From d0ca0ff8373e9a6e48af4bf51388faa289de6687 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 3 Oct 2015 17:25:49 +0200 Subject: [PATCH] Added FMUv1 config --- Makefile | 3 + cmake/configs/nuttx_px4fmu-v1_default.cmake | 182 ++++++++++++++++++++ cmake/nuttx/px4_impl_nuttx.cmake | 24 ++- 3 files changed, 208 insertions(+), 1 deletion(-) create mode 100644 cmake/configs/nuttx_px4fmu-v1_default.cmake diff --git a/Makefile b/Makefile index 4d753670f7..af8539f60f 100644 --- a/Makefile +++ b/Makefile @@ -75,6 +75,9 @@ endef # -------------------------------------------------------------------- # Do not put any spaces between function arguments. +px4fmu-v1_default: + $(call cmake-build,nuttx_px4fmu-v1_default) + px4fmu-v2_default: $(call cmake-build,nuttx_px4fmu-v2_default) diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake new file mode 100644 index 0000000000..8e485a21b7 --- /dev/null +++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake @@ -0,0 +1,182 @@ +include(nuttx/px4_impl_nuttx) + +set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake) + +set(config_module_list + # + # Board support modules + # + drivers/device + drivers/stm32 + drivers/stm32/adc + drivers/stm32/tone_alarm + drivers/led + drivers/px4fmu + drivers/px4io + drivers/boards/px4fmu-v1 + drivers/ardrone_interface + drivers/rgbled + drivers/mpu6000 + drivers/lsm303d + drivers/l3gd20 + drivers/hmc5883 + drivers/ms5611 + drivers/mb12xx + drivers/sf0x + drivers/ll40ls + drivers/trone + drivers/gps + drivers/pwm_out_sim + drivers/hott + drivers/hott/hott_telemetry + drivers/hott/hott_sensors + drivers/blinkm + drivers/airspeed + drivers/ets_airspeed + drivers/meas_airspeed + drivers/frsky_telemetry + modules/sensors + drivers/mkblctrl + drivers/px4flow + + # + # System commands + # + systemcmds/bl_update + systemcmds/mixer + systemcmds/param + systemcmds/perf + systemcmds/pwm + systemcmds/esc_calib + systemcmds/reboot + systemcmds/top + systemcmds/config + systemcmds/nshterm + systemcmds/mtd + systemcmds/dumpfile + systemcmds/ver + + # + # General system control + # + modules/commander + modules/navigator + modules/mavlink + modules/gpio_led + #modules/uavcan # have to fix CMakeLists.txt + modules/land_detector + + # + # Estimation modules (EKF/ SO3 / other filters) + # + # Too high RAM usage due to static allocations + # modules/attitude_estimator_ekf + modules/attitude_estimator_q + modules/ekf_att_pos_estimator + modules/position_estimator_inav + + # + # Vehicle Control + # + # modules/segway # XXX Needs GCC 4.7 fix + modules/fw_pos_control_l1 + modules/fw_att_control + modules/mc_att_control + modules/mc_pos_control + modules/vtol_att_control + + # + # Logging + # + modules/sdlog2 + + # + # Library modules + # + modules/param + modules/systemlib + modules/systemlib/mixer + modules/controllib + modules/uORB + modules/dataman + + # + # Libraries + # + #lib/mathlib/CMSIS + lib/mathlib + lib/mathlib/math/filter + lib/ecl + lib/external_lgpl + lib/geo + lib/geo_lookup + lib/conversion + lib/launchdetection + platforms/nuttx + + # had to add for cmake, not sure why wasn't in original config + platforms/common + platforms/nuttx/px4_layer + + # + # OBC challenge + # + modules/bottle_drop + + # + # Rover apps + # + examples/rover_steering_control + + # + # Demo apps + # + #examples/math_demo + # Tutorial code from + # https://px4.io/dev/px4_simple_app + #examples/px4_simple_app + + # Tutorial code from + # https://px4.io/dev/daemon + #examples/px4_daemon_app + + # Tutorial code from + # https://px4.io/dev/debug_values + #examples/px4_mavlink_debug + + # Tutorial code from + # https://px4.io/dev/example_fixedwing_control + #examples/fixedwing_control + + # Hardware test + #examples/hwtest +) + +set(config_firmware_options + PARAM_XML # generate param xml + ) + +set(config_extra_builtin_cmds + serdis + sercon + ) + +set(config_io_board + px4io-v1 + ) + +set(config_extra_libs + ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a + ) + +set(config_io_extra_libs + #${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a + ) + +add_custom_target(sercon) +set_target_properties(sercon PROPERTIES + MAIN "sercon" STACK "2048") + +add_custom_target(serdis) +set_target_properties(serdis PROPERTIES + MAIN "serdis" STACK "2048") diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake index ca46ea13f8..add952a49b 100644 --- a/cmake/nuttx/px4_impl_nuttx.cmake +++ b/cmake/nuttx/px4_impl_nuttx.cmake @@ -455,7 +455,7 @@ function(px4_os_add_flags) set(added_exe_linker_flags) # none currently set(cpu_flags) - if (${BOARD} STREQUAL "px4fmu-v2") + if (${BOARD} STREQUAL "px4fmu-v1") set(cpu_flags -mcpu=cortex-m4 -mthumb @@ -463,6 +463,28 @@ function(px4_os_add_flags) -mfpu=fpv4-sp-d16 -mfloat-abi=hard ) + elseif (${BOARD} STREQUAL "px4fmu-v2") + set(cpu_flags + -mcpu=cortex-m4 + -mthumb + -march=armv7e-m + -mfpu=fpv4-sp-d16 + -mfloat-abi=hard + ) + elseif (${BOARD} STREQUAL "aerocore") + set(cpu_flags + -mcpu=cortex-m4 + -mthumb + -march=armv7e-m + -mfpu=fpv4-sp-d16 + -mfloat-abi=hard + ) + elseif (${BOARD} STREQUAL "px4io-v1") + set(cpu_flags + -mcpu=cortex-m3 + -mthumb + -march=armv7-m + ) elseif (${BOARD} STREQUAL "px4io-v2") set(cpu_flags -mcpu=cortex-m3