forked from Archive/PX4-Autopilot
Add support for per-config ROMFS generation.
This commit is contained in:
px4dev
parent
963621c1f3
commit
a7a1cc4625
2
Makefile
2
Makefile
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@ -103,8 +103,6 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)/%.export: $(NUTTX_SRC) $(NUTTX_APPS)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/tools && ./configure.sh $(platform)/$(configuration))
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@echo Generating ROMFS for $(platform) XXX move this!
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$(Q) make -C $(ROMFS_SRC) all
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@echo %% Exporting NuttX for $(platform)
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$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) export
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$(Q) mkdir -p $(dir $@)
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@ -1 +0,0 @@
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/img
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120
ROMFS/Makefile
120
ROMFS/Makefile
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@ -1,120 +0,0 @@
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#
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# Makefile to generate a PX4FMU ROMFS image.
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#
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# In normal use, 'make install' will generate a new ROMFS header and place it
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# into the px4fmu configuration in the appropriate location.
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#
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#
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# Directories of interest
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#
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SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST)))
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BUILDROOT ?= $(SRCROOT)/img
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ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
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#
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# List of files to install in the ROMFS, specified as <source>~<destination>
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#
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ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
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$(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
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$(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
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$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
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$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
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$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
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$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
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$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
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$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
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$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
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$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
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$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
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$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
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$(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
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$(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
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$(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
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$(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
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$(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
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$(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
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$(SRCROOT)/logging/logconv.m~logging/logconv.m
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# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts
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# to ROMFS.
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ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS)
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#
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# Add the PX4IO firmware to the spec if someone has dropped it into the
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# source directory, or otherwise specified its location.
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#
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# Normally this is only something you'd do when working on PX4IO; most
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# users will upgrade with firmware off the microSD card.
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#
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PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin
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ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
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ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin
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endif
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################################################################################
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# No user-serviceable parts below
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################################################################################
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#
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# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
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# exist
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#
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ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
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#
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# Just the destination directories from the ROMFS spec
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#
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ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
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#
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# Intermediate products
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#
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ROMFS_IMG = $(BUILDROOT)/romfs.img
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ROMFS_WORKDIR = $(BUILDROOT)/romfs
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#
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# Convenience target for rebuilding the ROMFS header
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#
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all: $(ROMFS_HEADER)
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$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
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@echo Generating the ROMFS header...
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@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) > $@
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$(ROMFS_IMG): $(ROMFS_WORKDIR)
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@echo Generating the ROMFS image...
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@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
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$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
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@echo Rebuilding the ROMFS work area...
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@rm -rf $(ROMFS_WORKDIR)
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@mkdir -p $(ROMFS_WORKDIR)
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@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
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@for spec in $(ROMFS_FSSPEC) ; do \
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echo $$spec | sed -e 's%^.*~% %' ;\
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`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
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done
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$(BUILDROOT):
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@mkdir -p $(BUILDROOT)
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clean:
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@rm -rf $(BUILDROOT)
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distclean: clean
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@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
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.PHONY: all install clean distclean
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#
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# Hacks and fixups
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#
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SYSTYPE = $(shell uname)
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ifeq ($(SYSTYPE),Darwin)
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# PATH inherited by Eclipse may not include toolchain install location
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export PATH := $(PATH):/usr/local/bin
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endif
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@ -0,0 +1,50 @@
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Delta-wing mixer for PX4FMU
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===========================
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This file defines mixers suitable for controlling a delta wing aircraft using
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PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
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servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
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assumed to be unused.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch) and 3 (thrust).
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See the README for more information on the scaler format.
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Elevon mixers
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-------------
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Three scalers total (output, roll, pitch).
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On the assumption that the two elevon servos are physically reversed, the pitch
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input is inverted between the two servos.
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The scaling factor for roll inputs is adjusted to implement differential travel
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for the elevons.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 3000 5000 0 -10000 10000
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S: 0 1 5000 5000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 5000 3000 0 -10000 10000
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S: 0 1 -5000 -5000 0 -10000 10000
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Output 2
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--------
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This mixer is empty.
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Z:
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Motor speed mixer
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-----------------
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Two scalers total (output, thrust).
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This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
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range. Inputs below zero are treated as zero.
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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@ -1,67 +0,0 @@
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#!nsh
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#
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# Flight startup script for PX4FMU with PWM outputs.
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#
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# Disable the USB interface
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set USB no
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# Disable autostarting other apps
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set MODE custom
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echo "[init] doing PX4FMU Quad startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the sensors and test them.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start the commander.
