Commit Graph

549 Commits

Author SHA1 Message Date
Mark Charlebois 76e28ac952 Use of != compare of floats in AttitudeEKF.c
This is a bug and is unsafe. I am not going to change the code but
it needs to be changed to a cast to int or a <= as it is unsafe to
check for equality with 0.0F.

Disabled warning for GCC 4.9 for now.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:35:48 -07:00
Mark Charlebois 1d676b2e10 Moved linux/drivers/accel to linux/drivers/accelsim
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:35:47 -07:00
Mark Charlebois eab32572f4 Linux: Added thread safe getopt
The getopt command uses global variables and is not thread safe.

Created a minimal px4_getopt version that supports options with
or without an arg, and random placement of options on the command line.

This version modifies the order of the args in argv as does the
POSIX version of getopt.

This assumes that argv[0] is the program name. Nuttx may not support
that properly in task_spawn.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:35:47 -07:00
Mark Charlebois 440fc306a9 Added accelerometer simulator
The simulator satisfies the dependencies for an accelerometer
being present.

The accel code compiles but is not fully functional.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:35:47 -07:00
Lorenz Meier 07b16ffa01 Enable estimators in config 2015-04-20 11:27:17 -07:00
Mark Charlebois 509f7f9fdb Linux: changed to use submodule version of eigen vs system version
Eigen no longer needs to be installed on the build machine as it is
downloaded as a submodule.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:17:21 -07:00
Mark Charlebois 1805c21226 Linux: default to clang build
The build will now fail if clang is not found. To force the use
of GCC, use:

   make USE_GCC=1

The toolchain makefile was modified so it no longer checks for
various versions of clang if USE_GCC=1 is passed.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois e3f137ce23 Fixed gcc 4.8 warnings
Disabled gcc warnings that are tripped by Eigen.

Removed signal code that is not needed in Linux port and was
causing gcc warnings.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois eabc44afbe Linux: Added work queue support and unit test
PX4 uses NuttX data structures throughout so those data structures
were preserved and used to implement high and low priority queues.

A unit test for the work queues was added.

The polling rate of the queues are set in px4_config.h in
CONFIG_SCHED_WORKPERIOD. The units are milliseconds.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois cf71db74d7 Support to specify build time OS target
Now run:

make PX4_TARGET_OS=nuttx

or

make PX4_TARGET_OS=linux

To test the linux build and make sure that the required directories
exist, run:

make linuxrun

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois bb7c8163b9 Linux: commented out tests
The src/platform/linux/tests modules were commented out in the
config file.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois 31edc08cea Linux: added missing -pthread flag
LDFLAGS was missing -pthread

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois 2cd44a24ea Linux: Added linker script support for param and added mc_att_control
Added linker script to resolve __param_start and __param_end.

Added mc_att_control to list of supported builtins.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois 977036faf9 Linux: changed param to nit use errx or exit
Thread based implementaton can't call errx or exit

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:16:26 -07:00
Mark Charlebois 5f3496353c Linux: added support for sdlog2
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:15:12 -07:00
Mark Charlebois df53defca6 Linux: Add support for blinkm to test I2C layering
Running the blinkm device to test I2C

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:13:24 -07:00
Mark Charlebois 90818363eb Linux: fix for undefined BO in mavlink_main_linux.cpp
if termios.h is included before mathlib.h then BO is undefined.
Since mathlib.h is not needed it was removed but I still don't
know why this error occurs.

Also added -lrt to link flags for clock_gettime

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:13:24 -07:00
Mark Charlebois 1cdc44828d Linux - revert to preferentially use clang over gcc
Removed hardcoded requirement to use gcc

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:13:24 -07:00
Mark Charlebois 11e971eaa0 Linux: min gcc version is 4.8.1
PX4 will not build with gcc-4.6.

If you are running Ubuntu 12.04 still (you poor old sod) follow the directions at

http://ubuntuhandbook.org/index.php/2013/08/install-gcc-4-8-via-ppa-in-ubuntu-12-04-13-04/

to install gcc-4.8.1

Alternatively you can install clang 3.4.1 for Ubuntu 12.04 from

http://llvm.org/releases/3.4.1/clang+llvm-3.4.1-x86_64-unknown-ubuntu12.04.tar.xz

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:13:24 -07:00
Mark Charlebois ac0df5c61d Linux: added HRT test, moved tests to linux/tests
Also fixed naming of mavlink files for NuttX build.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:07:00 -07:00
Mark Charlebois 88a0081112 Linux: Added support for gcc-4.9.1
Fixed bug with missing quote in #error found by gcc 4.9.1

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:07:00 -07:00
Mark Charlebois d013ac0927 Support for building more modules with Linux
Added more queue support to linux/px4_layer.

