mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
f1309a0f34
Since using SIGALRM to call the sys_tick_handler (via setitimer) can cause problems like interrupting some other syscalls (i.e. read,write, ioctl), setup a separate thread and use timer_fd instead. That is a Linux-specific set of functions that presents POSIX timers as file descriptors rather than signals. If the thread runs with a normal priority it can happen that some timer events are missed (and hence sys_time not updated in time). So added a function to set a higher prio for that thread (needs root rights or properly set up limits for the user). In some simple tests no events were missed when running with prio 29 via SCHED_FIFO, even if events would be missed, the sys_tick_handler is called the appropriate number of times (so that the time is correct again after)... After these changes also fix some bugs discovered in the ardrone navdata reading. Reading is now done in a separate thread which waits on a condition variable until the navdata_update event loop has copied the buffer.
136 lines
3.7 KiB
Makefile
136 lines
3.7 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
|
|
#
|
|
# Copyright (C) 2009-2013 The Paparazzi Team
|
|
#
|
|
# This file is part of paparazzi.
|
|
#
|
|
# paparazzi is free software; you can redistribute it and/or modify
|
|
# it under the terms of the GNU General Public License as published by
|
|
# the Free Software Foundation; either version 2, or (at your option)
|
|
# any later version.
|
|
#
|
|
# paparazzi is distributed in the hope that it will be useful,
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
# GNU General Public License for more details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License
|
|
# along with paparazzi; see the file COPYING. If not, write to
|
|
# the Free Software Foundation, 59 Temple Place - Suite 330,
|
|
# Boston, MA 02111-1307, USA.
|
|
#
|
|
|
|
#
|
|
# Makefile for generic linux targets
|
|
# Normally don't use this makefile directly, but rather Makefile.arm-linux or Makefile.bbb
|
|
#
|
|
|
|
# Define some default programs and commands (if not already set by e.g. Makefile.arm-linux
|
|
CC ?= gcc
|
|
CXX ?= g++
|
|
LD ?= $(CC)
|
|
|
|
# Launch with "make Q=''" to get full command display
|
|
Q=@
|
|
|
|
OPT ?= 3
|
|
DEBUG_INFO ?= n
|
|
CSTANDARD ?= -std=gnu99
|
|
CINCS = $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/include
|
|
|
|
#
|
|
# Common compiler flags.
|
|
# add then to arch specific CFLAGS already defined in e.g. Makefile.arm-linux
|
|
#
|
|
ifneq ($(DEBUG_INFO),n)
|
|
CFLAGS += -g
|
|
endif
|
|
CFLAGS += $(CINCS)
|
|
CFLAGS += -O$(OPT) -fPIC
|
|
CFLAGS += -fno-short-enums
|
|
# CFLAGS += -malignment-traps
|
|
CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
|
|
CFLAGS += -Wpointer-arith -Wswitch
|
|
CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
|
|
#-Wno-unused-result
|
|
#CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
|
|
#CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
|
|
|
CFLAGS += -lm -pthread
|
|
|
|
# flags only for C
|
|
CFLAGS += -Wstrict-prototypes -Wmissing-declarations
|
|
CFLAGS += -Wmissing-prototypes -Wnested-externs
|
|
CFLAGS += $(CSTANDARD)
|
|
CFLAGS += $($(TARGET).CFLAGS)
|
|
CFLAGS += $(USER_CFLAGS)
|
|
|
|
LDFLAGS += -lm -pthread
|
|
|
|
CXXFLAGS += -O$(OPT) -fPIC
|
|
CXXFLAGS += -pipe -fshow-column -ffast-math
|
|
CXXFLAGS += -g -ffunction-sections -fdata-sections
|
|
CXXFLAGS += -Wall -Wextra
|
|
CXXFLAGS += $($(TARGET).CXXFLAGS)
|
|
CXXFLAGS += $(USER_CFLAGS)
|
|
|
|
SRC_C_LINUX = $($(TARGET).srcs)
|
|
OBJ_C_LINUX = $(SRC_C_LINUX:%.c=$(OBJDIR)/%.o)
|
|
|
|
SRC_CPP_LINUX = $($(TARGET).cpp_srcs)
|
|
OBJ_CPP_LINUX = $(SRC_CPP_LINUX:%.cpp=$(OBJDIR)/%.o)
|
|
|
|
printcommands:
|
|
@echo ""
|
|
@echo "Using CC = $(CC)"
|
|
# @echo "Using LD = $(LD)"
|
|
@echo "GCC version:"
|
|
@$(CC) --version | head -1
|
|
@echo ""
|
|
|
|
all: printcommands build
|
|
|
|
build: $(OBJDIR) elf
|
|
|
|
$(OBJDIR):
|
|
@echo CREATING object dir $(OBJDIR)
|
|
@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
|
|
|
|
elf: $(OBJDIR)/$(TARGET).elf
|
|
|
|
# Link: create ELF output file from object files.
|
|
.SECONDARY : $(OBJDIR)/$(TARGET).elf
|
|
.PRECIOUS : $(OBJ_C_LINUX) $(OBJ_CPP_LINUX)
|
|
%.elf: $(OBJ_C_LINUX) $(OBJ_CPP_LINUX)
|
|
@echo LD $@
|
|
$(Q)if (expr "$($(TARGET).cpp_srcs)"); \
|
|
then $(CXX) $(CXXFLAGS) $(OBJ_CPP_LINUX) $(OBJ_C_LINUX) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); \
|
|
else $(CC) $(CFLAGS) $(OBJ_C_LINUX) --output $@ $(LDFLAGS) $($(TARGET).LDFLAGS); fi
|
|
|
|
# Compile: create object files from C source files
|
|
$(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
|
|
@echo CC $@
|
|
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
|
|
$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
|
|
|
|
# Compile: create object files from C++ source files
|
|
$(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
|
|
@echo CXX $@
|
|
$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
|
|
$(Q)$(CXX) -MMD -c $(CXXFLAGS) $< -o $@
|
|
|
|
|
|
# Listing of phony targets.
|
|
.PHONY : printcommands all build elf
|
|
|
|
.NOTPARALLEL: printcommands
|
|
|
|
#
|
|
# Dependencies
|
|
#
|
|
ifneq ($(MAKECMDGOALS),clean)
|
|
DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
|
|
DEPS += $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.cpp=.d))
|
|
-include $(DEPS)
|
|
endif
|