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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/01-directory_move_sanity_simposix' into next

Browse Source 
Conflicts:
	Makefile
	flight/PiOS.posix/inc/pios_com.h
	flight/targets/RevoMini/UAVObjects.inc
	flight/targets/Revolution/Makefile
This commit is contained in:
Alessio Morale 2013-03-23 14:37:19 +01:00
commit e06ab7f706
246 changed files with 992 additions and 1443 deletions
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408
Makefile
View File

@ -31,6 +31,20 @@ $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowe
SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
$(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
# 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
include $(ROOT_DIR)/make/tools.mk
# We almost need to consider autoconf/automake instead of this
# I don't know if windows supports uname :-(
QT_SPEC=win32-g++
@ -52,18 +66,6 @@ GCS_BUILD_CONF ?= debug
# Set up misc host tools
RM=rm
# 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
.PHONY: help
help:
@echo
@ -158,316 +160,6 @@ $(TOOLS_DIR):
$(BUILD_DIR):
mkdir -p $@
###############################################################
#
# Installers for tools required by the ground and flight builds
#
# NOTE: These are not tied to the default goals
# and must be invoked manually
#
###############################################################
# Set up QT toolchain
QT_SDK_DIR := $(TOOLS_DIR)/qtsdk-v1.2.1
.PHONY: qt_sdk_install
# Choose the appropriate installer based on host architecture
ifneq (,$(filter $(ARCH), x86_64 amd64))
# 64-bit
qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86_64-v1.2.1.run
qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/14b2039c-0e1f-4774-a4f2-9aa60b6d5313/Qt_SDK_Lin64_offline
else
# 32-bit
qt_sdk_install: QT_SDK_URL := http://www.developer.nokia.com/dp?uri=http://sw.nokia.com/id/8ea74da4-fec1-4277-8b26-c58cc82e204b/Qt_SDK_Lin32_offline
qt_sdk_install: QT_SDK_FILE := QtSdk-offline-linux-x86-v1.2.1.run
endif
# order-only prereq on directory existance:
qt_sdk_install : | $(DL_DIR) $(TOOLS_DIR)
qt_sdk_install: qt_sdk_clean
# download the source only if it's newer than what we already have
$(V1) wget -N --content-disposition -P "$(DL_DIR)" "$(QT_SDK_URL)"
# tell the user exactly which path they should select in the GUI
$(V1) echo "*** NOTE NOTE NOTE ***"
$(V1) echo "*"
$(V1) echo "* In the GUI, please use exactly this path as the installation path:"
$(V1) echo "* $(QT_SDK_DIR)"
$(V1) echo "*"
$(V1) echo "*** NOTE NOTE NOTE ***"
#installer is an executable, make it executable and run it
$(V1) chmod u+x "$(DL_DIR)/$(QT_SDK_FILE)"
$(V1) "$(DL_DIR)/$(QT_SDK_FILE)" -style cleanlooks
.PHONY: qt_sdk_clean
qt_sdk_clean:
$(V1) [ ! -d "$(QT_SDK_DIR)" ] || $(RM) -rf $(QT_SDK_DIR)
# Set up ARM (STM32) SDK
ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-4_6-2012q1
.PHONY: arm_sdk_install
arm_sdk_install: ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.6/4.6-2012-q1-update/+download/gcc-arm-none-eabi-4_6-2012q1-20120316.tar.bz2
arm_sdk_install: ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
# order-only prereq on directory existance:
arm_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
arm_sdk_install: arm_sdk_clean
# download the source only if it's newer than what we already have
$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ARM_SDK_URL)"
# binary only release so just extract it
$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
.PHONY: arm_sdk_clean
arm_sdk_clean:
$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
# Set up openocd tools
OPENOCD_DIR := $(TOOLS_DIR)/openocd
OPENOCD_WIN_DIR := $(TOOLS_DIR)/openocd_win
OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build
.PHONY: openocd_install
openocd_install: | $(DL_DIR) $(TOOLS_DIR)
openocd_install: OPENOCD_URL := http://sourceforge.net/projects/openocd/files/openocd/0.5.0/openocd-0.5.0.tar.bz2/download
openocd_install: OPENOCD_FILE := openocd-0.5.0.tar.bz2
openocd_install: openocd_clean
# download the source only if it's newer than what we already have
$(V1) wget -N -P "$(DL_DIR)" --trust-server-name "$(OPENOCD_URL)"
# extract the source
$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -r "$(OPENOCD_BUILD_DIR)"
$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
$(V1) tar -C $(OPENOCD_BUILD_DIR) -xjf "$(DL_DIR)/$(OPENOCD_FILE)"
# build and install
$(V1) mkdir -p "$(OPENOCD_DIR)"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR)/openocd-0.5.0 ; \
./configure --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi ; \
$(MAKE) --silent ; \
$(MAKE) --silent install ; \
)
# delete the extracted source when we're done
$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
.PHONY: ftd2xx_install
FTD2XX_DIR := $(DL_DIR)/ftd2xx
ftd2xx_install: | $(DL_DIR)
ftd2xx_install: FTD2XX_URL := http://www.ftdichip.com/Drivers/CDM/Beta/CDM20817.zip
ftd2xx_install: FTD2XX_FILE := CDM20817.zip
ftd2xx_install: ftd2xx_clean
# download the file only if it's newer than what we already have
$(V0) @echo " DOWNLOAD $(FTD2XX_URL)"
$(V1) wget -q -N -P "$(DL_DIR)" "$(FTD2XX_URL)"
# extract the source
$(V0) @echo " EXTRACT $(FTD2XX_FILE) -> $(FTD2XX_DIR)"
$(V1) mkdir -p "$(FTD2XX_DIR)"
$(V1) unzip -q -d "$(FTD2XX_DIR)" "$(DL_DIR)/$(FTD2XX_FILE)"
.PHONY: ftd2xx_clean
ftd2xx_clean:
$(V0) @echo " CLEAN $(FTD2XX_DIR)"
$(V1) [ ! -d "$(FTD2XX_DIR)" ] || $(RM) -r "$(FTD2XX_DIR)"
.PHONY: ftd2xx_install
LIBUSB_WIN_DIR := $(DL_DIR)/libusb-win32-bin-1.2.6.0
libusb_win_install: | $(DL_DIR)
libusb_win_install: LIBUSB_WIN_URL := http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/1.2.6.0/libusb-win32-bin-1.2.6.0.zip/download
libusb_win_install: LIBUSB_WIN_FILE := libusb-win32-bin-1.2.6.0.zip
libusb_win_install: libusb_win_clean
# download the file only if it's newer than what we already have
$(V0) @echo " DOWNLOAD $(LIBUSB_WIN_URL)"
$(V1) wget -q -N -P "$(DL_DIR)" --trust-server-name "$(LIBUSB_WIN_URL)"
# extract the source
$(V0) @echo " EXTRACT $(LIBUSB_WIN_FILE) -> $(LIBUSB_WIN_DIR)"
$(V1) mkdir -p "$(LIBUSB_WIN_DIR)"
$(V1) unzip -q -d "$(DL_DIR)" "$(DL_DIR)/$(LIBUSB_WIN_FILE)"
# fixup .h file needed by openocd build
$(V0) @echo " FIXUP $(LIBUSB_WIN_DIR)"
$(V1) ln -s "$(LIBUSB_WIN_DIR)/include/lusb0_usb.h" "$(LIBUSB_WIN_DIR)/include/usb.h"
.PHONY: libusb_win_clean
libusb_win_clean:
$(V0) @echo " CLEAN $(LIBUSB_WIN_DIR)"
$(V1) [ ! -d "$(LIBUSB_WIN_DIR)" ] || $(RM) -r "$(LIBUSB_WIN_DIR)"
.PHONY: openocd_git_win_install
openocd_git_win_install: | $(DL_DIR) $(TOOLS_DIR)
openocd_git_win_install: OPENOCD_URL := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
openocd_git_win_install: OPENOCD_REV := f1c0133321c8fcadadd10bba5537c0a634eb183b
openocd_git_win_install: openocd_win_clean libusb_win_install ftd2xx_install
# download the source
$(V0) @echo " DOWNLOAD $(OPENOCD_URL) @ $(OPENOCD_REV)"
$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
$(V1) git clone --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR) ; \
git checkout -q $(OPENOCD_REV) ; \
)
# apply patches
$(V0) @echo " PATCH $(OPENOCD_BUILD_DIR)"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR) ; \
git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
)
# build and install
$(V0) @echo " BUILD $(OPENOCD_WIN_DIR)"
$(V1) mkdir -p "$(OPENOCD_WIN_DIR)"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR) ; \
./bootstrap ; \
./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \
--build=i686-pc-linux-gnu --host=i586-mingw32msvc \
CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \
LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \
--enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR) \
--disable-werror \
--enable-stlink ; \
$(MAKE) ; \
$(MAKE) install ; \
)
# delete the extracted source when we're done
$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
