diff options
Diffstat (limited to 'makefiles')
-rw-r--r-- | makefiles/board_px4fmu-v2.mk | 11 | ||||
-rw-r--r-- | makefiles/board_px4io-v2.mk | 11 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v1_default.mk | 30 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 142 | ||||
-rw-r--r-- | makefiles/config_px4fmu-v2_test.mk | 41 | ||||
-rw-r--r-- | makefiles/config_px4io-v1_default.mk | 2 | ||||
-rw-r--r-- | makefiles/config_px4io-v2_default.mk | 10 | ||||
-rw-r--r-- | makefiles/firmware.mk | 27 | ||||
-rw-r--r-- | makefiles/setup.mk | 5 | ||||
-rw-r--r-- | makefiles/upload.mk | 4 |
10 files changed, 267 insertions, 16 deletions
diff --git a/makefiles/board_px4fmu-v2.mk b/makefiles/board_px4fmu-v2.mk new file mode 100644 index 000000000..e9a2985b7 --- /dev/null +++ b/makefiles/board_px4fmu-v2.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the PX4FMUv2 +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM4F +CONFIG_BOARD = PX4FMU_V2 + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/board_px4io-v2.mk b/makefiles/board_px4io-v2.mk new file mode 100644 index 000000000..50a4068fb --- /dev/null +++ b/makefiles/board_px4io-v2.mk @@ -0,0 +1,11 @@ +# +# Board-specific definitions for the PX4IOv2 +# + +# +# Configure the toolchain +# +CONFIG_ARCH = CORTEXM3 +CONFIG_BOARD = PX4IO_V2 + +include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 40eebcb52..3e94c3534 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -6,6 +6,7 @@ # Use the configuration's ROMFS. # ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common +ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin # # Board support modules @@ -17,7 +18,7 @@ MODULES += drivers/stm32/tone_alarm MODULES += drivers/led MODULES += drivers/px4io MODULES += drivers/px4fmu -MODULES += drivers/boards/px4fmu +MODULES += drivers/boards/px4fmu-v1 MODULES += drivers/ardrone_interface MODULES += drivers/l3gd20 MODULES += drivers/bma180 @@ -30,6 +31,7 @@ MODULES += drivers/hil MODULES += drivers/hott/hott_telemetry MODULES += drivers/hott/hott_sensors MODULES += drivers/blinkm +MODULES += drivers/rgbled MODULES += drivers/mkblctrl MODULES += drivers/md25 MODULES += drivers/airspeed @@ -50,10 +52,12 @@ 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/tests MODULES += systemcmds/config +MODULES += systemcmds/nshterm # # General system control @@ -67,18 +71,16 @@ MODULES += modules/gpio_led # Estimation modules (EKF / other filters) # MODULES += modules/attitude_estimator_ekf -MODULES += modules/attitude_estimator_so3_comp -MODULES += modules/position_estimator MODULES += modules/att_pos_estimator_ekf +MODULES += modules/position_estimator_inav MODULES += examples/flow_position_estimator # # Vehicle Control # -MODULES += modules/segway -MODULES += modules/fixedwing_backside -MODULES += modules/fixedwing_att_control -MODULES += modules/fixedwing_pos_control +#MODULES += modules/segway # XXX needs state machine update +#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 @@ -90,19 +92,27 @@ MODULES += examples/flow_speed_control MODULES += modules/sdlog2 # +# Unit tests +# +#MODULES += modules/unit_test +#MODULES += modules/commander/commander_tests + +# # Library modules # MODULES += modules/systemlib MODULES += modules/systemlib/mixer -MODULES += modules/mathlib -MODULES += modules/mathlib/math/filter MODULES += modules/controllib MODULES += modules/uORB # # Libraries # -LIBRARIES += modules/mathlib/CMSIS +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +#MODULES += lib/ecl +MODULES += lib/geo # # Demo apps diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk new file mode 100644 index 000000000..bd73bde5e --- /dev/null +++ b/makefiles/config_px4fmu-v2_default.mk @@ -0,0 +1,142 @@ +# +# 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/lsm303d +MODULES += drivers/l3gd20 +MODULES += drivers/hmc5883 +MODULES += drivers/ms5611 +MODULES += drivers/mb12xx +MODULES += drivers/gps +MODULES += drivers/hil +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 += modules/sensors + +# Needs to be burned to the ground and re-written; for now, +# just don't build it. +#MODULES += drivers/mkblctrl + +# +# System commands +# +MODULES += systemcmds/ramtron +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/reboot +MODULES += systemcmds/top +MODULES += systemcmds/tests +MODULES += systemcmds/config +MODULES += systemcmds/nshterm + +# +# General system control +# +MODULES += modules/commander +MODULES += modules/mavlink +MODULES += modules/mavlink_onboard + +# +# Estimation modules (EKF / other filters) +# +MODULES += modules/attitude_estimator_ekf +MODULES += modules/att_pos_estimator_ekf +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 + +# +# Logging +# +MODULES += modules/sdlog2 + +# +# Unit tests +# +#MODULES += modules/unit_test +#MODULES += modules/commander/commander_tests + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/systemlib/mixer +MODULES += modules/controllib +MODULES += modules/uORB + +# +# Libraries +# +LIBRARIES += lib/mathlib/CMSIS +MODULES += lib/mathlib +MODULES += lib/mathlib/math/filter +#MODULES += lib/ecl +MODULES += lib/geo + +# +# 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 + +# +# 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 new file mode 100644 index 000000000..0f60e88b5 --- /dev/null +++ b/makefiles/config_px4fmu-v2_test.mk @@ -0,0 +1,41 @@ +# +# Makefile for the px4fmu_default configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/led +MODULES += drivers/boards/px4fmu-v2 +MODULES += systemcmds/perf +MODULES += systemcmds/reboot + +# +# Library modules +# +MODULES += modules/systemlib +MODULES += modules/uORB + +# +# 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_px4io-v1_default.mk b/makefiles/config_px4io-v1_default.mk index cf70391bc..73f8adf20 100644 --- a/makefiles/config_px4io-v1_default.mk +++ b/makefiles/config_px4io-v1_default.mk @@ -6,5 +6,5 @@ # Board support modules # MODULES += drivers/stm32 -MODULES += drivers/boards/px4io +MODULES += drivers/boards/px4io-v1 MODULES += modules/px4iofirmware
\ No newline at end of file diff --git a/makefiles/config_px4io-v2_default.mk b/makefiles/config_px4io-v2_default.mk new file mode 100644 index 000000000..dbeaba3d3 --- /dev/null +++ b/makefiles/config_px4io-v2_default.mk @@ -0,0 +1,10 @@ +# +# Makefile for the px4iov2_default configuration +# + +# +# Board support modules +# +MODULES += drivers/stm32 +MODULES += drivers/boards/px4io-v2 +MODULES += modules/px4iofirmware
\ No newline at end of file diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index ecff77db9..b3e50501c 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -177,6 +177,11 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) # EXTRA_CLEANS = +# +# Append the per-board driver directory to the header search path. +# +INCLUDE_DIRS += $(PX4_MODULE_SRC)drivers/boards/$(BOARD) + ################################################################################ # NuttX libraries and paths ################################################################################ @@ -317,7 +322,7 @@ endif # a root from several templates. That would be a nice feature. # -# Add dependencies on anything in the ROMFS root +# Add dependencies on anything in the ROMFS root directory ROMFS_FILES += $(wildcard \ $(ROMFS_ROOT)/* \ $(ROMFS_ROOT)/*/* \ @@ -329,7 +334,14 @@ ifeq ($(ROMFS_FILES),) $(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files) endif ROMFS_DEPS += $(ROMFS_FILES) + +# Extra files that may be copied into the ROMFS /extras directory +# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional +ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES)) +ROMFS_DEPS += $(ROMFS_EXTRA_FILES) + ROMFS_IMG = romfs.img +ROMFS_SCRATCH = romfs_scratch ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) @@ -340,9 +352,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS) $(call BIN_TO_OBJ,$<,$@,romfs_img) # Generate the ROMFS image from the root -$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS) +$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) @$(ECHO) "ROMFS: $@" - $(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol" + $(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol" + +# Construct the ROMFS scratch root from the canonical root +$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) + $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) + $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +ifneq ($(ROMFS_EXTRA_FILES),) + $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras + $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras +endif EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG) diff --git a/makefiles/setup.mk b/makefiles/setup.mk index 168e41a5c..183b143d6 100644 --- a/makefiles/setup.mk +++ b/makefiles/setup.mk @@ -43,6 +43,7 @@ # 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_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/ export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/ export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/ @@ -57,7 +58,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/ # export INCLUDE_DIRS := $(PX4_MODULE_SRC) \ $(PX4_MODULE_SRC)/modules/ \ - $(PX4_INCLUDE_DIR) + $(PX4_INCLUDE_DIR) \ + $(PX4_LIB_DIR) # # Tools @@ -71,6 +73,7 @@ export RMDIR = rm -rf export GENROMFS = genromfs export TOUCH = touch export MKDIR = mkdir +export FIND = find export ECHO = echo export UNZIP_CMD = unzip export PYTHON = python diff --git a/makefiles/upload.mk b/makefiles/upload.mk index 3aebef863..470ddfdf1 100644 --- a/makefiles/upload.mk +++ b/makefiles/upload.mk @@ -18,7 +18,7 @@ ifeq ($(SYSTYPE),Linux) SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0" endif ifeq ($(SERIAL_PORTS),) -SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0" +SERIAL_PORTS = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0" endif .PHONY: all upload-$(METHOD)-$(BOARD) @@ -27,6 +27,8 @@ all: upload-$(METHOD)-$(BOARD) upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER) $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) +upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER) + $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) # # JTAG firmware uploading with OpenOCD |