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Merge commit '4f3b17f53b120cd54112097f4217a90863013c1f' into local/mathlib

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px4dev
2013-01-06 12:57:28 -08:00
parent e0cf9f943a 4f3b17f53b
commit 95aa959571
6 changed files with 186 additions and 12 deletions
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nuttx/configs/px4fmu/common/Make.defs
+13 -8
View File
@@ -55,7 +55,7 @@ NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
MAXOPTIMIZATION = -O3 # disable for debugging
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
@@ -67,6 +67,11 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
#CMSIS
CMSIS_INCLUDE = $(TOPDIR)/../CMSIS/Include
CMSIS_LIB = $(TOPDIR)/../CMSIS/Lib/GCC/libarm_cortexM4lf_math.a
EXTRA_LIBS += $(CMSIS_LIB)
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
EXTRA_LIBS += $(LIBM)
@@ -79,8 +84,8 @@ ifeq ($(WINTOOL),y)
DIRLINK = $(TOPDIR)/tools/winlink.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(CMSIS_INCLUDE)}"
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" -isystem "${shell cygpath -w $(CMSIS_INCLUDE)}"
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}"
else
ifeq ($(PX4_WINTOOL),y)
@@ -88,14 +93,14 @@ else
DIRLINK = $(TOPDIR)/tools/winlink.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(CMSIS_INCLUDE)
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx -isystem $(CMSIS_INCLUDE)
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
else
# Linux/Cygwin-native toolchain
MKDEP = $(TOPDIR)/tools/mkdeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(CMSIS_INCLUDE)
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx -isystem $(CMSIS_INCLUDE)
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
endif
endif
@@ -144,7 +149,7 @@ ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wnested-externs \
-Wunsuffixed-float-constants
ARCHWARNINGSXX = $(ARCHWARNINGS)
ARCHDEFINES =
ARCHDEFINES = -DARM_MATH_CM4 -D__FPU_PRESENT
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
nuttx/configs/px4fmu/nsh/appconfig
+3
View File
@@ -68,6 +68,9 @@ CONFIGURED_APPS += systemcmds/delay_test
# https://pixhawk.ethz.ch/px4/dev/deamon
# CONFIGURED_APPS += examples/px4_deamon_app
# Math library
CONFIGURED_APPS += examples/math_demo
# Shared object broker; required by many parts of the system.
CONFIGURED_APPS += uORB