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-rw-r--r--makefiles/board_aerocore.mk11
-rw-r--r--makefiles/config_aerocore_default.mk125
-rw-r--r--makefiles/config_px4fmu-v1_default.mk24
-rw-r--r--makefiles/config_px4fmu-v2_default.mk19
-rw-r--r--makefiles/config_px4fmu-v2_test.mk10
-rw-r--r--makefiles/firmware.mk10
-rw-r--r--makefiles/setup.mk1
-rw-r--r--makefiles/toolchain_gnu-arm-eabi.mk29
8 files changed, 200 insertions, 29 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 43a03f4f7..cc0958c29 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -21,11 +21,11 @@ MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/ardrone_interface
MODULES += drivers/l3gd20
-#MODULES += drivers/bma180
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
+MODULES += drivers/ll40ls
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
@@ -44,7 +44,6 @@ MODULES += modules/sensors
#
MODULES += systemcmds/mtd
MODULES += systemcmds/bl_update
-MODULES += systemcmds/boardinfo
MODULES += systemcmds/i2c
MODULES += systemcmds/mixer
MODULES += systemcmds/param
@@ -54,10 +53,10 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
-MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
-MODULES += systemcmds/hw_ver
+MODULES += systemcmds/dumpfile
+MODULES += systemcmds/ver
#
# General system control
@@ -65,27 +64,22 @@ MODULES += systemcmds/hw_ver
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
-MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
#
-# Estimation modules (EKF/ SO3 / other filters)
+# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
-MODULES += modules/attitude_estimator_so3
-MODULES += modules/att_pos_estimator_ekf
+MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
-#MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
-MODULES += modules/multirotor_att_control
-MODULES += modules/multirotor_pos_control
-#MODULES += examples/flow_position_control
-#MODULES += examples/flow_speed_control
+MODULES += modules/mc_att_control
+MODULES += modules/mc_pos_control
#
# Logging
@@ -105,6 +99,7 @@ MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
+MODULES += modules/dataman
#
# Libraries
@@ -113,9 +108,10 @@ 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
#
# Demo apps
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index dc9208339..adfbc2b7d 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -27,18 +27,20 @@ MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
+MODULES += drivers/sf0x
+MODULES += drivers/ll40ls
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
-MODULES += drivers/roboclaw
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
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,
@@ -62,7 +64,8 @@ MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
-MODULES += systemcmds/hw_ver
+MODULES += systemcmds/dumpfile
+MODULES += systemcmds/ver
#
# General system control
@@ -70,14 +73,14 @@ MODULES += systemcmds/hw_ver
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
-MODULES += modules/mavlink_onboard
+MODULES += modules/gpio_led
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3
-MODULES += modules/att_pos_estimator_ekf
+MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
@@ -87,8 +90,8 @@ MODULES += examples/flow_position_estimator
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
-MODULES += modules/multirotor_att_control
-MODULES += modules/multirotor_pos_control
+MODULES += modules/mc_att_control
+MODULES += modules/mc_pos_control
#
# Logging
@@ -108,6 +111,7 @@ MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
+MODULES += modules/dataman
#
# Libraries
@@ -116,9 +120,10 @@ 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
#
# Demo apps
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 4f997e96b..395a8f2ac 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -24,12 +24,14 @@ MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
+MODULES += drivers/pca8574
+MODULES += drivers/roboclaw
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
-MODULES += systemcmds/hw_ver
+MODULES += systemcmds/ver
#
# Library modules
@@ -40,6 +42,12 @@ MODULES += modules/uORB
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
+MODULES += lib/conversion
+
+#
+# Libraries
+#
+LIBRARIES += lib/mathlib/CMSIS
#
# Transitional support - add commands from the NuttX export archive.
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index cb20d9cd1..60602e76f 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -113,7 +113,7 @@ endif
$(info % GIT_DESC = $(GIT_DESC))
#
-# Set a default target so that included makefiles or errors here don't
+# Set a default target so that included makefiles or errors here don't
# cause confusion.
#
# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
@@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
#
# Extra things we should clean
#
-EXTRA_CLEANS =
+EXTRA_CLEANS =
#
@@ -355,6 +355,9 @@ ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
LINK_DEPS += $(ROMFS_OBJ)
+# Remove all comments from startup and mixer files
+ROMFS_PRUNER = $(PX4_BASE)/Tools/px_romfs_pruner.py
+
# Turn the ROMFS image into an object file
$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
$(call BIN_TO_OBJ,$<,$@,romfs_img)
@@ -368,10 +371,13 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
+# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
+ $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
+ $(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 183b143d6..6a092ef6b 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -46,6 +46,7 @@ export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
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)/
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/
export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index bb729e103..d8d45d34e 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -1,5 +1,5 @@
#
-# Copyright (C) 2012 PX4 Development Team. All rights reserved.
+# Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -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.
#
@@ -125,7 +135,15 @@ ARCHWARNINGS = -Wall \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
- -Wno-unused-parameter
+ -Wno-unused-parameter \
+ -Werror=format-security \
+ -Werror=array-bounds \
+ -Wfatal-errors \
+ -Wformat=1 \
+ -Werror=unused-but-set-variable \
+ -Werror=unused-variable \
+ -Werror=double-promotion \
+ -Werror=reorder
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
@@ -142,7 +160,8 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
# C++-specific warnings
#
-ARCHWARNINGSXX = $(ARCHWARNINGS)
+ARCHWARNINGSXX = $(ARCHWARNINGS) \
+ -Wno-missing-field-initializers
# pull in *just* libm from the toolchain ... this is grody
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
@@ -260,7 +279,7 @@ 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.
#
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-01 22:27:25 +0000