From 979c3a62701ca4486eefe7ca12bfaa7abd558fb6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 10 Dec 2016 19:10:24 +1100 Subject: [PATCH] mk: support px4-v3 with make I really wish we didn't still need this! --- mk/PX4/config_px4fmu-v2_APM.mk | 6 ------ mk/PX4/config_px4fmu-v3_APM.mk | 10 ++++++++++ mk/PX4/config_px4fmu-v4_APM.mk | 5 ++--- mk/PX4/px4_common.mk | 14 -------------- mk/help.mk | 1 + mk/px4_targets.mk | 22 +++++++++++++++++++++- 6 files changed, 34 insertions(+), 24 deletions(-) create mode 100644 mk/PX4/config_px4fmu-v3_APM.mk diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk index 9fb80c3d91..82e538a42f 100644 --- a/mk/PX4/config_px4fmu-v2_APM.mk +++ b/mk/PX4/config_px4fmu-v2_APM.mk @@ -3,12 +3,6 @@ # include $(SKETCHBOOK)/mk/PX4/px4_common.mk -MODULES += drivers/lsm303d -MODULES += drivers/l3gd20 -MODULES += drivers/mpu9250 MODULES += drivers/boards/px4fmu-v2 MODULES += drivers/pwm_input -MODULES += modules/uavcan -MODULES += lib/mathlib MODULES += drivers/px4io -MODULES += drivers/oreoled diff --git a/mk/PX4/config_px4fmu-v3_APM.mk b/mk/PX4/config_px4fmu-v3_APM.mk new file mode 100644 index 0000000000..35c5ef5319 --- /dev/null +++ b/mk/PX4/config_px4fmu-v3_APM.mk @@ -0,0 +1,10 @@ +# +# Makefile for the px4fmu-v2_APM configuration +# +include $(SKETCHBOOK)/mk/PX4/px4_common.mk + +MODULES += drivers/boards/px4fmu-v2 +MODULES += drivers/pwm_input +MODULES += modules/uavcan +MODULES += drivers/px4io +MODULES += drivers/oreoled diff --git a/mk/PX4/config_px4fmu-v4_APM.mk b/mk/PX4/config_px4fmu-v4_APM.mk index 007b709c5a..4b711cc927 100644 --- a/mk/PX4/config_px4fmu-v4_APM.mk +++ b/mk/PX4/config_px4fmu-v4_APM.mk @@ -3,8 +3,7 @@ # include $(SKETCHBOOK)/mk/PX4/px4_common.mk -MODULES += drivers/mpu9250 MODULES += drivers/boards/px4fmu-v4 MODULES += drivers/pwm_input -MODULES += modules/uavcan -MODULES += lib/mathlib +MODULES += modules/uavcan + diff --git a/mk/PX4/px4_common.mk b/mk/PX4/px4_common.mk index 2515139627..534a692316 100644 --- a/mk/PX4/px4_common.mk +++ b/mk/PX4/px4_common.mk @@ -18,9 +18,6 @@ MODULES += drivers/stm32/tone_alarm MODULES += drivers/led MODULES += drivers/px4fmu MODULES += drivers/rgbled -MODULES += drivers/mpu6000 -MODULES += drivers/hmc5883 -MODULES += drivers/ms5611 MODULES += drivers/mb12xx MODULES += drivers/ll40ls MODULES += drivers/trone @@ -38,21 +35,13 @@ MODULES += drivers/batt_smbus MODULES += systemcmds/bl_update MODULES += systemcmds/mixer MODULES += systemcmds/perf -MODULES += systemcmds/pwm MODULES += systemcmds/reboot MODULES += systemcmds/top #MODULES += systemcmds/tests MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/ver -MODULES += systemcmds/otp -ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/reflect),) -MODULES += systemcmds/reflect -endif -ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/motor_test),) -MODULES += systemcmds/motor_test -endif ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/usb_connected),) MODULES += systemcmds/usb_connected endif @@ -63,7 +52,6 @@ endif MODULES += modules/systemlib MODULES += modules/systemlib/mixer MODULES += modules/uORB -MODULES += lib/mathlib/math/filter # Note: auth disabled to keep us under 1MB flash because of STM32 bug #ifneq ($(wildcard $(PX4_ROOT)/src/systemcmds/auth),) @@ -74,8 +62,6 @@ MODULES += lib/mathlib/math/filter #MODULES += modules/libtomcrypt #endif -MODULES += lib/conversion - # # Transitional support - add commands from the NuttX export archive. # diff --git a/mk/help.mk b/mk/help.mk index 2b42c3bf5a..89578717f9 100644 --- a/mk/help.mk +++ b/mk/help.mk @@ -22,6 +22,7 @@ help: @echo "" @echo " px4-v1 - the PX4v1 board" @echo " px4-v2 - the Pixhawk" + @echo " px4-v3 - the Pixhawk with 2M flash" @echo " px4-v4 - the XRacer" @echo " pxf - the Beagle Bone Black (BBB) + PXF cape combination" @echo " navio - the RaspberryPi + NavIO cape combination" diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk index 494a98b024..8bd334acd4 100644 --- a/mk/px4_targets.mk +++ b/mk/px4_targets.mk @@ -41,6 +41,7 @@ EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink # we have different config files for V1 and V2 PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk +PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH) @@ -99,6 +100,16 @@ px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc $(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4" $(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4" +px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2 + $(v) echo Building px4-v3 + $(RULEHDR) + $(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/ + $(PX4_MAKE) px4fmu-v3_APM + $(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v3_APM.build/firmware.elf + $(v) cp $(PX4_ROOT)/Images/px4fmu-v3_APM.px4 $(SKETCH)-v3.px4 + $(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4" + $(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4" + px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk $(v) echo Building px4-v4 $(RULEHDR) @@ -116,6 +127,7 @@ px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc px4: $(MAKE) px4-v1 $(MAKE) px4-v2 + $(MAKE) px4-v3 $(MAKE) px4-v4 px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep @@ -142,6 +154,10 @@ px4-v2-upload: px4-v2 $(RULEHDR) $(v) $(PX4_MAKE) px4fmu-v2_APM upload +px4-v3-upload: px4-v3 + $(RULEHDR) + $(v) $(PX4_MAKE) px4fmu-v3_APM upload + px4-v4-upload: px4-v4 $(RULEHDR) $(v) $(PX4_MAKE) px4fmu-v4_APM upload @@ -185,6 +201,7 @@ px4-io: px4-io-v1 px4-io-v2 .NOTPARALLEL: \ $(PX4_ROOT)/Archives/px4fmu-v1.export \ $(PX4_ROOT)/Archives/px4fmu-v2.export \ + $(PX4_ROOT)/Archives/px4fmu-v3.export \ $(PX4_ROOT)/Archives/px4fmu-v4.export \ $(PX4_ROOT)/Archives/px4io-v1.export \ $(PX4_ROOT)/Archives/px4io-v2.export @@ -195,6 +212,9 @@ $(PX4_ROOT)/Archives/px4fmu-v1.export: $(PX4_ROOT)/Archives/px4fmu-v2.export: $(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2" +$(PX4_ROOT)/Archives/px4fmu-v3.export: + $(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v3" + $(PX4_ROOT)/Archives/px4fmu-v4.export: $(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4" @@ -205,4 +225,4 @@ $(PX4_ROOT)/Archives/px4io-v2.export: $(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2" px4-archives: - $(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v4" + $(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v3 px4fmu-v4"