mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
deleted patch file since it's no longer needed
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@996 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus
corvus
parent
e2176d3117
commit
edcf4f76f0
@ -1,1065 +0,0 @@
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Index: OpenPilot/Makefile.x86
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===================================================================
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--- OpenPilot/Makefile.x86 (Revision 0)
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+++ OpenPilot/Makefile.x86 (Revision 0)
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@@ -0,0 +1,616 @@
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+ #####
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+ # Project: OpenPilot
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+ #
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+ #
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+ # Makefile for OpenPilot project build PiOS and the AP.
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+ #
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+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
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+ #
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+ #
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+ # This program is free software; you can redistribute it and/or modify
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+ # it under the terms of the GNU General Public License as published by
|
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+ # the Free Software Foundation; either version 3 of the License, or
|
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+ # (at your option) any later version.
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||||||
+ #
|
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||||||
+ # This program is distributed in the hope that it will be useful, but
|
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||||||
+ # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
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||||||
+ # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
||||||
+ # for more details.
|
|
||||||
+ #
|
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||||||
+ # 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.,
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+ # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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+ #####
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+
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+
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+# Set developer code and compile options
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+# Set to YES to compile for debugging
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+DEBUG ?= YES
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+
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+# Set to YES to use the Servo output pins for debugging via scope or logic analyser
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+ENABLE_DEBUG_PINS ?= NO
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+
|
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+# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
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+ENABLE_AUX_UART ?= NO
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+
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+#
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+USE_BOOTLOADER ?= NO
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||||||
+
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||||||
+
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||||||
+# Set to YES when using Code Sourcery toolchain
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||||||
+CODE_SOURCERY ?= NO
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+
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+# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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+TCHAIN_PREFIX ?= ""
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+
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+# Remove command is different for Code Sourcery on Windows
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+REMOVE_CMD ?= rm
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+
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+FLASH_TOOL = OPENOCD
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+
|
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||||||
+# YES enables -mthumb option to flags for source-files listed
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+# in SRC and CPPSRC
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+USE_THUMB_MODE = YES
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+
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+# List of modules to include
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+MODULES = Telemetry Stabilization
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+#MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
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+#MODULES = Telemetry Example
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+#MODULES = Telemetry MK/MKSerial
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+
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+#MODULES += Osd/OsdEtStd
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+
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+
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||||||
+# MCU name, submodel and board
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+# - MCU used for compiler-option (-mcpu)
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+# - MODEL used for linker-script name (-T) and passed as define
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+# - BOARD just passed as define (optional)
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+MCU = i686
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+#CHIP = STM32F103RET
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|
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+#BOARD = STM3210E_OP
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||||||
+ifeq ($(USE_BOOTLOADER), YES)
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||||||
+MODEL = HD_BL
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||||||
+
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||||||
+else
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+MODEL = HD_NB
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|
||||||
+endif
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+
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||||||
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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+OUTDIR = Build
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+
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+# Target file name (without extension).
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+TARGET = OpenPilot
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+
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+# Paths
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+OPSYSTEM = ./System
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+OPSYSTEMINC = $(OPSYSTEM)/inc
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|
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+OPUAVTALK = ./UAVTalk
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|
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+OPUAVTALKINC = $(OPUAVTALK)/inc
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|
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+OPUAVOBJ = ./UAVObjects
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|
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+OPUAVOBJINC = $(OPUAVOBJ)/inc
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|
||||||
+OPTESTS = ./Tests
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|
||||||
+OPMODULEDIR = ./Modules
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|
||||||
+PIOS = ../PiOS.x86
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|
||||||
+PIOSINC = $(PIOS)/inc
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+PIOSX86 = $(PIOS)/x86
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+APPLIBDIR = $(PIOSX86)/Libraries
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+RTOSDIR = $(APPLIBDIR)/FreeRTOS
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+RTOSSRCDIR = $(RTOSDIR)/Source
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+RTOSINCDIR = $(RTOSSRCDIR)/include
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+DOXYGENDIR = ../Doc/Doxygen
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+
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+# List C source files here. (C dependencies are automatically generated.)
