES += systemcmds/mixer
|
||||
#MODULES += systemcmds/topic_listener
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/navigator
|
||||
#MODULES += modules/mc_pos_control
|
||||
#MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
#MODULES += modules/systemlib
|
||||
#MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
#MODULES += modules/commander
|
||||
#MODULES += modules/controllib
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
#MODULES += lib/mathlib
|
||||
#MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/geo
|
||||
#MODULES += lib/geo_lookup
|
||||
#MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# Linux port
|
||||
#
|
||||
MODULES += platforms/posix/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
#MODULES += platforms/posix/drivers/tonealrmsim
|
||||
#MODULES += platforms/posix/drivers/airspeedsim
|
||||
#MODULES += platforms/posix/drivers/gpssim
|
||||
|
||||
#
|
||||
# muorb fastrpc changes.
|
||||
#
|
||||
MODULES += modules/muorb/krait
|
||||
|
||||
|
||||
#
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += platforms/posix/tests/hello
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
MODULES += platforms/posix/tests/muorb
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
/****************************************************************************
|
||||
* ld.script
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
* Author: Mark Charlebois <charlebm@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param : ALIGN(8) {
|
||||
__param_start = .;
|
||||
KEEP(*(__param*))
|
||||
__param_end = .;
|
||||
}
|
||||
}
|
||||
@@ -1,40 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Rules and definitions related to handling the Linux specific impl when
|
||||
# building firmware.
|
||||
#
|
||||
|
||||
MODULES += \
|
||||
platforms/common \
|
||||
platforms/posix/px4_layer
|
||||
|
||||
@@ -1,305 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Definitions for a generic GNU ARM-EABI toolchain
|
||||
#
|
||||
|
||||
#$(info TOOLCHAIN arm-linux-gnueabihf)
|
||||
|
||||
# Toolchain commands. Normally only used inside this file.
|
||||
#
|
||||
CROSSDEV = arm-linux-gnueabihf-
|
||||
|
||||
CC ?= $(CROSSDEV)gcc
|
||||
CXX ?= $(CROSSDEV)g++
|
||||
CPP ?= $(CROSSDEV)gcc -E
|
||||
LD ?= $(CROSSDEV)ld
|
||||
AR ?= $(CROSSDEV)ar rcs
|
||||
NM ?= $(CROSSDEV)nm
|
||||
OBJCOPY ?= $(CROSSDEV)objcopy
|
||||
OBJDUMP ?= $(CROSSDEV)objdump
|
||||
ifdef OECORE_NATIVE_SYSROOT
|
||||
AR := $(AR) rcs
|
||||
endif
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.2 4.8.4 4.9.3
|
||||
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
|
||||
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
|
||||
endif
|
||||
|
||||
ifndef POSIX_EXT_LIB_ROOT
|
||||
$(error POSIX_EXT_LIB_ROOT is not set)
|
||||
endif
|
||||
|
||||
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||
|
||||
MAXOPTIMIZATION ?= -O3
|
||||
|
||||
# Base CPU flags for each of the supported architectures.
|
||||
#
|
||||
ARCHCPUFLAGS_CORTEXA8 = -mtune=cortex-a8 \
|
||||
-mthumb-interwork \
|
||||
-march=armv7-a \
|
||||
-mfloat-abi=hard \
|
||||
-mfpu=neon
|
||||
|
||||
# Pick the right set of flags for the architecture.
|
||||
#
|
||||
ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
|
||||
ifeq ($(ARCHCPUFLAGS),)
|
||||
$(error Must set CONFIG_ARCH to one of CORTEXA8 CORTEXM4F, CORTEXM4 or CORTEXM3)
|
||||
endif
|
||||
|
||||
# Set the board flags
|
||||
#
|
||||
ifeq ($(CONFIG_BOARD),)
|
||||
$(error Board config does not define CONFIG_BOARD)
|
||||
endif
|
||||
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
|
||||
-D__PX4_LINUX -D__PX4_POSIX \
|
||||
-Dnoreturn_function= \
|
||||
-I$(PX4_BASE)/src/modules/systemlib \
|
||||
-I$(PX4_BASE)/src/lib/eigen \
|
||||
-I$(PX4_BASE)/src/platforms/posix/include \
|
||||
-I$(PX4_BASE)/mavlink/include/mavlink \
|
||||
-Wno-error=shadow
|
||||
|
||||
# optimisation flags
|
||||
#
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-g3 \
|
||||
-fno-strict-aliasing \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
# Language-specific flags
|
||||
#
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
|
||||
|
||||
# Generic warnings
|
||||
#
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Werror \
|
||||
-Wfloat-equal \
|
||||
-Wpointer-arith \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter \
|
||||
-Wno-packed \
|
||||
-Werror=format-security \
|
||||
-Werror=array-bounds \
|
||||
-Wfatal-errors \
|
||||
-Werror=unused-variable \
|
||||
-Werror=reorder \
|
||||
-Werror=uninitialized \
|
||||
-Werror=init-self \
|
||||
-Wformat=1 \
|
||||
-Werror=unused-but-set-variable \
|
||||
-Wno-error=double-promotion \
|
||||
-fno-strength-reduce \
|
||||
-Wno-error=unused-value
|
||||
|
||||
ARCHOPTIMIZATION += -fno-strength-reduce
|
||||
|
||||
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
# C-specific warnings
|
||||
#
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs
|
||||
|
||||
# C++-specific warnings
|
||||
#
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-missing-field-initializers
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
|
||||
#EXTRA_LIBS += $(LIBM)
|
||||
EXTRA_LIBS += -lpx4muorb -ladsprpc
|
||||
EXTRA_LIBS += -pthread -lm -lrt
|
||||
|
||||
LIB_DIRS += $(POSIX_EXT_LIB_ROOT)/libs
|
||||
INCLUDE_DIRS += $(POSIX_EXT_LIB_ROOT)/inc
|
||||
|
||||
# Flags we pass to the C compiler
|
||||
#
|
||||
CFLAGS = $(ARCHCFLAGS) \
|
||||
$(ARCHCWARNINGS) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACFLAGS) \
|
||||
-fno-common \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the C++ compiler
|
||||
#
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHWARNINGSXX) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHXXINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
-DCONFIG_WCHAR_BUILTIN \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACXXFLAGS) \
|
||||
-Wno-effc++ \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the assembler
|
||||
#
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRAAFLAGS)
|
||||
|
||||
LDSCRIPT = $(PX4_BASE)/makefiles/posix-arm/ld.script
|
||||
# Flags we pass to the linker
|
||||
#
|
||||
LDFLAGS += $(EXTRALDFLAGS) \
|
||||
$(addprefix -L,$(LIB_DIRS))
|
||||
|
||||
# Compiler support library
|
||||
#
|
||||
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
