mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-23 09:08:30 -04:00
mk: update build for FMUv4 from master
This commit is contained in:
Andrew Tridgell
parent
9ef6d9bee9
commit
adc578edbe
111
mk/PX4/ROMFS/init.d/rc.APM
Normal file → Executable file
111
mk/PX4/ROMFS/init.d/rc.APM
Normal file → Executable file
@ -56,13 +56,19 @@ then
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echo "Created APM directory"
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fi
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if [ -f /bin/lsm303d ]
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if [ -f /bin/px4io ]
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then
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if [ -f /bin/lsm303d ]
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then
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echo "Detected FMUv2 board"
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set BOARD FMUv2
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else
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else
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echo "Detected FMUv1 board"
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set BOARD FMUv1
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fi
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else
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echo "Detected FMUv4 board"
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set BOARD FMUv4
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fi
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if [ $BOARD == FMUv1 ]
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@ -108,16 +114,17 @@ then
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mkblctrl -mkmode x -d /dev/pwm_output
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fi
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echo "Trying PX4IO board"
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# try the px4io start twice. Some FMUv2 board don't
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# come up the first time
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set HAVE_PX4IO false
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if px4io start norc
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if [ -f /bin/px4io ]
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then
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echo "Trying PX4IO board"
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# try the px4io start twice. Some FMUv2 board don't
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# come up the first time
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set HAVE_PX4IO false
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if px4io start norc
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then
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set HAVE_PX4IO true
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else
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else
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# it may be in bootloader mode
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echo Loading /etc/px4io/px4io.bin
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tone_alarm MBABGP
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@ -136,6 +143,10 @@ else
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# play happy tune again
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tone_alarm 1
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fi
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fi
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else
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set HAVE_PX4IO false
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echo "No PX4IO support"
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fi
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if [ $HAVE_PX4IO == true ]
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@ -222,13 +233,17 @@ fi
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if [ $BOARD == FMUv1 ]
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then
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echo "Starting FMUv1 sensors"
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if hmc5883 -C -T start
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if hmc5883 -C -T -X start
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then
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echo "hmc5883 started OK"
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echo "Have external hmc5883"
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else
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echo "hmc5883 start failed"
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echo "hmc5883 start failed" >> $logfile
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sh /etc/init.d/rc.error
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echo "No external hmc5883"
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fi
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if hmc5883 -C -T -I start
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then
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echo "Have internal hmc5883"
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else
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echo "No internal hmc5883"
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fi
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if mpu6000 start
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then
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@ -243,7 +258,10 @@ then
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echo "No l3gd20"
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echo "No l3gd20" >> $logfile
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fi
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else
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fi
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if [ $BOARD == FMUv2 ]
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then
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echo "Starting FMUv2 sensors"
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if hmc5883 -C -T -X start
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then
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@ -337,6 +355,34 @@ else
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fi
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fi
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if [ $BOARD == FMUv4 ]
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then
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echo "Starting FMUv4 sensors"
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if hmc5883 -C -T -X start
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then
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echo "Have external hmc5883"
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else
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echo "No external hmc5883"
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fi
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if hmc5883 -C -T -S -R 2 start
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then
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echo "Have SPI hmc5883"
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else
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echo "No SPI hmc5883"
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fi
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if mpu6000 -R 2 -T 20608 start
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then
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echo "Found ICM-20608 internal"
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fi
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if mpu9250 -R 2 start
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then
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echo "Found mpu9250 internal"
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fi
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fi
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# optional ETS airspeed sensor
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if ets_airspeed start
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then
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@ -346,6 +392,11 @@ fi
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if meas_airspeed start
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then
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echo "Found MEAS airspeed sensor"
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else
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if meas_airspeed start -b 2
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then
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echo "Found MEAS airspeed sensor (bus2)"
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fi
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fi
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# optional Range Finder sensor
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@ -370,9 +421,12 @@ then
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fi
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# optional PX4Flow sensor
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if px4flow start
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if [ -f /bin/px4flow ]
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then
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if px4flow start
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then
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echo "Found px4flow sensor"
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fi
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fi
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# optional PWM input driver
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@ -381,8 +435,6 @@ then
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echo "started pwm_input driver"
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fi
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echo "Trying PX4IO board"
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if mtd start /fs/mtd
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then
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echo "started mtd driver OK"
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@ -401,14 +453,13 @@ else
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sh /etc/init.d/rc.error
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fi
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if [ -f /bin/uavcan ]
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# optional oreo leds
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if [ -f /bin/oreoled ]
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then
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if uavcan start 1
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then
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echo "started uavcan OK"
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else
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echo "failed to start uavcan"
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fi
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if oreoled start autoupdate
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then
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echo "oreoled started OK"
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fi
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fi
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# optional smbus battery monitor
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@ -417,13 +468,13 @@ then
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echo "Found batt_smbus"
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fi
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# optional oreo leds
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if oreoled start
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# optional irlock
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if irlock start
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then
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echo "oreoled started OK"
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echo "irlock started"
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fi
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if [ $BOARD == FMUv2 ]
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if [ $BOARD == FMUv2 -o $BOARD == FMUv4 ]
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then
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# the ramtron on FMUv2 is very fast and can handle trillions of
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# writes. This full rw test on each boot ensures it is working
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@ -10,3 +10,4 @@ bootloaders using:
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from a nsh prompt. Users can get a nsh prompt either via the CLI in
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test -> shell, or by booting with no SD card installed
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to use NSH to do this, please see the Wiki http://dev.ardupilot.com/wiki/interfacing-with-pixhawk-using-the-nsh
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Binary file not shown.
