mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-25 23:46:04 +08:00
[board] support of the Chimera autopilot based on STM32F7 (#2018)
* [board] support of the Chimera autopilot based on STM32F7 - based on ChibiOS only (updated to master for proper support of F7) - requires some specific ram for DMA operations - SBUS driver updated and support of internal inverted logic option of F7 * [chibios] fix some compilation errors * [chibios] fix some a few PR comments - test less MCU types - support F1 for uart driver - more autodetect for VTOR_INIT * use correct path * choose a working version of chibios * [chibios] fix some comments from PR review - add some doc - protect LED - update TRUE/FALSE for lowercase - pick a slightly older version of chibios (wrong path in makefile not fixed yet)
This commit is contained in:
Gautier Hattenberger
committed by
Michal Podhradsky
Michal Podhradsky
parent
81fd2161c4
commit
4e5d863291
+15
-11
@@ -50,7 +50,7 @@ ifdef CHIBIOS_BOOTLOADER_SCRIPT
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CHIBIOS_LINKER_DIR ?= $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
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else
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# we use the original linker script
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CHIBIOS_LINKER_DIR ?= $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/ld
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CHIBIOS_LINKER_DIR ?= $(STARTUPLD)
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endif
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# Launch with "make Q=''" to get full command display
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@@ -129,6 +129,11 @@ endif
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# Enable this if you want link time optimizations (LTO)
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ifeq ($(USE_LTO),)
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USE_LTO = no
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else
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# Force LTO to 'no' if in debug mode
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ifeq (,$(findstring $(RTOS_DEBUG),0 FALSE))
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USE_LTO = no
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endif
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endif
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# If enabled, this option allows to compile the application in THUMB mode.
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@@ -171,9 +176,9 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
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USE_EXCEPTIONS_STACKSIZE = 0x400
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endif
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# Enables the use of FPU on Cortex-M4.
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# Enables the use of FPU on Cortex-M4 / M7 (no, softfp, hard).
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ifeq ($(USE_FPU),)
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USE_FPU = yes
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USE_FPU = hard
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endif
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#
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@@ -188,7 +193,7 @@ endif
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# Imported source files and paths
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# Startup files.
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/$(CHIBIOS_BOARD_STARTUP)
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include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/$(CHIBIOS_BOARD_STARTUP)
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# HAL-OSAL files (optional).
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include $(CHIBIOS)/os/hal/hal.mk
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include $(CHIBIOS)/os/hal/ports/STM32/$(CHIBIOS_BOARD_PLATFORM)
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@@ -196,9 +201,9 @@ include $(CHIBIOS_BOARD_DIR)/board.mk
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include $(CHIBIOS)/os/hal/osal/rt/osal.mk
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# RTOS files (optional).
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include $(CHIBIOS)/os/rt/rt.mk
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include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
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include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
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# Other files (optional).