|
||||
|
||||
# Files that the final link depends on
|
||||
#
|
||||
#LINK_DEPS += $(LDSCRIPT)
|
||||
LINK_DEPS +=
|
||||
|
||||
# Files to include to get automated dependencies
|
||||
#
|
||||
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
|
||||
|
||||
# Compile C source $1 to object $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILE
|
||||
@$(ECHO) "CC: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Compile C++ source $1 to $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILEXX
|
||||
@$(ECHO) "CXX: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Assemble $1 into $2
|
||||
#
|
||||
define ASSEMBLE
|
||||
@$(ECHO) "AS: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
||||
define PRELINK
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) -Ur -o $1 $2
|
||||
|
||||
endef
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
||||
define PRELINKF
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
|
||||
|
||||
endef
|
||||
# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
|
||||
# Update the archive $1 with the files in $2
|
||||
#
|
||||
define ARCHIVE
|
||||
@$(ECHO) "AR: $2"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the shared library $1
|
||||
#
|
||||
define LINK_A
|
||||
@$(ECHO) "LINK_A: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
echo "$(Q) $(AR) $1 $2"
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the shared library $1
|
||||
#
|
||||
define LINK_SO
|
||||
@$(ECHO) "LINK_SO: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
|
||||
$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the application $1
|
||||
#
|
||||
define LINK
|
||||
@$(ECHO) "LINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
echo "$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)"
|
||||
$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
|
||||
|
||||
endef
|
||||
|
||||
@@ -1,78 +0,0 @@
|
||||
#
|
||||
# Makefile for the Foo *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
#MODULES += drivers/blinkm
|
||||
#MODULES += drivers/pwm_out_sim
|
||||
#MODULES += drivers/led
|
||||
#MODULES += drivers/rgbled
|
||||
#MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
#MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
#MODULES += modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
#MODULES += lib/mathlib
|
||||
#MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/geo
|
||||
#MODULES += lib/geo_lookup
|
||||
#MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# posix port
|
||||
#
|
||||
MODULES += platforms/posix/px4_layer
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# muorb fastrpc changes.
|
||||
#
|
||||
#MODULES += $(PX4_BASE)../muorb_krait
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
MODULES += platforms/posix/tests/muorb
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
@@ -1,12 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the POSIX port of PX4
|
||||
# for use in SITL testing
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = NATIVE
|
||||
CONFIG_BOARD = SITL
|
||||
|
||||
include $(PX4_MK_DIR)/posix/toolchain_native.mk
|
||||
@@ -1,107 +0,0 @@
|
||||
#
|
||||
# Makefile for the SITL configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/boards/sitl
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/led
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/mixer
|
||||
#MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/tests
|
||||
#MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/topic_listener
|
||||
MODULES += systemcmds/ver
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mc_pos_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control_multiplatform
|
||||
MODULES += modules/mc_att_control_multiplatform
|
||||
MODULES += modules/land_detector
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
|
||||
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
MODULES += modules/sdlog2
|
||||
MODULES += modules/simulator
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/controllib
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
|
||||
|
||||
#
|
||||
# POSIX port
|
||||
#
|
||||
MODULES += platforms/posix/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
MODULES += platforms/posix/drivers/accelsim
|
||||
MODULES += platforms/posix/drivers/gyrosim
|
||||
MODULES += platforms/posix/drivers/adcsim
|
||||
MODULES += platforms/posix/drivers/barosim
|
||||
MODULES += platforms/posix/drivers/tonealrmsim
|
||||
MODULES += platforms/posix/drivers/airspeedsim
|
||||
MODULES += platforms/posix/drivers/gpssim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += platforms/posix/tests/hello
|
||||
MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# muorb fastrpc changes.
|
||||
#
|
||||
#MODULES += $(PX4_BASE)../muorb_krait
|
||||
@@ -1,56 +0,0 @@
|
||||
#
|
||||
# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Built products
|
||||
#
|
||||
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
|
||||
|
||||
all: $(FIRMWARES)
|
||||
|
||||
#
|
||||
# Generate FIRMWARES.
|
||||
#
|
||||
.PHONY: $(FIRMWARES)
|
||||
$(BUILD_DIR)%.build/firmware.a: config = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
|
||||
$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a: checkgitversion generateuorbtopicheaders
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
$(Q) $(MKDIR) -p $(work_dir)
|
||||
$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
|
||||
-f $(PX4_MK_DIR)firmware.mk \
|
||||
CONFIG=$(config) \
|
||||
WORK_DIR=$(work_dir) \
|
||||
$(FIRMWARE_GOAL)
|
||||
|
||||
|
||||
@@ -1,46 +0,0 @@
|
||||
/****************************************************************************
|
||||
* ld.script
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
* Author: Mark Charlebois <charlebm@gmail.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param : ALIGN(8) {
|
||||
__param_start = .;
|
||||
KEEP(*(__param*))
|
||||
__param_end = .;
|
||||
}
|
||||
}
|
||||
@@ -1,40 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Rules and definitions related to handling the Linux specific impl when
|
||||
# building firmware.
|
||||
#
|
||||
|
||||
MODULES += \
|
||||
platforms/common \
|
||||
platforms/posix/px4_layer
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Makefile for PX4 POSIX based firmware images.
