px4-firmware/makefiles/config_px4fmu-v2_default.mk

#
# Makefile for the px4fmu_default configuration
#

#
# Use the configuration's ROMFS, copy the px4iov2 firmware into
# the ROMFS if it's available
#
ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin

#
# Board support modules
#
MODULES		+= drivers/device
MODULES		+= drivers/stm32
MODULES		+= drivers/stm32/adc
MODULES		+= drivers/stm32/tone_alarm
MODULES		+= drivers/led
MODULES		+= drivers/px4fmu
MODULES		+= drivers/px4io
MODULES		+= drivers/boards/px4fmu-v2
MODULES		+= drivers/rgbled
MODULES		+= drivers/mpu6000
MODULES		+= drivers/lsm303d
MODULES		+= drivers/l3gd20
MODULES		+= drivers/hmc5883
MODULES		+= drivers/ms5611
MODULES		+= drivers/mb12xx
MODULES		+= drivers/gps
MODULES		+= drivers/hil
MODULES		+= drivers/hott/hott_telemetry
MODULES		+= drivers/hott/hott_sensors
MODULES		+= drivers/blinkm
MODULES		+= drivers/roboclaw
MODULES		+= drivers/airspeed
MODULES		+= drivers/ets_airspeed
MODULES		+= drivers/meas_airspeed
MODULES		+= modules/sensors

# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES		+= drivers/mkblctrl

#
# System commands
#
MODULES		+= systemcmds/ramtron
MODULES		+= systemcmds/bl_update
MODULES		+= systemcmds/boardinfo
MODULES		+= systemcmds/mixer
MODULES		+= systemcmds/param
MODULES		+= systemcmds/perf
MODULES		+= systemcmds/preflight_check
MODULES		+= systemcmds/pwm
MODULES		+= systemcmds/esc_calib
MODULES		+= systemcmds/reboot
MODULES		+= systemcmds/top
MODULES		+= systemcmds/tests
MODULES		+= systemcmds/config
MODULES		+= systemcmds/nshterm

#
# General system control
#
MODULES		+= modules/commander
MODULES		+= modules/navigator
MODULES		+= modules/mavlink
MODULES		+= modules/mavlink_onboard

#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES		+= modules/attitude_estimator_ekf
MODULES		+= modules/attitude_estimator_so3
MODULES		+= modules/att_pos_estimator_ekf
MODULES		+= modules/position_estimator_inav
MODULES		+= examples/flow_position_estimator

#
# Vehicle Control
#
#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
MODULES		+= modules/fw_pos_control_l1
MODULES		+= modules/fw_att_control
MODULES		+= modules/multirotor_att_control
MODULES		+= modules/multirotor_pos_control

#
# Logging
#
MODULES		+= modules/sdlog2

#
# Unit tests
#
#MODULES 	+= modules/unit_test
#MODULES 	+= modules/commander/commander_tests

#
# Library modules
#
MODULES		+= modules/systemlib
MODULES		+= modules/systemlib/mixer
MODULES		+= modules/controllib
MODULES		+= modules/uORB

#
# Libraries
#
LIBRARIES	+= lib/mathlib/CMSIS
MODULES		+= lib/mathlib
MODULES		+= lib/mathlib/math/filter
MODULES		+= lib/ecl
MODULES		+= lib/external_lgpl
MODULES		+= lib/geo
MODULES		+= lib/conversion

#
# Demo apps
#
#MODULES		+= examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
MODULES		+= examples/px4_simple_app

# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
#MODULES		+= examples/px4_daemon_app

# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES		+= examples/px4_mavlink_debug

# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES			+= examples/fixedwing_control

# Hardware test
#MODULES			+= examples/hwtest

#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef

#                  command                 priority                   stack  entrypoint
BUILTIN_COMMANDS := \
	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
	$(call _B, serdis,                 ,                          2048,  serdis_main                )
Scratch in a mostly-building board config for fmuv2 2013-04-01 05:23:05 -03:00			`#`
			`# Makefile for the px4fmu_default configuration`
			`#`