Use virt char devices for ms5611, and mavlink.

Added more HRT functionality. uORB latency test
now fails. Likely due to bad HRT impl for Linux.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:07:00 -07:00
Mark Charlebois 2abfb7a5be Linux: added queue files for dataman support
The dataman module now works under linux using /tmp/dataman as the
file path. Two files from NuttX were added to the Linux impl for
single linked queue handling.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:18 -07:00
Mark Charlebois 7b0783a070 Added MuORB based on virtual CDev implementation
uORB module now compiles and runs for Linux using the
virtual CDev implementation.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:18 -07:00
Mark Charlebois f3596e555b Added
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois a25ae71f99 Linux: support ld.gold
The -Ur option is not supported in gold

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois aeb65702a2 Fixed support for clang 3.5
"clang-3.5 -dumpversion" returns 4.2.1 as the GCC version.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois a68f025ff9 Added support for other clang on Ubuntu 12.04
A Ubuntu 12.04 compatible version of clang-3.4.1 can be downloaded from
http://llvm.org/releases/3.4.1/clang+llvm-3.4.1-x86_64-unknown-ubuntu12.04.tar.xz

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois 672ba1a43b Linux: support gcc-4.6 and c++0x
GCC 4.6 is too old for -std=c++11 but it supports -std=c++0x

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois 35e00f0ba1 Added missing _PX4_IOC substitutions
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois 5084a61f0e Abstractions to compile systemlib for Linux and Nuttx
Modified uint32_t casts of pointers to unsigned long for portability.
It otherwise breaks on x86_64.

Added _PX4_IOC to handle the conflice between _IOC on Linux and NuttX.

Removed use of px4::ok() because it cannot be used in a thread based
implementation. Changed to use px4::AppMgr which uses ok() on ROS.

Removed up_cxxinitialize.c from Linux build.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 11:00:16 -07:00
Mark Charlebois 89e1b454af Linux: added support for gcc 4.6
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 10:57:01 -07:00
Mark Charlebois 566c3ed3c3 Linux: Autodetect clang-3.5 toolchain
Use clang-3.5 if found, otherwise gcc

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 10:57:01 -07:00
Mark Charlebois 62f8bd6679 Linux build support for some libs
The following libs can now be built under Linux:

   lib/mathlib
   lib/geo
   lib/geo_lookup

The constants used for ROS are now shared with Linux in
px4_defines.h

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 10:57:01 -07:00
Mark Charlebois 51a71d54c6 checksubmodules target needed for Linux build
Moved checksubmodules target back to Makefile.
NuttX download still done for Linux as it would require
too much surgery to remove it.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 10:46:44 -07:00
Mark Charlebois 520459062d Initial Linux support including execution shell
Uncomment the following line in setup.mk and comment out the line above
to enable the Linux build.

   export PX4_TARGET_OS	 = linux

The build uses the clang compiler by default. The final bundled executable
is mainapp located in:

   Build/linux_default.build/mainapp

When you run mainapp it will provide a list of the built-in apps. You can
type in the commands to run such as:

   hello_main start

Because the Linux build is threaded and does not support tasks or processes,
it cannot call errx, exit() _exit(), etc. It also requires unique scoped
variables to test if a thread is running or if an application should exit.
The px4::AppMgr class was added in px4_app.h for this purpose. The
hello sample app demonstrates how this is used.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 10:46:43 -07:00
Mark Charlebois 838e9fc769 Refactoring for multiplatform support
Moved the NuttX specific board files to makefiles/nuttx and added
a makfiles/linux directory with sample config and board files.

Created a makefiles/toolchain_native.mk file for building for Linux
with the native system compiler. GCC or clang can be used by setting
a flag in the file.

The Linux build creates an archive file and will build the tasks as
threads. Other code changes are required to support both task based
and thread based builds.

