forked from Archive/PX4-Autopilot
Merge branch 'master' into seatbelt_multirotor
This commit is contained in:
Anton Babushkin
commit
eb2fc4e036
|
|
@ -1,4 +1,5 @@
|
||||||
.built
|
.built
|
||||||
|
.context
|
||||||
*.context
|
*.context
|
||||||
*.bdat
|
*.bdat
|
||||||
*.pdat
|
*.pdat
|
||||||
|
|
@ -43,7 +44,6 @@ nuttx/nuttx.hex
|
||||||
.settings
|
.settings
|
||||||
Firmware.sublime-workspace
|
Firmware.sublime-workspace
|
||||||
.DS_Store
|
.DS_Store
|
||||||
nsh_romfsimg.h
|
|
||||||
cscope.out
|
cscope.out
|
||||||
.configX-e
|
.configX-e
|
||||||
nuttx-export.zip
|
nuttx-export.zip
|
||||||
|
|
@ -55,3 +55,8 @@ mavlink/include/mavlink/v0.9/
|
||||||
core
|
core
|
||||||
.gdbinit
|
.gdbinit
|
||||||
mkdeps
|
mkdeps
|
||||||
|
Archives
|
||||||
|
Build
|
||||||
|
!ROMFS/*/*.d
|
||||||
|
!ROMFS/*/*/*.d
|
||||||
|
!ROMFS/*/*/*/*.d
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
282
Makefile
282
Makefile
|
|
@ -1,43 +1,53 @@
|
||||||
|
#
|
||||||
|
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
|
||||||
#
|
#
|
||||||
# Top-level Makefile for building PX4 firmware images.
|
# Top-level Makefile for building PX4 firmware images.
|
||||||
#
|
#
|
||||||
#
|
|
||||||
# Note that this is a transitional process; the eventual goal is for this
|
|
||||||
# project to slim down and simply generate PX4 link kits via the NuttX
|
|
||||||
# 'make export' mechanism.
|
|
||||||
#
|
|
||||||
#
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Some useful paths.
|
# Get path and tool configuration
|
||||||
#
|
#
|
||||||
export PX4BASE = $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
|
export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
|
||||||
export NUTTX_SRC = $(PX4BASE)/nuttx
|
include $(PX4_BASE)makefiles/setup.mk
|
||||||
export NUTTX_APPS = $(PX4BASE)/apps
|
|
||||||
export MAVLINK_SRC = $(PX4BASE)/mavlink
|
|
||||||
export ROMFS_SRC = $(PX4BASE)/ROMFS
|
|
||||||
export IMAGE_DIR = $(PX4BASE)/Images
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Tools
|
# Canned firmware configurations that we build.
|
||||||
#
|
#
|
||||||
MKFW = $(PX4BASE)/Tools/px_mkfw.py
|
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
|
||||||
UPLOADER = $(PX4BASE)/Tools/px_uploader.py
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# What are we currently configured for?
|
# Boards that we build NuttX export kits for.
|
||||||
#
|
#
|
||||||
CONFIGURED = $(PX4BASE)/.configured
|
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
|
||||||
ifneq ($(wildcard $(CONFIGURED)),)
|
|
||||||
export TARGET := $(shell cat $(CONFIGURED))
|
|
||||||
endif
|
|
||||||
|
|
||||||
#
|
|
||||||
# What we will build
|
|
||||||
#
|
|
||||||
FIRMWARE_BUNDLE = $(IMAGE_DIR)/$(TARGET).px4
|
|
||||||
FIRMWARE_BINARY = $(IMAGE_DIR)/$(TARGET).bin
|
|
||||||
FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Debugging
|
# Debugging
|
||||||
|
|
@ -45,120 +55,156 @@ FIRMWARE_PROTOTYPE = $(IMAGE_DIR)/$(TARGET).prototype
|
||||||
MQUIET = --no-print-directory
|
MQUIET = --no-print-directory
|
||||||
#MQUIET = --print-directory
|
#MQUIET = --print-directory
|
||||||
|
|
||||||
all: $(FIRMWARE_BUNDLE)
|
################################################################################
|
||||||
|
# No user-serviceable parts below
|
||||||
|
################################################################################
|
||||||
|
|
||||||
#
|
#
|
||||||
# Generate a wrapped .px4 file from the built binary
|
# If the user has listed a config as a target, strip it out and override CONFIGS.
|
||||||
#
|
#
|
||||||
$(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
|
FIRMWARE_GOAL = firmware
|
||||||
@echo Generating $@
|
EXPLICIT_CONFIGS := $(filter $(CONFIGS),$(MAKECMDGOALS))
|
||||||
@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
|
ifneq ($(EXPLICIT_CONFIGS),)
|
||||||
--git_identity $(PX4BASE) \
|
CONFIGS := $(EXPLICIT_CONFIGS)
|
||||||
--image $(FIRMWARE_BINARY) > $@
|
.PHONY: $(EXPLICIT_CONFIGS)
|
||||||
|
$(EXPLICIT_CONFIGS): all
|
||||||
|
|
||||||
#
|
#
|
||||||
# Build the firmware binary.
|
# If the user has asked to upload, they must have also specified exactly one
|
||||||
|
# config.
|
||||||
#
|
#
|
||||||
.PHONY: $(FIRMWARE_BINARY)
|
ifneq ($(filter upload,$(MAKECMDGOALS)),)
|
||||||
$(FIRMWARE_BINARY): setup_$(TARGET) configure-check
|
ifneq ($(words $(EXPLICIT_CONFIGS)),1)
|
||||||
@echo Building $@ for $(TARGET)
|
$(error In order to upload, exactly one board config must be specified)
|
||||||
@make -C $(NUTTX_SRC) -r $(MQUIET) all
|
endif
|
||||||
@cp $(NUTTX_SRC)/nuttx.bin $@
|
FIRMWARE_GOAL = upload
|
||||||
|
.PHONY: upload
|
||||||
#
|
upload:
|
||||||
# The 'configure' targets select one particular firmware configuration
|
@:
|
||||||
# and makes it current.
|
endif
|
||||||
#
|
|
||||||
configure_px4fmu:
|
|
||||||
@echo Configuring for px4fmu
|
|
||||||
@make -C $(PX4BASE) distclean
|
|
||||||
@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
|
|
||||||
@echo px4fmu > $(CONFIGURED)
|
|
||||||
|
|
||||||
configure_px4io:
|
|
||||||
@echo Configuring for px4io
|
|
||||||
@make -C $(PX4BASE) distclean
|
|
||||||
@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
|
|
||||||
@echo px4io > $(CONFIGURED)
|
|
||||||
|
|
||||||
configure-check:
|
|
||||||
ifeq ($(wildcard $(CONFIGURED)),)
|
|
||||||
@echo
|
|
||||||
@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
|
|
||||||
@echo
|
|
||||||
@exit 1
|
|
||||||
endif
|
endif
|
||||||
|
|
||||||
|
#
|
||||||
|
# Built products
|
||||||
|
#
|
||||||
|
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
|
||||||
|
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
|
||||||
|
|
||||||
|
all: $(STAGED_FIRMWARES)
|
||||||
|
|
||||||
#
|
#
|
||||||
# Per-configuration additional targets
|
# Copy FIRMWARES into the image directory.
|
||||||
#
|
#
|
||||||
.PHONY: px4fmu_setup
|
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||||
setup_px4fmu:
|
@echo %% Copying $@
|
||||||
@echo Generating ROMFS
|
$(Q) $(COPY) $< $@
|
||||||
@make -C $(ROMFS_SRC) all
|
|
||||||
|
|
||||||
setup_px4io:
|
|
||||||
|
|
||||||
# fake target to make configure-check happy if TARGET is not set
|
|
||||||
setup_:
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Firmware uploading.
|
# Generate FIRMWARES.
|
||||||
#
|
#
|
||||||
|
.PHONY: $(FIRMWARES)
|
||||||
|
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
|
||||||
|
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
|
||||||
|
$(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) \
|
||||||
|
-f $(PX4_MK_DIR)firmware.mk \
|
||||||
|
CONFIG=$(config) \
|
||||||
|
WORK_DIR=$(work_dir) \
|
||||||
|
$(FIRMWARE_GOAL)
|
||||||
|
|
||||||
# serial port defaults by operating system.
|
#
|
||||||
SYSTYPE = $(shell uname)
|
# Build the NuttX export archives.
|
||||||
ifeq ($(SYSTYPE),Darwin)
|
#
|
||||||
SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
|
# Note that there are no explicit dependencies extended from these
|
||||||
endif
|
# archives. If NuttX is updated, the user is expected to rebuild the
|
||||||
ifeq ($(SYSTYPE),Linux)
|
# archives/build area manually. Likewise, when the 'archives' target is
|
||||||
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
|
# invoked, all archives are always rebuilt.
|
||||||
endif
|
#
|
||||||
ifeq ($(SERIAL_PORTS),)
|
# XXX Should support fetching/unpacking from a separate directory to permit
|
||||||
SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
|
# downloads of the prebuilt archives as well...
|
||||||
|
#
|
||||||
|
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
|
||||||
|
#
|
||||||
|
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
|
||||||
|
.PHONY: archives
|
||||||
|
archives: $(NUTTX_ARCHIVES)
|
||||||
|
|
||||||
|
# We cannot build these parallel; note that we also force -j1 for the
|
||||||
|
# sub-make invocations.
|
||||||
|
ifneq ($(filter archives,$(MAKECMDGOALS)),)
|
||||||
|
.NOTPARALLEL:
|
||||||
endif
|
endif
|
||||||
|
|
||||||
upload: $(FIRMWARE_BUNDLE) $(UPLOADER)
|
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
|
||||||
$(UPLOADER) --port $(SERIAL_PORTS) $(FIRMWARE_BUNDLE)
|
$(ARCHIVE_DIR)%.export: configuration = $(if $(filter $(board),px4io),io,nsh)
|
||||||
|
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
|
||||||
#
|
@echo %% Configuring NuttX for $(board)
|
||||||
# JTAG firmware uploading with OpenOCD
|
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||||
#
|
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||||
ifeq ($(JTAGCONFIG),)
|
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
|
||||||
JTAGCONFIG=interface/olimex-jtag-tiny.cfg
|
@echo %% Exporting NuttX for $(board)
|
||||||
endif
|
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
|
||||||
|
$(Q) mkdir -p $(dir $@)
|
||||||
upload-jtag-px4fmu:
|
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
|
||||||
@echo Attempting to flash PX4FMU board via JTAG
|
|
||||||
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
|
||||||
|
|
||||||
upload-jtag-px4io: all
|
|
||||||
@echo Attempting to flash PX4IO board via JTAG
|
|
||||||
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
|
||||||
|
|
||||||
#
|
|
||||||
# Hacks and fixups
|
|
||||||
#
|
|
||||||
|
|
||||||
ifeq ($(SYSTYPE),Darwin)
|
|
||||||
# PATH inherited by Eclipse may not include toolchain install location
|
|
||||||
export PATH := $(PATH):/usr/local/bin
|
|
||||||
endif
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Cleanup targets. 'clean' should remove all built products and force
|
# Cleanup targets. 'clean' should remove all built products and force
|
||||||
# a complete re-compilation, 'distclean' should remove everything
|
# a complete re-compilation, 'distclean' should remove everything
|
||||||
# that's generated leaving only files that are in source control.
|
# that's generated leaving only files that are in source control.
|
||||||
#
|
#
|
||||||
.PHONY: clean upload-jtag-px4fmu
|
.PHONY: clean
|
||||||
clean:
|
clean:
|
||||||
@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
$(Q) $(RMDIR) $(BUILD_DIR)*.build
|
||||||
@make -C $(ROMFS_SRC) -r $(MQUIET) clean
|
$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
|
||||||
|
|
||||||
.PHONY: distclean
|
.PHONY: distclean
|
||||||
distclean:
|
distclean: clean
|
||||||
@rm -f $(CONFIGURED)
|
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
|
||||||
@make -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||||
@make -C $(ROMFS_SRC) -r $(MQUIET) distclean
|
|
||||||
|
|
||||||
|
#
|
||||||
|
# Print some help text
|
||||||
|
#
|
||||||
|
.PHONY: help
|
||||||
|
help:
|
||||||
|
@echo ""
|
||||||
|
@echo " PX4 firmware builder"
|
||||||
|
@echo " ===================="
|
||||||
|
@echo ""
|
||||||
|
@echo " Available targets:"
|
||||||
|
@echo " ------------------"
|
||||||
|
@echo ""
|
||||||
|
@echo " archives"
|
||||||
|
@echo " Build the NuttX RTOS archives that are used by the firmware build."
|
||||||
|
@echo ""
|
||||||
|
@echo " all"
|
||||||
|
@echo " Build all firmware configs: $(CONFIGS)"
|
||||||
|
@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 ""; \
|
||||||
|
done
|
||||||
|
@echo " clean"
|
||||||
|
@echo " Remove all firmware build pieces."
|
||||||
|
@echo ""
|
||||||
|
@echo " distclean"
|
||||||
|
@echo " Remove all compilation products, including NuttX RTOS archives."
|
||||||
|
@echo ""
|
||||||
|
@echo " upload"
|
||||||
|
@echo " When exactly one config is being built, add this target to upload the"
|
||||||
|
@echo " firmware to the board when the build is complete. Not supported for"
|
||||||
|
@echo " all configurations."
|
||||||
|
@echo ""
|
||||||
|
@echo " Common options:"
|
||||||
|
@echo " ---------------"
|
||||||
|
@echo ""
|
||||||
|
@echo " V=1"
|
||||||
|
@echo " If V is set, more verbose output is printed during the build. This can"
|
||||||
|
@echo " help when diagnosing issues with the build or toolchain."
|
||||||
|
@echo ""
|
||||||
|
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
/img
|
|
||||||
123
ROMFS/Makefile
123
ROMFS/Makefile
|
|
@ -1,123 +0,0 @@
|
||||||
#
|
|
||||||
# Makefile to generate a PX4FMU ROMFS image.
|
|
||||||
#
|
|
||||||
# In normal use, 'make install' will generate a new ROMFS header and place it
|
|
||||||
# into the px4fmu configuration in the appropriate location.
|
|
||||||
#
|
|
||||||
|
|
||||||
#
|
|
||||||
# Directories of interest
|
|
||||||
#
|
|
||||||
SRCROOT ?= $(dir $(lastword $(MAKEFILE_LIST)))
|
|
||||||
BUILDROOT ?= $(SRCROOT)/img
|
|
||||||
ROMFS_HEADER ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
|
|
||||||
|
|
||||||
#
|
|
||||||
# List of files to install in the ROMFS, specified as <source>~<destination>
|
|
||||||
#
|
|
||||||
ROMFS_FSSPEC := $(SRCROOT)/scripts/rcS~init.d/rcS \
|
|
||||||
$(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
|
|
||||||
$(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
|
|
||||||
$(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
|
|
||||||
$(SRCROOT)/scripts/rc.PX4IO~init.d/rc.PX4IO \
|
|
||||||
$(SRCROOT)/scripts/rc.PX4IOAR~init.d/rc.PX4IOAR \
|
|
||||||
$(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
|
|
||||||
$(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
|
|
||||||
$(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
|
|
||||||
$(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_AERT.mix~mixers/FMU_AERT.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_AET.mix~mixers/FMU_AET.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \
|
|
||||||
$(SRCROOT)/mixers/FMU_octo_+.mix~mixers/FMU_octo_+.mix \
|
|
||||||
$(SRCROOT)/logging/logconv.m~logging/logconv.m
|
|
||||||
|
|
||||||
# the EXTERNAL_SCRIPTS variable is used to add out of tree scripts
|
|
||||||
# to ROMFS.
|
|
||||||
ROMFS_FSSPEC += $(EXTERNAL_SCRIPTS)
|
|
||||||
|
|
||||||
#
|
|
||||||
# Add the PX4IO firmware to the spec if someone has dropped it into the
|
|
||||||
# source directory, or otherwise specified its location.
|
|
||||||
#
|
|
||||||
# Normally this is only something you'd do when working on PX4IO; most
|
|
||||||
# users will upgrade with firmware off the microSD card.
|
|
||||||
#
|
|
||||||
PX4IO_FIRMWARE ?= $(SRCROOT)/px4io.bin
|
|
||||||
ifneq ($(wildcard $(PX4IO_FIRMWARE)),)
|
|
||||||
ROMFS_FSSPEC += $(PX4IO_FIRMWARE)~px4io.bin
|
|
||||||
endif
|
|
||||||
|
|
||||||
################################################################################
|
|
||||||
# No user-serviceable parts below
|
|
||||||
################################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Just the source files from the ROMFS spec, so that we can fail cleanly if they don't
|
|
||||||
# exist
|
|
||||||
#
|
|
||||||
ROMFS_SRCFILES = $(foreach spec,$(ROMFS_FSSPEC),$(firstword $(subst ~, ,$(spec))))
|
|
||||||
|
|
||||||
#
|
|
||||||
# Just the destination directories from the ROMFS spec
|
|
||||||
#
|
|
||||||
ROMFS_DIRS = $(sort $(dir $(foreach spec,$(ROMFS_FSSPEC),$(lastword $(subst ~, ,$(spec))))))
|
|
||||||
|
|
||||||
|
|
||||||
#
|
|
||||||
# Intermediate products
|
|
||||||
#
|
|
||||||
ROMFS_IMG = $(BUILDROOT)/romfs.img
|
|
||||||
ROMFS_WORKDIR = $(BUILDROOT)/romfs
|
|
||||||
|
|
||||||
#
|
|
||||||
# Convenience target for rebuilding the ROMFS header
|
|
||||||
#
|
|
||||||
all: $(ROMFS_HEADER)
|
|
||||||
|
|
||||||
$(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
|
|
||||||
@echo Generating the ROMFS header...
|
|
||||||
@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) | sed -e 's/char/const char/' > $@
|
|
||||||
|
|
||||||
$(ROMFS_IMG): $(ROMFS_WORKDIR)
|
|
||||||
@echo Generating the ROMFS image...
|
|
||||||
@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"
|
|
||||||
|
|
||||||
$(ROMFS_WORKDIR): $(ROMFS_SRCFILES)
|
|
||||||
@echo Rebuilding the ROMFS work area...
