diff --git a/flight/PiOS/Common/pios_rfm22b_com.c b/flight/PiOS/Common/pios_rfm22b_com.c index e8fb4a6db..868671653 100644 --- a/flight/PiOS/Common/pios_rfm22b_com.c +++ b/flight/PiOS/Common/pios_rfm22b_com.c @@ -28,9 +28,10 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -/* Project Includes */ #include +#ifdef PIOS_INCLUDE_RFM22B_COM + #include /* Provide a COM driver */ @@ -128,3 +129,5 @@ static bool PIOS_RFM22B_COM_Available(uint32_t rfm22b_id) { return PIOS_RFM22B_LinkStatus(rfm22b_id); } + +#endif /* PIOS_INCLUDE_RFM22B_COM */ diff --git a/flight/PiOS/Common/pios_rfm22b_rcvr.c b/flight/PiOS/Common/pios_rfm22b_rcvr.c index 0878da0f1..889615cb4 100644 --- a/flight/PiOS/Common/pios_rfm22b_rcvr.c +++ b/flight/PiOS/Common/pios_rfm22b_rcvr.c @@ -28,10 +28,9 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -/* Project Includes */ #include "pios.h" -#if defined(PIOS_INCLUDE_RFM22B_RCVR) +#ifdef PIOS_INCLUDE_RFM22B_RCVR #include "pios_rfm22b_priv.h" @@ -91,7 +90,7 @@ static void PIOS_RFM22B_RCVR_Supervisor(uint32_t rcvr_id) { rfm22b_dev->ppm_fresh = false; } -#endif /* PIOS_INCLUDE_GCSRCVR */ +#endif /* PIOS_INCLUDE_RFM22B_RCVR */ /** * @} diff --git a/flight/PiOS/STM32F10x/pios_ppm_out.c b/flight/PiOS/STM32F10x/pios_ppm_out.c index 3b6834e4d..6dd8c7915 100644 --- a/flight/PiOS/STM32F10x/pios_ppm_out.c +++ b/flight/PiOS/STM32F10x/pios_ppm_out.c @@ -28,11 +28,11 @@ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ -/* Project Includes */ #include "pios.h" -#include "pios_ppm_out_priv.h" -#if defined(PIOS_INCLUDE_PPM_OUT) +#ifdef PIOS_INCLUDE_PPM_OUT + +#include "pios_ppm_out_priv.h" #define PIOS_PPM_OUT_MAX_DEVS 1 #define PIOS_PPM_OUT_MAX_CHANNELS 8 @@ -228,4 +228,4 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t return; } -#endif // PIOS_PPM_OUT +#endif /* PIOS_INCLUDE_PPM_OUT */ diff --git a/flight/targets/PipXtreme/Makefile b/flight/targets/PipXtreme/Makefile index 3c9988b04..5f8f3135f 100644 --- a/flight/targets/PipXtreme/Makefile +++ b/flight/targets/PipXtreme/Makefile @@ -1,581 +1,63 @@ - ##### - # Project: OpenPilot - # - # - # Makefile for OpenPilot project build PiOS and the AP. - # - # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009. - # - # - # This program 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 3 of the License, or - # (at your option) any later version. - # - # This program 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 this program; if not, write to the Free Software Foundation, Inc., - # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - ##### +# +# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org +# +# This program 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 3 of the License, or +# (at your option) any later version. +# +# This program 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 this program; if not, write to the Free Software Foundation, Inc., +# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# -WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST))) -TOP := $(realpath $(WHEREAMI)/../../../) -include $(TOP)/make/firmware-defs.mk -include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk - -# Set developer code and compile options -# Set to YES to compile for debugging -DEBUG ?= NO - -# Include objects that are just nice information to show -STACK_DIAGNOSTICS ?= NO -MIXERSTATUS_DIAGNOSTICS ?= NO -RATEDESIRED_DIAGNOSTICS ?= NO -I2C_WDG_STATS_DIAGNOSTICS ?= NO -DIAG_TASKS ?= NO - -#Or just turn on all the above diagnostics. WARNING: This consumes massive amounts of memory. -ALL_DIGNOSTICS ?=NO - -# Set to YES to build a FW version that will erase all flash memory -ERASE_FLASH ?