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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echo "[init] starting PWM output"
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fmu mode_pwm
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mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
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#
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# Start attitude control
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#
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multirotor_att_control start
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echo "[init] startup done, exiting"
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exit
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@ -1,80 +0,0 @@
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#!nsh
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# Disable USB and autostart
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set USB no
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set MODE camflyer
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#
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# Start the ORB
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#
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uorb start
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#
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# Load microSD params
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 1
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS1 -b 57600
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usleep 5000
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#
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# Start the commander.
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#
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commander start
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#
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# Start GPS interface
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#
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gps start
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#
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# Start the attitude estimator
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#
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kalman_demo start
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#
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# Start PX4IO interface
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#
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px4io start
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#
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# Load mixer and start controllers
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#
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mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
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control_demo start
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#
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# Start logging
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#
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sdlog start -s 10
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#
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# Start system state
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#
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if blinkm start
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then
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echo "using BlinkM for state indication"
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blinkm systemstate
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else
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echo "no BlinkM found, OK."
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fi
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@ -1,98 +0,0 @@
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#!nsh
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#
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# Flight startup script for PX4FMU on PX4IOAR carrier board.
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#
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# Disable the USB interface
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set USB no
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# Disable autostarting other apps
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set MODE ardrone
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echo "[init] doing PX4IOAR startup..."
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#
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# Start the ORB
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#
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uorb start
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#
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# Init the parameter storage
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#
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echo "[init] loading microSD params"
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param select /fs/microsd/parameters
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if [ -f /fs/microsd/parameters ]
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then
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param load /fs/microsd/parameters
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fi
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#
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# Force some key parameters to sane values
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# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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# see https://pixhawk.ethz.ch/mavlink/
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#
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param set MAV_TYPE 2
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#
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# Start the sensors.
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#
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sh /etc/init.d/rc.sensors
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#
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# Start MAVLink
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#
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mavlink start -d /dev/ttyS0 -b 57600
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usleep 5000
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#
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# Start the commander.
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#
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commander start
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#
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# Start the attitude estimator
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#
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attitude_estimator_ekf start
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#
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# Configure PX4FMU for operation with PX4IOAR
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#
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fmu mode_gpio_serial
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#
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# Fire up the multi rotor attitude controller
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#
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multirotor_att_control start
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#
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# Fire up the AR.Drone interface.
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#
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ardrone_interface start -d /dev/ttyS1
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#
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# Start GPS capture
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#
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gps start
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#
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# Start logging
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#
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sdlog start -s 10
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#
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# Start system state
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#
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if blinkm start
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then
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echo "using BlinkM for state indication"
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blinkm systemstate
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else
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echo "no BlinkM found, OK."
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fi
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#
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# startup is done; we don't want the shell because we
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# use the same UART for telemetry
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#
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echo "[init] startup done"
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exit
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@ -1,66 +0,0 @@
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#!nsh
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#
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# If we are still in flight mode, work out what airframe
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# configuration we have and start up accordingly.
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#
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if [ $MODE != autostart ]
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then
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echo "[init] automatic startup cancelled by user script"
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else
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echo "[init] detecting attached hardware..."
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#
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# Assume that we are PX4FMU in standalone mode
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#
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set BOARD PX4FMU
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#
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# Are we attached to a PX4IOAR (AR.Drone carrier board)?
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#
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if boardinfo test name PX4IOAR
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then
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set BOARD PX4IOAR
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if [ -f /etc/init.d/rc.PX4IOAR ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IOAR"
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usleep 500
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sh /etc/init.d/rc.PX4IOAR
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fi
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else
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echo "[init] PX4IOAR not detected"
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fi
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#
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# Are we attached to a PX4IO?
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#
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if boardinfo test name PX4IO
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then
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set BOARD PX4IO
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if [ -f /etc/init.d/rc.PX4IO ]
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then
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echo "[init] reading /etc/init.d/rc.PX4IO"
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usleep 500
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sh /etc/init.d/rc.PX4IO
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fi
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else
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echo "[init] PX4IO not detected"
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fi
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#
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# Looks like we are stand-alone
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#
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if [ $BOARD == PX4FMU ]
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then
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echo "[init] no expansion board detected"
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if [ -f /etc/init.d/rc.standalone ]
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then
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echo "[init] reading /etc/init.d/rc.standalone"
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sh /etc/init.d/rc.standalone
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fi
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fi
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#
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# We may not reach here if the airframe-specific script exits the shell.
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#
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echo "[init] startup done."