.PHONY: openocd_win_clean
openocd_win_clean:
$(V0) @echo " CLEAN $(OPENOCD_WIN_DIR)"
$(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)"
.PHONY: openocd_git_install
openocd_git_install: | $(DL_DIR) $(TOOLS_DIR)
openocd_git_install: OPENOCD_URL := git://openocd.git.sourceforge.net/gitroot/openocd/openocd
openocd_git_install: OPENOCD_REV := f1c0133321c8fcadadd10bba5537c0a634eb183b
openocd_git_install: openocd_clean
# download the source
$(V0) @echo " DOWNLOAD $(OPENOCD_URL) @ $(OPENOCD_REV)"
$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
$(V1) git clone --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR) ; \
git checkout -q $(OPENOCD_REV) ; \
)
# apply patches
$(V0) @echo " PATCH $(OPENOCD_DIR)"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR) ; \
git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0001-armv7m-remove-dummy-FP-regs-for-new-gdb.patch ; \
git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0002-rtos-add-stm32_stlink-to-FreeRTOS-targets.patch ; \
)
# build and install
$(V0) @echo " BUILD $(OPENOCD_DIR)"
$(V1) mkdir -p "$(OPENOCD_DIR)"
$(V1) ( \
cd $(OPENOCD_BUILD_DIR) ; \
./bootstrap ; \
./configure --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-ft2232_libftdi --enable-buspirate --enable-stlink ; \
$(MAKE) ; \
$(MAKE) install ; \
)
# delete the extracted source when we're done
$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
.PHONY: openocd_clean
openocd_clean:
$(V0) @echo " CLEAN $(OPENOCD_DIR)"
$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
.PHONY: stm32flash_install
stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
stm32flash_install: STM32FLASH_REV := 61
stm32flash_install: stm32flash_clean
# download the source
$(V0) @echo " DOWNLOAD $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
# build
$(V0) @echo " BUILD $(STM32FLASH_DIR)"
$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
.PHONY: stm32flash_clean
stm32flash_clean:
$(V0) @echo " CLEAN $(STM32FLASH_DIR)"
$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
DFUUTIL_DIR := $(TOOLS_DIR)/dfu-util
.PHONY: dfuutil_install
dfuutil_install: DFUUTIL_URL := http://dfu-util.gnumonks.org/releases/dfu-util-0.5.tar.gz
dfuutil_install: DFUUTIL_FILE := $(notdir $(DFUUTIL_URL))
dfuutil_install: | $(DL_DIR) $(TOOLS_DIR)
dfuutil_install: dfuutil_clean
# download the source
$(V0) @echo " DOWNLOAD $(DFUUTIL_URL)"
$(V1) wget -N -P "$(DL_DIR)" "$(DFUUTIL_URL)"
# extract the source
$(V0) @echo " EXTRACT $(DFUUTIL_FILE)"
$(V1) [ ! -d "$(DL_DIR)/dfuutil-build" ] || $(RM) -r "$(DL_DIR)/dfuutil-build"
$(V1) mkdir -p "$(DL_DIR)/dfuutil-build"
$(V1) tar -C $(DL_DIR)/dfuutil-build -xf "$(DL_DIR)/$(DFUUTIL_FILE)"
# build
$(V0) @echo " BUILD $(DFUUTIL_DIR)"
$(V1) mkdir -p "$(DFUUTIL_DIR)"
$(V1) ( \
cd $(DL_DIR)/dfuutil-build/dfu-util-0.5 ; \
./configure --prefix="$(DFUUTIL_DIR)" ; \
$(MAKE) ; \
$(MAKE) install ; \
)
.PHONY: dfuutil_clean
dfuutil_clean:
$(V0) @echo " CLEAN $(DFUUTIL_DIR)"
$(V1) [ ! -d "$(DFUUTIL_DIR)" ] || $(RM) -r "$(DFUUTIL_DIR)"
# see http://developer.android.com/sdk/ for latest versions
ANDROID_SDK_DIR := $(TOOLS_DIR)/android-sdk-linux
.PHONY: android_sdk_install
android_sdk_install: ANDROID_SDK_URL := http://dl.google.com/android/android-sdk_r21.0.1-linux.tgz
android_sdk_install: ANDROID_SDK_FILE := $(notdir $(ANDROID_SDK_URL))
# order-only prereq on directory existance:
android_sdk_install: | $(DL_DIR) $(TOOLS_DIR)
android_sdk_install: android_sdk_clean
# download the source only if it's newer than what we already have
$(V0) @echo " DOWNLOAD $(ANDROID_SDK_URL)"
$(V1) wget --no-check-certificate -N -P "$(DL_DIR)" "$(ANDROID_SDK_URL)"
# binary only release so just extract it
$(V0) @echo " EXTRACT $(ANDROID_SDK_FILE)"
$(V1) tar -C $(TOOLS_DIR) -xf "$(DL_DIR)/$(ANDROID_SDK_FILE)"
.PHONY: android_sdk_clean
android_sdk_clean:
$(V0) @echo " CLEAN $(ANDROID_SDK_DIR)"
$(V1) [ ! -d "$(ANDROID_SDK_DIR)" ] || $(RM) -r $(ANDROID_SDK_DIR)
.PHONY: android_sdk_update
android_sdk_update:
$(V0) @echo " UPDATE $(ANDROID_SDK_DIR)"
$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-14,addon-google_apis-google-14
##############################
#
# Set up paths to tools
@ -728,6 +420,17 @@ uavo-collections_clean:
#
##############################
# Define some pointers to the various important pieces of the flight code
# to prevent these being repeated in every sub makefile
PIOS := $(ROOT_DIR)/flight/PiOS
FLIGHTLIB := $(ROOT_DIR)/flight/Libraries
OPMODULEDIR := $(ROOT_DIR)/flight/Modules
OPUAVOBJ := $(ROOT_DIR)/flight/targets/UAVObjects
OPUAVTALK := $(ROOT_DIR)/flight/targets/UAVTalk
HWDEFS := $(ROOT_DIR)/flight/targets/board_hw_defs
DOXYGENDIR := $(ROOT_DIR)/flight/Doc/Doxygen
OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
# $(2) = Name of board used in source tree (e.g. CopterControl)
# $(3) = Short name for board (e.g CC)
@ -738,13 +441,26 @@ fw_$(1): fw_$(1)_opfw
fw_$(1)_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/$(2) && \
$(V1) cd $(ROOT_DIR)/flight/targets/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=fw \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
TARGET=fw_$(1) \
OUTDIR=$(BUILD_DIR)/fw_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
DOXYGENDIR=$(DOXYGENDIR) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
\
$$*
.PHONY: $(1)_clean
@ -763,13 +479,26 @@ bl_$(1)_bino: bl_$(1)_bin
bl_$(1)_%:
$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/$(2) && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=bl \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
TARGET=bl_$(1) \
OUTDIR=$(BUILD_DIR)/bl_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
$$*
.PHONY: unbrick_$(1)
@ -799,13 +528,26 @@ bu_$(1): bu_$(1)_opfw
bu_$(1)_%: bl_$(1)_bino
$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
$(V1) cd $(ROOT_DIR)/flight/targets/Bootloaders/BootloaderUpdater && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=bu \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
\
TARGET=bu_$(1) \
OUTDIR=$(BUILD_DIR)/bu_$(1) \
\
PIOS=$(PIOS) \
FLIGHTLIB=$(FLIGHTLIB) \
OPMODULEDIR=$(OPMODULEDIR) \
OPUAVOBJ=$(OPUAVOBJ) \
OPUAVTALK=$(OPUAVTALK) \
HWDEFSINC=$(HWDEFS)/$(1) \
OPUAVSYNTHDIR=$(OPUAVSYNTHDIR) \
DOXYGENDIR=$(DOXYGENDIR) \
\
$$*
.PHONY: bu_$(1)_clean
@ -821,13 +563,17 @@ ef_$(1): ef_$(1)_bin
ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
$(V1) mkdir -p $(BUILD_DIR)/ef_$(1)/dep
$(V1) cd $(ROOT_DIR)/flight/EntireFlash && \
$(V1) cd $(ROOT_DIR)/flight/targets/EntireFlash && \
$$(MAKE) -r --no-print-directory \
BOARD_NAME=$(1) \
BOARD_SHORT_NAME=$(3) \
BUILD_TYPE=ef \
TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
\
TARGET=ef_$(1) \
OUTDIR=$(BUILD_DIR)/ef_$(1) \
\
$$*
.PHONY: ef_$(1)_clean
@ -906,12 +652,6 @@ BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
BU_BOARDS := $(filter-out simposix, $(BU_BOARDS))
EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
# SimPosix doesn't have a BL, BU or EF target so we need to
# filter them out to prevent errors on the all_flight target.
BL_BOARDS := $(filter-out simposix, $(BL_BOARDS))
BU_BOARDS := $(filter-out simposix, $(BU_BOARDS))
EF_BOARDS := $(filter-out simposix, $(EF_BOARDS))
# Generate the targets for whatever boards are left in each list
FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
@ -959,7 +699,7 @@ sim_win32: sim_win32_exe
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 $*
-C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
.PHONY: sim_osx
sim_osx: sim_osx_elf
@ -967,7 +707,7 @@ sim_osx: sim_osx_elf
sim_osx_%: uavobjects_flight
$(V1) mkdir -p $(BUILD_DIR)/sim_osx
$(V1) $(MAKE) --no-print-directory \
-C $(ROOT_DIR)/flight/Revolution --file=$(ROOT_DIR)/flight/Revolution/Makefile.osx $*
-C $(ROOT_DIR)/flight/targets/Revolution --file=$(ROOT_DIR)/flight/targets/Revolution/Makefile.osx $*
##############################
#
# Packaging components