= NO -# Set to YES to use the Servo output pins for debugging via scope or logic analyser -ENABLE_DEBUG_PINS ?= NO - -# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs -ENABLE_AUX_UART ?= NO - -USE_GPS ?= NO - -USE_I2C ?= YES - -# Set to YES when using Code Sourcery toolchain -CODE_SOURCERY ?= NO - -# Remove command is different for Code Sourcery on Windows -ifeq ($(CODE_SOURCERY), YES) -REMOVE_CMD = cs-rm -else -REMOVE_CMD = rm +ifndef OPENPILOT_IS_COOL + $(error Top level Makefile must be used to build this target) endif -FLASH_TOOL = OPENOCD +include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk +include $(ROOT_DIR)/make/firmware-defs.mk -# List of modules to include -OPTMODULES = +# List of mandatory modules to include MODULES = RadioComBridge -# Paths -OPSYSTEM = ./System -OPSYSTEMINC = $(OPSYSTEM)/inc -OPUAVTALKINC = $(OPUAVTALK)/inc -OPUAVOBJINC = $(OPUAVOBJ)/inc -OPTESTS = ./Tests -FLIGHTLIBINC = $(FLIGHTLIB)/inc -RSCODEINC = $(FLIGHTLIB)/rscode -PIOSINC = $(PIOS)/inc -PIOSSTM32F10X = $(PIOS)/STM32F10x -PIOSCOMMON = $(PIOS)/Common -PIOSBOARDS = $(PIOS)/Boards -PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries -APPLIBDIR = $(PIOSSTM32F10X)/Libraries -STMLIBDIR = $(APPLIBDIR) -STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver -STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver -STMSPDSRCDIR = $(STMSPDDIR)/src -STMSPDINCDIR = $(STMSPDDIR)/inc -STMUSBSRCDIR = $(STMUSBDIR)/src -STMUSBINCDIR = $(STMUSBDIR)/inc -CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3 -DOSFSDIR = $(APPLIBDIR)/dosfs -MSDDIR = $(APPLIBDIR)/msd -RTOSDIR = $(PIOSCOMMON)/Libraries/FreeRTOS -RTOSSRCDIR = $(RTOSDIR)/Source -RTOSINCDIR = $(RTOSSRCDIR)/include -RTOSPORTDIR = $(APPLIBDIR)/FreeRTOS/Source -PYMITE = $(FLIGHTLIB)/PyMite -PYMITELIB = $(PYMITE)/lib -PYMITEPLAT = $(PYMITE)/platform/openpilot -PYMITETOOLS = $(PYMITE)/tools -PYMITEVM = $(PYMITE)/vm -PYMITEINC = $(PYMITEVM) -PYMITEINC += $(PYMITEPLAT) -PYMITEINC += $(OUTDIR) -FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib -FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans - -# List C source files here. (C dependencies are automatically generated.) -# use file-extension c for "c-only"-files +# List of optional modules to include +OPTMODULES = +# List C source files here (C dependencies are automatically generated). +# Use file-extension c for "c-only"-files ifndef TESTAPP -## MODULES -SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} -## OPENPILOT CORE: -SRC += ${OPMODULEDIR}/PipXtreme/pipxtrememod.c -SRC += $(OPSYSTEM)/pipxtreme.c -SRC += $(OPSYSTEM)/pios_board.c -SRC += $(OPUAVTALK)/uavtalk.c -SRC += $(OPUAVOBJ)/uavobjectmanager.c -SRC += $(OPUAVOBJ)/eventdispatcher.c + ## Modules + SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} + SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}} + + ## Application Core + SRC += ${OPMODULEDIR}/PipXtreme/pipxtrememod.c + SRC += $(OPSYSTEM)/pipxtreme.c + SRC += $(OPSYSTEM)/pios_board.c + SRC += $(OPUAVTALK)/uavtalk.c + SRC += $(OPUAVOBJ)/uavobjectmanager.c + SRC += $(OPUAVOBJ)/eventdispatcher.c else -## TESTCODE -SRC += $(OPTESTS)/test_common.c -SRC += $(OPTESTS)/$(TESTAPP).c + ## Test Code + SRC += $(OPTESTS)/test_common.c + SRC += $(OPTESTS)/$(TESTAPP).c endif -## UAVOBJECTS +## UAVObjects ifndef TESTAPP -SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c -SRC += $(OPUAVSYNTHDIR)/oplinkstatus.c -SRC += $(OPUAVSYNTHDIR)/oplinksettings.c -SRC += $(OPUAVSYNTHDIR)/objectpersistence.c - + SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c + SRC += $(OPUAVSYNTHDIR)/oplinkstatus.c + SRC += $(OPUAVSYNTHDIR)/oplinksettings.c + SRC += $(OPUAVSYNTHDIR)/objectpersistence.c endif -## PIOS Hardware (STM32F10x) -include $(PIOS)/STM32F10x/library.mk -SRC += $(PIOSSTM32F10X)/pios_sys.c -SRC += $(PIOSSTM32F10X)/pios_led.c -SRC += $(PIOSSTM32F10X)/pios_delay.c -SRC += $(PIOSSTM32F10X)/pios_usart.c -SRC += $(PIOSSTM32F10X)/pios_irq.c -SRC += $(PIOSSTM32F10X)/pios_spi.c -SRC += $(PIOSSTM32F10X)/pios_ppm.c -SRC += $(PIOSSTM32F10X)/pios_ppm_out.c -SRC += $(PIOSSTM32F10X)/pios_debug.c -SRC += $(PIOSSTM32F10X)/pios_gpio.c -SRC += $(PIOSSTM32F10X)/pios_exti.c -SRC += $(PIOSSTM32F10X)/pios_rtc.c -SRC += $(PIOSSTM32F10X)/pios_wdg.c -SRC += $(PIOSSTM32F10X)/pios_tim.c -SRC += $(PIOSSTM32F10X)/pios_pwm.c -SRC += $(PIOSSTM32F10X)/pios_eeprom.c -SRC += $(PIOSSTM32F10X)/pios_bl_helper.c +# Optional component libraries +include $(FLIGHTLIB)/rscode/library.mk -# PIOS USB related files (seperated to make code maintenance more easy) -SRC += $(PIOSSTM32F10X)/pios_usb.c -SRC += $(PIOSSTM32F10X)/pios_usbhook.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid.c -SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c -SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c -SRC += $(OPSYSTEM)/pios_usb_board_data.c -SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c -SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c -SRC += $(PIOSCOMMON)/pios_usb_util.c - -## PIOS Hardware (Common) -SRC += $(PIOSCOMMON)/pios_crc.c -SRC += $(PIOSCOMMON)/pios_com.c -SRC += $(PIOSCOMMON)/pios_i2c_esc.c -SRC += $(PIOSCOMMON)/pios_rcvr.c -SRC += $(PIOSCOMMON)/printf-stdarg.c -SRC += $(PIOSCOMMON)/pios_rfm22b.c -SRC += $(PIOSCOMMON)/pios_rfm22b_com.c -## Libraries for flight calculations -SRC += $(FLIGHTLIB)/fifo_buffer.c -SRC += $(FLIGHTLIB)/CoordinateConversions.c -SRC += $(FLIGHTLIB)/taskmonitor.c -SRC += $(FLIGHTLIB)/aes.c -## The Reed-Solomon FEC library -SRC += $(FLIGHTLIB)/rscode/rs.c -SRC += $(FLIGHTLIB)/rscode/berlekamp.c -SRC += $(FLIGHTLIB)/rscode/galois.c - -## CMSIS for STM32 -SRC += $(CMSISDIR)/core_cm3.c -SRC += $(CMSISDIR)/system_stm32f10x.c - -## Used parts of the STM-Library -SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c -SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c -SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c -SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c -SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c -SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c -SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c -SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c -SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c -SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c -SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c -SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c -SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c -SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c -SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c -SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c -SRC += $(STMSPDSRCDIR)/misc.c - -## STM32 USB Library -SRC += $(STMUSBSRCDIR)/usb_core.c -SRC += $(STMUSBSRCDIR)/usb_init.c -SRC += $(STMUSBSRCDIR)/usb_int.c -SRC += $(STMUSBSRCDIR)/usb_mem.c -SRC += $(STMUSBSRCDIR)/usb_regs.c -SRC += $(STMUSBSRCDIR)/usb_sil.c - -## RTOS -SRC += $(RTOSSRCDIR)/list.c -SRC += $(RTOSSRCDIR)/queue.c -SRC += $(RTOSSRCDIR)/tasks.c - -## RTOS Portable -SRC += $(RTOSPORTDIR)/portable/GCC/ARM_CM3/port.c -SRC += $(RTOSPORTDIR)/portable/MemMang/heap_1.c - -# List C source files here which must be compiled in ARM-Mode (no -mthumb). -# use file-extension c for "c-only"-files -## just for testing, timer.c could be compiled in thumb-mode too -SRCARM = - -# List C++ source files here. -# use file-extension .cpp for C++-files (not .C) -CPPSRC = - -# List C++ source files here which must be