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+# use file-extension c for "c-only"-files
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+
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+MODNAMES = $(notdir ${MODULES})
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+
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+ifndef TESTAPP
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+## MODULES
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+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
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+SRC += ${OUTDIR}/InitMods.c
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+## OPENPILOT CORE:
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+SRC += ${OPMODULEDIR}/System/systemmod.c
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+SRC += $(OPSYSTEM)/openpilot.c
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+SRC += $(OPSYSTEM)/pios_board_x86.c
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+SRC += $(OPSYSTEM)/alarms.c
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+SRC += $(OPUAVTALK)/uavtalk.c
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+SRC += $(OPUAVOBJ)/uavobjectmanager.c
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+SRC += $(OPUAVOBJ)/uavobjectsinit.c
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+SRC += $(OPUAVOBJ)/eventdispatcher.c
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+else
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+## TESTCODE
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+SRC += $(OPTESTS)/test_common.c
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+SRC += $(OPTESTS)/$(TESTAPP).c
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+endif
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+
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+
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+
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+## UAVOBJECTS
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+ifndef TESTAPP
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+SRC += $(OPUAVOBJ)/exampleobject1.c
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+SRC += $(OPUAVOBJ)/exampleobject2.c
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+SRC += $(OPUAVOBJ)/examplesettings.c
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+SRC += $(OPUAVOBJ)/objectpersistence.c
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+SRC += $(OPUAVOBJ)/positionactual.c
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+SRC += $(OPUAVOBJ)/gcstelemetrystats.c
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+SRC += $(OPUAVOBJ)/flighttelemetrystats.c
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+SRC += $(OPUAVOBJ)/systemstats.c
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|
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+SRC += $(OPUAVOBJ)/systemalarms.c
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+SRC += $(OPUAVOBJ)/systemsettings.c
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||||||
+SRC += $(OPUAVOBJ)/telemetrysettings.c
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|
||||||
+SRC += $(OPUAVOBJ)/actuatorcommand.c
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+SRC += $(OPUAVOBJ)/actuatordesired.c
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+SRC += $(OPUAVOBJ)/actuatorsettings.c
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||||||
+SRC += $(OPUAVOBJ)/manualcontrolcommand.c
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+SRC += $(OPUAVOBJ)/manualcontrolsettings.c
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+SRC += $(OPUAVOBJ)/attitudedesired.c
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+SRC += $(OPUAVOBJ)/stabilizationsettings.c
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+SRC += $(OPUAVOBJ)/altitudeactual.c
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+SRC += $(OPUAVOBJ)/attitudeactual.c
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+SRC += $(OPUAVOBJ)/attitudesettings.c
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+SRC += $(OPUAVOBJ)/flightbatterystate.c
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+endif
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+
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+## PIOS Hardware (x86)
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||||||
+SRC += $(PIOSX86)/pios_sys.c
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+SRC += $(PIOSX86)/pios_led.c
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+SRC += $(PIOSX86)/pios_delay.c
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+SRC += $(PIOSX86)/pios_sdcard.c
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+SRC += $(PIOSX86)/pios_udp.c
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+SRC += $(PIOSX86)/pios_com.c
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+#
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+## RTOS
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+SRC += $(RTOSSRCDIR)/list.c
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+SRC += $(RTOSSRCDIR)/queue.c
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+SRC += $(RTOSSRCDIR)/tasks.c
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+#
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+## RTOS Portable
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+SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
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+SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
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+
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|
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+
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||||||
+
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||||||
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
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||||||
+# use file-extension c for "c-only"-files
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||||||
+## just for testing, timer.c could be compiled in thumb-mode too
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+SRCARM =
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+
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+# List C++ source files here.
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||||||
+# use file-extension .cpp for C++-files (not .C)
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+CPPSRC =
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+
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||||||
+# List C++ source files here which must be compiled in ARM-Mode.
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||||||
+# use file-extension .cpp for C++-files (not .C)
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||||||
+#CPPSRCARM = $(TARGET).cpp
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+CPPSRCARM =
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+
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||||||
+
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|
||||||
+# List any extra directories to look for include files here.
|
|
||||||
+# Each directory must be seperated by a space.