@ -4,4 +4,5 @@
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include $(SKETCHBOOK)/mk/PX4/px4_common.mk
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MODULES += drivers/boards/px4fmu-v1
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MODULES += drivers/px4io
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MODULES += drivers/px4flow
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@ -10,3 +10,6 @@ MODULES += drivers/boards/px4fmu-v2
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MODULES += drivers/pwm_input
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MODULES += modules/uavcan
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MODULES += lib/mathlib
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MODULES += drivers/px4io
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MODULES += drivers/px4flow
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MODULES += drivers/oreoled
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10
mk/PX4/config_px4fmu-v4_APM.mk
Normal file
10
mk/PX4/config_px4fmu-v4_APM.mk
Normal file
@ -0,0 +1,10 @@
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#
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# Makefile for the px4fmu-v4_APM configuration
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#
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include $(SKETCHBOOK)/mk/PX4/px4_common.mk
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MODULES += drivers/mpu9250
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MODULES += drivers/boards/px4fmu-v4
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MODULES += drivers/pwm_input
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MODULES += modules/uavcan
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MODULES += lib/mathlib
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@ -17,10 +17,7 @@ MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/px4io
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MODULES += drivers/px4flow
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MODULES += drivers/rgbled
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MODULES += drivers/oreoled
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MODULES += drivers/mpu6000
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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@ -37,6 +34,7 @@ MODULES += drivers/ets_airspeed
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MODULES += drivers/meas_airspeed
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MODULES += drivers/mkblctrl
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MODULES += drivers/batt_smbus
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MODULES += drivers/irlock
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#
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# System commands
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13
mk/apm.mk
13
mk/apm.mk
@ -24,15 +24,8 @@ include $(MK_DIR)/targets.mk
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include $(MK_DIR)/sketch_sources.mk
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ifneq ($(MAKECMDGOALS),clean)
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# board specific includes
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ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
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include $(MK_DIR)/board_avr.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
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include $(MK_DIR)/board_avr.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
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include $(MK_DIR)/board_native.mk
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endif
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@ -53,6 +46,10 @@ ifeq ($(HAL_BOARD),HAL_BOARD_FLYMAPLE)
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include $(MK_DIR)/board_flymaple.mk
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endif
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ifeq ($(HAL_BOARD),HAL_BOARD_QURT)
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include $(MK_DIR)/board_qurt.mk
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endif
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endif
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endif
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@ -35,7 +35,7 @@ DEFINES += -DSKETCH=\"$(SKETCH)\" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKE
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DEFINES += $(EXTRAFLAGS)
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DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD)
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WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi
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WARNFLAGS += -Wwrite-strings -Wformat=2
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WARNFLAGS += -Wwrite-strings -Wformat=2 -Wno-unused-parameter
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WARNFLAGSCXX = -Wno-reorder
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DEPFLAGS = -MD -MT $@
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@ -73,14 +73,6 @@ LDFLAGS = $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS) -mcpu=cortex-m3 -mthumb
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-Xassembler --march=armv7-m -Wall
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LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP) $(CPULDFLAGS)
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# under certain situations with certain avr-gcc versions the --relax flag causes
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# a bug. Give the user a way to disable this flag per-sketch.
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# I know this is a rotten hack but we're really close to sunset on AVR.
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EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
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ifeq ($(EXCLUDE_RELAX),)
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# LDFLAGS += -Wl,--relax
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endif
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LIBS = -lm
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ifeq ($(VERBOSE),)
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@ -3,5 +3,6 @@ TOOLCHAIN = NATIVE
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include $(MK_DIR)/find_tools.mk
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# Linux build is just the same as SITL for now
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LIBS = -lm -lpthread -lrt
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LIBS = -lm -pthread -lrt
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include $(MK_DIR)/board_native.mk
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include $(MK_DIR)/upload_firmware.mk
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@ -12,7 +12,6 @@ DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$
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WARNFLAGS = -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-unused-parameter -Wno-missing-field-initializers
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WARNFLAGS += -Wwrite-strings -Wformat=2
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WARNFLAGSCXX = -Wno-reorder \
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-Werror=unused-but-set-variable
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-Werror=format-security \
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-Werror=array-bounds \
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-Wfatal-errors \
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@ -20,13 +19,21 @@ WARNFLAGSCXX = -Wno-reorder \
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-Werror=uninitialized \
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-Werror=init-self \
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-Wno-missing-field-initializers
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DEPFLAGS = -MD -MT $@
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DEPFLAGS = -MD -MP -MT $@
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CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
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COPTS = -ffunction-sections -fdata-sections -fsigned-char
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ASOPTS = -x assembler-with-cpp
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# features: TODO detect dependecy and make them optional
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HAVE_LTTNG=
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ifeq ($(HAVE_LTTNG),1)
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DEFINES += -DPERF_LTTNG=1
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LIBS += -llttng-ust -ldl
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endif
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# disable as this breaks distcc
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#ifneq ($(SYSTYPE),Darwin)
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#LISTOPTS = -adhlns=$(@:.o=.lst)
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@ -48,7 +55,7 @@ ifneq ($(SYSTYPE),Darwin)
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LDFLAGS += -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
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endif
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LIBS ?= -lm -lpthread
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LIBS ?= -lm -pthread
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ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
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LIBS += -lwinmm
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endif
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@ -102,6 +109,9 @@ print-%:
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# fetch dependency info from a previous build if any of it exists
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-include $(ALLDEPS)
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ifeq ($(HAL_BOARD_SUBTYPE),HAL_BOARD_SUBTYPE_LINUX_QFLIGHT)
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include $(MK_DIR)/board_qflight.mk
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else
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# Link the final object
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$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
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@echo "Building $(SKETCHELF)"
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@ -109,6 +119,7 @@ $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
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$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
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$(v)cp $(SKETCHELF) .
