mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 07:33:34 +08:00
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>
This commit is contained in:
Mark Charlebois
@@ -0,0 +1,11 @@
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#
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# Board-specific definitions for the Gumstix AeroCore
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM4F
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CONFIG_BOARD = AEROCORE
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@@ -0,0 +1,11 @@
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#
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# Board-specific definitions for the PX4FMU
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM4F
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CONFIG_BOARD = PX4FMU_V1
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@@ -0,0 +1,11 @@
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#
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# Board-specific definitions for the PX4FMUv2
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM4F
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CONFIG_BOARD = PX4FMU_V2
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@@ -0,0 +1,11 @@
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#
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# Board-specific definitions for the PX4IO
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM3
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CONFIG_BOARD = PX4IO_V1
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@@ -0,0 +1,11 @@
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#
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# Board-specific definitions for the PX4IOv2
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#
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#
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM3
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CONFIG_BOARD = PX4IO_V2
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@@ -0,0 +1,125 @@
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#
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# Makefile for the AeroCore *default* configuration
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#
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#
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# Use the configuration's ROMFS.
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#
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ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4fmu
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MODULES += drivers/boards/aerocore
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MODULES += drivers/lsm303d
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MODULES += drivers/l3gd20
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MODULES += drivers/ms5611
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MODULES += drivers/gps
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MODULES += drivers/hil
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MODULES += modules/sensors
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#
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# System commands
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#
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MODULES += systemcmds/ver
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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MODULES += systemcmds/pwm
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MODULES += systemcmds/esc_calib
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MODULES += systemcmds/reboot
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MODULES += systemcmds/top
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MODULES += systemcmds/config
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MODULES += systemcmds/nshterm
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MODULES += systemcmds/mtd
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MODULES += systemcmds/dumpfile
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#
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# General system control
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#
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MODULES += modules/commander
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MODULES += modules/navigator
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MODULES += modules/mavlink
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#
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# Estimation modules (EKF/ SO3 / other filters)
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#
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MODULES += modules/attitude_estimator_ekf
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MODULES += modules/attitude_estimator_so3
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MODULES += modules/ekf_att_pos_estimator
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MODULES += modules/position_estimator_inav
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#
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# Vehicle Control
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#
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MODULES += modules/fw_pos_control_l1
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MODULES += modules/fw_att_control
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MODULES += modules/mc_att_control
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MODULES += modules/mc_pos_control
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/systemlib/mixer
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MODULES += modules/controllib
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MODULES += modules/uORB
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MODULES += modules/dataman
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#
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# Libraries
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#
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LIBRARIES += lib/mathlib/CMSIS
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MODULES += lib/mathlib
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MODULES += lib/mathlib/math/filter
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MODULES += lib/ecl
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MODULES += lib/external_lgpl
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MODULES += lib/geo
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MODULES += lib/geo_lookup
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MODULES += lib/conversion
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MODULES += lib/launchdetection
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#
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# Demo apps
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#
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#MODULES += examples/math_demo
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/hello_sky
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MODULES += examples/px4_simple_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/daemon
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#MODULES += examples/px4_daemon_app
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/debug_values
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#MODULES += examples/px4_mavlink_debug
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
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#MODULES += examples/fixedwing_control
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# Hardware test
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#MODULES += examples/hwtest
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#
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# Transitional support - add commands from the NuttX export archive.
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#
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# In general, these should move to modules over time.
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#
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# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
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# to make the table a bit more readable.
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#
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define _B
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$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
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endef
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BUILTIN_COMMANDS := \
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$(call _B, hello, , 2048, hello_main) \
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$(call _B, i2c, , 2048, i2c_main)
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@@ -0,0 +1,159 @@
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#
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# Makefile for the px4fmu_default configuration
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#
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#
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# Use the configuration's ROMFS.
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#
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ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
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ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
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#
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# Board support modules
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#
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MODULES += drivers/device
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MODULES += drivers/stm32
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MODULES += drivers/stm32/adc
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MODULES += drivers/stm32/tone_alarm
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MODULES += drivers/led
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MODULES += drivers/px4io
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MODULES += drivers/px4fmu
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MODULES += drivers/boards/px4fmu-v1
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MODULES += drivers/ardrone_interface
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MODULES += drivers/l3gd20
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MODULES += drivers/mpu6000
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MODULES += drivers/hmc5883
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MODULES += drivers/ms5611
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MODULES += drivers/ll40ls
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MODULES += drivers/trone
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MODULES += drivers/mb12xx
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MODULES += drivers/gps
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MODULES += drivers/hil
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MODULES += drivers/blinkm
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MODULES += drivers/rgbled
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MODULES += drivers/mkblctrl
