px4-firmware/makefiles/config_px4fmu-v1_default.mk

#
# Makefile for the px4fmu_default configuration
#

#
# Use the configuration's ROMFS.
#
ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_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/px4io
MODULES		+= drivers/px4fmu
MODULES		+= drivers/boards/px4fmu-v1
MODULES		+= drivers/ardrone_interface
MODULES		+= drivers/l3gd20
MODULES		+= drivers/mpu6000
MODULES		+= drivers/hmc5883
MODULES		+= drivers/ms5611
#MODULES		+= drivers/ll40ls
MODULES		+= drivers/trone
#MODULES		+= drivers/mb12xx
MODULES		+= drivers/gps
MODULES		+= drivers/hil
#MODULES		+= drivers/blinkm
MODULES		+= drivers/rgbled
MODULES		+= drivers/mkblctrl
MODULES		+= drivers/airspeed
#MODULES		+= drivers/ets_airspeed
MODULES		+= drivers/meas_airspeed
#MODULES		+= drivers/frsky_telemetry
MODULES		+= modules/sensors

#
# System commands
#
MODULES		+= systemcmds/mtd
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/config
MODULES		+= systemcmds/nshterm
MODULES		+= systemcmds/dumpfile
MODULES		+= systemcmds/ver

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

#
# Estimation modules (EKF / other filters)
#
MODULES		+= modules/attitude_estimator_ekf
MODULES		+= modules/ekf_att_pos_estimator
MODULES		+= modules/position_estimator_inav

#
# Vehicle Control
#
MODULES		+= modules/fw_pos_control_l1
MODULES		+= modules/fw_att_control
MODULES		+= modules/mc_att_control
MODULES		+= modules/mc_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
MODULES		+= modules/dataman

#
# 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/geo_lookup
MODULES		+= lib/conversion
MODULES		+= lib/launchdetection

#
# 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

# Generate parameter XML file
GEN_PARAM_XML = 1

#
# 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                )
Break up the firmware build into a 'make export' phase for NuttX on a per-board basis, and then a separate per-config phase that allows us to avoid re-building NuttX all the time, and ship more than one firmware config for a given board. This is a first cut; it builds one firmware for each of FMU and IO. 2013-01-06 01:46:50 -04:00			`#`
			`# Makefile for the px4fmu_default configuration`
			`#`

Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`#`
			`# Use the configuration's ROMFS.`
			`#`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -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-v1_default.bin`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00
			`#`
			`# Board support modules`
			`#`
Moved last libs, drivers and headers, cleaned up IO build 2013-04-28 04:54:11 -03:00			`MODULES += drivers/device`
Moved all drivers to new world, PX4IO completely in new world 2013-04-27 20:17:12 -03:00			`MODULES += drivers/stm32`
			`MODULES += drivers/stm32/adc`
			`MODULES += drivers/stm32/tone_alarm`
Enabled leds on FMU again 2013-05-09 10:39:54 -03:00			`MODULES += drivers/led`
Minor config file rearrangement 2013-04-27 08:41:40 -03:00			`MODULES += drivers/px4io`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00			`MODULES += drivers/px4fmu`
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-v1`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00			`MODULES += drivers/ardrone_interface`
Minor config file rearrangement 2013-04-27 08:41:40 -03:00			`MODULES += drivers/l3gd20`
Moved the bulk of sensor drivers to the new world 2013-04-27 09:06:23 -03:00			`MODULES += drivers/mpu6000`
			`MODULES += drivers/hmc5883`
			`MODULES += drivers/ms5611`
Added TeraRanger one sensor 2014-11-26 02:56:54 -04:00			`#MODULES += drivers/ll40ls`
driver for the TeraRangerOne I2C ranger finder 2014-07-23 13:19:49 -03:00			`MODULES += drivers/trone`
Flash optimization 2014-09-30 10:18:30 -03:00			`#MODULES += drivers/mb12xx`
Moved the bulk of sensor drivers to the new world 2013-04-27 09:06:23 -03:00			`MODULES += drivers/gps`
			`MODULES += drivers/hil`
Flash optimization 2014-09-30 10:18:30 -03:00			`#MODULES += drivers/blinkm`
Added support for FMUv1 for RGB led and dim led support 2013-08-17 10:46:13 -03:00			`MODULES += drivers/rgbled`
Moved BLCTRL driver to new world 2013-05-05 06:24:31 -03:00			`MODULES += drivers/mkblctrl`
Reworked airspeed driver to keep most of it abstract 2013-07-10 16:45:59 -03:00			`MODULES += drivers/airspeed`
Flash optimization 2014-09-30 10:18:30 -03:00			`#MODULES += drivers/ets_airspeed`
Reworked airspeed driver to keep most of it abstract 2013-07-10 16:45:59 -03:00			`MODULES += drivers/meas_airspeed`
Deactivate FrSky telem by default 2014-09-30 10:19:06 -03:00			`#MODULES += drivers/frsky_telemetry`
Moved sensors app to new world 2013-04-27 08:16:24 -03:00			`MODULES += modules/sensors`
Move the 'tests' app to the new world. 2013-04-27 00:02:12 -03:00
			`#`
Moved all system commands to the new world 2013-04-27 06:30:41 -03:00			`# System commands`
Move the 'tests' app to the new world. 2013-04-27 00:02:12 -03:00			`#`
Disabling EEPROM and old RAMTRON driver 2014-01-14 03:57:32 -04:00			`MODULES += systemcmds/mtd`
Moved all system commands to the new world 2013-04-27 06:30:41 -03:00			`MODULES += systemcmds/mixer`
			`MODULES += systemcmds/param`
			`MODULES += systemcmds/perf`
			`MODULES += systemcmds/preflight_check`
			`MODULES += systemcmds/pwm`
First try for an ESC calibration tool 2013-06-19 20:13:49 -03:00			`MODULES += systemcmds/esc_calib`
Moved all system commands to the new world 2013-04-27 06:30:41 -03:00			`MODULES += systemcmds/reboot`
			`MODULES += systemcmds/top`
Implemented config command, fixed a number range set / get issues for some sensor drivers, fixed gyro calibration 2013-07-26 13:24:37 -03:00			`MODULES += systemcmds/config`
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/nshterm`
dumpfile command and fetch_log.py tool implemented to fetch logs via nsh console on USB 2014-03-08 13:05:13 -04:00			`MODULES += systemcmds/dumpfile`
changed dir from version to ver to keep it shorter added "hw_ver compare" as command option so we can replace hw_ver in future 2014-04-27 10:12:05 -03:00			`MODULES += systemcmds/ver`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -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 build system 2013-04-26 19:10:20 -03:00			`MODULES += modules/mavlink`
Merge branch 'master' into gpio_led 2013-05-09 15:41:09 -03:00			`MODULES += modules/gpio_led`
Add landing detector for V1 boards as well. 2015-01-24 09:18:28 -04:00			`MODULES += modules/land_detector`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00
			`#`
make launch detector more flash efficient 2014-06-01 07:13:48 -03:00			`# Estimation modules (EKF / other filters)`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00			`#`
Moved position_estimator_mc, px4io driver and sdlog app to new style build 2013-04-27 07:59:47 -03:00			`MODULES += modules/attitude_estimator_ekf`
Renamed FW filter to EKF to express its generic properties, switched multicopters over to this filter for first tests. 2014-04-19 11:13:13 -03:00			`MODULES += modules/ekf_att_pos_estimator`
position_estimator_inav added to config_px4fmu_default.mk 2013-05-17 05:32:07 -03:00			`MODULES += modules/position_estimator_inav`
Moved position_estimator_mc, px4io driver and sdlog app to new style build 2013-04-27 07:59:47 -03:00
Moved all fixed wing controllers to new world 2013-04-27 09:28:47 -03:00			`#`
			`# Vehicle Control`
			`#`
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`
mc_att_control_vector renamed to mc_att_control 2014-01-19 05:44:57 -04:00			`MODULES += modules/mc_att_control`
makefiles and rc scripts fixed to use new attitude and position controllers 2013-12-26 15:06:36 -04:00			`MODULES += modules/mc_pos_control`
Moved all fixed wing controllers to new world 2013-04-27 09:28:47 -03:00
Moved position_estimator_mc, px4io driver and sdlog app to new style build 2013-04-27 07:59:47 -03:00			`#`
			`# Logging`
			`#`
sdlog2 logger app added. New flexible log format, compatible with APM. 2013-05-25 15:15:56 -03:00			`MODULES += modules/sdlog2`
Break up the firmware build into a 'make export' phase for NuttX on a per-board basis, and then a separate per-config phase that allows us to avoid re-building NuttX all the time, and ship more than one firmware config for a given board. This is a first cut; it builds one firmware for each of FMU and IO. 2013-01-06 01:46:50 -04:00
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
Moved last libs, drivers and headers, cleaned up IO build 2013-04-28 04:54:11 -03:00			`#`
Use the new prebuilt-library support to wrap the ARM CMSIS DSP library, and update to the version shipped with CMSIS 3.0 r3p2 2013-05-19 19:30:43 -03:00			`# Library modules`
Moved last libs, drivers and headers, cleaned up IO build 2013-04-28 04:54:11 -03:00			`#`
			`MODULES += modules/systemlib`
			`MODULES += modules/systemlib/mixer`
			`MODULES += modules/controllib`
			`MODULES += modules/uORB`
Navigator: only whitespace fixes 2013-11-18 10:59:14 -04:00			`MODULES += modules/dataman`
Moved last libs, drivers and headers, cleaned up IO build 2013-04-28 04:54:11 -03:00
Use the new prebuilt-library support to wrap the ARM CMSIS DSP library, and update to the version shipped with CMSIS 3.0 r3p2 2013-05-19 19:30:43 -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`
Revert "Remove old TECS implementation - we can really only decently flight-test and support one." This reverts commit 503ded05394767d58359834e73bc63672b701dbe. Conflicts: mavlink/include/mavlink/v1.0 src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp 2014-07-29 06:24:11 -03:00			`MODULES += lib/external_lgpl`
Added missing config files, compiling 2013-08-21 13:36:10 -03:00			`MODULES += lib/geo`
Enable new lookup lib 2014-06-28 07:51:22 -03:00			`MODULES += lib/geo_lookup`
get_rot_matrix() moved to separate library, accel calibration of rotated board fixed 2013-10-20 14:36:42 -03:00			`MODULES += lib/conversion`
initial wip version of launchdetector 2013-11-15 17:43:07 -04:00			`MODULES += lib/launchdetection`
Use the new prebuilt-library support to wrap the ARM CMSIS DSP library, and update to the version shipped with CMSIS 3.0 r3p2 2013-05-19 19:30:43 -03:00
Moved last libs, drivers and headers, cleaned up IO build 2013-04-28 04:54:11 -03:00			`#`
			`# Demo apps`
			`#`
Excluded examples from default build 2013-04-28 05:38:45 -03:00			`#MODULES += examples/math_demo`
Cleaned up NuttX appconfig, added examples to config 2013-04-28 05:37:07 -03:00			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/hello_sky`
Excluded examples from default build 2013-04-28 05:38:45 -03:00			`#MODULES += examples/px4_simple_app`
Cleaned up NuttX appconfig, added examples to config 2013-04-28 05:37:07 -03:00
			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/daemon`
Excluded examples from default build 2013-04-28 05:38:45 -03:00			`#MODULES += examples/px4_daemon_app`
Cleaned up NuttX appconfig, added examples to config 2013-04-28 05:37:07 -03:00
			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/debug_values`
Excluded examples from default build 2013-04-28 05:38:45 -03:00			`#MODULES += examples/px4_mavlink_debug`
Moved last libs, drivers and headers, cleaned up IO build 2013-04-28 04:54:11 -03:00
Added fixed wing controller example 2013-05-12 15:08:09 -03:00			`# Tutorial code from`
			`# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control`
Makefile cleanup 2013-10-10 16:15:44 -03:00			`#MODULES += examples/fixedwing_control`

