diff --git a/nuttx-configs/esc35-v1/src/Makefile b/nuttx-configs/esc35-v1/src/Makefile index 1e0b1010e0..f29cfe594a 100644 --- a/nuttx-configs/esc35-v1/src/Makefile +++ b/nuttx-configs/esc35-v1/src/Makefile @@ -1,8 +1,7 @@ ############################################################################ # -# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt -# David Sidrane # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,37 +34,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -ifeq ($(CONFIG_BOOTLOADER),) -CSRCS = empty.c -endif -ifeq ($(CONFIG_BOOTLOADER),y) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -CSRCS = ostubs.c - -CFLAGS += $(addprefix -I,$(SRC_SEARCH)) -DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH)) -VPATH= $(SRC_SEARCH) -endif - -COBJS = $(CSRCS:.c=$(OBJEXT)) - -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) - -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +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 $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${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 + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -80,8 +66,8 @@ libboard$(LIBEXT): $(OBJS) $(call ARCHIVE, $@, $(OBJS)) .depend: Makefile $(SRCS) - @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep - @touch $@ + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ depend: .depend diff --git a/nuttx-configs/esc35-v1/src/ostubs.c b/nuttx-configs/esc35-v1/src/ostubs.c deleted file mode 100644 index 48561d137c..0000000000 --- a/nuttx-configs/esc35-v1/src/ostubs.c +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ -#ifdef CONFIG_STACK_COLORATION -inline static void irq_stack_collor(void *pv, unsigned int nwords) -{ -#ifdef CONFIG_ARCH_INTERRUPTSTACK - /* Set the Interrupt stack to the stack coloration value then jump to - * os_start(). We take extreme care here because were currently - * executing on this stack. - * - * We want to avoid sneak stack access generated by the compiler. - */ - - __asm__ __volatile__ - ( - "\tmov r0, %[addr]\n" /* R0 = Address */ - "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/ - "\tbeq 2f\n" /* (should not happen) */ - - "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */ - "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */ - "\tmovt r2, #0xdead\n" - - "1:\n" /* Top of the loop */ - "\tsub r1, r1, #1\n" /* R1 nwords-- */ - "\tcmp r1, #0\n" /* Check (nwords == 0) */ - "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */ - "\tbne 1b\n" /* Bottom of the loop */ - - "2:\n" - : - : [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/ - : /* No clobbers */ - - ); -#endif -} -#endif - -void os_start(void) -{ - - /* Color the irq stack */ -#ifdef CONFIG_STACK_COLORATION - - irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t)); - -#endif - - /* Initialize the timer software subsystem */ - - timer_init(); - - /* Initialize the interrupt subsystem */ - - up_irqinitialize(); - - /* Initialize the OS's timer subsystem */ -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - - while (1) - { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -} diff --git a/nuttx-configs/px4cannode-v1/src/Makefile b/nuttx-configs/px4cannode-v1/src/Makefile index 1e0b1010e0..f29cfe594a 100644 --- a/nuttx-configs/px4cannode-v1/src/Makefile +++ b/nuttx-configs/px4cannode-v1/src/Makefile @@ -1,8 +1,7 @@ ############################################################################ # -# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt -# David Sidrane # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,37 +34,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -ifeq ($(CONFIG_BOOTLOADER),) -CSRCS = empty.c -endif -ifeq ($(CONFIG_BOOTLOADER),y) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -CSRCS = ostubs.c - -CFLAGS += $(addprefix -I,$(SRC_SEARCH)) -DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH)) -VPATH= $(SRC_SEARCH) -endif - -COBJS = $(CSRCS:.c=$(OBJEXT)) - -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) - -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +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 $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${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 + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -80,8 +66,8 @@ libboard$(LIBEXT): $(OBJS) $(call ARCHIVE, $@, $(OBJS)) .depend: Makefile $(SRCS) - @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep - @touch $@ + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ depend: .depend diff --git a/nuttx-configs/px4cannode-v1/src/ostubs.c b/nuttx-configs/px4cannode-v1/src/ostubs.c deleted file mode 100644 index 48561d137c..0000000000 --- a/nuttx-configs/px4cannode-v1/src/ostubs.c +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ -#ifdef