forked from Archive/PX4-Autopilot
Added defautl config for nuttx, nuttx now works over usb.
This commit is contained in:
James Goppert
parent
f7fe33e6a4
commit
34eeee9fa9
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@ -178,17 +178,17 @@ endforeach()
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#=============================================================================
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# git
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#
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if (${OS} STREQUAL "nuttx")
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px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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endif()
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px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
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px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
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px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
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px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
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px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
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if (NOT ${OS} STREQUAL "qurt")
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px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
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endif()
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if(${OS} STREQUAL "nuttx")
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px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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endif()
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add_custom_target(submodule_clean
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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COMMAND git submodule deinit -f .
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39
Makefile
39
Makefile
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@ -1,35 +1,62 @@
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d=$(PWD)
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#----------------------------------------------------------------------------
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# OS: nuttx BOARD: px4fmu-v2 LABEL: simple
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#
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nuttx_px4fmu-v2_simple:
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
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-DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=simple && \
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make -s && ctest -V && cpack -G ZIP
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px4fmu-v2_simple: nuttx_px4fmu-v2_simple
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nuttx_px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple
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make -C build_$< upload
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nuttx_px4fmu-v2_simple_test: nuttx_px4fmu-v2_simple
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make -C build_$< test
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#----------------------------------------------------------------------------
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# OS: nuttx BOARD: px4fmu-v2 LABEL: default
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#
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nuttx_px4fmu-v2_default:
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-arm-none-eabi.cmake \
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-DOS=nuttx -DBOARD=px4fmu-v2 -DLABEL=default && \
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make -s && ctest -V && cpack -G ZIP
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nuttx_px4fmu-v2_default_upload: nuttx_px4fmu-v2_default
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make -C build_$< upload
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nuttx_px4fmu-v2_default_test: nuttx_px4fmu-v2_default
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make -C build_$< test
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#----------------------------------------------------------------------------
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# OS: nuttx BOARD: sim LABEL: simple
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#
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nuttx_sim_simple:
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-native.cmake \
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-DOS=nuttx -DBOARD=sim -DLABEL=simple && \
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make -s && ctest -V && cpack -G ZIP
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nuttx_px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple
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cd $d/build_$< && make upload
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px4fmu-v2_simple_upload: nuttx_px4fmu-v2_simple_upload
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#----------------------------------------------------------------------------
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# OS: posix BOARD: sitl LABEL: simple
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#
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posix_sitl_simple:
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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cmake .. -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-posix-clang-native.cmake \
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-DOS=posix -DBOARD=sitl -DLABEL=simple && \
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make -s && ctest -V && cpack -G ZIP
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#----------------------------------------------------------------------------
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# OS: qurt BOARD: hil LABEL: simple
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#
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qurt_hil_simple:
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mkdir -p $d/build_$@ && cd $d/build_$@ && \
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cmake .. -DQURT_ENABLE_STUBS=1 -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/Toolchain-hexagon.cmake \
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-DOS=qurt -DBOARD=hil -DLABEL=simple && \
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make -s && ctest -V && cpack -G ZIP
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#----------------------------------------------------------------------------
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# misc targets
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#
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clean:
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rm -rf build_*/
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@ -0,0 +1,185 @@
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include(nuttx/px4_impl_nuttx)
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function(px4_set_config_modules out_module_list)
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set(config_module_list
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#
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# Board support modules
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#
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drivers/device
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/tone_alarm
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drivers/led
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drivers/px4fmu
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drivers/px4io
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drivers/boards/px4fmu-v2
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drivers/rgbled
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drivers/mpu6000
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drivers/mpu9250
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drivers/lsm303d
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drivers/l3gd20
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drivers/hmc5883
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drivers/ms5611
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drivers/mb12xx
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drivers/sf0x
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drivers/ll40ls
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drivers/trone
