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Code Issues Releases Activity

Posix compile-only fix (still needs a lot of rework)

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This is a patch to make simposix buildable. It does not use new
makefiles and should be reworked.

Conflicts:
	flight/targets/SimPosix/Makefile
This commit is contained in:
Oleg Semyonov 2013-03-23 14:21:34 +02:00
parent 105e7d95c9
commit 2eff6f5f3c
4 changed files with 75 additions and 147 deletions
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2
flight/PiOS/pios_sim_posix.h
View File

@ -75,6 +75,4 @@
#include <pios_bl_helper.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_POSIX_H */

19
flight/targets/RevoMini/Makefile.osx
View File

@ -362,17 +362,14 @@ LDFLAGS += -L$(OUTDIR)
# Define programs and commands.
CC = $(TCHAIN_PREFIX)gcc
CPP = $(TCHAIN_PREFIX)g++
AR = $(TCHAIN_PREFIX)ar
OBJCOPY = $(TCHAIN_PREFIX)objcopy
OBJDUMP = $(TCHAIN_PREFIX)objdump
SIZE = $(TCHAIN_PREFIX)size
NM = $(TCHAIN_PREFIX)nm
REMOVE = $(REMOVE_CMD) -f
PYTHON = python
###SHELL = sh
###COPY = cp
CC = $(ARM_SDK_PREFIX)gcc
CPP = $(ARM_SDK_PREFIX)g++
AR = $(ARM_SDK_PREFIX)ar
OBJCOPY = $(ARM_SDK_PREFIX)objcopy
OBJDUMP = $(ARM_SDK_PREFIX)objdump
SIZE = $(ARM_SDK_PREFIX)size
NM = $(ARM_SDK_PREFIX)nm
REMOVE = $(RM) -f

21
flight/targets/Revolution/Makefile.osx
View File

@ -23,7 +23,7 @@
#####
BOARD_NAME=revolution
TCHAIN_PREFIX ?=
ARM_SDK_PREFIX ?=
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
@ -364,17 +364,14 @@ LDFLAGS += -L$(OUTDIR)
# Define programs and commands.
CC = $(TCHAIN_PREFIX)gcc
CPP = $(TCHAIN_PREFIX)g++
AR = $(TCHAIN_PREFIX)ar
OBJCOPY = $(TCHAIN_PREFIX)objcopy
OBJDUMP = $(TCHAIN_PREFIX)objdump
SIZE = $(TCHAIN_PREFIX)size
NM = $(TCHAIN_PREFIX)nm
REMOVE = $(REMOVE_CMD) -f
PYTHON = python
###SHELL = sh
###COPY = cp
CC = $(ARM_SDK_PREFIX)gcc
CPP = $(ARM_SDK_PREFIX)g++
AR = $(ARM_SDK_PREFIX)ar
OBJCOPY = $(ARM_SDK_PREFIX)objcopy
OBJDUMP = $(ARM_SDK_PREFIX)objdump
SIZE = $(ARM_SDK_PREFIX)size
NM = $(ARM_SDK_PREFIX)nm
REMOVE = $(RM) -f