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|
||||||
+EXTRAINCDIRS = $(OPSYSTEM)
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|
||||||
+EXTRAINCDIRS += $(OPSYSTEMINC)
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|
||||||
+EXTRAINCDIRS += $(OPUAVTALK)
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|
||||||
+EXTRAINCDIRS += $(OPUAVTALKINC)
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|
||||||
+EXTRAINCDIRS += $(OPUAVOBJ)
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|
||||||
+EXTRAINCDIRS += $(OPUAVOBJINC)
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|
||||||
+EXTRAINCDIRS += $(MODEXAMPLE)
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|
||||||
+EXTRAINCDIRS += $(MODEXAMPLEINC)
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|
||||||
+EXTRAINCDIRS += $(MODSYSTEMINC)
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|
||||||
+EXTRAINCDIRS += $(MODTELEMETRY)
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|
||||||
+EXTRAINCDIRS += $(MODTELEMETRYINC)
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|
||||||
+EXTRAINCDIRS += $(MODGPS)
|
|
||||||
+EXTRAINCDIRS += $(MODGPSINC)
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|
||||||
+EXTRAINCDIRS += $(MODMANUALCONTROL)
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|
||||||
+EXTRAINCDIRS += $(MODMANUALCONTROLINC)
|
|
||||||
+EXTRAINCDIRS += $(MODACTUATOR)
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|
||||||
+EXTRAINCDIRS += $(MODACTUATORINC)
|
|
||||||
+EXTRAINCDIRS += $(MODALTITUDE)
|
|
||||||
+EXTRAINCDIRS += $(MODALTITUDEINC)
|
|
||||||
+EXTRAINCDIRS += $(MODATTITUDE)
|
|
||||||
+EXTRAINCDIRS += $(MODATTITUDEINC)
|
|
||||||
+EXTRAINCDIRS += $(PIOS)
|
|
||||||
+EXTRAINCDIRS += $(PIOSINC)
|
|
||||||
+EXTRAINCDIRS += $(PIOSX86)
|
|
||||||
+EXTRAINCDIRS += $(MININIDIR)
|
|
||||||
+EXTRAINCDIRS += $(RTOSINCDIR)
|
|
||||||
+EXTRAINCDIRS += $(APPLIBDIR)
|
|
||||||
+EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix
|
|
||||||
+
|
|
||||||
+EXTRAINCDIRS += ${foreach MOD, ${MODULES}, Modules/${MOD}/inc} ${OPMODULEDIR}/System/inc
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# List any extra directories to look for library files here.
|
|
||||||
+# Also add directories where the linker should search for
|
|
||||||
+# includes from linker-script to the list
|
|
||||||
+# Each directory must be seperated by a space.
|
|
||||||
+EXTRA_LIBDIRS =
|
|
||||||
+
|
|
||||||
+# Extra Libraries
|
|
||||||
+# Each library-name must be seperated by a space.
|
|
||||||
+# i.e. to link with libxyz.a, libabc.a and libefsl.a:
|
|
||||||
+# EXTRA_LIBS = xyz abc efsl
|
|
||||||
+# for newlib-lpc (file: libnewlibc-lpc.a):
|
|
||||||
+# EXTRA_LIBS = newlib-lpc
|
|
||||||
+EXTRA_LIBS =
|
|
||||||
+
|
|
||||||
+# Path to Linker-Scripts
|
|
||||||
+LINKERSCRIPTPATH = $(PIOSSTM32F10X)
|
|
||||||
+
|
|
||||||
+# Optimization level, can be [0, 1, 2, 3, s].
|
|
||||||
+# 0 = turn off optimization. s = optimize for size.
|
|
||||||
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
|
|
||||||
+
|
|
||||||
+ifeq ($(DEBUG),YES)
|
|
||||||
+OPT = 0
|
|
||||||
+else
|
|
||||||
+OPT = s
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+# Output format. (can be ihex or binary or both)
|
|
||||||
+# binary to create a load-image in raw-binary format i.e. for SAM-BA,
|
|
||||||
+# ihex to create a load-image in Intel hex format
|
|
||||||
+#LOADFORMAT = ihex
|
|
||||||
+#LOADFORMAT = binary
|
|
||||||
+LOADFORMAT = both
|
|
||||||
+
|
|
||||||
+# Debugging format.
|
|
||||||
+#DEBUGF = dwarf-2
|
|
||||||
+
|
|
||||||
+# Place project-specific -D (define) and/or
|
|
||||||
+# -U options for C here.
|
|
||||||
+ifeq ($(ENABLE_DEBUG_PINS), YES)
|
|
||||||
+CDEFS += -DPIOS_ENABLE_DEBUG_PINS
|
|
||||||
+endif
|
|
||||||
+ifeq ($(ENABLE_AUX_UART), YES)
|
|
||||||
+CDEFS += -DPIOS_ENABLE_AUX_UART
|
|
||||||
+endif
|
|
||||||
+ifeq ($(USE_BOOTLOADER), YES)
|
|
||||||
+CDEFS += -DUSE_BOOTLOADER
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Compiler flag to set the C Standard level.
