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https://bitbucket.org/librepilot/librepilot.git
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PiOS.posix: porting some of the recent updates to PiOS.posix - compiles now
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2449 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus
corvus
parent
6c3b887ae4
commit
115a581d7c
@ -68,11 +68,12 @@ MODULES = Telemetry Actuator Stabilization Guidance ManualControl
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MCU = i686
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#CHIP = STM32F103RET
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#BOARD = STM3210E_OP
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MODEL = HD
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ifeq ($(USE_BOOTLOADER), YES)
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MODEL = HD_BL
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BOOT_MODEL = $(MODEL)_BL
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else
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MODEL = HD_NB
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BOOT_MODEL = $(MODEL)_NB
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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@ -84,12 +85,14 @@ TARGET = OpenPilot
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# Paths
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ./UAVTalk
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OPUAVTALK = ../UAVTalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ./UAVObjects
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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OPMODULEDIR = ./Modules
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OPMODULEDIR = ../Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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PIOS = ../PiOS.posix
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PIOSINC = $(PIOS)/inc
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PIOSPOSIX = $(PIOS)/posix
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@ -98,6 +101,18 @@ RTOSDIR = $(APPLIBDIR)/FreeRTOS
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RTOSSRCDIR = $(RTOSDIR)/Source
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RTOSINCDIR = $(RTOSSRCDIR)/include
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DOXYGENDIR = ../Doc/Doxygen
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AHRSBOOTLOADER = ../Bootloaders/AHRS/
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AHRSBOOTLOADERINC = $(AHRSBOOTLOADER)/inc
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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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# List C source files here. (C dependencies are automatically generated.)
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# use file-extension c for "c-only"-files
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@ -113,6 +128,7 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
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SRC += $(OPSYSTEM)/openpilot.c
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SRC += $(OPSYSTEM)/pios_board_posix.c
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SRC += $(OPSYSTEM)/alarms.c
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SRC += $(OPSYSTEM)/taskmonitor.c
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SRC += $(OPUAVTALK)/uavtalk.c
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SRC += $(OPUAVOBJ)/uavobjectmanager.c
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SRC += $(OPUAVOBJ)/uavobjectsinit.c
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@ -170,6 +186,7 @@ SRC += $(OPUAVOBJ)/flightplanstatus.c
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SRC += $(OPUAVOBJ)/flightplansettings.c
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SRC += $(OPUAVOBJ)/taskinfo.c
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SRC += $(OPUAVOBJ)/watchdogstatus.c
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SRC += $(OPUAVOBJ)/nedaccel.c
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endif
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## PIOS Hardware (posix)
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@ -180,7 +197,12 @@ SRC += $(PIOSPOSIX)/pios_sdcard.c
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SRC += $(PIOSPOSIX)/pios_udp.c
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SRC += $(PIOSPOSIX)/pios_com.c
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SRC += $(PIOSPOSIX)/pios_servo.c
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#
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SRC += $(PIOSPOSIX)/pios_wdg.c
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## Libraries for flight calculations
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#SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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## RTOS
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SRC += $(RTOSSRCDIR)/list.c
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SRC += $(RTOSSRCDIR)/queue.c
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@ -191,6 +213,14 @@ SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
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SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
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## PyMite files
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#SRC += $(wildcard ${PYMITEVM}/*.c)
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#SRC += $(wildcard ${PYMITEPLAT}/*.c)
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#SRC += $(OUTDIR)/pmlib_img.c
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#SRC += $(OUTDIR)/pmlib_nat.c
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#SRC += $(OUTDIR)/pmlibusr_img.c
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#SRC += $(OUTDIR)/pmlibusr_nat.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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@ -217,13 +247,13 @@ EXTRAINCDIRS += $(OPUAVOBJ)
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EXTRAINCDIRS += $(OPUAVOBJINC)
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EXTRAINCDIRS += $(PIOS)
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EXTRAINCDIRS += $(PIOSINC)
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EXTRAINCDIRS += $(FLIGHTLIBINC)
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EXTRAINCDIRS += $(PIOSPOSIX)
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EXTRAINCDIRS += $(MININIDIR)
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EXTRAINCDIRS += $(RTOSINCDIR)
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EXTRAINCDIRS += $(APPLIBDIR)
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EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
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EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
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# List any extra directories to look for library files here.