|
|
||||||
@rm -rf $(ROMFS_WORKDIR)
|
|
||||||
@mkdir -p $(ROMFS_WORKDIR)
|
|
||||||
@for dir in $(ROMFS_DIRS) ; do mkdir -p $(ROMFS_WORKDIR)/$$dir; done
|
|
||||||
@for spec in $(ROMFS_FSSPEC) ; do \
|
|
||||||
echo $$spec | sed -e 's%^.*~% %' ;\
|
|
||||||
`echo "cp $$spec" | sed -e 's%~% $(ROMFS_WORKDIR)/%'` ;\
|
|
||||||
done
|
|
||||||
|
|
||||||
$(BUILDROOT):
|
|
||||||
@mkdir -p $(BUILDROOT)
|
|
||||||
|
|
||||||
clean:
|
|
||||||
@rm -rf $(BUILDROOT)
|
|
||||||
|
|
||||||
distclean: clean
|
|
||||||
@rm -f $(PX4IO_FIRMWARE) $(ROMFS_HEADER)
|
|
||||||
|
|
||||||
.PHONY: all install clean distclean
|
|
||||||
|
|
||||||
#
|
|
||||||
# Hacks and fixups
|
|
||||||
#
|
|
||||||
SYSTYPE = $(shell uname)
|
|
||||||
|
|
||||||
ifeq ($(SYSTYPE),Darwin)
|
|
||||||
# PATH inherited by Eclipse may not include toolchain install location
|
|
||||||
export PATH := $(PATH):/usr/local/bin
|
|
||||||
endif
|
|
||||||
|
|
||||||
|
|
@ -20,10 +20,10 @@ uorb start
|
||||||
# Load microSD params
|
# Load microSD params
|
||||||
#
|
#
|
||||||
echo "[init] loading microSD params"
|
echo "[init] loading microSD params"
|
||||||
param select /fs/microsd/parameters
|
param select /fs/microsd/params
|
||||||
if [ -f /fs/microsd/parameters ]
|
if [ -f /fs/microsd/params ]
|
||||||
then
|
then
|
||||||
param load /fs/microsd/parameters
|
param load /fs/microsd/params
|
||||||
fi
|
fi
|
||||||
|
|
||||||
#
|
#
|
||||||
|
|
@ -0,0 +1,107 @@
|
||||||
|
#!nsh
|
||||||
|
|
||||||
|
# Disable USB and autostart
|
||||||
|
set USB no
|
||||||
|
set MODE quad
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the ORB (first app to start)
|
||||||
|
#
|
||||||
|
uorb start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load microSD params
|
||||||
|
#
|
||||||
|
echo "[init] loading microSD params"
|
||||||
|
param select /fs/microsd/params
|
||||||
|
if [ -f /fs/microsd/params ]
|
||||||
|
then
|
||||||
|
param load /fs/microsd/params
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Force some key parameters to sane values
|
||||||
|
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||||
|
# see https://pixhawk.ethz.ch/mavlink/
|
||||||
|
#
|
||||||
|
param set MAV_TYPE 2
|
||||||
|
|
||||||
|
#
|
||||||
|
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||||
|
#
|
||||||
|
if [ -f /fs/microsd/px4io.bin ]
|
||||||
|
then
|
||||||
|
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||||
|
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||||
|
then
|
||||||
|
echo "No newer version, skipping upgrade."
|
||||||
|
else
|
||||||
|
echo "Loading /fs/microsd/px4io.bin"
|
||||||
|
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||||
|
then
|
||||||
|
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||||
|
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||||
|
else
|
||||||
|
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||||
|
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start MAVLink (depends on orb)
|
||||||
|
#
|
||||||
|
mavlink start -d /dev/ttyS1 -b 57600
|
||||||
|
usleep 5000
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the commander (depends on orb, mavlink)
|
||||||
|
#
|
||||||
|
commander start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start PX4IO interface (depends on orb, commander)
|
||||||
|
#
|
||||||
|
px4io start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Allow PX4IO to recover from midair restarts.
|
||||||
|
# this is very unlikely, but quite safe and robust.
|
||||||
|
px4io recovery
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the sensors (depends on orb, px4io)
|
||||||
|
#
|
||||||
|
sh /etc/init.d/rc.sensors
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start GPS interface (depends on orb)
|
||||||
|
#
|
||||||
|
gps start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start the attitude estimator (depends on orb)
|
||||||
|
#
|
||||||
|
attitude_estimator_ekf start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Load mixer and start controllers (depends on px4io)
|
||||||
|
#
|
||||||
|
mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
|
||||||
|
multirotor_att_control start
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start logging
|
||||||
|
#
|
||||||
|
#sdlog start -s 4
|
||||||
|
|
||||||
|
#
|
||||||
|
# Start system state
|
||||||
|
#
|
||||||
|
if blinkm start
|
||||||
|
then
|
||||||
|
echo "using BlinkM for state indication"
|
||||||
|
blinkm systemstate
|
||||||
|
else
|
||||||
|
echo "no BlinkM found, OK."
|
||||||
|
fi
|
||||||
|
|
@ -13,10 +13,10 @@ uorb start
|
||||||
# Load microSD params
|
# Load microSD params
|
||||||
#
|
#
|
||||||
echo "[init] loading microSD params"
|
echo "[init] loading microSD params"
|
||||||
param select /fs/microsd/parameters
|
param select /fs/microsd/params
|
||||||
if [ -f /fs/microsd/parameters ]
|
if [ -f /fs/microsd/params ]
|
||||||
then
|
then
|
||||||
param load /fs/microsd/parameters
|
param load /fs/microsd/params
|
||||||
fi
|
fi
|
||||||
|
|
||||||
#
|
#
|
||||||
|
|
@ -17,13 +17,13 @@ echo "[init] doing PX4IOAR startup..."
|
||||||
uorb start
|
uorb start
|
||||||
|
|
||||||
#
|
#
|
||||||
# Init the parameter storage
|
# Load microSD params
|
||||||
#
|
#
|
||||||
echo "[init] loading microSD params"
|
echo "[init] loading microSD params"
|
||||||
param select /fs/microsd/parameters
|
param select /fs/microsd/params
|
||||||
if [ -f /fs/microsd/parameters ]
|
if [ -f /fs/microsd/params ]
|
||||||
then
|
then
|
||||||
param load /fs/microsd/parameters
|
param load /fs/microsd/params
|
||||||
fi
|
fi
|
||||||
|
|
||||||
#
|
#
|
||||||
|
|
@ -17,10 +17,10 @@ hil mode_pwm
|
||||||
# Load microSD params
|
# Load microSD params
|
||||||
#
|
#
|
||||||
echo "[init] loading microSD params"
|
echo "[init] loading microSD params"
|
||||||
param select /fs/microsd/parameters
|
param select /fs/microsd/params
|
||||||
if [ -f /fs/microsd/parameters ]
|
if [ -f /fs/microsd/params ]
|
||||||
then
|
then
|
||||||
param load /fs/microsd/parameters
|
param load /fs/microsd/params
|
||||||
fi
|
fi
|
||||||
|
|
||||||
#
|
#
|
||||||
|
|
@ -7,6 +7,14 @@
|
||||||
# Start sensor drivers here.
|
# Start sensor drivers here.
|
||||||
#
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Check for UORB
|
||||||
|
#
|
||||||
|
if uorb start
|
||||||
|
then
|
||||||
|
echo "uORB started"
|
||||||
|
fi
|
||||||
|
|
||||||
ms5611 start
|
ms5611 start
|
||||||
adc start
|
adc start
|
||||||
|
|
||||||
|
|
@ -0,0 +1,50 @@
|
||||||
|
Delta-wing mixer for PX4FMU
|
||||||
|
===========================
|
||||||
|
|
||||||
|
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||||
|
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||||
|
servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
|
||||||
|
assumed to be unused.
|
||||||
|
|
||||||
|
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||||
|
(roll), 1 (pitch) and 3 (thrust).
|
||||||
|
|
||||||
|
See the README for more information on the scaler format.
|
||||||
|
|
||||||
|
Elevon mixers
|
||||||
|
-------------
|
||||||
|
Three scalers total (output, roll, pitch).
|
||||||
|
|
||||||
|
On the assumption that the two elevon servos are physically reversed, the pitch
|
||||||
|
input is inverted between the two servos.
|
||||||
|
|
||||||
|
The scaling factor for roll inputs is adjusted to implement differential travel
|
||||||
|
for the elevons.
|
||||||
|
|
||||||
|
M: 2
|
||||||
|
O: 10000 10000 0 -10000 10000
|
||||||
|
S: 0 0 3000 5000 0 -10000 10000
|
||||||
|
S: 0 1 5000 5000 0 -10000 10000
|
||||||
|
|
||||||
|
M: 2
|
||||||
|
O: 10000 10000 0 -10000 10000
|
||||||
|
S: 0 0 5000 3000 0 -10000 10000
|
||||||
|
S: 0 1 -5000 -5000 0 -10000 10000
|
||||||
|
|
||||||
|
Output 2
|
||||||
|
--------
|
||||||
|
This mixer is empty.
|
||||||
|
|
||||||
|
Z:
|
||||||
|
|
||||||
|
Motor speed mixer
|
||||||
|
-----------------
|
||||||
|
Two scalers total (output, thrust).
|
||||||
|
|
||||||
|
This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
|
||||||
|
range. Inputs below zero are treated as zero.
|
||||||
|
|
||||||
|
M: 1
|
||||||
|
O: 10000 10000 0 -10000 10000
|
||||||
|
S: 0 3 0 20000 -10000 -10000 10000
|
||||||
|
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
Multirotor mixer for PX4FMU
|
||||||
|
===========================
|
||||||
|
|
||||||
|
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
|
||||||
|
|
||||||
|
R: 4w 10000 10000 10000 0
|
||||||
|
|
@ -41,20 +41,19 @@
|
||||||
# The uploader uses the following fields from the firmware file:
|
# The uploader uses the following fields from the firmware file:
|
||||||
#
|
#
|
||||||
# image
|
# image
|
||||||
# The firmware that will be uploaded.
|
# The firmware that will be uploaded.
|
||||||
# image_size
|
# image_size
|
||||||
# The size of the firmware in bytes.
|
# The size of the firmware in bytes.
|
||||||
# board_id
|
# board_id
|
||||||
# The board for which the firmware is intended.
|
# The board for which the firmware is intended.
|
||||||
# board_revision
|
# board_revision
|
||||||
# Currently only used for informational purposes.
|
# Currently only used for informational purposes.
|
||||||
#
|
#
|
||||||
|
|
||||||
import sys
|
import sys
|
||||||
import argparse
|
import argparse
|
||||||
import binascii
|
import binascii
|
||||||
import serial
|
import serial
|
||||||
import os
|
|
||||||
import struct
|
import struct
|
||||||
import json
|
import json
|
||||||
import zlib
|
import zlib
|
||||||
|
|
@ -64,291 +63,293 @@ import array
|
||||||
|
|
||||||
from sys import platform as _platform
|
from sys import platform as _platform
|
||||||
|
|
||||||
|
|
||||||
class firmware(object):
|
class firmware(object):
|
||||||
'''Loads a firmware file'''
|
'''Loads a firmware file'''
|
||||||
|
|
||||||
desc = {}
|
desc = {}
|
||||||
image = bytes()
|
image = bytes()
|
||||||
crctab = array.array('I', [
|
crctab = array.array('I', [
|
||||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
||||||
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
||||||
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
||||||
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
||||||
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
||||||
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
||||||
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
||||||
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
||||||
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
||||||
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
||||||
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
||||||
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
||||||
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
||||||
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
||||||
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
||||||
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
||||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
||||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
||||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
||||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
||||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
||||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d ])
|
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
|
||||||
crcpad = bytearray('\xff\xff\xff\xff')
|
crcpad = bytearray('\xff\xff\xff\xff')
|
||||||
|
|
||||||
def __init__(self, path):
|
def __init__(self, path):
|
||||||
|
|
||||||
# read the file
|
# read the file
|
||||||
f = open(path, "r")
|
f = open(path, "r")
|
||||||
self.desc = json.load(f)
|
self.desc = json.load(f)
|
||||||
f.close()
|
f.close()
|
||||||
|
|
||||||
self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
|
self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
|
||||||
|
|
||||||
# pad image to 4-byte length
|
# pad image to 4-byte length
|
||||||
while ((len(self.image) % 4) != 0):
|
while ((len(self.image) % 4) != 0):
|
||||||
self.image.append('\xff')
|
self.image.append('\xff')
|
||||||
|
|
||||||
def property(self, propname):
|
def property(self, propname):
|
||||||
return self.desc[propname]
|
return self.desc[propname]
|
||||||
|
|
||||||
def __crc32(self, bytes, state):
|
def __crc32(self, bytes, state):
|
||||||
for byte in bytes:
|
for byte in bytes:
|
||||||
index = (state ^ byte) & 0xff
|
index = (state ^ byte) & 0xff
|
||||||
state = self.crctab[index] ^ (state >> 8)
|
state = self.crctab[index] ^ (state >> 8)
|
||||||
return state
|
return state
|
||||||
|
|
||||||
|
def crc(self, padlen):
|
||||||
|
state = self.__crc32(self.image, int(0))
|
||||||
|
for i in range(len(self.image), (padlen - 1), 4):
|
||||||
|
state = self.__crc32(self.crcpad, state)
|
||||||
|
return state
|
||||||
|
|
||||||
def crc(self, padlen):
|
|
||||||
state = self.__crc32(self.image, int(0))
|
|
||||||
for i in range(len(self.image), (padlen - 1), 4):
|
|
||||||
state = self.__crc32(self.crcpad, state)
|
|
||||||
return state
|
|
||||||
|
|
||||||
class uploader(object):
|
class uploader(object):
|
||||||
'''Uploads a firmware file to the PX FMU bootloader'''
|
'''Uploads a firmware file to the PX FMU bootloader'''
|
||||||
|
|
||||||
# protocol bytes
|
# protocol bytes
|
||||||
INSYNC = chr(0x12)
|
INSYNC = chr(0x12)
|
||||||
EOC = chr(0x20)
|
EOC = chr(0x20)
|
||||||
|
|
||||||
# reply bytes
|
# reply bytes
|
||||||
OK = chr(0x10)
|
OK = chr(0x10)
|
||||||
FAILED = chr(0x11)
|
FAILED = chr(0x11)
|
||||||
INVALID = chr(0x13) # rev3+
|
INVALID = chr(0x13) # rev3+
|
||||||
|
|
||||||
# command bytes
|
# command bytes
|
||||||
NOP = chr(0x00) # guaranteed to be discarded by the bootloader
|
NOP = chr(0x00) # guaranteed to be discarded by the bootloader
|
||||||
GET_SYNC = chr(0x21)
|
GET_SYNC = chr(0x21)
|
||||||
GET_DEVICE = chr(0x22)
|
GET_DEVICE = chr(0x22)
|
||||||
CHIP_ERASE = chr(0x23)
|
CHIP_ERASE = chr(0x23)
|
||||||
CHIP_VERIFY = chr(0x24) # rev2 only
|
CHIP_VERIFY = chr(0x24) # rev2 only
|
||||||
PROG_MULTI = chr(0x27)
|
PROG_MULTI = chr(0x27)
|
||||||
READ_MULTI = chr(0x28) # rev2 only
|
READ_MULTI = chr(0x28) # rev2 only
|
||||||
GET_CRC = chr(0x29) # rev3+
|
GET_CRC = chr(0x29) # rev3+
|
||||||
REBOOT = chr(0x30)
|
REBOOT = chr(0x30)
|
||||||
|
|
||||||
INFO_BL_REV = chr(1) # bootloader protocol revision
|
INFO_BL_REV = chr(1) # bootloader protocol revision
|
||||||
BL_REV_MIN = 2 # minimum supported bootloader protocol
|
BL_REV_MIN = 2 # minimum supported bootloader protocol
|
||||||
BL_REV_MAX = 3 # maximum supported bootloader protocol
|
BL_REV_MAX = 3 # maximum supported bootloader protocol
|
||||||
INFO_BOARD_ID = chr(2) # board type
|
INFO_BOARD_ID = chr(2) # board type
|
||||||
INFO_BOARD_REV = chr(3) # board revision
|
INFO_BOARD_REV = chr(3) # board revision
|
||||||
INFO_FLASH_SIZE = chr(4) # max firmware size in bytes
|
INFO_FLASH_SIZE = chr(4) # max firmware size in bytes
|
||||||
|
|
||||||
PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4
|
PROG_MULTI_MAX = 60 # protocol max is 255, must be multiple of 4
|
||||||
READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64
|
READ_MULTI_MAX = 60 # protocol max is 255, something overflows with >= 64
|
||||||
|
|
||||||
def __init__(self, portname, baudrate):
|
def __init__(self, portname, baudrate):
|
||||||
# open the port, keep the default timeout short so we can poll quickly
|
# open the port, keep the default timeout short so we can poll quickly
|
||||||
self.port = serial.Serial(portname, baudrate, timeout=0.25)
|
self.port = serial.Serial(portname, baudrate, timeout=0.5)
|
||||||
|
|
||||||
def close(self):
|
def close(self):
|
||||||
if self.port is not None:
|
if self.port is not None:
|
||||||
self.port.close()
|
self.port.close()
|
||||||
|
|
||||||
def __send(self, c):
|
def __send(self, c):
|
||||||
# print("send " + binascii.hexlify(c))
|
# print("send " + binascii.hexlify(c))
|
||||||
self.port.write(str(c))
|
self.port.write(str(c))
|
||||||
|
|
||||||
def __recv(self, count = 1):
|
def __recv(self, count=1):
|
||||||
c = self.port.read(count)
|
c = self.port.read(count)
|
||||||
if len(c) < 1:
|
if len(c) < 1:
|
||||||
raise RuntimeError("timeout waiting for data")
|
raise RuntimeError("timeout waiting for data")
|
||||||
# print("recv " + binascii.hexlify(c))
|
# print("recv " + binascii.hexlify(c))
|
||||||
return c
|
return c
|
||||||
|
|
||||||
def __recv_int(self):
|
def __recv_int(self):
|
||||||
raw = self.__recv(4)
|
raw = self.__recv(4)
|
||||||
val = struct.unpack("<I", raw)
|
val = struct.unpack("<I", raw)
|
||||||
return val[0]
|
return val[0]
|
||||||
|
|
||||||
def __getSync(self):
|
def __getSync(self):
|
||||||
self.port.flush()
|
self.port.flush()
|
||||||
c = self.__recv()
|
c = self.__recv()
|
||||||
if c is not self.INSYNC:
|
if c is not self.INSYNC:
|
||||||
raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
|
raise RuntimeError("unexpected 0x%x instead of INSYNC" % ord(c))
|
||||||
c = self.__recv()
|
c = self.__recv()
|
||||||
if c == self.INVALID:
|
if c == self.INVALID:
|
||||||
raise RuntimeError("bootloader reports INVALID OPERATION")
|
raise RuntimeError("bootloader reports INVALID OPERATION")
|
||||||
if c == self.FAILED:
|
if c == self.FAILED:
|
||||||
raise RuntimeError("bootloader reports OPERATION FAILED")
|
raise RuntimeError("bootloader reports OPERATION FAILED")
|
||||||
if c != self.OK:
|
if c != self.OK:
|
||||||
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
|
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
|
||||||
|
|
||||||
# attempt to get back into sync with the bootloader
|
# attempt to get back into sync with the bootloader
|
||||||
def __sync(self):
|
def __sync(self):
|
||||||
# send a stream of ignored bytes longer than the longest possible conversation
|
# send a stream of ignored bytes longer than the longest possible conversation
|
||||||
# that we might still have in progress
|
# that we might still have in progress
|
||||||
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
|
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
|
||||||
self.port.flushInput()
|
self.port.flushInput()
|
||||||
self.__send(uploader.GET_SYNC
|
self.__send(uploader.GET_SYNC
|
||||||
+ uploader.EOC)
|
+ uploader.EOC)
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
|
|
||||||
# def __trySync(self):
|
# def __trySync(self):
|
||||||
# c = self.__recv()
|
# c = self.__recv()
|
||||||
# if (c != self.INSYNC):
|
# if (c != self.INSYNC):
|
||||||
# #print("unexpected 0x%x instead of INSYNC" % ord(c))
|
# #print("unexpected 0x%x instead of INSYNC" % ord(c))
|
||||||
# return False;
|
# return False;
|
||||||
# c = self.__recv()
|
# c = self.__recv()
|
||||||
# if (c != self.OK):
|
# if (c != self.OK):
|
||||||
# #print("unexpected 0x%x instead of OK" % ord(c))
|
# #print("unexpected 0x%x instead of OK" % ord(c))
|
||||||
# return False
|
# return False
|
||||||
# return True
|
# return True
|
||||||
|
|
||||||
# send the GET_DEVICE command and wait for an info parameter
|
# send the GET_DEVICE command and wait for an info parameter
|
||||||
def __getInfo(self, param):
|
def __getInfo(self, param):
|
||||||
self.__send(uploader.GET_DEVICE + param + uploader.EOC)
|
self.__send(uploader.GET_DEVICE + param + uploader.EOC)
|
||||||
value = self.__recv_int()
|
value = self.__recv_int()
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
return value
|
return value
|
||||||
|
|
||||||
# send the CHIP_ERASE command and wait for the bootloader to become ready
|
# send the CHIP_ERASE command and wait for the bootloader to become ready
|