compiled in ARM-Mode. -# use file-extension .cpp for C++-files (not .C) -#CPPSRCARM = $(TARGET).cpp -CPPSRCARM = - -# List Assembler source files here. -# Make them always end in a capital .S. Files ending in a lowercase .s -# will not be considered source files but generated files (assembler -# output from the compiler), and will be deleted upon "make clean"! -# Even though the DOS/Win* filesystem matches both .s and .S the same, -# it will preserve the spelling of the filenames, and gcc itself does -# care about how the name is spelled on its command-line. -ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S - -# List Assembler source files here which must be assembled in ARM-Mode.. -ASRCARM = - -# List any extra directories to look for include files here. -# Each directory must be seperated by a space. -EXTRAINCDIRS += $(OPSYSTEM) -EXTRAINCDIRS += $(OPSYSTEMINC) -EXTRAINCDIRS += $(OPUAVTALK) -EXTRAINCDIRS += $(OPUAVTALKINC) -EXTRAINCDIRS += $(OPUAVOBJ) -EXTRAINCDIRS += $(OPUAVOBJINC) -EXTRAINCDIRS += $(OPUAVSYNTHDIR) -EXTRAINCDIRS += $(PIOS) -EXTRAINCDIRS += $(PIOSINC) -EXTRAINCDIRS += $(FLIGHTLIBINC) -EXTRAINCDIRS += $(RSCODEINC) -EXTRAINCDIRS += $(PIOSSTM32F10X) -EXTRAINCDIRS += $(PIOSCOMMON) -EXTRAINCDIRS += $(PIOSBOARDS) -EXTRAINCDIRS += $(STMSPDINCDIR) -EXTRAINCDIRS += $(STMUSBINCDIR) -EXTRAINCDIRS += $(CMSISDIR) -EXTRAINCDIRS += $(DOSFSDIR) -EXTRAINCDIRS += $(MSDDIR) -EXTRAINCDIRS += $(RTOSINCDIR) -EXTRAINCDIRS += $(APPLIBDIR) -EXTRAINCDIRS += $(RTOSPORTDIR)/portable/GCC/ARM_CM3 -EXTRAINCDIRS += $(PYMITEINC) -EXTRAINCDIRS += $(HWDEFSINC) - -EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc - - -# List any extra directories to look for library files here. -# Also add directories where the linker should search for -# includes from linker-script to the list -# Each directory must be seperated by a space. -#EXTRA_LIBDIRS += - -# Extra Libraries -# Each library-name must be seperated by a space. -# i.e. to link with libxyz.a, libabc.a and libefsl.a: -# EXTRA_LIBS = xyz abc efsl -# for newlib-lpc (file: libnewlibc-lpc.a): -# EXTRA_LIBS = newlib-lpc -#EXTRA_LIBS += - -# Path to Linker-Scripts -LINKERSCRIPTPATH = $(PIOSSTM32F10X) - -# Optimization level, can be [0, 1, 2, 3, s]. -# 0 = turn off optimization. s = optimize for size. -# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) - -ifeq ($(DEBUG),YES) -OPT = 1 -else -OPT = s -endif - -# Output format. (can be ihex or binary or both) -# binary to create a load-image in raw-binary format i.e. for SAM-BA, -# ihex to create a load-image in Intel hex format -#LOADFORMAT = ihex -#LOADFORMAT = binary -LOADFORMAT = both - -# Debugging format. -DEBUGF = dwarf-2 - -# Place project-specific -D (define) and/or -# -U options for C here. -CDEFS += -DSTM32F10X_$(MODEL) -CDEFS += -DUSE_STDPERIPH_DRIVER -CDEFS += -DUSE_$(BOARD) -ifeq ($(ENABLE_DEBUG_PINS), YES) -CDEFS += -DPIOS_ENABLE_DEBUG_PINS -endif -ifeq ($(ENABLE_AUX_UART), YES) -CDEFS += -DPIOS_ENABLE_AUX_UART -endif -ifeq ($(ERASE_FLASH), YES) -CDEFS += -DERASE_FLASH -endif - -ifneq ($(USE_GPS), NO) -CDEFS += -DUSE_GPS -endif - -ifeq ($(USE_I2C), YES) -CDEFS += -DUSE_I2C -endif - -# Place project-specific -D and/or -U options for -# Assembler with preprocessor here. -#ADEFS = -DUSE_IRQ_ASM_WRAPPER -ADEFS = -D__ASSEMBLY__ - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 - -#----- - -# Compiler flags. - -# -g*: generate debugging information -# -O*: optimization level -# -f...: tuning, see GCC manual and avr-libc documentation -# -Wall...: warning level -# -Wa,...: tell GCC to pass this to the assembler. -# -adhlns...: create assembler listing -# -# Flags for C and C++ (arm-elf-gcc/arm-elf-g++) - -ifeq ($(DEBUG),YES) -CFLAGS = -DDEBUG -endif - -ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS))) -CFLAGS += -DSTACK_DIAGNOSTICS -endif - -ifneq (,$(filter YES,$(MIXERSTATUS_DIAGNOSTICS) $(ALL_DIGNOSTICS))) -CFLAGS += -DMIXERSTATUS_DIAGNOSTICS -endif - -ifneq (,$(filter YES,$(RATEDESIRED_DIAGNOSTICS) $(ALL_DIGNOSTICS))) -CFLAGS += -DRATEDESIRED_DIAGNOSTICS -endif - -ifneq (,$(filter YES,$(I2C_WDG_STATS_DIAGNOSTICS) $(ALL_DIGNOSTICS))) -CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS -endif - -ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS))) -CFLAGS += -DDIAG_TASKS -endif - -CFLAGS += -g$(DEBUGF) -CFLAGS += -O$(OPT) -CFLAGS += -mcpu=$(MCU) -CFLAGS += $(CDEFS) -CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I. - -#CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors -#CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants -#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename -#CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra -#CFLAGS += -fno-tree-ter -#CFLAGS += -g$(DEBUGF) -DDEBUG - -CFLAGS += -mapcs-frame -CFLAGS += -fomit-frame-pointer -ifeq ($(CODE_SOURCERY), YES) -CFLAGS += -fpromote-loop-indices -endif - -CFLAGS += -Wall -CFLAGS += -Werror -CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) -# Compiler flags to generate dependency files: -CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d - -# flags only for C -#CONLYFLAGS += -Wnested-externs -CONLYFLAGS += $(CSTANDARD) - -# Assembler flags. -# -Wa,...: tell GCC to pass this to the assembler. -# -ahlns: create listing -ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp -ASFLAGS += $(ADEFS) -ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<)))) -ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) - -MATH_LIB = -lm - -# Linker flags. -# -Wl,...: tell GCC to pass this to linker. -# -Map: create map file -# --cref: add cross reference to map file -LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections -LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS)) -LDFLAGS += -lc -LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS)) -LDFLAGS += $(MATH_LIB) -LDFLAGS += -lc -lgcc - -# Set linker-script name depending on selected submodel name -LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld -LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld - -# Define programs and commands. -REMOVE = $(REMOVE_CMD) -f -PYTHON = python - -# List of all source files. -ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC) -# List of all source files without directory and file-extension. -ALLSRCBASE = $(notdir $(basename $(ALLSRC))) - -# Define all object files. -ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE))) - -# Define all listing files (used for make clean). -LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE))) -# Define all depedency-files (used for make clean). -DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE))) - -# Default target. -all: build - -ifeq ($(LOADFORMAT),ihex) -build: elf hex lss sym -else -ifeq ($(LOADFORMAT),binary) -build: elf bin lss sym -else -ifeq ($(LOADFORMAT),both) -build: elf hex bin lss sym -else -$(error "$(MSG_FORMATERROR) $(FORMAT)") -endif -endif -endif - -# Link: create ELF output file from object files. -$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB))) - -# Assemble: create object files from assembler source files. -$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) - -# Assemble: create object files from assembler source files. ARM-only -$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) - -# Compile: create object files from C source files. -$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) - -# Compile: create object files from C source