fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 17:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge working changes into export-build branch.

Browse Source
This commit is contained in:
px4dev
2013-04-26 16:14:32 -07:00
parent ce0e4a3afd
commit 01e427b17c
102 changed files with 1088 additions and 621 deletions
Download Patch File Download Diff File Expand all files Collapse all files
makefiles/board_px4fmu.mk
+1 -1
View File
@@ -1,5 +1,5 @@
#
# Platform-specific definitions for the PX4FMU
# Board-specific definitions for the PX4FMU
#
#
makefiles/board_px4io.mk
+1 -1
View File
@@ -1,5 +1,5 @@
#
# Platform-specific definitions for the PX4IO
# Board-specific definitions for the PX4IO
#
#
makefiles/config_px4fmu_default.mk
+21 -7
View File
@@ -5,7 +5,26 @@
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG)
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
#
# Board support modules
#
MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu
MODULES += drivers/l3gd20
MODULES += drivers/ardrone_interface
MODULES += systemcmds/eeprom
#
# General system control
#
MODULES += modules/commander
#
# Estimation modules (EKF / other filters)
#
#MODULES += modules/attitude_estimator_ekf
#
# Transitional support - add commands from the NuttX export archive.
@@ -22,25 +41,19 @@ endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, adc, , 2048, adc_main ) \
$(call _B, ardrone_interface, SCHED_PRIORITY_MAX-15, 2048, ardrone_interface_main ) \
$(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \
$(call _B, bl_update, , 4096, bl_update_main ) \
$(call _B, blinkm, , 2048, blinkm_main ) \
$(call _B, bma180, , 2048, bma180_main ) \
$(call _B, boardinfo, , 2048, boardinfo_main ) \
$(call _B, commander, SCHED_PRIORITY_MAX-30, 2048, commander_main ) \
$(call _B, control_demo, , 2048, control_demo_main ) \
$(call _B, delay_test, , 2048, delay_test_main ) \
$(call _B, eeprom, , 4096, eeprom_main ) \
$(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \
$(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \
$(call _B, fmu, , 2048, fmu_main ) \
$(call _B, gps, , 2048, gps_main ) \
$(call _B, hil, , 2048, hil_main ) \
$(call _B, hmc5883, , 4096, hmc5883_main ) \
$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
$(call _B, l3gd20, , 2048, l3gd20_main ) \
$(call _B, math_demo, , 8192, math_demo_main ) \
$(call _B, mavlink, , 2048, mavlink_main ) \
$(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \
@@ -62,4 +75,5 @@ BUILTIN_COMMANDS := \
$(call _B, tests, , 12000, tests_main ) \
$(call _B, tone_alarm, , 2048, tone_alarm_main ) \
$(call _B, top, SCHED_PRIORITY_DEFAULT-10, 3000, top_main ) \
$(call _B, param, SCHED_PRIORITY_DEFAULT-10, 2048, param_main ) \
$(call _B, uorb, , 4096, uorb_main )
makefiles/firmware.mk
+42 -23
View File
@@ -64,7 +64,16 @@
# path to this file.
#
# CONFIG:
# Used to set the output filename; defaults to 'firmware'.
# 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
@@ -92,11 +101,14 @@
# If PX4_BASE wasn't set previously, work out what it should be
# and set it here now.
#
MK_DIR ?= $(dir $(lastword $(MAKEFILE_LIST)))
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
@@ -115,13 +127,14 @@ 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
CONFIG_FILE := $(firstword $(wildcard $(CONFIG)) $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk))
ifeq ($(CONFIG_FILE),)
$(error Can't find a config file called $(CONFIG) or $(PX4_MK_DIR)/config_$(CONFIG).mk)
endif
export CONFIG
include $(CONFIG_FILE)
$(info % CONFIG = $(CONFIG))
@@ -211,10 +224,7 @@ MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module
$(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
$(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
$(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
@$(ECHO) %%
@$(ECHO) %% Building module using $(mkfile)
@$(ECHO) %%
$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
MODULE_WORK_DIR=$(dir $@) \
MODULE_OBJ=$@ \
MODULE_MK=$(mkfile) \
@@ -230,7 +240,7 @@ $(MODULE_CLEANS): relpath = $(patsubst $(WORK_DIR)%,%,$@)
$(MODULE_CLEANS): mkfile = $(patsubst %clean,%module.mk,$(relpath))
$(MODULE_CLEANS):
@$(ECHO) %% cleaning using $(mkfile)
$(Q) $(MAKE) -f $(PX4_MK_DIR)module.mk \
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
MODULE_WORK_DIR=$(dir $@) \
MODULE_MK=$(mkfile) \
clean
@@ -246,6 +256,9 @@ include $(PX4_MK_DIR)/nuttx.mk
################################################################################
ifneq ($(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
@@ -272,7 +285,7 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
# Generate the ROMFS image from the root
$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
@$(ECHO) %% generating $@
@$(ECHO) "ROMFS: $@"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)
@@ -298,10 +311,12 @@ endif
#
BUILTIN_CSRC = $(WORK_DIR)builtin_commands.c
