Merged master into uavcan

6 files changed, 155 insertions, 11 deletions

diff --git a/makefiles/board_aerocore.mk b/makefiles/board_aerocore.mk
new file mode 100644
index 000000000..6f4b93266
--- /dev/null
+++ b/makefiles/board_aerocore.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the Gumstix AeroCore
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM4F
+CONFIG_BOARD			 = AEROCORE
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk
new file mode 100644
index 000000000..53a2ad1ab
--- /dev/null
+++ b/makefiles/config_aerocore_default.mk
@@ -0,0 +1,125 @@
+#
+# 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/hil
+MODULES		+= modules/sensors
+
+#
+# System commands
+#
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+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/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= modules/ekf_att_pos_estimator
+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/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)
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 61a417f30..4d727aa4d 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -52,7 +52,6 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/dumpfile
@@ -67,12 +66,11 @@ MODULES		+= modules/mavlink
 MODULES		+= modules/gpio_led
 
 #
-# Estimation modules (EKF/ SO3 / other filters)
+# Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/fw_att_pos_estimator
+MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
-#MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
@@ -81,8 +79,6 @@ MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
 MODULES		+= modules/mc_att_control
 MODULES		+= modules/mc_pos_control
-#MODULES		+= examples/flow_position_control
-#MODULES		+= examples/flow_speed_control
 
 #
 # Logging
@@ -111,8 +107,8 @@ 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
 
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 310230535..0852c93ad 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -40,6 +40,7 @@ MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
+MODULES		+= drivers/pca8574
 
 
 # Needs to be burned to the ground and re-written; for now,
@@ -80,7 +81,7 @@ MODULES		+= modules/uavcan
 #
 MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/attitude_estimator_so3
-MODULES		+= modules/fw_att_pos_estimator
+MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
 
@@ -120,8 +121,8 @@ 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
 
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 84274bf75..66b2157ed 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -24,6 +24,7 @@ MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
+MODULES		+= drivers/pca8574
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 3c00e77f1..173c20186 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -48,6 +48,16 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
+# Check if the right version of the toolchain is available
+#
+CROSSDEV_VER_SUPPORTED	 = 4.7
+CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
+
+ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
+$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
+endif
+
+
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
 MAXOPTIMIZATION		 ?= -O3
@@ -76,7 +86,7 @@ ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
 ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
 			   -ffixed-r10
 
-ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = 
+ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
 
 # Pick the right set of flags for the architecture.
 #
@@ -265,7 +275,7 @@ define SYM_TO_BIN
 	$(Q) $(OBJCOPY) -O binary $1 $2
 endef
 
-# Take the raw binary $1 and make it into an object file $2. 
+# 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.
 #