Merge branch 'master' into fmuv2_bringup

5 files changed, 40 insertions, 17 deletions

diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk
index c269996f6..7117a8218 100644
--- a/makefiles/config_px4fmu_default.mk
+++ b/makefiles/config_px4fmu_default.mk
@@ -57,12 +57,14 @@ MODULES		+= systemcmds/tests
 MODULES		+= modules/commander
 MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard
+MODULES		+= modules/gpio_led
 
 #
 # Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/attitude_estimator_so3_comp
+#MODULES		+= modules/position_estimator_mc
 MODULES		+= modules/position_estimator
 MODULES		+= modules/att_pos_estimator_ekf
 
@@ -79,6 +81,7 @@ MODULES		+= modules/multirotor_pos_control
 # Logging
 #
 MODULES		+= modules/sdlog
+MODULES		+= modules/sdlog2
 
 #
 # Library modules
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 6b09e6ec3..f1c1b496a 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -177,6 +177,12 @@ GLOBAL_DEPS		+= $(MAKEFILE_LIST)
 EXTRA_CLEANS		 = 
 
 ################################################################################
+# NuttX libraries and paths
+################################################################################
+
+include $(PX4_MK_DIR)/nuttx.mk
+
+################################################################################
 # Modules
 ################################################################################
 
@@ -297,12 +303,6 @@ $(LIBRARY_CLEANS):
 	clean
 
 ################################################################################
-# NuttX libraries and paths
-################################################################################
-
-include $(PX4_MK_DIR)/nuttx.mk
-
-################################################################################
 # ROMFS generation
 ################################################################################
 
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 074cd159a..9e4cbafc9 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -183,12 +183,17 @@ CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibi
 #
 module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
 
-##
-## Object files we will generate from sources
-##
+#
+# 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
 #
 
@@ -219,3 +224,5 @@ $(MODULE_OBJ):		$(OBJS) $(GLOBAL_DEPS)
 
 clean:
 	$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
+
+-include $(DEPS)
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index 346735a02..d283096b2 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -69,10 +69,14 @@ INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
 
 LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
 LIBS			+= -lapps -lnuttx
-LINK_DEPS		+= $(NUTTX_EXPORT_DIR)libs/libapps.a \
+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)
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 874e7154c..3f4d3371a 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -50,7 +50,7 @@ OBJDUMP			 = $(CROSSDEV)objdump
 
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 ?= -O3
 
 # Base CPU flags for each of the supported architectures.
 #
@@ -70,6 +70,14 @@ ARCHCPUFLAGS_CORTEXM3	 = -mcpu=cortex-m3 \
 			   -march=armv7-m \
 			   -mfloat-abi=soft
 
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
+			   -ffixed-r10
+
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
+			   -ffixed-r10
+
+ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = 
+
 # Pick the right set of flags for the architecture.
 #
 ARCHCPUFLAGS		 = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
@@ -91,8 +99,8 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 
 # enable precise stack overflow tracking
 # note - requires corresponding support in NuttX
-INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-			   -ffixed-r10
+INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
+
 # Language-specific flags
 #
 ARCHCFLAGS		 = -std=gnu99
@@ -219,7 +227,7 @@ endef
 define PRELINK
 	@$(ECHO) "PRELINK: $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+	$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
 # Update the archive $1 with the files in $2
@@ -235,7 +243,7 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
+	$(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
@@ -280,6 +288,7 @@ define BIN_TO_OBJ
 	$(Q) $(OBJCOPY) $2 \
 		--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
 		--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
-		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end
+		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
+		--rename-section .data=.rodata
 	$(Q) $(REMOVE) $2.c $2.c.o
 endef