diff options
Diffstat (limited to 'makefiles')
-rw-r--r-- | makefiles/config_px4fmu-v1_default.mk | 11 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 13 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_multiplatform.mk | 170 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_test.mk | 28 | ||||
-rw-r--r-- | makefiles/setup.mk | 6 | ||||
-rw-r--r-- | makefiles/toolchain_gnu-arm-eabi.mk | 2 |
6 files changed, 215 insertions, 15 deletions
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 852edb788..f30733694 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -24,18 +24,18 @@ MODULES += drivers/l3gd20 MODULES += drivers/mpu6000 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 -#MODULES += drivers/ll40ls +MODULES += drivers/ll40ls MODULES += drivers/trone -#MODULES += drivers/mb12xx +MODULES += drivers/mb12xx MODULES += drivers/gps MODULES += drivers/hil -#MODULES += drivers/blinkm +MODULES += drivers/blinkm MODULES += drivers/rgbled MODULES += drivers/mkblctrl MODULES += drivers/airspeed -#MODULES += drivers/ets_airspeed +MODULES += drivers/ets_airspeed MODULES += drivers/meas_airspeed -#MODULES += drivers/frsky_telemetry +MODULES += drivers/frsky_telemetry MODULES += modules/sensors # @@ -111,6 +111,7 @@ 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..256c2a636 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -27,15 +27,15 @@ MODULES += drivers/l3gd20 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 MODULES += drivers/mb12xx -# MODULES += drivers/sf0x +MODULES += drivers/sf0x MODULES += drivers/ll40ls -# MODULES += drivers/trone +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/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 @@ -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..29eb68096 --- /dev/null +++ b/makefiles/config_px4fmu-v2_multiplatform.mk @@ -0,0 +1,170 @@ +# +# 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/subscriber +MODULES += examples/publisher +# MODULES += modules/mc_pos_control +MODULES += modules/mc_pos_control_multiplatform +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 91fc2a751..22563838b 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -26,6 +26,9 @@ MODULES += drivers/hmc5883 MODULES += drivers/ms5611 MODULES += drivers/pca8574 MODULES += drivers/roboclaw +MODULES += drivers/airspeed +MODULES += drivers/ets_airspeed +MODULES += drivers/meas_airspeed MODULES += systemcmds/perf MODULES += systemcmds/reboot MODULES += systemcmds/tests @@ -33,11 +36,33 @@ MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/ver MODULES += systemcmds/top +MODULES += modules/sensors # -# 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 @@ -49,6 +74,7 @@ LIBRARIES += lib/mathlib/CMSIS MODULES += lib/mathlib MODULES += lib/mathlib/math/filter MODULES += lib/conversion +MODULES += platforms/nuttx # # Example modules to test-build diff --git a/makefiles/setup.mk b/makefiles/setup.mk index c932a6758..351b9f1b7 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 d4d73fb84..dc8d3f712 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -128,7 +128,7 @@ 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 # |