||||||
def __erase(self):
|
def __erase(self):
|
||||||
self.__send(uploader.CHIP_ERASE
|
self.__send(uploader.CHIP_ERASE
|
||||||
+ uploader.EOC)
|
+ uploader.EOC)
|
||||||
# erase is very slow, give it 10s
|
# erase is very slow, give it 20s
|
||||||
deadline = time.time() + 10
|
deadline = time.time() + 20
|
||||||
while time.time() < deadline:
|
while time.time() < deadline:
|
||||||
try:
|
try:
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
return
|
return
|
||||||
except RuntimeError as ex:
|
except RuntimeError:
|
||||||
# we timed out, that's OK
|
# we timed out, that's OK
|
||||||
continue
|
continue
|
||||||
|
|
||||||
raise RuntimeError("timed out waiting for erase")
|
raise RuntimeError("timed out waiting for erase")
|
||||||
|
|
||||||
# send a PROG_MULTI command to write a collection of bytes
|
# send a PROG_MULTI command to write a collection of bytes
|
||||||
def __program_multi(self, data):
|
def __program_multi(self, data):
|
||||||
self.__send(uploader.PROG_MULTI
|
self.__send(uploader.PROG_MULTI
|
||||||
+ chr(len(data)))
|
+ chr(len(data)))
|
||||||
self.__send(data)
|
self.__send(data)
|
||||||
self.__send(uploader.EOC)
|
self.__send(uploader.EOC)
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
|
|
||||||
# verify multiple bytes in flash
|
# verify multiple bytes in flash
|
||||||
def __verify_multi(self, data):
|
def __verify_multi(self, data):
|
||||||
self.__send(uploader.READ_MULTI
|
self.__send(uploader.READ_MULTI
|
||||||
+ chr(len(data))
|
+ chr(len(data))
|
||||||
+ uploader.EOC)
|
+ uploader.EOC)
|
||||||
self.port.flush()
|
self.port.flush()
|
||||||
programmed = self.__recv(len(data))
|
programmed = self.__recv(len(data))
|
||||||
if programmed != data:
|
if programmed != data:
|
||||||
print(("got " + binascii.hexlify(programmed)))
|
print("got " + binascii.hexlify(programmed))
|
||||||
print(("expect " + binascii.hexlify(data)))
|
print("expect " + binascii.hexlify(data))
|
||||||
return False
|
return False
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
return True
|
return True
|
||||||
|
|
||||||
# send the reboot command
|
# send the reboot command
|
||||||
def __reboot(self):
|
def __reboot(self):
|
||||||
self.__send(uploader.REBOOT
|
self.__send(uploader.REBOOT
|
||||||
+ uploader.EOC)
|
+ uploader.EOC)
|
||||||
self.port.flush()
|
self.port.flush()
|
||||||
|
|
||||||
# v3+ can report failure if the first word flash fails
|
# v3+ can report failure if the first word flash fails
|
||||||
if self.bl_rev >= 3:
|
if self.bl_rev >= 3:
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
|
|
||||||
# split a sequence into a list of size-constrained pieces
|
# split a sequence into a list of size-constrained pieces
|
||||||
def __split_len(self, seq, length):
|
def __split_len(self, seq, length):
|
||||||
return [seq[i:i+length] for i in range(0, len(seq), length)]
|
return [seq[i:i+length] for i in range(0, len(seq), length)]
|
||||||
|
|
||||||
# upload code
|
# upload code
|
||||||
def __program(self, fw):
|
def __program(self, fw):
|
||||||
code = fw.image
|
code = fw.image
|
||||||
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
|
groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
|
||||||
for bytes in groups:
|
for bytes in groups:
|
||||||
self.__program_multi(bytes)
|
self.__program_multi(bytes)
|
||||||
|
|
||||||
# verify code
|
# verify code
|
||||||
def __verify_v2(self, fw):
|
def __verify_v2(self, fw):
|
||||||
self.__send(uploader.CHIP_VERIFY
|
self.__send(uploader.CHIP_VERIFY
|
||||||
+ uploader.EOC)
|
+ uploader.EOC)
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
code = fw.image
|
code = fw.image
|
||||||
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
|
groups = self.__split_len(code, uploader.READ_MULTI_MAX)
|
||||||
for bytes in groups:
|
for bytes in groups:
|
||||||
if (not self.__verify_multi(bytes)):
|
if (not self.__verify_multi(bytes)):
|
||||||
raise RuntimeError("Verification failed")
|
raise RuntimeError("Verification failed")
|
||||||
|
|
||||||
def __verify_v3(self, fw):
|
def __verify_v3(self, fw):
|
||||||
expect_crc = fw.crc(self.fw_maxsize)
|
expect_crc = fw.crc(self.fw_maxsize)
|
||||||
self.__send(uploader.GET_CRC
|
self.__send(uploader.GET_CRC
|
||||||
+ uploader.EOC)
|
+ uploader.EOC)
|
||||||
report_crc = self.__recv_int()
|
report_crc = self.__recv_int()
|
||||||
self.__getSync()
|
self.__getSync()
|
||||||
if report_crc != expect_crc:
|
if report_crc != expect_crc:
|
||||||
print(("Expected 0x%x" % expect_crc))
|
print("Expected 0x%x" % expect_crc)
|
||||||
print(("Got 0x%x" % report_crc))
|
print("Got 0x%x" % report_crc)
|
||||||
raise RuntimeError("Program CRC failed")
|
raise RuntimeError("Program CRC failed")
|
||||||
|
|
||||||
# get basic data about the board
|
# get basic data about the board
|
||||||
def identify(self):
|
def identify(self):
|
||||||
# make sure we are in sync before starting
|
# make sure we are in sync before starting
|
||||||
self.__sync()
|
self.__sync()
|
||||||
|
|
||||||
# get the bootloader protocol ID first
|
# get the bootloader protocol ID first
|
||||||
self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
|
self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
|
||||||
if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
|
if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
|
||||||
print(("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV))
|
print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
|
||||||
raise RuntimeError("Bootloader protocol mismatch")
|
raise RuntimeError("Bootloader protocol mismatch")
|
||||||
|
|
||||||
self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
|
self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
|
||||||
self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
|
self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
|
||||||
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
|
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
|
||||||
|
|
||||||
# upload the firmware
|
# upload the firmware
|
||||||
def upload(self, fw):
|
def upload(self, fw):
|
||||||
# Make sure we are doing the right thing
|
# Make sure we are doing the right thing
|
||||||
if self.board_type != fw.property('board_id'):
|
if self.board_type != fw.property('board_id'):
|
||||||
raise RuntimeError("Firmware not suitable for this board (run 'make configure_px4fmu && make clean' or 'make configure_px4io && make clean' to reconfigure).")
|
raise RuntimeError("Firmware not suitable for this board")
|
||||||
if self.fw_maxsize < fw.property('image_size'):
|
if self.fw_maxsize < fw.property('image_size'):
|
||||||
raise RuntimeError("Firmware image is too large for this board")
|
raise RuntimeError("Firmware image is too large for this board")
|
||||||
|
|
||||||
print("erase...")
|
print("erase...")
|
||||||
self.__erase()
|
self.__erase()
|
||||||
|
|
||||||
print("program...")
|
print("program...")
|
||||||
self.__program(fw)
|
self.__program(fw)
|
||||||
|
|
||||||
print("verify...")
|
print("verify...")
|
||||||
if self.bl_rev == 2:
|
if self.bl_rev == 2:
|
||||||
self.__verify_v2(fw)
|
self.__verify_v2(fw)
|
||||||
else:
|
else:
|
||||||
self.__verify_v3(fw)
|
self.__verify_v3(fw)
|
||||||
|
|
||||||
print("done, rebooting.")
|
print("done, rebooting.")
|
||||||
self.__reboot()
|
self.__reboot()
|
||||||
self.port.close()
|
self.port.close()
|
||||||
|
|
||||||
|
|
||||||
# Parse commandline arguments
|
# Parse commandline arguments
|
||||||
|
|
@ -360,57 +361,57 @@ args = parser.parse_args()
|
||||||
|
|
||||||
# Load the firmware file
|
# Load the firmware file
|
||||||
fw = firmware(args.firmware)
|
fw = firmware(args.firmware)
|
||||||
print(("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'))))
|
print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
|
||||||
|
|
||||||
# Spin waiting for a device to show up
|
# Spin waiting for a device to show up
|
||||||
while True:
|
while True:
|
||||||
for port in args.port.split(","):
|
for port in args.port.split(","):
|
||||||
|
|
||||||
#print("Trying %s" % port)
|
#print("Trying %s" % port)
|
||||||
|
|
||||||
# create an uploader attached to the port
|
# create an uploader attached to the port
|
||||||
try:
|
try:
|
||||||
if "linux" in _platform:
|
if "linux" in _platform:
|
||||||
# Linux, don't open Mac OS and Win ports
|
# Linux, don't open Mac OS and Win ports
|
||||||
if not "COM" in port and not "tty.usb" in port:
|
if not "COM" in port and not "tty.usb" in port:
|
||||||
up = uploader(port, args.baud)
|
up = uploader(port, args.baud)
|
||||||
elif "darwin" in _platform:
|
elif "darwin" in _platform:
|
||||||
# OS X, don't open Windows and Linux ports
|
# OS X, don't open Windows and Linux ports
|
||||||
if not "COM" in port and not "ACM" in port:
|
if not "COM" in port and not "ACM" in port:
|
||||||
up = uploader(port, args.baud)
|
up = uploader(port, args.baud)
|
||||||
elif "win" in _platform:
|
elif "win" in _platform:
|
||||||
# Windows, don't open POSIX ports
|
# Windows, don't open POSIX ports
|
||||||
if not "/" in port:
|
if not "/" in port:
|
||||||
up = uploader(port, args.baud)
|
up = uploader(port, args.baud)
|
||||||
except:
|
except:
|
||||||
# open failed, rate-limit our attempts
|
# open failed, rate-limit our attempts
|
||||||
time.sleep(0.05)
|
time.sleep(0.05)
|
||||||
|
|
||||||
# and loop to the next port
|
# and loop to the next port
|
||||||
continue
|
continue
|
||||||
|
|
||||||
# port is open, try talking to it
|
# port is open, try talking to it
|
||||||
try:
|
try:
|
||||||
# identify the bootloader
|
# identify the bootloader
|
||||||
up.identify()
|
up.identify()
|
||||||
print(("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)))
|
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
|
||||||
|
|
||||||
except:
|
except:
|
||||||
# most probably a timeout talking to the port, no bootloader
|
# most probably a timeout talking to the port, no bootloader
|
||||||
continue
|
continue
|
||||||
|
|
||||||
try:
|
try:
|
||||||
# ok, we have a bootloader, try flashing it
|
# ok, we have a bootloader, try flashing it
|
||||||
up.upload(fw)
|
up.upload(fw)
|
||||||
|
|
||||||
except RuntimeError as ex:
|
except RuntimeError as ex:
|
||||||
|
|
||||||
# print the error
|
# print the error
|
||||||
print(("ERROR: %s" % ex.args))
|
print("ERROR: %s" % ex.args)
|
||||||
|
|
||||||
finally:
|
finally:
|
||||||
# always close the port
|
# always close the port
|
||||||
up.close()
|
up.close()
|
||||||
|
|
||||||
# we could loop here if we wanted to wait for more boards...
|
# we could loop here if we wanted to wait for more boards...
|
||||||
sys.exit(0)
|
sys.exit(0)
|
||||||
|
|
|
||||||
|
|
@ -1,41 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Board-specific startup code for the PX4FMU
|
|
||||||
#
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
LIBNAME = brd_px4fmu
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,41 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Board-specific startup code for the PX4IO
|
|
||||||
#
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
LIBNAME = brd_px4io
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Interface driver for the PX4FMU board
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = hil
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Makefile to build the L3GD20 driver.
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = l3gd20
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Makefile to build the BMA180 driver.
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = mpu6000
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 4096
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,43 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# STM32 ADC driver
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = adc
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,43 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Tone alarm driver
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = tone_alarm
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -38,7 +38,6 @@
|
||||||
# Sub-directories
|
# Sub-directories
|
||||||
|
|
||||||
SUBDIRS = adc can cdcacm nsh
|
SUBDIRS = adc can cdcacm nsh
|
||||||
SUBDIRS += math_demo control_demo kalman_demo px4_deamon_app
|
|
||||||
|
|
||||||
#SUBDIRS = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
|
#SUBDIRS = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
|
||||||
#SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
|
#SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
|
||||||
|
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Basic example application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = control_demo
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Basic example application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = math_demo
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 8192
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Basic example application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = px4_deamon_app
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Basic example application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = px4_mavlink_debug
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Basic example application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = px4_simple_app
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,45 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Fixedwing Control application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = fixedwing_att_control
|
|
||||||
PRIORITY = SCHED_PRIORITY_MAX - 30
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
||||||
|
|
@ -1,45 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Fixedwing Control application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = fixedwing_pos_control
|
|
||||||
PRIORITY = SCHED_PRIORITY_MAX - 30
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
||||||
|
|
@ -1,45 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Graupner HoTT Telemetry application.
|
|
||||||
#
|
|
||||||
|
|
||||||
# The following line is required for accessing UARTs directly.
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
|
|
||||||
APPNAME = hott_telemetry
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Mavlink Application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = mavlink
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Mavlink Application
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = mavlink_onboard
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
237
apps/mk/app.mk
237
apps/mk/app.mk
|
|
@ -1,237 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Common Makefile for nsh command modules and utility libraries; should be
|
|
||||||
# included by the module-specific Makefile.
|
|
||||||
#
|
|
||||||
# To build an app that appears as an nsh external command, the caller
|
|
||||||
# must define:
|
|
||||||
#
|
|
||||||
# APPNAME - the name of the application, defaults to the name
|
|
||||||
# of the parent directory.
|
|
||||||
#
|
|
||||||
# If APPNAME is not defined, a utility library is built instead. The library
|
|
||||||
# name is normally automatically determined, but it can be overridden by
|
|
||||||
# setting:
|
|
||||||
#
|
|
||||||
# LIBNAME - the name of the library, defaults to the name of the
|
|
||||||
# directory
|
|
||||||
#
|
|
||||||
# The calling makefile may also set:
|
|
||||||
#
|
|
||||||
# ASRCS - list of assembly source files, defaults to all .S
|
|
||||||
# files in the directory
|
|
||||||
#
|
|
||||||
# CSRCS - list of C source files, defaults to all .c files
|
|
||||||
# in the directory
|
|
||||||
#
|
|
||||||
# CXXSRCS - list of C++ source files, defaults to all .cpp
|
|
||||||
# files in the directory
|
|
||||||
#
|
|
||||||
# INCLUDES - list of directories to be added to the include
|
|
||||||
# search path
|
|
||||||
#
|
|
||||||
# PRIORITY - thread priority for the command (defaults to
|
|
||||||
# SCHED_PRIORITY_DEFAULT)
|
|
||||||
#
|
|
||||||
# STACKSIZE - stack size for the command (defaults to
|
|
||||||
# CONFIG_PTHREAD_STACK_DEFAULT)
|
|
||||||
#
|
|
||||||
# Symbols in the module are private to the module unless deliberately exported
|
|
||||||
# using the __EXPORT tag, or DEFAULT_VISIBILITY is set
|
|
||||||
#
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# No user-serviceable parts below
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Work out who included us so we can report decent errors
|
|
||||||
#
|
|
||||||
THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
|
|
||||||
ifeq ($(APP_MAKEFILE),)
|
|
||||||
APP_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
|
|
||||||
endif
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Get configuration
|
|
||||||
#
|
|
||||||
-include $(TOPDIR)/.config
|
|
||||||
-include $(TOPDIR)/Make.defs
|
|
||||||
include $(APPDIR)/Make.defs
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Sanity-check the information we've been given and set any defaults
|
|
||||||
#
|
|
||||||
SRCDIR ?= $(dir $(APP_MAKEFILE))
|
|
||||||
PRIORITY ?= SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
|
|
||||||
|
|
||||||
INCLUDES += $(APPDIR)
|
|
||||||
|
|
||||||
ASRCS ?= $(wildcard $(SRCDIR)/*.S)
|
|
||||||
CSRCS ?= $(wildcard $(SRCDIR)/*.c)
|
|
||||||
CHDRS ?= $(wildcard $(SRCDIR)/*.h)
|
|
||||||
CXXSRCS ?= $(wildcard $(SRCDIR)/*.cpp)
|
|
||||||
CXXHDRS ?= $(wildcard $(SRCDIR)/*.hpp)
|
|
||||||
|
|
||||||
# if APPNAME is not set, this is a library
|
|
||||||
ifeq ($(APPNAME),)
|
|
||||||
LIBNAME ?= $(lastword $(subst /, ,$(realpath $(SRCDIR))))
|
|
||||||
endif
|
|
||||||
|
|
||||||
# there has to be a source file
|
|
||||||
ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
|
|
||||||
$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
|
|
||||||
endif
|
|
||||||
|
|
||||||
# check that C++ is configured if we have C++ source files and we are building
|
|
||||||
ifneq ($(CXXSRCS),)
|
|
||||||
ifneq ($(CONFIG_HAVE_CXX),y)
|
|
||||||
ifeq ($(MAKECMDGOALS),build)
|
|
||||||
$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
|
|
||||||
endif
|
|
||||||
endif
|
|
||||||
endif
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Adjust compilation flags to implement EXPORT
|
|
||||||
#
|
|
||||||
|
|
||||||
ifeq ($(DEFAULT_VISIBILITY),)
|
|
||||||
DEFAULT_VISIBILITY = hidden
|
|
||||||
else
|
|
||||||
DEFAULT_VISIBILITY = default
|
|
||||||
endif
|
|
||||||
|
|
||||||
CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
|
|
||||||
CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(APPDIR)/systemlib/visibility.h
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Add extra include directories
|
|
||||||
#
|
|
||||||
CFLAGS += $(addprefix -I,$(INCLUDES))
|
|
||||||
CXXFLAGS += $(addprefix -I,$(INCLUDES))
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Things we are going to build
|
|
||||||
#
|
|
||||||
|
|
||||||
SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
|
|
||||||
AOBJS = $(patsubst %.S,%.o,$(ASRCS))
|
|
||||||
COBJS = $(patsubst %.c,%.o,$(CSRCS))
|
|
||||||
CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS))
|
|
||||||
OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
|
|
||||||
|
|
||||||
# Automatic depdendency generation
|
|
||||||
DEPS = $(OBJS:$(OBJEXT)=.d)
|
|
||||||
CFLAGS += -MD
|
|
||||||
CXXFLAGS += -MD
|
|
||||||
|
|
||||||
# The prelinked object that we are ultimately going to build
|
|
||||||
ifneq ($(APPNAME),)