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drivers/gps
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drivers/pwm_out_sim
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drivers/hott
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drivers/hott/hott_telemetry
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drivers/hott/hott_sensors
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drivers/blinkm
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drivers/airspeed
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drivers/ets_airspeed
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drivers/meas_airspeed
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drivers/frsky_telemetry
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modules/sensors
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drivers/mkblctrl
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drivers/px4flow
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drivers/oreoled
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drivers/gimbal
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drivers/pwm_input
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drivers/camera_trigger
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#
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# System commands
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#
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systemcmds/bl_update
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systemcmds/mixer
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systemcmds/param
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systemcmds/perf
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systemcmds/pwm
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systemcmds/esc_calib
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systemcmds/reboot
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systemcmds/top
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systemcmds/config
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systemcmds/nshterm
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systemcmds/mtd
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systemcmds/dumpfile
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systemcmds/ver
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#
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# General system control
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#
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modules/commander
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modules/navigator
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modules/mavlink
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modules/gpio_led
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#modules/uavcan # have to fix CMakeLists.txt
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modules/land_detector
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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# Too high RAM usage due to static allocations
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# modules/attitude_estimator_ekf
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modules/attitude_estimator_q
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modules/ekf_att_pos_estimator
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modules/position_estimator_inav
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#
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# Vehicle Control
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#
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# modules/segway # XXX Needs GCC 4.7 fix
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modules/fw_pos_control_l1
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modules/fw_att_control
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modules/mc_att_control
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modules/mc_pos_control
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modules/vtol_att_control
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#
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# Logging
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#
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modules/sdlog2
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#
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# Library modules
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#
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modules/systemlib
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modules/systemlib/mixer
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modules/controllib
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modules/uORB
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modules/dataman
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#
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# Libraries
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#
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#lib/mathlib/CMSIS
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lib/mathlib
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lib/mathlib/math/filter
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lib/ecl
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lib/external_lgpl
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lib/geo
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lib/geo_lookup
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lib/conversion
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lib/launchdetection
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platforms/nuttx
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# had to add for cmake, not sure why wasn't in original config
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platforms/common
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platforms/nuttx/px4_layer
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#
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# OBC challenge
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#
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modules/bottle_drop
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#
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# PX4 flow estimator, good for indoors
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#
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examples/flow_position_estimator
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#
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# Rover apps
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#
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examples/rover_steering_control
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#
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# Demo apps
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#
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#examples/math_demo
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# Tutorial code from
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# https://px4.io/dev/px4_simple_app
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#examples/px4_simple_app
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# Tutorial code from
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# https://px4.io/dev/daemon
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#examples/px4_daemon_app
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# Tutorial code from
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# https://px4.io/dev/debug_values
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#examples/px4_mavlink_debug
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# Tutorial code from
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# https://px4.io/dev/example_fixedwing_control
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#examples/fixedwing_control
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# Hardware test
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#examples/hwtest
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)
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# TODO convert rest of makefile config below
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# Generate parameter XML file
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#GEN_PARAM_XML = 1
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set(${out_module_list} ${config_module_list} PARENT_SCOPE)
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endfunction()
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function(px4_nuttx_builtin_extra_commands out)