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MODULES += drivers/airspeed
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MODULES += drivers/ets_airspeed
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MODULES += drivers/meas_airspeed
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MODULES += drivers/frsky_telemetry
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MODULES += modules/sensors
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#
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# System commands
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#
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MODULES += systemcmds/mtd
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MODULES += systemcmds/mixer
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MODULES += systemcmds/param
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MODULES += systemcmds/perf
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MODULES += systemcmds/pwm
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MODULES += systemcmds/esc_calib
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MODULES += systemcmds/reboot
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MODULES += systemcmds/top
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MODULES += systemcmds/config
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MODULES += systemcmds/nshterm
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MODULES += systemcmds/dumpfile
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MODULES += systemcmds/ver
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#
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# General system control
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#
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MODULES += modules/commander
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MODULES += modules/navigator
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MODULES += modules/mavlink
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MODULES += modules/gpio_led
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MODULES += modules/land_detector
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#
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# Estimation modules (EKF / other filters)
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#
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# Too high RAM usage due to static allocations
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# MODULES += modules/attitude_estimator_ekf
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MODULES += modules/ekf_att_pos_estimator
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# Since attitude_estimator_ekf is disabled, this app won't be
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# worthwhile on its own
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# MODULES += modules/position_estimator_inav
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#
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# Vehicle Control
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#
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MODULES += modules/fw_pos_control_l1
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MODULES += modules/fw_att_control
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MODULES += modules/mc_att_control
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MODULES += modules/mc_pos_control
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#
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# Logging
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#
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MODULES += modules/sdlog2
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#
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# Unit tests
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#
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#MODULES += modules/unit_test
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#MODULES += modules/commander/commander_tests
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#
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# Library modules
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#
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MODULES += modules/systemlib
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MODULES += modules/systemlib/mixer
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MODULES += modules/controllib
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MODULES += modules/uORB
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MODULES += modules/dataman
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#
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# Libraries
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#
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LIBRARIES += lib/mathlib/CMSIS
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MODULES += lib/mathlib
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MODULES += lib/mathlib/math/filter
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MODULES += lib/ecl
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MODULES += lib/external_lgpl
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||||
MODULES += lib/geo
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MODULES += lib/geo_lookup
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MODULES += lib/conversion
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MODULES += lib/launchdetection
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MODULES += platforms/nuttx
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|
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#
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# Demo apps
|
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#
|
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#MODULES += examples/math_demo
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/hello_sky
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#MODULES += examples/px4_simple_app
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|
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# Tutorial code from
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# https://pixhawk.ethz.ch/px4/dev/daemon
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#MODULES += examples/px4_daemon_app
|
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|
||||
# Tutorial code from
|
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# 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
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# 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 +1,177 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the px4iov2 firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
MODULES += drivers/sf0x
|
||||
MODULES += drivers/ll40ls
|
||||
MODULES += drivers/trone
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += drivers/hott
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/px4flow
|
||||
MODULES += drivers/oreoled
|
||||
MODULES += drivers/gimbal
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/gpio_led
|
||||
MODULES += modules/uavcan
|
||||
MODULES += modules/land_detector
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
MODULES += modules/vtol_att_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# OBC challenge
|
||||
#
|
||||
MODULES += modules/bottle_drop
|
||||
|
||||
#
|
||||
# PX4 flow estimator, good for indoors
|
||||
#
|
||||
MODULES += examples/flow_position_estimator
|
||||
|
||||
#
|
||||
# Rover apps
|
||||
#
|
||||
MODULES += examples/rover_steering_control
|
||||
|
||||
#
|
||||
# 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
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# 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 +1,168 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS, copy the px4iov2 firmware into
|
||||
# the ROMFS if it's available
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/mb12xx
|
||||
# MODULES += drivers/sf0x
|
||||
MODULES += drivers/ll40ls
|
||||
# MODULES += drivers/trone
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += drivers/hott
|
||||
MODULES += drivers/hott/hott_telemetry
|
||||
MODULES += drivers/hott/hott_sensors
|
||||
# MODULES += drivers/blinkm
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += drivers/frsky_telemetry
|
||||
MODULES += modules/sensors
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/px4flow
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
MODULES += modules/gpio_led
|
||||
# MODULES += modules/uavcan
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
|
||||
#MODULES += modules/fw_pos_control_l1
|
||||
#MODULES += modules/fw_att_control
|
||||
# MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_att_control_multiplatform
|
||||
MODULES += examples/subscriber
|
||||
MODULES += examples/publisher
|
||||
# MODULES += modules/mc_pos_control
|
||||
MODULES += modules/mc_pos_control_multiplatform
|
||||
MODULES += modules/vtol_att_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
MODULES += modules/sdlog2
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/geo_lookup
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# OBC challenge
|
||||
#
|
||||
MODULES += modules/bottle_drop
|
||||
|
||||
#
|
||||
# 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
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
# Generate parameter XML file
|
||||
GEN_PARAM_XML = 1
|
||||
|
||||
#
|
||||
# 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 +1,117 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
|
||||
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/boards/px4fmu-v2
|
||||
MODULES += drivers/px4io
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += drivers/mpu6000
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/hmc5883
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/pca8574
|
||||
MODULES += drivers/roboclaw
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/ver
|
||||
MODULES += systemcmds/top
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
MODULES += systemcmds/ver
|
||||
|
||||
#
|
||||
# Example modules
|
||||
#
|
||||
MODULES += examples/matlab_csv_serial
|
||||
MODULES += examples/subscriber
|
||||
MODULES += examples/publisher
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/uORB
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/conversion
|
||||
MODULES += platforms/nuttx
|
||||
|
||||
#
|
||||
# Example modules to test-build
|
||||
#
|
||||
MODULES += examples/flow_position_estimator
|
||||
MODULES += examples/fixedwing_control
|
||||
MODULES += examples/hwtest
|
||||
MODULES += examples/matlab_csv_serial
|
||||
MODULES += examples/px4_daemon_app
|
||||
MODULES += examples/px4_mavlink_debug
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
#
|
||||
# Drivers / modules to test build, but not useful for test environment
|
||||
#
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += drivers/pca8574
|
||||
|
||||
#
|
||||
# Tests
|
||||
#
|
||||
|
||||
MODULES += modules/unit_test
|
||||
MODULES += modules/mavlink/mavlink_tests
|
||||
MODULES += modules/commander/commander_tests
|
||||
|
||||
#
|
||||
# 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-v1
|
||||
MODULES += modules/px4iofirmware
|
||||
@@ -0,0 +1,10 @@
|
||||
#
|
||||
# Makefile for the px4iov2_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/boards/px4io-v2
|
||||
MODULES += modules/px4iofirmware
|
||||
Reference in New Issue
Block a user