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#include $(CHIBIOS)/test/rt/test.mk
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#
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ifeq ($(USE_FATFS), TRUE)
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include $(PAPARAZZI_HOME)/conf/chibios/fatfs.mk
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endif
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@@ -246,9 +251,9 @@ TCSRC =
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TCPPSRC =
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# List ASM source files here
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ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
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ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
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INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
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INCDIR = $(CHIBIOS)/os/license $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
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$(HALINC) $(PLATFORMINC) $(BOARDINC) $(FATFSINC) \
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$(CHIBIOS)/os/various $(CHIBIOS_BOARD_DIR) $(CHIBIOS_PROJECT_DIR)
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@@ -308,7 +313,7 @@ UADEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
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# List all user directories here
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# remove -I before include dir because ChibiOS is adding them again
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UINCDIR = $(patsubst -I%,%,$(INCLUDES))
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UINCDIR = $(CHIBIOS)/os/license $(patsubst -I%,%,$(INCLUDES))
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# List the user directory to look for the libraries here
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ULIBDIR =
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@@ -334,7 +339,6 @@ endif
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# Settings for GDB
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# default port configuration for BMP
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GDB = $(shell which arm-none-eabi-gdb)
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@@ -355,7 +359,7 @@ include $(PAPARAZZI_HOME)/conf/Makefile.stm32-upload
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###############################################################################
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RULESPATH = $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC
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RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
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#include $(RULESPATH)/rules.mk
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EXTRA_RULES_INCLUDE_PATH = $(PAPARAZZI_HOME)/conf/chibios/chibios_extra_rules.mk
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@@ -0,0 +1,227 @@
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<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
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<!--
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Chimera test board
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Mako (http://www.readymaderc.com)
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Apogee 1.0
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XBEE modem
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UBX GPS / HMC58XX mag (drotek)
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-->
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<airframe name="Chimera">
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<firmware name="fixedwing">
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<configure name="RTOS_DEBUG" value="1"/>
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<target name="ap" board="chimera_1.0">
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<module name="radio_control" type="sbus"/>
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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</target>
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<target name="sim" board="pc">
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<module name="radio_control" type="ppm"/>
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</target>
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<!-- Communication -->
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<module name="telemetry" type="xbee_api"/>
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<!-- Actuators are automatically chosen according to board-->
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<module name="imu" type="chimera"/>
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<!-- Sensors -->
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<module name="gps" type="ublox"/>
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<module name="air_data"/>
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<module name="airspeed" type="ms45xx_i2c">
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<define name="MS45XX_I2C_DEV" value="i2c1"/>
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</module>
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<module name="sys_mon"/>
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<!--module name="pwm_meas"/-->
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<!--module name="spi_master"/-->
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<!--module name="meteo_stick">
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<configure name="MS_SPI_DEV" value="SPI1"/>
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<configure name="MS_PRESSURE_SLAVE_IDX" value="0"/>
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<configure name="MS_DIFF_PRESSURE_SLAVE_IDX" value="3"/>
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<configure name="MS_TEMPERATURE_SLAVE_IDX" value="2"/>
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<configure name="MS_EEPROM_SLAVE_IDX" value="1"/>
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<configure name="MS_HUMIDITY_PWM_INPUT" value="PWM_INPUT1"/>
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<define name="USE_MS_TEMPERATURE" value="FALSE"/>
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</module-->
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<!--module name="AOA_pwm">
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<configure name="AOA_PWM_CHANNEL" value="PWM_INPUT2"/>
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</module-->
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<module name="tlsf"/>