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add_custom_target(sercon_main)
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set_target_properties(sercon_main PROPERTIES
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MAIN "sercon" STACK "2048")
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add_custom_target(serdis_main)
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set_target_properties(serdis_main PROPERTIES
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MAIN "serdis" STACK "2048")
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set(${out} sercon_main serdis_main PARENT_SCOPE)
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endfunction()
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@ -3,21 +3,139 @@ include(nuttx/px4_impl_nuttx)
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function(px4_set_config_modules out_module_list)
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set(config_module_list
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platforms/nuttx
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platforms/nuttx/px4_layer
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platforms/common
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drivers/led
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#
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# Board support modules
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#
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drivers/device
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modules/systemlib
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modules/uORB
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examples/px4_simple_app
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drivers/boards/px4fmu-v2
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drivers/stm32
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drivers/stm32/adc
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drivers/stm32/tone_alarm
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drivers/led
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drivers/px4fmu
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drivers/px4io
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drivers/boards/px4fmu-v2
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drivers/rgbled
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drivers/mpu6000
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drivers/mpu9250
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drivers/lsm303d
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drivers/l3gd20
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drivers/hmc5883
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drivers/ms5611
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drivers/mb12xx
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drivers/sf0x
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drivers/ll40ls
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drivers/trone
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drivers/gps
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drivers/pwm_out_sim
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drivers/hott
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drivers/hott/hott_telemetry
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drivers/hott/hott_sensors
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drivers/blinkm
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drivers/airspeed
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drivers/ets_airspeed
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drivers/meas_airspeed
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drivers/frsky_telemetry
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modules/sensors
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drivers/mkblctrl
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drivers/px4flow
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drivers/oreoled
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drivers/gimbal
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drivers/pwm_input
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drivers/camera_trigger
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#
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# System commands
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#
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systemcmds/bl_update
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systemcmds/mixer
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systemcmds/param
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systemcmds/perf
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systemcmds/pwm
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systemcmds/esc_calib
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systemcmds/reboot
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systemcmds/top
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systemcmds/config
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systemcmds/nshterm
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systemcmds/mtd
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systemcmds/dumpfile
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systemcmds/ver
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#
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# Logging
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#
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modules/sdlog2
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#
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# Library modules
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#
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modules/systemlib
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modules/systemlib/mixer
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modules/controllib
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modules/uORB
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modules/dataman
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#
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# Libraries
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#
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#lib/mathlib/CMSIS
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lib/mathlib
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lib/mathlib/math/filter
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lib/ecl
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lib/external_lgpl
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lib/geo
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lib/geo_lookup
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lib/conversion
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lib/launchdetection
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platforms/nuttx
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# had to add for cmake, not sure why wasn't in original config
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platforms/common
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platforms/nuttx/px4_layer
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#
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# Demo apps
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#
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#examples/math_demo
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# Tutorial code from
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# https://px4.io/dev/px4_simple_app
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examples/px4_simple_app
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# Tutorial code from
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# https://px4.io/dev/daemon
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examples/px4_daemon_app
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# Tutorial code from
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# https://px4.io/dev/debug_values
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examples/px4_mavlink_debug
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# Tutorial code from
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# https://px4.io/dev/example_fixedwing_control
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examples/fixedwing_control
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# Hardware test
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examples/hwtest
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)
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# TODO convert rest of makefile config below
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# Generate parameter XML file