|
|
||||||
PRELINKOBJ = $(APPNAME).pre.o
|
|
||||||
else
|
|
||||||
PRELINKOBJ = $(LIBNAME).pre.o
|
|
||||||
endif
|
|
||||||
|
|
||||||
# The archive the prelinked object will be linked into
|
|
||||||
# XXX does WINTOOL ever get set?
|
|
||||||
ifeq ($(WINTOOL),y)
|
|
||||||
INCDIROPT = -w
|
|
||||||
BIN = "$(shell cygpath -w $(APPDIR)/libapps$(LIBEXT))"
|
|
||||||
else
|
|
||||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
|
||||||
endif
|
|
||||||
|
|
||||||
############################################################################
|
|
||||||
# Rules for building things
|
|
||||||
#
|
|
||||||
|
|
||||||
all: .built
|
|
||||||
.PHONY: clean depend distclean
|
|
||||||
|
|
||||||
#
|
|
||||||
# Top-level build; add prelinked object to the apps archive
|
|
||||||
#
|
|
||||||
.built: $(PRELINKOBJ)
|
|
||||||
@$(call ARCHIVE, $(BIN), $(PRELINKOBJ))
|
|
||||||
@touch $@
|
|
||||||
|
|
||||||
#
|
|
||||||
# Source dependencies
|
|
||||||
#
|
|
||||||
depend:
|
|
||||||
@exit 0
|
|
||||||
|
|
||||||
ifneq ($(APPNAME),)
|
|
||||||
#
|
|
||||||
# App registration
|
|
||||||
#
|
|
||||||
context: .context
|
|
||||||
.context: $(MAKEFILE_LIST)
|
|
||||||
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
|
|
||||||
@touch $@
|
|
||||||
else
|
|
||||||
context:
|
|
||||||
@exit 0
|
|
||||||
endif
|
|
||||||
|
|
||||||
#
|
|
||||||
# Object files
|
|
||||||
#
|
|
||||||
$(PRELINKOBJ): $(OBJS)
|
|
||||||
$(call PRELINK, $@, $(OBJS))
|
|
||||||
|
|
||||||
$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
|
|
||||||
$(call ASSEMBLE, $<, $@)
|
|
||||||
|
|
||||||
$(COBJS): %.o : %.c $(MAKEFILE_LIST)
|
|
||||||
$(call COMPILE, $<, $@)
|
|
||||||
|
|
||||||
$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
|
|
||||||
$(call COMPILEXX, $<, $@)
|
|
||||||
|
|
||||||
#
|
|
||||||
# Tidying up
|
|
||||||
#
|
|
||||||
clean:
|
|
||||||
@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
|
|
||||||
$(call CLEAN)
|
|
||||||
|
|
||||||
distclean: clean
|
|
||||||
@rm -f Make.dep .depend
|
|
||||||
|
|
||||||
-include $(DEPS)
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Makefile to build uORB
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = multirotor_att_control
|
|
||||||
PRIORITY = SCHED_PRIORITY_MAX - 15
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Makefile to build multirotor position control
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = multirotor_pos_control
|
|
||||||
PRIORITY = SCHED_PRIORITY_MAX - 25
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Makefile to build the position estimator
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = position_estimator_inav
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 4096
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -66,7 +66,7 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||||
STACKSIZE = 2048
|
STACKSIZE = 2048
|
||||||
MAXOPTIMIZATION = -Os
|
MAXOPTIMIZATION = -Os
|
||||||
|
|
||||||
# Build targets
|
# Build Targets
|
||||||
|
|
||||||
all: .built
|
all: .built
|
||||||
.PHONY: context .depend depend clean distclean
|
.PHONY: context .depend depend clean distclean
|
||||||
|
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Makefile to build the calibration tool
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = calibration
|
|
||||||
PRIORITY = SCHED_PRIORITY_MAX - 1
|
|
||||||
STACKSIZE = 4096
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
||||||
MAXOPTIMIZATION = -Os
|
|
||||||
|
|
@ -1,147 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
* calibration.c
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
|
|
||||||
* Authors: Nils Wenzler <wenzlern@ethz.ch>
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************/
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include <string.h>
|
|
||||||
#include "calibration.h"
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Function Prototypes
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
static int calibrate_help(int argc, char *argv[]);
|
|
||||||
static int calibrate_all(int argc, char *argv[]);
|
|
||||||
|
|
||||||
__EXPORT int calibration_main(int argc, char *argv[]);
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Data
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
struct {
|
|
||||||
const char *name;
|
|
||||||
int (* fn)(int argc, char *argv[]);
|
|
||||||
unsigned options;
|
|
||||||
#define OPT_NOHELP (1<<0)
|
|
||||||
#define OPT_NOALLTEST (1<<1)
|
|
||||||
} calibrates[] = {
|
|
||||||
{"range", range_cal, 0},
|
|
||||||
{"servo", servo_cal, 0},
|
|
||||||
{"all", calibrate_all, OPT_NOALLTEST},
|
|
||||||
{"help", calibrate_help, OPT_NOALLTEST | OPT_NOHELP},
|
|
||||||
{NULL, NULL}
|
|
||||||
};
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Data
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
static int
|
|
||||||
calibrate_help(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
unsigned i;
|
|
||||||
|
|
||||||
printf("Available calibration routines:\n");
|
|
||||||
|
|
||||||
for (i = 0; calibrates[i].name; i++)
|
|
||||||
printf(" %s\n", calibrates[i].name);
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int
|
|
||||||
calibrate_all(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
unsigned i;
|
|
||||||
char *args[2] = {"all", NULL};
|
|
||||||
|
|
||||||
printf("Running all calibration routines...\n\n");
|
|
||||||
|
|
||||||
for (i = 0; calibrates[i].name; i++) {
|
|
||||||
printf(" %s:\n", calibrates[i].name);
|
|
||||||
|
|
||||||
if (calibrates[i].fn(1, args)) {
|
|
||||||
printf(" FAIL\n");
|
|
||||||
|
|
||||||
} else {
|
|
||||||
printf(" DONE\n");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
void press_enter(void)
|
|
||||||
{
|
|
||||||
int c;
|
|
||||||
printf("Press CTRL+ENTER to continue... \n");
|
|
||||||
fflush(stdout);
|
|
||||||
|
|
||||||
do c = getchar(); while ((c != '\n') && (c != EOF));
|
|
||||||
}
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Name: calibrate_main
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
int calibration_main(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
unsigned i;
|
|
||||||
|
|
||||||
if (argc < 2) {
|
|
||||||
printf("calibration: missing name - 'calibration help' for a list of routines\n");
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
for (i = 0; calibrates[i].name; i++) {
|
|
||||||
if (!strcmp(calibrates[i].name, argv[1]))
|
|
||||||
return calibrates[i].fn(argc - 1, argv + 1);
|
|
||||||
}
|
|
||||||
|
|
||||||
printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
@ -1,196 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
* channels_cal.c
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
|
|
||||||
* Authors: Nils Wenzler <wenzlern@ethz.ch>
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************/
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <string.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include "calibration.h"
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Defines
|
|
||||||
****************************************************************************/
|
|
||||||
#define ABS(a) (((a) < 0) ? -(a) : (a))
|
|
||||||
#define MIN(a,b) (((a)<(b))?(a):(b))
|
|
||||||
#define MAX(a,b) (((a)>(b))?(a):(b))
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Data
|
|
||||||
****************************************************************************/
|
|
||||||
//Store the values here before writing them to global_data_rc_channels
|
|
||||||
uint16_t old_values[NR_CHANNELS];
|
|
||||||
uint16_t cur_values[NR_CHANNELS];
|
|
||||||
uint8_t function_map[NR_CHANNELS];
|
|
||||||
char names[12][9];
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Functions
|
|
||||||
****************************************************************************/
|
|
||||||
void press_enter_2(void)
|
|
||||||
{
|
|
||||||
int c;
|
|
||||||
printf("Press CTRL+ENTER to continue... \n");
|
|
||||||
fflush(stdout);
|
|
||||||
|
|
||||||
do c = getchar(); while ((c != '\n') && (c != EOF));
|
|
||||||
}
|
|
||||||
|
|
||||||
/**This gets all current values and writes them to min or max
|
|
||||||
*/
|
|
||||||
uint8_t get_val(uint16_t *buffer)
|
|
||||||
{
|
|
||||||
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw);
|
|
||||||
buffer[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
}
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
} else
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
void set_channel(void)
|
|
||||||
{
|
|
||||||
static uint8_t j = 0;
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
if (ABS(old_values - cur_values) > 50) {
|
|
||||||
function_map[j] = i;
|
|
||||||
strcpy(names[i], global_data_rc_channels->function_names[j]);
|
|
||||||
j++;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void write_dat(void)
|
|
||||||
{
|
|
||||||
global_data_lock(&global_data_rc_channels->access_conf);
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
global_data_rc_channels->function[i] = function_map[i];
|
|
||||||
strcpy(global_data_rc_channels->chan[i].name, names[i]);
|
|
||||||
|
|
||||||
printf("Channel %i\t Function %s\n", i,
|
|
||||||
global_data_rc_channels->chan[i].name);
|
|
||||||
}
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Functions
|
|
||||||
****************************************************************************/
|
|
||||||
int channels_cal(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
|
|
||||||
printf("This routine maps the input functions on the remote control\n");
|
|
||||||
printf("to the corresponding function (Throttle, Roll,..)\n");
|
|
||||||
printf("Always move the stick all the way\n");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
printf("Pull the THROTTLE stick down\n");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(old_values));
|
|
||||||
|
|
||||||
printf("Move the THROTTLE stick up\n ");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(cur_values));
|
|
||||||
|
|
||||||
set_channel();
|
|
||||||
|
|
||||||
printf("Pull the PITCH stick down\n");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(old_values));
|
|
||||||
|
|
||||||
printf("Move the PITCH stick up\n ");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(cur_values));
|
|
||||||
|
|
||||||
set_channel();
|
|
||||||
|
|
||||||
printf("Put the ROLL stick to the left\n");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(old_values));
|
|
||||||
|
|
||||||
printf("Put the ROLL stick to the right\n ");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(cur_values));
|
|
||||||
|
|
||||||
set_channel();
|
|
||||||
|
|
||||||
printf("Put the YAW stick to the left\n");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(old_values));
|
|
||||||
|
|
||||||
printf("Put the YAW stick to the right\n ");
|
|
||||||
press_enter_2();
|
|
||||||
|
|
||||||
while (get_val(cur_values));
|
|
||||||
|
|
||||||
set_channel();
|
|
||||||
|
|
||||||
uint8_t k;
|
|
||||||
|
|
||||||
for (k = 5; k < NR_CHANNELS; k++) {
|
|
||||||
function_map[k] = k;
|
|
||||||
strcpy(names[k], global_data_rc_channels->function_names[k]);
|
|
||||||
}
|
|
||||||
|
|
||||||
//write the values to global_data_rc_channels
|
|
||||||
write_dat();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,224 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
* range_cal.c
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
|
|
||||||
* Authors: Nils Wenzler <wenzlern@ethz.ch>
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************/
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include "calibration.h"
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Defines
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Data
|
|
||||||
****************************************************************************/
|
|
||||||
//Store the values here before writing them to global_data_rc_channels
|
|
||||||
uint16_t max_values[NR_CHANNELS];
|
|
||||||
uint16_t min_values[NR_CHANNELS];
|
|
||||||
uint16_t mid_values[NR_CHANNELS];
|
|
||||||
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**This sets the middle values
|
|
||||||
*/
|
|
||||||
uint8_t set_mid(void)
|
|
||||||
{
|
|
||||||
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
if (i == global_data_rc_channels->function[ROLL] ||
|
|
||||||
i == global_data_rc_channels->function[YAW] ||
|
|
||||||
i == global_data_rc_channels->function[PITCH]) {
|
|
||||||
|
|
||||||
mid_values[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
mid_values[i] = (max_values[i] + min_values[i]) / 2;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
} else
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**This gets all current values and writes them to min or max
|
|
||||||
*/
|
|
||||||
uint8_t get_value(void)
|
|
||||||
{
|
|
||||||
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
//see if the value is bigger or smaller than 1500 (roughly neutral)
|
|
||||||
//and write to the appropriate array
|
|
||||||
if (global_data_rc_channels->chan[i].raw != 0 &&
|
|
||||||
global_data_rc_channels->chan[i].raw < 1500) {
|
|
||||||
min_values[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
|
|
||||||
} else if (global_data_rc_channels->chan[i].raw != 0 &&
|
|
||||||
global_data_rc_channels->chan[i].raw > 1500) {
|
|
||||||
max_values[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
max_values[i] = 0;
|
|
||||||
min_values[i] = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
} else
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void write_data(void)
|
|
||||||
{
|
|
||||||
// global_data_lock(&global_data_rc_channels->access_conf);
|
|
||||||
// uint8_t i;
|
|
||||||
// for(i=0; i < NR_CHANNELS; i++){
|
|
||||||
// //Write the data to global_data_rc_channels (if not 0)
|
|
||||||
// if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){
|
|
||||||
// global_data_rc_channels->chan[i].scaling_factor =
|
|
||||||
// 10000/((max_values[i] - min_values[i])/2);
|
|
||||||
//
|
|
||||||
// global_data_rc_channels->chan[i].mid = mid_values[i];
|
|
||||||
// }
|
|
||||||
//
|
|
||||||
// printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
|
|
||||||
// i,
|
|
||||||
// global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
|
|
||||||
// min_values[i], max_values[i],
|
|
||||||
// global_data_rc_channels->chan[i].scaling_factor,
|
|
||||||
// global_data_rc_channels->chan[i].mid);
|
|
||||||
// }
|
|
||||||
// global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
|
|
||||||
//Write to the Parameter storage
|
|
||||||
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7];
|
|
||||||
|
|
||||||
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7];
|
|
||||||
|
|
||||||
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7];
|
|
||||||
|
|
||||||
usleep(3e6);
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
|
|
||||||
i,
|
|
||||||
min_values[i], max_values[i],
|
|
||||||
global_data_rc_channels->chan[i].scaling_factor,
|
|
||||||
global_data_rc_channels->chan[i].mid);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Functions
|
|
||||||
****************************************************************************/
|
|
||||||
int range_cal(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
|
|
||||||
printf("The range calibration routine assumes you already did the channel\n");
|
|
||||||
printf("assignment\n");
|
|
||||||
printf("This routine chooses the minimum, maximum and middle\n");
|
|
||||||
printf("value for each channel separatly. The ROLL, PITCH and YAW function\n");
|
|
||||||
printf("get their middle value from the RC direct, for the rest it is\n");
|
|
||||||
printf("calculated out of the min and max values.\n");
|
|
||||||
press_enter();
|
|
||||||
|
|
||||||
printf("Hold both sticks in lower left corner and continue\n ");
|
|
||||||
press_enter();
|
|
||||||
usleep(500000);
|
|
||||||
|
|
||||||
while (get_value());
|
|
||||||
|
|
||||||
printf("Hold both sticks in upper right corner and continue\n");
|
|
||||||
press_enter();
|
|
||||||
usleep(500000);
|
|
||||||
|
|
||||||
while (get_value());
|
|
||||||
|
|
||||||
printf("Set the trim to 0 and leave the sticks in the neutral position\n");
|
|
||||||
press_enter();
|
|
||||||
|
|
||||||
//Loop until successfull
|
|
||||||
while (set_mid());
|
|
||||||
|
|
||||||
//write the values to global_data_rc_channels
|
|
||||||
write_data();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,264 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
* servo_cal.c
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 Nils Wenzler. All rights reserved.
