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Code Issues Releases Activity

Merge branch 'master' of ssh://git.openpilot.org/OpenPilot into spektrum_rtc_supervisor

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This commit is contained in:
sambas 2011-05-29 10:40:17 +03:00
commit 86d02e2d34
108 changed files with 1771 additions and 1624 deletions
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55
CREDITS.txt
View File

@ -1,13 +1,13 @@
This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.
This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.
It is sorted alphabetically by name and formatted so that it allows for easy grepping and beautification by scripts.
It is sorted alphabetically by name and formatted so that it allows for easy grepping and beautification by scripts.
The fields are:
The fields are:
Name (N)
Email (E),
Description of work (D)
Description of work (D)
Current maintainer function (M)
----------
@ -19,8 +19,8 @@ M: SITL Win32
N: David Ankers
E: david (at) openpilot (dot) org
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
M: Admin
N: Pedro Assuncao
@ -31,17 +31,17 @@ N: Jose Barros
E: josembarros (at) hotmail (dot) com
D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin
D: OP Bootloader, AHRS Bootloader, OPUploadTool
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
E: chebuzz (plus) openpilot (at) gmail (dot) com
D: 3D ModelView GCS Plugin, sponsor of HITL merge work and XPlane addition
M: 3D Modelview
N: James Cotton
E: peabody124 (plus) openpilot (at) gmail (dot) com
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Firmware implementation of Professor Schinstock's INS/GPS
M: Architecture co-lead
@ -52,7 +52,7 @@ D: Floss-JTAG Rev A, 4-layer initial design
N: Frederic Goddeeris
E: fredericgoddeeris (at) hotmail (dot) com
D: I2C work and FreeRTOS work, MK integration
D: EagleTree OSD implementation
D: EagleTree OSD implementation
M: OSD Module
N: Daniel Godin
@ -83,21 +83,21 @@ M: Hardware Architecture Team
N: Mark James
E: mjames (plus) openpilot (at) gmail (dot) com
D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
N: Sami Korhonen
E: samik (dot) korhonen (plus) openpilot (at) gmail (dot) com
D: GPS Module, Spektrum RC Module, OSD work
D: GPS Module, Spektrum RC Module, OSD work
N: Thorsten Klose
E: thorsten (dot) klose (at) dmx (dot) de
D: Embedded STM32 infrastructure
D: Embedded STM32 infrastructure
N: Hallvard Kristiansen
E: hal (at) fleshmx (dot) com
D: GCS Artwork, Quad layout diagrams
N: Edouard Lafargue
N: Edouard Lafargue
E: edouard (at) lafargue (dot) name
D: GCS Dial Plugins, GCS PFD Plugin, GCS GPS plugin, GCS Config plugin
D: Artwork including standard display dials
@ -105,7 +105,7 @@ M: GCS Core
N: Matt Lipski
E: mattlipski (plus) openpilot (at) gmail (dot) com
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
N: Les Newell
E: les (dot) newell (at) fastmail (dot) co (dot) uk
@ -113,9 +113,9 @@ D: Advanced mixer matrix, SPI protocol based on UAVObjects
N: Ken Northup
E: helos360 (at) bellsouth (dot) net
D: 3D Modelling, Easystar adaption from FMS
D: 3D Modelling, Easystar adaption from FMS
N: Guy McCaldin
N: Guy McCaldin
E: guymcc (at) gmail (dot) com
D: Artwork and design including work on the Deluxe Dial Set
@ -123,11 +123,11 @@ N: Cathy Moss
E: cmoss296 (at) blueyonder (dot) co (dot) uk
D: Hardware design Lead: Gen 2 Mainboard, PipXtreme, Current Sensor
D: Lead dev PipXtreme, creator OP Map Plugin
M: Hardware Architecture Team / PipX Modem
M: Hardware Architecture Team / PipX Modem
N: Angus Peart
E: gussy (at) openpilot (dot) org
D: Co-founder, Principal hardware architect.
D: Co-founder, Principal hardware architect.
D: Hardware design of OpenPilot, AHRS, GPS and other hardware
D: Core developer embedded code
@ -152,7 +152,7 @@ D: GCS Framework and Plugins for the GCS
N: Zik Saleeba
E: zik (at) zikzak (dot) net
D: Initial schematic based on Zik's Flying Fox schematic
D: Initial schematic based on Zik's Flying Fox schematic
N: Professor Dale Schinstock
E: dales (at) ksu (dot) edu
@ -162,16 +162,18 @@ D: Creator of the OpenPilot INS / EKF
N: Oleg Semyonov
E: os-openpilot-org (at) os-propo (dot) info
D: Core tester & Project organisation
M: Common part of multi-platform packaging system
M: Windows NSIS Installer
M: Russian Documentation Lead
N: Stacey Sheldon
E: stac (at) solidgoldbomb (dot) org
D: Core Embedded Developer
D: SPI protocol for AHRS, I2C rewrite and much core work
D: SPI protocol for AHRS, I2C rewrite and much core work
N: Troy Schultz
E: troy (dot) schultz (at) rogers (dot) com
D: INS design review and optimisation
D: INS design review and optimisation
M: Hardware Architecture Team
N: Dr. Erhard Siegl
@ -194,11 +196,10 @@ D: Helicopter support code and mixing for CCPM
N: Vassilis Varveropoulos
E: vassilis (at) openpilot (dot) org
D: Co-founder, Principal embedded software architect.
D: Co-founder, Principal embedded software architect.
D: Module architecture and UAVTalk/UAVObjects implementation.
M: Architecture co-lead
N: Alex Vrubel
E: alex (dot) vrubel (plus) openpilot (at) gmail (dot) com
D: Russian translation of the GCS

38
MILESTONES.txt
View File

@ -1,12 +1,12 @@
This is the Milestones file of the OpenPilot project, its intent is to record the major accomplishments achieved by people using the OpenPilot platform and who gets the karma for performing them.
This is the Milestones file of the OpenPilot project, its intent is to record the major accomplishments achieved by people using the OpenPilot platform and who gets the karma for performing them.
The CREDITS.txt in SVN records the developers and the achievements made by each individual; this file is different as it is aimed at recording and giving credit to the people who achieve milestones in the use of OpenPilot.
The CREDITS.txt in SVN records the developers and the achievements made by each individual; this file is different as it is aimed at recording and giving credit to the people who achieve milestones in the use of OpenPilot.
The fields are:
The fields are:
Milestone description (M)
Milestone description (M)
Credited to (C)
Date (D)
Video (V) - Optional link to video showing milestone
@ -22,7 +22,7 @@ C: James Cotton
D: September 2010
M: First stabilised fixed wing flight
C: Edouard Lafargue
C: Edouard Lafargue
D: September 2010
M: First stabilised Quad flight
@ -93,12 +93,9 @@ D: March 2011
V: http://vimeo.com/22221798
M: First CopterControl flight on a Hexa
C: Edouard Lafargue
D: March 2011
V: http://vimeo.com/21476466
C: Edouard Lafargue
D: March 2011
V: http://vimeo.com/21476466
M: First CopterControl flight on a Tri
C: Gary Mortimer and the Scorpion
@ -111,21 +108,22 @@ D: May 2011
V: http://www.vimeo.com/23637586
M: First CopterControl flight on a Flybarless Heli
C: ?
D: ?
V:
C: Oleg Semyonov (osnwt)
D: May 2011
V: http://www.youtube.com/watch?v=-J8cxqzxxWw
M: First V8 Octo OpenPilot flight
C: Sami Korhonen (Sambas)
D: May 2011
V: http://vimeo.com/24258192
M: First Y6 CopterControl flight
C: ?
D: ?
V:
An incomplete list of some future Milestones is below:
* First Helicopter flight with OpenPilot
* First Octo flight with OpenPilot
* First Y6 CopterControl flight
* First Helicopter flight with OpenPilot
* First successful flight using the GCS only and no RC TX
* First use of Magic Waypoint
* First Flybarless Helicopter flight with OpenPilot

382
Makefile
View File

@ -77,19 +77,24 @@ help:
@echo " all_flight - Build all firmware, bootloaders and bootloader updaters"
@echo " all_fw - Build only firmware for all boards"
@echo " all_bl - Build only bootloaders for all boards"
@echo " all_blupd - Build only bootloader updaters for all boards"
@echo " all_bu - Build only bootloader updaters for all boards"
@echo
@echo " all_clean - Remove your build directory ($(BUILD_DIR))"
@echo " all_flight_clean - Remove all firmware, bootloaders and bootloader updaters"
@echo " all_fw_clean - Remove firmware for all boards"
@echo " all_bl_clean - Remove bootlaoders for all boards"
@echo " all_blupd_clean - Remove bootloader updaters for all boards"
@echo " all_bu_clean - Remove bootloader updaters for all boards"
@echo
@echo " all_<board> - Build all available images for <board>"
@echo " all_<board>_clean - Remove all available images for <board>"
@echo
@echo " [Firmware]"
@echo " <board> - Build firmware for <board>"
@echo " supported boards are ($(ALL_BOARDS))"
@echo " fw_<board> - Build firmware for <board>"
@echo " supported boards are ($(FW_TARGETS))"
@echo " <board>_clean - Remove firmware for <board>"
@echo " <board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo " fw_<board>_clean - Remove firmware for <board>"
@echo " fw_<board>_program - Use OpenOCD + JTAG to write firmware to <board>"
@echo
@echo " [Bootloader]"
@echo " bl_<board> - Build bootloader for <board>"
@ -98,9 +103,9 @@ help:
@echo " bl_<board>_program - Use OpenOCD + JTAG to write bootloader to <board>"
@echo
@echo " [Bootloader Updater]"
@echo " blupd_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BLUPD_TARGETS))"
@echo " blupd_<board>_clean - Remove bootloader updater for <board>"
@echo " bu_<board> - Build bootloader updater for <board>"
@echo " supported boards are ($(BU_TARGETS))"
@echo " bu_<board>_clean - Remove bootloader updater for <board>"
@echo
@echo " [Simulation]"
@echo " sim_posix - Build OpenPilot simulation firmware for"
@ -270,18 +275,6 @@ openpilotgcs: uavobjects_gcs
$(MAKE) -w ; \
)
.PHONY: gcs_installer
gcs_installer: openpilotgcs
ifeq ($(QT_SPEC), win32-g++)
ifeq ($(GCS_BUILD_CONF), release)
$(V1) cd $(BUILD_DIR)/ground/openpilotgcs/packaging/winx86 && $(MAKE) -r --no-print-directory $@
else
$(error $@ can be generated for release build only (GCS_BUILD_CONF=release))
endif
else
$(error $@ is currently only available on Windows)
endif
.PHONY: openpilotgcs_clean
openpilotgcs_clean:
$(V0) @echo " CLEAN $@"
@ -323,254 +316,128 @@ uavobjects_clean:
#
##############################
FW_TARGETS := openpilot ahrs coptercontrol pipxtreme ins
BL_TARGETS := $(addprefix bl_, $(FW_TARGETS))
BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS))
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
define FW_TEMPLATE
.PHONY: $(1) fw_$(1)
$(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: $(1)_clean
$(1)_clean: fw_$(1)_clean
fw_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
define BL_TEMPLATE
.PHONY: bl_$(1)
bl_$(1): bl_$(1)_bin
bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: bl_$(1)_clean
bl_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BU_TEMPLATE
.PHONY: bu_$(1)
bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
$$*
.PHONY: bu_$(1)_clean
bu_$(1)_clean:
$(V0) @echo " CLEAN $$@"
$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
endef
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
define BOARD_PHONY_TEMPLATE
.PHONY: all_$(1)
all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
.PHONY: all_$(1)_clean
all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
endef
ALL_BOARDS := openpilot ahrs coptercontrol pipxtreme ins
# Friendly names of each board (used to find source tree)
openpilot_friendly := OpenPilot
coptercontrol_friendly := CopterControl
pipxtreme_friendly := PipXtreme
ins_friendly := INS
ahrs_friendly := AHRS
FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS))
BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS))
BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS))
# FIXME: The INS build doesn't have a bootloader or bootloader
# updater yet so we need to filter them out to prevent errors.
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
BLUPD_TARGETS := $(filter-out blupd_ins, $(BLUPD_TARGETS))
BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS))
.PHONY: all_fw all_fw_clean
all_fw: $(addsuffix _bin, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
all_fw: $(addsuffix _opfw, $(FW_TARGETS))
all_fw_clean: $(addsuffix _clean, $(FW_TARGETS))
.PHONY: all_bl all_bl_clean
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
all_bl: $(addsuffix _bin, $(BL_TARGETS))
all_bl_clean: $(addsuffix _clean, $(BL_TARGETS))
.PHONY: all_blupd all_blupd_clean
all_blupd: $(addsuffix _bin, $(BLUPD_TARGETS))
all_blupd_clean: $(addsuffix _clean, $(BLUPD_TARGETS))
.PHONY: all_bu all_bu_clean
all_bu: $(addsuffix _opfw, $(BU_TARGETS))
all_bu_clean: $(addsuffix _clean, $(BU_TARGETS))
.PHONY: all_flight all_flight_clean
all_flight: all_fw all_bl all_blupd
all_flight_clean: all_fw_clean all_bl_clean all_blupd_clean
all_flight: all_fw all_bl all_bu
all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
.PHONY: openpilot
openpilot: openpilot_bin
$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
openpilot_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/OpenPilot && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
# Expand the bootloader updater rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly))))
.PHONY: openpilot_clean
openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
.PHONY: bl_openpilot
bl_openpilot: bl_openpilot_bin
bl_openpilot_bino: bl_openpilot_bin
bl_openpilot_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_openpilot_clean
bl_openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_openpilot
.PHONY: blupd_openpilot
blupd_openpilot: blupd_openpilot_bin
blupd_openpilot_%: bl_openpilot_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_openpilot/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM3210E_OP MODEL=HD MODEL_SUFFIX=_OP \
BLOBJ=$(BUILD_DIR)/bl_openpilot/OpenPilot_BL.bin.o $*
.PHONY: blupd_openpilot_clean
blupd_openpilot_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_openpilot
.PHONY: ahrs
ahrs: ahrs_bin
ahrs_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/AHRS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: ahrs_clean
ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
.PHONY: bl_ahrs
bl_ahrs: bl_ahrs_bin
bl_ahrs_bino: bl_ahrs_bin
bl_ahrs_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_ahrs_clean
bl_ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_ahrs
.PHONY: blupd_ahrs
blupd_ahrs: blupd_ahrs_bin
blupd_ahrs_%: bl_ahrs_bino bl_ahrs
$(V1) mkdir -p $(BUILD_DIR)/blupd_ahrs/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_AHRS MODEL=MD \
BLOBJ=$(BUILD_DIR)/bl_ahrs/AHRS_BL.bin.o $*
.PHONY: blupd_ahrs_clean
blupd_ahrs_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_ahrs
.PHONY: coptercontrol
coptercontrol: coptercontrol_bin
coptercontrol_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/CopterControl && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: coptercontrol_clean
coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
.PHONY: bl_coptercontrol
bl_coptercontrol: bl_coptercontrol_bin
bl_coptercontrol_bino: bl_coptercontrol_bin
bl_coptercontrol_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_coptercontrol_clean
bl_coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_coptercontrol
.PHONY: blupd_coptercontrol
blupd_coptercontrol: blupd_coptercontrol_bin
blupd_coptercontrol_%: bl_coptercontrol_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_coptercontrol/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_CC_Rev1 MODEL=MD MODEL_SUFFIX=_CC \
BLOBJ=$(BUILD_DIR)/bl_coptercontrol/CopterControl_BL.bin.o $*
.PHONY: blupd_coptercontrol_clean
blupd_coptercontrol_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_coptercontrol
.PHONY: pipxtreme
pipxtreme: pipxtreme_bin
pipxtreme_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/PipXtreme && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: pipxtreme_clean
pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
.PHONY: bl_pipxtreme
bl_pipxtreme: bl_pipxtreme_bin
bl_pipxtreme_bino: bl_pipxtreme_bin
bl_pipxtreme_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_pipxtreme_clean
bl_pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
.PHONY: blupd_pipxtreme
blupd_pipxtreme: blupd_pipxtreme_bin
blupd_pipxtreme_%: bl_pipxtreme_bino
$(V1) mkdir -p $(BUILD_DIR)/blupd_pipxtreme/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/blupd_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
BOARD=STM32103CB_PIPXTREME MODEL=MD MODEL_SUFFIX=_CC \
BLOBJ=$(BUILD_DIR)/bl_pipxtreme/PipXtreme_BL.bin.o $*
.PHONY: blupd_pipxtreme_clean
blupd_pipxtreme_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/blupd_pipxtreme
.PHONY: ins
ins: ins_bin
ins_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/ins/dep
$(V1) cd $(ROOT_DIR)/flight/INS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: ins_clean
ins_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/ins
.PHONY: bl_ins
bl_ins: bl_ins_elf
bl_ins_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_ins/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && \
$(MAKE) -r --no-print-directory \
OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
.PHONY: bl_ins_clean
bl_ins_clean:
$(V0) @echo " CLEAN $@"
$(V1) $(RM) -fr $(BUILD_DIR)/bl_ins
# Expand the firmware rules
$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly))))
# Expand the bootloader rules
$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly))))
.PHONY: sim_posix
sim_posix: sim_posix_elf
@ -587,3 +454,12 @@ sim_win32_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sitl_win32
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/OpenPilot --file=$(ROOT_DIR)/flight/OpenPilot/Makefile.win32 $*
##############################
#
# Packaging components
#
##############################
.PHONY: package
package:
$(V1) cd $@ && $(MAKE) --no-print-directory $@

