mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-23 12:18:12 +08:00
Merge branch 'master' into new_state_machine_drton
This commit is contained in:
Anton Babushkin
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@@ -32,7 +32,8 @@
|
||||
"settings":
|
||||
{
|
||||
"tab_size": 8,
|
||||
"translate_tabs_to_spaces": false
|
||||
"translate_tabs_to_spaces": false,
|
||||
"highlight_line": true
|
||||
},
|
||||
"build_systems":
|
||||
[
|
||||
|
||||
@@ -100,7 +100,7 @@ all: $(STAGED_FIRMWARES)
|
||||
# is taken care of.
|
||||
#
|
||||
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||
@echo %% Copying $@
|
||||
@$(ECHO) %% Copying $@
|
||||
$(Q) $(COPY) $< $@
|
||||
$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
|
||||
|
||||
@@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
|
||||
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
|
||||
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
|
||||
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
|
||||
@echo %%%%
|
||||
@echo %%%% Building $(config) in $(work_dir)
|
||||
@echo %%%%
|
||||
@$(ECHO) %%%%
|
||||
@$(ECHO) %%%% Building $(config) in $(work_dir)
|
||||
@$(ECHO) %%%%
|
||||
$(Q) mkdir -p $(work_dir)
|
||||
$(Q) make -r -C $(work_dir) \
|
||||
-f $(PX4_MK_DIR)firmware.mk \
|
||||
@@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
|
||||
# XXX Should support fetching/unpacking from a separate directory to permit
|
||||
# downloads of the prebuilt archives as well...
|
||||
#
|
||||
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
|
||||
#
|
||||
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
|
||||
.PHONY: archives
|
||||
archives: $(NUTTX_ARCHIVES)
|
||||
@@ -146,15 +144,54 @@ endif
|
||||
|
||||
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
|
||||
$(ARCHIVE_DIR)%.export: configuration = nsh
|
||||
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
|
||||
@echo %% Configuring NuttX for $(board)
|
||||
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(board)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
|
||||
@echo %% Exporting NuttX for $(board)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
|
||||
@$(ECHO) %% Exporting NuttX for $(board)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
|
||||
$(Q) mkdir -p $(dir $@)
|
||||
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
|
||||
|
||||
#
|
||||
# The user can run the NuttX 'menuconfig' tool for a single board configuration with
|
||||
# make BOARDS=<boardname> menuconfig
|
||||
#
|
||||
ifeq ($(MAKECMDGOALS),menuconfig)
|
||||
ifneq ($(words $(BOARDS)),1)
|
||||
$(error BOARDS must specify exactly one board for the menuconfig goal)
|
||||
endif
|
||||
BOARD = $(BOARDS)
|
||||
menuconfig: $(NUTTX_SRC)
|
||||
@$(ECHO) %% Configuring NuttX for $(BOARD)
|
||||
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
|
||||
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
|
||||
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
|
||||
@$(ECHO) %% Running menuconfig for $(BOARD)
|
||||
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
|
||||
@$(ECHO) %% Saving configuration file
|
||||
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
|
||||
else
|
||||
menuconfig:
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
|
||||
@$(ECHO) ""
|
||||
endif
|
||||
|
||||
$(NUTTX_SRC):
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
|
||||
@$(ECHO) ""
|
||||
|
||||
#
|
||||
# Testing targets
|
||||
#
|
||||
testbuild:
|
||||
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
|
||||
|
||||
#
|
||||
# Cleanup targets. 'clean' should remove all built products and force
|
||||
@@ -176,40 +213,43 @@ distclean: clean
|
||||
#
|
||||
.PHONY: help
|
||||
help:
|
||||
@echo ""
|
||||
@echo " PX4 firmware builder"
|
||||
@echo " ===================="
|
||||
@echo ""
|
||||
@echo " Available targets:"
|
||||
@echo " ------------------"
|
||||
@echo ""
|
||||
@echo " archives"
|
||||
@echo " Build the NuttX RTOS archives that are used by the firmware build."
|
||||
@echo ""
|
||||
@echo " all"
|
||||
@echo " Build all firmware configs: $(CONFIGS)"
|
||||
@echo " A limited set of configs can be built with CONFIGS=<list-of-configs>"
|
||||
@echo ""
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " PX4 firmware builder"
|
||||
@$(ECHO) " ===================="
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " Available targets:"
|
||||
@$(ECHO) " ------------------"
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " archives"
|
||||
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " all"
|
||||
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
|
||||
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
|
||||
@$(ECHO) ""
|
||||
@for config in $(CONFIGS); do \
|
||||
echo " $$config"; \
|
||||
echo " Build just the $$config firmware configuration."; \
|
||||
echo ""; \
|
||||
done
|
||||
@echo " clean"
|
||||
@echo " Remove all firmware build pieces."
|
||||
@echo ""
|
||||
@echo " distclean"
|
||||
@echo " Remove all compilation products, including NuttX RTOS archives."
|
||||
@echo ""
|
||||
@echo " upload"
|
||||
@echo " When exactly one config is being built, add this target to upload the"
|
||||
@echo " firmware to the board when the build is complete. Not supported for"
|
||||
@echo " all configurations."
|
||||
@echo ""
|
||||
@echo " Common options:"
|
||||
@echo " ---------------"
|
||||
@echo ""
|
||||
@echo " V=1"
|
||||
@echo " If V is set, more verbose output is printed during the build. This can"
|
||||
@echo " help when diagnosing issues with the build or toolchain."
|
||||
@echo ""
|
||||
@$(ECHO) " clean"
|
||||
@$(ECHO) " Remove all firmware build pieces."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " distclean"
|
||||
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " upload"
|
||||
@$(ECHO) " When exactly one config is being built, add this target to upload the"
|
||||
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
|
||||
@$(ECHO) " all configurations."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " testbuild"
|
||||
@$(ECHO) " Perform a complete clean build of the entire tree."
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " Common options:"
|
||||
@$(ECHO) " ---------------"
|
||||
@$(ECHO) ""
|
||||
@$(ECHO) " V=1"
|
||||
@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
|
||||
@$(ECHO) " help when diagnosing issues with the build or toolchain."
|
||||
@$(ECHO) ""
|
||||
|
||||
@@ -39,28 +39,6 @@ fi
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
|
||||
@@ -15,20 +15,19 @@ then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
|
||||
param set MC_ATTRATE_D 0.007
|
||||
param set MC_ATTRATE_D 0.005
|
||||
param set MC_ATTRATE_I 0.0
|
||||
param set MC_ATTRATE_P 0.13
|
||||
param set MC_ATTRATE_P 0.1
|
||||
param set MC_ATT_D 0.0
|
||||
param set MC_ATT_I 0.0
|
||||
param set MC_ATT_P 7.0
|
||||
param set MC_POS_P 0.1
|
||||
param set MC_ATT_P 4.5
|
||||
param set MC_RCLOSS_THR 0.0
|
||||
param set MC_YAWPOS_D 0.0
|
||||
param set MC_YAWPOS_I 0.5
|
||||
param set MC_YAWPOS_P 1.0
|
||||
param set MC_YAWPOS_I 0.3
|
||||
param set MC_YAWPOS_P 0.6
|
||||
param set MC_YAWRATE_D 0.0
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_P 0.1
|
||||
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
@@ -40,28 +39,6 @@ fi
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io2.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io2.bin"
|
||||
if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
|
||||
then
|
||||
cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
|
||||
echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
|
||||
echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
@@ -128,7 +105,7 @@ multirotor_att_control start
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 20 -a -b 14
|
||||
sdlog2 start -r 20 -a -b 16
|
||||
|
||||
#
|
||||
# Start system state
|
||||
|
||||
@@ -0,0 +1,122 @@
|
||||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU+PX4IO
|
||||
#
|
||||
|
||||
# disable USB and autostart
|
||||
set USB no
|
||||
set MODE custom
|
||||
|
||||
#
|
||||
# Start the ORB (first app to start)
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load default params for this platform
|
||||
#
|
||||
if param compare SYS_AUTOCONFIG 1
|
||||
then
|
||||
# Set all params here, then disable autoconfig
|
||||
param set SYS_AUTOCONFIG 0
|
||||
param save /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 10
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
|
||||
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start MAVLink (depends on orb)
|
||||
#
|
||||
mavlink start -d /dev/ttyS1 -b 57600
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander (depends on orb, mavlink)
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start PX4IO interface (depends on orb, commander)