			`#`
Add support for adding extra files to the ROMFS from the config. If there is an IO firmware image already built when we build the corresponding FMU ROMFS, copy it into the ROMFS. Note - due to there being no fixed build ordering, to be certain that you have the most current IO firmware, you must build the IO firmware explicitly first. 2013-08-23 03:47:55 -03:00			`# Use the configuration's ROMFS, copy the px4iov2 firmware into`
			`# the ROMFS if it's available`
Scratch in a mostly-building board config for fmuv2 2013-04-01 05:23:05 -03:00			`#`
Share the ROMFS prototype betwen FMUv1 and v2 2013-04-06 15:16:54 -03:00			`ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common`
Add support for adding extra files to the ROMFS from the config. If there is an IO firmware image already built when we build the corresponding FMU ROMFS, copy it into the ROMFS. Note - due to there being no fixed build ordering, to be certain that you have the most current IO firmware, you must build the IO firmware explicitly first. 2013-08-23 03:47:55 -03:00			`ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin`
Scratch in a mostly-building board config for fmuv2 2013-04-01 05:23:05 -03:00
Add the RGB LED driver as an example. 2013-04-06 05:00:07 -03:00			`#`
			`# Board support modules`
			`#`
Updated FMUv2 config 2013-04-28 06:03:25 -03:00			`MODULES += drivers/device`
			`MODULES += drivers/stm32`
			`MODULES += drivers/stm32/adc`
			`MODULES += drivers/stm32/tone_alarm`
Added led support to FMUv2 2013-07-17 17:54:05 -03:00			`MODULES += drivers/led`
Updated config file to reflect current app state 2013-04-27 08:40:11 -03:00			`MODULES += drivers/px4fmu`
Checkpoint: interface abstraction for px4io driver 2013-06-26 03:08:34 -03:00			`MODULES += drivers/px4io`
Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver. Rename some directories that got left behind in the great board renaming. 2013-08-03 02:34:55 -03:00			`MODULES += drivers/boards/px4fmu-v2`
Updated config file to reflect current app state 2013-04-27 08:40:11 -03:00			`MODULES += drivers/rgbled`
Enabled MPU6K and updated startup script to start all sensors 2013-12-15 14:35:23 -04:00			`MODULES += drivers/mpu6000`
Rename the 'device' directory back to 'drivers', it's less confusing that way. Move the fmuv2 board driver out into the new world. 2013-04-07 03:04:32 -03:00			`MODULES += drivers/lsm303d`
Moved the L3GD20 driver to the new driver, working on FMU v1 and v2 2013-04-17 15:20:31 -03:00			`MODULES += drivers/l3gd20`
Config adjustments for v2 2013-04-27 13:27:17 -03:00			`MODULES += drivers/hmc5883`
Enabled MS5611 by default on FMUv2. 2013-06-25 18:01:27 -03:00			`MODULES += drivers/ms5611`
Config adjustments for v2 2013-04-27 13:27:17 -03:00			`MODULES += drivers/mb12xx`
			`MODULES += drivers/gps`
			`MODULES += drivers/hil`
More compile fixes 2013-07-16 04:08:05 -03:00			`MODULES += drivers/hott/hott_telemetry`
			`MODULES += drivers/hott/hott_sensors`
Config adjustments for v2 2013-04-27 13:27:17 -03:00			`MODULES += drivers/blinkm`
Working on roboclaw driver. 2013-10-21 22:28:26 -03:00			`MODULES += drivers/roboclaw`
Enabled additional drivers on v2, kill misplaced code in mkblctrl 2013-07-28 11:12:40 -03:00			`MODULES += drivers/airspeed`
			`MODULES += drivers/ets_airspeed`
			`MODULES += drivers/meas_airspeed`
Updated config file to reflect current app state 2013-04-27 08:40:11 -03:00			`MODULES += modules/sensors`
Moved all system commands to new build system 2013-04-27 06:30:41 -03:00
Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver. Rename some directories that got left behind in the great board renaming. 2013-08-03 02:34:55 -03:00			`# Needs to be burned to the ground and re-written; for now,`
			`# just don't build it.`
			`#MODULES += drivers/mkblctrl`