2
artwork/Font/Copyright.txt
View File

@ -16,5 +16,7 @@ Symbols:
Capital A = OpenPilot Logo
Capital B = CC-BY-SA
Capital B = CC-BY-NC-SA
Capital D = RoHS

BIN
artwork/Font/OpenPilot.ttf
View File

Binary file not shown.

277
artwork/Misc/multirotor-shapes.svg
View File

File diff suppressed because one or more lines are too long
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 436 KiB

After

Width:  |  Height:  |  Size: 438 KiB

62
flight/AHRS/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
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)
# Set developer code and compile options
# Set to YES for debugging
@ -41,21 +48,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/ahrs
# Target file name (without extension).
TARGET = AHRS
# Paths
AHRS = ./
AHRSINC = $(AHRS)/inc
@ -160,7 +152,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -223,7 +215,6 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_AHRS
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -299,21 +290,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08002000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08002000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -345,14 +323,6 @@ endif
endif
endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -382,29 +352,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(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)))
.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))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
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).bin
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
@ -445,4 +419,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

11
flight/AHRS/ahrs.c
View File

@ -33,6 +33,7 @@
/* OpenPilot Includes */
#include "ahrs.h"
#include <pios_board_info.h>
#include "pios.h"
#include "ahrs_timer.h"
#include "ahrs_spi_comm.h"
@ -1228,6 +1229,8 @@ void homelocation_callback(AhrsObjHandle obj)
void firmwareiapobj_callback(AhrsObjHandle obj)
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
FirmwareIAPObjData firmwareIAPObj;
FirmwareIAPObjGet(&firmwareIAPObj);
if(firmwareIAPObj.ArmReset==0)
@ -1235,7 +1238,7 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
if(firmwareIAPObj.ArmReset==1)
{
if((firmwareIAPObj.BoardType==BOARD_TYPE) || (firmwareIAPObj.BoardType==0xFF))
if((firmwareIAPObj.BoardType==bdinfo->board_type) || (firmwareIAPObj.BoardType==0xFF))
{
++reset_count;
@ -1247,11 +1250,11 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
}
}
}
else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
else if(firmwareIAPObj.BoardType==bdinfo->board_type && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
{
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,bdinfo->desc_size);
firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
firmwareIAPObj.BoardRevision=BOARD_REVISION;
firmwareIAPObj.BoardRevision=bdinfo->board_rev;
FirmwareIAPObjSet(&firmwareIAPObj);
}
}

68
flight/Bootloaders/AHRS/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES for debugging
@ -41,23 +48,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_AHRS
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_ahrs
# Target file name (without extension).
TARGET = AHRS_BL
# Paths
AHRS_BL = ./
AHRS_BLINC = $(AHRS_BL)/inc
@ -100,6 +90,7 @@ SRC += $(PIOSSTM32F10X)/pios_spi.c
## PIOS Hardware (Common)
#SRC += $(PIOSCOMMON)/pios_com.c
#SRC += $(PIOSCOMMON)/pios_hmc5843.c
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_opahrs_proto.c
SRC += $(PIOSCOMMON)/printf-stdarg.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
@ -148,7 +139,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -208,6 +199,15 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -242,8 +242,9 @@ CFLAGS += -O$(OPT)
ifeq ($(DEBUG),NO)
CFLAGS += -fdata-sections -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -265,7 +266,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -290,20 +291,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -335,14 +324,6 @@ endif
endif
endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo "Programming with OPENOCD"
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -372,6 +353,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -382,8 +366,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
@ -436,4 +418,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

27
flight/Bootloaders/AHRS/main.c
View File

@ -33,6 +33,7 @@
/* OpenPilot Includes */
#include "ahrs_bl.h"
#include <pios_board_info.h>
#include "pios_opahrs_proto.h"
#include "bl_fsm.h" /* lfsm_state */
#include "stm32f10x_flash.h"
@ -108,6 +109,7 @@ static struct opahrs_msg_v0 link_rx_v0;
static struct opahrs_msg_v0 user_tx_v0;
static struct opahrs_msg_v0 user_rx_v0;
void process_spi_request(void) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool msg_to_process = FALSE;
PIOS_IRQ_Disable();
@ -166,15 +168,15 @@ void process_spi_request(void) {
break;
case OPAHRS_MSG_V0_REQ_MEM_MAP:
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
user_tx_v0.payload.user.v.rsp.mem_map.density = HW_TYPE;
user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
| (BOARD_WRITABLA << 1));
| (BOARD_WRITABLE << 1));
user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
= SIZE_OF_CODE;
= bdinfo->fw_size;
user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
= SIZE_OF_DESCRIPTION;
= bdinfo->desc_size;
user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
= START_OF_USER_CODE;
= bdinfo->fw_base;
lfsm_user_set_tx_v0(&user_tx_v0);
break;
case OPAHRS_MSG_V0_REQ_SERIAL:
@ -192,7 +194,7 @@ void process_spi_request(void) {
PIOS_LED_On(LED1);
opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
< START_OF_USER_CODE)) {
< bdinfo->fw_base)) {
for (uint8_t x = 0; x
< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
if (FLASH_ProgramWord(
@ -250,13 +252,10 @@ void process_spi_request(void) {
return;
}
void jump_to_app() {
//while(TRUE)
//{
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
//}
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_LED_On(LED1);
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -265,10 +264,10 @@ void jump_to_app() {
//_SetCNTR(0); // clear interrupt mask
//_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
boot_status = jump_failed;

38
flight/Bootloaders/BootloaderUpdater/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET = bu_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -51,21 +58,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD ?= NULL
MODEL ?= NULL
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = ../../../build/bootloaders/BootloaderUpdater
# Target file name (without extension).
TARGET = BL_Updater
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -224,7 +216,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -309,9 +300,9 @@ LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
@ -364,6 +355,7 @@ program: $(OUTDIR)/$(TARGET).bin
endif
# Link: create ELF output file from object files.
BLOBJ := $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin.o
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ)))
# Assemble: create object files from assembler source files.
@ -392,14 +384,16 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf
elf.stripped: $(OUTDIR)/$(TARGET).elf.stripped
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))
@ -411,11 +405,11 @@ docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
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).bin
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif

66
flight/Bootloaders/CopterControl/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_CC_Rev1
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_coptercontrol
# Target file name (without extension).
TARGET = CopterControl_BL
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -123,6 +115,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
@ -180,7 +173,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -259,6 +252,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -294,8 +296,9 @@ ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -315,7 +318,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -340,20 +343,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -393,14 +384,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -430,6 +413,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -440,8 +426,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
@ -494,4 +478,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

9
flight/Bootloaders/CopterControl/main.c
View File

@ -27,6 +27,7 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include <pios_board_info.h>
#include "stopwatch.h"
#include "op_dfu.h"
#include "usb_lib.h"
@ -163,7 +164,9 @@ int main() {
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
const struct pios_board_info * bdinfo = &pios_board_info_blob;
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -171,10 +174,10 @@ void jump_to_app() {
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;

17
flight/Bootloaders/CopterControl/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
//programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;
@ -382,16 +383,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return;
}
void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
dev.startOfUserCode = START_OF_USER_CODE;
dev.sizeOfCode = SIZE_OF_CODE;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
dev.BL_Version = BOOTLOADER_VERSION;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
dev.devType = HW_TYPE;
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {

62
flight/Bootloaders/OpenPilot/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_openpilot
# Target file name (without extension).
TARGET = OpenPilot_BL
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -124,6 +116,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
@ -183,7 +176,7 @@ CPPSRCARM =
# 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)_OP.S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -262,6 +255,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -299,6 +301,7 @@ endif
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -343,20 +346,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -396,14 +387,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -433,6 +416,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -443,8 +429,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
@ -497,4 +481,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

9
flight/Bootloaders/OpenPilot/main.c
View File

@ -27,6 +27,7 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include <pios_board_info.h>
#include "pios_opahrs.h"
#include "stopwatch.h"
#include "op_dfu.h"
@ -216,7 +217,9 @@ int main() {
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
const struct pios_board_info * bdinfo = &pios_board_info_blob;
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -225,10 +228,10 @@ void jump_to_app() {
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;

17
flight/Bootloaders/OpenPilot/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
#include "pios_opahrs.h"
#include "ssp.h"
/* Private typedef -----------------------------------------------------------*/
@ -447,16 +448,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return;
}
void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
dev.startOfUserCode = START_OF_USER_CODE;
dev.sizeOfCode = SIZE_OF_CODE;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
dev.BL_Version = BOOTLOADER_VERSION;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
dev.devType = HW_TYPE;
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {

68
flight/Bootloaders/PipXtreme/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
include $(TOP)/make/firmware-defs.mk
include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
# Target file name (without extension).
TARGET := bl_$(BOARD_NAME)
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR := $(TOP)/build/$(TARGET)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -48,21 +55,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_PIPXTREME
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/bl_pipxtreme
# Target file name (without extension).
TARGET = PipXtreme_BL
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -122,6 +114,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_board_info.c
SRC += $(PIOSCOMMON)/pios_com.c
SRC += $(PIOSCOMMON)/pios_bl_helper.c
SRC += $(PIOSCOMMON)/pios_iap.c
@ -179,7 +172,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -258,6 +251,17 @@ ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
# Provide (only) the bootloader with board-specific defines
BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
BLONLY_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
BLONLY_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -293,8 +297,9 @@ ifeq ($(DEBUG),NO)
CFLAGS += -ffunction-sections
endif
CFLAGS += -mcpu=$(MCU) -mthumb
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
CFLAGS += $(BLONLY_CDEFS)
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
CFLAGS += -mapcs-frame
@ -314,7 +319,7 @@ CONLYFLAGS += $(CSTANDARD)
# Assembler flags.
# -Wa,...: tell GCC to pass this to the assembler.
# -ahlns: create listing
ASFLAGS = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
ASFLAGS += $(ADEFS)
ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@ -339,20 +344,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -392,14 +385,6 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -429,6 +414,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf
lss: $(OUTDIR)/$(TARGET).lss
@ -439,8 +427,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
# Display sizes of sections.
$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
@ -493,4 +479,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