41
flight/PiOS.posix/inc/pios_crc.h → flight/Libraries/inc/sanitycheck.h
View File

@ -1,31 +1,34 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup PIOS_CRC CRC Functions
* @addtogroup OpenPilotLibraries OpenPilot System Libraries
* @{
*
* @file pios_crc.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief CRC functions header.
* @file sanitycheck.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Utilities to validate a flight configuration
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
uint8_t PIOS_CRC_updateByte(uint8_t crc, const uint8_t data);
uint8_t PIOS_CRC_updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
#ifndef SANITYCHECK_H
#define SANITYCHECK_H
extern int32_t configuration_check();
#endif /* SANITYCHECK_H */

1
flight/Libraries/inc/taskmonitor.h
View File

@ -33,6 +33,7 @@
int32_t TaskMonitorInitialize(void);
int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
int32_t TaskMonitorRemove(TaskInfoRunningElem task);
bool TaskMonitorQueryRunning(TaskInfoRunningElem task);
void TaskMonitorUpdateAll(void);
#endif // TASKMONITOR_H

189
flight/Libraries/sanitycheck.c Normal file
View File

@ -0,0 +1,189 @@
/**
******************************************************************************
* @addtogroup OpenPilot System OpenPilot System
* @{
* @addtogroup OpenPilot Libraries OpenPilot System Libraries
* @{
* @file sanitycheck.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Utilities to validate a flight configuration
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "taskmonitor.h"
#include <pios_board_info.h>
#include "sanitycheck.h"
#include "manualcontrolsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
/****************************
* Current checks:
* 1. If a flight mode switch allows autotune and autotune module not running
* 2. If airframe is a multirotor and either manual is available or a stabilization mode uses "none"
****************************/
//! Check a stabilization mode switch position for safety
static int32_t check_stabilization_settings(int index, bool multirotor);
/**
* Run a preflight check over the hardware configuration
* and currently active modules
*/
int32_t configuration_check()
{
int32_t status = SYSTEMALARMS_ALARM_OK;
// Get board type
const struct pios_board_info * bdinfo = &pios_board_info_blob;
bool coptercontrol = bdinfo->board_type == 0x04;
// Classify airframe type
bool multirotor = true;
uint8_t airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch(airframe_type) {
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
multirotor = true;
break;
default:
multirotor = false;
}
// For each available flight mode position sanity check the available
// modes
uint8_t num_modes;
uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
ManualControlSettingsFlightModeNumberGet(&num_modes);
ManualControlSettingsFlightModePositionGet(modes);
for(uint32_t i = 0; i < num_modes; i++) {
switch(modes[i]) {
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
if (multirotor)
status = SYSTEMALARMS_ALARM_ERROR;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
status = SYSTEMALARMS_ALARM_ERROR;
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol)
status = SYSTEMALARMS_ALARM_ERROR;
else {
// Revo supports altitude hold
if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
status = SYSTEMALARMS_ALARM_ERROR;
}
break;
default:
// Uncovered modes are automatically an error
status = SYSTEMALARMS_ALARM_ERROR;
}
}
// TODO: Check on a multirotor no axis supports "None"
if(status != SYSTEMALARMS_ALARM_OK)
AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
else
AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
return 0;
}
/**
* Checks the stabiliation settings for a paritcular mode and makes
* sure it is appropriate for the airframe
* @param[in] index Which stabilization mode to check
* @returns SYSTEMALARMS_ALARM_OK or SYSTEMALARMS_ALARM_ERROR
*/
static int32_t check_stabilization_settings(int index, bool multirotor)
{
// Make sure the modes have identical sizes
if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
return SYSTEMALARMS_ALARM_ERROR;
uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
// Get the different axis modes for this switch position
switch(index) {
case 1:
ManualControlSettingsStabilization1SettingsGet(modes);
break;
case 2:
ManualControlSettingsStabilization2SettingsGet(modes);
break;
case 3:
ManualControlSettingsStabilization3SettingsGet(modes);
break;
default:
return SYSTEMALARMS_ALARM_ERROR;
}
// For multirotors verify that nothing is set to "none"
if (multirotor) {
for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
return SYSTEMALARMS_ALARM_ERROR;
}
}
// Warning: This assumes that certain conditions in the XML file are met. That
// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
return SYSTEMALARMS_ALARM_OK;
}

10
flight/Libraries/taskmonitor.c
View File

@ -89,6 +89,16 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
}
}
/**
* Query if a task is running
*/
bool TaskMonitorQueryRunning(TaskInfoRunningElem task)
{
if (task < TASKINFO_RUNNING_NUMELEM && handles[task] != 0)
return true;
return false;
}
/**
* Update the status of all tasks
*/