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# Build rules
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# What we're going to build.
|
||||
#
|
||||
PRODUCT_SHARED_LIB = $(WORK_DIR)firmware.a
|
||||
PRODUCT_SHARED_PRELINK = $(WORK_DIR)firmware.o
|
||||
|
||||
.PHONY: firmware
|
||||
firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
|
||||
$(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
|
||||
$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
|
||||
|
||||
$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
|
||||
$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
|
||||
|
||||
$(WORK_DIR)apps.h: $(WORK_DIR)builtin_commands
|
||||
$(PX4_BASE)/Tools/posix_apps.py > $(WORK_DIR)apps.h
|
||||
|
||||
MAIN = $(PX4_BASE)/src/platforms/posix/main.cpp
|
||||
$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB) $(WORK_DIR)apps.h
|
||||
$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
.PHONY: clean
|
||||
clean: $(MODULE_CLEANS)
|
||||
@$(ECHO) %% cleaning
|
||||
$(Q) $(REMOVE) $(PRODUCT_ELF)
|
||||
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
|
||||
|
||||
@@ -1,369 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012-2014 PX4 Development Team. All rights reuint32_tserved.
|
||||
#
|
||||
# 2005 Modified for clang and GCC on POSIX:
|
||||
# Author: Mark Charlebois <charlebm@gmail.com>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Definitions for a native GCC toolchain
|
||||
#
|
||||
|
||||
#$(info TOOLCHAIN native)
|
||||
|
||||
# Toolchain commands. Normally only used inside this file.
|
||||
#
|
||||
|
||||
# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
|
||||
USE_GCC?=0
|
||||
|
||||
ifeq ($(PX4_DEBUG_LEVEL),)
|
||||
VERBOSITY_LEVEL=
|
||||
else
|
||||
VERBOSITY_LEVEL=-D$(PX4_DEBUG_LEVEL)
|
||||
endif
|
||||
|
||||
ifneq ($(USE_GCC),1)
|
||||
|
||||
HAVE_CLANG35:=$(shell clang-3.5 -dumpversion 2>/dev/null)
|
||||
|
||||
# Clang will report 4.2.1 as GCC version
|
||||
HAVE_CLANG:=$(shell clang -dumpversion 2> /dev/null)
|
||||
|
||||
#If using ubuntu 14.04 and packaged clang 3.5
|
||||
ifeq ($(HAVE_CLANG35),4.2.1)
|
||||
USE_GCC=0
|
||||
CLANGVER=-3.5
|
||||
else
|
||||
|
||||
#If using ubuntu 12.04 and downloaded clang 3.4.2
|
||||
ifeq ($(HAVE_CLANG),4.2.1)
|
||||
USE_GCC=0
|
||||
CLANGVER=
|
||||
endif
|
||||
endif
|
||||
|
||||
# If no version of clang was found
|
||||
ifeq ($(HAVE_CLANG35),)
|
||||
ifeq ($(HAVE_CLANG),)
|
||||
$(error Clang not found. Try make USE_GCC=1)
|
||||
endif
|
||||
endif
|
||||
endif # USE_GCC is not 1
|
||||
|
||||
ifeq ($(USE_GCC),1)
|
||||
# GCC Options:
|
||||
CC = gcc
|
||||
CXX = g++
|
||||
CPP = gcc -E
|
||||
|
||||
# GCC Version
|
||||
DEV_VER_SUPPORTED = 4.8.1 4.8.2 4.9.1
|
||||
|
||||
else
|
||||
# Clang options
|
||||
CC = clang$(CLANGVER)
|
||||
CXX = clang++$(CLANGVER)
|
||||
CPP = clang$(CLANGVER) -E
|
||||
|
||||
# Clang GCC reported version
|
||||
DEV_VER_SUPPORTED = 4.2.1
|
||||
endif
|
||||
|
||||
#LD = ld.gold
|
||||
LD = ld.bfd
|
||||
AR = ar rcs
|
||||
NM = nm
|
||||
OBJCOPY = objcopy
|
||||
OBJDUMP = objdump
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
DEV_VER_FOUND = $(shell $(CC) -dumpversion)
|
||||
|
||||
ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED)))
|
||||
$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED))
|
||||
endif
|
||||
|
||||
|
||||
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||
|
||||
MAXOPTIMIZATION ?= -O3
|
||||
|
||||
# Enabling stack checks if OS was build with them
|
||||
#
|
||||
|
||||
# Set the board flags
|
||||
#
|
||||
ifeq ($(CONFIG_BOARD),)
|
||||
$(error Board config does not define CONFIG_BOARD)
|
||||
endif
|
||||
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
|
||||
-Dnoreturn_function=__attribute__\(\(noreturn\)\) \
|
||||
$(VERBOSITY_LEVEL)\
|
||||
-I$(PX4_BASE)/src/modules/systemlib \
|
||||
-I$(PX4_BASE)/src/lib/eigen \
|
||||
-I$(PX4_BASE)/src/platforms/posix/include \
|
||||
-I$(PX4_BASE)/mavlink/include/mavlink \
|
||||
-Wno-error=shadow
|
||||
|
||||
UNAME_S := $(shell uname -s)
|
||||
ifeq ($(UNAME_S),Linux)
|
||||
ARCHDEFINES += -D__PX4_POSIX -D__PX4_LINUX
|
||||
endif
|
||||
ifeq ($(UNAME_S),Darwin)
|
||||
ARCHDEFINES += -D__PX4_POSIX -D__PX4_DARWIN
|
||||
endif
|
||||
|
||||
# optimisation flags
|
||||
#
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-g3 \
|
||||
-fno-strict-aliasing \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
# Language-specific flags
|
||||
#
|
||||
ARCHCFLAGS = -std=gnu99 -g
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=c++11 -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
|
||||
|
||||
# Generic warnings
|
||||
#
|
||||
# Disabled
|
||||
# -Wshadow - Breaks for the libeigen package headers
|
||||
# -Wframe-larger-than=1024 - Only needed for embedded
|
||||
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Werror \
|
||||
-Wfloat-equal \
|
||||
-Wpointer-arith \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter \
|
||||
-Wno-packed \
|
||||
-Werror=format-security \
|
||||
-Werror=array-bounds \
|
||||
-Wfatal-errors \
|
||||
-Werror=unused-variable \
|
||||
-Werror=reorder \
|
||||
-Werror=uninitialized \
|
||||
-Werror=init-self
|
||||
|
||||
# Add compiler specific options
|
||||