|
||||
#
|
||||
px4io start
|
||||
|
||||
#
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
# this is very unlikely, but quite safe and robust.
|
||||
px4io recovery
|
||||
|
||||
#
|
||||
# Disable px4io topic limiting
|
||||
#
|
||||
px4io limit 200
|
||||
|
||||
#
|
||||
# Start the sensors (depends on orb, px4io)
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start GPS interface (depends on orb)
|
||||
#
|
||||
gps start
|
||||
|
||||
#
|
||||
# Start the attitude estimator (depends on orb)
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Load mixer and start controllers (depends on px4io)
|
||||
#
|
||||
md25 start 3 0x58
|
||||
segway start
|
||||
|
||||
#
|
||||
# Start logging
|
||||
#
|
||||
sdlog2 start -r 50 -a -b 14
|
||||
|
||||
#
|
||||
# Start system state
|
||||
#
|
||||
if blinkm start
|
||||
then
|
||||
blinkm systemstate
|
||||
fi
|
||||
@@ -25,7 +25,7 @@ then
|
||||
else
|
||||
echo "using L3GD20 and LSM303D"
|
||||
l3gd20 start
|
||||
lsm303 start
|
||||
lsm303d start
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -40,4 +40,4 @@ then
|
||||
# Check sensors - run AFTER 'sensors start'
|
||||
#
|
||||
preflight_check &
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -13,35 +13,46 @@ if mavlink stop
|
||||
then
|
||||
echo "stopped other MAVLink instance"
|
||||
fi
|
||||
sleep 2
|
||||
mavlink start -b 230400 -d /dev/ttyACM0
|
||||
|
||||
if [ $MODE == autostart ]
|
||||
# Start the commander
|
||||
if commander start
|
||||
then
|
||||
echo "Commander started"
|
||||
fi
|
||||
|
||||
# Start the commander
|
||||
commander start
|
||||
|
||||
# Start sensors
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
# Start one of the estimators
|
||||
if attitude_estimator_ekf status
|
||||
# Start px4io if present
|
||||
if px4io start
|
||||
then
|
||||
echo "PX4IO driver started"
|
||||
else
|
||||
if fmu mode_serial
|
||||
then
|
||||
echo "multicopter att filter running"
|
||||
echo "FMU driver started"
|
||||
fi
|
||||
fi
|
||||
|
||||
# Start sensors
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
# Start one of the estimators
|
||||
if attitude_estimator_ekf status
|
||||
then
|
||||
echo "multicopter att filter running"
|
||||
else
|
||||
if att_pos_estimator_ekf status
|
||||
then
|
||||
echo "fixedwing att filter running"
|
||||
else
|
||||
if att_pos_estimator_ekf status
|
||||
then
|
||||
echo "fixedwing att filter running"
|
||||
else
|
||||
attitude_estimator_ekf start
|
||||
fi
|
||||
attitude_estimator_ekf start
|
||||
fi
|
||||
fi
|
||||
|
||||
# Start GPS
|
||||
if gps start
|
||||
then
|
||||
echo "GPS started"
|
||||
fi
|
||||
# Start GPS
|
||||
if gps start
|
||||
then
|
||||
echo "GPS started"
|
||||
fi
|
||||
|
||||
echo "MAVLink started, exiting shell.."
|
||||
|
||||
@@ -81,6 +81,26 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
|
||||
#
|
||||
if [ -f /fs/microsd/px4io.bin ]
|
||||
then
|
||||
echo "PX4IO Firmware found. Checking Upgrade.."
|
||||
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
|
||||
then
|
||||
echo "No newer version, skipping upgrade."
|
||||
else
|
||||
echo "Loading /fs/microsd/px4io.bin"
|
||||
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
|
||||
then
|
||||
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
|
||||
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
|
||||
else
|
||||
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
|
||||
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
@@ -121,3 +141,6 @@ if param compare SYS_AUTOSTART 31
|
||||
then
|
||||
sh /etc/init.d/31_io_phantom
|
||||
fi
|
||||
|
||||
# End of autostart
|
||||
fi
|
||||
|
||||
Binary file not shown.
@@ -0,0 +1,13 @@
|
||||
====== PX4 LOG CONVERSION ======
|
||||
|
||||
On each log session (commonly started and stopped by arming and disarming the vehicle) a new file logxxx.bin is created. In many cases there will be only one logfile named log001.bin (only one flight).
|
||||
|
||||
There are two conversion scripts in this ZIP file:
|
||||
|
||||
logconv.m: This is a MATLAB script which will automatically convert and display the flight data with a GUI. If running this script, the second script can be ignored.
|
||||
|
||||
sdlog2_dump.py: This is a Python script (compatible with v2 and v3) which converts the self-describing binary log format to a CSV file. To export a CSV file from within a shell (Windows CMD or BASH on Linux / Mac OS), run:
|
||||
|
||||
python sdlog2_dump.py log001.bin -f "export.csv" -t "TIME" -d "," -n ""
|
||||
|
||||
Python can be downloaded from http://python.org, but is available as default on Mac OS and Linux.
|
||||
@@ -16,7 +16,7 @@ close all
|
||||
% ************************************************************************
|
||||
|
||||
% Set the path to your sysvector.bin file here
|
||||
filePath = 'sysvector.bin';
|
||||
filePath = 'log001.bin';
|
||||
|
||||
% Set the minimum and maximum times to plot here [in seconds]
|
||||
mintime=0; %The minimum time/timestamp to display, as set by the user [0 for first element / start]
|
||||
@@ -26,8 +26,8 @@ maxtime=0; %The maximum time/timestamp to display, as set by the user [0
|
||||
bDisplayGPS=true;
|
||||
|
||||
%conversion factors
|
||||
fconv_gpsalt=1E-3; %[mm] to [m]
|
||||
fconv_gpslatlong=1E-7; %[gps_raw_position_unit] to [deg]
|
||||
fconv_gpsalt=1; %[mm] to [m]
|
||||
fconv_gpslatlong=1; %[gps_raw_position_unit] to [deg]
|
||||
fconv_timestamp=1E-6; % [microseconds] to [seconds]
|
||||
|
||||
% ************************************************************************
|
||||
@@ -36,7 +36,7 @@ fconv_timestamp=1E-6; % [microseconds] to [seconds]
|
||||
ImportPX4LogData();
|
||||
|
||||
%Translate min and max plot times to indices
|
||||
time=double(sysvector.timestamp) .*fconv_timestamp;
|
||||
time=double(sysvector.TIME_StartTime) .*fconv_timestamp;
|
||||
mintime_log=time(1); %The minimum time/timestamp found in the log
|
||||
maxtime_log=time(end); %The maximum time/timestamp found in the log
|
||||
CurTime=mintime_log; %The current time at which to draw the aircraft position
|
||||
@@ -69,6 +69,13 @@ DrawCurrentAircraftState();
|
||||
% ************************************************************************
|
||||
|
||||
|
||||
%% ************************************************************************
|
||||
% IMPORTPX4LOGDATA (nested function)
|
||||
% ************************************************************************
|
||||
% Attention: This is the import routine for firmware from ca. 03/2013.