22
flight/Modules/ManualControl/manualcontrol.c
View File

@ -40,6 +40,7 @@
#include "baroaltitude.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "sanitycheck.h"
#include "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "manualcontrolcommand.h"
@ -48,6 +49,7 @@
#include "stabilizationsettings.h"
#include "stabilizationdesired.h"
#include "receiveractivity.h"
#include "systemsettings.h"
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb_rctx.h"
@ -96,6 +98,7 @@ static void updatePathDesired(ManualControlCommandData * cmd, bool changed, bool
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void setArmedIfChanged(uint8_t val);
static void configurationUpdatedCb(UAVObjEvent * ev);
static void manualControlTask(void *parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
@ -174,6 +177,15 @@ static void manualControlTask(void *parameters)
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Run this initially to make sure the configuration is checked
configuration_check();
// Whenever the configuration changes, make sure it is safe to fly
SystemSettingsConnectCallback(configurationUpdatedCb);
ManualControlSettingsConnectCallback(configurationUpdatedCb);
// Whenever the configuration changes, make sure it is safe to fly
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
@ -1076,6 +1088,16 @@ static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel
}
#endif // USE_INPUT_LPF
/**
* Called whenever a critical configuration component changes
*/
static void configurationUpdatedCb(UAVObjEvent * ev)
{
configuration_check();
}
/**
* @}
* @}

13
flight/Modules/System/systemmod.c
View File

@ -48,6 +48,7 @@
#include "taskinfo.h"
#include "watchdogstatus.h"
#include "taskmonitor.h"
#include "hwsettings.h"
//#define DEBUG_THIS_FILE
@ -87,6 +88,7 @@ static bool mallocFailed;
// Private functions
static void objectUpdatedCb(UAVObjEvent * ev);
static void hwSettingsUpdatedCb(UAVObjEvent * ev);
static void updateStats();
static void updateSystemAlarms();
static void systemTask(void *parameters);
@ -169,6 +171,9 @@ static void systemTask(void *parameters)
// Listen for SettingPersistance object updates, connect a callback function
ObjectPersistenceConnectQueue(objectPersistenceQueue);
// Whenever the configuration changes, make sure it is safe to fly
HwSettingsConnectCallback(hwSettingsUpdatedCb);
// Main system loop
while (1) {
// Update the system statistics
@ -318,6 +323,14 @@ static void objectUpdatedCb(UAVObjEvent * ev)
}
}
/**
* Called whenever hardware settings changed
*/
static void hwSettingsUpdatedCb(UAVObjEvent * ev)
{
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
}
/**
* Called periodically to update the I2C statistics
*/

120
flight/OpenPilot/System/pios_usb_board_data.c
View File

@ -1,120 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_BOARD Board specific USB definitions
* @brief Board specific USB definitions
* @{
*
* @file pios_usb_board_data.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Board specific USB definitions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
#include "pios_sys.h" /* PIOS_SYS_SerialNumberGet */
#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
static const uint8_t usb_product_id[20] = {
sizeof(usb_product_id),
USB_DESC_TYPE_STRING,
'O', 0,
'p', 0,
'e', 0,
'n', 0,
'P', 0,
'i', 0,
'l', 0,
'o', 0,
't', 0,
};
static uint8_t usb_serial_number[52] = {
sizeof(usb_serial_number),
USB_DESC_TYPE_STRING,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0,
0, 0
};
static const struct usb_string_langid usb_lang_id = {
.bLength = sizeof(usb_lang_id),
.bDescriptorType = USB_DESC_TYPE_STRING,
.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
};
static const uint8_t usb_vendor_id[28] = {
sizeof(usb_vendor_id),
USB_DESC_TYPE_STRING,
'o', 0,
'p', 0,
'e', 0,
'n', 0,
'p', 0,
'i', 0,
'l', 0,
'o', 0,
't', 0,
'.', 0,
'o', 0,
'r', 0,
'g', 0
};
int32_t PIOS_USB_BOARD_DATA_Init(void)
{
/* Load device serial number into serial number string */
uint8_t sn[25];
PIOS_SYS_SerialNumberGet((char *)sn);
for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
usb_serial_number[2 + 2 * i] = sn[i];
}
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
return 0;
}

10
flight/PiOS.posix/Boards/pios_board.h
View File

@ -1,10 +0,0 @@
#ifndef PIOS_BOARD_H_
#define PIOS_BOARD_H_
#ifdef USE_SIM_POSIX
#include "sim_posix.h"
#else
#error Board definition has not been provided.
#endif
#endif /* PIOS_BOARD_H_ */

66
flight/PiOS.posix/inc/pios_com.h
View File

@ -1,66 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief COM layer functions header
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_COM_H
#define PIOS_COM_H
typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
struct pios_com_driver {
void (*init)(uint32_t id);
void (*set_baud)(uint32_t id, uint32_t baud);
void (*tx_start)(uint32_t id, uint16_t tx_bytes_avail);
void (*rx_start)(uint32_t id, uint16_t rx_bytes_avail);
void (*bind_rx_cb)(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
void (*bind_tx_cb)(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
bool (*available)(uint32_t id);
};
/* Public Functions */
extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);
extern int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, uint16_t len);
extern int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len);
extern int32_t PIOS_COM_SendStringNonBlocking(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendString(uint32_t com_id, const char *str);
extern int32_t PIOS_COM_SendFormattedStringNonBlocking(uint32_t com_id, const char *format, ...);
extern int32_t PIOS_COM_SendFormattedString(uint32_t com_id, const char *format, ...);
extern uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t * buf, uint16_t buf_len, uint32_t timeout_ms);
extern bool PIOS_COM_Available(uint32_t com_id);
#endif /* PIOS_COM_H */
/**
* @}
* @}
*/

44
flight/PiOS.posix/inc/pios_com_priv.h
View File

@ -1,44 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_COM COM layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_com_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief COM private definitions.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_COM_PRIV_H
#define PIOS_COM_PRIV_H
#include <pios.h>
extern int32_t PIOS_COM_ReceiveHandler(uint32_t com_id);
#endif /* PIOS_COM_PRIV_H */
/**
* @}
* @}
*/

56
flight/PiOS.posix/inc/pios_debug.h
View File

@ -1,56 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @defgroup PIOS_DEBUG Debugging Functions
* @brief Debugging functionality
* @{
*
* @file pios_i2c.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Debug helper functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_DEBUG_H
#define PIOS_DEBUG_H
extern const char *PIOS_DEBUG_AssertMsg;
void PIOS_DEBUG_Init(void);
void PIOS_DEBUG_PinHigh(uint8_t pin);
void PIOS_DEBUG_PinLow(uint8_t pin);
void PIOS_DEBUG_PinValue8Bit(uint8_t value);
void PIOS_DEBUG_PinValue4BitL(uint8_t value);
void PIOS_DEBUG_Panic(const char *msg);
#ifdef DEBUG
#define PIOS_DEBUG_Assert(test) if (!(test)) PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg);
#define PIOS_Assert(test) PIOS_DEBUG_Assert(test)
#else
#define PIOS_DEBUG_Assert(test)
#define PIOS_Assert(test) if (!(test)) while (1);
#endif
#endif /* PIOS_DEBUG_H */
/**
* @}
* @}
*/

48
flight/PiOS.posix/inc/pios_delay.h
View File

@ -1,48 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_DELAY Delay Functions
* @brief PiOS Delay functionality
* @{
*
* @file pios_settings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Settings functions header
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_DELAY_H
#define PIOS_DELAY_H
/* Public Functions */
extern int32_t PIOS_DELAY_Init(void);
extern int32_t PIOS_DELAY_WaituS(uint32_t uS);
extern int32_t PIOS_DELAY_WaitmS(uint32_t mS);
extern uint32_t PIOS_DELAY_GetuS();
extern uint32_t PIOS_DELAY_GetuSSince(uint32_t t);
extern uint32_t PIOS_DELAY_GetRaw();
extern uint32_t PIOS_DELAY_DiffuS(uint32_t raw);
#endif /* PIOS_DELAY_H */
/**
* @}
* @}
*/