|
|
||||||
+# c89 - "ANSI" C
|
|
||||||
+# gnu89 - c89 plus GCC extensions
|
|
||||||
+# c99 - ISO C99 standard (not yet fully implemented)
|
|
||||||
+# gnu99 - c99 plus GCC extensions
|
|
||||||
+CSTANDARD = -std=gnu99
|
|
||||||
+
|
|
||||||
+#-----
|
|
||||||
+
|
|
||||||
+# Compiler flags.
|
|
||||||
+
|
|
||||||
+# -g*: generate debugging information
|
|
||||||
+# -O*: optimization level
|
|
||||||
+# -f...: tuning, see GCC manual and avr-libc documentation
|
|
||||||
+# -Wall...: warning level
|
|
||||||
+# -Wa,...: tell GCC to pass this to the assembler.
|
|
||||||
+# -adhlns...: create assembler listing
|
|
||||||
+#
|
|
||||||
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
|
|
||||||
+
|
|
||||||
+ifeq ($(DEBUG),YES)
|
|
||||||
+CFLAGS = -g$(DEBUGF) -DDEBUG
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+CFLAGS += -DX86_WRAPPERS
|
|
||||||
+CFLAGS += -O$(OPT)
|
|
||||||
+CFLAGS += -mcpu=$(MCU)
|
|
||||||
+CFLAGS += $(CDEFS)
|
|
||||||
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
|
||||||
+
|
|
||||||
+CFLAGS += -fomit-frame-pointer
|
|
||||||
+ifeq ($(CODE_SOURCERY), YES)
|
|
||||||
+CFLAGS += -fpromote-loop-indices
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+CFLAGS += -Wall
|
|
||||||
+CFLAGS += -Werror
|
|
||||||
+# Compiler flags to generate dependency files:
|
|
||||||
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
|
|
||||||
+
|
|
||||||
+# flags only for C
|
|
||||||
+#CONLYFLAGS += -Wnested-externs
|
|
||||||
+CONLYFLAGS += $(CSTANDARD)
|
|
||||||
+
|
|
||||||
+# Assembler flags.
|
|
||||||
+# -Wa,...: tell GCC to pass this to the assembler.
|
|
||||||
+# -ahlns: create listing
|
|
||||||
+ASFLAGS = -mcpu=$(MCU) -I. -x assembler-with-cpp
|
|
||||||
+ASFLAGS += $(ADEFS)
|
|
||||||
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
|
|
||||||
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
|
|
||||||
+
|
|
||||||
+MATH_LIB = -lm
|
|
||||||
+
|
|
||||||
+# Linker flags.
|
|
||||||
+# -Wl,...: tell GCC to pass this to linker.
|
|
||||||
+# -Map: create map file
|
|
||||||
+# --cref: add cross reference to map file
|
|
||||||
+LDFLAGS += -lpthread
|
|
||||||
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
|
|
||||||
+LDFLAGS += -lc
|
|
||||||
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
|
|
||||||
+LDFLAGS += $(MATH_LIB)
|
|
||||||
+LDFLAGS += -lc -lgcc
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Define programs and commands.
|
|
||||||
+CC = $(TCHAIN_PREFIX)gcc
|
|
||||||
+CPP = $(TCHAIN_PREFIX)g++
|
|
||||||
+AR = $(TCHAIN_PREFIX)ar
|
|
||||||
+OBJCOPY = $(TCHAIN_PREFIX)objcopy
|
|
||||||
+OBJDUMP = $(TCHAIN_PREFIX)objdump
|
|
||||||
+SIZE = $(TCHAIN_PREFIX)size
|
|
||||||
+NM = $(TCHAIN_PREFIX)nm
|
|
||||||
+REMOVE = $(REMOVE_CMD) -f
|
|
||||||
+###SHELL = sh
|
|
||||||
+###COPY = cp
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Define Messages
|
|
||||||
+# English
|
|
||||||
+MSG_ERRORS_NONE = Errors: none
|
|
||||||
+MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
|
|
||||||
+MSG_END = ${quote}-------- end --------${quote}
|
|
||||||
+MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
|
|
||||||
+MSG_SIZE_BEFORE = ${quote}Size before:${quote}
|
|
||||||
+MSG_SIZE_AFTER = ${quote}Size after build:${quote}
|
|
||||||
+MSG_LOAD_FILE = ${quote}Creating load file:${quote}
|
|
||||||
+MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
|
|
||||||
+MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
|
|
||||||
+MSG_LINKING = ${quote}**** Linking :${quote}
|
|
||||||
+MSG_COMPILING = ${quote}**** Compiling C :${quote}
|
|
||||||
+MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
|
|
||||||
+MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
|
|
||||||
+MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
|
|
||||||
+MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
|
|
||||||
+MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
|
|
||||||
+MSG_CLEANING = ${quote}Cleaning project:${quote}
|
|
||||||
+MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
|
|
||||||
+MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
|
|
||||||
+MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
|
|
||||||
+
|
|
||||||
+# List of all source files.