|
||||
% Other firmware versions might require different import
|
||||
% routines.
|
||||
|
||||
%% ************************************************************************
|
||||
% IMPORTPX4LOGDATA (nested function)
|
||||
% ************************************************************************
|
||||
@@ -77,108 +84,40 @@ DrawCurrentAircraftState();
|
||||
% routines.
|
||||
|
||||
function ImportPX4LogData()
|
||||
% Work around a Matlab bug (not related to PX4)
|
||||
% where timestamps from 1.1.1970 do not allow to
|
||||
% read the file's size
|
||||
if ismac
|
||||
system('touch -t 201212121212.12 sysvector.bin');
|
||||
end
|
||||
|
||||
% ************************************************************************
|
||||
% RETRIEVE SYSTEM VECTOR
|
||||
% *************************************************************************
|
||||
% //All measurements in NED frame
|
||||
%
|
||||
% uint64_t timestamp; //[us]
|
||||
% float gyro[3]; //[rad/s]
|
||||
% float accel[3]; //[m/s^2]
|
||||
% float mag[3]; //[gauss]
|
||||
% float baro; //pressure [millibar]
|
||||
% float baro_alt; //altitude above MSL [meter]
|
||||
% float baro_temp; //[degree celcius]
|
||||
% float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
|
||||
% float vbat; //battery voltage in [volt]
|
||||
% float bat_current - current drawn from battery at this time instant
|
||||
% float bat_discharged - discharged energy in mAh
|
||||
% float adc[4]; //remaining auxiliary ADC ports [volt]
|
||||
% float local_position[3]; //tangent plane mapping into x,y,z [m]
|
||||
% int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
|
||||
% float attitude[3]; //pitch, roll, yaw [rad]
|
||||
% float rotMatrix[9]; //unitvectors
|
||||
% float actuator_control[4]; //unitvector
|
||||
% float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
|
||||
% float diff_pressure; - pressure difference in millibar
|
||||
% float ind_airspeed;
|
||||
% float true_airspeed;
|
||||
|
||||
% Definition of the logged values
|
||||
logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
|
||||
logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le');
|
||||
logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{17} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{18} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{19} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{20} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{21} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{22} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
logFormat{23} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le');
|
||||
|
||||
% First get length of one line
|
||||
columns = length(logFormat);
|
||||
lineLength = 0;
|
||||
|
||||
for i=1:columns
|
||||
lineLength = lineLength + logFormat{i}.bytes * logFormat{i}.array;
|
||||
|
||||
% Convert to CSV
|
||||
%arg1 = 'log-fx61-20130721-2.bin';
|
||||
arg1 = filePath;
|
||||
delim = ',';
|
||||
time_field = 'TIME';
|
||||
data_file = 'data.csv';
|
||||
csv_null = '';
|
||||
|
||||
if not(exist(data_file, 'file'))
|
||||
s = system( sprintf('python sdlog2_dump.py "%s" -f "%s" -t"%s" -d"%s" -n"%s"', arg1, data_file, time_field, delim, csv_null) );
|
||||
end
|
||||
|
||||
if exist(data_file, 'file')
|
||||
|
||||
if exist(filePath, 'file')
|
||||
|
||||
fileInfo = dir(filePath);
|
||||
fileSize = fileInfo.bytes;
|
||||
|
||||
elements = int64(fileSize./(lineLength));
|
||||
|
||||
fid = fopen(filePath, 'r');
|
||||
offset = 0;
|
||||
for i=1:columns
|
||||
% using fread with a skip speeds up the import drastically, do not
|
||||
% import the values one after the other
|
||||
sysvector.(genvarname(logFormat{i}.name)) = transpose(fread(...
|
||||
fid, ...
|
||||
[logFormat{i}.array, elements], [num2str(logFormat{i}.array),'*',logFormat{i}.precision,'=>',logFormat{i}.precision], ...
|
||||
lineLength - logFormat{i}.bytes*logFormat{i}.array, ...
|
||||
logFormat{i}.machineformat) ...
|
||||
);
|
||||
offset = offset + logFormat{i}.bytes*logFormat{i}.array;
|
||||
fseek(fid, offset,'bof');
|
||||
end
|
||||
%data = csvread(data_file);
|
||||
sysvector = tdfread(data_file, ',');
|
||||
|
||||
% shot the flight time
|
||||
time_us = sysvector.timestamp(end) - sysvector.timestamp(1);
|
||||
time_s = time_us*1e-6;
|
||||
time_m = time_s/60;
|
||||
time_us = sysvector.TIME_StartTime(end) - sysvector.TIME_StartTime(1);
|
||||
time_s = uint64(time_us*1e-6);
|
||||
time_m = uint64(time_s/60);
|
||||
time_s = time_s - time_m * 60;
|
||||
|
||||
disp([sprintf('Flight log duration: %d:%d (minutes:seconds)', time_m, time_s) char(10)]);
|
||||
|
||||
% close the logfile
|
||||
fclose(fid);
|
||||
|
||||
disp(['end log2matlab conversion' char(10)]);
|
||||
disp(['logfile conversion finished.' char(10)]);
|
||||
else
|
||||
disp(['file: ' filePath ' does not exist' char(10)]);
|
||||
disp(['file: ' data_file ' does not exist' char(10)]);
|
||||
end
|
||||
end
|
||||
|
||||
@@ -296,11 +235,11 @@ function DrawRawData()
|
||||
% ************************************************************************
|
||||
figure(h.figures(2));
|
||||
% Only plot GPS data if available
|
||||
if (sum(double(sysvector.gps_raw_position(imintime:imaxtime,1)))>0) && (bDisplayGPS)
|
||||
if (sum(double(sysvector.GPS_Lat(imintime:imaxtime)))>0) && (bDisplayGPS)
|
||||
%Draw data
|
||||
plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:imaxtime,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:imaxtime,3))*fconv_gpsalt,'r.');
|
||||
plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:imaxtime))*fconv_gpslatlong, ...
|
||||
double(sysvector.GPS_Lon(imintime:imaxtime))*fconv_gpslatlong, ...