|
|
||||||
* Authors: Nils Wenzler <wenzlern@ethz.ch>
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************/
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include <arch/board/drv_pwm_servo.h>
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include "calibration.h"
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Defines
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Data
|
|
||||||
****************************************************************************/
|
|
||||||
//Store the values here before writing them to global_data_rc_channels
|
|
||||||
uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS];
|
|
||||||
uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS];
|
|
||||||
uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS];
|
|
||||||
|
|
||||||
// Servo loop thread
|
|
||||||
|
|
||||||
pthread_t servo_calib_thread;
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Private Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**This sets the middle values
|
|
||||||
*/
|
|
||||||
uint8_t set_mid_s(void)
|
|
||||||
{
|
|
||||||
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
|
|
||||||
if (i == global_data_rc_channels->function[ROLL] ||
|
|
||||||
i == global_data_rc_channels->function[YAW] ||
|
|
||||||
i == global_data_rc_channels->function[PITCH]) {
|
|
||||||
|
|
||||||
mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
} else
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**This gets all current values and writes them to min or max
|
|
||||||
*/
|
|
||||||
uint8_t get_value_s(void)
|
|
||||||
{
|
|
||||||
if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
|
|
||||||
//see if the value is bigger or smaller than 1500 (roughly neutral)
|
|
||||||
//and write to the appropriate array
|
|
||||||
if (global_data_rc_channels->chan[i].raw != 0 &&
|
|
||||||
global_data_rc_channels->chan[i].raw < 1500) {
|
|
||||||
min_values_servo[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
|
|
||||||
} else if (global_data_rc_channels->chan[i].raw != 0 &&
|
|
||||||
global_data_rc_channels->chan[i].raw > 1500) {
|
|
||||||
max_values_servo[i] = global_data_rc_channels->chan[i].raw;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
max_values_servo[i] = 0;
|
|
||||||
min_values_servo[i] = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
} else
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void write_data_s(void)
|
|
||||||
{
|
|
||||||
// global_data_lock(&global_data_rc_channels->access_conf);
|
|
||||||
// uint8_t i;
|
|
||||||
// for(i=0; i < NR_CHANNELS; i++){
|
|
||||||
// //Write the data to global_data_rc_channels (if not 0)
|
|
||||||
// if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){
|
|
||||||
// global_data_rc_channels->chan[i].scaling_factor =
|
|
||||||
// 10000/((max_values_servo[i] - min_values_servo[i])/2);
|
|
||||||
//
|
|
||||||
// global_data_rc_channels->chan[i].mid = mid_values_servo[i];
|
|
||||||
// }
|
|
||||||
//
|
|
||||||
// printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
|
|
||||||
// i,
|
|
||||||
// global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
|
|
||||||
// min_values_servo[i], max_values_servo[i],
|
|
||||||
// global_data_rc_channels->chan[i].scaling_factor,
|
|
||||||
// global_data_rc_channels->chan[i].mid);
|
|
||||||
// }
|
|
||||||
// global_data_unlock(&global_data_rc_channels->access_conf);
|
|
||||||
|
|
||||||
//Write to the Parameter storage
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
global_data_lock(&global_data_parameter_storage->access_conf);
|
|
||||||
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3];
|
|
||||||
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3];
|
|
||||||
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2];
|
|
||||||
global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3];
|
|
||||||
|
|
||||||
global_data_unlock(&global_data_parameter_storage->access_conf);
|
|
||||||
|
|
||||||
usleep(3e6);
|
|
||||||
uint8_t i;
|
|
||||||
|
|
||||||
for (i = 0; i < NR_CHANNELS; i++) {
|
|
||||||
printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
|
|
||||||
i,
|
|
||||||
min_values_servo[i], max_values_servo[i],
|
|
||||||
global_data_rc_channels->chan[i].scaling_factor,
|
|
||||||
global_data_rc_channels->chan[i].mid);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
static void *servo_loop(void *arg)
|
|
||||||
{
|
|
||||||
|
|
||||||
// Set thread name
|
|
||||||
prctl(1, "calibration servo", getpid());
|
|
||||||
|
|
||||||
// initialize servos
|
|
||||||
int fd;
|
|
||||||
servo_position_t data[PWM_SERVO_MAX_CHANNELS];
|
|
||||||
|
|
||||||
fd = open("/dev/pwm_servo", O_RDWR);
|
|
||||||
|
|
||||||
if (fd < 0) {
|
|
||||||
printf("failed opening /dev/pwm_servo\n");
|
|
||||||
}
|
|
||||||
|
|
||||||
ioctl(fd, PWM_SERVO_ARM, 0);
|
|
||||||
|
|
||||||
while (1) {
|
|
||||||
int i;
|
|
||||||
|
|
||||||
for (i = 0; i < 4; i++) {
|
|
||||||
data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw;
|
|
||||||
}
|
|
||||||
|
|
||||||
int result = write(fd, &data, sizeof(data));
|
|
||||||
|
|
||||||
if (result != sizeof(data)) {
|
|
||||||
printf("failed bulk-reading channel values\n");
|
|
||||||
}
|
|
||||||
|
|
||||||
// 5Hz loop
|
|
||||||
usleep(200000);
|
|
||||||
}
|
|
||||||
|
|
||||||
return NULL;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Functions
|
|
||||||
****************************************************************************/
|
|
||||||
int servo_cal(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
// pthread_attr_t servo_loop_attr;
|
|
||||||
// pthread_attr_init(&servo_loop_attr);
|
|
||||||
// pthread_attr_setstacksize(&servo_loop_attr, 1024);
|
|
||||||
pthread_create(&servo_calib_thread, NULL, servo_loop, NULL);
|
|
||||||
pthread_join(servo_calib_thread, NULL);
|
|
||||||
|
|
||||||
printf("The servo calibration routine assumes you already did the channel\n");
|
|
||||||
printf("assignment with 'calibration channels'\n");
|
|
||||||
printf("This routine chooses the minimum, maximum and middle\n");
|
|
||||||
printf("value for each channel separately. The ROLL, PITCH and YAW function\n");
|
|
||||||
printf("get their middle value from the RC direct, for the rest it is\n");
|
|
||||||
printf("calculated out of the min and max values.\n");
|
|
||||||
press_enter();
|
|
||||||
|
|
||||||
printf("Hold both sticks in lower left corner and continue\n ");
|
|
||||||
press_enter();
|
|
||||||
usleep(500000);
|
|
||||||
|
|
||||||
while (get_value_s());
|
|
||||||
|
|
||||||
printf("Hold both sticks in upper right corner and continue\n");
|
|
||||||
press_enter();
|
|
||||||
usleep(500000);
|
|
||||||
|
|
||||||
while (get_value_s());
|
|
||||||
|
|
||||||
printf("Set the trim to 0 and leave the sticks in the neutral position\n");
|
|
||||||
press_enter();
|
|
||||||
|
|
||||||
//Loop until successfull
|
|
||||||
while (set_mid_s());
|
|
||||||
|
|
||||||
//write the values to global_data_rc_channels
|
|
||||||
write_data_s();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
@ -1,160 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file delay_test.c
|
|
||||||
*
|
|
||||||
* Simple but effective delay test using leds and a scope to measure
|
|
||||||
* communication delays end-to-end accurately.
|
|
||||||
*
|
|
||||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <nuttx/config.h>
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <fcntl.h>
|
|
||||||
#include <errno.h>
|
|
||||||
#include <poll.h>
|
|
||||||
#include <string.h>
|
|
||||||
|
|
||||||
#include <systemlib/err.h>
|
|
||||||
|
|
||||||
#include <drivers/drv_led.h>
|
|
||||||
#include <drivers/drv_hrt.h>
|
|
||||||
#include <drivers/drv_tone_alarm.h>
|
|
||||||
|
|
||||||
#include <uORB/topics/vehicle_vicon_position.h>
|
|
||||||
#include <uORB/topics/vehicle_command.h>
|
|
||||||
|
|
||||||
__EXPORT int delay_test_main(int argc, char *argv[]);
|
|
||||||
static int led_on(int leds, int led);
|
|
||||||
static int led_off(int leds, int led);
|
|
||||||
|
|
||||||
int delay_test_main(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
bool vicon_msg = false;
|
|
||||||
bool command_msg = false;
|
|
||||||
|
|
||||||
if (argc > 1 && !strcmp(argv[1], "--help")) {
|
|
||||||
warnx("usage: delay_test [vicon] [command]\n");
|
|
||||||
exit(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (argc > 1 && !strcmp(argv[1], "vicon")) {
|
|
||||||
vicon_msg = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (argc > 1 && !strcmp(argv[1], "command")) {
|
|
||||||
command_msg = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
int buzzer = open("/dev/tone_alarm", O_WRONLY);
|
|
||||||
int leds = open(LED_DEVICE_PATH, 0);
|
|
||||||
|
|
||||||
/* prepare use of amber led */
|
|
||||||
led_off(leds, LED_AMBER);
|
|
||||||
|
|
||||||
int topic;
|
|
||||||
|
|
||||||
/* subscribe to topic */
|
|
||||||
if (vicon_msg) {
|
|
||||||
topic = orb_subscribe(ORB_ID(vehicle_vicon_position));
|
|
||||||
} else if (command_msg) {
|
|
||||||
topic = orb_subscribe(ORB_ID(vehicle_command));
|
|
||||||
} else {
|
|
||||||
errx(1, "No topic selected for delay test, use --help for a list of topics.");
|
|
||||||
}
|
|
||||||
|
|
||||||
const int testcount = 20;
|
|
||||||
|
|
||||||
warnx("running %d iterations..\n", testcount);
|
|
||||||
|
|
||||||
struct pollfd fds[1];
|
|
||||||
fds[0].fd = topic;
|
|
||||||
fds[0].events = POLLIN;
|
|
||||||
|
|
||||||
/* display and sound error */
|
|
||||||
for (int i = 0; i < testcount; i++)
|
|
||||||
{
|
|
||||||
/* wait for topic */
|
|
||||||
int ret = poll(&fds[0], 1, 2000);
|
|
||||||
|
|
||||||
/* this would be bad... */
|
|
||||||
if (ret < 0) {
|
|
||||||
warnx("poll error %d", errno);
|
|
||||||
usleep(1000000);
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* do we have a topic update? */
|
|
||||||
if (fds[0].revents & POLLIN) {
|
|
||||||
|
|
||||||
/* copy object to disable poll ready state */
|
|
||||||
if (vicon_msg) {
|
|
||||||
struct vehicle_vicon_position_s vicon_position;
|
|
||||||
orb_copy(ORB_ID(vehicle_vicon_position), topic, &vicon_position);
|
|
||||||
} else if (command_msg) {
|
|
||||||
struct vehicle_command_s vehicle_command;
|
|
||||||
orb_copy(ORB_ID(vehicle_command), topic, &vehicle_command);
|
|
||||||
}
|
|
||||||
|
|
||||||
led_on(leds, LED_AMBER);
|
|
||||||
ioctl(buzzer, TONE_SET_ALARM, 4);
|
|
||||||
/* keep led on for 50 ms to make it barely visible */
|
|
||||||
usleep(50000);
|
|
||||||
led_off(leds, LED_AMBER);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* stop alarm */
|
|
||||||
ioctl(buzzer, TONE_SET_ALARM, 0);
|
|
||||||
|
|
||||||
/* switch on leds */
|
|
||||||
led_on(leds, LED_BLUE);
|
|
||||||
led_on(leds, LED_AMBER);
|
|
||||||
|
|
||||||
exit(0);
|
|
||||||
}
|
|
||||||
|
|
||||||
static int led_off(int leds, int led)
|
|
||||||
{
|
|
||||||
return ioctl(leds, LED_OFF, led);
|
|
||||||
}
|
|
||||||
|
|
||||||
static int led_on(int leds, int led)
|
|
||||||
{
|
|
||||||
return ioctl(leds, LED_ON, led);
|
|
||||||
}
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Build the eeprom tool.
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = eeprom
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 4096
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
||||||
MAXOPTIMIZATION = -Os
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Build the i2c test tool.
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = i2c
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 4096
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Reboot command.
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = preflight_check
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 2048
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
||||||
MAXOPTIMIZATION = -Os
|
|
||||||
|
|
@ -1,42 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Build the pwm tool.
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = pwm
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
|
||||||
STACKSIZE = 4096
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
@ -1,44 +0,0 @@
|
||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# realtime system performance display
|
|
||||||
#
|
|
||||||
|
|
||||||
APPNAME = top
|
|
||||||
PRIORITY = SCHED_PRIORITY_DEFAULT - 10
|
|
||||||
STACKSIZE = 3000
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
|
|
||||||
MAXOPTIMIZATION = -Os
|
|
||||||
|
|
@ -0,0 +1,71 @@
|
||||||
|
PX4 Build System
|
||||||
|
================
|
||||||
|
|
||||||
|
The files in this directory implement the PX4 runtime firmware build system
|
||||||
|
and configuration for the standard PX4 boards and software, in conjunction
|
||||||
|
with Makefile in the parent directory.
|
||||||
|
|
||||||
|
../Makefile
|
||||||
|
|
||||||
|
Top-level makefile for the PX4 build system. This makefile supports
|
||||||
|
building NuttX archives, as well as supervising the building of all
|
||||||
|
of the defined PX4 firmware configurations.
|
||||||
|
|
||||||
|
Try 'make help' in the parent directory for documentation.
|
||||||
|
|
||||||
|
firmware.mk
|
||||||
|
|
||||||
|
Manages the build for one specific firmware configuration.
|
||||||
|
See the comments at the top of this file for detailed documentation.
|
||||||
|
|
||||||
|
Builds modules, builtin command lists and the ROMFS (if configured).
|
||||||
|
|
||||||
|
This is the makefile directly used by external build systems; it can
|
||||||
|
be configured to compile modules both inside and outside the PX4
|
||||||
|
source tree. When used in this mode, at least BOARD, MODULES and
|
||||||
|
CONFIG_FILE must be set.
|
||||||
|
|
||||||
|
module.mk
|
||||||
|
|
||||||
|
Called by firmware.mk to build individual modules.
|
||||||
|
See the comments at the top of this file for detailed documentation.
|
||||||
|
|
||||||
|
Not normally used other than by firmware.mk.
|
||||||
|
|
||||||
|
nuttx.mk
|
||||||
|
|
||||||
|
Called by ../Makefile to build or download the NuttX archives.
|
||||||
|
|
||||||
|
upload.mk
|
||||||
|
|
||||||
|
Called by ../Makefile to upload files to a target board. Can be used
|
||||||
|
by external build systems as well.
|
||||||
|
|
||||||
|
setup.mk
|
||||||
|
|
||||||
|
Provides common path and tool definitions. Implements host system-specific
|
||||||
|
compatibility hacks.
|
||||||
|
|
||||||
|
board_<boardname>.mk
|
||||||
|
|
||||||
|
Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH
|
||||||
|
and then includes the toolchain definition for the board.
|
||||||
|
|
||||||
|
config_<boardname>_<configname>.mk
|
||||||
|
|
||||||
|
Parameters for a specific configuration on a specific board.
|
||||||
|
The board name is derived from the filename. Sets MODULES to select
|
||||||
|
source modules to be included in the configuration, may also set
|
||||||
|
ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
|
||||||
|
commands (e.g. from NuttX)
|
||||||
|
|
||||||
|
toolchain_<toolchainname>.mk
|
||||||
|
|
||||||
|
Provides macros used to compile and link source files.
|
||||||
|
Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
|
||||||
|
EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
|
||||||
|
additional flags to the C compiler, C++ compiler, assembler and linker
|
||||||
|
respectively.
|
||||||
|
|
||||||
|
Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
|
||||||
|
macros that are used elsewhere in the build system.
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
#
|
||||||
|
# Board-specific definitions for the PX4FMU
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Configure the toolchain
|
||||||
|
#
|
||||||
|
CONFIG_ARCH = CORTEXM4F
|
||||||
|
|
||||||
|
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
#
|
||||||
|
# Board-specific definitions for the PX4IO
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Configure the toolchain
|
||||||
|
#
|
||||||
|
CONFIG_ARCH = CORTEXM3
|
||||||
|
|
||||||
|
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||||
|
|
@ -0,0 +1,127 @@
|
||||||
|
#
|
||||||
|
# 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
|
||||||
|
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_telemetry
|
||||||
|
MODULES += drivers/blinkm
|
||||||
|
MODULES += drivers/mkblctrl
|
||||||
|
MODULES += drivers/md25
|
||||||
|
MODULES += drivers/ets_airspeed
|
||||||
|
MODULES += modules/sensors
|
||||||
|
|
||||||
|
#
|
||||||
|
# System commands
|
||||||
|
#
|
||||||
|
MODULES += systemcmds/eeprom
|
||||||
|
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/reboot
|
||||||
|
MODULES += systemcmds/top
|
||||||
|
MODULES += systemcmds/tests
|
||||||
|
|
||||||
|
#
|
||||||
|
# General system control
|
||||||
|
#
|
||||||
|
MODULES += modules/commander
|
||||||
|
MODULES += modules/mavlink
|
||||||
|
MODULES += modules/mavlink_onboard
|
||||||
|
|
||||||
|
#
|
||||||
|
# Estimation modules (EKF / other filters)
|
||||||
|
#
|
||||||
|
MODULES += modules/attitude_estimator_ekf
|
||||||
|
MODULES += modules/position_estimator_mc
|
||||||
|
MODULES += modules/position_estimator
|
||||||
|
MODULES += modules/att_pos_estimator_ekf
|
||||||
|
|
||||||
|
#
|
||||||
|
# Vehicle Control
|
||||||
|
#
|
||||||
|
MODULES += modules/fixedwing_backside
|
||||||
|
MODULES += modules/fixedwing_att_control
|
||||||
|
MODULES += modules/fixedwing_pos_control
|
||||||
|
MODULES += modules/multirotor_att_control
|
||||||
|
MODULES += modules/multirotor_pos_control
|
||||||
|
|
||||||
|
#
|
||||||
|
# Logging
|
||||||
|
#
|
||||||
|
MODULES += modules/sdlog
|
||||||
|
|
||||||
|
#
|
||||||
|
# Libraries
|
||||||
|
#
|
||||||
|
MODULES += modules/systemlib
|
||||||
|
MODULES += modules/systemlib/mixer
|
||||||
|
MODULES += modules/mathlib
|
||||||
|
MODULES += modules/mathlib/CMSIS
|
||||||
|
MODULES += modules/controllib
|
||||||
|
MODULES += modules/uORB
|
||||||
|
|
||||||
|
#
|
||||||
|
# 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 )
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
#
|
||||||
|
# Makefile for the px4io_default configuration
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Board support modules
|
||||||
|
#
|
||||||
|
MODULES += drivers/stm32
|
||||||
|
MODULES += drivers/boards/px4io
|
||||||
|
MODULES += modules/px4iofirmware
|
||||||
|
|
@ -0,0 +1,450 @@
|
||||||
|
#
|
||||||
|
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Generic Makefile for PX4 firmware images.
|
||||||
|
#
|
||||||
|
# Requires:
|
||||||
|
#
|
||||||
|
# BOARD
|
||||||
|
# Must be set to a board name known to the PX4 distribution (as
|
||||||
|
# we need a corresponding NuttX export archive to link with).
|
||||||
|
#
|
||||||
|
# Optional:
|
||||||
|
#
|
||||||
|
# MODULES
|
||||||
|
# Contains a list of module paths or path fragments used
|
||||||
|
# to find modules. The names listed here are searched in
|
||||||
|
# the following directories:
|
||||||
|
# <absolute path>
|
||||||
|
# $(MODULE_SEARCH_DIRS)
|
||||||
|
# WORK_DIR
|
||||||
|
# MODULE_SRC
|
||||||
|
# PX4_MODULE_SRC
|
||||||
|
#
|
||||||
|
# Application directories are expected to contain a module.mk
|
||||||
|
# file which provides build configuration for the module. See
|
||||||
|
# makefiles/module.mk for more details.
|
||||||
|
#
|
||||||
|
# BUILTIN_COMMANDS
|
||||||
|
# Contains a list of built-in commands not explicitly provided
|
||||||
|
# by modules / libraries. Each entry in this list is formatted
|
||||||
|
# as <command>.<priority>.<stacksize>.<entrypoint>
|
||||||
|
#
|
||||||
|
# PX4_BASE:
|
||||||
|
# Points to a PX4 distribution. Normally determined based on the
|
||||||
|
# path to this file.
|
||||||
|
#
|
||||||
|
# CONFIG:
|
||||||
|
# Used when searching for the configuration file, and available
|
||||||
|
# to module Makefiles to select optional features.
|
||||||
|
# If not set, CONFIG_FILE must be set and CONFIG will be derived
|
||||||
|
# automatically from it.
|
||||||
|
#
|
||||||
|
# CONFIG_FILE:
|
||||||
|
# If set, overrides the configuration file search logic. Sets
|
||||||
|
# CONFIG to the name of the configuration file, strips any
|
||||||
|
# leading config_ prefix and any suffix. e.g. config_board_foo.mk
|
||||||
|
# results in CONFIG being set to 'board_foo'.
|
||||||
|
#
|
||||||
|
# WORK_DIR:
|
||||||
|
# Sets the directory in which the firmware will be built. Defaults
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
# MODULE_SEARCH_DIRS:
|
||||||
|
# Extra directories to search first for MODULES before looking in the
|
||||||
|
# usual places.
|
||||||
|
#
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Paths and configuration
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# Work out where this file is, so we can find other makefiles in the
|
||||||
|
# same directory.
|
||||||
|
#
|
||||||
|
# If PX4_BASE wasn't set previously, work out what it should be
|
||||||
|
# and set it here now.
|
||||||
|
#
|
||||||
|
MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST)))
|
||||||
|
ifeq ($(PX4_BASE),)
|
||||||
|
export PX4_BASE := $(abspath $(MK_DIR)/..)