9
flight/Bootloaders/PipXtreme/main.c
View File

@ -27,6 +27,7 @@
*/
/* Bootloader Includes */
#include <pios.h>
#include <pios_board_info.h>
#include "stopwatch.h"
#include "op_dfu.h"
#include "usb_lib.h"
@ -170,7 +171,9 @@ int main() {
}
void jump_to_app() {
if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
const struct pios_board_info * bdinfo = &pios_board_info_blob;
if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
FLASH_Lock();
RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@ -179,10 +182,10 @@ void jump_to_app() {
_SetCNTR(0); // clear interrupt mask
_SetISTR(0); // clear all requests
JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
Jump_To_Application = (pFunction) JumpAddress;
/* Initialize user application's Stack Pointer */
__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
Jump_To_Application();
} else {
DeviceState = failed_jump;

17
flight/Bootloaders/PipXtreme/op_dfu.c
View File

@ -30,6 +30,7 @@
#include "pios.h"
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
@ -414,16 +415,18 @@ void processComand(uint8_t *xReceive_Buffer) {
return;
}
void OPDfuIni(uint8_t discover) {
const struct pios_board_info * bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
dev.startOfUserCode = START_OF_USER_CODE;
dev.sizeOfCode = SIZE_OF_CODE;
dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
dev.BL_Version = BOOTLOADER_VERSION;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
dev.devType = HW_TYPE;
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {

63
flight/CopterControl/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
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)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -57,21 +64,6 @@ FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_CC_Rev1
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/coptercontrol
# Target file name (without extension).
TARGET = CopterControl
# Paths
OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -299,7 +291,7 @@ CPPSRCARM =
# 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)_CC.S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -381,7 +373,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
CDEFS += -DUSE_BOOTLOADER
ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH
endif
@ -420,9 +411,10 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
CFLAGS = -DDEBUG
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
@ -474,21 +466,9 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
PYTHON = python
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -539,13 +519,6 @@ ${OUTDIR}/InitMods.c: Makefile
# @$(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 $(FLIGHTPLANS)/test.py
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -575,29 +548,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(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)))
.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))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
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).bin
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
@ -641,4 +618,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program gencode install
.PHONY : all build clean clean_list gencode install

83
flight/INS/Makefile
View File

@ -25,11 +25,17 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
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)
# Set developer code and compile options
# Set to YES for debugging
DEBUG ?= YES
USE_BOOTLOADER ?= NO
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
@ -42,26 +48,6 @@ endif
FLASH_TOOL = OPENOCD
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_INS
MODEL = HD
ifeq ($(USE_BOOTLOADER), YES)
BOOT_MODEL = $(MODEL)_BL
else
BOOT_MODEL = $(MODEL)_NB
endif
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/ins
# Target file name (without extension).
TARGET = INS
# Paths
INS = ./
INSINC = $(INS)/inc
@ -168,7 +154,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -231,9 +217,7 @@ CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DIN_INS
ifeq ($(USE_BOOTLOADER), YES)
CDEFS += -DUSE_BOOTLOADER
endif
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
#ADEFS = -DUSE_IRQ_ASM_WRAPPER
@ -311,22 +295,11 @@ LDFLAGS += $(MATH_LIB)
LDFLAGS += -lc -lgcc
# Set linker-script name depending on selected submodel name
LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
# Program
OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
# reset target
OOCD_CL+=-c "reset run"
# # terminate OOCD after programming
OOCD_CL+=-c shutdown
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -358,21 +331,6 @@ endif
endif
endif
# Program the device.
ifeq ($(USE_BOOTLOADER), YES)
# Program the device with OP Upload Tool".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OP Upload Tool${quote}
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
else
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).elf
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -400,28 +358,35 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
.PHONY: elf lss sym hex bin
$(OUTDIR)/$(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)))
.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))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
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).bin
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
@ -461,4 +426,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

12
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -27,6 +27,7 @@
#include <stdint.h>
#include "pios.h"
#include <pios_board_info.h>
#include "openpilot.h"
#include "firmwareiap.h"
#include "firmwareiapobj.h"
@ -90,10 +91,12 @@ static void resetTask(UAVObjEvent *);
int32_t FirmwareIAPInitialize()
{
data.BoardType= BOARD_TYPE;
const struct pios_board_info * bdinfo = &pios_board_info_blob;
data.BoardType= bdinfo->board_type;
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision= BOARD_REVISION;
data.BoardRevision= bdinfo->board_rev;
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
@ -112,6 +115,7 @@ int32_t FirmwareIAPInitialize()
static uint8_t iap_state = IAP_STATE_READY;
static void FirmwareIAPCallback(UAVObjEvent* ev)
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
static uint32_t last_time = 0;
uint32_t this_time;
uint32_t delta;
@ -125,11 +129,11 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
this_time = get_time();
delta = this_time - last_time;
last_time = this_time;
if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
{
PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
data.BoardRevision=BOARD_REVISION;
data.BoardRevision=bdinfo->board_rev;
data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
FirmwareIAPObjSet( &data );
}

4
flight/Modules/ManualControl/manualcontrol.c
View File

@ -268,8 +268,8 @@ static void manualControlTask(void *parameters)
// Set accessory channels
cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
cmd.Accessory2 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
cmd.Accessory3 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
cmd.Accessory2 = (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
cmd.Accessory3 = (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
processFlightMode(&settings, flightMode);
processArm(&cmd, &settings);

62
flight/OpenPilot/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
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)
# Set developer code and compile options
# Set to YES to compile for debugging
@ -59,21 +66,6 @@ PYMODULES = FlightPlan
#MODULES = Telemetry
#MODULES += Osd/OsdEtStd
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103RET
BOARD = STM3210E_OP
MODEL = HD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/openpilot
# Target file name (without extension).
TARGET = OpenPilot
# Paths
OPSYSTEM = ./System
OPSYSTEMINC = $(OPSYSTEM)/inc
@ -287,7 +279,7 @@ CPPSRCARM =
# 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)_OP.S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -369,7 +361,6 @@ endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
endif
CDEFS += -DUSE_BOOTLOADER
ifeq ($(USE_SPEKTRUM), YES)
CDEFS += -DUSE_SPEKTRUM
@ -451,22 +442,9 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08005000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08005000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
PYTHON = python
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -519,14 +497,6 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
@$(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 $(FLIGHTPLANS)/test.py
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -556,29 +526,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(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)))
.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))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
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).bin
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
@ -622,4 +596,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program gencode install
.PHONY : all build clean clean_list gencode install

24
flight/PiOS/Boards/STM32103CB_AHRS.h
View File

@ -64,25 +64,8 @@ TIM8 | | | |
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
//#define FUNC_ID 2
//#define HW_VERSION 69
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x02
#define BOARD_REVISION 0x01
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 0x20000 //128K
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08002000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
//------------------------
@ -107,11 +90,6 @@ TIM8 | | | |
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//-------------------------
// Interrupt Priorities

24
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -60,25 +60,8 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
//#define FUNC_ID 2
//#define HW_VERSION 69
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x04
#define BOARD_REVISION 0x01
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 0x20000 //128K
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08003000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
@ -119,11 +102,6 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//-------------------------
// Interrupt Priorities

20
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -58,20 +58,8 @@ TIM4 | STOPWATCH |
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x03
#define BOARD_REVISION 0x01
#define MEM_SIZE ((uint32_t)(*((volatile uint16_t *)(0x1FFFF7E0))) * 1024 - 1024) //128K
#define SIZE_OF_DESCRIPTION 100
#define START_OF_USER_CODE (uint32_t)0x08003000
#define SIZE_OF_CODE (uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
@ -81,12 +69,6 @@ TIM4 | STOPWATCH |
#define PIOS_MASTER_CLOCK 72000000ul
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
// *****************************************************************
// Interrupt Priorities

26
flight/PiOS/Boards/STM3210E_INS.h
View File

@ -69,27 +69,8 @@ TIM8 | | | |
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
//#define FUNC_ID 1
//#define HW_VERSION 01
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x05 // INS board
#define BOARD_REVISION 0x01 // Beta version
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 524288 //512K
#define SIZE_OF_DESCRIPTION (uint8_t) 100
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
//------------------------
@ -176,11 +157,6 @@ extern uint32_t pios_com_aux_id;
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//-------------------------
// Interrupt Priorities

26
flight/PiOS/Boards/STM3210E_OP.h
View File

@ -68,27 +68,8 @@ TIM8 | Servo 5 | Servo 6 | Servo 7 | Servo 8
//------------------------
// BOOTLOADER_SETTINGS
//------------------------
//#define FUNC_ID 1
//#define HW_VERSION 01
#define BOOTLOADER_VERSION 0
#define BOARD_TYPE 0x01 // OpenPilot board
#define BOARD_REVISION 0x01 // Beta version
//#define HW_VERSION (BOARD_TYPE << 8) | BOARD_REVISION
#define MEM_SIZE 524288 //512K
#define SIZE_OF_DESCRIPTION (uint8_t) 100
#define START_OF_USER_CODE (uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
#define SIZE_OF_CODE (uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
#ifdef STM32F10X_HD
#define HW_TYPE 0 //0=high_density 1=medium_density;
#elif STM32F10X_MD
#define HW_TYPE 1 //0=high_density 1=medium_density;
#endif
#define BOARD_READABLE TRUE
#define BOARD_WRITABLA TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3
//------------------------
@ -203,11 +184,6 @@ extern uint32_t pios_com_spektrum_id;
//-------------------------
#define PIOS_MASTER_CLOCK 72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
#if defined(USE_BOOTLOADER)
#define PIOS_NVIC_VECTTAB_FLASH (START_OF_USER_CODE)
#else
#define PIOS_NVIC_VECTTAB_FLASH ((uint32_t)0x08000000)
#endif
//-------------------------
// Interrupt Priorities

16
flight/PiOS/Common/pios_bl_helper.c
View File

@ -31,6 +31,7 @@
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_board_info.h>
#include "stm32f10x_flash.h"
uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
@ -47,10 +48,10 @@ uint8_t PIOS_BL_HELPER_FLASH_Ini()
uint8_t PIOS_BL_HELPER_FLASH_Start()
{
uint32_t pageAdress;
pageAdress = START_OF_USER_CODE;
const struct pios_board_info * bdinfo = &pios_board_info_blob;
uint32_t pageAdress = bdinfo->fw_base;
uint8_t fail = FALSE;
while ((pageAdress < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION)
while ((pageAdress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
|| (fail == TRUE)) {
for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
@ -75,17 +76,20 @@ uint8_t PIOS_BL_HELPER_FLASH_Start()
uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
PIOS_BL_HELPER_CRC_Ini();
CRC_ResetDR();
CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
CRC_CalcBlockCRC((uint32_t *) bdinfo->fw_base, (bdinfo->fw_size) >> 2);
return CRC_GetCRC();
}
void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
uint8_t x = 0;
if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION;
for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) {
if (size > bdinfo->desc_size) size = bdinfo->desc_size;
for (uint32_t i = bdinfo->fw_base + bdinfo->fw_size; i < bdinfo->fw_base + bdinfo->fw_size + size; ++i) {
array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
++x;
}

20
flight/PiOS/Common/pios_board_info.c Normal file
View File

@ -0,0 +1,20 @@
#include <pios.h>
#include <pios_board.h>
#include "pios_board_info.h"
const struct pios_board_info __attribute__((__used__)) __attribute__((__section__(".boardinfo"))) pios_board_info_blob = {
.magic = PIOS_BOARD_INFO_BLOB_MAGIC,
.board_type = BOARD_TYPE,
.board_rev = BOARD_REVISION,
.bl_rev = BOOTLOADER_VERSION,
.hw_type = HW_TYPE,
.fw_base = FW_BANK_BASE,
.fw_size = FW_BANK_SIZE - FW_DESC_SIZE,
.desc_base = FW_BANK_BASE + FW_BANK_SIZE - FW_DESC_SIZE,
.desc_size = FW_DESC_SIZE,
#ifdef EE_BANK_BASE
.ee_base = EE_BANK_BASE,
.ee_size = EE_BANK_SIZE,
#endif
};

8
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld
View File

@ -5,6 +5,7 @@ SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
@ -45,4 +46,11 @@ SECTIONS
. = ALIGN(4);
_end = . ;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
}

7
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_memory.ld
View File

@ -1,6 +1,7 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 8K
FLASH (rx) : ORIGIN = 0x08000000 + 8K, LENGTH = 128K - 8K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x02000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08002000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08002000, LENGTH = 0x20000 - 0x02000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
}

3
flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld
View File

@ -1,3 +1,5 @@
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
@ -5,6 +7,7 @@ SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)

7
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
View File

@ -10,6 +10,7 @@ SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
@ -61,6 +62,12 @@ SECTIONS
. = ALIGN(4);
_end = . ;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
} > BD_INFO
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }

7
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_memory.ld
View File

@ -1,6 +1,7 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 12K
FLASH (rx) : ORIGIN = 0x08000000 + 12K, LENGTH = 128K - 12K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x03000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08003000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 0x20000 - 0x03000
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
}

3
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -3,6 +3,8 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
@ -10,6 +12,7 @@ SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)

8
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
View File

@ -10,6 +10,7 @@ SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)
@ -50,4 +51,11 @@ SECTIONS
. = ALIGN(4);
_end = . ;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
}

8
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld
View File

@ -1,6 +1,8 @@
MEMORY
{
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 12K
FLASH (rx) : ORIGIN = 0x08000000 + 12K, LENGTH = 128K - 12K
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x03000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08003000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08003000, LENGTH = 0x20000 - 0x03000 - 0x00400
EE_FLASH (rw) : ORIGIN = 0x0801FC00, LENGTH = 0x00400
SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x05000
}