|
||||
double(sysvector.GPS_Alt(imintime:imaxtime))*fconv_gpsalt,'r.');
|
||||
title(h.axes(1),'GPS Position Data(if available)');
|
||||
xlabel(h.axes(1),'Latitude [deg]');
|
||||
ylabel(h.axes(1),'Longitude [deg]');
|
||||
@@ -315,19 +254,19 @@ function DrawRawData()
|
||||
% PLOT WINDOW 2: IMU, baro altitude
|
||||
% ************************************************************************
|
||||
figure(h.figures(3));
|
||||
plot(h.axes(2),time(imintime:imaxtime),sysvector.mag(imintime:imaxtime,:));
|
||||
plot(h.axes(2),time(imintime:imaxtime),[sysvector.IMU_MagX(imintime:imaxtime), sysvector.IMU_MagY(imintime:imaxtime), sysvector.IMU_MagZ(imintime:imaxtime)]);
|
||||
title(h.axes(2),'Magnetometers [Gauss]');
|
||||
legend(h.axes(2),'x','y','z');
|
||||
plot(h.axes(3),time(imintime:imaxtime),sysvector.accel(imintime:imaxtime,:));
|
||||
plot(h.axes(3),time(imintime:imaxtime),[sysvector.IMU_AccX(imintime:imaxtime), sysvector.IMU_AccY(imintime:imaxtime), sysvector.IMU_AccZ(imintime:imaxtime)]);
|
||||
title(h.axes(3),'Accelerometers [m/s²]');
|
||||
legend(h.axes(3),'x','y','z');
|
||||
plot(h.axes(4),time(imintime:imaxtime),sysvector.gyro(imintime:imaxtime,:));
|
||||
plot(h.axes(4),time(imintime:imaxtime),[sysvector.IMU_GyroX(imintime:imaxtime), sysvector.IMU_GyroY(imintime:imaxtime), sysvector.IMU_GyroZ(imintime:imaxtime)]);
|
||||
title(h.axes(4),'Gyroscopes [rad/s]');
|
||||
legend(h.axes(4),'x','y','z');
|
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.baro_alt(imintime:imaxtime),'color','blue');
|
||||
plot(h.axes(5),time(imintime:imaxtime),sysvector.SENS_BaroAlt(imintime:imaxtime),'color','blue');
|
||||
if(bDisplayGPS)
|
||||
hold on;
|
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.gps_raw_position(imintime:imaxtime,3)).*fconv_gpsalt,'color','red');
|
||||
plot(h.axes(5),time(imintime:imaxtime),double(sysvector.GPS_Alt(imintime:imaxtime)).*fconv_gpsalt,'color','red');
|
||||
hold off
|
||||
legend('Barometric Altitude [m]','GPS Altitude [m]');
|
||||
else
|
||||
@@ -340,22 +279,22 @@ function DrawRawData()
|
||||
% ************************************************************************
|
||||
figure(h.figures(4));
|
||||
%Attitude Estimate
|
||||
plot(h.axes(6),time(imintime:imaxtime), sysvector.attitude(imintime:imaxtime,:).*180./3.14159);
|
||||
plot(h.axes(6),time(imintime:imaxtime), [sysvector.ATT_Roll(imintime:imaxtime), sysvector.ATT_Pitch(imintime:imaxtime), sysvector.ATT_Yaw(imintime:imaxtime)] .*180./3.14159);
|
||||
title(h.axes(6),'Estimated attitude [deg]');
|
||||
legend(h.axes(6),'roll','pitch','yaw');
|
||||
%Actuator Controls
|
||||
plot(h.axes(7),time(imintime:imaxtime), sysvector.actuator_control(imintime:imaxtime,:));
|
||||
plot(h.axes(7),time(imintime:imaxtime), [sysvector.ATTC_Roll(imintime:imaxtime), sysvector.ATTC_Pitch(imintime:imaxtime), sysvector.ATTC_Yaw(imintime:imaxtime), sysvector.ATTC_Thrust(imintime:imaxtime)]);
|
||||
title(h.axes(7),'Actuator control [-]');
|
||||
legend(h.axes(7),'0','1','2','3');
|
||||
legend(h.axes(7),'ATT CTRL Roll [-1..+1]','ATT CTRL Pitch [-1..+1]','ATT CTRL Yaw [-1..+1]','ATT CTRL Thrust [0..+1]');
|
||||
%Actuator Controls
|
||||
plot(h.axes(8),time(imintime:imaxtime), sysvector.actuators(imintime:imaxtime,1:8));
|
||||
plot(h.axes(8),time(imintime:imaxtime), [sysvector.OUT0_Out0(imintime:imaxtime), sysvector.OUT0_Out1(imintime:imaxtime), sysvector.OUT0_Out2(imintime:imaxtime), sysvector.OUT0_Out3(imintime:imaxtime), sysvector.OUT0_Out4(imintime:imaxtime), sysvector.OUT0_Out5(imintime:imaxtime), sysvector.OUT0_Out6(imintime:imaxtime), sysvector.OUT0_Out7(imintime:imaxtime)]);
|
||||
title(h.axes(8),'Actuator PWM (raw-)outputs [µs]');
|
||||
legend(h.axes(8),'CH1','CH2','CH3','CH4','CH5','CH6','CH7','CH8');
|
||||
set(h.axes(8), 'YLim',[800 2200]);
|
||||
%Airspeeds
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.ind_airspeed(imintime:imaxtime));
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_IndSpeed(imintime:imaxtime));
|
||||
hold on
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.true_airspeed(imintime:imaxtime));
|
||||
plot(h.axes(9),time(imintime:imaxtime), sysvector.AIRS_TrueSpeed(imintime:imaxtime));
|
||||
hold off
|
||||
%add GPS total airspeed here
|
||||
title(h.axes(9),'Airspeed [m/s]');
|
||||
@@ -385,33 +324,43 @@ function DrawCurrentAircraftState()
|
||||
%**********************************************************************
|
||||
% Current aircraft state label update
|
||||
%**********************************************************************
|
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong),'°, ',...
|
||||
'lon=',num2str(double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong),'°, ',...
|
||||
'alt=',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.mag(i,1)),...
|
||||
', y=',num2str(sysvector.mag(i,2)),...
|
||||
', z=',num2str(sysvector.mag(i,3)),']'];
|
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.accel(i,1)),...
|
||||
', y=',num2str(sysvector.accel(i,2)),...
|
||||
', z=',num2str(sysvector.accel(i,3)),']'];
|
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.gyro(i,1)),...
|
||||
', y=',num2str(sysvector.gyro(i,2)),...
|
||||
', z=',num2str(sysvector.gyro(i,3)),']'];
|
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.baro_alt(i)),'m, GPS: ',num2str(double(sysvector.gps_raw_position(i,3))*fconv_gpsalt),'m]'];
|
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.attitude(i,1).*180./3.14159),...
|
||||
', Pitch=',num2str(sysvector.attitude(i,2).*180./3.14159),...
|
||||
', Yaw=',num2str(sysvector.attitude(i,3).*180./3.14159),']'];
|
||||
acstate{1,:}=[sprintf('%s \t\t','GPS Pos:'),'[lat=',num2str(double(sysvector.GPS_Lat(i))*fconv_gpslatlong),'°, ',...
|
||||
'lon=',num2str(double(sysvector.GPS_Lon(i))*fconv_gpslatlong),'°, ',...
|
||||
'alt=',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
|
||||
acstate{2,:}=[sprintf('%s \t\t','Mags[gauss]'),'[x=',num2str(sysvector.IMU_MagX(i)),...
|
||||
', y=',num2str(sysvector.IMU_MagY(i)),...
|
||||
', z=',num2str(sysvector.IMU_MagZ(i)),']'];
|
||||
acstate{3,:}=[sprintf('%s \t\t','Accels[m/s²]'),'[x=',num2str(sysvector.IMU_AccX(i)),...
|
||||
', y=',num2str(sysvector.IMU_AccY(i)),...
|
||||
', z=',num2str(sysvector.IMU_AccZ(i)),']'];
|
||||
acstate{4,:}=[sprintf('%s \t\t','Gyros[rad/s]'),'[x=',num2str(sysvector.IMU_GyroX(i)),...
|
||||
', y=',num2str(sysvector.IMU_GyroY(i)),...
|
||||
', z=',num2str(sysvector.IMU_GyroZ(i)),']'];
|
||||
acstate{5,:}=[sprintf('%s \t\t','Altitude[m]'),'[Barometric: ',num2str(sysvector.SENS_BaroAlt(i)),'m, GPS: ',num2str(double(sysvector.GPS_Alt(i))*fconv_gpsalt),'m]'];
|
||||
acstate{6,:}=[sprintf('%s \t','Est. attitude[deg]:'),'[Roll=',num2str(sysvector.ATT_Roll(i).*180./3.14159),...
|
||||
', Pitch=',num2str(sysvector.ATT_Pitch(i).*180./3.14159),...