ifeq ($(USE_GCC),1)
|
||||
ARCHDEFINES +=
|
||||
ARCHWARNINGS += -Wdouble-promotion \
|
||||
-Wformat=1 \
|
||||
-Werror=unused-but-set-variable \
|
||||
-Werror=double-promotion
|
||||
ARCHOPTIMIZATION += -fno-strength-reduce
|
||||
else
|
||||
ARCHWARNINGS += -Wno-gnu-array-member-paren-init
|
||||
endif
|
||||
|
||||
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
# C-specific warnings
|
||||
#
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs
|
||||
|
||||
# Add compiler specific options
|
||||
ifeq ($(USE_GCC),1)
|
||||
ARCHCWARNINGS += -Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wno-error=unused-local-typedefs \
|
||||
-Wno-error=enum-compare \
|
||||
-Wno-error=float-equal
|
||||
endif
|
||||
|
||||
# C++-specific warnings
|
||||
#
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-missing-field-initializers
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
|
||||
#EXTRA_LIBS += $(LIBM)
|
||||
#EXTRA_LIBS += ${PX4_BASE}../muorb_krait/lib/libmuorb.so
|
||||
EXTRA_LIBS += -pthread -lm -lrt
|
||||
|
||||
# Flags we pass to the C compiler
|
||||
#
|
||||
CFLAGS = $(ARCHCFLAGS) \
|
||||
$(ARCHCWARNINGS) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACFLAGS) \
|
||||
-fno-common \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the C++ compiler
|
||||
#
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHWARNINGSXX) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHXXINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
-DCONFIG_WCHAR_BUILTIN \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACXXFLAGS) \
|
||||
-Wno-effc++ \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
ifeq ($(USE_GCC),0)
|
||||
CXXFLAGS += -Wno-deprecated-register \
|
||||
-Wno-tautological-constant-out-of-range-compare \
|
||||
-Wno-unused-private-field \
|
||||
-Wno-unused-const-variable
|
||||
endif
|
||||
|
||||
# Flags we pass to the assembler
|
||||
#
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRAAFLAGS)
|
||||
|
||||
LDSCRIPT = $(PX4_BASE)/makefiles/posix/ld.script
|
||||
# Flags we pass to the linker
|
||||
#
|
||||
LDFLAGS += $(EXTRALDFLAGS) \
|
||||
$(addprefix -L,$(LIB_DIRS))
|
||||
|
||||
# Compiler support library
|
||||
#
|
||||
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
|
||||
|
||||
# Files that the final link depends on
|
||||
#
|
||||
#LINK_DEPS += $(LDSCRIPT)
|
||||
LINK_DEPS +=
|
||||
|
||||
# Files to include to get automated dependencies
|
||||
#
|
||||
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
|
||||
|
||||
# Compile C source $1 to object $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILE
|
||||
@$(ECHO) "CC: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Compile C++ source $1 to $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILEXX
|
||||
@$(ECHO) "CXX: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
@$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Assemble $1 into $2
|
||||
#
|
||||
define ASSEMBLE
|
||||
@$(ECHO) "AS: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
||||
define PRELINK
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) -Ur -o $1 $2
|
||||
|
||||
endef
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
||||
define PRELINKF
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
|
||||
|
||||
endef
|
||||
# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
|
||||
# Update the archive $1 with the files in $2
|
||||
#
|
||||
define ARCHIVE
|
||||
@$(ECHO) "AR: $2"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the shared library $1
|
||||
#
|
||||
define LINK_A
|
||||
@$(ECHO) "LINK_A: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the shared library $1
|
||||
#
|
||||
define LINK_SO
|
||||
@$(ECHO) "LINK_SO: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the application $1
|
||||
#
|
||||
define LINK
|
||||
@$(ECHO) "LINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
|
||||
|
||||
endef
|
||||
|
||||
@@ -1,77 +0,0 @@
|
||||
#
|
||||
# Makefile for the Foo *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
#MODULES += drivers/blinkm
|
||||
#MODULES += drivers/pwm_out_sim
|
||||
#MODULES += drivers/led
|
||||
#MODULES += drivers/rgbled
|
||||
#MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
#MODULES += systemcmds/param
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
#MODULES += modules/systemlib
|
||||
#MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
#MODULES += modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
#MODULES += lib/mathlib
|
||||
#MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/geo
|
||||
#MODULES += lib/geo_lookup
|
||||
#MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
MODULES += platforms/qurt/px4_layer
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
MODULES += platforms/qurt/tests/muorb
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# sources for muorb over fastrpc
|
||||
#
|
||||
MODULES += $(PX4_BASE)/../muorb_qurt/
|
||||
@@ -1,11 +0,0 @@
|
||||
#
|
||||
# Board-specific definitions for the Linux port of PX4
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = HEXAGON
|
||||
CONFIG_BOARD = QURTTEST
|
||||
|
||||
include $(PX4_MK_DIR)/qurt/toolchain_hexagon.mk
|
||||
@@ -1,87 +0,0 @@
|
||||
#Added configuration specific flags here.