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@echo "Firmware is in $(BUILDELF)"
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endif
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SKETCH_INCLUDES = $(SKETCHLIBINCLUDES)
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SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES)
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108
mk/board_qflight.mk
Normal file
108
mk/board_qflight.mk
Normal file
@ -0,0 +1,108 @@
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# extra rules for qualcomm flight linux build
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FLIGHT_BOARD ?= flight4
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HEXAGON_TOOLS_ROOT ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
|
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HEXAGON_SDK_ROOT ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
|
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HEXAGON_FC_ADDON ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
|
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V_ARCH = v5
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CROSSDEV = hexagon-
|
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HEXAGON_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
|
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HEXAGON_CLANG_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
|
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|
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QURT_CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
|
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QURT_CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
|
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HEXAGON_GCC_BIN = $(HEXAGON_TOOLS_ROOT)/gnu/bin
|
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|
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LINUX_QAIC = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
|
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|
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QURT_ARM_GCC_ROOT = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
|
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QURT_ARM_CC = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
|
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QURT_ARM_CXX = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
|
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|
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HEXAGON_LINK = $(QURT_CC)
|
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LIBSTDCXX = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
|
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|
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QFLIGHT_CC = $(QURT_ARM_CC)
|
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QFLIGHT_CXX = $(QURT_ARM_CXX)
|
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QFLIGHT_LD = $(QURT_ARM_CXX)
|
||||
|
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QFLIGHT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_Linux/qflight
|
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QFLIGHT_BUILD = $(BUILDROOT)/libraries/AP_HAL_Linux/qflight
|
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|
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GENERATE_DSP_C = $(QFLIGHT_BUILD)/qflight_skel.c
|
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GENERATE_ARM_C = $(QFLIGHT_BUILD)/qflight_stub.c
|
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GENERATE_TARGETS = $(GENERATE_DSP_C) $(GENERATE_ARM_C) $(QFLIGHT_BUILD)/qflight_dsp.h
|
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|
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LIBOBJS += $(QFLIGHT_BUILD)/qflight_stub.o
|
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|
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# DSP build flags
|
||||
DSP_INC=$(SHARED_INC) -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_ReleaseG -I$(QFLIGHT_BUILD) -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(SKETCHBOOK)/libraries
|
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DSP_FLAGS=-mv5 -G0 -g -O3 -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
|
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|
||||
$(GENERATE_TARGETS): $(QFLIGHT_SRC)/qflight_dsp.idl
|
||||
@echo Generating DSP IDL sources for $^
|
||||
$(v)mkdir -p $(QFLIGHT_BUILD)
|
||||
$(v)$(LINUX_QAIC) -mdll -o $(QFLIGHT_BUILD) -I$(QFLIGHT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
|
||||
|
||||
DSP_LINK_FLAGS = -mv5 -O3 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=libqflight_skel.so
|
||||
|
||||
ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(BUILDROOT)/libraries -I$(HEXAGON_SDK_ROOT)/inc/stddef
|
||||
ARM_CFLAGS=-fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC)
|
||||
|
||||
ARM_LINK_LIBS1 = -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a
|
||||
ARM_LINK_LIBS2 = -lm -lc -lsupc++ -lgcc_eh -lgcc
|
||||
ARM_LINK_FLAGS = -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl
|
||||
|
||||
LIBS += $(ARM_LINK_FLAGS) $(ARM_LINK_LIBS1) $(ARM_LINK_LIBS2)
|
||||
|
||||
CXXOPTS += $(ARM_CFLAGS)
|
||||
COPTS += $(ARM_CFLAGS)
|
||||
|
||||
LIBSKETCH_SKEL_SO = $(BUILDROOT)/libqflight_skel.so
|
||||
|
||||
.SUFFIXES: .o .c .cpp .so .do
|
||||
|
||||
# build DSP object from C file
|
||||
$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.c $(MAVLINK_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_CC) $(DSP_FLAGS) -c -o $@ $<
|
||||
|
||||
$(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.o: $(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(CC) -c -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -std=gnu99 -o $@ $<
|
||||
|
||||
$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.cpp
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
|
||||
|
||||
.c.do:
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_CC) $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
|
||||
|
||||
.cpp.do:
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
|
||||
|
||||
DSPSKELOBJS=$(QFLIGHT_BUILD)/qflight_skel.do $(QFLIGHT_BUILD)/dsp_functions.do $(BUILDROOT)/libraries/AP_HAL/utility/RingBuffer.do
|
||||
|
||||
$(SKETCHELF): $(LIBSKETCH_SKEL_SO)
|
||||
|
||||
$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS)
|
||||
@echo Linking $@
|
||||
$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -g -mv5 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -lc -lm -Wl,-soname=libqflight_skel.so -o $@ -Wl,--whole-archive $^ -Wl,--no-whole-archive -Wl,$(LIBSTDCXX)
|
||||
$(v)cp $(LIBSKETCH_SKEL_SO) .
|
||||
@echo "DSP skel firmware is in libqflight_skel.so"
|
||||
|
||||
# Link the final object
|
||||
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
|
||||
@echo "Building $(SKETCHELF)"
|
||||
$(RULEHDR)
|
||||
$(v)$(QFLIGHT_CC) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(SKETCHOBJS) $(LIBOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
|
||||
#$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
|
||||
$(v)cp $(SKETCHELF) .
|
||||
@echo "Firmware is in $(BUILDELF)"
|
||||
|
||||
qflight_send: qflight
|
||||
rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
|
||||
rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
|
||||
168
mk/board_qurt.mk
Normal file
168
mk/board_qurt.mk
