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https://bitbucket.org/librepilot/librepilot.git
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Work on the build process and include FreeRTOS
This commit is contained in:
James Cotton
parent
9607da9c62
commit
7ee4a0412c
@ -64,7 +64,6 @@ STMLIBDIR = $(APPLIBDIR)
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STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
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STMSPDSRCDIR = $(STMSPDDIR)/src
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STMSPDINCDIR = $(STMSPDDIR)/inc
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CMSISDIR = $(STMLIBDIR)/CMSIS/Core/CM3
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OPDIR = ../OpenPilot
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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@ -74,16 +73,17 @@ BOOTINC = $(BOOT)/inc
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OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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SRC =
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# optional component libraries
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include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
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include $(PIOSCOMMONLIB)/dosfs/library.mk
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#include $(PIOSCOMMONLIB)/dosfs/library.mk
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include $(PIOSCOMMONLIB)/msheap/library.mk
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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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## INS:
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SRC = ins.c
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SRC += ins.c
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SRC += pios_board.c
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SRC += insgps13state.c
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SRC += insgps_helper.c
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@ -97,13 +97,7 @@ SRC += $(BOOT)/ahrs_slave_test.c
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SRC += $(BOOT)/ahrs_spi_program.c
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## PIOS Hardware (STM32F4xx)
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include $(PIOS)/STM32F4xx/library.mk
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#SRC += $(PIOSSTM32F4XX)/pios_iap.c
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SRC += $(PIOSSTM32F4XX)/pios_bma180.c
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SRC += $(PIOSSTM32F4XX)/pios_hmc5883.c
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SRC += $(PIOSSTM32F4XX)/pios_bmp085.c
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SRC += $(PIOSSTM32F4XX)/pios_imu3000.c
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## PIOS Hardware (Common)
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SRC += $(PIOSCOMMON)/pios_com.c
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@ -111,25 +105,6 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
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SRC += $(PIOSCOMMON)/pios_bl_helper.c
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SRC = $(PIOSSTM32F4XX)/startup.c
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## Used parts of the STM-Library
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SRC += $(STMSPDSRCDIR)/stm32f4xx_adc.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_crc.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_dac.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_dma.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_exti.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_flash.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_gpio.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_i2c.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_pwr.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_rcc.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_rtc.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_spi.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_syscfg.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_tim.c
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SRC += $(STMSPDSRCDIR)/stm32f4xx_usart.c
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SRC += $(STMSPDSRCDIR)/misc.c
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# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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# use file-extension c for "c-only"-files
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## just for testing, timer.c could be compiled in thumb-mode too
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@ -226,6 +201,7 @@ DEBUGF = dwarf-2
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# Place project-specific -D (define) and/or
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# -U options for C here.
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CDEFS = -DSTM32F10X_$(MODEL)
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CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
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CDEFS += -DUSE_STDPERIPH_DRIVER
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CDEFS += -DUSE_$(BOARD)
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CDEFS += -DIN_AHRS
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103
flight/Revolution/inc/FreeRTOSConfig.h
Normal file
103
flight/Revolution/inc/FreeRTOSConfig.h
Normal file
@ -0,0 +1,103 @@
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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/**
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* @addtogroup PIOS PIOS
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* @{
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* @addtogroup FreeRTOS FreeRTOS
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* @{
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*/
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/* Notes: We use 5 task priorities */
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#define configCPU_CLOCK_HZ (SYSCLK_FREQ) // really the NVIC clock ...
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#define configTICK_RATE_HZ ((portTickType )1000)
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#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5)
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#define configMINIMAL_STACK_SIZE ((unsigned short)512)
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#define configTOTAL_HEAP_SIZE ((size_t)(64 * 1024)) // this is minimum, not total
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#define configMAX_TASK_NAME_LEN (16)
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#define configUSE_PREEMPTION 1
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#define configUSE_IDLE_HOOK 1
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#define configUSE_TICK_HOOK 0
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 0
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_COUNTING_SEMAPHORES 0
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#define configUSE_ALTERNATIVE_API 0
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configQUEUE_REGISTRY_SIZE 10
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1) /* run timers at max priority */
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
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/* Co-routine definitions. */
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#define configUSE_CO_ROUTINES 0
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//#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
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/* Set the following definitions to 1 to include the API function, or zero
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to exclude the API function. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 1
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTaskGetCurrentTaskHandle 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 1
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/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255
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(lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
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#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */
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/* This is the value being used as per the ST library which permits 16
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priority values, 0 to 15. This must correspond to the
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configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
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NVIC value of 255. */
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#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
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/* Enable run time stats collection */
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#define configGENERATE_RUN_TIME_STATS 1
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#define INCLUDE_uxTaskGetRunTime 1
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/*
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* Once we move to CMSIS2 we can at least use:
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*
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* CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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*
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* (still nothing for the DWT registers, surprisingly)
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*/
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
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do { \
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(*(unsigned long *)0xe000edfc) |= (1<<24); /* DEMCR |= DEMCR_TRCENA */ \
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(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
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} while(0)
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#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
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/**
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* @}
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*/
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#endif /* FREERTOS_CONFIG_H */
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@ -55,6 +55,7 @@
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#define PIOS_INCLUDE_EXTI
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#define PIOS_INCLUDE_BMA180
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#define PIOS_INCLUDE_FREERTOS
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/* COM Module */
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#define GPS_BAUDRATE 19200
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