|
||||
|
||||
ifndef HEXAGON_DRIVERS_ROOT
|
||||
$(error HEXAGON_DRIVERS_ROOT is not set)
|
||||
endif
|
||||
ifndef EAGLE_DRIVERS_SRC
|
||||
$(error EAGLE_DRIVERS_SRC is not set)
|
||||
endif
|
||||
|
||||
INCLUDE_DIRS += $(HEXAGON_DRIVERS_ROOT)/inc
|
||||
|
||||
# For Actual flight we need to link against the driver dynamic libraries
|
||||
LDFLAGS += -L${HEXAGON_DRIVERS_ROOT}/libs -lmpu9x50
|
||||
LDFLAGS += -luart_esc
|
||||
LDFLAGS += -lcsr_gps
|
||||
LDFLAGS += -lrc_receiver
|
||||
|
||||
#
|
||||
# Makefile for the EAGLE QuRT *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += modules/sensors
|
||||
MODULES += $(EAGLE_DRIVERS_SRC)/mpu9x50
|
||||
MODULES += $(EAGLE_DRIVERS_SRC)/uart_esc
|
||||
MODULES += $(EAGLE_DRIVERS_SRC)/rc_receiver
|
||||
MODULES += $(EAGLE_DRIVERS_SRC)/csr_gps
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/controllib
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
MODULES += platforms/qurt/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
|
||||
#
|
||||
# sources for muorb over fastrpc
|
||||
#
|
||||
MODULES += modules/muorb/adsp/
|
||||
@@ -1,83 +0,0 @@
|
||||
#
|
||||
# Makefile for the Foo *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
#ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
#MODULES += modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/geo
|
||||
#MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
MODULES += platforms/qurt/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
MODULES += platforms/posix/drivers/accelsim
|
||||
MODULES += platforms/posix/drivers/gyrosim
|
||||
MODULES += platforms/posix/drivers/adcsim
|
||||
MODULES += platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
MODULES += platforms/qurt/tests/hello
|
||||
MODULES += platforms/posix/tests/vcdev_test
|
||||
MODULES += platforms/posix/tests/hrt_test
|
||||
MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# sources for muorb over fastrpc
|
||||
#
|
||||
#MODULES += $(PX4_BASE)/../muorb_qurt/
|
||||
@@ -1,74 +0,0 @@
|
||||
#
|
||||
# Makefile for the Foo *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
#MODULES += drivers/blinkm
|
||||
#MODULES += drivers/pwm_out_sim
|
||||
#MODULES += drivers/led
|
||||
#MODULES += drivers/rgbled
|
||||
#MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/mc_att_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
#MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
#MODULES += modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
#MODULES += lib/mathlib
|
||||
#MODULES += lib/mathlib/math/filter
|
||||
#MODULES += lib/geo
|
||||
#MODULES += lib/geo_lookup
|
||||
#MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
MODULES += platforms/qurt/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
MODULES += platforms/qurt/tests/hello
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
@@ -1,84 +0,0 @@
|
||||
#
|
||||
# Makefile for the Foo *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/boards/sitl
|
||||
#MODULES += drivers/blinkm
|
||||
MODULES += drivers/pwm_out_sim
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/mixer
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/attitude_estimator_q
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
MODULES += modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += modules/controllib
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
MODULES += platforms/qurt/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
#MODULES += platforms/qurt/tests/muorb
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# sources for muorb over fastrpc
|
||||
#
|
||||
MODULES += modules/muorb/adsp/
|
||||
@@ -1,80 +0,0 @@
|
||||
#
|
||||
# Makefile for the Foo *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
#MODULES += drivers/blinkm
|
||||
#MODULES += drivers/pwm_out_sim
|
||||
#MODULES += drivers/led
|
||||
#MODULES += drivers/rgbled
|
||||
#MODULES += modules/sensors
|
||||
#MODULES += drivers/ms5611
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
#MODULES += systemcmds/param
|
||||
#MODULES += systemcmds/mixer
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
#MODULES += modules/attitude_estimator_ekf
|
||||
#MODULES += modules/ekf_att_pos_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/mc_att_control
|
||||
#MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
#MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
#MODULES += modules/dataman
|
||||
#MODULES += modules/sdlog2
|
||||
#MODULES += modules/simulator
|
||||
#MODULES += modules/commander
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
|
||||
#
|
||||
# QuRT port
|
||||
#
|
||||
MODULES += platforms/qurt/px4_layer
|
||||
MODULES += platforms/posix/work_queue
|
||||
#MODULES += platforms/posix/drivers/accelsim
|
||||
#MODULES += platforms/posix/drivers/gyrosim
|
||||
#MODULES += platforms/posix/drivers/adcsim
|
||||
#MODULES += platforms/posix/drivers/barosim
|
||||
|
||||
#
|
||||
# Unit tests
|
||||
#
|
||||
MODULES += platforms/qurt/tests/muorb
|
||||
#MODULES += platforms/posix/tests/vcdev_test
|
||||
#MODULES += platforms/posix/tests/hrt_test
|
||||
#MODULES += platforms/posix/tests/wqueue
|
||||
|
||||
#
|
||||
# sources for muorb over fastrpc
|
||||
#
|
||||
MODULES += modules/muorb/adsp/
|
||||
@@ -1,62 +0,0 @@
|
||||
#
|
||||
# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Built products
|
||||
#
|
||||
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
|
||||
|
||||
all: $(FIRMWARES)