3
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld
View File

@ -3,6 +3,8 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
@ -10,6 +12,7 @@ SECTIONS
{
.text :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector .isr_vector.*))
*(.text .text.* .gnu.linkonce.t.*)
*(.glue_7t) *(.glue_7)

37
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_BL.ld → flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld
View File

@ -1,9 +1,9 @@
/**
******************************************************************************
*
* @file link_STM3210E_INS_HD_BL.ld
* @file link_STM3210E_INS_HD_NB.ld
* @author David "Buzz" Carlson (buzz@chebuzz.com)
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief PiOS linker for the OpenPilot INS board
* @see The GNU Public License (GPL) Version 3
*
@ -24,26 +24,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08005000, LENGTH = 492K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}
_estack = 0x20004FF0;
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
/*
this sends all unreferenced IRQHandlers to reset
@ -208,9 +193,10 @@ SECTIONS
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
} > BL_FLASH
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext :
@ -218,7 +204,7 @@ SECTIONS
. = ALIGN(4);
*(.flashtext) /* Startup code */
. = ALIGN(4);
} >FLASH
} > BL_FLASH
/* init sections */
@ -229,7 +215,7 @@ SECTIONS
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
} > BL_FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
@ -247,7 +233,7 @@ SECTIONS
_etext = .;
/* This is used by the startup in order to initialize the .data secion */
_sidata = _etext;
} >FLASH
} > BL_FLASH
/*
@ -354,6 +340,13 @@ SECTIONS
__exidx_start = .;
__exidx_end = .;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
/* after that it's only debugging information. */
/* remove the debugging information from the standard libraries */

13
flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld Normal file
View File

@ -0,0 +1,13 @@
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 0x10000
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x05000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08005000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08005000, LENGTH = 0x80000 - 0x05000
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}

32
flight/PiOS/STM32F10x/link_STM3210E_INS_HD_NB.ld → flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
View File

@ -24,21 +24,6 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Memory Spaces Definitions */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}
_estack = 0x20004FF0;
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
@ -62,10 +47,10 @@ PROVIDE ( HardFault_Handler = 0 ) ;
PROVIDE ( MemManage_Handler = 0 ) ;
PROVIDE ( BusFault_Handler = 0 ) ;
PROVIDE ( UsageFault_Handler = 0 ) ;
PROVIDE ( SVC_Handler = 0 ) ;
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( DebugMon_Handler = 0 ) ;
PROVIDE ( PendSV_Handler = 0 ) ;
PROVIDE ( SysTick_Handler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE ( WWDG_IRQHandler = 0 ) ;
PROVIDE ( PVD_IRQHandler = 0 ) ;
@ -199,18 +184,19 @@ PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
/* Sections Definitions */
SECTIONS
{
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
} > FLASH
/* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
.flashtext :
@ -218,7 +204,7 @@ SECTIONS
. = ALIGN(4);
*(.flashtext) /* Startup code */
. = ALIGN(4);
} >FLASH
} > FLASH
/* init sections */
@ -229,7 +215,7 @@ SECTIONS
KEEP(*(.initcalluavobj.init))
. = ALIGN(4);
__uavobj_initcall_end = .;
} >FLASH
} > FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
@ -247,7 +233,7 @@ SECTIONS
_etext = .;
/* This is used by the startup in order to initialize the .data secion */
_sidata = _etext;
} >FLASH
} > FLASH
/*

11
flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -2,7 +2,7 @@
_irq_stack_size = 0x400;
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
/*
this sends all unreferenced IRQHandlers to reset
@ -163,10 +163,10 @@ PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
SECTIONS
{
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} > BL_FLASH
@ -313,6 +313,13 @@ SECTIONS
__exidx_start = .;
__exidx_end = .;
.boardinfo :
{
. = ALIGN(4);
KEEP(*(.boardinfo))
. = ALIGN(4);
} > BD_INFO
/* after that it's only debugging information. */
/* remove the debugging information from the standard libraries */

17
flight/PiOS/STM32F10x/link_STM3210E_OP_memory.ld
View File

@ -1,11 +1,12 @@
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 20K
FLASH (rx) : ORIGIN = 0x08000000 + 20K, LENGTH = 512K - 20K
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 0x10000
BL_FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x05000 - 0x00080
BD_INFO (r) : ORIGIN = 0x08005000 - 0x80, LENGTH = 0x00080
FLASH (rx) : ORIGIN = 0x08005000, LENGTH = 0x80000 - 0x05000
FLASHB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
}

4
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -158,15 +158,16 @@ PROVIDE ( SysTick = (SCS_BASE + 0x0010) ) ;
PROVIDE ( NVIC = (SCS_BASE + 0x0100) ) ;
PROVIDE ( SCB = (SCS_BASE + 0x0D00) ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
/* Sections Definitions */
SECTIONS
{
/* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
.isr_vector :
{
PROVIDE (pios_isr_vector_table_base = .);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
@ -208,7 +209,6 @@ SECTIONS
_sidata = _etext;
} >FLASH
/*
* This stack is used both as the initial sp during early init as well as ultimately
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that

22
flight/PiOS/STM32F10x/pios_delay.c
View File

@ -104,6 +104,28 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
return 0;
}
/**
* @brief Query the Delay timer for the current uS
* @return A microsecond value
*/
uint16_t PIOS_DELAY_GetuS()
{
return PIOS_DELAY_TIMER->CNT;
}
/**
* @brief Compute the difference between now and a reference time
* @param[in] the reference time to compare now to
* @return The number of uS since the delay
*
* @note the user is responsible for worrying about rollover on the 16 bit uS counter
*/
int32_t PIOS_DELAY_DiffuS(uint16_t ref)
{
int32_t ret_t = ref;
return (int16_t) (PIOS_DELAY_GetuS() - ret_t);
}
#endif
/**

3
flight/PiOS/STM32F10x/pios_sys.c
View File

@ -186,7 +186,8 @@ int32_t PIOS_SYS_SerialNumberGet(char *str)
void NVIC_Configuration(void)
{
/* Set the Vector Table base address as specified in .ld file */
NVIC_SetVectorTable(PIOS_NVIC_VECTTAB_FLASH, 0x0);
extern void pios_isr_vector_table_base;
NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
/* 4 bits for Interrupt priorities so no sub priorities */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

17
flight/PiOS/inc/pios_board_info.h Normal file
View File

@ -0,0 +1,17 @@
#define PIOS_BOARD_INFO_BLOB_MAGIC 0xBDBDBDBD
struct pios_board_info {
uint32_t magic;
uint8_t board_type;
uint8_t board_rev;
uint8_t bl_rev;
uint8_t hw_type;
uint32_t fw_base;
uint32_t fw_size;
uint32_t desc_base;
uint32_t desc_size;
uint32_t ee_base;
uint32_t ee_size;
} __attribute__((packed));
extern const struct pios_board_info pios_board_info_blob;

2
flight/PiOS/inc/pios_delay.h
View File

@ -36,6 +36,8 @@
extern int32_t PIOS_DELAY_Init(void);
extern int32_t PIOS_DELAY_WaituS(uint16_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint16_t mS);
extern uint16_t PIOS_DELAY_GetuS();
extern int32_t PIOS_DELAY_DiffuS(uint16_t ref);
#endif /* PIOS_DELAY_H */

63
flight/PipXtreme/Makefile
View File

@ -25,6 +25,13 @@
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../)
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)
# Debugging (YES/NO) ?
DEBUG ?= NO
@ -43,23 +50,6 @@ FLASH_TOOL = OPENOCD
# Include the USB files (YES/NO) ?
USE_USB = YES
# MCU name, submodel and board
# - MCU used for compiler-option (-mcpu)
# - MODEL used for linker-script name (-T) and passed as define
# - BOARD just passed as define (optional)
MCU = cortex-m3
CHIP = STM32F103CBT
BOARD = STM32103CB_PIPXTREME
#CHIP = STM32F103C8T
#BOARD = STM32103C8_PIPXTREME
MODEL = MD
# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
OUTDIR = $(TOP)/build/pipxtreme
# Target file name (without extension).
TARGET = PipXtreme
# Paths
HOME_DIR = ./
HOME_DIR_INC = $(HOME_DIR)/inc
@ -192,7 +182,7 @@ CPPSRCARM =
# 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).S
ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# List Assembler source files here which must be assembled in ARM-Mode..
ASRCARM =
@ -257,7 +247,6 @@ DEBUGF = dwarf-2
CDEFS = -DSTM32F10X_$(MODEL)
CDEFS += -DUSE_STDPERIPH_DRIVER
CDEFS += -DUSE_$(BOARD)
CDEFS += -DUSE_BOOTLOADER
# Place project-specific -D and/or -U options for
# Assembler with preprocessor here.
@ -340,20 +329,8 @@ LDFLAGS += -lc -lgcc
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
# Program
OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
# Verify
OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
# reset target
OOCD_CL+=-c "reset run"
# terminate OOCD after programming
OOCD_CL+=-c shutdown
# Define programs and commands.
REMOVE = $(REMOVE_CMD) -f
###SHELL = sh
###COPY = cp
# List of all source files.
ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -385,14 +362,6 @@ endif
endif
endif
# Program the device.
ifeq ($(FLASH_TOOL),OPENOCD)
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
program: $(OUTDIR)/$(TARGET).bin
@echo ${quote}Programming with OPENOCD${quote}
$(OOCD_EXE) $(OOCD_CL)
endif
# Link: create ELF output file from object files.
$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
@ -422,29 +391,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino
$(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)))
.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))
.PHONY: size
size: $(OUTDIR)/$(TARGET).elf_size
# Generate Doxygen documents
docs:
doxygen $(DOXYGENDIR)/doxygen.cfg
# Install: install binary file with prefix/suffix into install directory
install: $(OUTDIR)/$(TARGET).bin
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).bin
$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
else
$(error INSTALL_DIR must be specified for $@)
endif
@ -486,4 +459,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list program install
.PHONY : all build clean clean_list install

21
ground/openpilotgcs/packaging/packaging.pro → ground/openpilotgcs/copydata.pro
View File

@ -1,7 +1,6 @@
include(../openpilotgcs.pri)
include(openpilotgcs.pri)
TEMPLATE = subdirs
SUBDIRS = winx86
# Copy Qt runtime libraries into the build directory (to run or package)
equals(copydata, 1) {
@ -53,11 +52,21 @@ equals(copydata, 1) {
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_PLUGINS]/sqldrivers/$$dll\") $$targetPath(\"$$GCS_APP_PATH/sqldrivers/$$dll\") $$addNewline()
}
# copy SDL (if available) - Simple DirectMedia Layer (www.libsdl.org)
# copy SDL - Simple DirectMedia Layer (www.libsdl.org)
# Check the wiki for SDL installation, it should be copied first
# (make sure that the Qt installation path below is correct)
#
# - For qt-sdk-win-opensource-2010.05.exe:
# xcopy /s /e <SDL>\bin\SDL.dll C:\Qt\2010.05\mingw\bin\SDL.dll
# xcopy /s /e <SDL>\include\SDL\* C:\Qt\2010.05\mingw\include\SDL
# xcopy /s /e <SDL>\lib\* C:\Qt\2010.05\mingw\lib
#
# - For Qt_SDK_Win_offline_v1_1_1_en.exe:
# xcopy /s /e <SDL>\bin\SDL.dll C:\QtSDK\Desktop\Qt\4.7.3\mingw\bin\SDL.dll
# xcopy /s /e <SDL>\include\SDL\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\include\SDL
# xcopy /s /e <SDL>\lib\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\lib
SDL_DLL = SDL.dll
exists($$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\")) {
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
}
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
data_copy.target = FORCE
QMAKE_EXTRA_TARGETS += data_copy

4
ground/openpilotgcs/openpilotgcs.pro
View File

@ -9,5 +9,7 @@ include(openpilotgcs.pri)
TEMPLATE = subdirs
CONFIG += ordered
SUBDIRS = src share packaging
SUBDIRS = src share copydata
unix:!macx:!isEmpty(copydata):SUBDIRS += bin
copydata.file = copydata.pro