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fi
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@ -1,10 +0,0 @@
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#!nsh
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#
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# Test jig startup script
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#
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echo "[testing] doing production test.."
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tests jig
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echo "[testing] testing done"
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@ -1,9 +0,0 @@
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#!nsh
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#
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# Initialise logging services.
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#
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if [ -d /fs/microsd ]
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then
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sdlog start
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fi
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|
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@ -1,34 +0,0 @@
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#!nsh
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#
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# Standard startup script for PX4FMU onboard sensor drivers.
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#
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#
|
||||
# Start sensor drivers here.
|
||||
#
|
||||
|
||||
ms5611 start
|
||||
adc start
|
||||
|
||||
if mpu6000 start
|
||||
then
|
||||
echo "using MPU6000 and HMC5883L"
|
||||
hmc5883 start
|
||||
else
|
||||
echo "using L3GD20 and LSM303D"
|
||||
l3gd20 start
|
||||
lsm303 start
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the sensor collection task.
|
||||
# IMPORTANT: this also loads param offsets
|
||||
# ALWAYS start this task before the
|
||||
# preflight_check.
|
||||
#
|
||||
sensors start
|
||||
|
||||
#
|
||||
# Check sensors - run AFTER 'sensors start'
|
||||
#
|
||||
preflight_check
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU standalone configuration.
|
||||
#
|
||||
|
||||
echo "[init] doing standalone PX4FMU startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
echo "[init] startup done"
|
||||
|
|
@ -1,79 +0,0 @@
|
|||
#!nsh
|
||||
#
|
||||
# PX4FMU startup script.
|
||||
#
|
||||
# This script is responsible for:
|
||||
#
|
||||
# - mounting the microSD card (if present)
|
||||
# - running the user startup script from the microSD card (if present)
|
||||
# - detecting the configuration of the system and picking a suitable
|
||||
# startup script to continue with
|
||||
#
|
||||
# Note: DO NOT add configuration-specific commands to this script;
|
||||
# add them to the per-configuration scripts instead.
|
||||
#
|
||||
|
||||
#
|
||||
# Default to auto-start mode. An init script on the microSD card
|
||||
# can change this to prevent automatic startup of the flight script.
|
||||
#
|
||||
set MODE autostart
|
||||
set USB autoconnect
|
||||
|
||||
#
|
||||
# Start playing the startup tune
|
||||
#
|
||||
tone_alarm start
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
echo "[init] looking for microSD..."
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "[init] card mounted at /fs/microsd"
|
||||
else
|
||||
echo "[init] no microSD card found"
|
||||
fi
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
#
|
||||
# To prevent automatic startup in the current flight mode,
|
||||
# the script should set MODE to some other value.
|
||||
#
|
||||
if [ -f /fs/microsd/etc/rc ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc"
|
||||
sh /fs/microsd/etc/rc
|
||||
fi
|
||||
# Also consider rc.txt files
|
||||
if [ -f /fs/microsd/etc/rc.txt ]
|
||||
then
|
||||
echo "[init] reading /fs/microsd/etc/rc.txt"
|
||||
sh /fs/microsd/etc/rc.txt
|
||||
fi
|
||||
|
||||
#
|
||||
# Check for USB host
|
||||
#
|
||||
if [ $USB != autoconnect ]
|
||||
then
|
||||
echo "[init] not connecting USB"
|
||||
else
|
||||
if sercon
|
||||
then
|
||||
echo "[init] USB interface connected"
|
||||
else
|
||||
echo "[init] No USB connected"
|
||||
fi
|
||||
fi
|
||||
|
||||
# if this is an APM build then there will be a rc.APM script
|
||||
# from an EXTERNAL_SCRIPTS build option
|
||||
if [ -f /etc/init.d/rc.APM ]
|
||||
then
|
||||
echo Running rc.APM
|
||||
# if APM startup is successful then nsh will exit
|
||||
sh /etc/init.d/rc.APM
|
||||
fi
|
||||
|
|
@ -4,5 +4,6 @@
|
|||
|
||||
CONFIG = px4fmu_default
|
||||
SRCS = $(PX4_BASE)/platforms/empty.c
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG)
