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-rw-r--r--makefiles/config_px4fmu-v1_default.mk1
-rw-r--r--makefiles/config_px4fmu-v2_default.mk1
-rw-r--r--makefiles/config_px4fmu-v2_multiplatform.mk168
-rw-r--r--makefiles/config_px4fmu-v2_test.mk27
-rw-r--r--makefiles/setup.mk6
-rw-r--r--makefiles/toolchain_gnu-arm-eabi.mk2
6 files changed, 199 insertions, 6 deletions
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 18be47065..7eb090d73 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -110,6 +110,7 @@ MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
+MODULES += platforms/nuttx
#
# Demo apps
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 3abebd82f..aa2e01229 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -116,6 +116,7 @@ MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
+MODULES += platforms/nuttx
#
# OBC challenge
diff --git a/makefiles/config_px4fmu-v2_multiplatform.mk b/makefiles/config_px4fmu-v2_multiplatform.mk
new file mode 100644
index 000000000..bfa26f83c
--- /dev/null
+++ b/makefiles/config_px4fmu-v2_multiplatform.mk
@@ -0,0 +1,168 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS, copy the px4iov2 firmware into
+# the ROMFS if it's available
+#
+ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
+
+#
+# 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/px4io
+MODULES += drivers/boards/px4fmu-v2
+MODULES += drivers/rgbled
+MODULES += drivers/mpu6000
+MODULES += drivers/lsm303d
+MODULES += drivers/l3gd20
+MODULES += drivers/hmc5883
+MODULES += drivers/ms5611
+MODULES += drivers/mb12xx
+# MODULES += drivers/sf0x
+MODULES += drivers/ll40ls
+# MODULES += drivers/trone
+MODULES += drivers/gps
+MODULES += drivers/hil
+MODULES += drivers/hott
+MODULES += drivers/hott/hott_telemetry
+MODULES += drivers/hott/hott_sensors
+# MODULES += drivers/blinkm
+MODULES += drivers/airspeed
+MODULES += drivers/ets_airspeed
+MODULES += drivers/meas_airspeed
+MODULES += drivers/frsky_telemetry
+MODULES += modules/sensors
+MODULES += drivers/mkblctrl
+MODULES += drivers/px4flow
+
+#
+# System commands
+#
+MODULES += systemcmds/bl_update
+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
+MODULES += systemcmds/ver
+
+#
+# General system control
+#
+MODULES += modules/commander
+MODULES += modules/navigator
+MODULES += modules/mavlink
+MODULES += modules/gpio_led
+# MODULES += modules/uavcan
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES += modules/attitude_estimator_ekf
+MODULES += modules/ekf_att_pos_estimator
+MODULES += modules/position_estimator_inav
+
+#
+# Vehicle Control
+#
+#MODULES += modules/segway # XXX Needs GCC 4.7 fix
+#MODULES += modules/fw_pos_control_l1
+#MODULES += modules/fw_att_control
+# MODULES += modules/mc_att_control
+# MODULES += modules/mc_att_control_multiplatform
+MODULES += examples/publisher
+MODULES += modules/mc_pos_control
+MODULES += modules/vtol_att_control
+
+#
+# Logging
+#
+MODULES += modules/sdlog2
+
+#
+# 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/external_lgpl
+MODULES += lib/geo
+MODULES += lib/geo_lookup
+MODULES += lib/conversion
+MODULES += lib/launchdetection
+MODULES += platforms/nuttx
+
+#
+# OBC challenge
+#
+MODULES += modules/bottle_drop
+
+#
+# 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
+
+# Generate parameter XML file
+GEN_PARAM_XML = 1
+
+#
+# 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
+
+# command priority stack entrypoint
+BUILTIN_COMMANDS := \
+ $(call _B, sercon, , 2048, sercon_main ) \
+ $(call _B, serdis, , 2048, serdis_main )
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index bc6723e5f..fa2c83262 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -34,9 +34,30 @@ MODULES += systemcmds/mtd
MODULES += systemcmds/ver
#
-# Testing modules
+# System commands
+#
+MODULES += systemcmds/bl_update
+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
+MODULES += systemcmds/ver
+
+#
+# Example modules
#
MODULES += examples/matlab_csv_serial
+MODULES += examples/subscriber
+MODULES += examples/publisher
#
# Library modules
@@ -44,10 +65,11 @@ MODULES += examples/matlab_csv_serial
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/uORB
-LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/conversion
+LIBRARIES += lib/mathlib/CMSIS
+MODULES += platforms/nuttx
#
# Example modules to test-build
@@ -69,7 +91,6 @@ MODULES += drivers/pca8574
#
# Tests
#
-
MODULES += modules/unit_test
MODULES += modules/mavlink/mavlink_tests
MODULES += modules/commander/commander_tests
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 4bfa7a087..435c240bf 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -37,13 +37,14 @@
# Some useful paths.
#
# Note that in general we always keep directory paths with the separator
-# at the end, and join paths without explicit separators. This reduces
+# at the end, and join paths without explicit separators. This reduces
# the number of duplicate slashes we have lying around in paths,
# and is consistent with joining the results of $(dir) and $(notdir).
#
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
+export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
@@ -61,7 +62,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
$(PX4_MODULE_SRC)/modules/ \
$(PX4_INCLUDE_DIR) \
- $(PX4_LIB_DIR)
+ $(PX4_LIB_DIR) \
+ $(PX4_PLATFORMS_DIR)
#
# Tools
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index fbe378f50..396980453 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -121,7 +121,7 @@ INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
# Language-specific flags
#
ARCHCFLAGS = -std=gnu99
-ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
+ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
# Generic warnings
#
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-18 22:21:03 +0000