72
flight/PiOS.posix/inc/pios_initcall.h
View File

@ -1,72 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Initcall infrastructure
* @{
* @addtogroup PIOS_INITCALL Generic Initcall Macros
* @brief Initcall Macros
* @{
*
* @file pios_initcall.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @brief Initcall header
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_INITCALL_H
#define PIOS_INITCALL_H
/**
* Just a stub define to make things compile.
* Automatically link based initialization currently doesn't work
* since posix really runs on a multitude of architectures
* and we cannot define a linker script for each of them atm
*/
typedef int32_t (*initcall_t)(void);
typedef struct {
initcall_t fn_minit;
initcall_t fn_tinit;
} initmodule_t;
/* Init module section */
extern initmodule_t __module_initcall_start[], __module_initcall_end[];
extern void InitModules();
extern void StartModules();
#define MODULE_INITCALL(ifn, sfn)
#define MODULE_TASKCREATE_ALL { \
/* Start all module threads */ \
StartModules(); \
}
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Initialize the system thread */ \
SystemModInitialize();}
#endif /* PIOS_INITCALL_H */
/**
* @}
* @}
*/

38
flight/PiOS.posix/inc/pios_irq.h
View File

@ -1,38 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_IRQ IRQ Setup Functions
* @{
*
* @file pios_irq.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief IRQ functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_IRQ_H
#define PIOS_IRQ_H
/* Public Functions */
extern int32_t PIOS_IRQ_Disable(void);
extern int32_t PIOS_IRQ_Enable(void);
#endif /* PIOS_IRQ_H */

39
flight/PiOS.posix/inc/pios_led.h
View File

@ -1,39 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_LED LED Functions
* @{
*
* @file pios_led.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief LED functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_LED_H
#define PIOS_LED_H
/* Public Functions */
extern void PIOS_LED_On(uint32_t led_id);
extern void PIOS_LED_Off(uint32_t led_id);
extern void PIOS_LED_Toggle(uint32_t led_id);
extern void PIOS_LED_Init();
#endif /* PIOS_LED_H */

57
flight/PiOS.posix/inc/pios_rcvr.h
View File

@ -1,57 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RCVR RCVR layer functions
* @brief Hardware communication layer
* @{
*
* @file pios_rcvr.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RCVR layer functions header
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_RCVR_H
#define PIOS_RCVR_H
struct pios_rcvr_driver {
void (*init)(uint32_t id);
int32_t (*read)(uint32_t id, uint8_t channel);
};
/* Public Functions */
extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
/*! Define error codes for PIOS_RCVR_Get */
enum PIOS_RCVR_errors {
/*! Indicates that a failsafe condition or missing receiver detected for that channel */
PIOS_RCVR_TIMEOUT = 0,
/*! Channel is invalid for this driver (usually out of range supported) */
PIOS_RCVR_INVALID = -1,
/*! Indicates that the driver for this channel has not been initialized */
PIOS_RCVR_NODRIVER = -2
};
#endif /* PIOS_RCVR_H */
/**
* @}
* @}
*/

48
flight/PiOS.posix/inc/pios_rcvr_priv.h
View File

@ -1,48 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_RCVR RCVR Functions
* @brief PIOS interface for RCVR drivers
* @{
*
* @file pios_rcvr_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USART private definitions.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_RCVR_PRIV_H
#define PIOS_RCVR_PRIV_H
#include <pios.h>
extern uint32_t pios_rcvr_max_channel;
extern int32_t PIOS_RCVR_Init(uint32_t * rcvr_id, const struct pios_rcvr_driver * driver, const uint32_t lower_id);
extern void PIOS_RCVR_IRQ_Handler(uint32_t rcvr_id);
#endif /* PIOS_RCVR_PRIV_H */
/**
* @}
* @}
*/

113
flight/PiOS.posix/inc/pios_sdcard.h
View File

@ -1,113 +0,0 @@
/**
******************************************************************************
*
* @file pios_sdcard.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief System and hardware Init functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SDCARD_H
#define PIOS_SDCARD_H
#if defined(PIOS_INCLUDE_SDCARD)
/* Public Functions */
typedef struct {
uint8_t CSDStruct; /* CSD structure */
uint8_t SysSpecVersion; /* System specification version */
uint8_t Reserved1; /* Reserved */
uint8_t TAAC; /* Data read access-time 1 */
uint8_t NSAC; /* Data read access-time 2 in CLK cycles */
uint8_t MaxBusClkFrec; /* Max. bus clock frequency */
uint16_t CardComdClasses; /* Card command classes */
uint8_t RdBlockLen; /* Max. read data block length */
uint8_t PartBlockRead; /* Partial blocks for read allowed */
uint8_t WrBlockMisalign; /* Write block misalignment */
uint8_t RdBlockMisalign; /* Read block misalignment */
uint8_t DSRImpl; /* DSR implemented */
uint8_t Reserved2; /* Reserved */
uint16_t DeviceSize; /* Device Size */
uint8_t MaxRdCurrentVDDMin; /* Max. read current @ VDD min */
uint8_t MaxRdCurrentVDDMax; /* Max. read current @ VDD max */
uint8_t MaxWrCurrentVDDMin; /* Max. write current @ VDD min */
uint8_t MaxWrCurrentVDDMax; /* Max. write current @ VDD max */
uint8_t DeviceSizeMul; /* Device size multiplier */
uint8_t EraseGrSize; /* Erase group size */
uint8_t EraseGrMul; /* Erase group size multiplier */
uint8_t WrProtectGrSize; /* Write protect group size */
uint8_t WrProtectGrEnable; /* Write protect group enable */
uint8_t ManDeflECC; /* Manufacturer default ECC */
uint8_t WrSpeedFact; /* Write speed factor */
uint8_t MaxWrBlockLen; /* Max. write data block length */
uint8_t WriteBlockPaPartial; /* Partial blocks for write allowed */
uint8_t Reserved3; /* Reserved */
uint8_t ContentProtectAppli; /* Content protection application */
uint8_t FileFormatGrouop; /* File format group */
uint8_t CopyFlag; /* Copy flag (OTP) */
uint8_t PermWrProtect; /* Permanent write protection */
uint8_t TempWrProtect; /* Temporary write protection */
uint8_t FileFormat; /* File Format */
uint8_t ECC; /* ECC code */
uint8_t msd_CRC; /* CRC */
uint8_t Reserved4; /* always 1*/
} SDCARDCsdTypeDef;
/* Structure taken from Mass Storage Driver example provided by STM */
typedef struct {
uint8_t ManufacturerID; /* ManufacturerID */
uint16_t OEM_AppliID; /* OEM/Application ID */
char ProdName[6]; /* Product Name */
uint8_t ProdRev; /* Product Revision */
uint32_t ProdSN; /* Product Serial Number */
uint8_t Reserved1; /* Reserved1 */
uint16_t ManufactDate; /* Manufacturing Date */
uint8_t msd_CRC; /* CRC */
uint8_t Reserved2; /* always 1*/
} SDCARDCidTypeDef;
/* Global Variables */
//extern VOLINFO PIOS_SDCARD_VolInfo;
//extern uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
/* Prototypes */
extern int32_t PIOS_SDCARD_Init(void);
extern int32_t PIOS_SDCARD_PowerOn(void);
extern int32_t PIOS_SDCARD_PowerOff(void);
extern int32_t PIOS_SDCARD_CheckAvailable(uint8_t was_available);
extern int32_t PIOS_SDCARD_SendSDCCmd(uint8_t cmd, uint32_t addr, uint8_t crc);
extern int32_t PIOS_SDCARD_SectorRead(uint32_t sector, uint8_t *buffer);
extern int32_t PIOS_SDCARD_SectorWrite(uint32_t sector, uint8_t *buffer);
extern int32_t PIOS_SDCARD_CIDRead(SDCARDCidTypeDef *cid);
extern int32_t PIOS_SDCARD_CSDRead(SDCARDCsdTypeDef *csd);
extern int32_t PIOS_SDCARD_StartupLog(void);
extern int32_t PIOS_SDCARD_IsMounted();
extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
extern int32_t PIOS_SDCARD_GetFree(void);
//extern int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t *buffer, uint32_t len);
//extern int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t *buffer, uint32_t max_len);
extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
extern int32_t PIOS_SDCARD_FileDelete(char *Filename);
#endif
#endif /* PIOS_SDCARD_H */

