diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-12 10:48:16 +0100 |
---|---|---|
committer | David Sidrane <david_s5@nscdg.com> | 2015-04-07 07:12:02 -1000 |
commit | 4d0ed5e04500589fe3c745165d28ee42f3d76462 (patch) | |
tree | d83fe0b3b99674ebe9a8409e91337d6ab3a0c90e | |
parent | e3c811ecf7ca0f085fc09957a20a1e3491f6c508 (diff) | |
download | px4-firmware-4d0ed5e04500589fe3c745165d28ee42f3d76462.tar.gz px4-firmware-4d0ed5e04500589fe3c745165d28ee42f3d76462.tar.bz2 px4-firmware-4d0ed5e04500589fe3c745165d28ee42f3d76462.zip |
Modernize FMUv2 config (using the upstream NuttX config)
-rw-r--r-- | nuttx-configs/px4fmu-v2/Kconfig | 18 | ||||
-rwxr-xr-x | nuttx-configs/px4fmu-v2/include/board.h | 138 | ||||
-rw-r--r-- | nuttx-configs/px4fmu-v2/nsh/Make.defs | 225 | ||||
-rw-r--r-- | nuttx-configs/px4fmu-v2/scripts/ld.script | 24 | ||||
-rw-r--r-- | nuttx-configs/px4fmu-v2/src/Makefile | 27 |
5 files changed, 245 insertions, 187 deletions
diff --git a/nuttx-configs/px4fmu-v2/Kconfig b/nuttx-configs/px4fmu-v2/Kconfig index ae2bf3130..f9f0c5e6a 100644 --- a/nuttx-configs/px4fmu-v2/Kconfig +++ b/nuttx-configs/px4fmu-v2/Kconfig @@ -2,3 +2,21 @@ # For a description of the syntax of this configuration file, # see misc/tools/kconfig-language.txt. # + +if ARCH_BOARD_PX4FMU_V2 + +config BOARD_HAS_PROBES + bool "Board provides GPIO or other Hardware for signaling to timing analyze." + default y + ---help--- + This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers. + +config BOARD_USE_PROBES + bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers" + default n + depends on BOARD_HAS_PROBES + + ---help--- + Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers. + +endif diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h index 52668cacd..d61cd1631 100755 --- a/nuttx-configs/px4fmu-v2/include/board.h +++ b/nuttx-configs/px4fmu-v2/include/board.h @@ -196,81 +196,123 @@ /* Alternate function pin selections ************************************************/ -/* - * UARTs. - */ -#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */ -#define GPIO_USART1_TX 0 /* USART1 is RX-only */ +/* UARTs */ + +#define GPIO_USART1_RX GPIO_USART1_RX_1 /* Console in from IO */ +#define GPIO_USART1_TX 0 /* USART1 is RX-only */ -#define GPIO_USART2_RX GPIO_USART2_RX_2 -#define GPIO_USART2_TX GPIO_USART2_TX_2 -#define GPIO_USART2_RTS GPIO_USART2_RTS_2 -#define GPIO_USART2_CTS GPIO_USART2_CTS_2 +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_RTS GPIO_USART2_RTS_2 +#define GPIO_USART2_CTS GPIO_USART2_CTS_2 -#define GPIO_USART3_RX GPIO_USART3_RX_3 -#define GPIO_USART3_TX GPIO_USART3_TX_3 -#define GPIO_USART3_RTS GPIO_USART3_RTS_2 -#define GPIO_USART3_CTS GPIO_USART3_CTS_2 +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART3_RTS GPIO_USART3_RTS_2 +#define GPIO_USART3_CTS GPIO_USART3_CTS_2 -#define GPIO_UART4_RX GPIO_UART4_RX_1 -#define GPIO_UART4_TX GPIO_UART4_TX_1 +#define GPIO_UART4_RX GPIO_UART4_RX_1 +#define GPIO_UART4_TX GPIO_UART4_TX_1 -#define GPIO_USART6_RX GPIO_USART6_RX_1 -#define GPIO_USART6_TX GPIO_USART6_TX_1 +#define GPIO_USART6_RX GPIO_USART6_RX_1 +#define GPIO_USART6_TX GPIO_USART6_TX_1 -#define GPIO_UART7_RX GPIO_UART7_RX_1 -#define GPIO_UART7_TX GPIO_UART7_TX_1 +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 /* UART8 has no alternate pin config */ /* UART RX DMA configurations */ + #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 -/* - * CAN +/* CAN * * CAN1 is routed to the onboard transceiver. * CAN2 is routed to the expansion connector. */ -#define GPIO_CAN1_RX GPIO_CAN1_RX_3 -#define GPIO_CAN1_TX GPIO_CAN1_TX_3 -#define GPIO_CAN2_RX GPIO_CAN2_RX_1 -#define GPIO_CAN2_TX GPIO_CAN2_TX_2 -/* - * I2C +#define GPIO_CAN1_RX GPIO_CAN1_RX_3 +#define GPIO_CAN1_TX GPIO_CAN1_TX_3 +#define GPIO_CAN2_RX GPIO_CAN2_RX_1 +#define GPIO_CAN2_TX GPIO_CAN2_TX_2 + +/* I2C * * The optional _GPIO configurations allow the I2C driver to manually * reset the bus to clear stuck slaves. They match the pin configuration, * but are normally-high GPIOs. */ -#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 -#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 -#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) -#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) - -#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 -#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 -#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) -#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) - -/* - * SPI + +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 +#define GPIO_I2C1_SCL_GPIO \ + (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) +#define GPIO_I2C1_SDA_GPIO \ + (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) + +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO \ + (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO \ + (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* SPI * * There are sensors on SPI1, and SPI2 is connected to the FRAM. */ -#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz) -#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz) -#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz) -#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz) -#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz) -#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 +#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 +#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 + +#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 +#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 +#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2 + +#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 +#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 +#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1 + +/* LED Definitions. Needed if CONFIG_ARCH_LEDs is defined */ + +#define LED_STARTED 0 +#define LED_HEAPALLOCATE 0 +#define LED_IRQSENABLED 0 +#define LED_STACKCREATED 1 +#define LED_INIRQ 1 +#define LED_SIGNAL 1 +#define LED_ASSERTION 1 +#define LED_PANIC 1 + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +#if defined(CONFIG_BOARD_USE_PROBES) +# define PROBE_N(n) (1<<((n)-1)) +# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) +# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) +# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) +# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) +# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) + +# define PROBE_INIT(mask) \ + do { \ + if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ + if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ + if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ + if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ + if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ + if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ + } while(0) + +# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) +# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +#endif + -#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz) -#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz) -#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz) /************************************************************************************ * Public Data diff --git a/nuttx-configs/px4fmu-v2/nsh/Make.defs b/nuttx-configs/px4fmu-v2/nsh/Make.defs index 5a1d5af2c..02e2db428 100644 --- a/nuttx-configs/px4fmu-v2/nsh/Make.defs +++ b/nuttx-configs/px4fmu-v2/nsh/Make.defs @@ -1,5 +1,5 @@ ############################################################################ -# configs/px4fmu-v2/nsh/Make.defs +# configs/px4fmu-v2_updstream/nsh/Make.defs # # Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt <gnutt@nuttx.org> @@ -35,146 +35,145 @@ include ${TOPDIR}/.config include ${TOPDIR}/tools/Config.mk - -# -# We only support building with the ARM bare-metal toolchain from -# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. -# -CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI - include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs -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 +CONFIG_ARMV7M_TOOLCHAIN := GNU_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 = $(CROSSDEV)objdump MAXOPTIMIZATION = -Os -ARCHCPUFLAGS = -mcpu=cortex-m4 \ - -mthumb \ - -march=armv7e-m \ - -mfpu=fpv4-sp-d16 \ - -mfloat-abi=hard +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard -# enable precise stack overflow tracking ifeq ($(CONFIG_ARMV7M_STACKCHECK),y) -INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10 -endif +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 +endif +# Pull in *just* libm from the toolchain ... this is grody -# pull in *just* libm from the toolchain ... this is grody -LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" -EXTRA_LIBS += $(LIBM) +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) -# use our linker script -LDSCRIPT = ld.script +# Use our linker script + +LDSCRIPT = ld.script ifeq ($(WINTOOL),y) # Windows-native toolchains - DIRLINK = $(TOPDIR)/tools/copydir.sh - DIRUNLINK = $(TOPDIR)/tools/unlink.sh - MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" - ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" - ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" else ifeq ($(PX4_WINTOOL),y) # Windows-native toolchains (MSYS) - DIRLINK = $(TOPDIR)/tools/copydir.sh - DIRUNLINK = $(TOPDIR)/tools/unlink.sh - MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx - ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) else - # Linux/Cygwin-native toolchain - MKDEP = $(TOPDIR)/tools/mkdeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx - ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) endif endif -# tool versions -ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} -ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} +# Tool versions + +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} -# optimisation flags -ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ - -fno-strict-aliasing \ - -fno-strength-reduce \ - -fomit-frame-pointer \ - -funsafe-math-optimizations \ - -fno-builtin-printf \ - -ffunction-sections \ - -fdata-sections +# Optimization flags + +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") -ARCHOPTIMIZATION += -g +ARCHOPTIMIZATION += -g endif -ARCHCFLAGS = -std=gnu99 -ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -ARCHWARNINGS = -Wall \ - -Wno-sign-compare \ - -Wextra \ - -Wdouble-promotion \ - -Wshadow \ - -Wfloat-equal \ - -Wframe-larger-than=1024 \ - -Wpointer-arith \ - -Wlogical-op \ - -Wmissing-declarations \ - -Wpacked \ - -Wno-unused-parameter +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wno-sign-compare \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter # -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 -ARCHCWARNINGS = $(ARCHWARNINGS) \ - -Wbad-function-cast \ - -Wstrict-prototypes \ - -Wold-style-declaration \ - -Wmissing-parameter-type \ - -Wmissing-prototypes \ - -Wnested-externs -ARCHWARNINGSXX = $(ARCHWARNINGS) \ - -Wno-psabi -ARCHDEFINES = -ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 - -# this seems to be the only way to add linker flags -EXTRA_LIBS += --warn-common \ - --gc-sections - -CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common -CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) -CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) -CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -AFLAGS = $(CFLAGS) -D__ASSEMBLY__ - -NXFLATLDFLAGS1 = -r -d -warn-common -NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections -LDNXFLATFLAGS = -e main -s 2048 - -OBJEXT = .o -LIBEXT = .a -EXEEXT = - - -# produce partially-linked $1 from files in $2 +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# This seems to be the only way to add linker flags + +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + +# Produce partially-linked $1 from files in $2 + define PRELINK - @echo "PRELINK: $1" - $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 endef -HOSTCC = gcc -HOSTINCLUDES = -I. -HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe -HOSTLDFLAGS = - +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script index b04ad89a6..5214d5d3a 100644 --- a/nuttx-configs/px4fmu-v2/scripts/ld.script +++ b/nuttx-configs/px4fmu-v2/scripts/ld.script @@ -1,5 +1,5 @@ /**************************************************************************** - * configs/px4fmu/common/ld.script + * configs/px4fmu-v2_upstream/common/ld.script * * Copyright (C) 2011 Gregory Nutt. All rights reserved. * Author: Gregory Nutt <gnutt@nuttx.org> @@ -61,7 +61,7 @@ OUTPUT_ARCH(arm) ENTRY(__start) /* treat __start as the anchor for dead code stripping */ EXTERN(_vectors) /* force the vectors to be included in the output */ -/* +/* * Ensure that abort() is present in the final object. The exception handling * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). */ @@ -73,24 +73,24 @@ SECTIONS .text : { _stext = ABSOLUTE(.); *(.vectors) - . = ALIGN(32); - /* - This signature provides the bootloader with a way to delay booting - */ - _bootdelay_signature = ABSOLUTE(.); - FILL(0xffecc2925d7d05c5) - . += 8; - *(.text .text.*) + . = ALIGN(32); + /* + This signature provides the bootloader with a way to delay booting + */ + _bootdelay_signature = ABSOLUTE(.); + FILL(0xffecc2925d7d05c5) + . += 8; + *(.text .text.*) *(.fixup) *(.gnu.warning) - *(.rodata .rodata.*) + *(.rodata .rodata.*) *(.gnu.linkonce.t.*) *(.got) *(.gcc_except_table) *(.gnu.linkonce.r.*) _etext = ABSOLUTE(.); - /* + /* * This is a hack to make the newlib libm __errno() call * use the NuttX get_errno_ptr() function. */ diff --git a/nuttx-configs/px4fmu-v2/src/Makefile b/nuttx-configs/px4fmu-v2/src/Makefile index d4276f7fc..35ad52a2d 100644 --- a/nuttx-configs/px4fmu-v2/src/Makefile +++ b/nuttx-configs/px4fmu-v2/src/Makefile @@ -1,5 +1,5 @@ ############################################################################ -# configs/px4fmu/src/Makefile +# configs/px4fmu-v2_upstream/src/Makefile # # Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt <gnutt@nuttx.org> @@ -35,24 +35,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -CSRCS = empty.c -COBJS = $(CSRCS:.c=$(OBJEXT)) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src ifeq ($(WINTOOL),y) - CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ - -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ - -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" else - CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -81,4 +81,3 @@ distclean: clean $(call DELFILE, .depend) -include Make.dep - |