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<module name="pprzlog"/>
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<module name="logger" type="sd_chibios"/>
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<module name="flight_recorder"/>
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<!-- <module name="mcp355x"> -->
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<!-- <define name="USE_SPI1"/> -->
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<!-- </module> -->
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<!--module name="extra_dl">
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<configure name="EXTRA_DL_PORT" value="UART6"/>
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<configure name="EXTRA_DL_BAUD" value="B57600"/>
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</module>
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<module name="meteo_france_DAQ"/-->
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</firmware>
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<firmware name="test_chibios">
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<target name="test_sys_time_timer" board="chimera_1.0"/>
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<target name="test_led" board="chimera_1.0"/>
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<target name="test_sys_gpio" board="chimera_1.0"/>
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</firmware>
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<section name="METEO_STICK">
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<define name="LOG_MS" value="TRUE"/>
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<define name="SEND_MS" value="TRUE"/>
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</section>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="0" min="1000" neutral="1000" max="1800"/>
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<servo name="AILEVON_LEFT" no="1" min="1000" neutral="1500" max="2000"/>
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<servo name="AILEVON_RIGHT" no="2" min="2000" neutral="1500" max="1000"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<define name="AILERON_DIFF" value="0.5"/>
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<define name="COMMAND_ROLL_TRIM" value="0"/>
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<define name="COMMAND_PITCH_TRIM" value="718"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="45." unit="deg"/>
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<define name="MAX_PITCH" value="30." unit="deg"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<!-- Calibration Neutral -->
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<define name="GYRO_P_NEUTRAL" value="0"/>
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<define name="GYRO_Q_NEUTRAL" value="0"/>
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<define name="GYRO_R_NEUTRAL" value="0 "/>
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<define name="ACCEL_X_NEUTRAL" value="-36"/>
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<define name="ACCEL_Y_NEUTRAL" value="26"/>
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<define name="ACCEL_Z_NEUTRAL" value="7"/>
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<define name="ACCEL_X_SENS" value="2.44787379999" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.45127482156" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.43752998117" integer="16"/>
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<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="-1"/>
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<define name="MAG_Z_SIGN" value="-1"/>
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<define name="MAG_X_NEUTRAL" value="27"/>
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<define name="MAG_Y_NEUTRAL" value="-241"/>
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<define name="MAG_Z_NEUTRAL" value="139"/>
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<define name="MAG_X_SENS" value="3.89895537059" integer="16"/>
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<define name="MAG_Y_SENS" value="3.96680514301" integer="16"/>
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<define name="MAG_Z_SENS" value="4.60606895547" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="-3.00000701874" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="3.00000701874" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="H_X" value="0.5180"/>
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<define name="H_Y" value="-0.0071"/>
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<define name="H_Z" value="0.8554"/>
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</section>
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<define name="MilliAmpereOfAdc(_adc)" value="(_adc-158)*16.5698"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<!--define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/-->
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.06"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.011"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.006"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.13"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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<!-- TODO : CTRL_NEW "Climb loop (pitch)" -->
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<define name="AUTO_PITCH_PGAIN" value="0.028"/>
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<define name="AUTO_PITCH_DGAIN" value="0.013"/>
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<define name="AUTO_PITCH_IGAIN" value="0.006"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
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<define name="PITCH_TRIM" value="4.59999166346" unit="deg"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.58"/>
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<define name="ROLL_MAX_SETPOINT" value="41.0000004297" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="10041"/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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<define name="PITCH_PGAIN" value="10672"/>
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<define name="PITCH_DGAIN" value="1343"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_OF_ROLL" value="0.024"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="10" unit="deg"/>
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<define name="DEFAULT_PITCH" value="5" unit="deg"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMU">
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<!--define name="ROLL_RESPONSE_FACTOR" value="10"/>