|
||||
', Yaw=',num2str(sysvector.ATT_Yaw(i).*180./3.14159),']'];
|
||||
acstate{7,:}=sprintf('%s \t[','Actuator Ctrls [-]:');
|
||||
for j=1:4
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.actuator_control(i,j)),','];
|
||||
end
|
||||
%for j=1:4
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Roll(i)),','];
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Pitch(i)),','];
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Yaw(i)),','];
|
||||
acstate{7,:}=[acstate{7,:},num2str(sysvector.ATTC_Thrust(i)),','];
|
||||
%end
|
||||
acstate{7,:}=[acstate{7,:},']'];
|
||||
acstate{8,:}=sprintf('%s \t[','Actuator Outputs [PWM/µs]:');
|
||||
for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.actuators(i,j)),','];
|
||||
end
|
||||
%for j=1:8
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out0(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out1(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out2(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out3(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out4(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out5(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out6(i)),','];
|
||||
acstate{8,:}=[acstate{8,:},num2str(sysvector.OUT0_Out7(i)),','];
|
||||
%end
|
||||
acstate{8,:}=[acstate{8,:},']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.ind_airspeed(i)),', TAS: ',num2str(sysvector.true_airspeed(i)),']'];
|
||||
acstate{9,:}=[sprintf('%s \t','Airspeed[m/s]:'),'[IAS: ',num2str(sysvector.AIRS_IndSpeed(i)),', TAS: ',num2str(sysvector.AIRS_TrueSpeed(i)),']'];
|
||||
|
||||
set(h.edits.AircraftState,'String',acstate);
|
||||
|
||||
@@ -422,13 +371,13 @@ function DrawCurrentAircraftState()
|
||||
figure(h.figures(2));
|
||||
hold on;
|
||||
if(CurTime>mintime+1) %the +1 is only a small bugfix
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.gps_raw_position(imintime:i,1))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,2))*fconv_gpslatlong, ...
|
||||
double(sysvector.gps_raw_position(imintime:i,3))*fconv_gpsalt,'b','LineWidth',2);
|
||||
h.pathline=plot3(h.axes(1),double(sysvector.GPS_Lat(imintime:i))*fconv_gpslatlong, ...
|
||||
double(sysvector.GPS_Lon(imintime:i))*fconv_gpslatlong, ...
|
||||
double(sysvector.GPS_Alt(imintime:i))*fconv_gpsalt,'b','LineWidth',2);
|
||||
end;
|
||||
hold off
|
||||
%Plot current position
|
||||
newpoint=[double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong double(sysvector.gps_raw_position(i,3))*fconv_gpsalt];
|
||||
newpoint=[double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Lat(i))*fconv_gpslatlong double(sysvector.GPS_Alt(i))*fconv_gpsalt];
|
||||
if(numel(h.pathpoints)<=3) %empty path
|
||||
h.pathpoints(1,1:3)=newpoint;
|
||||
else %Not empty, append new point
|
||||
@@ -443,8 +392,8 @@ function DrawCurrentAircraftState()
|
||||
if(isvalidhandle(h.markertext))
|
||||
delete(h.markertext); %delete old text
|
||||
end
|
||||
h.markertext=text(double(sysvector.gps_raw_position(i,1))*fconv_gpslatlong,double(sysvector.gps_raw_position(i,2))*fconv_gpslatlong,...
|
||||
double(sysvector.gps_raw_position(i,3))*fconv_gpsalt,textdesc);
|
||||
h.markertext=text(double(sysvector.GPS_Lat(i))*fconv_gpslatlong,double(sysvector.GPS_Lon(i))*fconv_gpslatlong,...
|
||||
double(sysvector.GPS_Alt(i))*fconv_gpsalt,textdesc);
|
||||
set(h.edits.CurTime,'String',CurTime);
|
||||
|
||||
%**********************************************************************
|
||||
@@ -549,11 +498,11 @@ end
|
||||
% FINDMINMAXINDICES (nested function)
|
||||
% ************************************************************************
|
||||
function [idxmin,idxmax] = FindMinMaxTimeIndices()
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
for i=1:size(sysvector.TIME_StartTime,1)
|
||||
if time(i)>=mintime; idxmin=i; break; end
|
||||
end
|
||||
for i=1:size(sysvector.timestamp,1)
|
||||
if maxtime==0; idxmax=size(sysvector.timestamp,1); break; end
|
||||
for i=1:size(sysvector.TIME_StartTime,1)
|
||||
if maxtime==0; idxmax=size(sysvector.TIME_StartTime,1); break; end
|
||||
if time(i)>=maxtime; idxmax=i; break; end
|
||||
end
|
||||
mintime=time(idxmin);
|
||||
@@ -1,59 +0,0 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
"""Convert binary log generated by sdlog to CSV format
|
||||
|
||||
Usage: python logconv.py <log.bin>"""
|
||||
|
||||
__author__ = "Anton Babushkin"
|
||||
__version__ = "0.1"
|
||||
|
||||
import struct, sys
|
||||
|
||||
def _unpack_packet(data):
|
||||
s = ""
|
||||
s += "Q" #.timestamp = buf.raw.timestamp,
|
||||
s += "fff" #.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
|
||||
s += "fff" #.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
|
||||
s += "fff" #.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
|
||||
s += "f" #.baro = buf.raw.baro_pres_mbar,
|
||||
s += "f" #.baro_alt = buf.raw.baro_alt_meter,
|
||||
s += "f" #.baro_temp = buf.raw.baro_temp_celcius,
|
||||
s += "ffff" #.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
|
||||
s += "ffffffff" #.actuators = {buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3], buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
|
||||
s += "f" #.vbat = buf.batt.voltage_v,
|
||||
s += "f" #.bat_current = buf.batt.current_a,
|
||||
s += "f" #.bat_discharged = buf.batt.discharged_mah,
|
||||
s += "ffff" #.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
|
||||
s += "fff" #.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
|
||||
s += "iii" #.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
|
||||
s += "fff" #.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
|
||||
s += "fffffffff" #.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
|
||||
s += "fff" #.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
|
||||
s += "ffff" #.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
|
||||
s += "ffffff" #.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
|
||||
s += "f" #.diff_pressure = buf.diff_pres.differential_pressure_pa,
|
||||
s += "f" #.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
|
||||
s += "f" #.true_airspeed = buf.airspeed.true_airspeed_m_s
|
||||
s += "iii" # to align to 280
|
||||
d = struct.unpack(s, data)
|
||||
return d
|
||||
|
||||
def _main():
|
||||
if len(sys.argv) < 2:
|
||||
print "Usage:\npython logconv.py <log.bin>"
|
||||
return
|
||||
fn = sys.argv[1]
|
||||
sysvector_size = 280
|
||||
f = open(fn, "r")
|
||||
while True:
|
||||
data = f.read(sysvector_size)
|
||||
if len(data) < sysvector_size:
|
||||
break
|
||||
a = []
|
||||
for i in _unpack_packet(data):
|
||||
a.append(str(i))
|
||||
print ";".join(a)
|
||||
f.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
_main()
|
||||
+72
-30
@@ -1,6 +1,8 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
"""Dump binary log generated by sdlog2 or APM as CSV
|
||||
from __future__ import print_function
|
||||
|
||||
"""Dump binary log generated by PX4's sdlog2 or APM as CSV
|
||||
|
||||
Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
|
||||
|
||||
@@ -21,6 +23,11 @@ __version__ = "1.2"
|
||||
|
||||
import struct, sys
|
||||
|
||||
if sys.hexversion >= 0x030000F0:
|
||||
runningPython3 = True
|
||||
else:
|
||||
runningPython3 = False
|
||||
|
||||
class SDLog2Parser:
|
||||
BLOCK_SIZE = 8192
|
||||
MSG_HEADER_LEN = 3
|
||||
@@ -55,6 +62,8 @@ class SDLog2Parser:
|
||||
__time_msg = None
|
||||
__debug_out = False
|
||||
__correct_errors = False
|
||||
__file_name = None
|
||||
__file = None
|
||||
|
||||
def __init__(self):
|
||||
return
|
||||
@@ -63,7 +72,7 @@ class SDLog2Parser:
|
||||
self.__msg_descrs = {} # message descriptions by message type map
|
||||
self.__msg_labels = {} # message labels by message name map
|
||||
self.__msg_names = [] # message names in the same order as FORMAT messages
|
||||
self.__buffer = "" # buffer for input binary data
|
||||
self.__buffer = bytearray() # buffer for input binary data
|
||||
self.__ptr = 0 # read pointer in buffer
|
||||
self.__csv_columns = [] # CSV file columns in correct order in format "MSG.label"
|
||||
self.__csv_data = {} # current values for all columns
|
||||
@@ -87,6 +96,14 @@ class SDLog2Parser:
|
||||
|
||||
def setCorrectErrors(self, correct_errors):
|
||||
self.__correct_errors = correct_errors
|
||||
|
||||
def setFileName(self, file_name):
|
||||
self.__file_name = file_name
|
||||
if file_name != None:
|
||||
self.__file = open(file_name, 'w+')
|
||||
else:
|
||||
self.__file = None
|
||||
|
||||
|
||||
def process(self, fn):
|
||||
self.reset()
|
||||
@@ -95,7 +112,7 @@ class SDLog2Parser:
|
||||
for msg_name, show_fields in self.__msg_filter:
|
||||
self.__msg_filter_map[msg_name] = show_fields
|
||||
first_data_msg = True
|
||||
f = open(fn, "r")
|
||||
f = open(fn, "rb")
|
||||
bytes_read = 0
|
||||
while True:
|
||||
chunk = f.read(self.BLOCK_SIZE)
|
||||
@@ -104,15 +121,15 @@ class SDLog2Parser:
|
||||
self.__buffer = self.__buffer[self.__ptr:] + chunk
|
||||
self.__ptr = 0
|
||||
while self.__bytesLeft() >= self.MSG_HEADER_LEN:
|
||||
head1 = ord(self.__buffer[self.__ptr])
|
||||
head2 = ord(self.__buffer[self.__ptr+1])
|
||||
head1 = self.__buffer[self.__ptr]
|
||||
head2 = self.__buffer[self.__ptr+1]
|
||||
if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
|
||||
if self.__correct_errors:
|
||||
self.__ptr += 1
|
||||
continue
|
||||
else:
|
||||
raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
|
||||
msg_type = ord(self.__buffer[self.__ptr+2])
|
||||
msg_type = self.__buffer[self.__ptr+2]
|
||||
if msg_type == self.MSG_TYPE_FORMAT:
|
||||
# parse FORMAT message
|
||||
if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
|
||||
@@ -154,10 +171,13 @@ class SDLog2Parser:
|
||||
show_fields = self.__msg_labels.get(msg_name, [])
|
||||
self.__msg_filter_map[msg_name] = show_fields
|
||||
for field in show_fields:
|
||||
full_label = msg_name + "." + field
|
||||
full_label = msg_name + "_" + field
|
||||
self.__csv_columns.append(full_label)
|
||||
self.__csv_data[full_label] = None
|
||||
print self.__csv_delim.join(self.__csv_columns)
|
||||
if self.__file != None:
|
||||
print(self.__csv_delim.join(self.__csv_columns), file=self.__file)
|
||||
else:
|
||||
print(self.__csv_delim.join(self.__csv_columns))
|
||||
|
||||
def __printCSVRow(self):
|
||||
s = []
|
||||
@@ -168,16 +188,28 @@ class SDLog2Parser:
|
||||
else:
|
||||
v = str(v)
|
||||
s.append(v)
|
||||
print self.__csv_delim.join(s)
|
||||
|
||||
if self.__file != None:
|
||||
print(self.__csv_delim.join(s), file=self.__file)
|
||||
else:
|
||||
print(self.__csv_delim.join(s))
|
||||
|
||||
def __parseMsgDescr(self):
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
|
||||
if runningPython3:
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
|
||||
else:
|
||||
data = struct.unpack(self.MSG_FORMAT_STRUCT, str(self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN]))
|
||||
msg_type = data[0]
|
||||
if msg_type != self.MSG_TYPE_FORMAT:
|
||||
msg_length = data[1]
|
||||
msg_name = data[2].strip("\0")
|
||||
msg_format = data[3].strip("\0")
|
||||
msg_labels = data[4].strip("\0").split(",")
|
||||
if runningPython3:
|
||||
msg_name = str(data[2], 'ascii').strip("\0")
|
||||
msg_format = str(data[3], 'ascii').strip("\0")
|
||||
msg_labels = str(data[4], 'ascii').strip("\0").split(",")
|
||||
else:
|
||||
msg_name = str(data[2]).strip("\0")
|
||||
msg_format = str(data[3]).strip("\0")
|
||||
msg_labels = str(data[4]).strip("\0").split(",")
|
||||
# Convert msg_format to struct.unpack format string
|
||||
msg_struct = ""
|
||||
msg_mults = []
|
||||
@@ -194,8 +226,8 @@ class SDLog2Parser:
|
||||
self.__msg_names.append(msg_name)
|
||||
if self.__debug_out:
|
||||
if self.__filterMsg(msg_name) != None:
|
||||
print "MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
|
||||
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults)
|
||||
print("MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
|
||||
msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults))
|
||||
self.__ptr += self.MSG_FORMAT_PACKET_LEN
|
||||
|
||||
def __parseMsg(self, msg_descr):
|
||||
@@ -205,8 +237,11 @@ class SDLog2Parser:
|
||||
self.__csv_updated = False
|
||||
show_fields = self.__filterMsg(msg_name)
|
||||
if (show_fields != None):
|
||||
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
|
||||
for i in xrange(len(data)):
|
||||
if runningPython3:
|
||||
data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
|
||||
else:
|
||||
data = list(struct.unpack(msg_struct, str(self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length])))
|
||||
for i in range(len(data)):
|
||||
if type(data[i]) is str:
|
||||
data[i] = data[i].strip("\0")
|
||||
m = msg_mults[i]
|
||||
@@ -214,17 +249,17 @@ class SDLog2Parser:
|
||||
data[i] = data[i] * m
|
||||
if self.__debug_out:
|
||||
s = []
|
||||
for i in xrange(len(data)):
|
||||
for i in range(len(data)):
|
||||
label = msg_labels[i]
|
||||
if show_fields == "*" or label in show_fields:
|
||||
s.append(label + "=" + str(data[i]))
|
||||
print "MSG %s: %s" % (msg_name, ", ".join(s))
|
||||
print("MSG %s: %s" % (msg_name, ", ".join(s)))
|
||||
else:
|
||||
# update CSV data buffer
|
||||
for i in xrange(len(data)):
|
||||
for i in range(len(data)):
|
||||
label = msg_labels[i]
|
||||
if label in show_fields:
|
||||
self.__csv_data[msg_name + "." + label] = data[i]
|
||||
self.__csv_data[msg_name + "_" + label] = data[i]
|
||||
if self.__time_msg != None and msg_name != self.__time_msg:
|
||||
self.__csv_updated = True
|
||||
if self.__time_msg == None:
|
||||
@@ -233,13 +268,14 @@ class SDLog2Parser:
|
||||
|
||||
def _main():
|
||||
if len(sys.argv) < 2:
|
||||
print "Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n"
|
||||
print "\t-v\tUse plain debug output instead of CSV.\n"
|
||||
print "\t-e\tRecover from errors.\n"
|
||||
print "\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n"
|
||||
print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
|
||||
print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
|
||||
print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
|
||||
print("Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n")
|
||||
print("\t-v\tUse plain debug output instead of CSV.\n")
|
||||
print("\t-e\tRecover from errors.\n")
|
||||
print("\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n")
|
||||
print("\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n")
|
||||
print("\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed.")