|
||||
|
||||
#
|
||||
# Generate FIRMWARES.
|
||||
#
|
||||
.PHONY: $(FIRMWARES)
|
||||
$(BUILD_DIR)%.build/firmware.a: config = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
|
||||
$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a: generateuorbtopicheaders
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
$(Q) $(MKDIR) -p $(work_dir)
|
||||
$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
|
||||
-f $(PX4_MK_DIR)firmware.mk \
|
||||
CONFIG=$(config) \
|
||||
WORK_DIR=$(work_dir) \
|
||||
$(FIRMWARE_GOAL)
|
||||
|
||||
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
|
||||
V_ARCH = v5
|
||||
HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
|
||||
SIM = $(HEXAGON_CLANG_BIN)/hexagon-sim
|
||||
SIMFLAGS+= -m$(V_ARCH)
|
||||
sim:
|
||||
$(SIM) $(SIMFLAGS) Build/qurt_default.build/mainapp
|
||||
@@ -1,39 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Rules and definitions related to handling the Linux specific impl when
|
||||
# building firmware.
|
||||
#
|
||||
|
||||
MODULES += \
|
||||
platforms/common
|
||||
|
||||
@@ -1,17 +0,0 @@
|
||||
This patch is required for QuRT. complex.h defines "I" and it replaces "I" in the
|
||||
enum definition without this patch creating an error.
|
||||
|
||||
diff --git a/Eigen/src/Core/SolveTriangular.h b/Eigen/src/Core/SolveTriangular.h
|
||||
index ef17f28..1116270 100644
|
||||
--- a/Eigen/src/Core/SolveTriangular.h
|
||||
+++ b/Eigen/src/Core/SolveTriangular.h
|
||||
@@ -112,6 +112,9 @@ template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
|
||||
bool Stop = Index==Size>
|
||||
struct triangular_solver_unroller;
|
||||
|
||||
+#ifdef __PX4_QURT
|
||||
+#undef I
|
||||
+#endif
|
||||
template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
|
||||
struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
|
||||
enum {
|
||||
@@ -1,85 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Makefile for PX4 Linux based firmware images.
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# Build rules
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# What we're going to build.
|
||||
#
|
||||
|
||||
EXTRALDFLAGS = -Wl,-soname=libpx4.so
|
||||
PRODUCT_SHARED_LIB = $(WORK_DIR)firmware.a
|
||||
PRODUCT_SHARED_PRELINK = $(WORK_DIR)firmware.o
|
||||
|
||||
.PHONY: firmware
|
||||
firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)libpx4.so $(WORK_DIR)mainapp
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
|
||||
$(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
|
||||
$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
|
||||
|
||||
$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
|
||||
$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
|
||||
|
||||
$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py
|
||||
$(PX4_BASE)/Tools/qurt_apps.py > $@
|
||||
|
||||
$(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
|
||||
$(call COMPILEXX,$<, $@)
|
||||
mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
|
||||
|
||||
$(WORK_DIR)libpx4.so: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
|
||||
$(call LINK_SO,$@, $^)
|
||||
|
||||
$(WORK_DIR)dspal_stub.o: $(PX4_BASE)/src/platforms/qurt/dspal/dspal_stub.c
|
||||
$(call COMPILENOSHARED,$^, $@)
|
||||
|
||||
$(WORK_DIR)mainapp: $(WORK_DIR)dspal_stub.o
|
||||
$(call LINK,$@, $^)
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
.PHONY: clean
|
||||
clean: $(MODULE_CLEANS)
|
||||
@$(ECHO) %% cleaning
|
||||
$(Q) $(REMOVE) $(PRODUCT_ELF)
|
||||
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
|
||||
@@ -1,48 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 Mark Charlebois. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
# ###########################################################################
|
||||
|
||||
#
|
||||
# This file is required to modify the PX4 project so it can be build with
|
||||
# the Hexagon toolchain.
|
||||
#
|
||||
# 1. Downgrade Eigen to 3.2 because the C++11 features of latest version
|
||||
# are not supported
|
||||
# 2. Patch Eigen because the Hexagon toolchain complex.h defines "I"
|
||||
#
|
||||
|
||||
cd $1
|
||||
cd src/lib/eigen/
|
||||
git checkout .
