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Merge branch 'master' into gpio_led

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This commit is contained in:
Anton Babushkin
2013-05-09 22:41:09 +04:00
parent 0489595e7f 15aae728e5
commit 9a9e41f7a2
800 changed files with 5834 additions and 3679 deletions
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makefiles/board_px4fmu.mk
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#
# Board-specific definitions for the PX4FMU
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM4F
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
makefiles/board_px4io.mk
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#
# Board-specific definitions for the PX4IO
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM3
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
makefiles/config_px4fmu_default.mk
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#
# 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
MODULES += modules/gpio_led
#
# 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
#
# 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 )
makefiles/config_px4io_default.mk
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#
# Makefile for the px4io_default configuration
#
#
# Board support modules
#
MODULES += drivers/stm32
MODULES += drivers/boards/px4io
MODULES += modules/px4iofirmware
makefiles/firmware.mk
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#
# 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
$(abspath $(firstword $(wildcard $(1)/module.mk) \
$(foreach search_dir,$(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): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
MODULE_WORK_DIR=$(dir $@) \
MODULE_OBJ=$@ \
MODULE_MK=$(mkfile) \
MODULE_NAME=$(lastword $(subst /, ,$(@D))) \
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_DEPS += $(wildcard \
(ROMFS_ROOT)/* \
(ROMFS_ROOT)/*/* \
(ROMFS_ROOT)/*/*/* \
(ROMFS_ROOT)/*/*/*/* \
(ROMFS_ROOT)/*/*/*/*/* \
(ROMFS_ROOT)/*/*/*/*/*/*)
ROMFS_IMG = $(WORK_DIR)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)
makefiles/module.mk
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#
# 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.
#
#
# 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)
#
# SRCS -> OBJS rules
#
$(OBJS): $(GLOBAL_DEPS)
$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
$(call COMPILE,$<,$@)
$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
$(call COMPILEXX,$<,$@)
$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.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)
makefiles/nuttx.mk
+78
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#
# 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.
#
#
# Rules and definitions related to handling the NuttX export archives when
# building firmware.
#
#
# Check that the NuttX archive for the selected board is available.
#
NUTTX_ARCHIVE := $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
ifeq ($(NUTTX_ARCHIVE),)
$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
endif
#
# 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))
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) $@
makefiles/setup.mk
+91
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#
# 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 $(V),,@)
makefiles/toolchain_gnu-arm-eabi.mk
+270
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#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#
# Definitions for a generic GNU ARM-EABI toolchain
#
#$(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 $3_len
# gives its length.
#
# - compile an empty file to generate a suitable object file
# - relink the object and insert the binary file
# - edit symbol names to suit
#
define BIN_SYM_PREFIX
_binary_$(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
endef
makefiles/upload.mk
+44
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#
# 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