Normal file
@ -0,0 +1,168 @@
|
||||
# extra rules for qualcomm flight build targetting the DSPs
|
||||
|
||||
# host name of flight board for "qurt_send" target
|
||||
FLIGHT_BOARD ?= flight4
|
||||
|
||||
HEXAGON_TOOLS_ROOT ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
|
||||
HEXAGON_SDK_ROOT ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
|
||||
HEXAGON_FC_ADDON ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
|
||||
V_ARCH = v5
|
||||
CROSSDEV = hexagon-
|
||||
HEXAGON_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
|
||||
HEXAGON_CLANG_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
|
||||
|
||||
QURT_CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
|
||||
QURT_CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
|
||||
|
||||
LINUX_QAIC = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
|
||||
|
||||
QURT_ARM_GCC_ROOT = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
|
||||
QURT_ARM_CC = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
|
||||
QURT_ARM_CXX = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
|
||||
|
||||
HEXAGON_LINK = $(QURT_CC)
|
||||
LIBSTDCXX = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
|
||||
|
||||
LIBQCC = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libqcc.a
|
||||
|
||||
QFLIGHT_CC = $(QURT_ARM_CC)
|
||||
QFLIGHT_CXX = $(QURT_ARM_CXX)
|
||||
|
||||
OPT = -O3
|
||||
|
||||
include $(MK_DIR)/find_tools.mk
|
||||
|
||||
DEFINES += -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
|
||||
DEFINES += $(EXTRAFLAGS)
|
||||
DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) -DAP_MAIN=ArduPilot_main
|
||||
|
||||
DEPFLAGS = -MD -MP -MT $@
|
||||
|
||||
CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char $(DSP_CFLAGS) $(WARNFLAGSCXX)
|
||||
COPTS = -ffunction-sections -fdata-sections -fsigned-char $(DSP_CFLAGS)
|
||||
|
||||
# DSP build flags
|
||||
DSP_INC=-I$(HEXAGON_SDK_ROOT)/gnu/hexagon/include -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_Debug_dynamic -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HAL_QURT_BUILD)
|
||||
DSP_WARN=-Wno-unused-parameter
|
||||
DSP_FLAGS=-mv5 -G0 -g $(OPT) $(DSP_WARN) -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ -D_DEBUG $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
|
||||
|
||||
DSP_LINK_FLAGS = -mv5 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=lib$(SKETCHNAME)_skel.so
|
||||
|
||||
CXXFLAGS += -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS) $(DEFINES) $(DSP_FLAGS)
|
||||
CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS) $(DEFINES) $(DSP_FLAGS)
|
||||
|
||||
ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_Debug -I$(SKETCHBOOK)/libraries/
|
||||
ARM_WARN=-Wno-unused-parameter
|
||||
ARM_CFLAGS=$(ARM_WARN) -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O0 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DCONFIG_HAL_BOARD=HAL_BOARD_LINUX -DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||||
|
||||
ifeq ($(VERBOSE),)
|
||||
v = @
|
||||
else
|
||||
v =
|
||||
endif
|
||||
|
||||
# Library object files
|
||||
LIBOBJS := $(SKETCHLIBOBJS)
|
||||
|
||||
# The ELF file
|
||||
SKETCHELF = $(BUILDROOT)/$(SKETCH).elf
|
||||
LIBSKETCH_SKEL_SO = $(BUILDROOT)/libardupilot_skel.so
|
||||
BUILDELF = $(notdir $(SKETCHELF))
|
||||
|
||||
# All of the objects that may be built
|
||||
ALLOBJS = $(SKETCHOBJS) $(LIBOBJS)
|
||||
|
||||
# All of the dependency files that may be generated
|
||||
ALLDEPS = $(ALLOBJS:%.o=%.d)
|
||||
|
||||
HAL_QURT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_QURT
|
||||
HAL_QURT_BUILD = $(BUILDROOT)/libraries/AP_HAL_QURT
|
||||
|
||||
# main app sources
|
||||
MAINAPP_SRC = $(wildcard $(HAL_QURT_SRC)/mainapp/*.cpp) $(wildcard $(SKETCHBOOK)/libraries/AP_HAL/utility/*.cpp)
|
||||
MAINAPPOBJS = $(subst $(SKETCHBOOK)/,$(BUILDROOT)/,$(MAINAPP_SRC:%.cpp=%.ao)) $(HAL_QURT_BUILD)/ardupilot_stub.ao
|
||||
|
||||
|
||||
.SUFFIXES: .ao .o .c .so .do
|
||||
|
||||
# build arm object
|
||||
$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
|
||||
|
||||
# build arm C++ object
|
||||
$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.cpp $(HAL_QURT_BUILD)/qurt_dsp.h
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_ARM_CXX) -std=gnu++11 -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
|
||||
|
||||
$(BUILDROOT)/libraries/%.ao: $(BUILDROOT)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
|
||||
|
||||
# build DSP object from C file
|
||||
$(BUILDROOT)/libraries/%.do: $(BUILDROOT)/libraries/%.c
|
||||
$(RULEHDR)
|
||||
$(v)$(QURT_CC) $(CFLAGS) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
|
||||
|
||||
################################################################################
|
||||
# Targets
|
||||
#
|
||||
all: $(SKETCHELF)
|
||||
|
||||
print-%:
|
||||
echo "$*=$($*)"
|
||||
|
||||
################################################################################
|
||||
# Rules
|
||||
#
|
||||
|
||||
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES)
|
||||
SLIB_INCLUDES = $(SKETCHLIBINCLUDES)
|
||||
|
||||
# fetch dependency info from a previous build if any of it exists
|
||||
-include $(ALLDEPS)
|
||||
|
||||
GENERATE_DSP_C = $(HAL_QURT_BUILD)/ardupilot_skel.c
|
||||
GENERATE_ARM_C = $(HAL_QURT_BUILD)/ardupilot_stub.c
|
||||
GENERATE_TARGETS = $(HAL_QURT_BUILD)/qurt_dsp.h $(GENERATE_DSP_C) $(GENERATE_ARM_C)
|
||||
|
||||
$(GENERATE_TARGETS): $(HAL_QURT_SRC)/qurt_dsp.idl
|
||||
@echo Generating DSP IDL sources for $^
|
||||
$(v)mkdir -p $(HAL_QURT_BUILD)
|
||||
$(v)$(LINUX_QAIC) -mdll -o $(HAL_QURT_BUILD) -I$(HAL_QURT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
|
||||
|
||||
# Link the final object
|
||||
$(SKETCHELF): $(MAINAPPOBJS) $(LIBSKETCH_SKEL_SO) $(GENERATE_TARGETS)
|
||||
@echo "Building $(SKETCHELF)"
|
||||
$(RULEHDR)
|
||||
$(v)$(QFLIGHT_CXX) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(MAINAPPOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
|
||||
$(v)cp $(SKETCHELF) .
|
||||
@echo "Firmware is in $(BUILDELF)"
|
||||
|
||||
DSPSKELOBJS=$(HAL_QURT_BUILD)/ardupilot_skel.do
|
||||
|
||||
# this is quite bizarre. The provided libc mixes PIC and non-PIC code,
|
||||
# which seems to confuse the linker. In order to link to some critical
|
||||
# system objects we need to extract them from libc into a new library
|
||||
LIBC_SRC=$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libc.a
|
||||
LIBC_EXTRACTDIR=$(BUILDROOT)/libc_extracted
|
||||
LIBC_OBJECTS=xfdtest.o xdtest.o feclearexcept.o fegetenv.o fesetenv.o
|
||||
LIBC_EXTRACTED=$(LIBC_EXTRACTDIR)/libc_extracted.a
|
||||
|
||||
$(LIBC_EXTRACTED): $(LIBC_SRC)
|
||||
$(v)echo Extracting libc objects into $@
|
||||
$(v)mkdir -p $(LIBC_EXTRACTDIR)
|
||||
$(v)(cd $(LIBC_EXTRACTDIR) && ar x $(LIBC_SRC) $(LIBC_OBJECTS) && ar crs libc_extracted.a $(LIBC_OBJECTS))
|
||||
|
||||
$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS) $(ALLOBJS) $(GENERATE_TARGETS) $(LIBC_EXTRACTED)
|
||||
@echo Linking $@
|
||||
$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -lcsr_gps -g -mv5 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -lc -lm -Wl,-soname=libqflight_skel.so -o $@ -Wl,--whole-archive $(DSPSKELOBJS) $(ALLOBJS) $(LIBC_EXTRACTED) -Wl,--no-whole-archive -Wl,$(LIBSTDCXX) -Wl,$(LIBQCC) -Wl,$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/libdl.a
|
||||
$(v)cp $(LIBSKETCH_SKEL_SO) .