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<define name="MAX_ROLL_DOT" value="20" unit="rad/s"/-->
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</section>
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</airframe>
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@@ -14,9 +14,8 @@ $(TARGET).ARCHDIR = $(ARCH)
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RTOS=chibios
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# FPU on F4
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USE_FPU=yes
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HARD_FLOAT=yes
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## FPU on F4
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USE_FPU=softfp
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$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
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@@ -0,0 +1,99 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# chimera_1.0.makefile
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#
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# based on STM32F7
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# pre-version, only compatible with ChibiOS
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#
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||||
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BOARD=chimera
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BOARD_VERSION=1.0
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BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
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BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD).h\"
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|
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ARCH=chibios
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$(TARGET).ARCHDIR = $(ARCH)
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RTOS=chibios
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MCU=cortex-m7
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## FPU on F7
|
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USE_FPU=softfp
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USE_FPU_OPT= -mfpu=fpv5-d16
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USE_LTO=yes
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$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
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##############################################################################
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# Architecture or project specific options
|
||||
#
|
||||
# Define project name here (target)
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PROJECT = $(TARGET)
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|
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# Project specific files and paths (see Makefile.chibios for details)
|
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CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
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CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
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CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
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CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
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|
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# ITCM flash is a special flash that allow faster operations
|
||||
# At the moment it is not possible to flash the code in this mode using dfu-util
|
||||
# but it should work with the BlackMagicProbe or STLINK
|
||||
# By default, normal flash is used
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ifeq ($(USE_ITCM),1)
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$(TARGET).CFLAGS += -DUSE_ITCM=1
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DFU_ADDR = 0x00200000
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else
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$(TARGET).CFLAGS += -DUSE_ITCM=0
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DFU_ADDR = 0x08000000
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endif
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|
||||
##############################################################################
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# Compiler settings
|
||||
#
|
||||
|
||||
# default flash mode is via usb dfu bootloader
|
||||
# possibilities: DFU-UTIL, SWD, STLINK
|
||||
FLASH_MODE ?= DFU-UTIL
|
||||
|
||||
HAS_LUFTBOOT = FALSE
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
RADIO_CONTROL_LED ?= 4
|
||||
BARO_LED ?= none
|
||||
AHRS_ALIGNER_LED ?= 2
|
||||
GPS_LED ?= 3
|
||||
SYS_TIME_LED ?= 1
|
||||
|
||||
#
|
||||
# default UART configuration (modem, gps, spektrum)
|
||||
#
|
||||
|
||||
MODEM_PORT ?= UART3
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
GPS_PORT ?= UART8
|
||||
GPS_BAUD ?= B57600
|
||||
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART4
|
||||
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART7
|
||||
|
||||
# single mode
|
||||
SBUS_PORT ?= UART7
|
||||
# dual mode
|
||||
SBUS1_PORT ?= UART7
|
||||
SBUS2_PORT ?= UART4
|
||||
|
||||
#
|
||||
# default actuator configuration
|
||||
#
|
||||
# you can use different actuators by adding a configure option to your firmware section
|
||||
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
|
||||
# and by setting the correct "driver" attribute in servo section
|
||||
# e.g. <servo driver="Ppm">
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
|
||||
@@ -38,4 +38,4 @@ GPS_BAUD ?= B38400
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
|
||||
include $(PAPARAZZI_SRC)/conf/boards/lisa_m_common_chibios.makefile
|
||||
include $(PAPARAZZI_HOME)/conf/boards/lisa_m_common_chibios.makefile
|
||||
|
||||
@@ -14,9 +14,8 @@ $(TARGET).ARCHDIR = $(ARCH)
|
||||
|
||||
RTOS=chibios
|
||||
|
||||
# FPU on F4
|
||||
USE_FPU=yes
|
||||
HARD_FLOAT=yes
|
||||
## FPU on F4
|
||||
USE_FPU=hard
|
||||
|
||||
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
|
||||
|
||||
|
||||
@@ -17,8 +17,7 @@ $(TARGET).ARCHDIR = $(ARCH)
|
||||
RTOS=chibios
|
||||
|
||||
# FPU on F4
|
||||
USE_FPU=yes
|
||||
HARD_FLOAT=yes
|
||||
USE_FPU=hard
|
||||
|
||||
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
|
||||
|
||||
|
||||
@@ -15,8 +15,7 @@ $(TARGET).ARCHDIR = $(ARCH)
|
||||
RTOS=chibios
|
||||
|
||||
# FPU on F4
|
||||
USE_FPU=yes
|
||||
HARD_FLOAT=yes
|
||||
USE_FPU=hard
|
||||
|
||||
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
|
||||
|
||||
|
||||
@@ -27,17 +27,21 @@ ifeq ($(USE_LTO),yes)
|
||||
OPT += -flto
|
||||
endif
|
||||
|
||||
# FPU-related options
|
||||
ifeq ($(USE_FPU),yes)
|
||||
ifeq ($(HARD_FLOAT),yes)