files. ARM-only -$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) - -# Compile: create object files from C++ source files. -$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) - -# Compile: create object files from C++ source files. ARM-only -$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) - -# Compile: create assembler files from C source files. ARM/Thumb -$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC)) - -# Compile: create assembler files from C source files. ARM only -$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM)) - -$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin - -$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION))) - -# Add jtag targets (program and wipe) -$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG))) - -.PHONY: elf lss sym hex bin bino opfw -elf: $(OUTDIR)/$(TARGET).elf -lss: $(OUTDIR)/$(TARGET).lss -sym: $(OUTDIR)/$(TARGET).sym -hex: $(OUTDIR)/$(TARGET).hex -bin: $(OUTDIR)/$(TARGET).bin -bino: $(OUTDIR)/$(TARGET).bin.o -opfw: $(OUTDIR)/$(TARGET).opfw - -# Display sizes of sections. -$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf)) - -# Generate Doxygen documents -docs: - doxygen $(DOXYGENDIR)/doxygen.cfg - -# Install: install binary file with prefix/suffix into install directory -install: $(OUTDIR)/$(TARGET).opfw -ifneq ($(INSTALL_DIR),) - @echo $(MSG_INSTALLING) $(call toprel, $<) - $(V1) mkdir -p $(INSTALL_DIR) - $(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw -else - $(error INSTALL_DIR must be specified for $@) -endif - -# Target: clean project. -clean: clean_list - -clean_list : - @echo $(MSG_CLEANING) - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss - $(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin.o - $(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.c) - $(V1) $(REMOVE) $(wildcard $(OUTDIR)/*.h) - $(V1) $(REMOVE) $(ALLOBJ) - $(V1) $(REMOVE) $(LSTFILES) - $(V1) $(REMOVE) $(DEPFILES) - $(V1) $(REMOVE) $(SRC:.c=.s) - $(V1) $(REMOVE) $(SRCARM:.c=.s) - $(V1) $(REMOVE) $(CPPSRC:.cpp=.s) - $(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s) - - -# Create output files directory -# all known MS Windows OS define the ComSpec environment variable -ifdef ComSpec -$(shell md $(subst /,\\,$(OUTDIR)) 2>NUL) -else -$(shell mkdir -p $(OUTDIR) 2>/dev/null) -endif - -# Include the dependency files. -ifdef ComSpec --include $(shell md $(subst /,\\,$(OUTDIR))\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*) -else --include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*) -endif - -# Listing of phony targets. -.PHONY : all build clean clean_list install +include $(ROOT_DIR)/make/apps-defs.mk diff --git a/flight/targets/PipXtreme/System/inc/pios_config.h b/flight/targets/PipXtreme/System/inc/pios_config.h index 94893c54b..21c0dc12a 100755 --- a/flight/targets/PipXtreme/System/inc/pios_config.h +++ b/flight/targets/PipXtreme/System/inc/pios_config.h @@ -1,110 +1,135 @@ -/** - ****************************************************************************** - * @addtogroup OpenPilotSystem OpenPilot System - * @{ - * @addtogroup OpenPilotCore OpenPilot Core - * @{ - * - * @file pios_config.h - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. - * @brief PiOS configuration header. - * Central compile time config for the project. - * In particular, pios_config.h is where you define which PiOS libraries - * and features are included in the firmware. - * @see The GNU Public License (GPL) Version 3 - * - *****************************************************************************/ -/* - * This program 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 3 of the License, or - * (at your option) any later