|
||||
@echo "DSP skel firmware is in $(BUILDELF)"
|
||||
|
||||
include $(MK_DIR)/build_rules.mk
|
||||
|
||||
qurt_send: qurt
|
||||
rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
|
||||
rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
|
||||
|
||||
@ -3,11 +3,11 @@
|
||||
# Build sketch objects
|
||||
#
|
||||
|
||||
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
|
||||
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
|
||||
|
||||
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp
|
||||
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
|
||||
|
||||
@ -23,7 +23,7 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
|
||||
# Build library objects from sources in the sketchbook
|
||||
#
|
||||
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
|
||||
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
|
||||
$(RULEHDR)
|
||||
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
|
||||
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
|
||||
echo "Checking modules"
|
||||
|
||||
MODULE_LIST="PX4Firmware PX4NuttX uavcan"
|
||||
MODULE_LIST="PX4Firmware PX4NuttX uavcan mavlink"
|
||||
|
||||
NEED_INIT=0
|
||||
|
||||
@ -10,12 +10,12 @@ cd $(dirname "$0")/.. || exit 1
|
||||
|
||||
for m in $MODULE_LIST; do
|
||||
[ -d modules/$m ] || {
|
||||
echo "module/$m missing - need module init"
|
||||
echo "modules/$m missing - need module init"
|
||||
NEED_INIT=1
|
||||
break
|
||||
}
|
||||
[ -f modules/$m/.git ] || {
|
||||
echo "module/$m/.git missing - need module init"
|
||||
echo "modules/$m/.git missing - need module init"
|
||||
NEED_INIT=1
|
||||
break
|
||||
}
|
||||
@ -25,10 +25,12 @@ done
|
||||
set -x
|
||||
git submodule init || {
|
||||
echo "git submodule init failed"
|
||||
git submodule status
|
||||
exit 1
|
||||
}
|
||||
git submodule update || {
|
||||
echo "git submodule update failed"
|
||||
git submodule status
|
||||
exit 1
|
||||
}
|
||||
cat <<EOF
|
||||
|
||||
@ -137,9 +137,9 @@ HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring erle, $(MAKECMDGOALS)),)
|
||||
ifneq ($(findstring erleboard, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_ERLE
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
|
||||
endif
|
||||
|
||||
ifneq ($(findstring zynq, $(MAKECMDGOALS)),)
|
||||
@ -163,11 +163,26 @@ HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_NAVIO
|
||||
endif
|
||||
|
||||
ifneq ($(findstring raspilot, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_RASPILOT
|
||||
endif
|
||||
|
||||
ifneq ($(findstring erlebrain2, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
|
||||
endif
|
||||
|
||||
ifneq ($(findstring bbbmini, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_BBBMINI
|
||||
endif
|
||||
|
||||
ifneq ($(findstring minlure, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_MINLURE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_VRBRAIN
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
@ -183,23 +198,32 @@ HAL_BOARD = HAL_BOARD_VRBRAIN
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring apm1, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_APM1
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_AVR_APM1
|
||||
endif
|
||||
|
||||
ifneq ($(findstring apm2, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_APM2
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_AVR_APM2
|
||||
endif
|
||||
|
||||
ifneq ($(findstring flymaple, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_FLYMAPLE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring bhat, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_BH
|
||||
endif
|
||||
|
||||
ifneq ($(findstring qflight, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
|
||||
endif
|
||||
|
||||
ifneq ($(findstring qurt, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_QURT
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
ifneq ($(findstring pxfmini, $(MAKECMDGOALS)),)
|
||||
HAL_BOARD = HAL_BOARD_LINUX
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_PXFMINI
|
||||
endif
|
||||
|
||||
# default to SITL
|
||||
ifeq ($(HAL_BOARD),)
|
||||
HAL_BOARD = HAL_BOARD_SITL
|
||||
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
|
||||
endif
|
||||
|
||||
|
||||
@ -7,7 +7,6 @@
|
||||
#
|
||||
ifeq ($(SYSTYPE),Darwin)
|
||||
# use the tools that come with Arduino
|
||||
TOOLPATH := $(ARDUINO)/hardware/tools/avr/bin
|
||||
# use BWK awk
|
||||
AWK = awk
|
||||
FIND_TOOL = $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
|
||||
@ -35,15 +34,6 @@ NATIVE_LD := g++
|
||||
NATIVE_GDB := gdb
|
||||
NATIVE_OBJCOPY := objcopy
|
||||
|
||||
AVR_CXX := $(call FIND_TOOL,avr-g++)
|
||||
AVR_CC := $(call FIND_TOOL,avr-gcc)
|
||||
AVR_AS := $(call FIND_TOOL,avr-gcc)
|
||||
AVR_AR := $(call FIND_TOOL,avr-ar)
|
||||
AVR_LD := $(call FIND_TOOL,avr-gcc)
|
||||
AVR_GDB := $(call FIND_TOOL,avr-gdb)
|
||||
AVR_OBJCOPY := $(call FIND_TOOL,avr-objcopy)
|
||||
|
||||
AVRDUDE := $(call FIND_TOOL,avrdude)
|
||||
AVARICE := $(call FIND_TOOL,avarice)
|
||||
|
||||
# Tools for Maple/Flymaple
|
||||
|
||||
10
mk/help.mk
10
mk/help.mk
@ -20,10 +20,9 @@ help:
|
||||
@echo " Targets"
|
||||
@echo " -------"
|
||||
@echo ""
|
||||