|
|
||||||
+ALLSRC = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
|
|
||||||
+# List of all source files without directory and file-extension.
|
|
||||||
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
|
|
||||||
+
|
|
||||||
+# Define all object files.
|
|
||||||
+ALLOBJ = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
|
|
||||||
+
|
|
||||||
+# Define all listing files (used for make clean).
|
|
||||||
+LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
|
|
||||||
+# Define all depedency-files (used for make clean).
|
|
||||||
+DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
|
|
||||||
+
|
|
||||||
+elf: $(OUTDIR)/$(TARGET).elf
|
|
||||||
+lss: $(OUTDIR)/$(TARGET).lss
|
|
||||||
+sym: $(OUTDIR)/$(TARGET).sym
|
|
||||||
+hex: $(OUTDIR)/$(TARGET).hex
|
|
||||||
+bin: $(OUTDIR)/$(TARGET).bin
|
|
||||||
+
|
|
||||||
+# Default target.
|
|
||||||
+#all: begin gccversion sizebefore build sizeafter finished end
|
|
||||||
+#all: begin gccversion build sizeafter finished end
|
|
||||||
+all: elf
|
|
||||||
+
|
|
||||||
+ifeq ($(LOADFORMAT),ihex)
|
|
||||||
+build: elf hex lss sym
|
|
||||||
+else
|
|
||||||
+ifeq ($(LOADFORMAT),binary)
|
|
||||||
+build: elf bin lss sym
|
|
||||||
+else
|
|
||||||
+ifeq ($(LOADFORMAT),both)
|
|
||||||
+build: elf hex bin lss sym
|
|
||||||
+else
|
|
||||||
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
|
|
||||||
+endif
|
|
||||||
+endif
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+# Test if quotes are needed for the echo-command
|
|
||||||
+result = ${shell echo "test"}
|
|
||||||
+ifeq (${result}, test)
|
|
||||||
+ quote = '
|
|
||||||
+else
|
|
||||||
+ quote =
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+${OUTDIR}/InitMods.c: Makefile.x86
|
|
||||||
+ @echo ${MSG_MODINIT}
|
|
||||||
+ @echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
|
|
||||||
+ @echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
|
|
||||||
+ @echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
|
||||||
+ @echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
|
||||||
+ @echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
|
||||||
+
|
|
||||||
+# Eye candy.
|
|
||||||
+begin:
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_BEGIN)
|
|
||||||
+
|
|
||||||
+finished:
|
|
||||||
+## @echo $(MSG_ERRORS_NONE)
|
|
||||||
+
|
|
||||||
+end:
|
|
||||||
+ @echo $(MSG_END)
|
|
||||||
+## @echo
|
|
||||||
+
|
|
||||||
+# Display sizes of sections.
|
|
||||||
+ELFSIZE = $(SIZE) -A $(OUTDIR)/$(TARGET).elf
|
|
||||||
+##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
|
|
||||||
+sizebefore:
|
|
||||||
+# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
|
|
||||||
+
|
|
||||||
+sizeafter:
|
|
||||||
+# @if [ -f $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
|
|
||||||
+ @echo $(MSG_SIZE_AFTER)
|
|
||||||
+ $(ELFSIZE)
|
|
||||||
+
|
|
||||||
+# Display compiler version information.
|
|
||||||
+gccversion :
|
|
||||||
+ @$(CC) --version
|
|
||||||
+# @echo $(ALLOBJ)
|
|
||||||
+
|
|
||||||
+# Program the device.