The NuttX source should not be required for the Linux build. The
target OS (NuttX or Linux) is selected by commenting out the desired
line in setup.mk

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-04-20 10:46:43 -07:00
Johan Jansen a6c57afabd Make: Remove deprecated preflight check 2015-04-20 09:14:13 +02:00
Johan Jansen ba25f7a290 Make: Disable build of preflight check (pending removal) 2015-04-20 09:14:13 +02:00
Lorenz Meier f8cf495494 Revert "Added ability for board specific meta data generation"
This reverts commit 9ac350a7d1.
2015-04-18 11:38:23 +02:00
Don Gagne 9ac350a7d1 Added ability for board specific meta data generation
Use new @board meta data attribute for board specific ifdef support
2015-04-18 11:14:12 +02:00
Daniel Agar 207b57869d only define GIT_VERSION where it's used
-when the git revision is passed to every file as a define it causes
unnecessary ccache cache misses
2015-04-18 01:25:54 -04:00
Lorenz Meier 3ee9b441c6 Add STM32F4 discovery config. 2015-04-16 22:51:08 +02:00
Anton Babushkin dc2bb2a85e attitude_estimator_q added 2015-04-12 01:47:48 +02:00
Lorenz Meier 49834b11cb Merge pull request #1938 from Grawp/master
Fix generating $3_len in BIN_TO_OBJ makefile function
2015-03-21 08:10:32 +01:00
Michal Ulianko 631e518c45 BIN_TO_OBJ: Change NM radix back to hex so multiple leading zeros in NM output won't generate octal constant in C. 2015-03-21 00:31:52 +01:00
Michal Ulianko 354809bff4 BIN_TO_OBJ: Switch egrep and cut to $(GREP). Use posix format and decimal radix with $(NM). 2015-03-20 23:22:42 +01:00
Lorenz Meier 6b494ee0f0 Remove boardinfo ccommand 2015-03-20 09:43:45 +01:00
Michal Ulianko c5ae02deda Fix generating $3_len in BIN_TO_OBJ makefile function 2015-03-19 19:50:05 +01:00
Lorenz Meier 6aba6a4f88 FMUv1: Disabled RAM-hogging apps 2015-03-07 14:16:46 +01:00
Anton Matosov 72274062c1 Renamed servo_gimbal to simply 'gimbal' as HW is behind the scene and doesn't really matter here 2015-03-06 18:57:37 -08:00
Lorenz Meier 8a6698b6e6 drivers/servo_gimbal: Added servo gimbal 2015-03-06 18:57:37 -08:00
Randy Mackay 9a3ea61569 build: add oreoled to px4fmu-v2_default 2015-02-25 15:10:11 +01:00
Lorenz Meier e59aaa771c Rover: Add simple steering controller. 2015-02-19 21:51:53 +01:00
James Goppert d736311982 Added flow position estimator to default apps. 2015-02-11 21:11:23 -05:00
Lorenz Meier 769df2ff47 Toolchain: Add more compiler options, add note about -Wfloat-conversion warning (available with GCC 4.9). Needs work. 2015-02-08 12:17:35 +01:00
Lorenz Meier d441d38677 Merged master into ros 2015-02-02 21:21:51 +01:00
Lorenz Meier 344e969428 FMUv2 test: Enable sensors module 2015-02-01 13:11:24 +01:00
Lorenz Meier a3f577e642 FMUv2: Re-enable missing sensors 2015-02-01 13:11:05 +01:00
Lorenz Meier f51dd7556e FMUv1: Re-enable missing sensors 2015-02-01 13:10:45 +01:00
Thomas Gubler 0dc511a76b remove unintended/leftover changes in fmu2 default makefile 2015-02-01 12:20:54 +01:00
Thomas Gubler 68e35ef0fd remove unintended/leftover changes in test makefile 2015-02-01 12:19:42 +01:00
Thomas Gubler 84ff3c671d Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl
Conflicts:
	src/drivers/px4fmu/fmu.cpp
2015-02-01 11:06:47 +01:00
Lorenz Meier 1cc4c808a8 Upgrade UAVCAN to multi pub/sub A API 2015-01-29 16:33:53 +01:00
Lorenz Meier cc7a00b96e Disable UAVCAN build until sensors use all new-style API and UAVCAN sensors base class can be reworked to use it consistently 2015-01-29 16:33:53 +01:00
Lorenz Meier 7932e2eda2 Add top to test build 2015-01-29 16:33:52 +01:00
David Sidrane 6606b56364 Updated NuttX submodule with memcpy fix, disabled run time stack checking and added modules back in 2015-01-29 04:49:39 -10:00
Thomas Gubler 1915537281 initial port of multiplatform version of mc_pos_control 2015-01-28 16:32:20 +01:00
