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Merge remote-tracking branch 'remotes/origin/next' into sambas/diffnext

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This commit is contained in:
sambas 2013-04-20 10:59:00 +03:00
commit 8aa5748a8c
17 changed files with 74 additions and 35 deletions
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2
Makefile
View File

@ -267,6 +267,7 @@ $(1): fw_$(1)_opfw
fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
$$(MAKE) -r --no-print-directory \
@ -294,6 +295,7 @@ bl_$(1): bl_$(1)_bin
bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
$$(MAKE) -r --no-print-directory \

4
flight/Modules/Attitude/attitude.c
View File

@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
yawBiasRate = 0.01;
accel_filter_enabled = false;
init = 0;
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
yawBiasRate = 0.01;
accel_filter_enabled = false;
init = 0;
} else if (init == 0) {

2
flight/PiOS/Common/Libraries/CMSIS2/library.mk
View File

@ -11,7 +11,7 @@ ifeq ($(USE_DSP_LIB), YES)
CMSIS_DSPLIB := $(CMSIS2_DIR)DSP_Lib/Source
# Compile all files into output directory
DSPLIB_SRC := $(wildcard $(CMSIS_DSPLIB)/*/*.c)
DSPLIB_SRC := $(sort $(wildcard $(CMSIS_DSPLIB)/*/*.c))
DSPLIB_SRCBASE := $(notdir $(basename $(DSPLIB_SRC)))
$(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))

2
flight/PiOS/Common/Libraries/FreeRTOS/library.mk
View File

@ -6,5 +6,5 @@
#
FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
SRC += $(wildcard $(FREERTOS_DIR)/*.c)
SRC += $(sort $(wildcard $(FREERTOS_DIR)/*.c))
EXTRAINCDIRS += $(FREERTOS_DIR)/include

2
flight/PiOS/Common/Libraries/dosfs/library.mk
View File

@ -3,5 +3,5 @@
#
DOSFS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(DOSFS_DIR)*.c)
SRC += $(sort $(wildcard $(DOSFS_DIR)*.c))
EXTRAINCDIRS += $(DOSFS_DIR)

2
flight/PiOS/Common/Libraries/msheap/library.mk
View File

@ -3,5 +3,5 @@
#
MSHEAP_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
SRC += $(wildcard $(MSHEAP_DIR)*.c)
SRC += $(sort $(wildcard $(MSHEAP_DIR)*.c))
EXTRAINCDIRS += $(MSHEAP_DIR)

10
flight/PiOS/STM32F10x/library.mk
View File

@ -18,7 +18,7 @@ ARCHFLAGS += -mcpu=cortex-m3 --specs=nano.specs
ASRC += $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
# PIOS device library source and includes
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
SRC += $(sort $(wildcard $(PIOS_DEVLIB)*.c))
# CMSIS for the F1
include $(PIOS)/Common/Libraries/CMSIS2/library.mk
@ -29,12 +29,12 @@ EXTRAINCDIRS += $(CMSIS_DIR)
# ST Peripheral library
PERIPHLIB = $(PIOS_DEVLIB)Libraries/STM32F10x_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
SRC += $(sort $(wildcard $(PERIPHLIB)/src/*.c))
EXTRAINCDIRS += $(PERIPHLIB)/inc
# ST USB Device library
USBDEVLIB = $(PIOS_DEVLIB)Libraries/STM32_USB-FS-Device_Driver
SRC += $(wildcard $(USBDEVLIB)/src/*.c)
SRC += $(sort $(wildcard $(USBDEVLIB)/src/*.c))
EXTRAINCDIRS += $(USBDEVLIB)/inc
#
@ -45,7 +45,7 @@ EXTRAINCDIRS += $(USBDEVLIB)/inc
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c))
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c))
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
endif