			`# Hardware test`
			`#MODULES += examples/hwtest`
Added fixed wing controller example 2013-05-12 15:08:09 -03:00
Parameter xml metadata in .px4 2014-11-18 21:20:50 -04:00			`# Generate parameter XML file`
			`GEN_PARAM_XML = 1`

Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`#`
Add builtin command defintions for the commands currently in the NuttX export archive. 2013-02-24 02:00:23 -04:00			`# Transitional support - add commands from the NuttX export archive.`
Get a bit fancier with the builtin app specifications, so that we can generate them from apps as well as the config. 2013-02-21 02:07:18 -04:00			`#`
Add builtin command defintions for the commands currently in the NuttX export archive. 2013-02-24 02:00:23 -04:00			`# In general, these should move to modules over time.`
Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`#`
Add builtin command defintions for the commands currently in the NuttX export archive. 2013-02-24 02:00:23 -04:00			`# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro`
			`# to make the table a bit more readable.`
Checkpoint: application framework makefile done 2013-02-23 03:27:24 -04:00			`#`
Add builtin command defintions for the commands currently in the NuttX export archive. 2013-02-24 02:00:23 -04:00			`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 := \`
			`$(call _B, sercon, , 2048, sercon_main ) \`
Make some space on FMUv1 2014-08-17 15:48:38 -03:00			`$(call _B, serdis, , 2048, serdis_main )`