version. - * - * This program 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 this program; if not, write to the Free Software Foundation, Inc., - * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - */ - -#ifndef PIOS_CONFIG_H -#define PIOS_CONFIG_H - -/* Enable/Disable PiOS Modules */ -#define PIOS_INCLUDE_DELAY -#define PIOS_INCLUDE_IRQ -#define PIOS_INCLUDE_LED -#define PIOS_INCLUDE_IAP -#define PIOS_INCLUDE_RFM22B -#define PIOS_INCLUDE_RFM22B_COM -#define PIOS_INCLUDE_RCVR -#define PIOS_INCLUDE_TIM - -/* Supported receiver interfaces */ -#define PIOS_INCLUDE_PPM - -/* Supported USART-based PIOS modules */ -#define PIOS_INCLUDE_SPI -#define PIOS_INCLUDE_SYS -#define PIOS_INCLUDE_USART -#define PIOS_INCLUDE_USB -#define PIOS_INCLUDE_USB_HID -#define PIOS_INCLUDE_USB_CDC -#define PIOS_INCLUDE_COM -#define PIOS_INCLUDE_SETTINGS -#define PIOS_INCLUDE_FREERTOS -#define PIOS_INCLUDE_GPIO -#define PIOS_INCLUDE_EXTI -#define PIOS_INCLUDE_RTC -#define PIOS_INCLUDE_WDG -#define PIOS_INCLUDE_BL_HELPER -#define PIOS_INCLUDE_FLASH_EEPROM -#define PIOS_INCLUDE_RFM22B -#define PIOS_INCLUDE_PACKET_HANDLER -#define PIOS_INCLUDE_PPM_OUT - -/* Defaults for Logging */ -#define LOG_FILENAME "PIOS.LOG" -#define STARTUP_LOG_ENABLED 1 - -/* COM Module */ -#define GPS_BAUDRATE 19200 -#define TELEM_BAUDRATE 19200 -#define AUXUART_ENABLED 0 -#define AUXUART_BAUDRATE 19200 - -/* Alarm Thresholds */ -#define HEAP_LIMIT_WARNING 220 -#define HEAP_LIMIT_CRITICAL 40 -#define IRQSTACK_LIMIT_WARNING 100 -#define IRQSTACK_LIMIT_CRITICAL 60 -#define CPULOAD_LIMIT_WARNING 85 -#define CPULOAD_LIMIT_CRITICAL 95 - -/* Task stack sizes */ -#define PIOS_ACTUATOR_STACK_SIZE 1020 -#define PIOS_MANUAL_STACK_SIZE 724 -#define PIOS_SYSTEM_STACK_SIZE 460 -#define PIOS_STABILIZATION_STACK_SIZE 524 -#define PIOS_TELEM_STACK_SIZE 500 -#define PIOS_EVENTDISPATCHER_STACK_SIZE 130 -#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998 -//#define PIOS_QUATERNION_STABILIZATION - -// This can't be too high to stop eventdispatcher thread overflowing -#define PIOS_EVENTDISAPTCHER_QUEUE 10 - -/* PIOS Initcall infrastructure */ -#define PIOS_INCLUDE_INITCALL - -/* Turn on debugging signals on the telemetry port */ -//#define PIOS_RFM22B_DEBUG_ON_TELEM - -#endif /* PIOS_CONFIG_H */ -/** - * @} - * @} - */ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * @file pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013. + * @brief PiOS configuration header, the compile time config file for the PIOS. + * Defines which PiOS libraries and features are included in the firmware. + * @see The GNU Public License (GPL) Version 3 + *****************************************************************************/ +/* + * This program 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 3 of the License, or + * (at your option) any later version. + * + * This program 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 this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +/* + * Below is a complete list of PIOS configurable options. + * Please do not remove or rearrange them. Only comment out + * unused options in the list. See main pios.h header for more + * details. + */ + +#define PIOS_INCLUDE_FREERTOS +#define PIOS_INCLUDE_DELAY +#define PIOS_INCLUDE_INITCALL +#define PIOS_INCLUDE_SYS + +#define PIOS_INCLUDE_IRQ +#define PIOS_INCLUDE_RTC +#define PIOS_INCLUDE_TIM +#define PIOS_INCLUDE_USART +/* #define PIOS_INCLUDE_ADC */ +/* #define PIOS_INCLUDE_I2C */ +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_EXTI +#define PIOS_INCLUDE_WDG +#define PIOS_INCLUDE_USB +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_CDC +/* #define PIOS_INCLUDE_USB_RCTX */ + +/* #define