10
flight/PiOS/STM32F4xx/library.mk
View File

@ -20,18 +20,18 @@ CDEFS += -DARM_MATH_CM4 -D__FPU_PRESENT=1
ARCHFLAGS += -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
# PIOS device library source and includes
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
SRC += $(sort $(wildcard $(PIOS_DEVLIB)*.c))
EXTRAINCDIRS += $(PIOS_DEVLIB)inc
# CMSIS for the F4
include $(PIOSCOMMON)/Libraries/CMSIS2/library.mk
CMSIS2_DEVICEDIR := $(PIOS_DEVLIB)Libraries/CMSIS2/Device/ST/STM32F4xx
SRC += $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
SRC += $(sort $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c))
EXTRAINCDIRS += $(CMSIS2_DEVICEDIR)/Include
# ST Peripheral library
PERIPHLIB = $(PIOS_DEVLIB)Libraries/STM32F4xx_StdPeriph_Driver
SRC += $(wildcard $(PERIPHLIB)/src/*.c)
SRC += $(sort $(wildcard $(PERIPHLIB)/src/*.c))
EXTRAINCDIRS += $(PERIPHLIB)/inc
# ST USB OTG library
@ -42,7 +42,7 @@ EXTRAINCDIRS += $(USBOTGLIB)/inc
# ST USB Device library
USBDEVLIB = $(PIOS_DEVLIB)Libraries/STM32_USB_Device_Library
SRC += $(wildcard $(USBDEVLIB)/Core/src/*.c)
SRC += $(sort $(wildcard $(USBDEVLIB)/Core/src/*.c))
EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
#
@ -53,7 +53,7 @@ EXTRAINCDIRS += $(USBDEVLIB)/Core/inc
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c)
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c))
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F
include $(PIOSCOMMON)/Libraries/msheap/library.mk
endif

2
flight/PiOS/posix/Libraries/FreeRTOS/library.mk
View File

@ -6,5 +6,5 @@
#
FREERTOS_DIR := $(dir $(lastword $(MAKEFILE_LIST)))/Source
SRC += $(wildcard $(FREERTOS_DIR)/*.c)
SRC += $(sort $(wildcard $(FREERTOS_DIR)/*.c))
EXTRAINCDIRS += $(FREERTOS_DIR)/include

6
flight/PiOS/posix/library.mk
View File

@ -27,7 +27,7 @@ ARCHFLAGS += -DARCH_POSIX
#
# PIOS device library source and includes
#
SRC += $(wildcard $(PIOS_DEVLIB)*.c)
SRC += $(sort $(wildcard $(PIOS_DEVLIB)*.c))
EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
#
@ -68,8 +68,8 @@ EXTRAINCDIRS += $(PIOS_DEVLIB)/inc
#
ifneq ($(FREERTOS_DIR),)
FREERTOS_PORTDIR := $(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c)
SRC += $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c)
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c))
SRC += $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c))
EXTRAINCDIRS += $(FREERTOS_PORTDIR)/portable/GCC/Posix
endif

4
ground/openpilotgcs/openpilotgcs.pro
View File

@ -4,9 +4,9 @@
#
#version check qt
contains(QT_VERSION, ^4\\.[0-5]\\..*) {
contains(QT_VERSION, ^4\\.[0-7]\\..*) {
message("Cannot build OpenPilot GCS with Qt version $${QT_VERSION}.")
error("Cannot build OpenPilot GCS with Qt version $${QT_VERSION}. Use at least Qt 4.6!")
error("Cannot build OpenPilot GCS with Qt version $${QT_VERSION}. Use at least Qt 4.8!")
}
include(openpilotgcs.pri)