# add command definitions from modules
BUILTIN_COMMAND_FILES := $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)
BUILTIN_COMMANDS += $(subst COMMAND.,,$(notdir $(BUILTIN_COMMAND_FILES)))
# 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>)
@@ -315,17 +330,19 @@ define BUILTIN_DEF
endef
# Don't generate until modules have updated their command files
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(BUILTIN_COMMAND_FILES)
@$(ECHO) %% generating $@
$(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));' >> $@
$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
SRCS += $(BUILTIN_CSRC)
@@ -358,7 +375,7 @@ endif
#
PRODUCT_BUNDLE = $(WORK_DIR)firmware.px4
PRODUCT_BIN = $(WORK_DIR)firmware.bin
PRODUCT_SYM = $(WORK_DIR)firmware.sym
PRODUCT_ELF = $(WORK_DIR)firmware.elf
.PHONY: firmware
firmware: $(PRODUCT_BUNDLE)
@@ -393,10 +410,10 @@ $(PRODUCT_BUNDLE): $(PRODUCT_BIN)
--git_identity $(PX4_BASE) \
--image $< > $@
$(PRODUCT_BIN): $(PRODUCT_SYM)
$(PRODUCT_BIN): $(PRODUCT_ELF)
$(call SYM_TO_BIN,$<,$@)
$(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
$(PRODUCT_ELF): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
#
@@ -407,17 +424,19 @@ $(PRODUCT_SYM): $(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF
upload: $(PRODUCT_BUNDLE) $(PRODUCT_BIN)
$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
METHOD=serial \
PRODUCT=$(PRODUCT) \
CONFIG=$(CONFIG) \
BOARD=$(BOARD) \
BUNDLE=$(PRODUCT_BUNDLE) \
BIN=$(PRODUCT_BIN)
.PHONY: clean
clean: $(MODULE_CLEANS)
@$(ECHO) %% cleaning
$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_SYM)
$(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 $(OBJS)
#
makefiles/module.mk
+27 -7
View File
@@ -75,6 +75,18 @@
# the list should be formatted as:
# <command>.<priority>.<stacksize>.<entrypoint>
#
# INCLUDE_DIRS (optional, must be appended)
#
# The list of directories searched for include files. If non-standard
# includes (e.g. those from another module) are required, paths to search
# can be added here.
#
# DEFAULT_VISIBILITY (optional)
#
# If not set, global symbols defined in a module will not be visible
# outside the module. Symbols that should be globally visible must be
# marked __EXPORT.
# If set, global symbols defined in a module will be globally visible.
#
#
@@ -96,12 +108,7 @@
ifeq ($(MODULE_MK),)
$(error No module makefile specified)
endif
$(info % MODULE_MK = $(MODULE_MK))
#
# Get path and tool config
#
include $(PX4_BASE)/makefiles/setup.mk
$(info %% MODULE_MK = $(MODULE_MK))
#
# Get the board/toolchain config
@@ -144,12 +151,25 @@ MODULE_COMMAND_FILES := $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODU
$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
@$(ECHO) COMMAND: $(command)
@$(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
################################################################################
makefiles/nuttx.mk
+5 -2
View File
@@ -63,7 +63,10 @@ LDSCRIPT += $(NUTTX_EXPORT_DIR)build/ld.script
#
# Add directories from the NuttX export to the relevant search paths
#
INCLUDE_DIRS += $(NUTTX_EXPORT_DIR)include
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 \
@@ -71,5 +74,5 @@ LINK_DEPS += $(NUTTX_EXPORT_DIR)libs/libapps.a \
$(NUTTX_CONFIG_HEADER): $(NUTTX_ARCHIVE)
@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
$(Q) $(UNZIP) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
$(Q) $(TOUCH) $@
makefiles/setup.mk
+22 -12
View File
@@ -41,7 +41,8 @@
# the number of duplicate slashes we have lying around in paths,
# and is consistent with joining the results of $(dir) and $(notdir).
#
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src/modules)/
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)/
@@ -51,24 +52,33 @@ 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_INCLUDE_DIR)
# Include from legacy app/library path
export INCLUDE_DIRS += $(NUTTX_APP_SRC)
#
# Tools
#
MKFW = $(PX4_BASE)/Tools/px_mkfw.py
UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
COPY = cp
REMOVE = rm -f
RMDIR = rm -rf
GENROMFS = genromfs
TOUCH = touch
MKDIR = mkdir
ECHO = echo
UNZIP = unzip
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
#
# Host-specific paths, hacks and fixups
#
SYSTYPE := $(shell uname -s)
export SYSTYPE := $(shell uname -s)
ifeq ($(SYSTYPE),Darwin)
# Eclipse may not have the toolchain on its path.
makefiles/toolchain_gnu-arm-eabi.mk
+1
View File
@@ -157,6 +157,7 @@ CXXFLAGS = $(ARCHCXXFLAGS) \
$(INSTRUMENTATIONDEFINES) \
$(ARCHDEFINES) \
$(EXTRADEFINES) \
-DCONFIG_WCHAR_BUILTIN \
$(addprefix -I,$(INCLUDE_DIRS))
# Flags we pass to the assembler
makefiles/upload.mk
+3 -3
View File
@@ -21,11 +21,11 @@ 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)-$(PRODUCT)
all: upload-$(METHOD)-$(PRODUCT)
.PHONY: all upload-$(METHOD)-$(BOARD)
all: upload-$(METHOD)-$(BOARD)
upload-serial-px4fmu: $(BUNDLE) $(UPLOADER)
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
#
# JTAG firmware uploading with OpenOCD