|
||||
git checkout e7850ed81f9c469e02df496ef09ae32ec0379b71
|
||||
patch -p1 < ../../../makefiles/qurt/qurt_eigen.patch
|
||||
|
||||
@@ -1,345 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Definitions for a generic GNU ARM-EABI toolchain
|
||||
#
|
||||
|
||||
#$(info TOOLCHAIN gnu-arm-eabi)
|
||||
|
||||
# Toolchain commands. Normally only used inside this file.
|
||||
#
|
||||
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
|
||||
#HEXAGON_TOOLS_ROOT = /opt/6.4.05
|
||||
HEXAGON_SDK_ROOT ?= /opt/Hexagon_SDK/2.0
|
||||
V_ARCH = v5
|
||||
CROSSDEV = hexagon-
|
||||
HEXAGON_BIN = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
|
||||
HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
|
||||
HEXAGON_LIB_DIR = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
|
||||
HEXAGON_ISS_DIR = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
|
||||
TOOLSLIB = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
|
||||
QCTOOLSLIB = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
|
||||
QURTLIB = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
|
||||
DSPAL_INCS ?= $(PX4_BASE)/src/lib/dspal
|
||||
|
||||
|
||||
CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
|
||||
CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
|
||||
CPP = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E
|
||||
LD = $(HEXAGON_BIN)/$(CROSSDEV)ld
|
||||
AR = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
|
||||
NM = $(HEXAGON_BIN)/$(CROSSDEV)nm
|
||||
OBJCOPY = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
|
||||
OBJDUMP = $(HEXAGON_BIN)/$(CROSSDEV)objdump
|
||||
HEXAGON_GCC = $(HEXAGON_BIN)/$(CROSSDEV)gcc
|
||||
|
||||
QURTLIBS = \
|
||||
$(QCTOOLSLIB)/libdl.a \
|
||||
$(TOOLSLIB)/init.o \
|
||||
$(TOOLSLIB)/libc.a \
|
||||
$(TOOLSLIB)/libqcc.a \
|
||||
$(TOOLSLIB)/libstdc++.a \
|
||||
$(QURTLIB)/crt0.o \
|
||||
$(QURTLIB)/libqurt.a \
|
||||
$(QURTLIB)/libqurtkernel.a \
|
||||
$(QURTLIB)/libqurtcfs.a \
|
||||
$(QURTLIB)/libqube_compat.a \
|
||||
$(QURTLIB)/libtimer.a \
|
||||
$(QURTLIB)/libposix.a \
|
||||
$(QURTLIB)/../examples/cust_config.o \
|
||||
$(QCTOOLSLIB)/libhexagon.a \
|
||||
$(TOOLSLIB)/fini.o
|
||||
|
||||
DYNAMIC_LIBS = \
|
||||
-Wl,$(TOOLSLIB)/pic/libstdc++.a
|
||||
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
CROSSDEV_VER_SUPPORTED = 6.4.03 6.4.05
|
||||
CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
|
||||
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
|
||||
endif
|
||||
|
||||
|
||||
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||
|
||||
MAXOPTIMIZATION := -O0
|
||||
|
||||
# Base CPU flags for each of the supported architectures.
|
||||
#
|
||||
ARCHCPUFLAGS = -m$(V_ARCH) -G0
|
||||
|
||||
|
||||
# Set the board flags
|
||||
#
|
||||
ifeq ($(CONFIG_BOARD),)
|
||||
$(error Board config does not define CONFIG_BOARD)
|
||||
endif
|
||||
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
|
||||
-D__PX4_QURT -D__PX4_POSIX \
|
||||
-D_PID_T -D_UID_T -D_TIMER_T\
|
||||
-Dnoreturn_function= \
|
||||
-D__EXPORT= \
|
||||
-Drestrict= \
|
||||
-D_DEBUG \
|
||||
-I$(DSPAL_INCS)/include \
|
||||
-I$(DSPAL_INCS)/sys \
|
||||
-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
|
||||
-I$(PX4_BASE)/src/lib/eigen \
|
||||
-I$(PX4_BASE)/src/platforms/qurt/include \
|
||||
-I$(PX4_BASE)/src/platforms/posix/include \
|
||||
-I$(PX4_BASE)/mavlink/include/mavlink \
|
||||
-I$(PX4_BASE)/../inc \
|
||||
-I$(QURTLIB)/..//include \
|
||||
-I$(HEXAGON_SDK_ROOT)/inc \
|
||||
-I$(HEXAGON_SDK_ROOT)/inc/stddef \
|
||||
-Wno-error=shadow
|
||||
|
||||
|
||||
|
||||
# optimisation flags
|
||||
#
|
||||
ARCHOPTIMIZATION = \
|
||||
-O0 \
|
||||
-g \
|
||||
-fno-strict-aliasing \
|
||||
-fdata-sections \
|
||||
-fpic \
|
||||
-fno-zero-initialized-in-bss
|
||||
|
||||
#-fomit-frame-pointer \
|
||||
#-funsafe-math-optimizations \
|
||||
#-ffunction-sections
|
||||
#$(MAXOPTIMIZATION)
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
# note - requires corresponding support in NuttX
|
||||
INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
|
||||
|
||||
# Language-specific flags
|
||||
#
|
||||
ARCHCFLAGS = -std=gnu99 -D__CUSTOM_FILE_IO__
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
|
||||
|
||||
# Generic warnings
|
||||
#
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Werror \
|
||||
-Wno-unused-parameter \
|
||||
-Wno-unused-function \
|
||||
-Wno-unused-variable \
|
||||
-Wno-gnu-array-member-paren-init \
|
||||
-Wno-cast-align \
|
||||
-Wno-missing-braces \
|
||||
-Wno-strict-aliasing
|
||||
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
# C-specific warnings
|
||||
#
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wstrict-prototypes \
|
||||
-Wnested-externs
|
||||
|
||||
# C++-specific warnings
|
||||
#
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-missing-field-initializers
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# Flags we pass to the C compiler
|
||||
#
|
||||
CFLAGS = $(ARCHCFLAGS) \
|
||||
$(ARCHCWARNINGS) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACFLAGS) \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
#-fno-common
|
||||
# Flags we pass to the C++ compiler
|
||||
#
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHWARNINGSXX) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHXXINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
-DCONFIG_WCHAR_BUILTIN \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACXXFLAGS) \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the assembler
|
||||
#
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRAAFLAGS)
|
||||
|
||||
LDSCRIPT = $(PX4_BASE)/makefiles/posix/ld.script
|
||||
# Flags we pass to the linker
|
||||
#
|
||||