@echo " apm1 - the APM1 board"
|
||||
@echo " apm2 - the APM2 board"
|
||||
@echo " px4-v1 - the PX4v1 board"
|
||||
@echo " px4-v2 - the Pixhawk"
|
||||
@echo " px4-v4 - the XRacer"
|
||||
@echo " pxf - the Beagle Bone Black (BBB) + PXF cape combination"
|
||||
@echo " navio - the RaspberryPi + NavIO cape combination"
|
||||
@echo " linux - a generic Linux build"
|
||||
@ -32,3 +31,10 @@ help:
|
||||
@echo " sitl - the SITL Software In The Loop simulation"
|
||||
@echo " bbbmini - the Beagle Bone Black mini"
|
||||
@echo " bebop - the Parrot Bebop"
|
||||
@echo " raspilot - the RaspberryPi + pilot cape combination"
|
||||
@echo " erleboard - the ErleBoard legacy design"
|
||||
@echo " minlure - the drone lure for MinnowBoard and others"
|
||||
@echo " qflight - qualcomm flight board"
|
||||
@echo " erlebrain2 - the Erle-Brain 2 board"
|
||||
@echo " bhat - the RaspberryPi + BH HAT combination"
|
||||
@echo " pxfmini - the RaspberryPi Zero + PXFmini cape combination"
|
||||
|
||||
12
mk/mavgen.mk
Normal file
12
mk/mavgen.mk
Normal file
@ -0,0 +1,12 @@
|
||||
|
||||
# mavlink header generation
|
||||
MAVLINK_DIR := $(SKETCHBOOK)/modules/mavlink/
|
||||
MESSAGE_DEFINITIONS := $(SKETCHBOOK)/modules/mavlink/message_definitions/v1.0
|
||||
MAVLINK_HEADERS := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/,*.h) $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega,*.h)
|
||||
MAVLINK_OUTPUT_DIR := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0
|
||||
|
||||
$(MAVLINK_HEADERS): $(MESSAGE_DEFINITIONS)/ardupilotmega.xml $(MESSAGE_DEFINITIONS)/common.xml
|
||||
echo "Generating MAVLink headers..."
|
||||
#goto mavlink module directory and run the most recent generator script
|
||||
echo "Generating C code using mavgen.py located at" $(SKETCHBOOK)/modules/mavlink/
|
||||
PYTHONPATH=$(MAVLINK_DIR) python $(MAVLINK_DIR)/pymavlink/tools/mavgen.py --lang=C --wire-protocol=1.0 --output=$(MAVLINK_OUTPUT_DIR) $(MAVLINK_DIR)/message_definitions/v1.0/ardupilotmega.xml
|
||||
41
mk/module_clean.sh
Normal file
41
mk/module_clean.sh
Normal file
@ -0,0 +1,41 @@
|
||||
#!/bin/sh
|
||||
|
||||
echo "cleaning modules"
|
||||
|
||||
MODULE_LIST="PX4Firmware PX4NuttX uavcan"
|
||||
|
||||
NEED_INIT=0
|
||||
|
||||
cd $(dirname "$0")/.. || exit 1
|
||||
|
||||
for m in $MODULE_LIST; do
|
||||
[ -d modules/$m ] || {
|
||||
echo "module/$m missing - need module init"
|
||||
NEED_INIT=1
|
||||
break
|
||||
}
|
||||
done
|
||||
|
||||
[ $NEED_INIT = 1 ] && {
|
||||
set -x
|
||||
git submodule init || {
|
||||
echo "git submodule init failed"
|
||||
exit 1
|
||||
}
|
||||
git submodule update || {
|
||||
echo "git submodule update failed"
|
||||
exit 1
|
||||
}
|
||||
}
|
||||
|
||||
for m in $MODULE_LIST; do
|
||||
RET=$(git submodule summary modules/$m | egrep "^..<")
|
||||
[ -z "$RET" ] || {
|
||||
echo "Module modules/$m out of date"
|
||||
git submodule summary modules/$m
|
||||
echo "Please run 'git submodule update'"
|
||||
exit 1
|
||||
}
|
||||
done
|
||||
|
||||
exit 0
|
||||
@ -2,9 +2,7 @@
|
||||
# git submodule support
|
||||
|
||||
.PHONY: CHECK_MODULES
|
||||
|
||||
# PX4 build needs submodules
|
||||
px4-%: CHECK_MODULES
|
||||
all: CHECK_MODULES
|
||||
|
||||
CHECK_MODULES:
|
||||
$(v)$(MK_DIR)/check_modules.sh
|
||||
|
||||
@ -43,10 +43,12 @@ EXTRAFLAGS += -DUAVCAN=1
|
||||
# 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_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)
|
||||
|
||||
WARNFLAGS = -Werror -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function
|
||||
OPTFLAGS = -fsingle-precision-constant
|
||||
|
||||
# avoid PX4 submodules
|
||||
export GIT_SUBMODULES_ARE_EVIL = 1
|
||||
@ -54,8 +56,8 @@ export GIT_SUBMODULES_ARE_EVIL = 1
|
||||
PYTHONPATH=$(SKETCHBOOK)/mk/PX4/Tools/genmsg/src:$(SKETCHBOOK)/mk/PX4/Tools/gencpp/src
|
||||
export PYTHONPATH
|
||||
|
||||
PX4_MAKE = $(v) GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 make -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
|
||||
PX4_MAKE_ARCHIVES = make -C $(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
|
||||
PX4_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
|
||||
PX4_MAKE_ARCHIVES = $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
|
||||
|
||||
HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
|
||||
|
||||
@ -75,39 +77,59 @@ module_mk:
|
||||
$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1200" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
|
||||
$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
|
||||
$(v) rm -f $(SKETCHBOOK)/module.mk.new
|
||||
|
||||
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
|
||||
px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
|
||||
$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(v) $(PX4_MAKE) px4fmu-v1_APM
|
||||
$(v) /bin/rm -f $(SKETCH)-v1.px4
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v1_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
|
||||
|
||||
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
|
||||
px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
|
||||
$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(PX4_MAKE) px4fmu-v2_APM
|
||||
$(v) /bin/rm -f $(SKETCH)-v2.px4