|
||||||
|
endif
|
||||||
|
$(info % PX4_BASE = $(PX4_BASE))
|
||||||
|
ifneq ($(words $(PX4_BASE)),1)
|
||||||
|
$(error Cannot build when the PX4_BASE path contains one or more space characters.)
|
||||||
|
endif
|
||||||
|
|
||||||
|
#
|
||||||
|
# Set a default target so that included makefiles or errors here don't
|
||||||
|
# cause confusion.
|
||||||
|
#
|
||||||
|
# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
|
||||||
|
# of the maintenance targets and set CONFIG based on it.
|
||||||
|
#
|
||||||
|
all: firmware
|
||||||
|
|
||||||
|
#
|
||||||
|
# Get path and tool config
|
||||||
|
#
|
||||||
|
include $(MK_DIR)/setup.mk
|
||||||
|
|
||||||
|
#
|
||||||
|
# Locate the configuration file
|
||||||
|
#
|
||||||
|
ifneq ($(CONFIG_FILE),)
|
||||||
|
CONFIG := $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
|
||||||
|
else
|
||||||
|
CONFIG_FILE := $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
|
||||||
|
endif
|
||||||
|
ifeq ($(CONFIG),)
|
||||||
|
$(error Missing configuration name or file (specify with CONFIG=<config>))
|
||||||
|
endif
|
||||||
|
export CONFIG
|
||||||
|
include $(CONFIG_FILE)
|
||||||
|
$(info % CONFIG = $(CONFIG))
|
||||||
|
|
||||||
|
#
|
||||||
|
# Sanity-check the BOARD variable and then get the board config.
|
||||||
|
# If BOARD was not set by the configuration, extract it automatically.
|
||||||
|
#
|
||||||
|
# The board config in turn will fetch the toolchain configuration.
|
||||||
|
#
|
||||||
|
ifeq ($(BOARD),)
|
||||||
|
BOARD := $(firstword $(subst _, ,$(CONFIG)))
|
||||||
|
endif
|
||||||
|
BOARD_FILE := $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk)
|
||||||
|
ifeq ($(BOARD_FILE),)
|
||||||
|
$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
|
||||||
|
endif
|
||||||
|
export BOARD
|
||||||
|
include $(BOARD_FILE)
|
||||||
|
$(info % BOARD = $(BOARD))
|
||||||
|
|
||||||
|
#
|
||||||
|
# If WORK_DIR is not set, create a 'build' directory next to the
|
||||||
|
# parent Makefile.
|
||||||
|
#
|
||||||
|
PARENT_MAKEFILE := $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
|
||||||
|
ifeq ($(WORK_DIR),)
|
||||||
|
export WORK_DIR := $(dir $(PARENT_MAKEFILE))build/
|
||||||
|
endif
|
||||||
|
$(info % WORK_DIR = $(WORK_DIR))
|
||||||
|
|
||||||
|
#
|
||||||
|
# Things that, if they change, might affect everything
|
||||||
|
#
|
||||||
|
GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Extra things we should clean
|
||||||
|
#
|
||||||
|
EXTRA_CLEANS =
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Modules
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# We don't actually know what a module is called; all we have is a path fragment
|
||||||
|
# that we can search for, and where we expect to find a module.mk file.
|
||||||
|
#
|
||||||
|
# As such, we replicate the successfully-found path inside WORK_DIR for the
|
||||||
|
# module's build products in order to keep modules separated from each other.
|
||||||
|
#
|
||||||
|
# XXX If this becomes unwieldy or breaks for other reasons, we will need to
|
||||||
|
# move to allocating directory names and keeping tabs on makefiles via
|
||||||
|
# the directory name. That will involve arithmetic (it'd probably be time
|
||||||
|
# for GMSL).
|
||||||
|
|
||||||
|
# where to look for modules
|
||||||
|
MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
|
||||||
|
|
||||||
|
# sort and unique the modules list
|
||||||
|
MODULES := $(sort $(MODULES))
|
||||||
|
|
||||||
|
# locate the first instance of a module by full path or by looking on the
|
||||||
|
# module search path
|
||||||
|
define MODULE_SEARCH
|
||||||
|
$(firstword $(abspath $(wildcard $(1)/module.mk)) \
|
||||||
|
$(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \
|
||||||
|
MISSING_$1)
|
||||||
|
endef
|
||||||
|
|
||||||
|
# make a list of module makefiles and check that we found them all
|
||||||
|
MODULE_MKFILES := $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
|
||||||
|
MISSING_MODULES := $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
|
||||||
|
ifneq ($(MISSING_MODULES),)
|
||||||
|
$(error Can't find module(s): $(MISSING_MODULES))
|
||||||
|
endif
|
||||||
|
|
||||||
|
# Make a list of the object files we expect to build from modules
|
||||||
|
# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
|
||||||
|
# preserved as it is used below to get the absolute path for the module.mk file correct.
|
||||||
|
#
|
||||||
|
MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o)
|
||||||
|
|
||||||
|
# rules to build module objects
|
||||||
|
.PHONY: $(MODULE_OBJS)
|
||||||
|
$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
|
||||||
|
$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
|
||||||
|
$(MODULE_OBJS): workdir = $(@D)
|
||||||
|
$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
|
||||||
|
$(Q) $(MKDIR) -p $(workdir)
|
||||||
|
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
|
||||||
|
-C $(workdir) \
|
||||||
|
MODULE_WORK_DIR=$(workdir) \
|
||||||
|
MODULE_OBJ=$@ \
|
||||||
|
MODULE_MK=$(mkfile) \
|
||||||
|
MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
|
||||||
|
module
|
||||||
|
|
||||||
|
# make a list of phony clean targets for modules
|
||||||
|
MODULE_CLEANS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean)
|
||||||
|
|
||||||
|
# rules to clean modules
|
||||||
|
.PHONY: $(MODULE_CLEANS)
|
||||||
|
$(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
|
||||||
|
$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath))
|
||||||
|
$(MODULE_CLEANS):
|
||||||
|
@$(ECHO) %% cleaning using $(mkfile)
|
||||||
|
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
|
||||||
|
MODULE_WORK_DIR=$(dir $@) \
|
||||||
|
MODULE_MK=$(mkfile) \
|
||||||
|
clean
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# NuttX libraries and paths
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
include $(PX4_MK_DIR)/nuttx.mk
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# ROMFS generation
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
ifneq ($(ROMFS_ROOT),)
|
||||||
|
ifeq ($(wildcard $(ROMFS_ROOT)),)
|
||||||
|
$(error ROMFS_ROOT specifies a directory that does not exist)
|
||||||
|
endif
|
||||||
|
|
||||||
|
#
|
||||||
|
# Note that there is no support for more than one root directory or constructing
|
||||||
|
# a root from several templates. That would be a nice feature.
|
||||||
|
#
|
||||||
|
|
||||||
|
# Add dependencies on anything in the ROMFS root
|
||||||
|
ROMFS_FILES += $(wildcard \
|
||||||
|
$(ROMFS_ROOT)/* \
|
||||||
|
$(ROMFS_ROOT)/*/* \
|
||||||
|
$(ROMFS_ROOT)/*/*/* \
|
||||||
|
$(ROMFS_ROOT)/*/*/*/* \
|
||||||
|
$(ROMFS_ROOT)/*/*/*/*/* \
|
||||||
|
$(ROMFS_ROOT)/*/*/*/*/*/*)
|
||||||
|
ifeq ($(ROMFS_FILES),)
|
||||||
|
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
|
||||||
|
endif
|
||||||
|
ROMFS_DEPS += $(ROMFS_FILES)
|
||||||
|
ROMFS_IMG = romfs.img
|
||||||
|
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
|
||||||
|
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
|
||||||
|
LIBS += $(ROMFS_OBJ)
|
||||||
|
LINK_DEPS += $(ROMFS_OBJ)
|
||||||
|
|
||||||
|
# Turn the ROMFS image into an object file
|
||||||
|
$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
|
||||||
|
$(call BIN_TO_OBJ,$<,$@,romfs_img)
|
||||||
|
|
||||||
|
# Generate the ROMFS image from the root
|
||||||
|
$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
|
||||||
|
@$(ECHO) "ROMFS: $@"
|
||||||
|
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
|
||||||
|
|
||||||
|
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
|
||||||
|
|
||||||
|
endif
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Builtin command list generation
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# Builtin commands can be generated by the configuration, in which case they
|
||||||
|
# must refer to commands that already exist, or indirectly generated by modules
|
||||||
|
# when they are built.
|
||||||
|
#
|
||||||
|
# The configuration supplies builtin command information in the BUILTIN_COMMANDS
|
||||||
|
# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
|
||||||
|
# filename contains the same information.
|
||||||
|
#
|
||||||
|
# In each case, the command information consists of four fields separated with a
|
||||||
|
# period. These fields are the command's name, its thread priority, its stack size
|
||||||
|
# and the name of the function to call when starting the thread.
|
||||||
|
#
|
||||||
|
BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c
|
||||||
|
|
||||||
|
# command definitions from modules (may be empty at Makefile parsing time...)
|
||||||
|
MODULE_COMMANDS = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
|
||||||
|
|
||||||
|
# We must have at least one pre-defined builtin command in order to generate
|
||||||
|
# any of this.
|
||||||
|
#
|
||||||
|
ifneq ($(BUILTIN_COMMANDS),)
|
||||||
|
|
||||||
|
# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
|
||||||
|
define BUILTIN_PROTO
|
||||||
|
$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
|
||||||
|
endef
|
||||||
|
|
||||||
|
# (BUILTIN_DEF,<cmdspec>,<outputfile>)
|
||||||
|
define BUILTIN_DEF
|
||||||
|
$(ECHO) ' {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Don't generate until modules have updated their command files
|
||||||
|
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
|
||||||
|
@$(ECHO) "CMDS: $@"
|
||||||
|
$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
|
||||||
|
$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
|
||||||
|
$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
|
||||||
|
$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
|
||||||
|
$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
|
||||||
|
$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
|
||||||
|
$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
|
||||||
|
$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
|
||||||
|
$(Q) $(ECHO) ' {NULL, 0, 0, NULL}' >> $@
|
||||||
|
$(Q) $(ECHO) '};' >> $@
|
||||||
|
$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
|
||||||
|
|
||||||
|
SRCS += $(BUILTIN_CSRC)
|
||||||
|
|
||||||
|
EXTRA_CLEANS += $(BUILTIN_CSRC)
|
||||||
|
|
||||||
|
endif
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Default SRCS generation
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# If there are no SRCS, the build will fail; in that case, generate an empty
|
||||||
|
# source file.
|
||||||
|
#
|
||||||
|
ifeq ($(SRCS),)
|
||||||
|
EMPTY_SRC = $(WORK_DIR)empty.c
|
||||||
|
$(EMPTY_SRC):
|
||||||
|
$(Q) $(ECHO) '/* this is an empty file */' > $@
|
||||||
|
|
||||||
|
SRCS += $(EMPTY_SRC)
|
||||||
|
endif
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Build rules
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# What we're going to build.
|
||||||
|
#
|
||||||
|
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
|
||||||
|
PRODUCT_BIN = $(WORK_DIR)firmware.bin
|
||||||
|
PRODUCT_ELF = $(WORK_DIR)firmware.elf
|
||||||
|
|
||||||
|
.PHONY: firmware
|
||||||
|
firmware: $(PRODUCT_BUNDLE)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Object files we will generate from sources
|
||||||
|
#
|
||||||
|
OBJS := $(foreach src,$(SRCS),$(WORK_DIR)$(src).o)
|
||||||
|
|
||||||
|
#
|
||||||
|
# SRCS -> OBJS rules
|
||||||
|
#
|
||||||
|
|
||||||
|
$(OBJS): $(GLOBAL_DEPS)
|
||||||
|
|
||||||
|
$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
|
||||||
|
$(call COMPILE,$<,$@)
|
||||||
|
|
||||||
|
$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
|
||||||
|
$(call COMPILEXX,$<,$@)
|
||||||
|
|
||||||
|
$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
|
||||||
|
$(call ASSEMBLE,$<,$@)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Built product rules
|
||||||
|
#
|
||||||
|
|
||||||
|
$(PRODUCT_BUNDLE): $(PRODUCT_BIN)
|
||||||
|
@$(ECHO) %% Generating $@
|
||||||
|
$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
|
||||||
|
--git_identity $(PX4_BASE) \
|
||||||
|
--image $< > $@
|
||||||
|
|
||||||
|
$(PRODUCT_BIN): $(PRODUCT_ELF)
|
||||||
|
$(call SYM_TO_BIN,$<,$@)
|
||||||
|
|
||||||
|
$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
|
||||||
|
$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
|
||||||
|
|
||||||
|
#
|
||||||
|
# Utility rules
|
||||||
|
#
|
||||||
|
|
||||||
|
.PHONY: upload
|
||||||
|
upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
|
||||||
|
$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
|
||||||
|
METHOD=serial \
|
||||||
|
CONFIG=$(CONFIG) \
|
||||||
|
BOARD=$(BOARD) \
|
||||||
|
BUNDLE=$(PRODUCT_BUNDLE) \
|
||||||
|
BIN=$(PRODUCT_BIN)
|
||||||
|
|
||||||
|
.PHONY: clean
|
||||||
|
clean: $(MODULE_CLEANS)
|
||||||
|
@$(ECHO) %% cleaning
|
||||||
|
$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
|
||||||
|
$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
|
||||||
|
$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
|
||||||
|
|
||||||
|
|
||||||
|
#
|
||||||
|
# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
|
||||||
|
#
|
||||||
|
-include $(DEP_INCLUDES)
|
||||||
|
|
@ -0,0 +1,241 @@
|
||||||
|
#
|
||||||
|
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Framework makefile for PX4 modules
|
||||||
|
#
|
||||||
|
# This makefile is invoked by firmware.mk to build each of the modules
|
||||||
|
# that will subsequently be linked into the firmware image.
|
||||||
|
#
|
||||||
|
# Applications are built as prelinked objects with a limited set of exported
|
||||||
|
# symbols, as the global namespace is shared between all modules. Normally an
|
||||||
|
# module will just export one or more <command>_main functions.
|
||||||
|
#
|
||||||
|
# IMPORTANT NOTE:
|
||||||
|
#
|
||||||
|
# This makefile assumes it is being invoked in the module's output directory.
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Variables that can be set by the module's module.mk:
|
||||||
|
#
|
||||||
|
#
|
||||||
|
# SRCS (required)
|
||||||
|
#
|
||||||
|
# Lists the .c, cpp and .S files that should be compiled/assembled to
|
||||||
|
# produce the module.
|
||||||
|
#
|
||||||
|
# MODULE_COMMAND (optional)
|
||||||
|
# MODULE_ENTRYPOINT (optional if MODULE_COMMAND is set)
|
||||||
|
# MODULE_STACKSIZE (optional if MODULE_COMMAND is set)
|
||||||
|
# MODULE_PRIORITY (optional if MODULE_COMMAND is set)
|
||||||
|
#
|
||||||
|
# Defines a single builtin command exported by the module.
|
||||||
|
# MODULE_COMMAND must be unique for any configuration, but need not be the
|
||||||
|
# same as the module directory name.
|
||||||
|
#
|
||||||
|
# If MODULE_ENTRYPOINT is set, it names the function (which must be exported)
|
||||||
|
# that will be the entrypoint for the builtin command. It defaults to
|
||||||
|
# $(MODULE_COMMAND)_main.
|
||||||
|
#
|
||||||
|
# If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
|
||||||
|
# allocated for the builtin command. If it is not set, it defaults
|
||||||
|
# to CONFIG_PTHREAD_STACK_DEFAULT.
|
||||||
|
#
|
||||||
|
# If MODULE_PRIORITY is set, it is the thread priority for the builtin
|
||||||
|
# command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
|
||||||
|
#
|
||||||
|
# MODULE_COMMANDS (optional if MODULE_COMMAND is not set)
|
||||||
|
#
|
||||||
|
# Defines builtin commands exported by the module. Each word in
|
||||||
|
# the list should be formatted as:
|
||||||
|
# <command>.<priority>.<stacksize>.<entrypoint>
|
||||||
|
#
|
||||||
|
# INCLUDE_DIRS (optional, must be appended)
|
||||||
|
#
|
||||||
|
# The list of directories searched for include files. If non-standard
|
||||||
|
# includes (e.g. those from another module) are required, paths to search
|
||||||
|
# can be added here.
|
||||||
|
#
|
||||||
|
# DEFAULT_VISIBILITY (optional)
|
||||||
|
#
|
||||||
|
# If not set, global symbols defined in a module will not be visible
|
||||||
|
# outside the module. Symbols that should be globally visible must be
|
||||||
|
# marked __EXPORT.
|
||||||
|
# If set, global symbols defined in a module will be globally visible.
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Variables visible to the module's module.mk:
|
||||||
|
#
|
||||||
|
# CONFIG
|
||||||
|
# BOARD
|
||||||
|
# MODULE_WORK_DIR
|
||||||
|
# MODULE_OBJ
|
||||||
|
# MODULE_MK
|
||||||
|
# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
|
||||||
|
# Anything exported from config_$(CONFIG).mk
|
||||||
|
#
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# No user-serviceable parts below.