180
flight/targets/SimPosix/Makefile
View File

@ -1,8 +1,6 @@
#####
# Project: OpenPilot INS
#
#
# Makefile for OpenPilot INS project
# TODO: This file should be reworked. It will be done as a part of sim target refactoring.
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
#
@ -22,35 +20,16 @@
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#####
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
override TCHAIN_PREFIX :=
override ARM_SDK_PREFIX :=
override THUMB :=
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := fw_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
include $(ROOT_DIR)/make/firmware-defs.mk
include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= YES
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= NO
ifeq ($(CODE_SOURCERY), YES)
REMOVE_CMD = cs-rm
else
REMOVE_CMD = rm
endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = ManualControl Stabilization GPS
MODULES += PathPlanner
@ -66,11 +45,10 @@ PYMODULES =
# Paths
OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ../../UAVTalk
OPUAVTALK = ../UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ../../UAVObjects
OPUAVOBJ = ../UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
PIOS = ../../PiOS.posix
PIOSINC = $(PIOS)/inc
OPMODULEDIR = ../../Modules
FLIGHTLIB = ../../Libraries
@ -80,29 +58,40 @@ MATHLIBINC = $(FLIGHTLIB)/math
PIOSPOSIX = $(PIOS)/posix
PIOSCOMMON = $(PIOS)/posix
PIOSBOARDS = $(PIOS)/Boards
PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
#APPLIBDIR = $(PIOSSTM32F4XX)/Libraries
OPUAVOBJ = ../../UAVObjects
PIOSCOMMONLIB = $(PIOS)/Common/Libraries
OPUAVOBJ = ../UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
BOOT =
BOOTINC =
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 = $(OPMODULEDIR)/FlightPlan/flightplans
HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
SRC =
# optional component libraries
include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
#include $(PIOSCOMMONLIB)/dosfs/library.mk
#include $(PIOSCOMMONLIB)/msheap/library.mk
## PYMite support
#include $(FLIGHTLIB)/PyMite/pymite.mk
include $(PIOS)/Common/Libraries/FreeRTOS/library.mk
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
## PyMite files and modules
SRC += $(OUTDIR)/pmlib_img.c
SRC += $(OUTDIR)/pmlib_nat.c
SRC += $(OUTDIR)/pmlibusr_img.c
SRC += $(OUTDIR)/pmlibusr_nat.c
PYSRC += $(wildcard ${PYMITEVM}/*.c)
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
@ -127,53 +116,12 @@ SRC += $(FLIGHTLIB)/sanitycheck.c
SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
## PIOS Hardware (STM32F4xx)
## PIOS Hardware
include $(PIOS)/posix/library.mk
## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_mpu6000.c
#SRC += $(PIOSCOMMON)/pios_bma180.c
#SRC += $(PIOSCOMMON)/pios_l3gd20.c
#SRC += $(PIOSCOMMON)/pios_hmc5883.c
#SRC += $(PIOSCOMMON)/pios_ms5611.c
#SRC += $(PIOSCOMMON)/pios_crc.c
#SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_rcvr.c
#SRC += $(PIOSCOMMON)/pios_flash_jedec.c
#SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
#SRC += $(PIOSCOMMON)/printf-stdarg.c
#SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
#SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
include ./UAVObjects.inc
SRC += $(UAVOBJSRC)
# 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.
# 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 += $(PIOS)
@ -186,39 +134,27 @@ EXTRAINCDIRS += $(OPUAVOBJINC)
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
EXTRAINCDIRS += $(FLIGHTLIBINC)
EXTRAINCDIRS += $(MATHLIBINC)
#EXTRAINCDIRS += $(PIOSSTM32F4XX)
EXTRAINCDIRS += $(PIOSCOMMON)
EXTRAINCDIRS += $(PIOSBOARDS)
#EXTRAINCDIRS += $(STMSPDINCDIR)
EXTRAINCDIRS += $(CMSISDIR)
EXTRAINCDIRS += $(OPUAVSYNTHDIR)
EXTRAINCDIRS += $(BOOTINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += $(HWDEFSINC)
# Generate intermediate code
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
$(PYSRC): gencode
# Generate code for PyMite
${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 ${FLIGHTPLANS}/*.py)
@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
@$(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 $(FLIGHTPLANLIB)/*.py)
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${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 = $(PIOSSTM32F4XX)
# Optimization level, can be [0, 1, 2, 3, s].
# 0 = turn off optimization. s = optimize for size.
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
@ -238,19 +174,19 @@ CFLAGS += -finstrument-functions -ffixed-r10
else
CFLAGS += -Os
endif
# common architecture-specific flags from the device-specific library makefile
CFLAGS += $(ARCHFLAGS)
CFLAGS += $(UAVOBJDEFINE)
CFLAGS += -DSTACK_DIAGNOSTICS
CFLAGS += -DMIXERSTATUS_DIAGNOSTICS
CFLAGS += -DRATEDESIRED_DIAGNOSTICS
CFLAGS += -DI2C_WDG_STATS_DIAGNOSTICS
CFLAGS += -DDIAG_STACK
CFLAGS += -DDIA_MIXERSTATUS
CFLAGS += -DDIAG_RATEDESIRED
CFLAGS += -DDIAG_I2C_WDG_STATS
CFLAGS += -DDIAG_TASKS
# Or all of above:
#CFLAGS += -DDIAG_ALL
# This is not the best place for these. Really should abstract out
# to the board file or something
@ -350,7 +286,7 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
REMOVE = $(RM) -f
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -384,7 +320,7 @@ endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
# Assemble: create object files from assembler source files.
$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
@ -488,16 +424,16 @@ gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTD
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(MSG_MODINIT $(call toprel, $@))
$(V1) $(ECHO) $(QUOTE)// Autogenerated file$(QUOTE) > ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)void InitModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)void StartModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Start();}$(QUOTE) >> ${OUTDIR}/InitMods.c
$(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
# Listing of phony targets.
.PHONY : all build clean clean_list install