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#GEN_PARAM_XML = 1
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set(${out_module_list} ${config_module_list} PARENT_SCOPE)
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endfunction()
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function(px4_nuttx_builtin_extra_commands out)
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add_custom_target(sercon_main)
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set_target_properties(sercon_main PROPERTIES
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MAIN "sercon" STACK "2048")
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add_custom_target(serdis_main)
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set_target_properties(serdis_main PROPERTIES
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MAIN "serdis" STACK "2048")
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set(${out} sercon_main serdis_main PARENT_SCOPE)
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endfunction()
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@ -96,7 +96,7 @@ endfunction()
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# px4_nuttx_generate_builtin_commands
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#
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# This function generates the builtin_commands.c src for nuttx
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#
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# Usage:
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# px4_nuttx_generate_builtin_commands(
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# MODULE_LIST <in-list>
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@ -119,10 +119,12 @@ function(px4_nuttx_generate_builtin_commands)
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MULTI_VALUE MODULE_LIST
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REQUIRED MODULE_LIST OUT
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ARGN ${ARGN})
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message(STATUS "argn: ${ARGN}")
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set(builtin_apps_string)
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set(builtin_apps_decl_string)
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set(command_count 0)
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foreach(module ${MODULE_LIST})
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message("generating builtin for: ${module}")
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# default
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set(MAIN_DEFAULT MAIN-NOTFOUND)
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set(STACK_DEFAULT 1024)
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@ -210,17 +210,18 @@ static struct sdio_dev_s *sdio;
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#include <math.h>
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#ifdef __cplusplus
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__EXPORT int matherr(struct __exception *e)
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{
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return 1;
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}
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#else
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__EXPORT int matherr(struct exception *e)
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{
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return 1;
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}
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#endif
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/* TODO XXX commented this out to get cmake build working */
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/*#ifdef __cplusplus*/
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/*__EXPORT int matherr(struct __exception *e)*/
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/*{*/
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/*return 1;*/
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/*}*/
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/*#else*/
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/*__EXPORT int matherr(struct exception *e)*/
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/*{*/
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/*return 1;*/
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/*}*/
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/*#endif*/
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__EXPORT int nsh_archinitialize(void)
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{
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|
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@ -1,6 +1,9 @@
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px4_nuttx_builtin_extra_commands(builtin_extra_cmds)
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message(STATUS "builtin extra: ${builtin_extra_cmds}")
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px4_nuttx_generate_builtin_commands(
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OUT builtin_commands.c
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MODULE_LIST ${module_libraries})
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MODULE_LIST ${module_libraries} ${builtin_extra_cmds})
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px4_nuttx_generate_romfs(OUT romfs.o
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ROOT ROMFS/px4fmu_common)
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|
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@ -15,9 +18,12 @@ set(main_link_flags
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px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
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set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
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set(cmsis_lib ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a)
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target_link_libraries(firmware_nuttx
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-Wl,--start-group
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${module_libraries}
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${cmsis_lib}
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||||
apps nuttx nosys m gcc
|
||||
-Wl,--end-group)
|
||||
|
||||
|
|
|
|||
|
|
@ -37,11 +37,61 @@ px4_add_module(
|
|||
COMPILE_FLAGS
|
||||
-O3
|
||||
SRCS
|
||||
|
||||
# Main
|
||||
uavcan_main.cpp
|
||||
uavcan_servers.cpp
|
||||
uavcan_clock.cpp
|
||||
uavcan_params.c
|
||||
|
||||
# Actuators
|
||||
actuators/esc.cpp
|
||||
|
||||
# Sensors
|
||||
sensors/sensor_bridge.cpp
|
||||
sensors/gnss.cpp
|
||||
sensors/mag.cpp
|
||||
sensors/baro.cpp
|
||||
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
||||
# TODO convert rest of module.mk
|
||||
|
||||
##
|
||||
## libuavcan
|
||||
##
|
||||
#include $(PX4_LIB_DIR)uavcan/libuavcan/include.mk
|
||||
## Use the relitive path to keep the genrated files in the BUILD_DIR
|
||||
#SRCS += $(subst $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
|
||||
#INCLUDE_DIRS += $(LIBUAVCAN_INC)
|
||||
## Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
|
||||
## because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
|
||||
#override EXTRADEFINES := $(EXTRADEFINES) \
|
||||
#-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
|
||||
#-DUAVCAN_NO_ASSERTIONS \
|
||||
#-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
|
||||
#-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
|
||||
|
||||
##
|
||||
## libuavcan drivers for STM32
|
||||
##
|
||||
#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/stm32/driver/include.mk
|
||||
## Use the relitive path to keep the genrated files in the BUILD_DIR
|
||||
#SRCS += $(subst $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_STM32_SRC))
|
||||
#INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
|
||||
#override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
|
||||
|
||||
##
|
||||
## libuavcan drivers for posix
|
||||
##
|
||||
#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/posix/include.mk
|
||||
#INCLUDE_DIRS += $(LIBUAVCAN_POSIX_INC)
|
||||
|
||||
##
|
||||
## Invoke DSDL compiler
|
||||
##
|
||||
#$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
|
||||
#INCLUDE_DIRS += dsdlc_generated
|
||||
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
|
|||
|
|
@ -34,6 +34,7 @@ set(depends
|
|||
msg_gen
|
||||
prebuild_targets
|
||||
git_mavlink
|
||||
git_uavcan
|
||||
)
|
||||
|
||||
if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")
|
||||
|
|
|
|||
Loading…
Reference in New Issue