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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-10 16:21:10 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-10 16:21:10 +0400 |
| commit | afb34950a38644f4a06bc0621bcd4c95b70b1fa6 (patch) | |
| tree | 3ed1722a2831173ce2d3fda0b46f44d1ca3816d2 /makefiles | |
| parent | 4bf49cfc35e86528a7b321dc0b8fb55c36fad510 (diff) | |
| parent | 42ce3112ad645e53788463180c350279b243b02e (diff) | |
| download | px4-firmware-afb34950a38644f4a06bc0621bcd4c95b70b1fa6.tar.gz px4-firmware-afb34950a38644f4a06bc0621bcd4c95b70b1fa6.tar.bz2 px4-firmware-afb34950a38644f4a06bc0621bcd4c95b70b1fa6.zip | |
Merge branch 'master' into seatbelt_multirotor
Diffstat (limited to 'makefiles')
| -rw-r--r-- | makefiles/config_px4fmu_default.mk | 4 | ||||
| -rw-r--r-- | makefiles/firmware.mk | 12 | ||||
| -rw-r--r-- | makefiles/nuttx.mk | 6 | ||||
| -rw-r--r-- | makefiles/toolchain_gnu-arm-eabi.mk | 14 |
4 files changed, 25 insertions, 11 deletions
diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 7a73d1a32..07ed5e633 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -62,7 +62,8 @@ 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 MODULES += modules/position_estimator_inav @@ -80,6 +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/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 c75a08bd1..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 |