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

#
# 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/bma180
MODULES		+= drivers/mpu6000
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/rgbled
MODULES		+= drivers/mkblctrl
MODULES		+= drivers/md25
MODULES		+= drivers/airspeed
MODULES		+= drivers/ets_airspeed
MODULES		+= drivers/meas_airspeed
MODULES		+= modules/sensors

#
# System commands
#
MODULES		+= systemcmds/eeprom
MODULES		+= systemcmds/ramtron
MODULES		+= systemcmds/bl_update
MODULES		+= systemcmds/boardinfo
MODULES		+= systemcmds/i2c
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/mavlink
MODULES		+= modules/mavlink_onboard
MODULES		+= modules/gpio_led

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

#
# Vehicle Control
#
#MODULES		+= modules/segway # XXX needs state machine update
#MODULES		+= modules/fw_pos_control_l1
#MODULES		+= modules/fw_att_control
MODULES		+= modules/multirotor_att_control
MODULES		+= modules/multirotor_pos_control
MODULES		+= examples/flow_position_control
MODULES		+= examples/flow_speed_control

#
# Logging
#
MODULES		+= modules/sdlog2

#
# 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/geo

#
# 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

#
# 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                ) \
	$(call _B, sysinfo,                ,                          2048,  sysinfo_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`

			`#`
			`# 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/bma180`
			`MODULES += drivers/mpu6000`
			`MODULES += drivers/hmc5883`
			`MODULES += drivers/ms5611`
			`MODULES += drivers/mb12xx`
			`MODULES += drivers/gps`
			`MODULES += drivers/hil`
Refactoring of the hott telemetry driver and added functionality to read from a HoTT sensor. 2013-07-04 03:33:19 -03:00			`MODULES += drivers/hott/hott_telemetry`
			`MODULES += drivers/hott/hott_sensors`
Moved the bulk of sensor drivers to the new world 2013-04-27 09:06:23 -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`
Merged with master 2013-05-09 10:52:36 -03:00			`MODULES += drivers/md25`
Reworked airspeed driver to keep most of it abstract 2013-07-10 16:45:59 -03:00			`MODULES += drivers/airspeed`
Merged ETS airspeed driver 2013-05-09 10:58:23 -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`
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			`#`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00			`MODULES += systemcmds/eeprom`
Added RAMTRON device, updated diagrams 2013-07-28 09:10:37 -03:00			`MODULES += systemcmds/ramtron`
Moved all system commands to the new world 2013-04-27 06:30:41 -03:00			`MODULES += systemcmds/bl_update`
			`MODULES += systemcmds/boardinfo`
			`MODULES += systemcmds/i2c`
			`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`
Move the 'tests' app to the new world. 2013-04-27 00:02:12 -03:00			`MODULES += systemcmds/tests`
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`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00
			`#`
			`# General system control`
			`#`
			`MODULES += modules/commander`
Cut over MAVLink to new build system 2013-04-26 19:10:20 -03:00			`MODULES += modules/mavlink`
			`MODULES += modules/mavlink_onboard`
Merge branch 'master' into gpio_led 2013-05-09 15:41:09 -03:00			`MODULES += modules/gpio_led`
Merge working changes into export-build branch. 2013-04-26 20:14:32 -03:00
			`#`
			`# Estimation modules (EKF / other filters)`
			`#`
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`
Moved James Gopperts EKF to the new world 2013-04-27 09:16:34 -03:00			`MODULES += modules/att_pos_estimator_ekf`
position_estimator_inav added to config_px4fmu_default.mk 2013-05-17 05:32:07 -03:00			`MODULES += modules/position_estimator_inav`
Add PX4Flow board modules and corresponding ORB msgs. 2013-06-14 12:29:19 -03:00			`MODULES += examples/flow_position_estimator`
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`
			`#`
Build fixes 2013-08-15 03:42:08 -03:00			`#MODULES += modules/segway # XXX needs state machine update`
Added missing config files, compiling 2013-08-21 13:36:10 -03:00			`#MODULES += modules/fw_pos_control_l1`
			`#MODULES += modules/fw_att_control`
Moved multirotor controllers 2013-04-27 09:42:12 -03:00			`MODULES += modules/multirotor_att_control`
			`MODULES += modules/multirotor_pos_control`
Add PX4Flow board modules and corresponding ORB msgs. 2013-06-14 12:29:19 -03:00			`MODULES += examples/flow_position_control`
			`MODULES += examples/flow_speed_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
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`

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`
			`#MODULES += lib/ecl`
			`MODULES += lib/geo`
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`
More example fixes 2013-05-13 03:28:36 -03:00			`MODULES += examples/fixedwing_control`
Added fixed wing controller example 2013-05-12 15:08:09 -03:00
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 := \`
			`$(call _B, sercon, , 2048, sercon_main ) \`
All apps compiling and linked (listed in NSH help), but not executing yet 2013-06-01 10:14:53 -03:00			`$(call _B, serdis, , 2048, serdis_main ) \`
			`$(call _B, sysinfo, , 2048, sysinfo_main )`