LDFLAGS += -g -mv5 -mG0lib -G0 -fpic -shared \
|
||||
-Wl,-Bsymbolic \
|
||||
-Wl,--wrap=malloc \
|
||||
-Wl,--wrap=calloc \
|
||||
-Wl,--wrap=free \
|
||||
-Wl,--wrap=realloc \
|
||||
-Wl,--wrap=memalign \
|
||||
-Wl,--wrap=__stack_chk_fail \
|
||||
-lc \
|
||||
$(EXTRALDFLAGS) \
|
||||
$(addprefix -L,$(LIB_DIRS))
|
||||
|
||||
# Compiler support library
|
||||
#
|
||||
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
|
||||
|
||||
# Files that the final link depends on
|
||||
#
|
||||
LINK_DEPS += $(LDSCRIPT)
|
||||
|
||||
# Files to include to get automated dependencies
|
||||
#
|
||||
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
|
||||
|
||||
# Compile C source $1 to object $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILENOSHARED
|
||||
@$(ECHO) "CC: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Compile C source $1 to object $2 for use in shared library
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILE
|
||||
@$(ECHO) "CC: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
#$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
|
||||
#$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
|
||||
$(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Compile C++ source $1 to $2 for use in shared library
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILEXX
|
||||
@$(ECHO) "CXX: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
#$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
|
||||
#$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
|
||||
$(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Assemble $1 into $2
|
||||
#
|
||||
define ASSEMBLE
|
||||
@$(ECHO) "AS: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
||||
define PRELINK
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
@echo $(Q) $(LD) -Ur -o $1 $2
|
||||
$(Q) $(LD) -Ur -o $1 $2
|
||||
|
||||
endef
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
|
||||
define PRELINKF
|
||||
@$(ECHO) "PRELINKF: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
|
||||
$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
|
||||
|
||||
endef
|
||||
# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
|
||||
# Update the archive $1 with the files in $2
|
||||
#
|
||||
define ARCHIVE
|
||||
@$(ECHO) "AR: $2"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the shared library $1
|
||||
#
|
||||
define LINK_A
|
||||
@$(ECHO) "LINK_A: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
echo "$(Q) $(AR) $1 $2"
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the shared library $1
|
||||
#
|
||||
define LINK_SO
|
||||
@$(ECHO) "LINK_SO: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the application $1
|
||||
#
|
||||
define LINK
|
||||
@$(ECHO) "LINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic
|
||||
endef
|
||||
|
||||
@@ -1,110 +0,0 @@
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
#
|
||||
# Path and tool setup
|
||||
#
|
||||
|
||||
export PX4_TARGET_OS ?= nuttx
|
||||
|
||||
# PX4_TARGET_OS can be nuttx, posix, or qurt
|
||||
ifeq ($(PX4_TARGET_OS),)
|
||||
$(error Use: make PX4_TARGET_OS=<target> where <target> is nuttx, posix, or qurt)
|
||||
endif
|
||||
|
||||
#
|
||||
# Some useful paths.
|
||||
#
|
||||
# Note that in general we always keep directory paths with the separator
|
||||
# at the end, and join paths without explicit separators. This reduces
|
||||
# the number of duplicate slashes we have lying around in paths,
|
||||
# and is consistent with joining the results of $(dir) and $(notdir).
|
||||
#
|
||||
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
|
||||
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
|
||||
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
|
||||
export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
|
||||
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
|
||||
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
|
||||
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/
|
||||
#export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
|
||||
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/
|
||||
export UAVCAN_DIR = $(abspath $(PX4_BASE)/uavcan)/
|
||||
export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/
|
||||
export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/
|
||||
export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/
|
||||
export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
|
||||
export PX4_VERSIONING_DIR = $(BUILD_DIR)versioning/
|
||||
|
||||
#
|
||||
# Default include paths
|
||||
#
|
||||
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
|
||||
$(PX4_MODULE_SRC)/modules/ \
|
||||
$(PX4_INCLUDE_DIR) \
|
||||
$(PX4_LIB_DIR) \
|
||||
$(PX4_PLATFORMS_DIR) \
|
||||
$(PX4_VERSIONING_DIR)
|
||||
|
||||
#
|
||||
# Tools
|
||||
#
|
||||
export MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||
export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
export COPY = cp
|
||||
export COPYDIR = cp -Rf
|
||||
export REMOVE = rm -f
|
||||
export RMDIR = rm -rf
|
||||
export GENROMFS = genromfs
|
||||
export TOUCH = touch
|
||||
export MKDIR = mkdir
|
||||
export FIND = find
|
||||
export ECHO = echo
|
||||
export UNZIP_CMD = unzip
|
||||
export PYTHON = python
|
||||
export OPENOCD = openocd
|
||||
export GREP = grep
|
||||
export SIZE = size
|
||||
|
||||
#
|
||||
# Host-specific paths, hacks and fixups
|
||||
#
|
||||
export SYSTYPE := $(shell uname -s)
|
||||
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# Eclipse may not have the toolchain on its path.
|
||||
export PATH := $(PATH):/usr/local/bin
|
||||
endif
|
||||
|
||||
#
|
||||
# Makefile debugging.
|
||||
#
|
||||
export Q := $(if $(V),,@)
|
||||
Reference in New Issue
Block a user