27
ground/openpilotgcs/src/app/gcsversioninfo.pri
View File

@ -5,14 +5,37 @@
# the other dependencies evaluation.
#
# We use python to extract git version info, but it may be installed locally.
# This expected python version should be kept in sync with make/tools.mk.
PYTHON_DIR = python-2.7.4
# Since debug_and_release option is set, we need this
!debug_and_release|build_pass {
ROOT_DIR = $$GCS_SOURCE_TREE/../..
ROOT_DIR = $$GCS_SOURCE_TREE/../..
# Search the python using environment override first
OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)
!isEmpty(OPENPILOT_TOOLS_DIR):exists($$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python*) {
PYTHON = \"$$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python\"
} else {
# If not found, search the predefined tools path
exists($$ROOT_DIR/tools/$$PYTHON_DIR/python*) {
PYTHON = \"$$ROOT_DIR/tools/$$PYTHON_DIR/python\"
} else {
# not found, hope it's in the path...
PYTHON = \"python\"
}
}
PYTHON = $$replace(PYTHON, \\\\, /)
message(Using python interpreter: $$PYTHON)
# Define other variables
VERSION_INFO_DIR = $$GCS_BUILD_TREE/../openpilotgcs-synthetics
VERSION_INFO_HEADER = $$VERSION_INFO_DIR/gcs_version_info.h
VERSION_INFO_SCRIPT = $$ROOT_DIR/make/scripts/version-info.py
VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcs_version_info_template.h
VERSION_INFO_COMMAND = python \"$$VERSION_INFO_SCRIPT\"
VERSION_INFO_COMMAND = $$PYTHON \"$$VERSION_INFO_SCRIPT\"
UAVO_DEF_PATH = $$ROOT_DIR/shared/uavobjectdefinition
# Create custom version_info target which generates a header

7
make/apps-defs.mk
View File

@ -101,8 +101,8 @@ SRC += $(MATHLIB)/sin_lookup.c
SRC += $(MATHLIB)/pid.c
## Modules
SRC += $(foreach mod, $(MODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
SRC += $(foreach mod, $(OPTMODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
# Declare all non-optional modules as built-in to force inclusion.
# Built-in modules are always enabled and cannot be disabled.
@ -175,3 +175,6 @@ ifeq ($(MCU),cortex-m3)
else ifeq ($(MCU),cortex-m4)
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
endif
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

3
make/boot-defs.mk
View File

@ -123,3 +123,6 @@ ifeq ($(MCU),cortex-m3)
else ifeq ($(MCU),cortex-m4)
LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
endif
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

5
make/common-defs.mk
View File

@ -229,13 +229,10 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
# Compile: create assembler files from C source files. ARM only
$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add opfw target
$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
.PHONY: elf lss sym hex bin bino opfw
elf: $(OUTDIR)/$(TARGET).elf

19
make/tools.mk
View File

@ -52,15 +52,16 @@ endif
##############################
ifeq ($(UNAME), Linux)
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
ifeq ($(ARCH), x86_64)
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux-x64.tar.bz2
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-amd64.tar.bz2
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
else
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-i686.tar.bz2
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
endif
else ifeq ($(UNAME), Darwin)
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
QT_SDK_URL := TODO/qt-4.8.4-mac.tar.bz2
QT_SDK_URL := "Please install native Qt 4.8.x SDK using package manager"
else ifeq ($(UNAME), Windows)
ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
QT_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2
@ -68,6 +69,7 @@ else ifeq ($(UNAME), Windows)
PYTHON_URL := http://wiki.openpilot.org/download/attachments/18612236/python-2.7.4-windows.tar.bz2
endif
# Changing PYTHON_DIR, also update it in ground\openpilotgcs\src\app\gcsversioninfo.pri
ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-4_7-2013q1
QT_SDK_DIR := $(TOOLS_DIR)/qt-4.8.4
MINGW_DIR := $(TOOLS_DIR)/mingw-4.4.0
@ -239,6 +241,15 @@ endif
arm_sdk_version:
$(V1) $(ARM_SDK_PREFIX)gcc --version | head -n1
# Template to check ARM toolchain version before building targets
define ARM_GCC_VERSION_CHECK_TEMPLATE
if ! $(ARM_SDK_PREFIX)gcc --version --specs=nano.specs >/dev/null 2>&1; then \
$(ECHO) $(MSG_NOTICE) Please install ARM toolchain 4.7+ using \'make arm_sdk_install\' && \
$(ECHO) $(MSG_NOTICE) Older ARM SDKs do not support new \'--specs=nano.specs\' option && \
exit 1; \
fi
endef
##############################
#
# Qt SDK

2
package/linux/deb_common/postinst
View File

@ -20,7 +20,7 @@ set -e
case "$1" in
configure)
sudo udevadm control --reload-rules >&2
/sbin/udevadm control --reload-rules >&2
;;
abort-upgrade|abort-remove|abort-deconfigure)