|
||||
print("\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n")
|
||||
print("\t-fPrint to file instead of stdout")
|
||||
return
|
||||
fn = sys.argv[1]
|
||||
debug_out = False
|
||||
@@ -247,7 +283,8 @@ def _main():
|
||||
msg_filter = []
|
||||
csv_null = ""
|
||||
csv_delim = ","
|
||||
time_msg = None
|
||||
time_msg = "TIME"
|
||||
file_name = None
|
||||
opt = None
|
||||
for arg in sys.argv[2:]:
|
||||
if opt != None:
|
||||
@@ -257,9 +294,11 @@ def _main():
|
||||
csv_null = arg
|
||||
elif opt == "t":
|
||||
time_msg = arg
|
||||
elif opt == "f":
|
||||
file_name = arg
|
||||
elif opt == "m":
|
||||
show_fields = "*"
|
||||
a = arg.split(".")
|
||||
a = arg.split("_")
|
||||
if len(a) > 1:
|
||||
show_fields = a[1].split(",")
|
||||
msg_filter.append((a[0], show_fields))
|
||||
@@ -277,6 +316,8 @@ def _main():
|
||||
opt = "m"
|
||||
elif arg == "-t":
|
||||
opt = "t"
|
||||
elif arg == "-f":
|
||||
opt = "f"
|
||||
|
||||
if csv_delim == "\\t":
|
||||
csv_delim = "\t"
|
||||
@@ -285,6 +326,7 @@ def _main():
|
||||
parser.setCSVNull(csv_null)
|
||||
parser.setMsgFilter(msg_filter)
|
||||
parser.setTimeMsg(time_msg)
|
||||
parser.setFileName(file_name)
|
||||
parser.setDebugOut(debug_out)
|
||||
parser.setCorrectErrors(correct_errors)
|
||||
parser.process(fn)
|
||||
|
||||
@@ -6,5 +6,6 @@
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = PX4FMU_V1
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
|
||||
@@ -6,5 +6,6 @@
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM3
|
||||
CONFIG_BOARD = PX4IO_V1
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
|
||||
@@ -32,13 +32,16 @@ MODULES += drivers/hott/hott_sensors
|
||||
MODULES += drivers/blinkm
|
||||
MODULES += drivers/mkblctrl
|
||||
MODULES += drivers/md25
|
||||
MODULES += drivers/airspeed
|
||||
MODULES += drivers/ets_airspeed
|
||||
MODULES += drivers/meas_airspeed
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/eeprom
|
||||
MODULES += systemcmds/ramtron
|
||||
MODULES += systemcmds/bl_update
|
||||
MODULES += systemcmds/boardinfo
|
||||
MODULES += systemcmds/i2c
|
||||
@@ -51,6 +54,7 @@ MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/tests
|
||||
MODULES += systemcmds/config
|
||||
|
||||
#
|
||||
# General system control
|
||||
@@ -72,6 +76,7 @@ MODULES += examples/flow_position_estimator
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/segway
|
||||
MODULES += modules/fixedwing_backside
|
||||
MODULES += modules/fixedwing_att_control
|
||||
MODULES += modules/fixedwing_pos_control
|
||||
@@ -91,6 +96,7 @@ MODULES += modules/sdlog2
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/mathlib
|
||||
MODULES += modules/mathlib/math/filter
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
|
||||
|
||||
@@ -153,6 +153,7 @@ ifeq ($(BOARD_FILE),)
|
||||
$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
|
||||
endif
|
||||
export BOARD
|
||||
export BOARD_FILE
|
||||
include $(BOARD_FILE)
|
||||
$(info % BOARD = $(BOARD))
|
||||
|
||||
@@ -385,7 +386,7 @@ define BUILTIN_DEF
|
||||
endef
|
||||
|
||||
# Don't generate until modules have updated their command files
|
||||
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(BUILTIN_COMMAND_FILES)
|
||||
$(BUILTIN_CSRC): $(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
|
||||
@$(ECHO) "CMDS: $@"
|
||||
$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
|
||||
$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
|
||||
|
||||
+2
-1
@@ -98,6 +98,7 @@
|
||||
#
|
||||
# CONFIG
|
||||
# BOARD
|
||||
# BOARD_FILE
|
||||
# MODULE_WORK_DIR
|
||||
# MODULE_OBJ
|
||||
# MODULE_MK
|
||||
@@ -117,7 +118,7 @@ $(info %% MODULE_MK = $(MODULE_MK))
|
||||
#
|
||||
# Get the board/toolchain config
|
||||
#
|
||||
include $(PX4_MK_DIR)/board_$(BOARD).mk
|
||||
include $(BOARD_FILE)
|
||||
|
||||
#
|
||||
# Get the module's config
|
||||
|
||||
@@ -65,6 +65,7 @@ export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
|
||||
export MKFW = $(PX4_BASE)/Tools/px_mkfw.py
|
||||
export UPLOADER = $(PX4_BASE)/Tools/px_uploader.py
|
||||
export COPY = cp
|
||||
export COPYDIR = cp -Rf
|
||||
export REMOVE = rm -f
|
||||
export RMDIR = rm -rf
|
||||
export GENROMFS = genromfs
|
||||
|
||||
@@ -85,6 +85,13 @@ ifeq ($(ARCHCPUFLAGS),)
|
||||
$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
|
||||
endif
|
||||
|
||||
# Set the board flags
|
||||
#
|
||||
ifeq ($(CONFIG_BOARD),)
|
||||
$(error Board config does not define CONFIG_BOARD)
|
||||
endif
|
||||
ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
|
||||
|
||||
# optimisation flags
|
||||
#
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
|
||||
@@ -27,8 +27,6 @@ all: upload-$(METHOD)-$(BOARD)
|
||||
upload-serial-px4fmu-v1: $(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
|
||||
|
||||
@@ -0,0 +1,391 @@
|
||||
/************************************************************************************
|
||||
* configs/stm32f4discovery/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
|
||||
#define __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdio.h"
|
||||
#include "stm32.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The PX4FMU uses a 24MHz crystal connected to the HSE.
|
||||
*
|
||||
* This is the canonical configuration:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 24 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 24MHz
|
||||
* LSE - not installed
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
//#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (8,000,000 / 8) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
|
||||
* way. The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with stm32_setled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_NLEDS 2
|
||||
|
||||
#define BOARD_LED_BLUE BOARD_LED1
|
||||
#define BOARD_LED_RED BOARD_LED2
|
||||
|
||||
/* LED bits for use with stm32_setleds() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
|
||||
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
|
||||
* px4fmu-v1. The following definitions describe how NuttX controls the LEDs:
|
||||
*/
|
||||
|
||||
#define LED_STARTED 0 /* LED1 */
|
||||
#define LED_HEAPALLOCATE 1 /* LED2 */
|
||||
#define LED_IRQSENABLED 2 /* LED1 */
|
||||
#define LED_STACKCREATED 3 /* LED1 + LED2 */
|
||||
#define LED_INIRQ 4 /* LED1 */
|
||||
#define LED_SIGNAL 5 /* LED2 */
|
||||
#define LED_ASSERTION 6 /* LED1 + LED2 */
|
||||
#define LED_PANIC 7 /* LED1 + LED2 */
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/*
|
||||
* UARTs.
|
||||
*
|
||||
* Note that UART5 has no optional pinout, so it is not listed here.