CONFIG_STACK_COLORATION -inline static void irq_stack_collor(void *pv, unsigned int nwords) -{ -#ifdef CONFIG_ARCH_INTERRUPTSTACK - /* Set the Interrupt stack to the stack coloration value then jump to - * os_start(). We take extreme care here because were currently - * executing on this stack. - * - * We want to avoid sneak stack access generated by the compiler. - */ - - __asm__ __volatile__ - ( - "\tmov r0, %[addr]\n" /* R0 = Address */ - "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/ - "\tbeq 2f\n" /* (should not happen) */ - - "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */ - "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */ - "\tmovt r2, #0xdead\n" - - "1:\n" /* Top of the loop */ - "\tsub r1, r1, #1\n" /* R1 nwords-- */ - "\tcmp r1, #0\n" /* Check (nwords == 0) */ - "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */ - "\tbne 1b\n" /* Bottom of the loop */ - - "2:\n" - : - : [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/ - : /* No clobbers */ - - ); -#endif -} -#endif - -void os_start(void) -{ - - /* Color the irq stack */ -#ifdef CONFIG_STACK_COLORATION - - irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t)); - -#endif - - /* Initialize the timer software subsystem */ - - timer_init(); - - /* Initialize the interrupt subsystem */ - - up_irqinitialize(); - - /* Initialize the OS's timer subsystem */ -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - - while (1) - { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -} diff --git a/nuttx-configs/px4esc-v1/src/Makefile b/nuttx-configs/px4esc-v1/src/Makefile index 1e0b1010e0..f29cfe594a 100644 --- a/nuttx-configs/px4esc-v1/src/Makefile +++ b/nuttx-configs/px4esc-v1/src/Makefile @@ -1,8 +1,7 @@ ############################################################################ # -# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt -# David Sidrane # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,37 +34,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -ifeq ($(CONFIG_BOOTLOADER),) -CSRCS = empty.c -endif -ifeq ($(CONFIG_BOOTLOADER),y) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -CSRCS = ostubs.c - -CFLAGS += $(addprefix -I,$(SRC_SEARCH)) -DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH)) -VPATH= $(SRC_SEARCH) -endif - -COBJS = $(CSRCS:.c=$(OBJEXT)) - -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) - -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +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 $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${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 + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -80,8 +66,8 @@ libboard$(LIBEXT): $(OBJS) $(call ARCHIVE, $@, $(OBJS)) .depend: Makefile $(SRCS) - @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep - @touch $@ + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ depend: .depend diff --git a/nuttx-configs/px4esc-v1/src/ostubs.c b/nuttx-configs/px4esc-v1/src/ostubs.c deleted file mode 100644 index 48561d137c..0000000000 --- a/nuttx-configs/px4esc-v1/src/ostubs.c +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ -#ifdef CONFIG_STACK_COLORATION -inline static void irq_stack_collor(void *pv, unsigned int nwords) -{ -#ifdef CONFIG_ARCH_INTERRUPTSTACK - /* Set the Interrupt stack to the stack coloration value then jump to - * os_start(). We take extreme care here because were currently - * executing on this stack. - * - * We want to avoid sneak stack access generated by the compiler. - */ - - __asm__ __volatile__ - ( - "\tmov r0, %[addr]\n" /* R0 = Address */ - "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/ - "\tbeq 2f\n" /* (should not happen) */ - - "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */ - "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */ - "\tmovt r2, #0xdead\n" - - "1:\n" /* Top of the loop */ - "\tsub r1, r1, #1\n" /* R1 nwords-- */ - "\tcmp r1, #0\n" /* Check (nwords == 0) */ - "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */ - "\tbne 1b\n" /* Bottom of the loop */ - - "2:\n" - : - : [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/ - : /* No clobbers */ - - ); -#endif -} -#endif - -void os_start(void) -{ - - /* Color the irq stack */ -#ifdef CONFIG_STACK_COLORATION - - irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t)); - -#endif - - /* Initialize the timer software subsystem */ - - timer_init(); - - /* Initialize the interrupt subsystem */ - - up_irqinitialize(); - - /* Initialize the OS's timer subsystem */ -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - - while (1) - { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -} diff --git a/nuttx-configs/px4flow-v2/src/Makefile b/nuttx-configs/px4flow-v2/src/Makefile index 1e0b1010e0..f29cfe594a 100644 --- a/nuttx-configs/px4flow-v2/src/Makefile +++ b/nuttx-configs/px4flow-v2/src/Makefile @@ -1,8 +1,7 @@ ############################################################################ # -# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt -# David Sidrane # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,37 +34,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -ifeq ($(CONFIG_BOOTLOADER),) -CSRCS = empty.c -endif -ifeq ($(CONFIG_BOOTLOADER),y) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -CSRCS = ostubs.c - -CFLAGS += $(addprefix -I,$(SRC_SEARCH)) -DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH)) -VPATH= $(SRC_SEARCH) -endif - -COBJS = $(CSRCS:.c=$(OBJEXT)) - -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) - -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +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 $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${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 + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -80,8 +66,8 @@ libboard$(LIBEXT): $(OBJS) $(call ARCHIVE, $@, $(OBJS)) .depend: Makefile $(SRCS) - @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep - @touch $@ + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ depend: .depend diff --git a/nuttx-configs/px4flow-v2/src/ostubs.c b/nuttx-configs/px4flow-v2/src/ostubs.c deleted file mode 100644 index 48561d137c..0000000000 --- a/nuttx-configs/px4flow-v2/src/ostubs.c +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ -#ifdef CONFIG_STACK_COLORATION -inline static void irq_stack_collor(void *pv, unsigned int nwords) -{ -#ifdef CONFIG_ARCH_INTERRUPTSTACK - /* Set the Interrupt stack to the stack coloration value then jump to - * os_start(). We take extreme care here because were currently - * executing on this stack. - * - * We want to avoid sneak stack access generated by the compiler. - */ - - __asm__ __volatile__ - ( - "\tmov r0, %[addr]\n" /* R0 = Address */ - "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/ - "\tbeq 2f\n" /* (should not happen) */ - - "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */ - "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */ - "\tmovt r2, #0xdead\n" - - "1:\n" /* Top of the loop */ - "\tsub r1, r1, #1\n" /* R1 nwords-- */ - "\tcmp r1, #0\n" /* Check (nwords == 0) */ - "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */ - "\tbne 1b\n" /* Bottom of the loop */ - - "2:\n" - : - : [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/ - : /* No clobbers */ - - ); -#endif -} -#endif - -void os_start(void) -{ - - /* Color the irq stack */ -#ifdef CONFIG_STACK_COLORATION - - irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t)); - -#endif - - /* Initialize the timer software subsystem */ - - timer_init(); - - /* Initialize the interrupt subsystem */ - - up_irqinitialize(); - - /* Initialize the OS's timer subsystem */ -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - - while (1) - { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -} diff --git a/nuttx-configs/s2740vc-v1/src/Makefile b/nuttx-configs/s2740vc-v1/src/Makefile index 1e0b1010e0..f29cfe594a 100644 --- a/nuttx-configs/s2740vc-v1/src/Makefile +++ b/nuttx-configs/s2740vc-v1/src/Makefile @@ -1,8 +1,7 @@ ############################################################################ # -# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt -# David Sidrane # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,37 +34,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -ifeq ($(CONFIG_BOOTLOADER),) -CSRCS = empty.c -endif -ifeq ($(CONFIG_BOOTLOADER),y) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -CSRCS = ostubs.c - -CFLAGS += $(addprefix -I,$(SRC_SEARCH)) -DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH)) -VPATH= $(SRC_SEARCH) -endif - -COBJS = $(CSRCS:.c=$(OBJEXT)) - -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) - -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +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 $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${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 + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -80,8 +66,8 @@ libboard$(LIBEXT): $(OBJS) $(call ARCHIVE, $@, $(OBJS)) .depend: Makefile $(SRCS) - @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep - @touch $@ + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ depend: .depend diff --git a/nuttx-configs/s2740vc-v1/src/ostubs.c b/nuttx-configs/s2740vc-v1/src/ostubs.c deleted file mode 100644 index cb9c134196..0000000000 --- a/nuttx-configs/s2740vc-v1/src/ostubs.c +++ /dev/null @@ -1,171 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ - -void os_start(void) -{ - /* Initialize the timer software subsystem */ - - timer_init(); - - /* Initialize the interrupt subsystem */ - - up_irqinitialize(); - - /* Initialize the OS's timer subsystem */ -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - - while (1) - { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -} diff --git a/nuttx-configs/zubaxgnss-v1/src/Makefile b/nuttx-configs/zubaxgnss-v1/src/Makefile index 1e0b1010e0..f29cfe594a 100644 --- a/nuttx-configs/zubaxgnss-v1/src/Makefile +++ b/nuttx-configs/zubaxgnss-v1/src/Makefile @@ -1,8 +1,7 @@ ############################################################################ # -# Copyright (C) 2015 Gregory Nutt. All rights reserved. +# Copyright (C) 2011 Gregory Nutt. All rights reserved. # Author: Gregory Nutt -# David Sidrane # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -35,37 +34,24 @@ -include $(TOPDIR)/Make.defs -CFLAGS += -I$(TOPDIR)/sched +CFLAGS += -I$(TOPDIR)/sched -ASRCS = -AOBJS = $(ASRCS:.S=$(OBJEXT)) +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) -ifeq ($(CONFIG_BOOTLOADER),) -CSRCS = empty.c -endif -ifeq ($(CONFIG_BOOTLOADER),y) +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) -SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) -CSRCS = ostubs.c - -CFLAGS += $(addprefix -I,$(SRC_SEARCH)) -DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH)) -VPATH= $(SRC_SEARCH) -endif - -COBJS = $(CSRCS:.c=$(OBJEXT)) - -SRCS = $(ASRCS) $(CSRCS) -OBJS = $(AOBJS) $(COBJS) - -ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +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 $(ARCH_SRCDIR)/armv7-m}" + CFLAGS += -I "${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 + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m endif all: libboard$(LIBEXT) @@ -80,8 +66,8 @@ libboard$(LIBEXT): $(OBJS) $(call ARCHIVE, $@, $(OBJS)) .depend: Makefile $(SRCS) - @$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep - @touch $@ + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ depend: .depend diff --git a/nuttx-configs/zubaxgnss-v1/src/ostubs.c b/nuttx-configs/zubaxgnss-v1/src/ostubs.c deleted file mode 100644 index 48561d137c..0000000000 --- a/nuttx-configs/zubaxgnss-v1/src/ostubs.c +++ /dev/null @@ -1,215 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2015 PX4 Development Team. All rights reserved. - * Author: David Sidrane - * - * 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. - * - ****************************************************************************/ - -/**************************************************************************** - * Included Files - ****************************************************************************/ - -#include - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include "up_internal.h" - -/**************************************************************************** - * Pre-processor Definitions - ****************************************************************************/ - -/**************************************************************************** - * Private Types - ****************************************************************************/ - -/**************************************************************************** - * Private Function Prototypes - ****************************************************************************/ - -/**************************************************************************** - * Private Data - ****************************************************************************/ - -/**************************************************************************** - * Public Data - ****************************************************************************/ - -volatile dq_queue_t g_readytorun; - -/**************************************************************************** - * Private Functions - ****************************************************************************/ - -/**************************************************************************** - * Public Functions - ****************************************************************************/ -void timer_init(void); -int __wrap_up_svcall(int irq, FAR void *context); - -/**************************************************************************** - * Name: os_start - * - * Description: - * This function hijacks the entry point of the OS. Normally called by the - * statup code for a given architecture - * - ****************************************************************************/ -#ifdef CONFIG_STACK_COLORATION -inline static void irq_stack_collor(void *pv, unsigned int nwords) -{ -#ifdef CONFIG_ARCH_INTERRUPTSTACK - /* Set the Interrupt stack to the stack coloration value then jump to - * os_start(). We take extreme care here because were currently - * executing on this stack. - * - * We want to avoid sneak stack access generated by the compiler. - */ - - __asm__ __volatile__ - ( - "\tmov r0, %[addr]\n" /* R0 = Address */ - "\tmovs r1, %[nwords]\n" /* R1 = nbyts*/ - "\tbeq 2f\n" /* (should not happen) */ - - "\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */ - "\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */ - "\tmovt r2, #0xdead\n" - - "1:\n" /* Top of the loop */ - "\tsub r1, r1, #1\n" /* R1 nwords-- */ - "\tcmp r1, #0\n" /* Check (nwords == 0) */ - "\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */ - "\tbne 1b\n" /* Bottom of the loop */ - - "2:\n" - : - : [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/ - : /* No clobbers */ - - ); -#endif -} -#endif - -void os_start(void) -{ - - /* Color the irq stack */ -#ifdef CONFIG_STACK_COLORATION - - irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t)); - -#endif - - /* Initialize the timer software subsystem */ - - timer_init(); - - /* Initialize the interrupt subsystem */ - - up_irqinitialize(); - - /* Initialize the OS's timer subsystem */ -#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \ - !defined(CONFIG_SYSTEMTICK_EXTCLK) - arm_timer_initialize(); -#endif - - /* Keep the compiler happy for a no return function */ - - while (1) - { - main(0, 0); - } -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the OS's malloc and provides no allocation - * - ****************************************************************************/ - -FAR void *malloc(size_t size) -{ - return NULL; -} - -/**************************************************************************** - * Name: malloc - * - * Description: - * This function hijacks the systems exit - * - ****************************************************************************/ -void exit(int status) -{ - while (1); -} - -/**************************************************************************** - * Name: sched_ufree - * - * Description: - * This function hijacks the systems sched_ufree that my be called during - * exception processing. - * - ****************************************************************************/ - -void sched_ufree(FAR void *address) -{ - -} - -/**************************************************************************** - * Name: up_svcall - * - * Description: - * This function hijacks by the way of a compile time wrapper the systems - * up_svcall - * - ****************************************************************************/ - -int __wrap_up_svcall(int irq, FAR void *context) -{ - return 0; -} diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt index e0ac3d7eab..105a4bf236 100644 --- a/platforms/nuttx/NuttX/CMakeLists.txt +++ b/platforms/nuttx/NuttX/CMakeLists.txt @@ -154,19 +154,6 @@ set_property(TARGET nuttx_apps PROPERTY IMPORTED_LOCATION ${APPS_DIR}/libapps.a) add_dependencies(nuttx_build nuttx_apps_build) target_link_libraries(nuttx_build INTERFACE nuttx_apps) -# libboard.a -add_custom_command(OUTPUT ${NUTTX_DIR}/arch/arm/src/board/libboard.a - COMMAND make ${nuttx_build_options} -j2 --no-print-directory -C board TOPDIR="${NUTTX_DIR}" libboard.a EXTRADEFINES=-D__KERNEL__ ${nuttx_build_output} - DEPENDS nuttx_context - WORKING_DIRECTORY ${NUTTX_DIR}/arch/arm/src - ${nuttx_build_uses_terminal} - ) -add_custom_target(nuttx_board_build DEPENDS ${NUTTX_DIR}/arch/arm/src/board/libboard.a) -add_library(nuttx_board STATIC IMPORTED GLOBAL) -set_property(TARGET nuttx_board PROPERTY IMPORTED_LOCATION ${NUTTX_DIR}/arch/arm/src/board/libboard.a) -add_dependencies(nuttx_build nuttx_board_build) -target_link_libraries(nuttx_build INTERFACE nuttx_board) - # helper for all targets function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra) file(GLOB_RECURSE nuttx_lib_files @@ -175,7 +162,7 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra) add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete - COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} -j2 --no-print-directory lib${nuttx_lib}.a TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output} + COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory lib${nuttx_lib}.a TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output} DEPENDS ${nuttx_lib_files} nuttx_context WORKING_DIRECTORY ${NUTTX_DIR} ${nuttx_build_uses_terminal} diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt index f485daa006..3c1b2c7c69 100644 --- a/src/firmware/nuttx/CMakeLists.txt +++ b/src/firmware/nuttx/CMakeLists.txt @@ -2,7 +2,7 @@ include(common/px4_upload) # add executable set(fw_name ${CONFIG}.elf) -add_executable(${fw_name} ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/src/empty.c) +add_executable(${fw_name} ${PX4_SOURCE_DIR}/src/platforms/empty.c) add_dependencies(${fw_name} git_nuttx) get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES) @@ -21,7 +21,6 @@ target_link_libraries(${fw_name} nuttx_arch nuttx_binfmt nuttx_binfmt - nuttx_board nuttx_c nuttx_configs nuttx_cxx