Thomas Gubler 856b10cc1a Revert "temporarily re-enable stack checking, disable some modules to make firmware fit"
This reverts commit 27b2701340.
2015-01-28 16:29:25 +01:00
Thomas Gubler 2728889f78 Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge_attctlposctl 2015-01-28 16:29:14 +01:00
Thomas Gubler 27b2701340 temporarily re-enable stack checking, disable some modules to make firmware fit 2015-01-28 10:21:42 +01:00
Thomas Gubler ee6395c502 enable mc att multiplatform in makefile 2015-01-25 13:38:47 +01:00
Simon Wilks f5a1680fd6 Add landing detector for V1 boards as well. 2015-01-24 14:18:28 +01:00
Thomas Gubler 1ad6e00234 re-enable warnings/errors 2015-01-23 07:16:07 +01:00
Thomas Gubler 8c4fce3654 multiplatform: better publisher base class 2015-01-22 09:30:43 +01:00
Thomas Gubler 52a2a23cc7 Merge remote-tracking branch 'upstream/ros' into ros_messagelayer_merge 2015-01-21 15:50:54 +01:00
Thomas Gubler 1628999361 Revert "Fixes to make GCC 4.9 link"
This reverts commit 85b6907e1d.
2015-01-21 15:44:15 +01:00
David Sidrane 517e1e8d48 Fixed permissions 2015-01-21 14:54:25 +01:00
David Sidrane 4b8feb03cf Match the OS build's CONFIG_ARMV7M_STACKCHECK setting by using actual setting in the exported nuttx config.h file to control each board build setting of ENABLE_STACK_CHECKS in toolchain_gnu-arm-eabi.mk 2015-01-21 14:54:24 +01:00
Pavel Kirienko f6786d0be9 Removing -ffixed-r10 when stack checks aren't enabled 2015-01-21 14:54:24 +01:00
Pavel Kirienko 2ebd7099de Globally configurable stack checks, R10 is always fixed 2015-01-21 14:54:24 +01:00
Pavel Kirienko 4b1782174c INSTRUMENTATIONDEFINES assignment made non-optional 2015-01-21 14:54:24 +01:00
Pavel Kirienko 1d13edcf92 Stack checks made optional: ENABLE_STACK_CHECKS 2015-01-21 14:54:24 +01:00
Pavel Kirienko c2bc298409 Disable instrumentation for the uavcan module 2015-01-21 14:54:24 +01:00
Pavel Kirienko 569c3b7d37 Using -g3 flag instead of -g 2015-01-21 14:54:23 +01:00
Pavel Kirienko d87bb4dfcb Revert "Intrusive changes made for UAVCAN profiling. Will be reverted in the next commit (this one is needed to keep the changes in history)"
This reverts commit 4c301d9dcf180e39186fa6753c7a3d3215b3cfa7.
2015-01-21 14:54:23 +01:00
Pavel Kirienko 6bbacc4271 Intrusive changes made for UAVCAN profiling. Will be reverted in the next commit (this one is needed to keep the changes in history) 2015-01-21 14:54:23 +01:00
Thomas Gubler dcdde8ea88 Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge
Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
2015-01-21 14:41:03 +01:00
Thomas Gubler cadcad6ffb messagelayer prototype for nuttx 2015-01-21 14:27:01 +01:00
Thomas Gubler 7c3223b860 added a messageplayer prototype for ros 2015-01-21 14:26:22 +01:00
Lorenz Meier d1eac3510b DELETE DURING REBASE: Remove some apps to make space 2015-01-21 13:40:10 +01:00
Lorenz Meier 85b6907e1d Fixes to make GCC 4.9 link 2015-01-21 13:39:36 +01:00
Lorenz Meier f176147d2a Allow GCC 4.9.3 2015-01-21 11:06:57 +01:00
Lorenz Meier e8e4a3b5da Allow GCC 4.9.3 2015-01-21 11:04:56 +01:00
Johan Jansen 9ea086bf2d Astyle: Run astyle to fix code formatting 2015-01-15 14:37:51 +01:00
Johan Jansen 10a2dd8a34 LandDetector: Merged fixedwing and multicopter into one module handling both algorithms 2015-01-15 14:37:51 +01:00
Johan Jansen 642063c3b8 LandDetector: Added crude land detectors for multicopter and fixedwing 2015-01-15 14:37:50 +01:00
Thomas Gubler b2366aaa22 Merge remote-tracking branch 'upstream/master' into ros 2015-01-09 08:07:00 +01:00
Lorenz Meier adbe7246b7 Temporarily disable HoTT support 2015-01-09 07:09:58 +01:00
Thomas Gubler 0893f9fd96 remove uavcan from multiplatform build, problems with linking 2015-01-06 19:13:39 +01:00