86
ground/openpilotgcs/packaging/winx86/make_header.cmd
View File

@ -1,86 +0,0 @@
@echo off
rem
rem make_header - a workaround to build NSIS version info header from
rem Makefile using different environments (Windows cmd or Unix-like sh)
rem still being more or less portable.
rem
rem This script tries to find any git command line utility on the system.
rem First, it looks at the predefined location of git.exe installed by
rem msysgit package available at http://code.google.com/p/msysgit/
rem If not found, it searches for git executables in the system PATH.
rem If also not found, then it gives up and no commit info will be available.
rem
rem Expected parameters:
rem %1: repository source path
rem %2: header file full path and name
rem
rem FIXME: we should have product version info somewhere else
set OUT_FILE=OpenPilotGCS-%%%%ad-%%%%h-install.exe
set PRODUCT_VERSION=0.0.0.0
set FILE_VERSION=%%%%ad %%BRANCH%%:%%%%h
set BUILD_DESCRIPTION=Built using %%ORIGIN%% as origin, branch %%BRANCH%%, commit %%%%H, committed %%%%ci
set REPO=%1
set HEADER=%2
if "%REPO%" == "" goto NoRepo
if "%HEADER%" == "" goto NoHeader
goto OK
:NoRepo
:NoHeader
echo This script should be called from Makefile only
goto :eof
:Ok
rem Looking for git command line utility at the predefined msysgit location
rem first, and in the PATH last. Also note that we use call command which is
rem required if we execute a .cmd or .bat file instead of .exe
set GIT=%ProgramFiles%\Git\bin\git.exe
if exist "%GIT%" goto Found
for %%G in (git.exe) do set GIT=%%~$PATH:G
if exist "%GIT%" goto Found
for %%G in (git.cmd) do set GIT=%%~$PATH:G
if exist "%GIT%" goto Found
for %%G in (git.bat) do set GIT=%%~$PATH:G
if exist "%GIT%" goto Found
:NotFound
echo git not found, no version info available
goto :eof
:Found
echo Using "%GIT%" to extract version info from "%REPO%"...
rem Getting remote origin name
for /F "usebackq tokens=1-3" %%G in (`call "%GIT%" remote -v`) do (
if "%%G" == "origin" if "%%I" == "(fetch)" set ORIGIN=%%H
)
rem Getting branch name
for /F "usebackq tokens=1,2" %%G in (`call "%GIT%" branch --no-color`) do (
if "%%G" == "*" set BRANCH=%%H
)
rem Getting commit info
set OPTS=-1 --no-color --date=short
set OPTS=%OPTS% "--format=format:
set OPTS=%OPTS%;%%%%n
set OPTS=%OPTS%; AUTOGENERATED HEADER FILE%%%%n
set OPTS=%OPTS%;%%%%n
set OPTS=%OPTS%%%%%n
set OPTS=%OPTS%; Installer file name%%%%n
set OPTS=%OPTS%!define OUT_FILE \"%OUT_FILE%\"%%%%n
set OPTS=%OPTS%%%%%n
set OPTS=%OPTS%; Installer version info%%%%n
set OPTS=%OPTS%!define PRODUCT_VERSION \"%PRODUCT_VERSION%\"%%%%n
set OPTS=%OPTS%!define FILE_VERSION \"%FILE_VERSION%\"%%%%n
set OPTS=%OPTS%!define BUILD_DESCRIPTION \"%BUILD_DESCRIPTION%\"%%%%n"
pushd "%REPO%"
call "%GIT%" log %OPTS% >%HEADER%
popd

19
ground/openpilotgcs/packaging/winx86/make_installer.cmd
View File

@ -1,19 +0,0 @@
@echo off
rem
rem NSIS installer script file for OpenPilot GCS
rem The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2011.
rem
rem This script requires Unicode NSIS 2.46 or higher:
rem http://www.scratchpaper.com/
rem
rem Set path to NSIS compiler
set NSIS=%ProgramFiles%/NSIS/Unicode
set NSISC=%NSIS%/makensis.exe
rem Input script file (in the same directory as this batch file)
for %%D in (%0) do set NSI=%%~dD%%~pD\openpilotgcs.nsi
rem Build installer
echo Generating Windows installer...
"%NSISC%" /V3 %NSI%

11
ground/openpilotgcs/packaging/winx86/openpilotgcs.nsh
View File

@ -1,11 +0,0 @@
#
# git not found, default values used instead.
#
; Installer file name
!define OUT_FILE "OpenPilotGCS-unreleased-install.exe"
; Installer version info
!define PRODUCT_VERSION "0.0.0.0"
!define FILE_VERSION "0.0.0.0"
!define BUILD_DESCRIPTION "Unreleased version."

50
ground/openpilotgcs/packaging/winx86/winx86.pro
View File

@ -1,50 +0,0 @@
include(../../openpilotgcs.pri)
TEMPLATE = subdirs
# Some Windows packaging magic (for release build only)
equals(copydata, 1):win32:CONFIG(release, debug|release) {
# We need this Windows macro since building under Unix-like shell the top level
# targetPath macro will use forward slashes which don't work for such Windows
# commands like pushd, etc. But note that we still use targetPath for $(COPY_FILE)
# parameters because this command is different under native Windows and Unix-like
# build environments.
defineReplace(winTargetPath) {
return($$replace(1, /, \\))
}
# Some file locations
WINX86_PATH = packaging/winx86
NSIS_HEADER = openpilotgcs.nsh
HEADER_MAKER = make_header.cmd
INSTALLER_MAKER = make_installer.cmd
# copy defaults first (will be used if no git available)
git.commands += @echo Copying default version info... $$addNewline()
git.commands += $(COPY_FILE)
git.commands += $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
git.commands += $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
git.commands += $$addNewline()
# extract repository info if command line git is available
git.commands += $$winTargetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$HEADER_MAKER)
git.commands += $$winTargetPath($$GCS_SOURCE_TREE)
git.commands += $$winTargetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
git.commands += $$addNewline()
git.target = git.dummy
QMAKE_EXTRA_TARGETS += git
force.depends += git
# Redefine FORCE target to collect data every time
force.target = FORCE
QMAKE_EXTRA_TARGETS += force
# Create installer build target - this WILL NOT run during build, run it by hand
message("Run \"make gcs_installer\" in $$GCS_BUILD_TREE/$$WINX86_PATH to build Windows installer (Unicode NSIS 2.46+ required)")
nsis.target = gcs_installer
nsis.depends = git
nsis.commands += @$$winTargetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$INSTALLER_MAKER)
QMAKE_EXTRA_TARGETS += nsis
}

8
ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/main.cpp
View File

@ -324,13 +324,5 @@ int main(int argc, char *argv[])
return 0;
}
// OP_DFU dfu(true);
// //dfu.findDevices();
// dfu.enterDFU(1);
// dfu.UploadFirmware("c:/ahrs.bin",true,1);
// // dfu.UploadDescription("josemanuel");
// // QString str=dfu.DownloadDescription(12);
// dfu.JumpToApp();
// qDebug()<<"Description="<<str;
return a.exec();
}

4
ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/op_dfu.cpp
View File

@ -56,7 +56,9 @@ OP_DFU::OP_DFU(bool _debug,bool _use_serial,QString portname,bool umodereset): d
{
cout<<".";
delay::msleep(500);
numDevices = hidHandle.open(1,0x20a0,0x4117,0,0); //0xff9c,0x0001);
numDevices = hidHandle.open(1,0x20a0,0x415A,0,0); //0xff9c,0x0001);
if(numDevices==0)
numDevices = hidHandle.open(1,0x20a0,0x415B,0,0); //0xff9c,0x0001);
if(++count==10)
{
cout<<"\r";

2
ground/openpilotgcs/src/libs/qextserialport/src/qextserialport.h
View File

@ -138,7 +138,7 @@ struct PortSettings
#include <windows.h>
#include <QThread>
#include <QReadWriteLock>
#include <QtCore/private/qwineventnotifier_p.h>
#include "utils/qwineventnotifier_p.h"
#endif
/*!

2
ground/openpilotgcs/src/libs/utils/consoleprocess_win.cpp
View File

@ -33,7 +33,7 @@
#include <QtCore/QDir>
#include <QtCore/QTemporaryFile>
#include <QtCore/QAbstractEventDispatcher>
#include <QtCore/private/qwineventnotifier_p.h>
#include "qwineventnotifier_p.h"
#include <QtNetwork/QLocalSocket>

94
ground/openpilotgcs/src/libs/utils/qwineventnotifier_p.h Normal file
View File

@ -0,0 +1,94 @@
/****************************************************************************
**
** Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
** All rights reserved.
** Contact: Nokia Corporation (qt-info@nokia.com)
**
** This file is part of the QtCore module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL$
** Commercial Usage
** Licensees holding valid Qt Commercial licenses may use this file in
** accordance with the Qt Commercial License Agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and Nokia.
**
** GNU Lesser General Public License Usage
** Alternatively, this file may be used under the terms of the GNU Lesser
** General Public License version 2.1 as published by the Free Software
** Foundation and appearing in the file LICENSE.LGPL included in the
** packaging of this file. Please review the following information to
** ensure the GNU Lesser General Public License version 2.1 requirements
** will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** In addition, as a special exception, Nokia gives you certain additional
** rights. These rights are described in the Nokia Qt LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU
** General Public License version 3.0 as published by the Free Software
** Foundation and appearing in the file LICENSE.GPL included in the
** packaging of this file. Please review the following information to
** ensure the GNU General Public License version 3.0 requirements will be
** met: http://www.gnu.org/copyleft/gpl.html.
**
** If you have questions regarding the use of this file, please contact
** Nokia at qt-info@nokia.com.
** $QT_END_LICENSE$
**
****************************************************************************/
#ifndef QWINEVENTNOTIFIER_P_H
#define QWINEVENTNOTIFIER_P_H
//
// W A R N I N G
// -------------
//
// This file is not part of the Qt API. It exists for the convenience
// of other Qt classes. This header file may change from version to
// version without notice, or even be removed.
//
// We mean it.
//
#include "QtCore/qobject.h"
#include "QtCore/qt_windows.h"
QT_BEGIN_NAMESPACE
class Q_CORE_EXPORT QWinEventNotifier : public QObject
{
Q_OBJECT
Q_DECLARE_PRIVATE(QObject)
public:
explicit QWinEventNotifier(QObject *parent = 0);
explicit QWinEventNotifier(HANDLE hEvent, QObject *parent = 0);
~QWinEventNotifier();
void setHandle(HANDLE hEvent);
HANDLE handle() const;
bool isEnabled() const;
public Q_SLOTS:
void setEnabled(bool enable);
Q_SIGNALS:
void activated(HANDLE hEvent);
protected:
bool event(QEvent * e);
private:
Q_DISABLE_COPY(QWinEventNotifier)
HANDLE handleToEvent;
bool enabled;
};
QT_END_NAMESPACE
#endif // QWINEVENTNOTIFIER_P_H

4
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -17,7 +17,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="tabWidgetPage1">
<attribute name="title">
@ -102,7 +102,7 @@
<item>
<widget class="QStackedWidget" name="airframesWidget">
<property name="currentIndex">
<number>3</number>
<number>0</number>
</property>
<widget class="QWidget" name="fixedWing">
<property name="enabled">

274
ground/openpilotgcs/src/plugins/config/images/quad-shapes.svg
View File

File diff suppressed because one or more lines are too long
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 436 KiB

After

Width:  |  Height:  |  Size: 438 KiB

6
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -17,7 +17,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>2</number>
<number>0</number>
</property>
<widget class="QWidget" name="tab">
<attribute name="title">
@ -993,8 +993,8 @@ Neutral should be put at the bottom of the slider for the throttle.</string>
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:600; color:#ff0000;&quot;&gt;BEWARE: make sure your engines are not connected when running calibration!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:10pt; font-weight:600; color:#ff0000;&quot;&gt;BEWARE: make sure your engines are not connected when running calibration!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</widget>
<widget class="QSlider" name="inSlider0">