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v2_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
|
||||
$(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: px4-v1 px4-v2
|
||||
px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
|
||||
$(RULEHDR)
|
||||
$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V4_CONFIG_FILE)
|
||||
$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
|
||||
$(PX4_MAKE) px4fmu-v4_APM
|
||||
$(v) /bin/rm -f $(SKETCH)-v4.px4
|
||||
$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4_APM.build/firmware.elf
|
||||
$(v) cp $(PX4_ROOT)/Images/px4fmu-v4_APM.px4 $(SKETCH)-v4.px4
|
||||
$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4.px4" "$(SKETCH)-v4.px4"
|
||||
$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4.px4"
|
||||
|
||||
px4: px4-v1 px4-v2 px4-v4
|
||||
|
||||
px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/src/modules/uORB/topics $(PX4_ROOT)/src/platforms/nuttx/px4_messages
|
||||
|
||||
px4-cleandep: clean
|
||||
$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
|
||||
$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
|
||||
$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
|
||||
|
||||
px4-v2-upload-solo: px4-v2
|
||||
scp $(SKETCH)-v2.px4 root@10.1.1.10:/tmp/
|
||||
ssh root@10.1.1.10 PYTHONUNBUFFERED=1 loadPixhawk.py /tmp/ArduCopter-v2.px4
|
||||
ssh root@10.1.1.10 rm /tmp/ArduCopter-v2.px4;
|
||||
|
||||
px4-v1-upload: px4-v1
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v1_APM upload
|
||||
@ -116,13 +138,17 @@ px4-v2-upload: px4-v2
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v2_APM upload
|
||||
|
||||
px4-v4-upload: px4-v4
|
||||
$(RULEHDR)
|
||||
$(v) $(PX4_MAKE) px4fmu-v4_APM upload
|
||||
|
||||
px4-upload: px4-v1-upload
|
||||
|
||||
px4-archives-clean:
|
||||
$(v) /bin/rm -rf $(PX4_ROOT)/Archives
|
||||
|
||||
px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
|
||||
$(v) make -C $(PX4_ROOT) px4io-v1_default
|
||||
$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v1_default
|
||||
$(v) /bin/rm -f px4io-v1.bin
|
||||
$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
|
||||
$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
|
||||
@ -136,7 +162,7 @@ px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
|
||||
|
||||
|
||||
px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
|
||||
$(v) make -C $(PX4_ROOT) px4io-v2_default
|
||||
$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v2_default
|
||||
$(v) /bin/rm -f px4io-v2.bin
|
||||
$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.bin px4io-v2.bin
|
||||
$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
|
||||
@ -151,6 +177,20 @@ px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
|
||||
|
||||
px4-io: px4-io-v1 px4-io-v2
|
||||
|
||||
# These targets can't run in parallel because they all need to generate a tool
|
||||
# to generate the config.h inside them. This could trigger races if done in
|
||||
# parallel, trying to generate the tool and replacing it while the header is already
|
||||
# being generated
|
||||
#
|
||||
# We could serialize inside PX4Firmware, but it's easier to serialize here
|
||||
# while maintaining the rest of the build parallelized
|
||||
|
||||
.NOTPARALLEL: \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v1.export \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v2.export \
|
||||
$(PX4_ROOT)/Archives/px4fmu-v4.export \
|
||||
$(PX4_ROOT)/Archives/px4io-v1.export \
|
||||
$(PX4_ROOT)/Archives/px4io-v2.export
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v1.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v1"
|
||||
@ -158,6 +198,9 @@ $(PX4_ROOT)/Archives/px4fmu-v1.export:
|
||||
$(PX4_ROOT)/Archives/px4fmu-v2.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4fmu-v4.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
|
||||
|
||||
$(PX4_ROOT)/Archives/px4io-v1.export:
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
|
||||
|
||||
@ -165,4 +208,4 @@ $(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"
|
||||
$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v4"
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
# Sketch
|
||||
#
|
||||
|
||||
SRCSUFFIXES = *.cpp *.c *.S
|
||||
SRCSUFFIXES = *.cpp
|
||||
|
||||
MAKE_INC=$(wildcard $(SRCROOT)/make.inc)
|
||||
ifeq (,$(MAKE_INC))
|
||||
@ -21,6 +21,53 @@ SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
|
||||
include $(MAKE_INC)
|
||||
LIBTOKENS := $(LIBRARIES)
|
||||
|
||||
|
||||
# HAL and board specific libraries are included here.
|
||||
LIBTOKENS += \
|
||||
AP_HAL \
|
||||
AP_HAL_Empty
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_APM
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_APM
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_SITL \
|
||||
SITL
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_Linux
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_PX4
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_VRBRAIN
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_FLYMAPLE)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_FLYMAPLE
|
||||
endif
|
||||
|
||||
ifeq ($(HAL_BOARD),HAL_BOARD_QURT)