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
ifeq ($(MODULE_MK),)
|
||||||
|
$(error No module makefile specified)
|
||||||
|
endif
|
||||||
|
$(info %% MODULE_MK = $(MODULE_MK))
|
||||||
|
|
||||||
|
#
|
||||||
|
# Get the board/toolchain config
|
||||||
|
#
|
||||||
|
include $(PX4_MK_DIR)/board_$(BOARD).mk
|
||||||
|
|
||||||
|
#
|
||||||
|
# Get the module's config
|
||||||
|
#
|
||||||
|
include $(MODULE_MK)
|
||||||
|
MODULE_SRC := $(dir $(MODULE_MK))
|
||||||
|
$(info % MODULE_NAME = $(MODULE_NAME))
|
||||||
|
$(info % MODULE_SRC = $(MODULE_SRC))
|
||||||
|
$(info % MODULE_OBJ = $(MODULE_OBJ))
|
||||||
|
$(info % MODULE_WORK_DIR = $(MODULE_WORK_DIR))
|
||||||
|
|
||||||
|
#
|
||||||
|
# Things that, if they change, might affect everything
|
||||||
|
#
|
||||||
|
GLOBAL_DEPS += $(MAKEFILE_LIST)
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Builtin command definitions
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
ifneq ($(MODULE_COMMAND),)
|
||||||
|
MODULE_ENTRYPOINT ?= $(MODULE_COMMAND)_main
|
||||||
|
MODULE_STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
|
||||||
|
MODULE_PRIORITY ?= SCHED_PRIORITY_DEFAULT
|
||||||
|
MODULE_COMMANDS += $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifneq ($(MODULE_COMMANDS),)
|
||||||
|
MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
|
||||||
|
|
||||||
|
# Create the command files
|
||||||
|
# Ensure that there is only one entry for each command
|
||||||
|
#
|
||||||
|
.PHONY: $(MODULE_COMMAND_FILES)
|
||||||
|
$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
|
||||||
|
$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
|
||||||
|
$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
|
||||||
|
@$(REMOVE) -f $(exclude)
|
||||||
|
@$(MKDIR) -p $(dir $@)
|
||||||
|
@$(ECHO) "CMD: $(command)"
|
||||||
|
$(Q) $(TOUCH) $@
|
||||||
|
endif
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Adjust compilation flags to implement EXPORT
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
ifeq ($(DEFAULT_VISIBILITY),)
|
||||||
|
DEFAULT_VISIBILITY = hidden
|
||||||
|
else
|
||||||
|
DEFAULT_VISIBILITY = default
|
||||||
|
endif
|
||||||
|
|
||||||
|
CFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
|
||||||
|
CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Build rules
|
||||||
|
################################################################################
|
||||||
|
|
||||||
|
#
|
||||||
|
# What we're going to build
|
||||||
|
#
|
||||||
|
module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES)
|
||||||
|
|
||||||
|
##
|
||||||
|
## Locate sources (allows relative source paths in module.mk)
|
||||||
|
##
|
||||||
|
#define SRC_SEARCH
|
||||||
|
# $(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1))
|
||||||
|
#endef
|
||||||
|
#
|
||||||
|
#ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src)))
|
||||||
|
#MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS)))
|
||||||
|
#ifneq ($(MISSING_SRCS),)
|
||||||
|
#$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS))
|
||||||
|
#endif
|
||||||
|
#ifeq ($(ABS_SRCS),)
|
||||||
|
#$(error $(MODULE_MK): nothing to compile in SRCS)
|
||||||
|
#endif
|
||||||
|
#
|
||||||
|
##
|
||||||
|
## Object files we will generate from sources
|
||||||
|
##
|
||||||
|
#OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o)
|
||||||
|
|
||||||
|
OBJS = $(addsuffix .o,$(SRCS))
|
||||||
|
$(info SRCS $(SRCS))
|
||||||
|
$(info OBJS $(OBJS))
|
||||||
|
|
||||||
|
#
|
||||||
|
# SRCS -> OBJS rules
|
||||||
|
#
|
||||||
|
|
||||||
|
$(OBJS): $(GLOBAL_DEPS)
|
||||||
|
|
||||||
|
vpath %.c $(MODULE_SRC)
|
||||||
|
$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
|
||||||
|
$(call COMPILE,$<,$@)
|
||||||
|
|
||||||
|
vpath %.cpp $(MODULE_SRC)
|
||||||
|
$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
|
||||||
|
$(call COMPILEXX,$<,$@)
|
||||||
|
|
||||||
|
vpath %.S $(MODULE_SRC)
|
||||||
|
$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
|
||||||
|
$(call ASSEMBLE,$<,$@)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Built product rules
|
||||||
|
#
|
||||||
|
|
||||||
|
$(MODULE_OBJ): $(OBJS) $(GLOBAL_DEPS)
|
||||||
|
$(call PRELINK,$@,$(OBJS))
|
||||||
|
|
||||||
|
#
|
||||||
|
# Utility rules
|
||||||
|
#
|
||||||
|
|
||||||
|
clean:
|
||||||
|
$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
|
||||||
|
|
@ -1,4 +1,3 @@
|
||||||
############################################################################
|
|
||||||
#
|
#
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
#
|
#
|
||||||
|
|
@ -29,30 +28,51 @@
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
#
|
#
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
#
|
||||||
# Build the px4io application.
|
# Rules and definitions related to handling the NuttX export archives when
|
||||||
|
# building firmware.
|
||||||
#
|
#
|
||||||
|
|
||||||
#
|
#
|
||||||
# Note that we pull a couple of specific files from the systemlib, since
|
# Check that the NuttX archive for the selected board is available.
|
||||||
# we can't support it all.
|
|
||||||
#
|
#
|
||||||
CSRCS = adc.c \
|
NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
|
||||||
controls.c \
|
ifeq ($(NUTTX_ARCHIVE),)
|
||||||
dsm.c \
|
$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
|
||||||
i2c.c \
|
endif
|
||||||
px4io.c \
|
|
||||||
registers.c \
|
|
||||||
safety.c \
|
|
||||||
sbus.c \
|
|
||||||
../systemlib/hx_stream.c \
|
|
||||||
../systemlib/perf_counter.c \
|
|
||||||
../systemlib/up_cxxinitialize.c
|
|
||||||
|
|
||||||
CXXSRCS = mixer.cpp
|
#
|
||||||
|
# The NuttX config header should always be present in the NuttX archive, and
|
||||||
|
# if it changes, everything should be rebuilt. So, use it as the trigger to
|
||||||
|
# unpack the NuttX archive.
|
||||||
|
#
|
||||||
|
NUTTX_EXPORT_DIR = $(WORK_DIR)nuttx-export/
|
||||||
|
NUTTX_CONFIG_HEADER = $(NUTTX_EXPORT_DIR)include/nuttx/config.h
|
||||||
|
$(info % NUTTX_EXPORT_DIR = $(NUTTX_EXPORT_DIR))
|
||||||
|
$(info % NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER))
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
GLOBAL_DEPS += $(NUTTX_CONFIG_HEADER)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Use the linker script from the NuttX export
|
||||||
|
#
|
||||||
|
LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script
|
||||||
|
|
||||||
|
#
|
||||||
|
# Add directories from the NuttX export to the relevant search paths
|
||||||
|
#
|
||||||
|
INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include \
|
||||||
|
$(NUTTX_EXPORT_DIR)arch/chip \
|
||||||
|
$(NUTTX_EXPORT_DIR)arch/common
|
||||||
|
|
||||||
|
LIB_DIRS += $(NUTTX_EXPORT_DIR)libs
|
||||||
|
LIBS += -lapps -lnuttx
|
||||||
|
LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \
|
||||||
|
$(NUTTX_EXPORT_DIR)libs/libnuttx.a
|
||||||
|
|
||||||
|
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
|
||||||
|
@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
|
||||||
|
$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
|
||||||
|
$(Q) $(TOUCH) $@
|
||||||
|
|
@ -0,0 +1,91 @@
|
||||||
|
#
|
||||||
|
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Path and tool setup
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Some useful paths.
|
||||||
|
#
|
||||||
|
# Note that in general we always keep directory paths with the separator
|
||||||
|
# at the end, and join paths without explicit separators. This reduces
|
||||||
|
# the number of duplicate slashes we have lying around in paths,
|
||||||
|
# and is consistent with joining the results of $(dir) and $(notdir).
|
||||||
|
#
|
||||||
|
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
|
||||||
|
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
|
||||||
|
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
|
||||||
|
export NUTTX_SRC = $(abspath $(PX4_BASE)/nuttx)/
|
||||||
|
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/apps)/
|
||||||
|
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/
|
||||||
|
export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/
|
||||||
|
export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/
|
||||||
|
export BUILD_DIR = $(abspath $(PX4_BASE)/Build)/
|
||||||
|
export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
|
||||||
|
|
||||||
|
#
|
||||||
|
# Default include paths
|
||||||
|
#
|
||||||
|
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
|
||||||
|
$(PX4_MODULE_SRC)/modules/ \
|
||||||
|
$(PX4_INCLUDE_DIR)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Tools
|
||||||
|
#
|
||||||
|
export MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||||
|
export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||||
|
export COPY = cp
|
||||||
|
export REMOVE = rm -f
|
||||||
|
export RMDIR = rm -rf
|
||||||
|
export GENROMFS = genromfs
|
||||||
|
export TOUCH = touch
|
||||||
|
export MKDIR = mkdir
|
||||||
|
export ECHO = echo
|
||||||
|
export UNZIP_CMD = unzip
|
||||||
|
export PYTHON = python
|
||||||
|
export OPENOCD = openocd
|
||||||
|
|
||||||
|
#
|
||||||
|
# Host-specific paths, hacks and fixups
|
||||||
|
#
|
||||||
|
export SYSTYPE := $(shell uname -s)
|
||||||
|
|
||||||
|
ifeq ($(SYSTYPE),Darwin)
|
||||||
|
# Eclipse may not have the toolchain on its path.
|
||||||
|
export PATH := $(PATH):/usr/local/bin
|
||||||
|
endif
|
||||||
|
|
||||||
|
#
|
||||||
|
# Makefile debugging.
|
||||||
|
#
|
||||||
|
export Q := $(if $(V),,@)
|
||||||
|
|
@ -0,0 +1,285 @@
|
||||||
|
#
|
||||||
|
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||||
|
#
|
||||||
|
# Redistribution and use in source and binary forms, with or without
|
||||||
|
# modification, are permitted provided that the following conditions
|
||||||
|
# are met:
|
||||||
|
#
|
||||||
|
# 1. Redistributions of source code must retain the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer.
|
||||||
|
# 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
# notice, this list of conditions and the following disclaimer in
|
||||||
|
# the documentation and/or other materials provided with the
|
||||||
|
# distribution.
|
||||||
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
# used to endorse or promote products derived from this software
|
||||||
|
# without specific prior written permission.
|
||||||
|
#
|
||||||
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Definitions for a generic GNU ARM-EABI toolchain
|
||||||
|
#
|
||||||
|
|
||||||
|
#$(info TOOLCHAIN gnu-arm-eabi)
|
||||||
|
|
||||||
|
# Toolchain commands. Normally only used inside this file.
|
||||||
|
#
|
||||||
|
CROSSDEV = arm-none-eabi-
|
||||||
|
|
||||||
|
CC = $(CROSSDEV)gcc
|
||||||
|
CXX = $(CROSSDEV)g++
|
||||||
|
CPP = $(CROSSDEV)gcc -E
|
||||||
|
LD = $(CROSSDEV)ld
|
||||||
|
AR = $(CROSSDEV)ar rcs
|
||||||
|
NM = $(CROSSDEV)nm
|
||||||
|
OBJCOPY = $(CROSSDEV)objcopy
|
||||||
|
OBJDUMP = $(CROSSDEV)objdump
|
||||||
|
|
||||||
|
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||||
|
|
||||||
|
MAXOPTIMIZATION = -O3
|
||||||
|
|
||||||
|
# Base CPU flags for each of the supported architectures.
|
||||||
|
#
|
||||||
|
ARCHCPUFLAGS_CORTEXM4F = -mcpu=cortex-m4 \
|
||||||
|
-mthumb \
|
||||||
|
-march=armv7e-m \
|
||||||
|
-mfpu=fpv4-sp-d16 \
|
||||||
|
-mfloat-abi=hard
|
||||||
|
|
||||||
|
ARCHCPUFLAGS_CORTEXM4 = -mcpu=cortex-m4 \
|
||||||
|
-mthumb \
|
||||||
|
-march=armv7e-m \
|
||||||
|
-mfloat-abi=soft
|
||||||
|
|
||||||
|
ARCHCPUFLAGS_CORTEXM3 = -mcpu=cortex-m3 \
|
||||||
|
-mthumb \
|
||||||
|
-march=armv7-m \
|
||||||
|
-mfloat-abi=soft
|
||||||
|
|
||||||
|
# Pick the right set of flags for the architecture.
|
||||||
|
#
|
||||||
|
ARCHCPUFLAGS = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
|
||||||
|
ifeq ($(ARCHCPUFLAGS),)
|
||||||
|
$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
|
||||||
|
endif
|
||||||
|
|
||||||
|
# optimisation flags
|
||||||
|
#
|
||||||
|
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||||
|
-g \
|
||||||
|
-fno-strict-aliasing \
|
||||||
|
-fno-strength-reduce \
|
||||||
|
-fomit-frame-pointer \
|
||||||
|
-funsafe-math-optimizations \
|
||||||
|
-fno-builtin-printf \
|
||||||
|
-ffunction-sections \
|
||||||
|
-fdata-sections
|
||||||
|
|
||||||
|
# enable precise stack overflow tracking
|
||||||
|
# note - requires corresponding support in NuttX
|
||||||
|
INSTRUMENTATIONDEFINES = -finstrument-functions \
|
||||||
|
-ffixed-r10
|
||||||
|
# Language-specific flags
|
||||||
|
#
|
||||||
|
ARCHCFLAGS = -std=gnu99
|
||||||
|
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||||
|
|
||||||
|
# Generic warnings
|
||||||
|
#
|
||||||
|
ARCHWARNINGS = -Wall \
|
||||||
|
-Wextra \
|
||||||
|
-Wdouble-promotion \
|
||||||
|
-Wshadow \
|
||||||
|
-Wfloat-equal \
|
||||||
|
-Wframe-larger-than=1024 \
|
||||||
|
-Wpointer-arith \
|
||||||
|
-Wlogical-op \
|
||||||
|
-Wmissing-declarations \
|
||||||
|
-Wpacked \
|
||||||
|
-Wno-unused-parameter
|
||||||
|
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||||
|
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||||
|
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||||
|
|
||||||
|
# C-specific warnings
|
||||||
|
#
|
||||||
|
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||||
|
-Wbad-function-cast \
|
||||||
|
-Wstrict-prototypes \
|
||||||
|
-Wold-style-declaration \
|
||||||
|
-Wmissing-parameter-type \
|
||||||
|
-Wmissing-prototypes \
|
||||||
|
-Wnested-externs \
|
||||||
|
-Wunsuffixed-float-constants
|
||||||
|
|
||||||
|
# C++-specific warnings
|
||||||
|
#
|
||||||
|
ARCHWARNINGSXX = $(ARCHWARNINGS)
|
||||||
|
|
||||||
|
# pull in *just* libm from the toolchain ... this is grody
|
||||||
|
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
|
||||||
|
EXTRA_LIBS += $(LIBM)
|
||||||
|
|
||||||
|
# Flags we pass to the C compiler
|
||||||
|
#
|
||||||
|
CFLAGS = $(ARCHCFLAGS) \
|
||||||
|
$(ARCHCWARNINGS) \
|
||||||
|
$(ARCHOPTIMIZATION) \
|
||||||
|
$(ARCHCPUFLAGS) \
|
||||||
|
$(ARCHINCLUDES) \
|
||||||
|
$(INSTRUMENTATIONDEFINES) \
|
||||||
|
$(ARCHDEFINES) \
|
||||||
|
$(EXTRADEFINES) \
|
||||||
|
$(EXTRACFLAGS) \
|
||||||
|
-fno-common \
|
||||||
|
$(addprefix -I,$(INCLUDE_DIRS))
|
||||||
|
|
||||||
|
# Flags we pass to the C++ compiler
|
||||||
|
#
|
||||||
|
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||||
|
$(ARCHWARNINGSXX) \
|
||||||
|
$(ARCHOPTIMIZATION) \
|
||||||
|
$(ARCHCPUFLAGS) \
|
||||||
|
$(ARCHXXINCLUDES) \
|
||||||
|
$(INSTRUMENTATIONDEFINES) \
|
||||||
|
$(ARCHDEFINES) \
|
||||||
|
-DCONFIG_WCHAR_BUILTIN \
|
||||||
|
$(EXTRADEFINES) \
|
||||||
|
$(EXTRACXXFLAGS) \
|
||||||
|
$(addprefix -I,$(INCLUDE_DIRS))
|
||||||
|
|
||||||
|
# Flags we pass to the assembler
|
||||||
|
#
|
||||||
|
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
||||||
|
$(EXTRADEFINES) \
|
||||||
|
$(EXTRAAFLAGS)
|
||||||
|
|
||||||
|
# Flags we pass to the linker
|
||||||
|
#
|
||||||
|
LDFLAGS += --warn-common \
|
||||||
|
--gc-sections \
|
||||||
|
$(EXTRALDFLAGS) \
|
||||||
|
$(addprefix -T,$(LDSCRIPT)) \
|
||||||
|
$(addprefix -L,$(LIB_DIRS))
|
||||||
|
|
||||||
|
# Compiler support library
|
||||||
|
#
|
||||||
|
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
|
||||||
|
|
||||||
|
# Files that the final link depends on
|
||||||
|
#
|
||||||
|
LINK_DEPS += $(LDSCRIPT)
|
||||||
|
|
||||||
|
# Files to include to get automated dependencies
|
||||||
|
#
|
||||||
|
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
|
||||||
|
|
||||||
|
# Compile C source $1 to object $2
|
||||||
|
# as a side-effect, generate a dependency file
|
||||||
|
#
|
||||||
|
define COMPILE
|
||||||
|
@$(ECHO) "CC: $1"
|
||||||
|
@$(MKDIR) -p $(dir $2)
|
||||||
|
$(Q) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Compile C++ source $1 to $2
|
||||||
|
# as a side-effect, generate a dependency file
|
||||||
|
#
|
||||||
|
define COMPILEXX
|
||||||
|
@$(ECHO) "CXX: $1"
|
||||||
|
@$(MKDIR) -p $(dir $2)
|
||||||
|
$(Q) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Assemble $1 into $2
|
||||||
|
#
|
||||||
|
define ASSEMBLE
|
||||||
|
@$(ECHO) "AS: $1"
|
||||||
|
@$(MKDIR) -p $(dir $2)
|
||||||
|
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Produce partially-linked $1 from files in $2
|
||||||
|
#
|
||||||
|
define PRELINK
|
||||||
|
@$(ECHO) "PRELINK: $1"
|
||||||
|
@$(MKDIR) -p $(dir $1)
|
||||||
|
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Update the archive $1 with the files in $2
|
||||||
|
#
|
||||||
|
define ARCHIVE
|
||||||
|
@$(ECHO) "AR: $2"
|
||||||
|
@$(MKDIR) -p $(dir $1)
|
||||||
|
$(Q) $(AR) $1 $2
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Link the objects in $2 into the binary $1
|
||||||
|
#
|
||||||
|
define LINK
|
||||||
|
@$(ECHO) "LINK: $1"
|
||||||
|
@$(MKDIR) -p $(dir $1)
|
||||||
|
$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Convert $1 from a linked object to a raw binary in $2
|
||||||
|
#
|
||||||
|
define SYM_TO_BIN
|
||||||
|
@$(ECHO) "BIN: $2"
|
||||||
|
@$(MKDIR) -p $(dir $2)
|
||||||
|
$(Q) $(OBJCOPY) -O binary $1 $2
|
||||||
|
endef
|
||||||
|
|
||||||
|
# Take the raw binary $1 and make it into an object file $2.
|
||||||
|
# The symbol $3 points to the beginning of the file, and $3_len
|
||||||
|
# gives its length.
|
||||||
|
#
|
||||||
|
# - compile an empty file to generate a suitable object file
|
||||||
|
# - relink the object and insert the binary file
|
||||||
|
# - edit symbol names to suit
|
||||||
|
#
|
||||||
|
# NOTE: exercise caution using this with absolute pathnames; it looks
|
||||||
|
# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
|
||||||
|
# the path:
|
||||||
|
#
|
||||||
|
# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
|
||||||
|
#
|
||||||
|
# is assigned symbols like:
|
||||||
|
#
|
||||||
|
# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
|
||||||
|
#
|
||||||
|
# when we would expect
|
||||||
|
#
|
||||||
|
# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
|
||||||
|
#
|
||||||
|
define BIN_SYM_PREFIX
|
||||||
|
_binary_$(subst /,_,$(subst .,_,$1))
|
||||||
|
endef
|
||||||
|
define BIN_TO_OBJ
|
||||||
|
@$(ECHO) "OBJ: $2"
|
||||||
|
@$(MKDIR) -p $(dir $2)
|
||||||
|
$(Q) $(ECHO) > $2.c
|
||||||
|
$(call COMPILE,$2.c,$2.c.o)