85
ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html
View File

@ -1,15 +1,15 @@
<html>
<p>This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.
<p>This is a credits file of people that are or have been key contributors to the OpenPilot project.
Without the work of the people in this file OpenPilot would not be what it is today.</p>
<p>It is sorted alphabetically by name and formatted so that it allows for easy grepping and beautification by scripts.
<p>It is sorted alphabetically by name and formatted so that it allows for easy grepping and beautification by scripts.</p>
<pre>
The fields are:
The fields are:
Name (N)
Email (E),
Description of work (D)
Description of work (D)
Current maintainer function (M)
----------
@ -21,8 +21,8 @@ M: SITL Win32
N: David Ankers
E: david (at) openpilot (dot) org
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
D: Co-founder, Project Coordination
D: Minor GCS infrastructure, updating the credit file
M: Admin
N: Pedro Assuncao
@ -33,22 +33,17 @@ N: Jose Barros
E: josembarros (at) hotmail (dot) com
D: Next-Gen OP Map Lib, Y-Modem Library, Uploader Plugin
D: OP Bootloader, AHRS Bootloader, OPUploadTool
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
M: Bootloader, OP MAP Lib
N: David "Buzz" Carlson
E: chebuzz (plus) openpilot (at) gmail (dot) com
D: 3D ModelView GCS Plugin, sponsor of HITL merge work and XPlane addition
M: 3D Modelview
N: Eric Price
E: corvus (dot) corax (at) cybertrench (dot) com
D: IL2 HITL GCS Plugin, Posix OpenPilot, Advanced stabilisation module
M: SITL Posix
N: James Cotton
E: peabody124 (plus) openpilot (at) gmail (dot) com
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Multiplatform HID implementation (firmware & GCS), GCS Joystick control
D: Posix OpenPilot work and Mac implementation
D: Firmware implementation of Professor Schinstock's INS/GPS
M: Architecture co-lead
@ -59,7 +54,7 @@ D: Floss-JTAG Rev A, 4-layer initial design
N: Frederic Goddeeris
E: fredericgoddeeris (at) hotmail (dot) com
D: I2C work and FreeRTOS work, MK integration
D: EagleTree OSD implementation
D: EagleTree OSD implementation
M: OSD Module
N: Daniel Godin
@ -85,17 +80,26 @@ D: Creator of http://pythononachip.org
N: Joe Hlebasko
E: joe (dot) hlebasko(plus) openpilot (at) gmail (dot) com
D: Version 3 Main Board routing
D: Production Main Board & Production OP GPS
M: Hardware Architecture Team
N: Mark James
E: mjames (plus) openpilot (at) gmail (dot) com
D: Some of Silk Icon set used in GCS - http://www.famfamfam.com/lab/icons/silk
N: Sami Korhonen
E: samik (dot) korhonen (plus) openpilot (at) gmail (dot) com
D: GPS Module, Spektrum RC Module
D: GPS Module, Spektrum RC Module, OSD work
N: Thorsten Klose
E: thorsten.klose (at) dmx (dot) de
D: Embedded STM32 infrastructure
E: thorsten (dot) klose (at) dmx (dot) de
D: Embedded STM32 infrastructure
N: Edouard Lafargue
N: Hallvard Kristiansen
E: hal (at) fleshmx (dot) com
D: GCS Artwork, Quad layout diagrams
N: Edouard Lafargue
E: edouard (at) lafargue (dot) name
D: GCS Dial Plugins, GCS PFD Plugin, GCS GPS plugin, GCS Config plugin
D: Artwork including standard display dials
@ -103,7 +107,7 @@ M: GCS Core
N: Matt Lipski
E: mattlipski (plus) openpilot (at) gmail (dot) com
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
D: Deluxe Dials Set artwork, (Artificial Horizon, Compass, Turn Indicator)
N: Les Newell
E: les (dot) newell (at) fastmail (dot) co (dot) uk
@ -111,9 +115,9 @@ D: Advanced mixer matrix, SPI protocol based on UAVObjects
N: Ken Northup
E: helos360 (at) bellsouth (dot) net
D: 3D Modelling, Easystar adaption from FMS
D: 3D Modelling, Easystar adaption from FMS
N: Guy McCaldin
N: Guy McCaldin
E: guymcc (at) gmail (dot) com
D: Artwork and design including work on the Deluxe Dial Set
@ -121,14 +125,19 @@ N: Cathy Moss
E: cmoss296 (at) blueyonder (dot) co (dot) uk
D: Hardware design Lead: Gen 2 Mainboard, PipXtreme, Current Sensor
D: Lead dev PipXtreme, creator OP Map Plugin
M: PipX Modems
M: Hardware Architecture Team / PipX Modem
N: Angus Peart
E: gussy (at) openpilot (dot) org
D: Co-founder, Principal hardware architect.
D: Co-founder, Principal hardware architect.
D: Hardware design of OpenPilot, AHRS, GPS and other hardware
D: Core developer embedded code
N: Eric Price
E: corvus (dot) corax (at) cybertrench (dot) com
D: IL2 HITL GCS Plugin, Posix OpenPilot, Advanced stabilisation module
M: SITL Posix
N: Richard Querin
E: rfquerin (plus) openpilot (at) gmail (dot) com
D: Graphic Design, OpenPilot Logo
@ -139,27 +148,35 @@ D: The GLC_lib as used in the ModelView Plugin
D: See: http://www.glc-lib.net/
N: Julien Rouviere
E: julien.rouviere (plus) openpilot (at) gmail (dot) com
E: julien (dot) rouviere (plus) openpilot (at) gmail (dot) com
D: GCS Core Developer
D: GCS Framework and Plugins for the GCS
N: Zik Saleeba
E: zik (at) zikzak (dot) net
D: Initial schematic based on Zik's Flying Fox schematic
D: Initial schematic based on Zik's Flying Fox schematic
N: Professor Dale Schinstock
E: dales (at) ksu (dot) edu
D: Lead AHRS Developer
D: Creator of the OpenPilot INS / EKF
N: Oleg Semyonov
E: os-openpilot-org (at) os-propo (dot) info
D: Core tester & Project organisation
M: Common part of multi-platform packaging system
M: Windows NSIS Installer
M: Russian Documentation Lead
N: Stacey Sheldon
E: stac (at) solidgoldbomb (dot) org
D: Core Embedded Developer
D: SPI protocol for AHRS, I2C rewrite and much core work
D: SPI protocol for AHRS, I2C rewrite and much core work
N: Troy Schultz
E: troy (dot) schultz (at) rogers (dot) com
D: INS design review and optimisation
D: INS design review and optimisation
M: Hardware Architecture Team
N: Dr. Erhard Siegl
E: Erhard (dot) Siegl (at) zogazoga (dot) at
@ -181,12 +198,12 @@ D: Helicopter support code and mixing for CCPM
N: Vassilis Varveropoulos
E: vassilis (at) openpilot (dot) org
D: Co-founder, Principal embedded software architect.
D: Co-founder, Principal embedded software architect.
D: Module architecture and UAVTalk/UAVObjects implementation.
M: Architecture co-lead
N: Alex Vrubel
E: alex.vrubel (plus) openpilot (at) gmail (dot) com
E: alex (dot) vrubel (plus) openpilot (at) gmail (dot) com
D: Russian translation of the GCS
</pre>

20
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -42,6 +42,8 @@ deviceWidget::deviceWidget(QWidget *parent) :
QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
myDevice->statusIcon->setPixmap(pix);
myDevice->certifiedFW->setText("");
}
@ -123,6 +125,9 @@ void deviceWidget::populate()
QString str = m_dfu->DownloadDescription(size);
myDevice->description->setMaxLength(size);
myDevice->description->setText(str.left(str.indexOf(QChar(255))));
QPixmap pix = QPixmap(QString(":uploader/images/gtk-info.svg"));
myDevice->certifiedFW->setPixmap(pix);
myDevice->certifiedFW->setToolTip(tr("Custom Firmware Build"));
myDevice->buildDate->setText("Warning: development firmware");
myDevice->commitTag->setText("");
}
@ -182,6 +187,9 @@ bool deviceWidget::populateStructuredDescription(QByteArray desc)
QString dscText = QString(desc.mid(14,26));
myDevice->description->setText(dscText);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->certifiedFW->setPixmap(pix);
myDevice->certifiedFW->setToolTip(tr("Official Firmware Build"));
return true;
}
@ -268,12 +276,7 @@ void deviceWidget::uploadFirmware()
if (firmwareBoard != board) {
status("Error: firmware does not match board", STATUSICON_FAIL);
return;
} else {
// Not a structured description: warn user
myDevice->buildDate->setText("Warning: development firmware");
myDevice->commitTag->setText("");
}
// Check the firmware embedded in the file:
QByteArray firmwareHash = desc.mid(40,20);
QByteArray fileHash = QCryptographicHash::hash(arr.left(arr.length()-100), QCryptographicHash::Sha1);
@ -281,9 +284,6 @@ void deviceWidget::uploadFirmware()
status("Error: firmware file corrupt", STATUSICON_FAIL);
return;
}
} else {
// The firmware is not packaged, just upload the text in the description field
// if it is there.
@ -291,8 +291,6 @@ void deviceWidget::uploadFirmware()
}
status("Starting firmware upload", STATUSICON_RUNNING);
// We don't know which device was used previously, so we
// are cautious and reenter DFU for this deviceID:
@ -416,7 +414,7 @@ QString deviceWidget::setOpenFileName()
QString fileName = QFileDialog::getOpenFileName(this,
tr("Select firmware file"),
"",
tr("Firmware Files (*.bin)"),
tr("Firmware Files (*.bin *.opfw)"),
&selectedFilter,
options);
return fileName;

31
ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
View File

@ -137,13 +137,6 @@
</item>
</layout>
</item>
<item row="3" column="0" colspan="2">
<widget class="QLabel" name="buildDate">
<property name="text">
<string>Build Date</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="commitTag">
<property name="text">
@ -151,6 +144,30 @@
</property>
</widget>
</item>
<item row="3" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="certifiedFW">
<property name="text">
<string>certified</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="buildDate">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>buildDate</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>

6
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -291,7 +291,10 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
/*
m_config->haltButton->setEnabled(false);
m_config->resetButton->setEnabled(false);
*/
// Need to re-enable in case we were not connected
m_config->bootButton->setEnabled(true);
/*
m_config->telemetryLink->setEnabled(false);
m_config->rescueButton->setEnabled(false);
*/
@ -359,6 +362,7 @@ void UploaderGadgetWidget::systemBoot()
delete dfu;
dfu = NULL;
m_config->bootButton->setEnabled(true);
m_config->rescueButton->setEnabled(true); // Boot not possible, maybe Rescue OK?
return;
}
log("Booting system...");
@ -503,7 +507,7 @@ void UploaderGadgetWidget::systemRescue()
}
m_config->haltButton->setEnabled(false);
m_config->resetButton->setEnabled(false);
//m_config->bootButton->setEnabled(true);
m_config->bootButton->setEnabled(true);
m_config->rescueButton->setEnabled(false);
currentStep = IAP_STATE_BOOTLOADER; // So that we can boot from the GUI afterwards.
}

18
make/boards/ahrs/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x02
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_AHRS
MODEL := MD
MODEL_SUFFIX :=
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region
FW_BANK_BASE := 0x08002000 # Start of firmware flash
FW_BANK_SIZE := 0x0001E000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

18
make/boards/coptercontrol/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x04
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x01
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_CC_Rev1
MODEL := MD
MODEL_SUFFIX := _CC
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region
FW_BANK_BASE := 0x08003000 # Start of firmware flash
FW_BANK_SIZE := 0x0001D000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

18
make/boards/ins/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x05
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103RET
BOARD := STM3210E_INS
MODEL := HD
MODEL_SUFFIX := _OP
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00002000 # Should include BD_INFO region
FW_BANK_BASE := 0x08002000 # Start of firmware flash
FW_BANK_SIZE := 0x0001E000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

18
make/boards/openpilot/board-info.mk Normal file
View File

@ -0,0 +1,18 @@
BOARD_TYPE := 0x01
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x00
MCU := cortex-m3
CHIP := STM32F103RET
BOARD := STM3210E_OP
MODEL := HD
MODEL_SUFFIX := _OP
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00005000 # Should include BD_INFO region
FW_BANK_BASE := 0x08005000 # Start of firmware flash
FW_BANK_SIZE := 0x0007B000 # Should include FW_DESC_SIZE
FW_DESC_SIZE := 0x00000064

20
make/boards/pipxtreme/board-info.mk Normal file
View File

@ -0,0 +1,20 @@
BOARD_TYPE := 0x03
BOARD_REVISION := 0x01
BOOTLOADER_VERSION := 0x00
HW_TYPE := 0x01
MCU := cortex-m3
CHIP := STM32F103CBT
BOARD := STM32103CB_PIPXTREME
MODEL := MD
MODEL_SUFFIX :=
# Note: These must match the values in link_$(BOARD)_memory.ld
BL_BANK_BASE := 0x08000000 # Start of bootloader flash
BL_BANK_SIZE := 0x00003000 # Should include BD_INFO region
FW_BANK_BASE := 0x08003000 # Start of firmware flash
FW_BANK_SIZE := 0x0001CC00 # Should include FW_DESC_SIZE
EE_BANK_BASE := 0x0801FC00 # EEPROM storage area
EE_BANK_SIZE := 0x00000400 # Size of EEPROM storage area
FW_DESC_SIZE := 0x00000064

76
make/firmware-defs.mk
View File

@ -45,6 +45,10 @@ MSG_ASMFROMC := ${quote} AS(C) ${quote}
MSG_ASMFROMC_ARM := ${quote} AS(C)-ARM ${quote}
MSG_PYMITEINIT := ${quote} PY ${quote}
MSG_INSTALLING := ${quote} INSTALL ${quote}
MSG_OPFIRMWARE := ${quote} OPFW ${quote}
MSG_FWINFO := ${quote} FWINFO ${quote}
MSG_JTAG_PROGRAM := ${quote} JTAG-PGM ${quote}
MSG_JTAG_WIPE := ${quote} JTAG-WIPE ${quote}
toprel = $(subst $(realpath $(TOP))/,,$(abspath $(1)))
@ -68,6 +72,10 @@ gccversion :
@echo $(MSG_LOAD_FILE) $(call toprel, $@)
$(V1) $(OBJCOPY) -O binary $< $@
%.bin: %.o
@echo $(MSG_LOAD_FILE) $(call toprel, $@)
$(V1) $(OBJCOPY) -O binary $< $@
%.bin.o: %.bin
@echo $(MSG_BIN_OBJ) $(call toprel, $@)
$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
@ -90,12 +98,39 @@ gccversion :
$(V1) $(NM) -n $< > $@
define SIZE_TEMPLATE
.PHONY: size
size: $(1)_size
.PHONY: $(1)_size
$(1)_size: $(1)
@echo $(MSG_SIZE) $$(call toprel, $$<)
$(V1) $(SIZE) -A $$<
endef
# OpenPilot firmware image template
# $(1) = path to bin file
# $(2) = boardtype in hex
# $(3) = board revision in hex
define OPFW_TEMPLATE
FORCE:
$(1).firmwareinfo.c: $(1) $(TOP)/make/templates/firmwareinfotemplate.c FORCE
@echo $(MSG_FWINFO) $$(call toprel, $$@)
$(V1) python $(TOP)/make/scripts/version-info.py \
--path=$(TOP) \
--template=$(TOP)/make/templates/firmwareinfotemplate.c \
--outfile=$$@ \
--image=$(1) \
--type=$(2) \
--revision=$(3)
$(eval $(call COMPILE_C_TEMPLATE, $(1).firmwareinfo.c))
$(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmwareinfo.bin
@echo $(MSG_OPFIRMWARE) $$(call toprel, $$@)
$(V1) cat $(1) $(1).firmwareinfo.bin > $$@
endef
# Assemble: create object files from assembler source files.
define ASSEMBLE_TEMPLATE
$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
@ -163,21 +198,48 @@ $($(1):.c=.s) : %.s : %.c
$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
endef
# $(1) = Name of binary image to write
# $(2) = Base of flash region to write/wipe
# $(3) = Size of flash region to write/wipe
define JTAG_TEMPLATE
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
# see openocd.pdf/openocd.texi for further information
# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
OOCD_EXE=openocd
OOCD_EXE ?= openocd
# debug level
OOCD_CL=-d0
OOCD_JTAG_SETUP = -d0
# interface and board/target settings (using the OOCD target-library here)
OOCD_CL+=-s $(TOP)/flight/Project/OpenOCD
OOCD_CL+=-f foss-jtag.revb.cfg -f stm32.cfg
OOCD_JTAG_SETUP += -s $(TOP)/flight/Project/OpenOCD
OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f stm32.cfg
# initialize
OOCD_CL+=-c init
OOCD_BOARD_RESET = -c init
# show the targets
OOCD_CL+=-c targets
#OOCD_BOARD_RESET += -c targets
# commands to prepare flash-write
OOCD_CL+= -c "reset halt"
OOCD_BOARD_RESET += -c "reset halt"
.PHONY: program
program: $(1)
@echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
$(V1) $(OOCD_EXE) \
$$(OOCD_JTAG_SETUP) \
$$(OOCD_BOARD_RESET) \
-c "flash write_image erase $$< $(2) bin" \
-c "verify_image $$< $(2) bin" \
-c "reset run" \
-c "shutdown"
.PHONY: wipe
wipe:
@echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
$(V1) $(OOCD_EXE) \
$$(OOCD_JTAG_SETUP) \
$$(OOCD_BOARD_RESET) \
-c "flash erase_address pad $(2) $(3)" \
-c "reset run" \
-c "shutdown"
endef