43
flight/PiOS.posix/inc/pios_servo.h
View File

@ -1,43 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SERVO RC Servo Functions
* @{
*
* @file pios_servo.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief RC Servo functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SERVO_H
#define PIOS_SERVO_H
/* Public Functions */
extern void PIOS_Servo_Init(void);
extern void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t num_banks);
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
#endif /* PIOS_SERVO_H */
/**
* @}
* @}
*/

12
flight/PiOS.posix/inc/pios_struct_helper.h
View File

@ -1,12 +0,0 @@
/* Taken from include/linux/kernel.h from the Linux kernel tree */
/**
* container_of - cast a member of a structure out to the containing structure
* @ptr: the pointer to the member.
* @type: the type of the container struct this is embedded in.
* @member: the name of the member within the struct.
*
*/
#define container_of(ptr, type, member) ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})

35
flight/PiOS.posix/inc/pios_sys.h
View File

@ -1,35 +0,0 @@
/**
******************************************************************************
*
* @file pios_sys.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief System and hardware Init functions header.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SYS_H
#define PIOS_SYS_H
/* Public Functions */
extern void PIOS_SYS_Init(void);
extern int32_t PIOS_SYS_Reset(void);
extern int32_t PIOS_SYS_SerialNumberGet(char *str);
#endif /* PIOS_SYS_H */

2
flight/PiOS/Boards/pios_board.h
View File

@ -17,6 +17,8 @@
#include "STM32F4xx_OSD.h"
#elif USE_STM32F4xx_RM
#include "STM32F4xx_RevoMini.h"
#elif USE_SIM_POSIX
#include "sim_posix.h"
#else
#error Board definition has not been provided.
#endif

0
flight/PiOS.posix/Boards/sim_posix.h → flight/PiOS/Boards/sim_posix.h
View File

4
flight/PiOS/inc/pios_debug.h
View File

@ -33,9 +33,13 @@
extern const char *PIOS_DEBUG_AssertMsg;
#ifdef USE_SIM_POSIX
void PIOS_DEBUG_Init(void);
#else
#include <pios_tim_priv.h>
void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, uint8_t num_channels);
#endif
void PIOS_DEBUG_PinHigh(uint8_t pin);
void PIOS_DEBUG_PinLow(uint8_t pin);
void PIOS_DEBUG_PinValue8Bit(uint8_t value);

21
flight/PiOS/inc/pios_initcall.h
View File

@ -51,6 +51,26 @@ typedef struct {
/* Init module section */
extern initmodule_t __module_initcall_start[], __module_initcall_end[];
#ifdef USE_SIM_POSIX
extern void InitModules();
extern void StartModules();
#define MODULE_INITCALL(ifn, sfn)
#define MODULE_TASKCREATE_ALL { \
/* Start all module threads */ \
StartModules(); \
}
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Initialize the system thread */ \
SystemModInitialize();}
#else
/* initcalls are now grouped by functionality into separate
* subsections. Ordering inside the subsections is determined
* by link order.
@ -77,6 +97,7 @@ extern initmodule_t __module_initcall_start[], __module_initcall_end[];
if (fn->fn_tinit) \
(fn->fn_tinit)(); }
#endif /* USE_SIM_POSIX */
#endif /* PIOS_INITCALL_H */
/**

0
flight/PiOS.posix/inc/pios_posix.h → flight/PiOS/inc/pios_posix.h
View File

9
flight/PiOS/inc/pios_sdcard.h
View File

@ -80,17 +80,17 @@ typedef struct {
uint16_t OEM_AppliID; /* OEM/Application ID */
char ProdName[6]; /* Product Name */
uint8_t ProdRev; /* Product Revision */
u32 ProdSN; /* Product Serial Number */
uint32_t ProdSN; /* Product Serial Number */
uint8_t Reserved1; /* Reserved1 */
uint16_t ManufactDate; /* Manufacturing Date */
uint8_t msd_CRC; /* CRC */
uint8_t Reserved2; /* always 1 */
} SDCARDCidTypeDef;
#ifndef USE_SIM_POSIX
/* Global Variables */
extern VOLINFO PIOS_SDCARD_VolInfo;
extern uint8_t PIOS_SDCARD_Sector[SECTOR_SIZE];
#endif
/* Prototypes */
extern int32_t PIOS_SDCARD_Init(uint32_t spi_id);
extern int32_t PIOS_SDCARD_PowerOn(void);
@ -106,9 +106,10 @@ extern int32_t PIOS_SDCARD_StartupLog(void);
extern int32_t PIOS_SDCARD_IsMounted();
extern int32_t PIOS_SDCARD_MountFS(uint32_t StartupLog);
extern int32_t PIOS_SDCARD_GetFree(void);
#ifndef USE_SIM_POSIX
extern int32_t PIOS_SDCARD_ReadBuffer(PFILEINFO fileinfo, uint8_t * buffer, uint32_t len);
extern int32_t PIOS_SDCARD_ReadLine(PFILEINFO fileinfo, uint8_t * buffer, uint32_t max_len);
#endif
extern int32_t PIOS_SDCARD_FileCopy(char *Source, char *Destination);
extern int32_t PIOS_SDCARD_FileDelete(char *Filename);

0
flight/PiOS.posix/inc/pios_udp.h → flight/PiOS/inc/pios_udp.h
View File

0
flight/PiOS.posix/inc/pios_udp_priv.h → flight/PiOS/inc/pios_udp_priv.h
View File

6
flight/PiOS/pios.h
View File

@ -27,7 +27,9 @@
#ifndef PIOS_H
#define PIOS_H
#ifdef USE_SIM_POSIX
#include <pios_sim_posix.h>
#else
/* PIOS Feature Selection */
#include "pios_config.h"
@ -179,5 +181,5 @@
#include <pios_crc.h>
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* USE_SIMPOSIX */
#endif /* PIOS_H */

19
flight/PiOS.posix/pios.h → flight/PiOS/pios_sim_posix.h
View File

@ -25,11 +25,11 @@
*/
#ifndef PIOS_H
#define PIOS_H
#ifndef PIOS_SIM_POSIX_H
#define PIOS_SIM_POSIX_H
/* PIOS Feature Selection */
#include "pios_config.h"
#include "pios_config.h"
#include <pios_posix.h>
#if defined(PIOS_INCLUDE_FREERTOS)
@ -49,10 +49,10 @@
#include <unistd.h>
/* Generic initcall infrastructure */
#include "pios_initcall.h"
#include <pios_initcall.h>
/* PIOS Board Specific Device Configuration */
#include "pios_board.h"
#include "pios_board.h"
/* PIOS Hardware Includes (posix) */
#include <pios_sys.h>
@ -68,6 +68,13 @@
#include <pios_crc.h>
#include <pios_rcvr.h>
#if defined(PIOS_INCLUDE_IAP)
#include <pios_iap.h>
#endif
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_bl_helper.h>
#endif
#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
#endif /* PIOS_H */
#endif /* PIOS_POSIX_H */

0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/croutine.c → flight/PiOS/posix/Libraries/FreeRTOS/Source/croutine.c
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/FreeRTOS.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/FreeRTOS.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/StackMacros.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/StackMacros.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/croutine.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/croutine.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/list.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/list.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/mpu_wrappers.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/mpu_wrappers.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/portable.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/portable.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/projdefs.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/projdefs.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/queue.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/queue.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/semphr.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/semphr.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/include/task.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/include/task.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/list.c → flight/PiOS/posix/Libraries/FreeRTOS/Source/list.c
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c → flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt → flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c.documentation.txt
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h → flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/portmacro.h
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c → flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/MemMang/heap_3.c
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/readme.txt → flight/PiOS/posix/Libraries/FreeRTOS/Source/portable/readme.txt
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/queue.c → flight/PiOS/posix/Libraries/FreeRTOS/Source/queue.c
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/readme.txt → flight/PiOS/posix/Libraries/FreeRTOS/Source/readme.txt
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/tasks.c → flight/PiOS/posix/Libraries/FreeRTOS/Source/tasks.c
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0
flight/PiOS.posix/posix/Libraries/FreeRTOS/library.mk → flight/PiOS/posix/Libraries/FreeRTOS/library.mk
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0
flight/PiOS.posix/posix/library.mk → flight/PiOS/posix/library.mk
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40
flight/PiOS.posix/inc/pios_wdg.h → flight/PiOS/posix/pios_bl_helper.c
View File

