From f50d48f40976b07a1677341bfb0ea3b3a4a51917 Mon Sep 17 00:00:00 2001 From: LukeMike Date: Fri, 12 Sep 2014 08:40:47 +0200 Subject: [PATCH] VRBRAIN: added new board VR Brain 5 PRO --- mk/VRBRAIN/config_vrbrain-v51Pro_APM.mk | 172 ++++++++++++++++++++++++ mk/vrbrain_targets.mk | 123 ++++++++++++++++- 2 files changed, 292 insertions(+), 3 deletions(-) create mode 100644 mk/VRBRAIN/config_vrbrain-v51Pro_APM.mk diff --git a/mk/VRBRAIN/config_vrbrain-v51Pro_APM.mk b/mk/VRBRAIN/config_vrbrain-v51Pro_APM.mk new file mode 100644 index 0000000000..f659ff3fe2 --- /dev/null +++ b/mk/VRBRAIN/config_vrbrain-v51Pro_APM.mk @@ -0,0 +1,172 @@ +# +# Makefile for the VRBRAIN 5.1 APM configuration +# + +# +# Use the configuration's ROMFS. +# +ROMFS_ROOT = $(SKETCHBOOK)/mk/VRBRAIN/ROMFS_VRBRAIN51_APM + +MODULES += $(APM_MODULE_DIR) + +# +# Board support modules +# +MODULES += drivers/device +MODULES += drivers/stm32 +MODULES += drivers/stm32/adc +MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led +MODULES += drivers/buzzer + + +MODULES += drivers/boards/vrbrain-v51Pro +MODULES += drivers/vrbrain/vroutput +MODULES += drivers/vrbrain/vrinput/controls +MODULES += drivers/vrbrain/vrinput + + + + +MODULES += drivers/mpu6000 +MODULES += drivers/hmc5883 +MODULES += drivers/hmc5983 + +MODULES += drivers/ms5611 + + + + + + + + + + + + + + + + +# +# System commands +# +MODULES += systemcmds/mtd +MODULES += systemcmds/bl_update + + + + + +MODULES += systemcmds/pwm +MODULES += systemcmds/esc_calib +MODULES += systemcmds/reboot +MODULES += systemcmds/top + + +MODULES += systemcmds/tests + +MODULES += systemcmds/nshterm + +# +# General system control +# + + + + + + +# +# Estimation modules (EKF/ SO3 / other filters) +# + + + + + + +# +# Vehicle Control +# + + + + + + + + +# +# Logging +# + + +# +# Unit tests +# + + + +# +# Library modules +# +MODULES += modules/systemlib + + +MODULES += modules/uORB + +# +# Libraries +# + + +MODULES += lib/mathlib/math/filter + + + +MODULES += lib/conversion + + + + + + + + + + + + + + + + + + + + + + + + +# +# Transitional support - add commands from the NuttX export archive. +# +# In general, these should move to modules over time. +# +# Each entry here is ... but we use a helper macro +# to make the table a bit more readable. +# +define _B + $(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4) +endef + +# command priority stack entrypoint +BUILTIN_COMMANDS := \ + $(call _B, sercon, , 2048, sercon_main ) \ + $(call _B, serdis, , 2048, serdis_main ) \ + $(call _B, msconn, , 2048, msconn_main ) \ + $(call _B, msdis, , 2048, msdis_main ) \ + $(call _B, sysinfo, , 2048, sysinfo_main ) diff --git a/mk/vrbrain_targets.mk b/mk/vrbrain_targets.mk index 350cb20b8f..ca789a8083 100644 --- a/mk/vrbrain_targets.mk +++ b/mk/vrbrain_targets.mk @@ -34,11 +34,18 @@ RC_INPUTS_TYPE := # we have different config files for vrbrain_v40, vrbrain_v45, vrbrain_v50, vrbrain_v51, vrubrain_v51 and vrhero_v10 VRBRAIN_MK_DIR=$(SRCROOT)/$(MK_DIR)/VRBRAIN + VRBRAIN_VB40_CONFIG_FILE=config_vrbrain-v40_APM.mk VRBRAIN_VB45_CONFIG_FILE=config_vrbrain-v45_APM.mk + VRBRAIN_VB50_CONFIG_FILE=config_vrbrain-v50_APM.mk VRBRAIN_VB51_CONFIG_FILE=config_vrbrain-v51_APM.mk + +VRBRAIN_VB51PRO_CONFIG_FILE=config_vrbrain-v51Pro_APM.mk + VRBRAIN_VU51_CONFIG_FILE=config_vrubrain-v51_APM.mk + + VRBRAIN_VH10_CONFIG_FILE=config_vrhero-v10_APM.mk ifneq ($(findstring PWM, $(RC_INPUTS_TYPE)),) @@ -104,6 +111,20 @@ vrbrain-v50: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrbrain-v50.export $(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v50_APM.bin $(SKETCH)-vrbrain-v50.bin $(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v50.vrx" + + + + + + + + + + + + + + vrbrain-v51: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(SKETCHCPP) module_mk $(RULEHDR) $(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB51_CONFIG_FILE) @@ -118,6 +139,48 @@ vrbrain-v51: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export $(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51_APM.bin $(SKETCH)-vrbrain-v51.bin $(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51.vrx" + + + + + + + + + + + + + + +vrbrain-v51Pro: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrbrain-v51Pro.export $(SKETCHCPP) module_mk + $(RULEHDR) + $(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB51PRO_CONFIG_FILE) + $(v) cp $(VRBRAIN_MK_DIR)/$(VRBRAIN_VB51PRO_CONFIG_FILE) $(VRBRAIN_ROOT)/makefiles/ + $(v) $(VRBRAIN_MAKE) vrbrain-v51Pro_APM + $(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VB51PRO_CONFIG_FILE) + $(v) rm -f $(SKETCH)-vrbrain-v51Pro.vrx + $(v) rm -f $(SKETCH)-vrbrain-v51Pro.hex + $(v) rm -f $(SKETCH)-vrbrain-v51Pro.bin + $(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51Pro_APM.vrx $(SKETCH)-vrbrain-v51Pro.vrx + $(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51Pro_APM.hex $(SKETCH)-vrbrain-v51Pro.hex + $(v) cp $(VRBRAIN_ROOT)/Images/vrbrain-v51Pro_APM.bin $(SKETCH)-vrbrain-v51Pro.bin + $(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrbrain-v51Pro.vrx" + + + + + + + + + + + + + + + vrubrain-v51: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export $(SKETCHCPP) module_mk $(RULEHDR) $(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VU51_CONFIG_FILE) @@ -132,6 +195,20 @@ vrubrain-v51: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrubrain-v51.expo $(v) cp $(VRBRAIN_ROOT)/Images/vrubrain-v51_APM.bin $(SKETCH)-vrubrain-v51.bin $(v) echo "MICRO VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrubrain-v51.vrx" + + + + + + + + + + + + + + vrhero-v10: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrhero-v10.export $(SKETCHCPP) module_mk $(RULEHDR) $(v) rm -f $(VRBRAIN_ROOT)/makefiles/$(VRBRAIN_VH10_CONFIG_FILE) @@ -146,10 +223,15 @@ vrhero-v10: $(BUILDROOT)/make.flags $(VRBRAIN_ROOT)/Archives/vrhero-v10.export $ $(v) cp $(VRBRAIN_ROOT)/Images/vrhero-v10_APM.bin $(SKETCH)-vrhero-v10.bin $(v) echo "VRBRAIN $(SKETCH) Firmware is in $(SKETCH)-vrhero-v10.vrx" -#vrbrain: vrbrain-v40 vrbrain-v45 vrbrain-v50 vrbrain-v51 vrubrain-v51 vrhero-v10 -vrbrain: vrbrain-v45 vrbrain-v51 vrubrain-v51 +vrbrainStd: vrbrain-v45 vrbrain-v51 vrubrain-v51 -vrbrain-clean: clean vrbrain-build-clean vrbrain-archives-clean +vrbrainPro: vrbrain-v51Pro + + +vrbrain: vrbrainStd vrbrainPro + +#vrbrain-clean: clean vrbrain-build-clean vrbrain-archives-clean +vrbrain-clean: clean vrbrain-build-clean vrbrain-build-clean: $(v) /bin/rm -rf $(VRBRAIN_ROOT)/makefiles/build $(VRBRAIN_ROOT)/Build @@ -165,6 +247,10 @@ vrbrain-v45-upload: vrbrain-v45 $(RULEHDR) $(v) $(VRBRAIN_MAKE) vrbrain-v45_APM upload + + + + vrbrain-v50-upload: vrbrain-v50 $(RULEHDR) $(v) $(VRBRAIN_MAKE) vrbrain-v50_APM upload @@ -173,10 +259,26 @@ vrbrain-v51-upload: vrbrain-v51 $(RULEHDR) $(v) $(VRBRAIN_MAKE) vrbrain-v51_APM upload + + + + +vrbrain-v51Pro-upload: vrbrain-v51Pro + $(RULEHDR) + $(v) $(VRBRAIN_MAKE) vrbrain-v51Pro_APM upload + + + + + vrubrain-v51-upload: vrubrain-v51 $(RULEHDR) $(v) $(VRBRAIN_MAKE) vrubrain-v51_APM upload + + + + vrhero-v10-upload: vrhero-v10 $(RULEHDR) $(v) $(VRBRAIN_MAKE) vrhero-v10_APM upload @@ -192,15 +294,30 @@ $(VRBRAIN_ROOT)/Archives/vrbrain-v40.export: $(VRBRAIN_ROOT)/Archives/vrbrain-v45.export: $(v) $(VRBRAIN_MAKE_ARCHIVES) + + + $(VRBRAIN_ROOT)/Archives/vrbrain-v50.export: $(v) $(VRBRAIN_MAKE_ARCHIVES) $(VRBRAIN_ROOT)/Archives/vrbrain-v51.export: $(v) $(VRBRAIN_MAKE_ARCHIVES) + + + +$(VRBRAIN_ROOT)/Archives/vrbrain-v51Pro.export: + $(v) $(VRBRAIN_MAKE_ARCHIVES) + + + + $(VRBRAIN_ROOT)/Archives/vrubrain-v51.export: $(v) $(VRBRAIN_MAKE_ARCHIVES) + + + $(VRBRAIN_ROOT)/Archives/vrhero-v10.export: $(v) $(VRBRAIN_MAKE_ARCHIVES)