|
|
||||||
+ifeq ($(FLASH_TOOL),OPENOCD)
|
|
||||||
+# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
|
|
||||||
+program: $(OUTDIR)/$(TARGET).elf
|
|
||||||
+ @echo ${quote}Programming with OPENOCD${quote}
|
|
||||||
+ $(OOCD_EXE) $(OOCD_CL)
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+# Create final output file (.hex) from ELF output file.
|
|
||||||
+%.hex: %.elf
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_LOAD_FILE) $@
|
|
||||||
+ $(OBJCOPY) -O ihex $< $@
|
|
||||||
+
|
|
||||||
+# Create final output file (.bin) from ELF output file.
|
|
||||||
+%.bin: %.elf
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_LOAD_FILE) $@
|
|
||||||
+ $(OBJCOPY) -O binary $< $@
|
|
||||||
+
|
|
||||||
+# Create extended listing file/disassambly from ELF output file.
|
|
||||||
+# using objdump testing: option -C
|
|
||||||
+%.lss: %.elf
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_EXTENDED_LISTING) $@
|
|
||||||
+ $(OBJDUMP) -h -S -C -r $< > $@
|
|
||||||
+# $(OBJDUMP) -x -S $< > $@
|
|
||||||
+
|
|
||||||
+# Create a symbol table from ELF output file.
|
|
||||||
+%.sym: %.elf
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_SYMBOL_TABLE) $@
|
|
||||||
+ $(NM) -n $< > $@
|
|
||||||
+
|
|
||||||
+# Link: create ELF output file from object files.
|
|
||||||
+.SECONDARY : $(TARGET).elf
|
|
||||||
+.PRECIOUS : $(ALLOBJ)
|
|
||||||
+%.elf: $(ALLOBJ)
|
|
||||||
+ @echo $(MSG_LINKING) $@
|
|
||||||
+# use $(CC) for C-only projects or $(CPP) for C++-projects:
|
|
||||||
+ $(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
|
||||||
+# $(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Assemble: create object files from assembler source files.
|
|
||||||
+define ASSEMBLE_TEMPLATE
|
|
||||||
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_ASSEMBLING) $$< to $$@
|
|
||||||
+ $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
|
|
||||||
+endef
|
|
||||||
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
|
|
||||||
+
|
|
||||||
+# Assemble: create object files from assembler source files. ARM-only
|
|
||||||
+define ASSEMBLE_ARM_TEMPLATE
|
|
||||||
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_ASSEMBLING_ARM) $$< to $$@
|
|
||||||
+ $(CC) -c $$(ASFLAGS) $$< -o $$@
|
|
||||||
+endef
|
|
||||||
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Compile: create object files from C source files.
|
|
||||||
+define COMPILE_C_TEMPLATE
|
|
||||||
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_COMPILING) $$< to $$@
|
|
||||||
+ $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
||||||
+endef
|
|
||||||
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
|
|
||||||
+
|
|
||||||
+# Compile: create object files from C source files. ARM-only
|
|
||||||
+define COMPILE_C_ARM_TEMPLATE
|
|
||||||
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_COMPILING_ARM) $$< to $$@
|
|
||||||
+ $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
|
|
||||||
+endef
|
|
||||||
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Compile: create object files from C++ source files.
|
|
||||||
+define COMPILE_CPP_TEMPLATE
|
|
||||||
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_COMPILINGCPP) $$< to $$@
|
|
||||||
+ $(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
||||||
+endef
|
|
||||||
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
|
|
||||||
+
|
|
||||||
+# Compile: create object files from C++ source files. ARM-only
|
|
||||||
+define COMPILE_CPP_ARM_TEMPLATE
|
|
||||||
+$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_COMPILINGCPP_ARM) $$< to $$@
|
|
||||||
+ $(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@
|
|
||||||
+endef
|
|
||||||
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Compile: create assembler files from C source files. ARM/Thumb
|
|
||||||
+$(SRC:.c=.s) : %.s : %.c
|
|
||||||
+ @echo $(MSG_ASMFROMC) $< to $@
|
|
||||||
+ $(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
|
||||||
+
|
|
||||||
+# Compile: create assembler files from C source files. ARM only
|
|
||||||
+$(SRCARM:.c=.s) : %.s : %.c
|
|
||||||
+ @echo $(MSG_ASMFROMC_ARM) $< to $@
|
|
||||||
+ $(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
|
|
||||||
+
|
|
||||||
+# Generate Doxygen documents
|
|
||||||
+docs:
|
|
||||||
+ doxygen $(DOXYGENDIR)/doxygen.cfg
|
|
||||||
+
|
|
||||||
+# Target: clean project.