@ -2,13 +2,13 @@
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WDG Watchdog Functions
* @addtogroup PIOS_BOOTLOADER Functions
* @brief HAL code to interface to the OpenPilot AHRS module
* @{
*
* @file pios_wdg.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief SPI functions header.
* @file pios_bl_helper.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Bootloader Helper Functions
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
@ -28,18 +28,26 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_WDG
#define PIOS_WDG
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_BL_HELPER)
#include <pios_board_info.h>
void PIOS_WDG_Init();
bool PIOS_WDG_RegisterFlag(uint16_t flag_requested);
bool PIOS_WDG_UpdateFlag(uint16_t flag);
uint16_t PIOS_WDG_GetBootupFlags();
uint16_t PIOS_WDG_GetActiveFlags();
void PIOS_WDG_Clear(void);
uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
{
return 0;
}
#define PIOS_WDG_ACTUATOR 0x0001
#define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_MANUAL 0x0008
extern const struct fw_version_info fw_version_blob;
void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
{
uint8_t * desc = (uint8_t *) &fw_version_blob;
for (uint32_t i = 0; i < size; i++) {
array[i] = desc[i];
}
}
void PIOS_BL_HELPER_CRC_Ini()
{
}
#endif

20
flight/PiOS/posix/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 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
};

0
flight/PiOS.posix/posix/pios_com.c → flight/PiOS/posix/pios_com.c
View File

0
flight/PiOS.posix/posix/pios_crc.c → flight/PiOS/posix/pios_crc.c
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0
flight/PiOS.posix/posix/pios_debug.c → flight/PiOS/posix/pios_debug.c
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0
flight/PiOS.posix/posix/pios_delay.c → flight/PiOS/posix/pios_delay.c
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69
flight/PiOS/posix/pios_iap.c Normal file
View File

@ -0,0 +1,69 @@
/*!
* @File iap.c
* @Brief
*
* Created on: Sep 6, 2010
* Author: joe
*/
/****************************************************************************************
* Header files
****************************************************************************************/
#include <pios.h>
/*!
* \brief PIOS_IAP_Init - performs required initializations for iap module.
* \param none.
* \return none.
* \retval none.
*
* Created: Sep 8, 2010 10:10:48 PM by joe
*/
void PIOS_IAP_Init( void )
{
}
/*!
* \brief Determines if an In-Application-Programming request has been made.
* \param *comm - Which communication stream to use for the IAP (USB, Telemetry, I2C, SPI, etc)
* \return TRUE - if correct sequence found, along with 'comm' updated.
* FALSE - Note that 'comm' will have an invalid comm identifier.
* \retval
*
*/
uint32_t PIOS_IAP_CheckRequest( void )
{
return false;
}
/*!
* \brief Sets the 1st word of the request sequence.
* \param n/a
* \return n/a
* \retval
*/
void PIOS_IAP_SetRequest1(void)
{
}
void PIOS_IAP_SetRequest2(void)
{
}
void PIOS_IAP_ClearRequest(void)
{
}
uint16_t PIOS_IAP_ReadBootCount(void)
{
return 0;
}
void PIOS_IAP_WriteBootCount (uint16_t boot_count)
{
}

0
flight/PiOS.posix/posix/pios_irq.c → flight/PiOS/posix/pios_irq.c
View File

0
flight/PiOS.posix/posix/pios_led.c → flight/PiOS/posix/pios_led.c
View File

0
flight/PiOS.posix/posix/pios_rcvr.c → flight/PiOS/posix/pios_rcvr.c
View File

2
flight/PiOS.posix/posix/pios_sdcard.c → flight/PiOS/posix/pios_sdcard.c
View File

@ -38,7 +38,7 @@
* \param[in] mode currently only mode 0 supported
* \return < 0 if initialisation failed
*/
int32_t PIOS_SDCARD_Init(void)
int32_t PIOS_SDCARD_Init(uint32_t spi_id)
{
/* No error */
return 0;

0
flight/PiOS.posix/posix/pios_servo.c → flight/PiOS/posix/pios_servo.c
View File

32
flight/PiOS.posix/posix/pios_sys.c → flight/PiOS/posix/pios_sys.c
View File

@ -110,6 +110,23 @@ int32_t PIOS_SYS_Reset(void)
return -1;
}
/**
* Returns the serial number as a string
* param[out] uint8_t pointer to a string which can store at least 12 bytes
* (12 bytes returned for STM32)
* return < 0 if feature not supported
*/
int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
/* Stored in the so called "electronic signature" */
for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
array[i] = 0xff;
}
/* No error */
return 0;
}
/**
* Returns the serial number as a string
* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
@ -118,19 +135,12 @@ int32_t PIOS_SYS_Reset(void)
*/
int32_t PIOS_SYS_SerialNumberGet(char *str)
{
int i;
/* Stored in the so called "electronic signature" */
for(i=0; i<24; ++i) {
//uint8_t b = MEM8(0x1ffff7e8 + (i/2));
//if( !(i & 1) )
//b >>= 4;
//b &= 0x0f;
//str[i] = ((b > 9) ? ('A'-10) : '0') + b;
str[i]='6';
int i;
for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
str[i] = 'F';
}
str[i] = 0;
str[i] = '\0';
/* No error */
return 0;

0
flight/PiOS.posix/posix/pios_udp.c → flight/PiOS/posix/pios_udp.c
View File

3
flight/PiOS.posix/posix/pios_wdg.c → flight/PiOS/posix/pios_wdg.c
View File

@ -51,8 +51,9 @@
* @param[in] delayMs The delay period in ms
* @returns Maximum recommended delay between updates
*/
void PIOS_WDG_Init()
uint16_t PIOS_WDG_Init()
{
return 0;
}
/**

11
flight/Project/OpenOCD/stlink-v2.cfg
View File

@ -6,11 +6,12 @@ interface stlink
stlink_layout usb
stlink_device_desc "ST-LINK/V2"
stlink_vid_pid 0x0483 0x3748
#
# dummy values, not really needed
#
adapter_khz 1
reset_config trst_and_srst
# unused but set to disable warnings
adapter_khz 1000
#reset_config trst_and_srst
reset_config srst_only srst_nogate
gdb_port 3333
tcl_port 6666

47
flight/Project/OpenOCD/stm32f4xx.stlink.cfg
View File

@ -1,27 +1,60 @@
#
# STM32f4x stlink pseudo target
#
if { [info exists CHIPNAME] == 0 } {
set CHIPNAME stm32f4x
}
if { [info exists CPUTAPID] == 0 } {
set CPUTAPID 0x2ba01477
}
if { [info exists WORKAREASIZE] == 0 } {
set WORKAREASIZE 0x10000
}
#
# stm32 stlink pseudo target
#
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32f4x
set _CHIPNAME stm32f1x
}
# Work-area is a space in RAM used for flash programming
# By default use 64kB
# By default use 16kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x10000
set _WORKAREASIZE 0x4000
}
if { [info exists CPUTAPID] } {
set _CPUTAPID $CPUTAPID
} else {
set _CPUTAPID 0x2ba01477
# this is the SW-DP tap id not the jtag tap id
set _CPUTAPID 0x1ba01477
}
transport select stlink_swd
if { [info exists TRANSPORT] } {
set _TRANSPORT $TRANSPORT
if { $TRANSPORT == "stlink_jtag" } {
if { [info exists CPUTAPID] == 0 } {
# jtag requires us to use the jtag tap id
set _CPUTAPID 0x3ba00477
}
}
} else {
set _TRANSPORT stlink_swd
}
#
# possibles value are stlink_swd or stlink_jtag
#
transport select $_TRANSPORT
stlink newtap $_CHIPNAME cpu -expected-id $_CPUTAPID
@ -30,5 +63,7 @@ target create $_TARGETNAME stm32_stlink -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
# stm32f4x family uses stm32f2x driver
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f2x 0x08000000 0 0 0 $_TARGETNAME
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME

12
flight/RemoteSystemsTempFiles/.project
View File

@ -1,12 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>RemoteSystemsTempFiles</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
</buildSpec>
<natures>
<nature>org.eclipse.rse.ui.remoteSystemsTempNature</nature>
</natures>
</projectDescription>

19
flight/Bootloaders/BootloaderUpdater/Makefile → flight/targets/Bootloaders/BootloaderUpdater/Makefile
View File

@ -23,16 +23,10 @@
#####
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
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
DEBUG ?= NO
@ -61,15 +55,6 @@ FLASH_TOOL = OPENOCD
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ./UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ./UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPTESTS = ./Tests
OPMODULEDIR = ./Modules
FLIGHTLIB = ../../Libraries
FLIGHTLIBINC = ../../Libraries/inc
PIOS = ../../PiOS
PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x
PIOSCOMMON = $(PIOS)/Common
@ -89,8 +74,6 @@ MSDDIR = $(APPLIBDIR)/msd
RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = $(TOP)/flight/board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files

0
flight/Bootloaders/BootloaderUpdater/inc/pios_config.h → flight/targets/Bootloaders/BootloaderUpdater/inc/pios_config.h
View File

0
flight/Bootloaders/BootloaderUpdater/main.c → flight/targets/Bootloaders/BootloaderUpdater/main.c
View File

0
flight/Bootloaders/BootloaderUpdater/pios_board.c → flight/targets/Bootloaders/BootloaderUpdater/pios_board.c
View File

20
flight/Bootloaders/CopterControl/Makefile → flight/targets/Bootloaders/CopterControl/Makefile
View File

@ -23,16 +23,10 @@
#####
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
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
DEBUG ?= NO
@ -58,15 +52,7 @@ FLASH_TOOL = OPENOCD
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ./UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ./UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPTESTS = ./Tests
OPMODULEDIR = ./Modules
FLIGHTLIB = ../../Libraries
FLIGHTLIBINC = ../../Libraries/inc
PIOS = ../../PiOS
FLIGHTLIBINC = $(FLIGHTLIB)/inc
PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x
PIOSCOMMON = $(PIOS)/Common
@ -86,8 +72,6 @@ MSDDIR = $(APPLIBDIR)/msd
RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files

0
flight/Bootloaders/CopterControl/inc/common.h → flight/targets/Bootloaders/CopterControl/inc/common.h
View File

0
flight/Bootloaders/CopterControl/inc/op_dfu.h → flight/targets/Bootloaders/CopterControl/inc/op_dfu.h
View File

0
flight/Bootloaders/CopterControl/inc/pios_config.h → flight/targets/Bootloaders/CopterControl/inc/pios_config.h
View File

0
flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h → flight/targets/Bootloaders/CopterControl/inc/pios_usb_board_data.h
View File

0
flight/Bootloaders/CopterControl/main.c → flight/targets/Bootloaders/CopterControl/main.c
View File

0
flight/Bootloaders/CopterControl/op_dfu.c → flight/targets/Bootloaders/CopterControl/op_dfu.c
View File

0
flight/Bootloaders/CopterControl/pios_board.c → flight/targets/Bootloaders/CopterControl/pios_board.c
View File

0
flight/Bootloaders/CopterControl/pios_usb_board_data.c → flight/targets/Bootloaders/CopterControl/pios_usb_board_data.c
View File

13
flight/Bootloaders/OSD/Makefile → flight/targets/Bootloaders/OSD/Makefile
View File

@ -23,16 +23,10 @@
#####
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
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
DEBUG ?= NO
@ -49,10 +43,8 @@ endif
# Paths
OSD_BL = $(WHEREAMI)
OSD_BLINC = $(OSD_BL)/inc
PIOS = ../../PiOS
PIOSINC = $(PIOS)/inc
FLIGHTLIB = ../../Libraries
FLIGHTLIBINC = ../../Libraries/inc
FLIGHTLIBINC = $(FLIGHTLIB)/inc
PIOSSTM32F4XX = $(PIOS)/STM32F4xx
PIOSCOMMON = $(PIOS)/Common
PIOSBOARDS = $(PIOS)/Boards
@ -62,7 +54,6 @@ STMLIBDIR = $(APPLIBDIR)
STMSPDDIR = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
STMSPDSRCDIR = $(STMSPDDIR)/src
STMSPDINCDIR = $(STMSPDDIR)/inc
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files

0
flight/Bootloaders/OSD/inc/common.h → flight/targets/Bootloaders/OSD/inc/common.h
View File

0
flight/Bootloaders/OSD/inc/op_dfu.h → flight/targets/Bootloaders/OSD/inc/op_dfu.h
View File

0
flight/Bootloaders/OSD/inc/pios_config.h → flight/targets/Bootloaders/OSD/inc/pios_config.h
View File

0
flight/Bootloaders/OSD/inc/pios_usb_board_data.h → flight/targets/Bootloaders/OSD/inc/pios_usb_board_data.h
View File

0
flight/Bootloaders/OSD/main.c → flight/targets/Bootloaders/OSD/main.c
View File

0
flight/Bootloaders/OSD/op_dfu.c → flight/targets/Bootloaders/OSD/op_dfu.c
View File

0
flight/Bootloaders/OSD/pios_board.c → flight/targets/Bootloaders/OSD/pios_board.c
View File

0
flight/Bootloaders/OSD/pios_usb_board_data.c → flight/targets/Bootloaders/OSD/pios_usb_board_data.c
View File

20
flight/Bootloaders/PipXtreme/Makefile → flight/targets/Bootloaders/PipXtreme/Makefile
View File

@ -23,16 +23,10 @@
#####
WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
TOP := $(realpath $(WHEREAMI)/../../../)
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
DEBUG ?= NO
@ -58,15 +52,7 @@ FLASH_TOOL = OPENOCD
# Paths
OPSYSTEM = .
OPSYSTEMINC = $(OPSYSTEM)/inc
OPUAVTALK = ./UAVTalk
OPUAVTALKINC = $(OPUAVTALK)/inc
OPUAVOBJ = ./UAVObjects
OPUAVOBJINC = $(OPUAVOBJ)/inc
OPTESTS = ./Tests
OPMODULEDIR = ./Modules
FLIGHTLIB = ../../Libraries
FLIGHTLIBINC = ../../Libraries/inc
PIOS = ../../PiOS
FLIGHTLIBINC = $(FLIGHTLIB)/inc
PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x
PIOSCOMMON = $(PIOS)/Common
@ -86,8 +72,6 @@ MSDDIR = $(APPLIBDIR)/msd
RTOSDIR = $(APPLIBDIR)/FreeRTOS
RTOSSRCDIR = $(RTOSDIR)/Source
RTOSINCDIR = $(RTOSSRCDIR)/include
DOXYGENDIR = ../Doc/Doxygen
HWDEFSINC = ../../board_hw_defs/$(BOARD_NAME)
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files

0
flight/Bootloaders/PipXtreme/inc/common.h → flight/targets/Bootloaders/PipXtreme/inc/common.h
View File

0
flight/Bootloaders/PipXtreme/inc/op_dfu.h → flight/targets/Bootloaders/PipXtreme/inc/op_dfu.h
View File

0
flight/Bootloaders/PipXtreme/inc/pios_config.h → flight/targets/Bootloaders/PipXtreme/inc/pios_config.h
View File

0
flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h → flight/targets/Bootloaders/PipXtreme/inc/pios_usb_board_data.h
View File

0
flight/Bootloaders/PipXtreme/main.c → flight/targets/Bootloaders/PipXtreme/main.c
View File

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