diff options
| -rw-r--r-- | Makefile | 33 | ||||
| -rw-r--r-- | makefiles/firmware.mk | 2 | ||||
| -rw-r--r-- | makefiles/nuttx.mk | 23 | ||||
| -rw-r--r-- | nuttx-configs/px4cannode-v1/src/ostubs.c | 120 |
4 files changed, 147 insertions, 31 deletions
@@ -62,16 +62,11 @@ CONFIGS ?= $(KNOWN_CONFIGS) KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk)))) BOARDS ?= $(KNOWN_BOARDS) - # -# Nuttx configurations +# Canned firmware configurations for bootloader that we (know how to) build. # -NUTTX_CONFIGURATION ?= nsh - -ifeq ($(NUTTX_CONFIGURATION),bootloader) -BOOTLOADER = bootloader -BOOTLOADEREXT =.$(BOOTLOADER) -endif +KNOWN_BOARDS_WITH_BOOTLOADERS := $(subst _bootloader,, $(filter %_bootloader, $(CONFIGS))) +BOARDS_WITH_BOOTLOADERS := $(filter $(BOARDS), $(KNOWN_BOARDS_WITH_BOOTLOADERS)) # # Debugging @@ -134,17 +129,18 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 # .PHONY: $(FIRMWARES) $(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@) +$(BUILD_DIR)%.build/firmware.px4: NUTTX_CONFIG = $(if $(findstring bootloader,$@),bootloader,nsh) $(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: generateuorbtopicheaders checksubmodules @$(ECHO) %%%% - @$(ECHO) %%%% Building $(config) in $(work_dir) + @$(ECHO) %%%% Building $(config) on $(NUTTX_CONFIG) in $(work_dir) @$(ECHO) %%%% $(Q) $(MKDIR) -p $(work_dir) $(Q) $(MAKE) -r -C $(work_dir) \ -f $(PX4_MK_DIR)firmware.mk \ CONFIG=$(config) \ WORK_DIR=$(work_dir) \ - BOOTLOADER=$(BOOTLOADER) \ + NUTTX_CONFIG=$(NUTTX_CONFIG) \ $(FIRMWARE_GOAL) # @@ -171,7 +167,8 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config)))) # 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) +NUTTX_BOOTLOADER_ARCHIVES = $(foreach board,$(BOARDS_WITH_BOOTLOADERS),$(ARCHIVE_DIR)$(board).bootloader.export) +NUTTX_ARCHIVES = $(NUTTX_BOOTLOADER_ARCHIVES) $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).nsh.export) .PHONY: archives archives: checksubmodules nuttxpatches $(NUTTX_ARCHIVES) @@ -183,18 +180,18 @@ endif J?=1 -$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@)) -$(ARCHIVE_DIR)%.export: configuration = $(NUTTX_CONFIGURATION) +$(ARCHIVE_DIR)%.export: board = $(basename $(notdir $(basename $@))) +$(ARCHIVE_DIR)%.export: configuration = $(lastword $(subst ., ,$(notdir $(basename $@)))) $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) - @$(ECHO) %% Configuring NuttX for $(board) $(BOOTLOADER) + @$(ECHO) %% Configuring NuttX for $(board) $(configuration) $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export) $(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean - $(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .) + $(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) $(BOOTLOADER) + @$(ECHO) %% Exporting NuttX for $(board) $(configuration) $(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export - $(Q) $(MKDIR) -p $(dir $@$(BOOTLOADEREXT)) - $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@$(BOOTLOADEREXT) + $(Q) $(MKDIR) -p $(dir $@) + $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@ $(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board)) NUTTX_PATCHES := $(wildcard $(PX4_NUTTX_PATCH_DIR)*.patch) diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index b0ca58c8f..edd22797c 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -145,6 +145,7 @@ endif export CONFIG include $(CONFIG_FILE) $(info % CONFIG = $(CONFIG)) +$(info % NUTTX Config = $(NUTTX_CONFIG)) # # Sanity-check the BOARD variable and then get the board config. @@ -217,7 +218,6 @@ define MODULE_SEARCH $(firstword $(abspath $(wildcard $(1)/module.mk)) \ $(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \ MISSING_$1) - $(info MODULE_SEARCH_DIRS=$(MODULE_SEARCH_DIRS)) endef # make a list of module makefiles and check that we found them all diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk index 2b5449ea0..578438f22 100644 --- a/makefiles/nuttx.mk +++ b/makefiles/nuttx.mk @@ -35,21 +35,11 @@ # # -# Are we Building a bootloader -# - -ifneq ($(BOOTLOADER),) -BOOTLOADEREXT =.$(BOOTLOADER) -NUTTX_STARTUP = $(NUTTX_EXPORT_DIR)startup/stm32_vectors.o -endif - - -# # Check that the NuttX archive for the selected board is available. # -NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export$(BOOTLOADEREXT)) +NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).$(NUTTX_CONFIG).export) ifeq ($(NUTTX_ARCHIVE),) -$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) +$(error The NuttX export archive $(BOARD).$(CONFIG).export for $(BOARD) with configuration $(config) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE)) endif # @@ -62,6 +52,15 @@ NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h $(info % NUTTX_EXPORT_DIR = $(NUTTX_EXPORT_DIR)) $(info % NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER)) +# +# Are there any start up files not in the nuttx lib +# + +NUTTX_STARTUP := $(wildcard $(NUTTX_EXPORT_DIR)startup/*.o) + + +$(info * NUTTX_STARTUP = $(NUTTX_STARTUP)) + GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER) diff --git a/nuttx-configs/px4cannode-v1/src/ostubs.c b/nuttx-configs/px4cannode-v1/src/ostubs.c new file mode 100644 index 000000000..f39d6aa22 --- /dev/null +++ b/nuttx-configs/px4cannode-v1/src/ostubs.c @@ -0,0 +1,120 @@ + +/************************************************************************************ + * configs/olimexino-stm32/src/stm32_nss.c + * + * Copyright (C) 2015 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * David Sidrane <david_s5@nscdg.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 NuttX 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <nuttx/init.h> +#include <nuttx/arch.h> + +#include <stdbool.h> +#include <stdio.h> +#include <syslog.h> +#include <errno.h> + +#include <nuttx/board.h> + +#include "up_internal.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +void timer_init(void); + +FAR void *malloc(size_t size); +void exit(int status); +void sched_ufree(FAR void *address); +int __wrap_up_svcall(int irq, FAR void *context); +void os_start(void); + + +void os_start(void) +{ + + timer_init(); + + /* Initialize the interrupt subsystem */ + + up_irqinitialize(); + + +#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ + !defined(CONFIG_SYSTEMTICK_EXTCLK) + up_timer_initialize(); +#endif + + while (1) + { + main(0, 0); + } +} + +FAR void *malloc(size_t size) +{ + return NULL; +} + +void exit(int status) +{ + while (1); +} + +void sched_ufree(FAR void *address) +{ + +} + +int __wrap_up_svcall(int irq, FAR void *context) +{ + return 0; +} +volatile dq_queue_t g_readytorun; |