|
||||
|
||||
include $(PX4_BASE)/makefiles/firmware.mk
|
||||
|
|
|
|||
|
|
@ -23,6 +23,11 @@
|
|||
# to the directory 'build' under the directory containing the
|
||||
# parent Makefile.
|
||||
#
|
||||
# ROMFS_ROOT:
|
||||
# If set to the path to a directory, a ROMFS image will be generated
|
||||
# containing the files under the directory and linked into the final
|
||||
# image.
|
||||
#
|
||||
|
||||
################################################################################
|
||||
# Paths and configuration
|
||||
|
|
@ -71,6 +76,7 @@ MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
|||
COPY = cp
|
||||
REMOVE = rm -f
|
||||
RMDIR = rm -rf
|
||||
GENROMFS = genromfs
|
||||
|
||||
#
|
||||
# Sanity-check the PLATFORM variable and then get the platform config.
|
||||
|
|
@ -134,6 +140,29 @@ LIB_DIRS += $(NUTTX_EXPORT_DIR)/libs
|
|||
LIBS += -lapps -lnuttx
|
||||
LINK_DEPS += $(wildcard $(addsuffix /*.a,$(LIB_DIRS)))
|
||||
|
||||
################################################################################
|
||||
# ROMFS generation
|
||||
################################################################################
|
||||
|
||||
#
|
||||
# Note that we can't just put romfs.c in SRCS, as it's depended on by the
|
||||
# NuttX export library. Instead, we have to treat it like a library.
|
||||
#
|
||||
ifneq ($(ROMFS_ROOT),)
|
||||
ROMFS_DEPS += $(wildcard \
|
||||
(ROMFS_ROOT)/* \
|
||||
(ROMFS_ROOT)/*/* \
|
||||
(ROMFS_ROOT)/*/*/* \
|
||||
(ROMFS_ROOT)/*/*/*/* \
|
||||
(ROMFS_ROOT)/*/*/*/*/* \
|
||||
(ROMFS_ROOT)/*/*/*/*/*/*)
|
||||
ROMFS_IMG = $(WORK_DIR)/romfs.img
|
||||
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
|
||||
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
|
||||
LIBS += $(ROMFS_OBJ)
|
||||
LINK_DEPS += $(ROMFS_OBJ)
|
||||
endif
|
||||
|
||||
################################################################################
|
||||
# Build rules
|
||||
################################################################################
|
||||
|
|
@ -159,7 +188,7 @@ all: $(PRODUCT_BUNDLE)
|
|||
OBJS = $(foreach src,$(SRCS),$(WORK_DIR)/$(src).o)
|
||||
|
||||
#
|
||||
# Rules
|
||||
# SRCS -> OBJS rules
|
||||
#
|
||||
|
||||
$(filter %.c.o,$(OBJS)): $(WORK_DIR)/%.c.o: %.c $(GLOBAL_DEPS)
|
||||
|
|
@ -174,11 +203,19 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)/%.S.o: %.S $(GLOBAL_DEPS)
|
|||
@mkdir -p $(dir $@)
|
||||
$(call ASSEMBLE,$<,$@)
|
||||
|
||||
#
|
||||
# Build directory setup rules
|
||||
#
|
||||
|
||||
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
|
||||
@echo %% Unpacking $(NUTTX_ARCHIVE)
|
||||
$(Q) unzip -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
|
||||
$(Q) touch $@
|
||||
|
||||
#
|
||||
# Built product rules
|
||||
#
|
||||
|
||||
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
|
||||
@echo %% Generating $@
|
||||
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(PLATFORM).prototype \
|
||||
|
|
@ -191,6 +228,25 @@ $(PRODUCT_BIN): $(PRODUCT_SYM)
|
|||
$(PRODUCT_SYM): $(OBJS) $(GLOBAL_DEPS) $(LINK_DEPS)
|
||||
$(call LINK,$@,$(OBJS))
|
||||
|
||||
#
|
||||
# ROMFS rules
|
||||
#
|
||||
|
||||
$(ROMFS_OBJ): $(ROMFS_CSRC)
|
||||
$(call COMPILE,$<,$@)
|
||||
|
||||
$(ROMFS_CSRC): $(ROMFS_IMG)
|
||||
@echo %% generating $@
|
||||
$(Q) (cd $(dir $<) && xxd -i $(notdir $<)) > $@
|
||||
|
||||
$(ROMFS_IMG): $(ROMFS_DEPS)
|
||||
@echo %% generating $@
|
||||
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
|
||||
|
||||
#
|
||||
# Utility rules
|
||||
#
|
||||
|
||||
upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
|
||||
$(Q) make -f $(PX4_MK_INCLUDE)/upload.mk \
|
||||
METHOD=serial \
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
#
|
||||
# Rules and tools for uploading firmware.
|
||||
# Rules and tools for uploading firmware to various PX4 boards.
|
||||
#
|
||||
|
||||
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
|
|
|
|||
Loading…
Reference in New Issue