|
||||||
|
$(Q) $(LD) -r -o $2 $2.c.o -b binary $1
|
||||||
|
$(Q) $(OBJCOPY) $2 \
|
||||||
|
--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
|
||||||
|
--redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \
|
||||||
|
--strip-symbol $(call BIN_SYM_PREFIX,$1)_end
|
||||||
|
$(Q) $(REMOVE) $2.c $2.c.o
|
||||||
|
endef
|
||||||
|
|
@ -0,0 +1,44 @@
|
||||||
|
#
|
||||||
|
# Rules and tools for uploading firmware to various PX4 boards.
|
||||||
|
#
|
||||||
|
|
||||||
|
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||||
|
|
||||||
|
SYSTYPE := $(shell uname -s)
|
||||||
|
|
||||||
|
#
|
||||||
|
# Serial port defaults.
|
||||||
|
#
|
||||||
|
# XXX The uploader should be smarter than this.
|
||||||
|
#
|
||||||
|
ifeq ($(SYSTYPE),Darwin)
|
||||||
|
SERIAL_PORTS ?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
|
||||||
|
endif
|
||||||
|
ifeq ($(SYSTYPE),Linux)
|
||||||
|
SERIAL_PORTS ?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
|
||||||
|
endif
|
||||||
|
ifeq ($(SERIAL_PORTS),)
|
||||||
|
SERIAL_PORTS = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
|
||||||
|
endif
|
||||||
|
|
||||||
|
.PHONY: all upload-$(METHOD)-$(BOARD)
|
||||||
|
all: upload-$(METHOD)-$(BOARD)
|
||||||
|
|
||||||
|
upload-serial-px4fmu: $(BUNDLE) $(UPLOADER)
|
||||||
|
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||||
|
|
||||||
|
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
|
||||||
|
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||||
|
|
||||||
|
#
|
||||||
|
# JTAG firmware uploading with OpenOCD
|
||||||
|
#
|
||||||
|
JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
|
||||||
|
|
||||||
|
upload-jtag-px4fmu: all
|
||||||
|
@$(ECHO) Attempting to flash PX4FMU board via JTAG
|
||||||
|
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
||||||
|
|
||||||
|
upload-jtag-px4io: all
|
||||||
|
@$(ECHO) Attempting to flash PX4IO board via JTAG
|
||||||
|
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
||||||
|
|
@ -1512,7 +1512,6 @@ static inline void stm32_ep0out_receive(FAR struct stm32_ep_s *privep, int bcnt)
|
||||||
|
|
||||||
DEBUGASSERT(privep && privep->ep.priv);
|
DEBUGASSERT(privep && privep->ep.priv);
|
||||||
priv = (FAR struct stm32_usbdev_s *)privep->ep.priv;
|
priv = (FAR struct stm32_usbdev_s *)privep->ep.priv;
|
||||||
DEBUGASSERT(priv->ep0state == EP0STATE_SETUP_OUT);
|
|
||||||
|
|
||||||
ullvdbg("EP0: bcnt=%d\n", bcnt);
|
ullvdbg("EP0: bcnt=%d\n", bcnt);
|
||||||
usbtrace(TRACE_READ(EP0), bcnt);
|
usbtrace(TRACE_READ(EP0), bcnt);
|
||||||
|
|
|
||||||
|
|
@ -308,6 +308,10 @@
|
||||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||||
|
|
||||||
|
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2
|
||||||
|
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_2
|
||||||
|
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
|
||||||
|
|
||||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
|
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
|
||||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
|
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
|
||||||
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
|
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
|
||||||
|
|
@ -321,6 +325,8 @@
|
||||||
#define PX4_SPIDEV_ACCEL 2
|
#define PX4_SPIDEV_ACCEL 2
|
||||||
#define PX4_SPIDEV_MPU 3
|
#define PX4_SPIDEV_MPU 3
|
||||||
|
|
||||||
|
#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Tone alarm output
|
* Tone alarm output
|
||||||
*/
|
*/
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,42 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* nsh_romfsetc.h
|
||||||
|
*
|
||||||
|
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||||
|
* must be supplied by the library client.
|
||||||
|
*/
|
||||||
|
|
||||||
|
extern unsigned char romfs_img[];
|
||||||
|
extern unsigned int romfs_img_len;
|
||||||
|
|
@ -41,99 +41,6 @@ CONFIGURED_APPS += examples/nsh
|
||||||
CONFIGURED_APPS += nshlib
|
CONFIGURED_APPS += nshlib
|
||||||
CONFIGURED_APPS += system/readline
|
CONFIGURED_APPS += system/readline
|
||||||
|
|
||||||
# System library - utility functions
|
|
||||||
CONFIGURED_APPS += systemlib
|
|
||||||
CONFIGURED_APPS += systemlib/mixer
|
|
||||||
|
|
||||||
# Math library
|
|
||||||
ifneq ($(CONFIG_APM),y)
|
|
||||||
CONFIGURED_APPS += mathlib
|
|
||||||
CONFIGURED_APPS += mathlib/CMSIS
|
|
||||||
CONFIGURED_APPS += examples/math_demo
|
|
||||||
endif
|
|
||||||
|
|
||||||
# Control library
|
|
||||||
ifneq ($(CONFIG_APM),y)
|
|
||||||
CONFIGURED_APPS += controllib
|
|
||||||
CONFIGURED_APPS += examples/control_demo
|
|
||||||
CONFIGURED_APPS += examples/kalman_demo
|
|
||||||
endif
|
|
||||||
|
|
||||||
# System utility commands
|
|
||||||
CONFIGURED_APPS += systemcmds/reboot
|
|
||||||
CONFIGURED_APPS += systemcmds/perf
|
|
||||||
CONFIGURED_APPS += systemcmds/top
|
|
||||||
CONFIGURED_APPS += systemcmds/boardinfo
|
|
||||||
CONFIGURED_APPS += systemcmds/mixer
|
|
||||||
CONFIGURED_APPS += systemcmds/eeprom
|
|
||||||
CONFIGURED_APPS += systemcmds/param
|
|
||||||
CONFIGURED_APPS += systemcmds/pwm
|
|
||||||
CONFIGURED_APPS += systemcmds/bl_update
|
|
||||||
CONFIGURED_APPS += systemcmds/preflight_check
|
|
||||||
CONFIGURED_APPS += systemcmds/delay_test
|
|
||||||
|
|
||||||
# Tutorial code from
|
|
||||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
|
||||||
# CONFIGURED_APPS += examples/px4_simple_app
|
|
||||||
|
|
||||||
# Tutorial code from
|
|
||||||
# https://pixhawk.ethz.ch/px4/dev/deamon
|
|
||||||
# CONFIGURED_APPS += examples/px4_deamon_app
|
|
||||||
|
|
||||||
# Tutorial code from
|
|
||||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
|
||||||
# CONFIGURED_APPS += examples/px4_mavlink_debug
|
|
||||||
|
|
||||||
# Shared object broker; required by many parts of the system.
|
|
||||||
CONFIGURED_APPS += uORB
|
|
||||||
|
|
||||||
CONFIGURED_APPS += mavlink
|
|
||||||
CONFIGURED_APPS += mavlink_onboard
|
|
||||||
CONFIGURED_APPS += commander
|
|
||||||
CONFIGURED_APPS += sdlog
|
|
||||||
CONFIGURED_APPS += sensors
|
|
||||||
|
|
||||||
ifneq ($(CONFIG_APM),y)
|
|
||||||
CONFIGURED_APPS += ardrone_interface
|
|
||||||
CONFIGURED_APPS += multirotor_att_control
|
|
||||||
CONFIGURED_APPS += multirotor_pos_control
|
|
||||||
CONFIGURED_APPS += position_estimator_mc
|
|
||||||
CONFIGURED_APPS += fixedwing_att_control
|
|
||||||
CONFIGURED_APPS += fixedwing_pos_control
|
|
||||||
CONFIGURED_APPS += position_estimator
|
|
||||||
CONFIGURED_APPS += position_estimator_inav
|
|
||||||
CONFIGURED_APPS += attitude_estimator_ekf
|
|
||||||
CONFIGURED_APPS += hott_telemetry
|
|
||||||
endif
|
|
||||||
|
|
||||||
# Hacking tools
|
|
||||||
#CONFIGURED_APPS += system/i2c
|
|
||||||
CONFIGURED_APPS += systemcmds/i2c
|
|
||||||
|
|
||||||
# Communication and Drivers
|
|
||||||
CONFIGURED_APPS += drivers/boards/px4fmu
|
|
||||||
CONFIGURED_APPS += drivers/device
|
|
||||||
CONFIGURED_APPS += drivers/ms5611
|
|
||||||
CONFIGURED_APPS += drivers/hmc5883
|
|
||||||
CONFIGURED_APPS += drivers/mpu6000
|
|
||||||
CONFIGURED_APPS += drivers/bma180
|
|
||||||
CONFIGURED_APPS += drivers/l3gd20
|
|
||||||
CONFIGURED_APPS += drivers/px4io
|
|
||||||
CONFIGURED_APPS += drivers/stm32
|
|
||||||
CONFIGURED_APPS += drivers/led
|
|
||||||
CONFIGURED_APPS += drivers/blinkm
|
|
||||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
|
||||||
CONFIGURED_APPS += drivers/stm32/adc
|
|
||||||
CONFIGURED_APPS += drivers/px4fmu
|
|
||||||
CONFIGURED_APPS += drivers/mkblctrl
|
|
||||||
CONFIGURED_APPS += drivers/hil
|
|
||||||
CONFIGURED_APPS += drivers/gps
|
|
||||||
CONFIGURED_APPS += drivers/mb12xx
|
|
||||||
|
|
||||||
# Testing stuff
|
|
||||||
CONFIGURED_APPS += px4/sensors_bringup
|
|
||||||
CONFIGURED_APPS += px4/tests
|
|
||||||
|
|
||||||
ifeq ($(CONFIG_CAN),y)
|
ifeq ($(CONFIG_CAN),y)
|
||||||
#CONFIGURED_APPS += examples/can
|
#CONFIGURED_APPS += examples/can
|
||||||
endif
|
endif
|
||||||
|
|
|
||||||
|
|
@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y
|
||||||
CONFIG_ARCH_INTERRUPTSTACK=n
|
CONFIG_ARCH_INTERRUPTSTACK=n
|
||||||
CONFIG_ARCH_STACKDUMP=y
|
CONFIG_ARCH_STACKDUMP=y
|
||||||
CONFIG_ARCH_BOOTLOADER=n
|
CONFIG_ARCH_BOOTLOADER=n
|
||||||
CONFIG_ARCH_LEDS=y
|
CONFIG_ARCH_LEDS=n
|
||||||
CONFIG_ARCH_BUTTONS=n
|
CONFIG_ARCH_BUTTONS=n
|
||||||
CONFIG_ARCH_CALIBRATION=n
|
CONFIG_ARCH_CALIBRATION=n
|
||||||
CONFIG_ARCH_DMA=y
|
CONFIG_ARCH_DMA=y
|
||||||
|
|
@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n
|
||||||
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
|
# CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing:
|
||||||
# 5.1234567
|
# 5.1234567
|
||||||
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
|
# CONFIG_HAVE_LONG_LONG - Enabled printf("%llu)
|
||||||
|
# CONFIG_LIBC_STRERR - allow printing of error text
|
||||||
|
# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text
|
||||||
#
|
#
|
||||||
CONFIG_NOPRINTF_FIELDWIDTH=n
|
CONFIG_NOPRINTF_FIELDWIDTH=n
|
||||||
CONFIG_LIBC_FLOATINGPOINT=y
|
CONFIG_LIBC_FLOATINGPOINT=y
|
||||||
CONFIG_HAVE_LONG_LONG=y
|
CONFIG_HAVE_LONG_LONG=y
|
||||||
|
CONFIG_LIBC_STRERROR=n
|
||||||
|
CONFIG_LIBC_STRERROR_SHORT=n
|
||||||
|
|
||||||
#
|
#
|
||||||
# Allow for architecture optimized implementations
|
# Allow for architecture optimized implementations
|
||||||
|
|
|
||||||
|
|
@ -100,12 +100,19 @@
|
||||||
* Some of the USART pins are not available; override the GPIO
|
* Some of the USART pins are not available; override the GPIO
|
||||||
* definitions with an invalid pin configuration.
|
* definitions with an invalid pin configuration.
|
||||||
*/
|
*/
|
||||||
|
#undef GPIO_USART2_CTS
|
||||||
#define GPIO_USART2_CTS 0xffffffff
|
#define GPIO_USART2_CTS 0xffffffff
|
||||||
|
#undef GPIO_USART2_RTS
|
||||||
#define GPIO_USART2_RTS 0xffffffff
|
#define GPIO_USART2_RTS 0xffffffff
|
||||||
|
#undef GPIO_USART2_CK
|
||||||
#define GPIO_USART2_CK 0xffffffff
|
#define GPIO_USART2_CK 0xffffffff
|
||||||
|
#undef GPIO_USART3_TX
|
||||||
#define GPIO_USART3_TX 0xffffffff
|
#define GPIO_USART3_TX 0xffffffff
|
||||||
|
#undef GPIO_USART3_CK
|
||||||
#define GPIO_USART3_CK 0xffffffff
|
#define GPIO_USART3_CK 0xffffffff
|
||||||
|
#undef GPIO_USART3_CTS
|
||||||
#define GPIO_USART3_CTS 0xffffffff
|
#define GPIO_USART3_CTS 0xffffffff
|
||||||
|
#undef GPIO_USART3_RTS
|
||||||
#define GPIO_USART3_RTS 0xffffffff
|
#define GPIO_USART3_RTS 0xffffffff
|
||||||
|
|
||||||
/*
|
/*
|
||||||
|
|
@ -157,5 +164,9 @@ extern "C" {
|
||||||
|
|
||||||
EXTERN void stm32_boardinitialize(void);
|
EXTERN void stm32_boardinitialize(void);
|
||||||
|
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif /* __ASSEMBLY__ */
|
#endif /* __ASSEMBLY__ */
|
||||||
#endif /* __ARCH_BOARD_BOARD_H */
|
#endif /* __ARCH_BOARD_BOARD_H */
|
||||||
|
|
|
||||||
|
|
@ -30,11 +30,3 @@
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
|
|
||||||
CONFIGURED_APPS += drivers/boards/px4io
|
|
||||||
CONFIGURED_APPS += drivers/stm32
|
|
||||||
|
|
||||||
CONFIGURED_APPS += px4io
|
|
||||||
|
|
||||||
# Mixer library from systemlib
|
|
||||||
CONFIGURED_APPS += systemlib/mixer
|
|
||||||
|
|
|
||||||
|
|
@ -43,6 +43,7 @@
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Included Files
|
* Included Files
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Pre-processor Definitions
|
* Pre-processor Definitions
|
||||||
|
|
@ -104,6 +105,13 @@ static void zeroes(FAR struct lib_outstream_s *obj, int nzeroes)
|
||||||
* Private Functions
|
* Private Functions
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
|
static void lib_dtoa_string(FAR struct lib_outstream_s *obj, const char *str)
|
||||||
|
{
|
||||||
|
while (*str) {
|
||||||
|
obj->put(obj, *str++);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/****************************************************************************
|
/****************************************************************************
|
||||||
* Name: lib_dtoa
|
* Name: lib_dtoa
|
||||||
*
|
*
|
||||||
|
|
@ -137,6 +145,20 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||||
int nchars; /* Number of characters to print */
|
int nchars; /* Number of characters to print */
|
||||||
int dsgn; /* Unused sign indicator */
|
int dsgn; /* Unused sign indicator */
|
||||||
int i;
|
int i;
|
||||||
|
bool done_decimal_point = false;
|
||||||
|
|
||||||
|
/* special handling for NaN and Infinity */
|
||||||
|
if (isnan(value)) {
|
||||||
|
lib_dtoa_string(obj, "NaN");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
if (isinf(value)) {
|
||||||
|
if (value < 0.0d) {
|
||||||
|
obj->put(obj, '-');
|
||||||
|
}
|
||||||
|
lib_dtoa_string(obj, "Infinity");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
/* Non-zero... positive or negative */
|
/* Non-zero... positive or negative */
|
||||||
|
|
||||||
|
|
@ -178,6 +200,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||||
if (prec > 0 || IS_ALTFORM(flags))
|
if (prec > 0 || IS_ALTFORM(flags))
|
||||||
{
|
{
|
||||||
obj->put(obj, '.');
|
obj->put(obj, '.');
|
||||||
|
done_decimal_point = true;
|
||||||
|
|
||||||
/* Always print at least one digit to the right of the decimal point. */
|
/* Always print at least one digit to the right of the decimal point. */
|
||||||
|
|
||||||
|
|
@ -203,6 +226,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||||
/* Print the decimal point */
|
/* Print the decimal point */
|
||||||
|
|
||||||
obj->put(obj, '.');
|
obj->put(obj, '.');
|
||||||
|
done_decimal_point = true;
|
||||||
|
|
||||||
/* Print any leading zeros to the right of the decimal point */
|
/* Print any leading zeros to the right of the decimal point */
|
||||||
|
|
||||||
|
|
@ -249,6 +273,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||||
/* Print the decimal point */
|
/* Print the decimal point */
|
||||||
|
|
||||||
obj->put(obj, '.');
|
obj->put(obj, '.');
|
||||||
|
done_decimal_point = true;
|
||||||
|
|
||||||
/* Always print at least one digit to the right of the decimal
|
/* Always print at least one digit to the right of the decimal
|
||||||
* point.
|
* point.
|
||||||
|
|
@ -285,8 +310,9 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec,
|
||||||
}
|
}
|
||||||
|
|
||||||
/* Finally, print any trailing zeroes */
|
/* Finally, print any trailing zeroes */
|
||||||
|
if (done_decimal_point) {
|
||||||
zeroes(obj, prec);
|
zeroes(obj, prec);
|
||||||
|
}
|
||||||
|
|
||||||
/* Is this memory supposed to be freed or not? */
|
/* Is this memory supposed to be freed or not? */
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1215,7 +1215,7 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
|
||||||
fmt = FMT_RJUST;
|
fmt = FMT_RJUST;
|
||||||
width = 0;
|
width = 0;
|
||||||
#ifdef CONFIG_LIBC_FLOATINGPOINT
|
#ifdef CONFIG_LIBC_FLOATINGPOINT
|
||||||
trunc = 0;
|
trunc = 6;
|
||||||
#endif
|
#endif
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
@ -1245,6 +1245,11 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a
|
||||||
{
|
{
|
||||||
#ifndef CONFIG_NOPRINTF_FIELDWIDTH
|
#ifndef CONFIG_NOPRINTF_FIELDWIDTH
|
||||||
fmt = FMT_RJUST0;
|
fmt = FMT_RJUST0;
|
||||||
|
#ifdef CONFIG_LIBC_FLOATINGPOINT
|
||||||
|
if (IS_HASDOT(flags)) {
|
||||||
|
trunc = 0;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
#if 0
|
#if 0
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
/*
|
||||||
|
* This is an empty C source file, used when building default firmware configurations.
|
||||||
|
*/
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue