From 9d322068133d7cd8487114aaebe6bf013f43f87c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 31 May 2013 11:10:36 +0200 Subject: Almost compiling FMU config --- nuttx/.gitignore | 1 + nuttx/arch/arm/include/math.h | 612 +++++++++++++++++++++++++++++++ nuttx/configs/Kconfig | 11 + nuttx/configs/px4fmu-v1/common/Make.defs | 184 ++++++++++ nuttx/configs/px4fmu-v1/common/ld.script | 149 ++++++++ nuttx/configs/px4fmu-v1/usbnsh/Make.defs | 110 +----- nuttx/configs/px4fmu-v1/usbnsh/defconfig | 147 +++++--- nuttx/configs/px4fmu-v1/usbnsh/setenv.sh | 4 +- 8 files changed, 1055 insertions(+), 163 deletions(-) create mode 100644 nuttx/arch/arm/include/math.h create mode 100644 nuttx/configs/px4fmu-v1/common/Make.defs create mode 100644 nuttx/configs/px4fmu-v1/common/ld.script diff --git a/nuttx/.gitignore b/nuttx/.gitignore index f594f3673..69b7bdb80 100644 --- a/nuttx/.gitignore +++ b/nuttx/.gitignore @@ -1,5 +1,6 @@ /.config /.config.old +/.config-e /.version /Make.defs /setenv.sh diff --git a/nuttx/arch/arm/include/math.h b/nuttx/arch/arm/include/math.h new file mode 100644 index 000000000..9de10c58b --- /dev/null +++ b/nuttx/arch/arm/include/math.h @@ -0,0 +1,612 @@ +#ifndef _MATH_H_ + +#define _MATH_H_ + +//#include +#include +#include "_ansi.h" + +//#define _PARAMS(_x) _x + +_BEGIN_STD_C + +#if 0 +/* __dmath, __fmath, and __ldmath are only here for backwards compatibility + * in case any code used them. They are no longer used by Newlib, itself, + * other than legacy. */ +union __dmath +{ + double d; + __ULong i[2]; +}; + +union __fmath +{ + float f; + __ULong i[1]; +}; + +#if defined(_HAVE_LONG_DOUBLE) +union __ldmath +{ + long double ld; + __ULong i[4]; +}; +#endif +#endif + +/* Natural log of 2 */ +#define _M_LN2 0.693147180559945309417 + +#if defined(__GNUC__) && \ + ( (__GNUC__ >= 4) || \ + ( (__GNUC__ >= 3) && defined(__GNUC_MINOR__) && (__GNUC_MINOR__ >= 3) ) ) + + /* gcc >= 3.3 implicitly defines builtins for HUGE_VALx values. */ + +# ifndef HUGE_VAL +# define HUGE_VAL (__builtin_huge_val()) +# endif + +# ifndef HUGE_VALF +# define HUGE_VALF (__builtin_huge_valf()) +# endif + +# ifndef HUGE_VALL +# define HUGE_VALL (__builtin_huge_vall()) +# endif + +# ifndef INFINITY +# define INFINITY (__builtin_inff()) +# endif + +# ifndef NAN +# define NAN (__builtin_nanf("")) +# endif + +#else /* !gcc >= 3.3 */ + + /* No builtins. Use fixed defines instead. (All 3 HUGE plus the INFINITY + * and NAN macros are required to be constant expressions. Using a variable-- + * even a static const--does not meet this requirement, as it cannot be + * evaluated at translation time.) + * The infinities are done using numbers that are far in excess of + * something that would be expected to be encountered in a floating-point + * implementation. (A more certain way uses values from float.h, but that is + * avoided because system includes are not supposed to include each other.) + * This method might produce warnings from some compilers. (It does in + * newer GCCs, but not for ones that would hit this #else.) If this happens, + * please report details to the Newlib mailing list. */ + + #ifndef HUGE_VAL + #define HUGE_VAL (1.0e999999999) + #endif + + #ifndef HUGE_VALF + #define HUGE_VALF (1.0e999999999F) + #endif + + #if !defined(HUGE_VALL) && defined(_HAVE_LONG_DOUBLE) + #define HUGE_VALL (1.0e999999999L) + #endif + + #if !defined(INFINITY) + #define INFINITY (HUGE_VALF) + #endif + + #if !defined(NAN) + #if defined(__GNUC__) && defined(__cplusplus) + /* Exception: older g++ versions warn about the divide by 0 used in the + * normal case (even though older gccs do not). This trick suppresses the + * warning, but causes errors for plain gcc, so is only used in the one + * special case. */ + static const union { __ULong __i[1]; float __d; } __Nanf = {0x7FC00000}; + #define NAN (__Nanf.__d) + #else + #define NAN (0.0F/0.0F) + #endif + #endif + +#endif /* !gcc >= 3.3 */ + +/* Reentrant ANSI C functions. */ + +#ifndef __math_68881 +extern double atan _PARAMS((double)); +extern double cos _PARAMS((double)); +extern double sin _PARAMS((double)); +extern double tan _PARAMS((double)); +extern double tanh _PARAMS((double)); +extern double frexp _PARAMS((double, int *)); +extern double modf _PARAMS((double, double *)); +extern double ceil _PARAMS((double)); +extern double fabs _PARAMS((double)); +extern double floor _PARAMS((double)); +#endif /* ! defined (__math_68881) */ + +/* Non reentrant ANSI C functions. */ + +#ifndef _REENT_ONLY +#ifndef __math_68881 +extern double acos _PARAMS((double)); +extern double asin _PARAMS((double)); +extern double atan2 _PARAMS((double, double)); +extern double cosh _PARAMS((double)); +extern double sinh _PARAMS((double)); +extern double exp _PARAMS((double)); +extern double ldexp _PARAMS((double, int)); +extern double log _PARAMS((double)); +extern double log10 _PARAMS((double)); +extern double pow _PARAMS((double, double)); +extern double sqrt _PARAMS((double)); +extern double fmod _PARAMS((double, double)); +#endif /* ! defined (__math_68881) */ +#endif /* ! defined (_REENT_ONLY) */ + +#if !defined(__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L + +/* ISO C99 types and macros. */ + +#ifndef FLT_EVAL_METHOD +#define FLT_EVAL_METHOD 0 +typedef float float_t; +typedef double double_t; +#endif /* FLT_EVAL_METHOD */ + +#define FP_NAN 0 +#define FP_INFINITE 1 +#define FP_ZERO 2 +#define FP_SUBNORMAL 3 +#define FP_NORMAL 4 + +#ifndef FP_ILOGB0 +# define FP_ILOGB0 (-INT_MAX) +#endif +#ifndef FP_ILOGBNAN +# define FP_ILOGBNAN INT_MAX +#endif + +#ifndef MATH_ERRNO +# define MATH_ERRNO 1 +#endif +#ifndef MATH_ERREXCEPT +# define MATH_ERREXCEPT 2 +#endif +#ifndef math_errhandling +# define math_errhandling MATH_ERRNO +#endif + +extern int __isinff (float x); +extern int __isinfd (double x); +extern int __isnanf (float x); +extern int __isnand (double x); +extern int __fpclassifyf (float x); +extern int __fpclassifyd (double x); +extern int __signbitf (float x); +extern int __signbitd (double x); + +#define fpclassify(__x) \ + ((sizeof(__x) == sizeof(float)) ? __fpclassifyf(__x) : \ + __fpclassifyd(__x)) + +#ifndef isfinite + #define isfinite(__y) \ + (__extension__ ({int __cy = fpclassify(__y); \ + __cy != FP_INFINITE && __cy != FP_NAN;})) +#endif + +/* Note: isinf and isnan were once functions in newlib that took double + * arguments. C99 specifies that these names are reserved for macros + * supporting multiple floating point types. Thus, they are + * now defined as macros. Implementations of the old functions + * taking double arguments still exist for compatibility purposes + * (prototypes for them are in ). */ +#ifndef isinf + #define isinf(y) (fpclassify(y) == FP_INFINITE) +#endif + +#ifndef isnan + #define isnan(y) (fpclassify(y) == FP_NAN) +#endif + +#define isnormal(y) (fpclassify(y) == FP_NORMAL) +#define signbit(__x) \ + ((sizeof(__x) == sizeof(float)) ? __signbitf(__x) : \ + __signbitd(__x)) + +#define isgreater(x,y) \ + (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \ + !isunordered(__x,__y) && (__x > __y);})) +#define isgreaterequal(x,y) \ + (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \ + !isunordered(__x,__y) && (__x >= __y);})) +#define isless(x,y) \ + (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \ + !isunordered(__x,__y) && (__x < __y);})) +#define islessequal(x,y) \ + (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \ + !isunordered(__x,__y) && (__x <= __y);})) +#define islessgreater(x,y) \ + (__extension__ ({__typeof__(x) __x = (x); __typeof__(y) __y = (y); \ + !isunordered(__x,__y) && (__x < __y || __x > __y);})) + +#define isunordered(a,b) \ + (__extension__ ({__typeof__(a) __a = (a); __typeof__(b) __b = (b); \ + fpclassify(__a) == FP_NAN || fpclassify(__b) == FP_NAN;})) + +/* Non ANSI double precision functions. */ + +extern double infinity _PARAMS((void)); +extern double nan _PARAMS((const char *)); +extern int finite _PARAMS((double)); +extern double copysign _PARAMS((double, double)); +extern double logb _PARAMS((double)); +extern int ilogb _PARAMS((double)); + +extern double asinh _PARAMS((double)); +extern double cbrt _PARAMS((double)); +extern double nextafter _PARAMS((double, double)); +extern double rint _PARAMS((double)); +extern double scalbn _PARAMS((double, int)); + +extern double exp2 _PARAMS((double)); +extern double scalbln _PARAMS((double, long int)); +extern double tgamma _PARAMS((double)); +extern double nearbyint _PARAMS((double)); +extern long int lrint _PARAMS((double)); +extern _LONG_LONG_TYPE int llrint _PARAMS((double)); +extern double round _PARAMS((double)); +extern long int lround _PARAMS((double)); +extern long long int llround _PARAMS((double)); +extern double trunc _PARAMS((double)); +extern double remquo _PARAMS((double, double, int *)); +extern double fdim _PARAMS((double, double)); +extern double fmax _PARAMS((double, double)); +extern double fmin _PARAMS((double, double)); +extern double fma _PARAMS((double, double, double)); + +#ifndef __math_68881 +extern double log1p _PARAMS((double)); +extern double expm1 _PARAMS((double)); +#endif /* ! defined (__math_68881) */ + +#ifndef _REENT_ONLY +extern double acosh _PARAMS((double)); +extern double atanh _PARAMS((double)); +extern double remainder _PARAMS((double, double)); +extern double gamma _PARAMS((double)); +extern double lgamma _PARAMS((double)); +extern double erf _PARAMS((double)); +extern double erfc _PARAMS((double)); +extern double log2 _PARAMS((double)); +#if !defined(__cplusplus) +#define log2(x) (log (x) / _M_LN2) +#endif + +#ifndef __math_68881 +extern double hypot _PARAMS((double, double)); +#endif + +#endif /* ! defined (_REENT_ONLY) */ + +/* Single precision versions of ANSI functions. */ + +extern float atanf _PARAMS((float)); +extern float cosf _PARAMS((float)); +extern float sinf _PARAMS((float)); +extern float tanf _PARAMS((float)); +extern float tanhf _PARAMS((float)); +extern float frexpf _PARAMS((float, int *)); +extern float modff _PARAMS((float, float *)); +extern float ceilf _PARAMS((float)); +extern float fabsf _PARAMS((float)); +extern float floorf _PARAMS((float)); + +#ifndef _REENT_ONLY +extern float acosf _PARAMS((float)); +extern float asinf _PARAMS((float)); +extern float atan2f _PARAMS((float, float)); +extern float coshf _PARAMS((float)); +extern float sinhf _PARAMS((float)); +extern float expf _PARAMS((float)); +extern float ldexpf _PARAMS((float, int)); +extern float logf _PARAMS((float)); +extern float log10f _PARAMS((float)); +extern float powf _PARAMS((float, float)); +extern float sqrtf _PARAMS((float)); +extern float fmodf _PARAMS((float, float)); +#endif /* ! defined (_REENT_ONLY) */ + +/* Other single precision functions. */ + +extern float exp2f _PARAMS((float)); +extern float scalblnf _PARAMS((float, long int)); +extern float tgammaf _PARAMS((float)); +extern float nearbyintf _PARAMS((float)); +extern long int lrintf _PARAMS((float)); +extern _LONG_LONG_TYPE llrintf _PARAMS((float)); +extern float roundf _PARAMS((float)); +extern long int lroundf _PARAMS((float)); +extern long long int llroundf _PARAMS((float)); +extern float truncf _PARAMS((float)); +extern float remquof _PARAMS((float, float, int *)); +extern float fdimf _PARAMS((float, float)); +extern float fmaxf _PARAMS((float, float)); +extern float fminf _PARAMS((float, float)); +extern float fmaf _PARAMS((float, float, float)); + +extern float infinityf _PARAMS((void)); +extern float nanf _PARAMS((const char *)); +extern int finitef _PARAMS((float)); +extern float copysignf _PARAMS((float, float)); +extern float logbf _PARAMS((float)); +extern int ilogbf _PARAMS((float)); + +extern float asinhf _PARAMS((float)); +extern float cbrtf _PARAMS((float)); +extern float nextafterf _PARAMS((float, float)); +extern float rintf _PARAMS((float)); +extern float scalbnf _PARAMS((float, int)); +extern float log1pf _PARAMS((float)); +extern float expm1f _PARAMS((float)); + +#ifndef _REENT_ONLY +extern float acoshf _PARAMS((float)); +extern float atanhf _PARAMS((float)); +extern float remainderf _PARAMS((float, float)); +extern float gammaf _PARAMS((float)); +extern float lgammaf _PARAMS((float)); +extern float erff _PARAMS((float)); +extern float erfcf _PARAMS((float)); +extern float log2f _PARAMS((float)); +#if !defined(__cplusplus) +#define log2f(x) (logf (x) / (float_t) _M_LN2) +#endif +extern float hypotf _PARAMS((float, float)); +#endif /* ! defined (_REENT_ONLY) */ + +/* On platforms where long double equals double. */ +#ifdef _LDBL_EQ_DBL +/* Reentrant ANSI C functions. */ +#ifndef __math_68881 +extern long double atanl _PARAMS((long double)); +extern long double cosl _PARAMS((long double)); +extern long double sinl _PARAMS((long double)); +extern long double tanl _PARAMS((long double)); +extern long double tanhl _PARAMS((long double)); +extern long double frexpl _PARAMS((long double value, int *)); +extern long double modfl _PARAMS((long double, long double *)); +extern long double ceill _PARAMS((long double)); +extern long double fabsl _PARAMS((long double)); +extern long double floorl _PARAMS((long double)); +extern long double log1pl _PARAMS((long double)); +extern long double expm1l _PARAMS((long double)); +#endif /* ! defined (__math_68881) */ +/* Non reentrant ANSI C functions. */ +#ifndef _REENT_ONLY +#ifndef __math_68881 +extern long double acosl _PARAMS((long double)); +extern long double asinl _PARAMS((long double)); +extern long double atan2l _PARAMS((long double, long double)); +extern long double coshl _PARAMS((long double)); +extern long double sinhl _PARAMS((long double)); +extern long double expl _PARAMS((long double)); +extern long double ldexpl _PARAMS((long double, int)); +extern long double logl _PARAMS((long double)); +extern long double log10l _PARAMS((long double)); +extern long double powl _PARAMS((long double, long double)); +extern long double sqrtl _PARAMS((long double)); +extern long double fmodl _PARAMS((long double, long double)); +extern long double hypotl _PARAMS((long double, long double)); +#endif /* ! defined (__math_68881) */ +#endif /* ! defined (_REENT_ONLY) */ +extern long double copysignl _PARAMS((long double, long double)); +extern long double nanl _PARAMS((const char *)); +extern int ilogbl _PARAMS((long double)); +extern long double asinhl _PARAMS((long double)); +extern long double cbrtl _PARAMS((long double)); +extern long double nextafterl _PARAMS((long double, long double)); +extern long double rintl _PARAMS((long double)); +extern long double scalbnl _PARAMS((long double, int)); +extern long double exp2l _PARAMS((long double)); +extern long double scalblnl _PARAMS((long double, long)); +extern long double tgammal _PARAMS((long double)); +extern long double nearbyintl _PARAMS((long double)); +extern long int lrintl _PARAMS((long double)); +extern long long int llrintl _PARAMS((long double)); +extern long double roundl _PARAMS((long double)); +extern long lroundl _PARAMS((long double)); +extern _LONG_LONG_TYPE int llroundl _PARAMS((long double)); +extern long double truncl _PARAMS((long double)); +extern long double remquol _PARAMS((long double, long double, int *)); +extern long double fdiml _PARAMS((long double, long double)); +extern long double fmaxl _PARAMS((long double, long double)); +extern long double fminl _PARAMS((long double, long double)); +extern long double fmal _PARAMS((long double, long double, long double)); +#ifndef _REENT_ONLY +extern long double acoshl _PARAMS((long double)); +extern long double atanhl _PARAMS((long double)); +extern long double remainderl _PARAMS((long double, long double)); +extern long double lgammal _PARAMS((long double)); +extern long double erfl _PARAMS((long double)); +extern long double erfcl _PARAMS((long double)); +#endif /* ! defined (_REENT_ONLY) */ +#else /* !_LDBL_EQ_DBL */ +#ifdef __i386__ +/* Other long double precision functions. */ +extern _LONG_DOUBLE rintl _PARAMS((_LONG_DOUBLE)); +extern long int lrintl _PARAMS((_LONG_DOUBLE)); +extern _LONG_LONG_TYPE llrintl _PARAMS((_LONG_DOUBLE)); +#endif /* __i386__ */ +#endif /* !_LDBL_EQ_DBL */ + +#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) || __STDC_VERSION__ >= 199901L */ + +#if !defined (__STRICT_ANSI__) || defined(__cplusplus) + +extern double drem _PARAMS((double, double)); +extern void sincos _PARAMS((double, double *, double *)); +extern double gamma_r _PARAMS((double, int *)); +extern double lgamma_r _PARAMS((double, int *)); + +extern double y0 _PARAMS((double)); +extern double y1 _PARAMS((double)); +extern double yn _PARAMS((int, double)); +extern double j0 _PARAMS((double)); +extern double j1 _PARAMS((double)); +extern double jn _PARAMS((int, double)); + +extern float dremf _PARAMS((float, float)); +extern void sincosf _PARAMS((float, float *, float *)); +extern float gammaf_r _PARAMS((float, int *)); +extern float lgammaf_r _PARAMS((float, int *)); + +extern float y0f _PARAMS((float)); +extern float y1f _PARAMS((float)); +extern float ynf _PARAMS((int, float)); +extern float j0f _PARAMS((float)); +extern float j1f _PARAMS((float)); +extern float jnf _PARAMS((int, float)); + +/* GNU extensions */ +# ifndef exp10 +extern double exp10 _PARAMS((double)); +# endif +# ifndef pow10 +extern double pow10 _PARAMS((double)); +# endif +# ifndef exp10f +extern float exp10f _PARAMS((float)); +# endif +# ifndef pow10f +extern float pow10f _PARAMS((float)); +# endif + +#endif /* !defined (__STRICT_ANSI__) || defined(__cplusplus) */ + +#ifndef __STRICT_ANSI__ + +/* The gamma functions use a global variable, signgam. */ +#ifndef _REENT_ONLY +#define signgam (*__signgam()) +extern int *__signgam _PARAMS((void)); +#endif /* ! defined (_REENT_ONLY) */ + +#define __signgam_r(ptr) _REENT_SIGNGAM(ptr) + +/* The exception structure passed to the matherr routine. */ +/* We have a problem when using C++ since `exception' is a reserved + name in C++. */ +#ifdef __cplusplus +struct __exception +#else +struct exception +#endif +{ + int type; + char *name; + double arg1; + double arg2; + double retval; + int err; +}; + +#ifdef __cplusplus +extern int matherr _PARAMS((struct __exception *e)); +#else +extern int matherr _PARAMS((struct exception *e)); +#endif + +/* Values for the type field of struct exception. */ + +#define DOMAIN 1 +#define SING 2 +#define OVERFLOW 3 +#define UNDERFLOW 4 +#define TLOSS 5 +#define PLOSS 6 + +/* Useful constants. */ + +#define MAXFLOAT 3.40282347e+38F + +#define M_E 2.7182818284590452354 +#define M_LOG2E 1.4426950408889634074 +#define M_LOG10E 0.43429448190325182765 +#define M_LN2 _M_LN2 +#define M_LN10 2.30258509299404568402 +#define M_PI 3.14159265358979323846 +#define M_TWOPI (M_PI * 2.0) +#define M_PI_2 1.57079632679489661923 +#define M_PI_4 0.78539816339744830962 +#define M_3PI_4 2.3561944901923448370E0 +#define M_SQRTPI 1.77245385090551602792981 +#define M_1_PI 0.31830988618379067154 +#define M_2_PI 0.63661977236758134308 +#define M_2_SQRTPI 1.12837916709551257390 +#define M_DEG_TO_RAD 0.01745329251994 +#define M_RAD_TO_DEG 57.2957795130823 +#define M_SQRT2 1.41421356237309504880 +#define M_SQRT1_2 0.70710678118654752440 +#define M_LN2LO 1.9082149292705877000E-10 +#define M_LN2HI 6.9314718036912381649E-1 +#define M_SQRT3 1.73205080756887719000 +#define M_IVLN10 0.43429448190325182765 /* 1 / log(10) */ +#define M_LOG2_E _M_LN2 +#define M_INVLN2 1.4426950408889633870E0 /* 1 / log(2) */ + + +#define M_E_F 2.7182818284590452354f +#define M_LOG2E_F 1.4426950408889634074f +#define M_LOG10E_F 0.43429448190325182765f +#define M_LN2_F _M_LN2_F +#define M_LN10_F 2.30258509299404568402f +#define M_PI_F 3.14159265358979323846f +#define M_TWOPI_F (M_PI_F * 2.0f) +#define M_PI_2_F 1.57079632679489661923f +#define M_PI_4_F 0.78539816339744830962f +#define M_3PI_4_F 2.3561944901923448370E0f +#define M_SQRTPI_F 1.77245385090551602792981f +#define M_1_PI_F 0.31830988618379067154f +#define M_2_PI_F 0.63661977236758134308f +#define M_2_SQRTPI_F 1.12837916709551257390f +#define M_DEG_TO_RAD_F 0.01745329251994f +#define M_RAD_TO_DEG_F 57.2957795130823f +#define M_SQRT2_F 1.41421356237309504880f +#define M_SQRT1_2_F 0.70710678118654752440f +#define M_LN2LO_F 1.9082149292705877000E-10f +#define M_LN2HI_F 6.9314718036912381649E-1f +#define M_SQRT3_F 1.73205080756887719000f +#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */ +#define M_LOG2_E_F _M_LN2_F +#define M_INVLN2_F 1.4426950408889633870E0f /* 1 / log(2) */ + +/* Global control over fdlibm error handling. */ + +enum __fdlibm_version +{ + __fdlibm_ieee = -1, + __fdlibm_svid, + __fdlibm_xopen, + __fdlibm_posix +}; + +#define _LIB_VERSION_TYPE enum __fdlibm_version +#define _LIB_VERSION __fdlib_version + +extern __IMPORT _LIB_VERSION_TYPE _LIB_VERSION; + +#define _IEEE_ __fdlibm_ieee +#define _SVID_ __fdlibm_svid +#define _XOPEN_ __fdlibm_xopen +#define _POSIX_ __fdlibm_posix + +#endif /* ! defined (__STRICT_ANSI__) */ + +_END_STD_C + +#ifdef __FAST_MATH__ +#include +#endif + +#endif /* _MATH_H_ */ diff --git a/nuttx/configs/Kconfig b/nuttx/configs/Kconfig index f7ee6d9c0..e2dad70cb 100644 --- a/nuttx/configs/Kconfig +++ b/nuttx/configs/Kconfig @@ -535,6 +535,13 @@ config ARCH_BOARD_STM3240G_EVAL microcontroller (ARM Cortex-M4 with FPU). This port uses a GNU Cortex-M4 toolchain (such as CodeSourcery). +config ARCH_BOARD_PX4FMU_V1 + bool "PX4FMU v1.x" + depends on ARCH_CHIP_STM32F405RG + select ARCH_HAVE_LEDS + ---help--- + PX4 flight management unit v1.x + config ARCH_BOARD_STM32F100RC_GENERIC bool "STMicro STM32F100RC generic board" depends on ARCH_CHIP_STM32F100RC @@ -781,6 +788,7 @@ config ARCH_BOARD default "stm32f100rc_generic" if ARCH_BOARD_STM32F100RC_GENERIC default "stm32f3discovery" if ARCH_BOARD_STM32F3_DISCOVERY default "stm32f4discovery" if ARCH_BOARD_STM32F4_DISCOVERY + default "px4fmu-v1" if ARCH_BOARD_PX4FMU_V1 default "stm32ldiscovery" if ARCH_BOARD_STM32L_DISCOVERY default "mikroe-stm32f4" if ARCH_BOARD_MIKROE_STM32F4 default "sure-pic32mx" if ARCH_BOARD_SUREPIC32MX @@ -1016,6 +1024,9 @@ endif if ARCH_BOARD_STM32F4_DISCOVERY source "configs/stm32f4discovery/Kconfig" endif +if ARCH_BOARD_PX4FMU_V1 +source "configs/px4fmu-v1/Kconfig" +endif if ARCH_BOARD_STM32L_DISCOVERY source "configs/stm32ldiscovery/Kconfig" endif diff --git a/nuttx/configs/px4fmu-v1/common/Make.defs b/nuttx/configs/px4fmu-v1/common/Make.defs new file mode 100644 index 000000000..756286ccb --- /dev/null +++ b/nuttx/configs/px4fmu-v1/common/Make.defs @@ -0,0 +1,184 @@ +############################################################################ +# configs/px4fmu/common/Make.defs +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name NuttX nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Generic Make.defs for the PX4FMU +# Do not specify/use this file directly - it is included by config-specific +# Make.defs in the per-config directories. +# + +include ${TOPDIR}/tools/Config.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -O3 +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +INSTRUMENTATIONDEFINES = -finstrument-functions \ + -ffixed-r10 + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = -Wall \ + -Wextra \ + -Wdouble-promotion \ + -Wshadow \ + -Wfloat-equal \ + -Wframe-larger-than=1024 \ + -Wpointer-arith \ + -Wlogical-op \ + -Wmissing-declarations \ + -Wpacked \ + -Wno-unused-parameter +# -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 + +ARCHCWARNINGS = $(ARCHWARNINGS) \ + -Wbad-function-cast \ + -Wstrict-prototypes \ + -Wold-style-declaration \ + -Wmissing-parameter-type \ + -Wmissing-prototypes \ + -Wnested-externs \ + -Wunsuffixed-float-constants +ARCHWARNINGSXX = $(ARCHWARNINGS) \ + -Wno-psabi +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx/configs/px4fmu-v1/common/ld.script b/nuttx/configs/px4fmu-v1/common/ld.script new file mode 100644 index 000000000..de8179e8d --- /dev/null +++ b/nuttx/configs/px4fmu-v1/common/ld.script @@ -0,0 +1,149 @@ +/**************************************************************************** + * configs/px4fmu/common/ld.script + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* The STM32F405 has 1024Kb of FLASH beginning at address 0x0800:0000 and + * 192Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of TCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 0x4000 of flash is reserved for the bootloader. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + /* + * Construction data for parameters. + */ + __param ALIGN(4): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx/configs/px4fmu-v1/usbnsh/Make.defs b/nuttx/configs/px4fmu-v1/usbnsh/Make.defs index 8e75d971e..81936334b 100644 --- a/nuttx/configs/px4fmu-v1/usbnsh/Make.defs +++ b/nuttx/configs/px4fmu-v1/usbnsh/Make.defs @@ -1,111 +1,3 @@ -############################################################################ -# configs/stm32f4discovery/nsh/Make.defs -# -# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. -# Author: Gregory Nutt -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name NuttX nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - include ${TOPDIR}/.config -include ${TOPDIR}/tools/Config.mk -include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs - -LDSCRIPT = ld.script - -ifeq ($(WINTOOL),y) - # Windows-native toolchains - DIRLINK = $(TOPDIR)/tools/copydir.sh - DIRUNLINK = $(TOPDIR)/tools/unlink.sh - MKDEP = $(TOPDIR)/tools/mknulldeps.sh - ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" - ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" - ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" - MAXOPTIMIZATION = -O2 -else - # Linux/Cygwin-native toolchain - MKDEP = $(TOPDIR)/tools/mkdeps.sh - ARCHINCLUDES = -I. -isystem $(TOPDIR)/include - ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx - ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) -endif - -CC = $(CROSSDEV)gcc -CXX = $(CROSSDEV)g++ -CPP = $(CROSSDEV)gcc -E -LD = $(CROSSDEV)ld -AR = $(ARCROSSDEV)ar rcs -NM = $(ARCROSSDEV)nm -OBJCOPY = $(CROSSDEV)objcopy -OBJDUMP = $(CROSSDEV)objdump - -ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} -ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} - -ifeq ($(CONFIG_DEBUG_SYMBOLS),y) - ARCHOPTIMIZATION = -g -else - ARCHOPTIMIZATION = $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer -endif - -ARCHCFLAGS = -fno-builtin -ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti -ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow -ARCHWARNINGSXX = -Wall -Wshadow -ARCHDEFINES = -ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 - -CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) -CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) -CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -AFLAGS = $(CFLAGS) -D__ASSEMBLY__ - -NXFLATLDFLAGS1 = -r -d -warn-common -NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections -LDNXFLATFLAGS = -e main -s 2048 - -OBJEXT = .o -LIBEXT = .a -EXEEXT = - -ifneq ($(CROSSDEV),arm-nuttx-elf-) - LDFLAGS += -nostartfiles -nodefaultlibs -endif -ifeq ($(CONFIG_DEBUG_SYMBOLS),y) - LDFLAGS += -g -endif - - -HOSTCC = gcc -HOSTINCLUDES = -I. -HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe -HOSTLDFLAGS = +include $(TOPDIR)/configs/px4fmu-v1/common/Make.defs diff --git a/nuttx/configs/px4fmu-v1/usbnsh/defconfig b/nuttx/configs/px4fmu-v1/usbnsh/defconfig index 456ef55b1..963d71a89 100644 --- a/nuttx/configs/px4fmu-v1/usbnsh/defconfig +++ b/nuttx/configs/px4fmu-v1/usbnsh/defconfig @@ -31,7 +31,7 @@ CONFIG_RAW_BINARY=y # Customize Header Files # # CONFIG_ARCH_STDBOOL_H is not set -# CONFIG_ARCH_MATH_H is not set +CONFIG_ARCH_MATH_H=y # CONFIG_ARCH_FLOAT_H is not set # CONFIG_ARCH_STDARG_H is not set @@ -65,6 +65,7 @@ CONFIG_ARCH="arm" # CONFIG_ARCH_CHIP_DM320 is not set # CONFIG_ARCH_CHIP_IMX is not set # CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set # CONFIG_ARCH_CHIP_LM is not set # CONFIG_ARCH_CHIP_LPC17XX is not set # CONFIG_ARCH_CHIP_LPC214X is not set @@ -95,6 +96,24 @@ CONFIG_SERIAL_TERMIOS=y # # STM32 Configuration Options # +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set # CONFIG_ARCH_CHIP_STM32F100C8 is not set # CONFIG_ARCH_CHIP_STM32F100CB is not set # CONFIG_ARCH_CHIP_STM32F100R8 is not set @@ -107,6 +126,8 @@ CONFIG_SERIAL_TERMIOS=y # CONFIG_ARCH_CHIP_STM32F100VC is not set # CONFIG_ARCH_CHIP_STM32F100VD is not set # CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set # CONFIG_ARCH_CHIP_STM32F103RET6 is not set # CONFIG_ARCH_CHIP_STM32F103VCT6 is not set # CONFIG_ARCH_CHIP_STM32F103VET6 is not set @@ -138,6 +159,17 @@ CONFIG_ARCH_CHIP_STM32F405RG=y # CONFIG_ARCH_CHIP_STM32F427V is not set # CONFIG_ARCH_CHIP_STM32F427Z is not set # CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set CONFIG_STM32_STM32F40XX=y # CONFIG_STM32_DFU is not set @@ -164,7 +196,6 @@ CONFIG_STM32_DMA2=y CONFIG_STM32_I2C1=y CONFIG_STM32_I2C2=y CONFIG_STM32_I2C3=y -# CONFIG_STM32_IWDG is not set CONFIG_STM32_OTGFS=y # CONFIG_STM32_OTGHS is not set CONFIG_STM32_PWR=y @@ -194,7 +225,8 @@ CONFIG_STM32_USART2=y # CONFIG_STM32_UART4 is not set CONFIG_STM32_UART5=y CONFIG_STM32_USART6=y -CONFIG_STM32_WWDG=y +# CONFIG_STM32_IWDG is not set +# CONFIG_STM32_WWDG is not set CONFIG_STM32_ADC=y CONFIG_STM32_SPI=y CONFIG_STM32_I2C=y @@ -207,6 +239,7 @@ CONFIG_STM32_FLASH_PREFETCH=y # CONFIG_STM32_JTAG_FULL_ENABLE is not set # CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set CONFIG_STM32_JTAG_SW_ENABLE=y +# CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG is not set # CONFIG_STM32_FORCEPOWER is not set # CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set # CONFIG_STM32_CCMEXCLUDE is not set @@ -234,7 +267,7 @@ CONFIG_UART5_RXDMA=y CONFIG_USART6_RXDMA=y # CONFIG_USART7_RXDMA is not set # CONFIG_USART8_RXDMA is not set -# CONFIG_STM32_USART_SINGLEWIRE is not set +CONFIG_STM32_USART_SINGLEWIRE=y # # SPI Configuration @@ -245,10 +278,10 @@ CONFIG_USART6_RXDMA=y # # I2C Configuration # -CONFIG_STM32_I2C_DYNTIMEO=y -CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE=500 -CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP=1000 +# CONFIG_STM32_I2C_DYNTIMEO is not set CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=500 +CONFIG_STM32_I2CTIMEOTICKS=500 # CONFIG_STM32_I2C_DUTY16_9 is not set # @@ -312,7 +345,7 @@ CONFIG_ARCH_HAVE_LEDS=y CONFIG_ARCH_LEDS=y CONFIG_NSH_MMCSDMINOR=0 CONFIG_NSH_MMCSDSLOTNO=0 -CONFIG_NSH_MMCSDSPIPORTNO=3 +CONFIG_NSH_MMCSDSPIPORTNO=0 # # Board-Specific Options @@ -323,9 +356,9 @@ CONFIG_NSH_MMCSDSPIPORTNO=3 # # CONFIG_BOARD_INITIALIZE is not set CONFIG_MSEC_PER_TICK=1 -CONFIG_RR_INTERVAL=10 +CONFIG_RR_INTERVAL=5 # CONFIG_SCHED_INSTRUMENTATION is not set -CONFIG_TASK_NAME_SIZE=16 +CONFIG_TASK_NAME_SIZE=24 # CONFIG_SCHED_HAVE_PARENT is not set # CONFIG_JULIAN_TIME is not set CONFIG_START_YEAR=2011 @@ -345,7 +378,13 @@ CONFIG_SCHED_ATEXIT=y CONFIG_SCHED_ATEXIT_MAX=1 # CONFIG_SCHED_ONEXIT is not set CONFIG_USER_ENTRYPOINT="nsh_main" -# CONFIG_DISABLE_OS_API is not set +CONFIG_DISABLE_OS_API=y +# CONFIG_DISABLE_CLOCK is not set +# CONFIG_DISABLE_POSIX_TIMERS is not set +# CONFIG_DISABLE_PTHREAD is not set +# CONFIG_DISABLE_SIGNALS is not set +# CONFIG_DISABLE_MQUEUE is not set +# CONFIG_DISABLE_ENVIRON is not set # # Signal Numbers @@ -360,7 +399,7 @@ CONFIG_SIG_SIGWORK=17 # Sizes of configurable things (0 disables) # CONFIG_MAX_TASKS=16 -CONFIG_MAX_TASK_ARGS=4 +CONFIG_MAX_TASK_ARGS=10 CONFIG_NPTHREAD_KEYS=4 CONFIG_NFILE_DESCRIPTORS=8 CONFIG_NFILE_STREAMS=8 @@ -374,7 +413,7 @@ CONFIG_PREALLOC_TIMERS=4 # # Stack and heap information # -CONFIG_IDLETHREAD_STACKSIZE=1024 +CONFIG_IDLETHREAD_STACKSIZE=2048 CONFIG_USERMAIN_STACKSIZE=2048 CONFIG_PTHREAD_STACK_MIN=256 CONFIG_PTHREAD_STACK_DEFAULT=2048 @@ -402,8 +441,9 @@ CONFIG_SPI=y CONFIG_SPI_EXCHANGE=y # CONFIG_SPI_CMDDATA is not set # CONFIG_RTC is not set -CONFIG_WATCHDOG=y +# CONFIG_WATCHDOG is not set # CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set # CONFIG_BCH is not set # CONFIG_INPUT is not set # CONFIG_LCD is not set @@ -411,7 +451,7 @@ CONFIG_MMCSD=y CONFIG_MMCSD_NSLOTS=1 # CONFIG_MMCSD_READONLY is not set # CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set -CONFIG_MMCSD_MMCSUPPORT=y +# CONFIG_MMCSD_MMCSUPPORT is not set # CONFIG_MMCSD_HAVECARDDETECT is not set CONFIG_MMCSD_SPI=y CONFIG_MMCSD_SPICLOCK=20000000 @@ -421,9 +461,9 @@ CONFIG_PIPES=y # CONFIG_PM is not set # CONFIG_POWER is not set # CONFIG_SENSORS is not set -# CONFIG_SERCOMM_CONSOLE is not set CONFIG_SERIAL=y # CONFIG_DEV_LOWCONSOLE is not set +CONFIG_SERIAL_REMOVABLE=y # CONFIG_16550_UART is not set CONFIG_ARCH_HAVE_UART5=y CONFIG_ARCH_HAVE_USART1=y @@ -431,11 +471,11 @@ CONFIG_ARCH_HAVE_USART2=y CONFIG_ARCH_HAVE_USART6=y CONFIG_MCU_SERIAL=y CONFIG_STANDARD_SERIAL=y -CONFIG_USART1_SERIAL_CONSOLE=y +# CONFIG_USART1_SERIAL_CONSOLE is not set # CONFIG_USART2_SERIAL_CONSOLE is not set # CONFIG_UART5_SERIAL_CONSOLE is not set # CONFIG_USART6_SERIAL_CONSOLE is not set -# CONFIG_NO_SERIAL_CONSOLE is not set +CONFIG_NO_SERIAL_CONSOLE=y # # USART1 Configuration @@ -479,14 +519,19 @@ CONFIG_USART6_2STOP=0 CONFIG_USBDEV=y # -# Device Controller Driver Options +# USB Device Controller Driver Options # # CONFIG_USBDEV_ISOCHRONOUS is not set # CONFIG_USBDEV_DUALSPEED is not set CONFIG_USBDEV_SELFPOWERED=y # CONFIG_USBDEV_BUSPOWERED is not set +CONFIG_USBDEV_MAXPOWER=500 # CONFIG_USBDEV_DMA is not set # CONFIG_USBDEV_TRACE is not set + +# +# USB Device Class Driver Options +# # CONFIG_USBDEV_COMPOSITE is not set # CONFIG_PL2303 is not set CONFIG_CDCACM=y @@ -505,20 +550,10 @@ CONFIG_CDCACM_NWRREQS=4 CONFIG_CDCACM_NRDREQS=4 CONFIG_CDCACM_RXBUFSIZE=256 CONFIG_CDCACM_TXBUFSIZE=256 -CONFIG_CDCACM_VENDORID=0x26AC +CONFIG_CDCACM_VENDORID=0x26ac CONFIG_CDCACM_PRODUCTID=0x10 CONFIG_CDCACM_VENDORSTR="3D Robotics" -CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x" -# CONFIG_USBMSC is not set -# CONFIG_USBHOST is not set -# CONFIG_WIRELESS is not set - -# -# USB Device Class Driver Options -# -# CONFIG_USBDEV_COMPOSITE is not set -# CONFIG_PL2303 is not set -# CONFIG_CDCACM is not set +CONFIG_CDCACM_PRODUCTSTR="PX4FMU v1.x" # CONFIG_USBMSC is not set # CONFIG_USBHOST is not set # CONFIG_WIRELESS is not set @@ -546,23 +581,19 @@ CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v1.x" # # CONFIG_DISABLE_MOUNTPOINT is not set # CONFIG_FS_RAMMAP is not set -CONFIG_FS_FAT=y -CONFIG_FAT_LCNAMES=y -CONFIG_FAT_LFN=y -CONFIG_FAT_MAXFNAME=32 -# CONFIG_FS_FATTIME is not set -# CONFIG_FAT_DMAMEMORY is not set +# CONFIG_FS_FAT is not set # CONFIG_FS_NXFFS is not set -CONFIG_FS_ROMFS=y -CONFIG_FS_BINFS=y +# CONFIG_FS_ROMFS is not set +# CONFIG_FS_SMARTFS is not set +# CONFIG_FS_BINFS is not set # # System Logging # -CONFIG_SYSLOG_ENABLE=y +# CONFIG_SYSLOG_ENABLE is not set CONFIG_SYSLOG=y CONFIG_SYSLOG_CHAR=y -CONFIG_SYSLOG_DEVPATH="/dev/syslog" +CONFIG_SYSLOG_DEVPATH="/dev/ttyS0" # # Graphics Support @@ -579,6 +610,11 @@ CONFIG_GRAN=y CONFIG_GRAN_SINGLE=y CONFIG_GRAN_INTR=y +# +# Audio Support +# +# CONFIG_AUDIO is not set + # # Binary Formats # @@ -601,9 +637,9 @@ CONFIG_STDIO_BUFFER_SIZE=64 CONFIG_STDIO_LINEBUFFER=y CONFIG_NUNGET_CHARS=2 CONFIG_LIB_HOMEDIR="/" -CONFIG_LIBM=y # CONFIG_NOPRINTF_FIELDWIDTH is not set CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 # CONFIG_EOL_IS_CR is not set # CONFIG_EOL_IS_LF is not set # CONFIG_EOL_IS_BOTH_CRLF is not set @@ -632,6 +668,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKPERIOD=50000 CONFIG_SCHED_LPWORKSTACKSIZE=2048 # CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set # # Basic CXX Support @@ -660,6 +697,7 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024 # # CONFIG_EXAMPLES_BUTTONS is not set # CONFIG_EXAMPLES_CAN is not set +# CONFIG_EXAMPLES_CDCACM is not set # CONFIG_EXAMPLES_COMPOSITE is not set # CONFIG_EXAMPLES_CXXTEST is not set # CONFIG_EXAMPLES_DHCPD is not set @@ -674,8 +712,8 @@ CONFIG_BUILTIN_PROXY_STACKSIZE=1024 # CONFIG_EXAMPLES_IGMP is not set # CONFIG_EXAMPLES_LCDRW is not set # CONFIG_EXAMPLES_MM is not set -# CONFIG_EXAMPLES_MOUNT is not set # CONFIG_EXAMPLES_MODBUS is not set +# CONFIG_EXAMPLES_MOUNT is not set CONFIG_EXAMPLES_NSH=y # CONFIG_EXAMPLES_NULL is not set # CONFIG_EXAMPLES_NX is not set @@ -695,6 +733,10 @@ CONFIG_EXAMPLES_NSH=y # CONFIG_EXAMPLES_ROMFS is not set # CONFIG_EXAMPLES_SENDMAIL is not set # CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set # CONFIG_EXAMPLES_TELNETD is not set # CONFIG_EXAMPLES_THTTPD is not set # CONFIG_EXAMPLES_TIFF is not set @@ -791,6 +833,11 @@ CONFIG_NSH_BUILTIN_APPS=y # CONFIG_NSH_DISABLE_USLEEP is not set # CONFIG_NSH_DISABLE_WGET is not set # CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set CONFIG_NSH_CODECS_BUFSIZE=128 CONFIG_NSH_FILEIOSIZE=512 # CONFIG_NSH_STRERROR is not set @@ -798,7 +845,6 @@ CONFIG_NSH_LINELEN=64 CONFIG_NSH_NESTDEPTH=3 # CONFIG_NSH_DISABLESCRIPT is not set # CONFIG_NSH_DISABLEBG is not set -# CONFIG_NSH_ROMFSETC is not set CONFIG_NSH_CONSOLE=y # CONFIG_NSH_USBCONSOLE is not set @@ -824,20 +870,17 @@ CONFIG_NSH_ARCHINIT=y # # I2C tool # -CONFIG_SYSTEM_I2CTOOL=y -CONFIG_I2CTOOL_BUILTIN=y -CONFIG_I2CTOOL_MINBUS=0 -CONFIG_I2CTOOL_MAXBUS=3 -CONFIG_I2CTOOL_MINADDR=0x03 -CONFIG_I2CTOOL_MAXADDR=0x77 -CONFIG_I2CTOOL_MAXREGADDR=0xff -CONFIG_I2CTOOL_DEFFREQ=4000000 +# CONFIG_SYSTEM_I2CTOOL is not set # # FLASH Program Installation # # CONFIG_SYSTEM_INSTALL is not set +# +# FLASH Erase-all Command +# + # # readline() # diff --git a/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh b/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh index 2476845b6..db372217c 100755 --- a/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh +++ b/nuttx/configs/px4fmu-v1/usbnsh/setenv.sh @@ -1,7 +1,7 @@ #!/bin/bash -# configs/stm32f4discovery/nsh/setenv.sh +# configs/px4fmu-v1/usbnsh/setenv.sh # -# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved. +# Copyright (C) 2013 Gregory Nutt. All rights reserved. # Author: Gregory Nutt # # Redistribution and use in source and binary forms, with or without -- cgit v1.2.3