|
||||
*/
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_1
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_1
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1
|
||||
|
||||
/* UART DMA configuration for USART1/6 */
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
* Four PWM outputs can be configured on pins otherwise shared with
|
||||
* USART2; two can take the flow control pins if they are not being used.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* CTS - PA0 - TIM2CH1
|
||||
* RTS - PA1 - TIM2CH2
|
||||
* TX - PA2 - TIM2CH3
|
||||
* RX - PA3 - TIM2CH4
|
||||
*
|
||||
*/
|
||||
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1
|
||||
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
|
||||
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1
|
||||
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
|
||||
|
||||
/*
|
||||
* PPM
|
||||
*
|
||||
* PPM input is handled by the HRT timer.
|
||||
*/
|
||||
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
|
||||
|
||||
/*
|
||||
* CAN
|
||||
*
|
||||
* CAN2 is routed to the expansion connector.
|
||||
*/
|
||||
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_1
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_1
|
||||
|
||||
/*
|
||||
* I2C
|
||||
*
|
||||
* The optional _GPIO configurations allow the I2C driver to manually
|
||||
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||
* but are normally-high GPIOs.
|
||||
*/
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
|
||||
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
|
||||
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
|
||||
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ESC 1
|
||||
#define PX4_I2C_BUS_ONBOARD 2
|
||||
#define PX4_I2C_BUS_EXPANSION 3
|
||||
|
||||
/*
|
||||
* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
*/
|
||||
#define PX4_I2C_OBDEV_HMC5883 0x1e
|
||||
#define PX4_I2C_OBDEV_MS5611 0x76
|
||||
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
|
||||
|
||||
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
|
||||
#define PX4_I2C_OBDEV_PX4IO 0x1a
|
||||
|
||||
/*
|
||||
* SPI
|
||||
*
|
||||
* There are sensors on SPI1, and SPI3 is connected to the microSD slot.
|
||||
*/
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
|
||||
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
|
||||
#define GPIO_SPI3_NSS GPIO_SPI3_NSS_2
|
||||
|
||||
/* SPI DMA configuration for SPI3 (microSD) */
|
||||
#define DMACHAN_SPI3_RX DMAMAP_SPI3_RX_1
|
||||
#define DMACHAN_SPI3_TX DMAMAP_SPI3_TX_2
|
||||
/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
|
||||
SPI1 will never run in DMA mode - so we can just give it a random config here.
|
||||
What we really need to do is to make DMA configurable per channel, and always
|
||||
disable it for SPI1. */
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
|
||||
|
||||
/*
|
||||
* Use these in place of the spi_dev_e enumeration to
|
||||
* select a specific SPI device on SPI1
|
||||
*/
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL 2
|
||||
#define PX4_SPIDEV_MPU 3
|
||||
|
||||
/*
|
||||
* Optional devices on IO's external port
|
||||
*/
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
|
||||
/*
|
||||
* Tone alarm output
|
||||
*/
|
||||
#define TONE_ALARM_TIMER 3 /* timer 3 */
|
||||
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
|
||||
*
|
||||
* Description:
|
||||
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
|
||||
* CONFIG_ARCH_LEDS is not defined, then the following interfacesare available to
|
||||
* control the LEDs from user applications.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef CONFIG_ARCH_LEDS
|
||||
EXTERN void stm32_ledinit(void);
|
||||
EXTERN void stm32_setled(int led, bool ledon);
|
||||
EXTERN void stm32_setleds(uint8_t ledset);
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIG_PX4FMU_V1_INCLUDE_BOARD_H */
|
||||
@@ -0,0 +1,42 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* nsh_romfsetc.h
|
||||
*
|
||||
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||
* must be supplied by the library client.
|
||||
*/
|
||||
|
||||
extern unsigned char romfs_img[];
|
||||
extern unsigned int romfs_img_len;
|
||||
@@ -0,0 +1,179 @@
|
||||
############################################################################
|
||||
# configs/px4fmu-v1/nsh/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# 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 NuttX 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.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 $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
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
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Executable
+75
@@ -0,0 +1,75 @@
|
||||
#!/bin/bash
|
||||
# configs/px4fmu-v1/usbnsh/setenv.sh
|
||||
#
|
||||
# Copyright (C) 2013 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# 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 NuttX 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.
|
||||
#
|
||||
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This is the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# These are the Cygwin paths to the locations where I installed the Atollic
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the Atollic toolchain in any other location. /usr/bin is added before
|
||||
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
|
||||
# at those locations as well.
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
@@ -0,0 +1,149 @@
|
||||
/****************************************************************************
|
||||
* configs/px4fmu-v1/scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 192Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x4000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
############################################################################
|
||||
# configs/px4fmu-v1/src/Makefile
|
||||
#
|
||||
# Copyright (C) 2013 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# 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 NuttX 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
Executable
+1
@@ -0,0 +1 @@
|
||||
This directory contains header files unique to the PX4IO board.
|
||||
Executable
+168
@@ -0,0 +1,168 @@
|
||||
/************************************************************************************
|
||||
* configs/px4io/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
# include <stdbool.h>
|
||||
#endif
|
||||
#include <stm32_rcc.h>
|
||||
#include <stm32_sdio.h>
|
||||
#include <stm32.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
|
||||
/* On-board crystal frequency is 24MHz (HSE) */
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
/* Use the HSE output as the system clock */
|
||||
|
||||
#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
|
||||
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
|
||||
#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (24MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK (24MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
|
||||
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
|
||||
#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
|
||||
|
||||
/* APB2 timer 1 will receive PCLK2. */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK (24MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
|
||||
|
||||
/* All timers run off PCLK */
|
||||
|
||||
#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/*
|
||||
* Some of the USART pins are not available; override the GPIO
|
||||
* definitions with an invalid pin configuration.
|
||||
*/
|
||||
#undef GPIO_USART2_CTS
|
||||
#define GPIO_USART2_CTS 0xffffffff
|
||||
#undef GPIO_USART2_RTS
|
||||
#define GPIO_USART2_RTS 0xffffffff
|
||||
#undef GPIO_USART2_CK
|
||||
#define GPIO_USART2_CK 0xffffffff
|
||||
#undef GPIO_USART3_TX
|
||||
#define GPIO_USART3_TX 0xffffffff
|
||||
#undef GPIO_USART3_CK
|
||||
#define GPIO_USART3_CK 0xffffffff
|
||||
#undef GPIO_USART3_CTS
|
||||
#define GPIO_USART3_CTS 0xffffffff
|
||||
#undef GPIO_USART3_RTS
|
||||
#define GPIO_USART3_RTS 0xffffffff
|
||||
|
||||
/*
|
||||
* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
||||
|
||||
/*
|
||||
* PPM
|
||||
*
|
||||
* PPM input is handled by the HRT timer.
|
||||
*
|
||||
* Pin is PA8, timer 1, channel 1
|
||||
*/
|
||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -0,0 +1,166 @@
|
||||
############################################################################
|
||||
# configs/px4io-v1/nsh/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# 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 NuttX 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m3 \
|
||||
-mthumb \
|
||||
-march=armv7-m
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.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 $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
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
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS)
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
@@ -0,0 +1,32 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
Executable
+537
File diff suppressed because it is too large
Load Diff
Executable
+47
@@ -0,0 +1,47 @@
|
||||
#!/bin/bash
|
||||
# configs/stm3210e-eval/dfu/setenv.sh
|
||||
#
|
||||
# Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# 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 NuttX 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.
|
||||
#
|
||||
|
||||
if [ "$(basename $0)" = "setenv.sh" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
|
||||
|
||||
WD=`pwd`
|
||||
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
|
||||
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user