76
make/scripts/version-info.py
View File

@ -11,7 +11,7 @@ from subprocess import Popen, PIPE
from re import search, MULTILINE
from datetime import datetime
from string import Template
import argparse
import optparse
import hashlib
import sys
@ -47,7 +47,7 @@ class Repo:
self._rc = git.poll()
def _get_origin(self):
"""Get and store the repository origin URL"""
"""Get and store the repository fetch origin path"""
self._origin = None
self._exec('remote -v')
if self._rc == 0:
@ -69,7 +69,7 @@ class Repo:
def _get_tag(self):
"""Get and store git tag for the HEAD commit"""
self._tag = None
self._exec('describe --exact-match HEAD')
self._exec('describe --tags --exact-match HEAD')
if self._rc == 0:
self._tag = self._out.strip(' \t\n\r')
@ -82,6 +82,14 @@ class Repo:
if m:
self._branch = m.group(1)
def _get_dirty(self):
"""Check for dirty state of repository"""
self._dirty = False
self._exec('update-index --refresh --unmerged')
self._exec('diff-index --name-only --exit-code --quiet HEAD')
if self._rc:
self._dirty = True
def __init__(self, path = "."):
"""Initialize object instance and read repo info"""
self._path = path
@ -92,12 +100,14 @@ class Repo:
self._get_time()
self._get_tag()
self._get_branch()
self._get_dirty()
else:
self._hash = None
self._origin = None
self._time = None
self._tag = None
self._branch = None
self._dirty = None
def path(self):
"""Return the repository path"""
@ -141,6 +151,13 @@ class Repo:
else:
return self._branch
def dirty(self, dirty = "-dirty", clean = ""):
"""Return git repository dirty state or empty string"""
if self._dirty:
return dirty
else:
return clean
def info(self):
"""Print some repository info"""
print "path: ", self.path()
@ -151,6 +168,7 @@ class Repo:
print "short hash: ", self.hash(8)
print "branch: ", self.branch()
print "commit tag: ", self.tag()
print "dirty: ", self.dirty('yes', 'no')
def file_from_template(tpl_name, out_name, dict):
"""Create or update file from template using dictionary
@ -206,7 +224,7 @@ def file_from_template(tpl_name, out_name, dict):
of.close()
def sha1(file):
"""Provides C source representation of sha1 sum of file."""
"""Provides C source representation of sha1 sum of file"""
if file == None:
return ""
else:
@ -217,6 +235,21 @@ def sha1(file):
hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
return hex_stream(sha1.digest())
def xtrim(string, suffix, length):
"""Return string+suffix concatenated and trimmed up to length characters
This function appends suffix to the end of string and returns the result
up to length characters. If it does not fit then the string will be
truncated and the '+' will be put between it and the suffix.
"""
if len(string) + len(suffix) <= length:
return ''.join([string, suffix])
else:
n = length-1-len(suffix)
assert n > 0, "length of truncated string+suffix exceeds maximum length"
return ''.join([string[:n], '+', suffix])
def main():
"""This utility uses git repository in the current working directory
or from the given path to extract some info about it and HEAD commit.
@ -240,29 +273,39 @@ dependent targets.
"""
# Parse command line.
parser = argparse.ArgumentParser(
formatter_class=argparse.RawDescriptionHelpFormatter,
class RawDescriptionHelpFormatter(optparse.IndentedHelpFormatter):
"""optparse formatter function to pretty print raw epilog"""
def format_epilog(self, epilog):
if epilog:
return "\n" + epilog + "\n"
else:
return ""
parser = optparse.OptionParser(
formatter=RawDescriptionHelpFormatter(),
description = "Performs variable substitution in template file or string.",
epilog = main.__doc__);
parser.add_argument('--path', default='.',
parser.add_option('--path', default='.',
help='path to the git repository');
parser.add_argument('--info', action='store_true',
parser.add_option('--info', action='store_true',
help='print repository info to stdout');
parser.add_argument('--format',
parser.add_option('--format',
help='format string to print to stdout');
parser.add_argument('--template',
parser.add_option('--template',
help='name of template file');
parser.add_argument('--outfile',
parser.add_option('--outfile',
help='name of output file');
parser.add_argument('--image',
parser.add_option('--image',
help='name of image file for sha1 calculation');
parser.add_argument('--type', default="",
parser.add_option('--type', default="",
help='board type, for example, 0x04 for CopterControl');
parser.add_argument('--revision', default = "",
parser.add_option('--revision', default = "",
help='board revision, for example, 0x01');
args = parser.parse_args()
(args, positional_args) = parser.parse_args()
if len(positional_args) != 0:
parser.error("incorrect number of arguments, try --help for help")
# Process arguments. No advanced error handling is here.
# Any error will raise an exception and terminate process
@ -277,8 +320,11 @@ dependent targets.
HASH8 = r.hash(8),
TAG_OR_BRANCH = r.tag(r.branch('unreleased')),
TAG_OR_HASH8 = r.tag(r.hash(8, 'untagged')),
DIRTY = r.dirty(),
FWTAG = xtrim(r.tag(r.branch('unreleased')), r.dirty(), 25),
UNIXTIME = r.time(),
DATE = r.time('%Y%m%d'),
DATETIME = r.time('%Y%m%d %H:%M'),
BOARD_TYPE = args.type,
BOARD_REVISION = args.revision,
SHA1 = sha1(args.image),

4
make/templates/firmwareinfotemplate.c
View File

@ -38,7 +38,7 @@
* 4 bytes: GIT commit tag (short version of SHA1).
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. Zero-padded.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* ---- 40 bytes limit ---
* 20 bytes: SHA1 sum of the firmware.
* 40 bytes: free for now.
@ -62,7 +62,7 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
.timestamp = ${UNIXTIME},
.board_type = ${BOARD_TYPE},
.board_revision = ${BOARD_REVISION},
.commit_tag_name = "${TAG_OR_BRANCH}",
.commit_tag_name = "${FWTAG}",
.sha1sum = { ${SHA1} },
};

13
make/winx86/README.txt
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@ -33,11 +33,14 @@ It is expected that you have the following tools installed into the listed
locations (but any other locations are fine as well):
- Python in C:\Python27
- CodeSourcery G++ in C:\CodeSourcery
- QtSDK in C:\Qt\2010.05
- QtSDK in C:\Qt\2010.05 or C:\QtSDK (depending on SDK version)
- CodeSourcery G++ in %ProgramFiles%\CodeSourcery\Sourcery G++ Lite
- msysGit in %ProgramFiles%\Git
- Unicode NSIS in %ProgramFiles%\NSIS\Unicode
- OpenOCD in C:\OpenOCD\0.4.0\bin
- OpenOCD in C:\OpenOCD\0.4.0\bin (optional)
The SDL library and headers should be installed into Qt directories to build
the GCS. Check the wiki or ground/openpilotgcs/copydata.pro for details.
Also it is assumed that you have the C:\Program Files\Git\cmd\ directory in
the PATH. Usually this is the case for msysGit installation if you have chosen
@ -55,6 +58,10 @@ accordingly. Also if you have tools installed into different directories and
they are not in the PATH, then you may want to update paths in the sh.cmd
script too (it is self-documented).
Note for Windows 64-bit users: 64-bit systems use %ProgramFiles(x86)% folder
as default for program files instead of %ProgramFiles%. You have to check where
your tools are installed and update paths above accordingly.
3. How to use it?
-----------------

9
make/winx86/cmd/sh.cmd
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@ -38,6 +38,9 @@ rem As a result, the SDL headers will not be found, if they were copied into
rem QtSDK's MinGW directory. In that case make sure that you have correct
rem directories specified here.
rem
rem Also the SDL should be installed into Qt directories to build the GCS.
rem Check the wiki or ground/openpilotgcs/copydata.pro for details.
rem
rem Also you can add any paths below just by adding extra 'call :which'
rem lines with the following parameters:
rem - environment variable which will be set to the tool location, if found;
@ -51,9 +54,13 @@ set NOT_FOUND=
set PATH_DIRS=
call :which MSYSGIT "%ProgramFiles%\Git\bin" git.exe
rem These two lines for qt-sdk-win-opensource-2010.05.exe:
call :which QTMINGW "C:\Qt\2010.05\mingw\bin" mingw32-make.exe
call :which QTSDK "C:\Qt\2010.05\qt\bin" qmake.exe
call :which CODESOURCERY "C:\CodeSourcery\bin" cs-make.exe
rem These two lines for Qt_SDK_Win_offline_v1_1_1_en.exe:
rem call :which QTMINGW "C:\QtSDK\mingw\bin" mingw32-make.exe
rem call :which QTSDK "C:\QtSDK\Desktop\Qt\4.7.3\mingw\bin" qmake.exe
call :which CODESOURCERY "%ProgramFiles%\CodeSourcery\Sourcery G++ Lite\bin" cs-make.exe
call :which PYTHON "C:\Python27" python.exe
call :which UNSIS "%ProgramFiles%\NSIS\Unicode" makensis.exe
call :which OPENOCDBIN "C:\OpenOCD\0.4.0\bin" openocd.exe

168
package/Makefile Normal file
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@ -0,0 +1,168 @@
# Set up a default goal
.DEFAULT_GOAL := help
# Tried the best to support parallel (-j) builds. But since this Makefile
# uses other Makefiles to build few targets which in turn have similar
# dependencies on uavobjects and other generated files, it is difficult
# to support parallel builds perfectly. But at least it was tested with
# -j (unlimited job number) on Windows and Linux.
# Locate the root of the tree
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
ROOT_DIR := $(realpath $(WHEREAMI)/../)
# Set up some macros
BUILD_DIR := $(ROOT_DIR)/build
VERSION_CMD := python $(ROOT_DIR)/make/scripts/version-info.py --path="$(ROOT_DIR)"
PACKAGE_LBL := $(shell $(VERSION_CMD) --format=\$${DATE}-\$${TAG_OR_HASH8}\$${DIRTY})
PACKAGE_DIR := $(BUILD_DIR)/package-$(PACKAGE_LBL)
FW_DIR := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL)
BL_DIR := $(FW_DIR)/bootloaders
BU_DIR := $(FW_DIR)/bootloader-updaters
FE_DIR := $(FW_DIR)/flash-erase-tools
# Clean build options (recommended for package testing only)
ifeq ($(CLEAN_BUILD), NO)
CLEAN_GROUND := NO
CLEAN_FLIGHT := YES
else ifeq ($(CLEAN_BUILD), NEVER)
CLEAN_GROUND := NO
CLEAN_FLIGHT := NO
else
CLEAN_GROUND := YES
CLEAN_FLIGHT := YES
endif
# Set up targets
FW_STEMS_COMMON := ahrs pipxtreme
FW_STEMS_INPUT := coptercontrol openpilot
FW_STEMS_TOOLS := coptercontrol
FW_STEMS_ALL := $(FW_STEMS_COMMON) $(FW_STEMS_INPUT)
FW_TARGETS_COMMON := $(addprefix fw_, $(FW_STEMS_COMMON))
FW_TARGETS_INPUT := $(addprefix fw_, $(FW_STEMS_INPUT))
FW_TARGETS_TOOLS := $(addprefix fw_, $(FW_STEMS_TOOLS))
BL_TARGETS := $(addprefix bl_, $(FW_STEMS_ALL))
BU_TARGETS := $(addprefix bu_, $(FW_STEMS_ALL))
help:
@echo
@echo " This Makefile is known to work on Linux and Mac in a standard shell environment."
@echo " It also works on Windows by following the instructions in ../make/winx86/README.txt."
@echo
@echo " Here is a summary of the available targets:"
@echo
@echo " [Packaging]"
@echo " package - Build and package the OpenPilot distributable"
@echo " package_flight - Build and package the OpenPilot flight firmware only"
@echo
@echo " Notes:"
@echo " - package will be placed in $(PACKAGE_DIR)"
@echo
@echo " - the build directory will be removed first on every run unless one"
@echo " of CLEAN_BUILD=NO or CLEAN_BUILD=NEVER options is defined."
@echo
@echo " CLEAN_BUILD=NO means no clean before build except for multi-input"
@echo " firmware binaries like CopterControl or OpenPilot. This usually is"
@echo " safe."
@echo
@echo " CLEAN_BUILD=NEVER means no clean will be done at all. This will,"
@echo " probably, give invalid multi-input firmware and is recommended"
@echo " for package testing only. Do not use for release builds."
@echo
# Clean and build uavobjects since all parts depend on them
uavobjects: all_clean
$(V1) $(MAKE) -C $(ROOT_DIR) $@
all_clean:
ifneq ($(CLEAN_GROUND), NO)
$(V1) $(MAKE) -C $(ROOT_DIR) $@
endif
# Install template:
# $1 = target
# $2 = dependencies
# $3 = install directory (must be defined)
# $4 = installed file name prefix (optional)
# $5 = installed file name suffix (optional)
# $6 = extra make options (for instance, USE_SPEKTRUM=YES)
# $7 = optional 'clean' string to clean target before rebuild
# $8 = list of targets to install (without _install suffix)
# $9 = inner make target (usually install, but can be other to just build)
define INSTALL_TEMPLATE
$(1): $(2)
ifeq ($(7),clean)
ifneq ($$(CLEAN_FLIGHT), NO)
$$(V1) +$(MAKE) -C $(ROOT_DIR) $(6) $(addsuffix _$(7), $(8))
endif
endif
$$(V1) +$(MAKE) -C $(ROOT_DIR) INSTALL_DIR=$(3) INSTALL_PFX=$(4) INSTALL_SFX=$(5) $(6) $(addsuffix _$(9), $(8))
.PHONY: $(1)
endef
# Firmware for different input drivers
$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS_COMMON),install))
$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_INPUT),install))
$(eval $(call INSTALL_TEMPLATE,fw_spektrum,uavobjects,$(FW_DIR),,-spektrum-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_INPUT),install))
$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_INPUT),install))
# Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders)
$(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(BL_TARGETS),install))
# Bootloader updaters
$(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(PACKAGE_LBL),,,$(BU_TARGETS),install))
# CopterControl flash eraser tool
$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(PACKAGE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
# Order-only dependencies
# They are bit complicated to support parallel (-j) builds and to create
# the pwm/ppm/spektrum and CC flash eraser targets in some fixed order
fw_pwm: | # default dependencies, will be built first
fw_spektrum: | fw_pwm # ordered build
fw_ppm: | fw_spektrum # ordered build
fw_tools: | fw_spektrum # ordered build, replace fw_spektrum by fw_ppm if uncommented below
package_fw: | fw_common fw_pwm fw_spektrum # fw_ppm
package_bu: | all_bu
package_flight: | package_fw package_bu fw_tools
package_ground: | ground_package
package: | package_flight package_ground
.PHONY: help uavobjects all_clean package package_flight package_fw package_bu package_ground
# Decide on a verbosity level based on the V= parameter
export AT := @
ifndef V
export V0 :=
export V1 := $(AT)
else ifeq ($(V), 0)
export V0 := $(AT)
export V1 := $(AT)
else ifeq ($(V), 1)
endif
ifneq ($(V),1)
MAKEFLAGS += --no-print-directory
endif
# Platform-dependent stuff
PLATFORM := winx86
UNAME := $(shell uname)
ifeq ($(UNAME), Linux)
PLATFORM := linux
endif
ifeq ($(UNAME), Darwin)
PLATFORM := osx
endif
include $(WHEREAMI)/Makefile.$(PLATFORM)