PIOS_INCLUDE_ADXL345 */ +/* #define PIOS_INCLUDE_BMA180 */ +/* #define PIOS_INCLUDE_L3GD20 */ +/* #define PIOS_INCLUDE_MPU6000 */ +/* #define PIOS_MPU6000_ACCEL */ +/* #define PIOS_INCLUDE_HMC5843 */ +/* #define PIOS_INCLUDE_HMC5883 */ +/* #define PIOS_INCLUDE_BMP085 */ +/* #define PIOS_INCLUDE_MS5611 */ +/* #define PIOS_INCLUDE_MPXV */ +/* #define PIOS_INCLUDE_ETASV3 */ +/* #define PIOS_INCLUDE_HCSR04 */ + +/* #define PIOS_INCLUDE_PWM */ +#define PIOS_INCLUDE_PPM +/* #define PIOS_INCLUDE_DSM */ +/* #define PIOS_INCLUDE_SBUS */ +/* #define PIOS_INCLUDE_GCSRCVR */ + +#define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_IAP +/* #define PIOS_INCLUDE_SERVO */ +/* #define PIOS_INCLUDE_I2C_ESC */ +/* #define PIOS_INCLUDE_OVERO */ +/* #define PIOS_INCLUDE_SDCARD */ +/* #define PIOS_INCLUDE_FLASH */ +/* #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS */ +#define PIOS_INCLUDE_FLASH_EEPROM +#define PIOS_INCLUDE_RFM22B +#define PIOS_INCLUDE_PACKET_HANDLER +#define PIOS_INCLUDE_PPM_OUT +/* Turn on debugging signals on the telemetry port */ +/* #define PIOS_RFM22B_DEBUG_ON_TELEM */ + +/* #define PIOS_INCLUDE_VIDEO */ +/* #define PIOS_INCLUDE_WAVE */ +#define PIOS_INCLUDE_BL_HELPER +/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */ +/* #define PIOS_INCLUDE_UDP */ + +#define PIOS_INCLUDE_RCVR +#define PIOS_INCLUDE_COM +/* #define PIOS_INCLUDE_COM_MSG */ +/* #define PIOS_INCLUDE_TELEMETRY_RF */ +/* #define PIOS_INCLUDE_GPS */ +/* #define PIOS_GPS_MINIMAL */ +/* #define PIOS_INCLUDE_GPS_NMEA_PARSER */ +/* #define PIOS_INCLUDE_GPS_UBX_PARSER */ + +/* Alarm Thresholds */ +#define HEAP_LIMIT_WARNING 220 +#define HEAP_LIMIT_CRITICAL 40 +#define IRQSTACK_LIMIT_WARNING 100 +#define IRQSTACK_LIMIT_CRITICAL 60 +#define CPULOAD_LIMIT_WARNING 85 +#define CPULOAD_LIMIT_CRITICAL 95 + +/* Task stack sizes */ +#define PIOS_ACTUATOR_STACK_SIZE 1020 +#define PIOS_MANUAL_STACK_SIZE 724 +#define PIOS_SYSTEM_STACK_SIZE 460 +#define PIOS_STABILIZATION_STACK_SIZE 524 +#define PIOS_TELEM_STACK_SIZE 500 +#define PIOS_EVENTDISPATCHER_STACK_SIZE 130 +#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998 + +/* Stabilization options */ +/* #define PIOS_QUATERNION_STABILIZATION */ + +/* This can't be too high to stop eventdispatcher thread overflowing */ +#define PIOS_EVENTDISAPTCHER_QUEUE 10 + +#endif /* PIOS_CONFIG_H */ +/** + * @} + * @} + */ diff --git a/make/apps-defs.mk b/make/apps-defs.mk index 218694cb6..13fb1deaa 100644 --- a/make/apps-defs.mk +++ b/make/apps-defs.mk @@ -82,7 +82,7 @@ ifeq ($(MCU),cortex-m3) RTOSINCDIR = $(RTOSSRCDIR)/include RTOSPORTDIR = $(APPLIBDIR)/FreeRTOS/Source else ifeq ($(MCU),cortex-m4) - + $(error This makefile is not yet converted for F4, work in progress) else $(error Unsupported MCU: $(MCU)) endif @@ -113,6 +113,8 @@ ifeq ($(MCU),cortex-m3) SRC += $(PIOSSTM32F10X)/pios_iap.c SRC += $(PIOSSTM32F10X)/pios_tim.c SRC += $(PIOSSTM32F10X)/pios_bl_helper.c + SRC += $(PIOSSTM32F10X)/pios_eeprom.c + SRC += $(PIOSSTM32F10X)/pios_ppm_out.c # PIOS USB related files SRC += $(OPSYSTEM)/pios_usb_board_data.c @@ -137,14 +139,14 @@ ifeq ($(MCU),cortex-m3) SRC += $(PIOSCOMMON)/pios_sbus.c SRC += $(PIOSCOMMON)/pios_rcvr.c SRC += $(PIOSCOMMON)/pios_gcsrcvr.c + SRC += $(PIOSCOMMON)/pios_rfm22b.c + SRC += $(PIOSCOMMON)/pios_rfm22b_com.c SRC += $(PIOSCOMMON)/printf-stdarg.c -# SRC += $(PIOSCOMMON)/pios_i2c_esc.c -# SRC += $(PIOSCOMMON)/pios_bmp085.c + SRC += $(PIOSCOMMON)/pios_i2c_esc.c ## Libraries for flight calculations SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/CoordinateConversions.c - SRC += $(FLIGHTLIB)/packet_handler.c SRC += $(FLIGHTLIB)/taskmonitor.c SRC += $(FLIGHTLIB)/sanitycheck.c SRC += $(MATHLIB)/sin_lookup.c