|
||||
OPT += -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant
|
||||
else
|
||||
OPT += -mfloat-abi=softfp -mfpu=fpv4-sp-d16 -fsingle-precision-constant
|
||||
# FPU options default (Cortex-M4 and Cortex-M7 single precision).
|
||||
ifeq ($(USE_FPU_OPT),)
|
||||
USE_FPU_OPT = -mfpu=fpv4-sp-d16 -fsingle-precision-constant
|
||||
endif
|
||||
DDEFS += -DCORTEX_USE_FPU=TRUE
|
||||
|
||||
# FPU-related options
|
||||
ifeq ($(USE_FPU),)
|
||||
USE_FPU = no
|
||||
endif
|
||||
ifneq ($(USE_FPU),no)
|
||||
OPT += -mfloat-abi=$(USE_FPU) $(USE_FPU_OPT)
|
||||
DDEFS += -DCORTEX_USE_FPU=TRUE
|
||||
DADEFS += -DCORTEX_USE_FPU=TRUE
|
||||
else
|
||||
DDEFS += -DCORTEX_USE_FPU=FALSE
|
||||
DDEFS += -DCORTEX_USE_FPU=FALSE
|
||||
DADEFS += -DCORTEX_USE_FPU=FALSE
|
||||
endif
|
||||
|
||||
@@ -80,8 +84,8 @@ else
|
||||
ACSRC += $(CSRC)
|
||||
ACPPSRC += $(CPPSRC)
|
||||
endif
|
||||
ASRC = $(ACSRC)$(ACPPSRC)
|
||||
TSRC = $(TCSRC)$(TCPPSRC)
|
||||
ASRC = $(ACSRC) $(ACPPSRC)
|
||||
TSRC = $(TCSRC) $(TCPPSRC)
|
||||
SRCPATHS = $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)))
|
||||
|
||||
# Various directories
|
||||
@@ -115,24 +119,27 @@ ASFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
|
||||
ASXFLAGS = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
|
||||
CFLAGS = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
|
||||
CPPFLAGS = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS)
|
||||
LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH),--script=$(LDSCRIPT)$(LDOPT)
|
||||
LDFLAGS = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
|
||||
|
||||
# Thumb interwork enabled only if needed because it kills performance.
|
||||
ifneq ($(TSRC),)
|
||||
ifneq ($(strip $(TSRC)),)
|
||||
CFLAGS += -DTHUMB_PRESENT
|
||||
CPPFLAGS += -DTHUMB_PRESENT
|
||||
ASFLAGS += -DTHUMB_PRESENT
|
||||
ifneq ($(ASRC),)
|
||||
ASXFLAGS += -DTHUMB_PRESENT
|
||||
ifneq ($(strip $(ASRC)),)
|
||||
# Mixed ARM and THUMB mode.
|
||||
CFLAGS += -mthumb-interwork
|
||||
CPPFLAGS += -mthumb-interwork
|
||||
ASFLAGS += -mthumb-interwork
|
||||
ASXFLAGS += -mthumb-interwork
|
||||
LDFLAGS += -mthumb-interwork
|
||||
else
|
||||
# Pure THUMB mode, THUMB C code cannot be called by ARM asm code directly.
|
||||
CFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
|
||||
CPPFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING
|
||||
ASFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
|
||||
ASXFLAGS += -mno-thumb-interwork -DTHUMB_NO_INTERWORKING -mthumb
|
||||
LDFLAGS += -mno-thumb-interwork -mthumb
|
||||
endif
|
||||
else
|
||||
@@ -140,11 +147,13 @@ else
|
||||
CFLAGS += -mno-thumb-interwork
|
||||
CPPFLAGS += -mno-thumb-interwork
|
||||
ASFLAGS += -mno-thumb-interwork
|
||||
ASXFLAGS += -mno-thumb-interwork
|
||||
LDFLAGS += -mno-thumb-interwork
|
||||
endif
|
||||
|
||||
# Generate dependency information
|
||||
ASFLAGS += -MD -MP -MF $(BUILDDIR)/.dep/$(@F).d
|
||||
ASXFLAGS += -MD -MP -MF $(BUILDDIR)/.dep/$(@F).d
|
||||
CFLAGS += -MD -MP -MF $(BUILDDIR)/.dep/$(@F).d
|
||||
CPPFLAGS += -MD -MP -MF $(BUILDDIR)/.dep/$(@F).d
|
||||
|
||||