0
release/Makefile.linux → package/Makefile.linux
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20
package/Makefile.osx Normal file
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@ -0,0 +1,20 @@
#
# MacOSX-specific packaging
#
osx_package: gcs package_flight
( \
ROOT_DIR="$(ROOT_DIR)" \
BUILD_DIR="$(BUILD_DIR)" \
PACKAGE_LBL="$(PACKAGE_LBL)" \
PACKAGE_DIR="$(PACKAGE_DIR)" \
FW_DIR="$(FW_DIR)" \
"$(ROOT_DIR)/package/osx/package" \
)
gcs: uavobjects
$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
ground_package: | osx_package
.PHONY: gcs ground_package osx_package

25
package/Makefile.winx86 Normal file
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@ -0,0 +1,25 @@
#
# Windows-specific packaging
#
NSIS_CMD := makensis.exe
NSIS_OPTS := /V3
NSIS_DIR := $(ROOT_DIR)/package/winx86
NSIS_SCRIPT := $(NSIS_DIR)/openpilotgcs.nsi
NSIS_TEMPLATE := $(NSIS_DIR)/openpilotgcs.tpl
NSIS_HEADER := $(BUILD_DIR)/ground/openpilotgcs/openpilotgcs.nsh
win_package: gcs package_flight
$(V1) mkdir -p "$(dir $(NSIS_HEADER))"
$(VERSION_CMD) --template="$(NSIS_TEMPLATE)" --outfile="$(NSIS_HEADER)"
$(V1) echo "Building Windows installer, please wait..."
$(V1) echo "If you have a script error in line 1 - use Unicode NSIS 2.46+"
$(V1) echo " http://www.scratchpaper.com"
$(NSIS_CMD) $(NSIS_OPTS) $(NSIS_SCRIPT)
gcs: uavobjects
$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
ground_package: | win_package
.PHONY: gcs ground_package win_package

BIN
package/osx/OpenPilot.dmg Normal file
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47
package/osx/libraries Executable file
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@ -0,0 +1,47 @@
#!/bin/bash
APP="${1?}"
PLUGINS="${APP}/Contents/PlugIns"
OP_PLUGINS="${APP}/Contents/PlugIns/OpenPilot"
QT_LIBS="QtGui QtCore QtSvg QtSql QtOpenGL QtNetwork QtXml QtDBus QtScript phonon"
echo "Processing Qt libraries in $1"
macdeployqt "${APP}"
for f in "${PLUGINS}/"*.dylib "${OP_PLUGINS}/"*.dylib
do
for g in $QT_LIBS
do
install_name_tool -change \
${g}.framework/Versions/4/${g} \
@executable_path/../Frameworks/${g}.framework/Versions/4/${g} \
"${f}"
done
done
# should be redundant but some libs missed by main app and macdeployqt
for f in ${QT_LIBS}
do
echo "Copying ${f}"
cp -r /Library/Frameworks/${f}.framework "${APP}/Contents/Frameworks/"
echo "Changing package identification of ${f}"
install_name_tool -id \
@executable_path/../Frameworks/${f}.framework/Versions/4/QtCore \
"${APP}/Contents/Frameworks/${f}.framework/Versions/4/${f}"
echo "Changing package linkages"
for g in $QT_LIBS
do
install_name_tool -change \
${g}.framework/Versions/4/${g} \
@executable_path/../Frameworks/${g}.framework/Versions/4/${g} \
"${APP}/Contents/Frameworks/${f}.framework/Versions/4/${f}"
done
done
# deleting unnecessary files
echo "Deleting unnecessary files"
find "${APP}/Contents/Frameworks" -iname "current" -exec rm -rf \{\} \;
find "${APP}/Contents/Frameworks" -iname "4.0" -exec rm -rf \{\} \;
find "${APP}/Contents/Frameworks" -iname "*_debug" -exec rm -rf \{\} \;

32
package/osx/package Executable file
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@ -0,0 +1,32 @@
#!/bin/bash
# the following environment variables must be set
: ${ROOT_DIR?} ${BUILD_DIR?} ${PACKAGE_LBL?} ${PACKAGE_DIR?} ${FW_DIR?}
# more variables
APP_PATH="${BUILD_DIR}/ground/openpilotgcs/bin/OpenPilot GCS.app"
TEMP_FILE="${PACKAGE_DIR}/OpenPilot-temp.dmg"
OUT_FILE="${PACKAGE_DIR}/OpenPilot-${PACKAGE_LBL}.dmg"
VOL_NAME="OpenPilot"
# prepare the stage
rm -f "${TEMP_FILE}"
rm -f "${OUT_FILE}"
hdiutil convert "${ROOT_DIR}/package/osx/OpenPilot.dmg" \
-format UDRW -o "${TEMP_FILE}"
device=$(hdiutil attach "${TEMP_FILE}" | \
egrep '^/dev/' | sed 1q | awk '{print $1}')
# packaging goes here
cp -r "${APP_PATH}" "/Volumes/${VOL_NAME}"
cp -r "${FW_DIR}" "/Volumes/${VOL_NAME}/firmware"
"${ROOT_DIR}/package/osx/libraries" \
"/Volumes/${VOL_NAME}/OpenPilot GCS.app" || exit 1
hdiutil detach ${device}
hdiutil convert "${TEMP_FILE}" -format UDZO -o "${OUT_FILE}"
# cleanup
rm "${TEMP_FILE}"

0
ground/openpilotgcs/packaging/winx86/licenses/GPLv3_de.rtf → package/winx86/licenses/GPLv3_de.rtf
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0
ground/openpilotgcs/packaging/winx86/licenses/GPLv3_en.rtf → package/winx86/licenses/GPLv3_en.rtf
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0
ground/openpilotgcs/packaging/winx86/licenses/GPLv3_es.rtf → package/winx86/licenses/GPLv3_es.rtf
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0
ground/openpilotgcs/packaging/winx86/licenses/GPLv3_fr.rtf → package/winx86/licenses/GPLv3_fr.rtf
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0
ground/openpilotgcs/packaging/winx86/licenses/GPLv3_ru.rtf → package/winx86/licenses/GPLv3_ru.rtf
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0
ground/openpilotgcs/packaging/winx86/licenses/GPLv3_zh_CN.rtf → package/winx86/licenses/GPLv3_zh_CN.rtf
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23
ground/openpilotgcs/packaging/winx86/openpilotgcs.nsi → package/winx86/openpilotgcs.nsi
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@ -34,8 +34,7 @@
; Tree root locations (relative to this script location)
!define NSIS_DATA_TREE "."
!define GCS_BUILD_TREE "..\..\..\..\build\ground\openpilotgcs"
!define WINX86_PATH "packaging\winx86"
!define GCS_BUILD_TREE "..\..\build\ground\openpilotgcs"
; Default installation folder
InstallDir "$LOCALAPPDATA\OpenPilot"
@ -51,14 +50,17 @@
!define INSTALLER_NAME "OpenPilot GCS Installer"
; Read automatically generated version info
; !define OUT_FILE "OpenPilotGCS-XXXX-install.exe"
; !define PACKAGE_LBL "${DATE}-${TAG_OR_HASH8}"
; !define PACKAGE_DIR "..\..\build\package-$${PACKAGE_LBL}"
; !define OUT_FILE "OpenPilotGCS-$${PACKAGE_LBL}-install.exe"
; !define FIRMWARE_DIR "firmware-$${PACKAGE_LBL}"
; !define PRODUCT_VERSION "0.0.0.0"
; !define FILE_VERSION "0.0.0.0"
; !define BUILD_DESCRIPTION "Unknown revision."
!include "${GCS_BUILD_TREE}\${WINX86_PATH}\openpilotgcs.nsh"
; !define FILE_VERSION "${TAG_OR_BRANCH}:${HASH8} ${DATETIME}"
; !define BUILD_DESCRIPTION "${TAG_OR_BRANCH}:${HASH8} built using ${ORIGIN} as origin, committed ${DATETIME} as ${HASH}"
!include "${GCS_BUILD_TREE}\openpilotgcs.nsh"
Name "${PRODUCT_NAME}"
OutFile "${GCS_BUILD_TREE}\${WINX86_PATH}\${OUT_FILE}"
OutFile "${PACKAGE_DIR}\${OUT_FILE}"
VIProductVersion ${PRODUCT_VERSION}
VIAddVersionKey "ProductName" "${INSTALLER_NAME}"
@ -181,6 +183,11 @@ Section "Localization" InSecLocalization
File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\*.qm"
SectionEnd
Section "Firmware" InSecFirmware
SetOutPath "$INSTDIR\firmware\${FIRMWARE_DIR}"
File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
SectionEnd
Section "Shortcuts" InSecShortcuts
; Create desktop and start menu shortcuts
SetOutPath "$INSTDIR"
@ -215,6 +222,7 @@ SectionEnd
!insertmacro MUI_DESCRIPTION_TEXT ${InSecResources} $(DESC_InSecResources)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecSounds} $(DESC_InSecSounds)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecLocalization} $(DESC_InSecLocalization)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecFirmware} $(DESC_InSecFirmware)
!insertmacro MUI_DESCRIPTION_TEXT ${InSecShortcuts} $(DESC_InSecShortcuts)
!insertmacro MUI_FUNCTION_DESCRIPTION_END
@ -235,6 +243,7 @@ Section "un.OpenPilot GCS" UnSecProgram
RMDir /r /rebootok "$INSTDIR\bin"
RMDir /r /rebootok "$INSTDIR\lib"
RMDir /r /rebootok "$INSTDIR\share"
RMDir /r /rebootok "$INSTDIR\firmware"
Delete /rebootok "$INSTDIR\Uninstall.exe"
; Remove directory

23
package/winx86/openpilotgcs.tpl Normal file
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@ -0,0 +1,23 @@
#
# *****************************************************************************
#
# @file ${OUTFILENAME}
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
# @brief Autogenerated NSIS header file, built using template
# ${TEMPLATE}
#
# @see The GNU Public License (GPL) Version 3
#
# *****************************************************************************
#
; Some names, paths and constants
!define PACKAGE_LBL "${DATE}-${TAG_OR_HASH8}${DIRTY}"
!define PACKAGE_DIR "..\..\build\package-$${PACKAGE_LBL}"
!define OUT_FILE "OpenPilot-$${PACKAGE_LBL}-install.exe"
!define FIRMWARE_DIR "firmware-$${PACKAGE_LBL}"
; Installer version info
!define PRODUCT_VERSION "0.0.0.0"
!define FILE_VERSION "${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}"
!define BUILD_DESCRIPTION "${TAG_OR_BRANCH}:${HASH8}${DIRTY} built using ${ORIGIN} as origin, committed ${DATETIME} as ${HASH}"

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ground/openpilotgcs/packaging/winx86/resources/header.bmp → package/winx86/resources/header.bmp
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0
ground/openpilotgcs/packaging/winx86/translations/languages.nsh → package/winx86/translations/languages.nsh
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1
ground/openpilotgcs/packaging/winx86/translations/strings_de.nsh → package/winx86/translations/strings_de.nsh
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@ -30,6 +30,7 @@
LangString DESC_InSecResources ${LANG_GERMAN} "GCS Resourcen (Diagramme, Ziffernblätter, Kartensymbole, 3d-Modelle, PFD)."
LangString DESC_InSecSounds ${LANG_GERMAN} "GCS Sounddateien (benötigt für akustische Ereignisbenachrichtigungen)."
LangString DESC_InSecLocalization ${LANG_GERMAN} "GCS Lokalisierung (für unterstützte Sprachen)."
LangString DESC_InSecFirmware ${LANG_GERMAN} "OpenPilot firmware binaries."
LangString DESC_InSecShortcuts ${LANG_GERMAN} "Installiere Verknüpfungen unter Startmenü->Anwendungen."
;--------------------------------

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