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@ -354,6 +384,7 @@ OBJDUMP = $(TCHAIN_PREFIX)objdump
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SIZE = $(TCHAIN_PREFIX)size
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NM = $(TCHAIN_PREFIX)nm
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REMOVE = $(REMOVE_CMD) -f
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PYTHON = python
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###SHELL = sh
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###COPY = cp
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@ -381,6 +412,7 @@ MSG_CLEANING = ${quote}Cleaning project:${quote}
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MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
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MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
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MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
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MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${quote}
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# List of all source files.
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ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
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@ -403,7 +435,7 @@ bin: $(OUTDIR)/$(TARGET).bin
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# Default target.
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#all: begin gccversion sizebefore build sizeafter finished end
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#all: begin gccversion build sizeafter finished end
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#all: begin gencode gccversion build sizeafter finished end
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all: elf
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ifeq ($(LOADFORMAT),ihex)
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@ -428,6 +460,10 @@ else
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quote =
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endif
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# Generate intermediate code
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gencode: ${OUTDIR}/InitMods.c #$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h
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# Generate code for module initialization
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${OUTDIR}/InitMods.c: Makefile.posix
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@echo ${MSG_MODINIT}
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@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
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@ -436,6 +472,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
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@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
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@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
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# Generate code for PyMite
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#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
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# @echo ${MSG_PYMITEINIT}
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# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
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# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
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# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
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# Eye candy.
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begin:
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## @echo
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@ -465,12 +508,19 @@ gccversion :
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# @echo $(ALLOBJ)
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# Program the device.
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ifeq ($(USE_BOOTLOADER), YES)
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# Program the device with OP Upload Tool".
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program: $(OUTDIR)/$(TARGET).bin
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@echo ${quote}Programming with OP Upload Tool${quote}
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../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
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else
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ifeq ($(FLASH_TOOL),OPENOCD)
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# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
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program: $(OUTDIR)/$(TARGET).elf
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@echo ${quote}Programming with OPENOCD${quote}
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$(OOCD_EXE) $(OOCD_CL)
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endif
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endif
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# Create final output file (.hex) from ELF output file.
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%.hex: %.elf
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@ -591,6 +641,8 @@ clean_list :
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$(REMOVE) $(OUTDIR)/$(TARGET).bin
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$(REMOVE) $(OUTDIR)/$(TARGET).sym
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$(REMOVE) $(OUTDIR)/$(TARGET).lss
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$(REMOVE) $(wildcard $(OUTDIR)/*.c)
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$(REMOVE) $(wildcard $(OUTDIR)/*.h)
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$(REMOVE) $(ALLOBJ)
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$(REMOVE) $(LSTFILES)
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$(REMOVE) $(DEPFILES)
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@ -619,5 +671,5 @@ endif
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# Listing of phony targets.
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.PHONY : all begin finish end sizebefore sizeafter gccversion \
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build elf hex bin lss sym clean clean_list program
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build elf hex bin lss sym clean clean_list program gencode
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@ -28,6 +28,13 @@
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#include <stdint.h>
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typedef enum {FALSE = 0, TRUE = !FALSE} bool;
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#ifndef false
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#define false FALSE
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#define true TRUE
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#endif
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#define FILEINFO FILE*
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#define PIOS_SERVO_NUM_OUTPUTS 8
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@ -99,7 +99,7 @@ extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid);
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extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd);
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extern int32_t PIOS_SDCARD_StartupLog(void);
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extern int32_t POIS_SDCARD_IsMounted();
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extern int32_t PIOS_SDCARD_IsMounted();
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extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
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extern int32_t PIOS_SDCARD_GetFree(void);
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@ -38,4 +38,8 @@ uint16_t PIOS_WDG_GetBootupFlags();
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uint16_t PIOS_WDG_GetActiveFlags();
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void PIOS_WDG_Clear(void);
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#define PIOS_WDG_ACTUATOR 0x0001
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#define PIOS_WDG_STABILIZATION 0x0002
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#define PIOS_WDG_MANUAL 0x0008
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#endif
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@ -221,7 +221,7 @@ int32_t PIOS_SDCARD_StartupLog(void)
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* @return 0 if no
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* @return 1 if yes
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*/
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int32_t POIS_SDCARD_IsMounted()
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int32_t PIOS_SDCARD_IsMounted()
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{
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return 1;
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}
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@ -63,7 +63,7 @@ void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
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{
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#ifndef PIOS_ENABLE_DEBUG_PINS
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/* Make sure servo exists */
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if (Servo < PIOS_SERVO_NUM_OUTPUTS && Servo >= 0) {
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if (Servo < PIOS_SERVO_NUM_OUTPUTS) {
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/* Update the position */
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ServoPosition[Servo] = Position;
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