|
||||
LIBTOKENS += \
|
||||
AP_HAL_QURT
|
||||
endif
|
||||
|
||||
#
|
||||
# Find sketchbook libraries referenced by the sketch.
|
||||
#
|
||||
@ -31,7 +78,7 @@ SKETCHLIBNAMES := $(notdir $(SKETCHLIBS))
|
||||
SKETCHLIBSRCDIRS := $(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
|
||||
SKETCHLIBSRCS := $(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
|
||||
SKETCHLIBOBJS := $(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
|
||||
SKETCHLIBINCLUDES := -I$(SKETCHBOOK)/libraries/
|
||||
SKETCHLIBINCLUDES := -I$(SKETCHBOOK)/libraries/ -I$(BUILDROOT)/libraries/ -I$(BUILDROOT)/libraries/GCS_MAVLink/
|
||||
SKETCHLIBSRCSRELATIVE := $(subst $(SKETCHBOOK)/,,$(SKETCHLIBSRCS))
|
||||
|
||||
ifeq ($(VERBOSE),)
|
||||
|
||||
@ -9,18 +9,8 @@ sitl-arm: HAL_BOARD = HAL_BOARD_SITL
|
||||
sitl-arm: TOOLCHAIN = RPI
|
||||
sitl-arm: all
|
||||
|
||||
apm1: HAL_BOARD = HAL_BOARD_APM1
|
||||
apm1: TOOLCHAIN = AVR
|
||||
apm1: all
|
||||
|
||||
apm1-1280: HAL_BOARD = HAL_BOARD_APM1
|
||||
apm1-1280: TOOLCHAIN = AVR
|
||||
apm1-1280: all
|
||||
apm1-1280: BOARD = mega
|
||||
|
||||
apm2: HAL_BOARD = HAL_BOARD_APM2
|
||||
apm2: TOOLCHAIN = AVR
|
||||
apm2: all
|
||||
apm1 apm1-1280 apm2 apm2beta:
|
||||
$(error $@ is deprecated on master branch; use master-AVR)
|
||||
|
||||
flymaple: HAL_BOARD = HAL_BOARD_FLYMAPLE
|
||||
flymaple: TOOLCHAIN = ARM
|
||||
@ -32,9 +22,9 @@ linux: HAL_BOARD = HAL_BOARD_LINUX
|
||||
linux: TOOLCHAIN = NATIVE
|
||||
linux: all
|
||||
|
||||
erle: HAL_BOARD = HAL_BOARD_LINUX
|
||||
erle: TOOLCHAIN = BBONE
|
||||
erle: all
|
||||
erleboard: HAL_BOARD = HAL_BOARD_LINUX
|
||||
erleboard: TOOLCHAIN = BBONE
|
||||
erleboard: all
|
||||
|
||||
zynq: HAL_BOARD = HAL_BOARD_LINUX
|
||||
zynq: TOOLCHAIN = ZYNQ
|
||||
@ -48,20 +38,49 @@ pxf: all
|
||||
|
||||
bebop: HAL_BOARD = HAL_BOARD_LINUX
|
||||
bebop: TOOLCHAIN = BBONE
|
||||
bebop: LDFLAGS += "-static"
|
||||
bebop: all
|
||||
|
||||
minlure: HAL_BOARD = HAL_BOARD_LINUX
|
||||
minlure: TOOLCHAIN = NATIVE
|
||||
minlure: all
|
||||
|
||||
navio: HAL_BOARD = HAL_BOARD_LINUX
|
||||
navio: TOOLCHAIN = RPI
|
||||
navio: all
|
||||
|
||||
raspilot: HAL_BOARD = HAL_BOARD_LINUX
|
||||
raspilot: TOOLCHAIN = RPI
|
||||
raspilot: all
|
||||
|
||||
erlebrain2: HAL_BOARD = HAL_BOARD_LINUX
|
||||
erlebrain2: TOOLCHAIN = RPI
|
||||
erlebrain2: all
|
||||
|
||||
bbbmini: HAL_BOARD = HAL_BOARD_LINUX
|
||||
bbbmini: TOOLCHAIN = BBONE
|
||||
bbbmini: all
|
||||
|
||||
bhat: HAL_BOARD = HAL_BOARD_LINUX
|
||||
bhat: TOOLCHAIN = RPI
|
||||
bhat: all
|
||||
|
||||
qflight: HAL_BOARD = HAL_BOARD_LINUX
|
||||
qflight: TOOLCHAIN = QFLIGHT
|
||||
qflight: all
|
||||
|
||||
empty: HAL_BOARD = HAL_BOARD_EMPTY
|
||||
empty: TOOLCHAIN = AVR
|
||||
empty: all
|
||||
|
||||
qurt: HAL_BOARD = HAL_BOARD_QURT
|
||||
qurt: TOOLCHAIN = QURT
|
||||
qurt: all
|
||||
|
||||
pxfmini: HAL_BOARD = HAL_BOARD_LINUX
|
||||
pxfmini: TOOLCHAIN = RPI
|
||||
pxfmini: all
|
||||
|
||||
# cope with HIL targets
|
||||
%-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
|
||||
%-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
|
||||
@ -72,12 +91,16 @@ empty: all
|
||||
# support debug build
|
||||
%-debug: OPTFLAGS = -g -O0
|
||||
|
||||
# support address sanitiser
|
||||
%-asan: OPTFLAGS = -g -O0 -fsanitize=address -fno-omit-frame-pointer
|
||||
%-asan: LDFLAGS += -fsanitize=address
|
||||
|
||||
# cope with -nologging
|
||||
%-nologging: EXTRAFLAGS += "-DLOGGING_ENABLED=DISABLED "
|
||||
|
||||
# cope with copter and hil targets
|
||||
FRAMES = quad tri hexa y6 octa octa-quad heli single coax obc nologging
|
||||
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio bbbmini
|
||||
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 px4-v4 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio raspilot bbbmini minlure erlebrain2 bhat qflight pxfmini
|
||||
|
||||
define frame_template
|
||||
$(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "
|
||||
@ -92,6 +115,7 @@ endef
|
||||
define board_template
|
||||
$(1)-hil : $(1)
|
||||
$(1)-debug : $(1)
|
||||
$(1)-asan : $(1)
|
||||
$(1)-hilsensors : $(1)
|
||||
endef
|
||||
|
||||
@ -103,9 +127,6 @@ USED_FRAMES := $(foreach frame,$(FRAMES), $(findstring $(frame), $(MAKECMDGOALS)
|
||||
$(foreach board,$(USED_BOARDS),$(eval $(call board_template,$(board))))
|
||||
$(foreach board,$(USED_BOARDS),$(foreach frame,$(USED_FRAMES),$(eval $(call frame_template,$(board),$(frame)))))
|
||||
|
||||
apm2beta: EXTRAFLAGS += "-DAPM2_BETA_HARDWARE "
|
||||
apm2beta: apm2
|
||||
|
||||
sitl-mount: EXTRAFLAGS += "-DMOUNT=ENABLED"
|
||||
sitl-mount: sitl
|
||||
|
||||
@ -119,3 +140,4 @@ clean:
|
||||
@rm -fr $(BUILDROOT)
|
||||
|
||||
include $(MK_DIR)/modules.mk
|
||||
include $(MK_DIR)/mavgen.mk
|
||||
|
||||
11
mk/upload_firmware.mk
Normal file
11
mk/upload_firmware.mk
Normal file
@ -0,0 +1,11 @@
|
||||
ifneq ($(BOARD_LINUX_HOST),)
|
||||
upload: $(SKETCHELF).timestamp-upload
|
||||
|
||||
$(SKETCHELF).timestamp-upload: $(SKETCHELF)
|
||||
scp $(SKETCHELF) $(BOARD_LINUX_HOST):
|
||||
touch $@
|
||||
else
|
||||
upload:
|
||||
@echo Check your config.mk: BOARD_LINUX_HOST should be defined to upload firmware
|
||||
exit 1
|
||||
endif
|
||||
Loading…
Reference in New Issue
Block a user