mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 02:51:35 +08:00
Mark Charlebois
838e9fc769
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>
160 lines
3.8 KiB
Makefile
160 lines
3.8 KiB
Makefile
#
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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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# 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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# Generate parameter XML file
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GEN_PARAM_XML = 1
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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 $4)
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endef
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# command priority stack entrypoint
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BUILTIN_COMMANDS := \
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$(call _B, sercon, , 2048, sercon_main ) \
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$(call _B, serdis, , 2048, serdis_main )
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