diff options
Diffstat (limited to 'makefiles')
-rw-r--r-- | makefiles/board_aerocore.mk | 11 | ||||
-rw-r--r-- | makefiles/config_aerocore_default.mk | 125 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v1_default.mk | 10 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 5 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_test.mk | 1 | ||||
-rw-r--r-- | makefiles/toolchain_gnu-arm-eabi.mk | 14 |
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. # |