@@ -239,6 +248,7 @@ else
|
||||
endif
|
||||
|
||||
%.elf: $(OBJS) $(LDSCRIPT)
|
||||
#$(BUILDDIR)/$(PROJECT).elf: $(OBJS) $(LDSCRIPT)
|
||||
ifeq ($(USE_VERBOSE_COMPILE),yes)
|
||||
@echo
|
||||
$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
|
||||
@@ -247,7 +257,7 @@ else
|
||||
@$(LD) $(OBJS) $(LDFLAGS) $(LIBS) -o $@
|
||||
endif
|
||||
|
||||
%.hex: %.elf $(LDSCRIPT)
|
||||
%.hex: %.elf
|
||||
ifeq ($(USE_VERBOSE_COMPILE),yes)
|
||||
$(HEX) $< $@
|
||||
else
|
||||
@@ -255,7 +265,7 @@ else
|
||||
@$(HEX) $< $@
|
||||
endif
|
||||
|
||||
%.bin: %.elf $(LDSCRIPT)
|
||||
%.bin: %.elf
|
||||
ifeq ($(USE_VERBOSE_COMPILE),yes)
|
||||
$(BIN) $< $@
|
||||
else
|
||||
@@ -263,7 +273,7 @@ else
|
||||
@$(BIN) $< $@
|
||||
endif
|
||||
|
||||
%.srec: %.elf $(LDSCRIPT)
|
||||
%.srec: %.elf
|
||||
ifeq ($(USE_VERBOSE_COMPILE),yes)
|
||||
$(SREC) $< $@
|
||||
else
|
||||
@@ -271,7 +281,7 @@ else
|
||||
@$(SREC) $< $@
|
||||
endif
|
||||
|
||||
%.dmp: %.elf $(LDSCRIPT)
|
||||
%.dmp: %.elf
|
||||
ifeq ($(USE_VERBOSE_COMPILE),yes)
|
||||
$(OD) $(ODFLAGS) $< > $@
|
||||
$(SZ) $<
|
||||
|
||||
@@ -247,6 +247,15 @@ else ifeq ($(BOARD), openpilot_revo)
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
|
||||
else ifeq ($(BOARD), chimera)
|
||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||
BARO_BOARD_CFLAGS += -DUSE_I2C1
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=MS5611_I2C_SLAVE_ADDR_ALT
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
|
||||
endif # check board
|
||||
|
||||
BARO_LED ?= none
|
||||
|
||||
@@ -59,6 +59,7 @@
|
||||
<board name="navstik_.*"/>
|
||||
<board name="elle*"/>
|
||||
<board name="openpilot_revo.*"/>
|
||||
<board name="chimera_.*"/>
|
||||
</boards>
|
||||
</mode>
|
||||
<mode name="STLink (SWD)">
|
||||
@@ -71,6 +72,7 @@
|
||||
<board name="elle*"/>
|
||||
<board name="naze32*"/>
|
||||
<board name="openpilot_revo.*"/>
|
||||
<board name="chimera_.*"/>
|
||||
</boards>
|
||||
</mode>
|
||||
<mode name="BlackMagic Probe (SWD)">
|
||||
@@ -88,6 +90,7 @@
|
||||
<board name="cjmcu*"/>
|
||||
<board name="openpilot_revo.*"/>
|
||||
<board name="lia_.*"/>
|
||||
<board name="chimera_.*"/>
|
||||
<board name="vms_ecu_.*"/>
|
||||
</boards>
|
||||
</mode>
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
<!DOCTYPE module SYSTEM "module.dtd">
|
||||
|
||||
<module name="imu_chimera" dir="imu">
|
||||
<doc>
|
||||
<description>
|
||||
MPU9250 IMU via SPI.
|
||||
Basically the same as imu_mpu9250_spi, only changed axes assignment for Chimera.
|
||||
</description>
|
||||
</doc>
|
||||
<autoload name="imu_mpu9250_i2c"/>
|
||||
<makefile target="!sim|nps|fbw">
|
||||
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1" case="upper|lower"/>
|
||||
<define name="IMU_MPU9250_CHAN_X" value="1"/>
|
||||
<define name="IMU_MPU9250_CHAN_Y" value="0"/>
|
||||
<define name="IMU_MPU9250_CHAN_Z" value="2"/>
|
||||
<define name="IMU_MPU9250_X_SIGN" value="-1"/>
|
||||
<define name="IMU_MPU9250_Y_SIGN" value="-1"/>
|
||||
<define name="IMU_MPU9250_Z_SIGN" value="-1"/>
|
||||
</makefile>
|
||||
</module>
|
||||
Reference in New Issue
Block a user