Moved all system commands to new build system 2013-04-27 06:30:41 -03:00			`#`
			`# System commands`
			`#`
Enable support for RAMTRON, enable support for EEPROM on FMU 1.x 2013-04-18 17:27:55 -03:00			`MODULES += systemcmds/ramtron`
Moved all system commands to new build system 2013-04-27 06:30:41 -03:00			`MODULES += systemcmds/bl_update`
			`MODULES += systemcmds/boardinfo`
			`MODULES += systemcmds/mixer`
			`MODULES += systemcmds/param`
			`MODULES += systemcmds/perf`
			`MODULES += systemcmds/preflight_check`
			`MODULES += systemcmds/pwm`
Add esc_calib systemcmd to FMUv2 2013-09-21 12:32:07 -03:00			`MODULES += systemcmds/esc_calib`
Moved all system commands to new build system 2013-04-27 06:30:41 -03:00			`MODULES += systemcmds/reboot`
			`MODULES += systemcmds/top`
Updated config file to reflect current app state 2013-04-27 08:40:11 -03:00			`MODULES += systemcmds/tests`
Put console and syslog on UART8, added support to nshterm for proper serial port config 2013-08-18 16:00:47 -03:00			`MODULES += systemcmds/config`
			`MODULES += systemcmds/nshterm`
Add the RGB LED driver as an example. 2013-04-06 05:00:07 -03:00
Cut over commander app to new build system 2013-04-26 06:10:39 -03:00			`#`
			`# General system control`
			`#`
			`MODULES += modules/commander`
Enabling navigator, does not do anything useful yet 2013-09-23 17:46:50 -03:00			`MODULES += modules/navigator`
Cut over MAVLink to new style build system 2013-04-26 19:10:20 -03:00			`MODULES += modules/mavlink`
			`MODULES += modules/mavlink_onboard`
Cut over commander app to new build system 2013-04-26 06:10:39 -03:00
Cut over attitude estimator to new-style config for all boards 2013-04-23 07:36:26 -03:00			`#`
SO3 estimator code has been cleaned 2013-11-28 13:35:49 -04:00			`# Estimation modules (EKF/ SO3 / other filters)`
Cut over attitude estimator to new-style config for all boards 2013-04-23 07:36:26 -03:00			`#`
			`MODULES += modules/attitude_estimator_ekf`
SO3 estimator code has been cleaned 2013-11-28 13:35:49 -04:00			`MODULES += modules/attitude_estimator_so3`
Config adjustments for v2 2013-04-27 13:27:17 -03:00			`MODULES += modules/att_pos_estimator_ekf`
Added missing config files, compiling 2013-08-21 13:36:10 -03:00			`MODULES += modules/position_estimator_inav`
			`MODULES += examples/flow_position_estimator`
Config adjustments for v2 2013-04-27 13:27:17 -03:00
			`#`
			`# Vehicle Control`
			`#`
Disable the segway app, as its GCC 4.7 incompatible and not generally used 2013-11-01 08:02:45 -03:00			`#MODULES += modules/segway # XXX Needs GCC 4.7 fix`
Added position controller to default set 2013-09-10 09:08:35 -03:00			`MODULES += modules/fw_pos_control_l1`
Added complete attitude control framework 2013-08-23 11:28:53 -03:00			`MODULES += modules/fw_att_control`
Config adjustments for v2 2013-04-27 13:27:17 -03:00			`MODULES += modules/multirotor_att_control`
			`MODULES += modules/multirotor_pos_control`
Updated config file to reflect current app state 2013-04-27 08:40:11 -03:00
			`#`
			`# Logging`
			`#`
Fixed to FMUv2 autostart and config 2013-08-11 12:39:10 -03:00			`MODULES += modules/sdlog2`
Cut over attitude estimator to new-style config for all boards 2013-04-23 07:36:26 -03:00
Added a simple unit test framework and initial testing some of the commander state machines. 2013-08-25 17:43:01 -03:00			`#`
			`# Unit tests`
			`#`
Make sure the unit tests aren't included as part of the standard firmware 2013-09-01 17:44:58 -03:00			`#MODULES += modules/unit_test`
			`#MODULES += modules/commander/commander_tests`
Added a simple unit test framework and initial testing some of the commander state machines. 2013-08-25 17:43:01 -03:00
Updated FMUv2 config 2013-04-28 06:03:25 -03:00			`#`
Merged master from main repo 2013-05-22 07:25:13 -03:00			`# Library modules`
Updated FMUv2 config 2013-04-28 06:03:25 -03:00			`#`
			`MODULES += modules/systemlib`
			`MODULES += modules/systemlib/mixer`
			`MODULES += modules/controllib`
			`MODULES += modules/uORB`

Merged master from main repo 2013-05-22 07:25:13 -03:00			`#`
			`# Libraries`
			`#`
Added missing config files, compiling 2013-08-21 13:36:10 -03:00			`LIBRARIES += lib/mathlib/CMSIS`
			`MODULES += lib/mathlib`
			`MODULES += lib/mathlib/math/filter`
Added complete attitude control framework 2013-08-23 11:28:53 -03:00			`MODULES += lib/ecl`
Added position controller to default set 2013-09-10 09:08:35 -03:00			`MODULES += lib/external_lgpl`
Added missing config files, compiling 2013-08-21 13:36:10 -03:00			`MODULES += lib/geo`
get_rot_matrix() moved to separate library, accel calibration of rotated board fixed 2013-10-20 14:36:42 -03:00			`MODULES += lib/conversion`
Merged master from main repo 2013-05-22 07:25:13 -03:00
Updated FMUv2 config 2013-04-28 06:03:25 -03:00			`#`
			`# Demo apps`
			`#`
			`#MODULES += examples/math_demo`
			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/hello_sky`
Disable the segway app, as its GCC 4.7 incompatible and not generally used 2013-11-01 08:02:45 -03:00			`MODULES += examples/px4_simple_app`
Updated FMUv2 config 2013-04-28 06:03:25 -03:00
			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/daemon`
			`#MODULES += examples/px4_daemon_app`

			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/debug_values`
			`#MODULES += examples/px4_mavlink_debug`

Makefile cleanup 2013-10-10 16:15:44 -03:00			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control`
			`#MODULES += examples/fixedwing_control`

added hw test, added better io debugging 2013-10-09 19:12:39 -03:00			`# Hardware test`
Makefile cleanup 2013-10-10 16:15:44 -03:00			`#MODULES += examples/hwtest`
added hw test, added better io debugging 2013-10-09 19:12:39 -03:00
Scratch in a mostly-building board config for fmuv2 2013-04-01 05:23:05 -03:00			`#`
			`# Transitional support - add commands from the NuttX export archive.`
			`#`
			`# In general, these should move to modules over time.`
			`#`
			`# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro`
			`# to make the table a bit more readable.`
			`#`
			`define _B`
			`$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)`
			`endef`

			`# command priority stack entrypoint`
			`BUILTIN_COMMANDS := \`
			`$(call _B, sercon, , 2048, sercon_main ) \`
Updated FMUv2 config 2013-04-28 06:03:25 -03:00			`$(call _B, serdis, , 2048, serdis_main )`