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px4-firmware
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Merge branch 'fmuv2_bringup' of github.com:cvg/Firmware_Private into fmuv2_bringup

This commit is contained in:
Lorenz Meier 2013-08-27 10:16:00 +02:00
parent 9c58d2c5c6 7b42d7a047
commit c98e47eecf
7 changed files with 62 additions and 26 deletions
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56
Makefile
View File

@ -40,14 +40,16 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Canned firmware configurations that we build.
# Canned firmware configurations that we (know how to) build.
#
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
CONFIGS ?= $(KNOWN_CONFIGS)
#
# Boards that we build NuttX export kits for.
# Boards that we (know how to) build NuttX export kits for.
#
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
BOARDS ?= $(KNOWN_BOARDS)
#
# Debugging
@ -87,10 +89,11 @@ endif
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: $(STAGED_FIRMWARES)
all: $(DESIRED_FIRMWARES)
#
# Copy FIRMWARES into the image directory.
@ -114,13 +117,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
#
# Make FMU firmwares depend on the corresponding IO firmware.
#
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
# and forces the _default config in all cases. There has to be a better way to do this...
#
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
define FMU_DEP
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
endef
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
#
# Build the NuttX export archives.
#
@ -147,12 +163,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) mkdir -p $(dir $@)
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) $(MKDIR) -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
@ -168,11 +184,11 @@ BOARD = $(BOARDS)
menuconfig: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(BOARD)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
@$(ECHO) %% Running menuconfig for $(BOARD)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
@ -191,7 +207,7 @@ $(NUTTX_SRC):
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
#
# Cleanup targets. 'clean' should remove all built products and force
@ -206,8 +222,8 @@ clean:
.PHONY: distclean
distclean: clean
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && find . -maxdepth 1 -type l -delete)
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
#
# Print some help text
@ -229,9 +245,9 @@ help:
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
$(ECHO) " $$config"; \
$(ECHO) " Build just the $$config firmware configuration."; \
$(ECHO) ""; \
done
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."

1
makefiles/config_px4fmu-v1_default.mk
View File

@ -6,6 +6,7 @@
# 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

4
makefiles/config_px4fmu-v2_default.mk
View File

@ -3,9 +3,11 @@
#
#
# Use the configuration's ROMFS.
# Use the configuration's ROMFS, copy the px4iov2 firmware into
# the ROMFS if it's available
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
#
# Board support modules

22
makefiles/firmware.mk
View File

@ -322,7 +322,7 @@ endif
# a root from several templates. That would be a nice feature.
#
# Add dependencies on anything in the ROMFS root
# Add dependencies on anything in the ROMFS root directory
ROMFS_FILES += $(wildcard \
$(ROMFS_ROOT)/* \
$(ROMFS_ROOT)/*/* \
@ -334,7 +334,14 @@ ifeq ($(ROMFS_FILES),)
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
endif
ROMFS_DEPS += $(ROMFS_FILES)
# Extra files that may be copied into the ROMFS /extras directory
# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
ROMFS_IMG = romfs.img
ROMFS_SCRATCH = romfs_scratch
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
@ -345,9 +352,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
$(call BIN_TO_OBJ,$<,$@,romfs_img)
# Generate the ROMFS image from the root
$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
@$(ECHO) "ROMFS: $@"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
# Construct the ROMFS scratch root from the canonical root
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)

1
makefiles/setup.mk
View File

@ -71,6 +71,7 @@ export RMDIR = rm -rf
export GENROMFS = genromfs
export TOUCH = touch
export MKDIR = mkdir
export FIND = find
export ECHO = echo
export UNZIP_CMD = unzip
export PYTHON = python

2
nuttx-configs/px4fmu-v1/nsh/defconfig
View File

@ -406,7 +406,7 @@ CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_STREAMS=25
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32

2
nuttx-configs/px4fmu-v2/nsh/defconfig
View File

@ -452,7 +452,7 @@ CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_STREAMS=25
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32