|
|
||||||
+clean: begin clean_list finished end
|
|
||||||
+
|
|
||||||
+clean_list :
|
|
||||||
+## @echo
|
|
||||||
+ @echo $(MSG_CLEANING)
|
|
||||||
+ $(REMOVE) $(OUTDIR)/$(TARGET).map
|
|
||||||
+ $(REMOVE) $(OUTDIR)/$(TARGET).elf
|
|
||||||
+ $(REMOVE) $(OUTDIR)/$(TARGET).hex
|
|
||||||
+ $(REMOVE) $(OUTDIR)/$(TARGET).bin
|
|
||||||
+ $(REMOVE) $(OUTDIR)/$(TARGET).sym
|
|
||||||
+ $(REMOVE) $(OUTDIR)/$(TARGET).lss
|
|
||||||
+ $(REMOVE) $(ALLOBJ)
|
|
||||||
+ $(REMOVE) $(LSTFILES)
|
|
||||||
+ $(REMOVE) $(DEPFILES)
|
|
||||||
+ $(REMOVE) $(SRC:.c=.s)
|
|
||||||
+ $(REMOVE) $(SRCARM:.c=.s)
|
|
||||||
+ $(REMOVE) $(CPPSRC:.cpp=.s)
|
|
||||||
+ $(REMOVE) $(CPPSRCARM:.cpp=.s)
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Create output files directory
|
|
||||||
+# all known MS Windows OS define the ComSpec environment variable
|
|
||||||
+ifdef ComSpec
|
|
||||||
+$(shell md $(OUTDIR) 2>NUL)
|
|
||||||
+else
|
|
||||||
+$(shell mkdir $(OUTDIR) 2>/dev/null)
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+# Include the dependency files.
|
|
||||||
+ifdef ComSpec
|
|
||||||
+-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
|
|
||||||
+else
|
|
||||||
+-include $(shell mkdir $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
|
|
||||||
+endif
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+# Listing of phony targets.
|
|
||||||
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
|
|
||||||
+build elf hex bin lss sym clean clean_list program
|
|
||||||
+
|
|
||||||
Index: OpenPilot/System/pios_board_x86.c
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/System/pios_board_x86.c (Revision 0)
|
|
||||||
+++ OpenPilot/System/pios_board_x86.c (Revision 0)
|
|
||||||
@@ -0,0 +1,112 @@
|
|
||||||
+/**
|
|
||||||
+ ******************************************************************************
|
|
||||||
+ *
|
|
||||||
+ * @file pios_board.c
|
|
||||||
+ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
||||||
+ * @brief Defines board specific static initializers for hardware for the OpenPilot board.
|
|
||||||
+ * @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.h>
|
|
||||||
+#include <pios_udp_priv.h>
|
|
||||||
+#include <pios_com_priv.h>
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+const struct pios_udp_cfg pios_udp0_cfg = {
|
|
||||||
+ .ip = "0.0.0.0",
|
|
||||||
+ .port = 9000,
|
|
||||||
+};
|
|
||||||
+const struct pios_udp_cfg pios_udp1_cfg = {
|
|
||||||
+ .ip = "0.0.0.0",
|
|
||||||
+ .port = 9001,
|
|
||||||
+};
|
|
||||||
+const struct pios_udp_cfg pios_udp2_cfg = {
|
|
||||||
+ .ip = "0.0.0.0",
|
|
||||||
+ .port = 9002,
|
|
||||||
+};
|
|
||||||
+
|
|
||||||
+#ifdef PIOS_COM_AUX
|
|
||||||
+/*
|
|
||||||
+ * AUX USART
|
|
||||||
+ */
|
|
||||||
+const struct pios_udp_cfg pios_udp3_cfg = {
|
|
||||||
+ .ip = "0.0.0.0",
|
|
||||||
+ .port = 9003,
|
|
||||||
+};
|
|
||||||
+#endif
|
|
||||||
+
|
|
||||||
+/*
|
|
||||||
+ * Board specific number of devices.
|
|
||||||
+ */
|
|
||||||
+struct pios_udp_dev pios_udp_devs[] = {
|
|
||||||
+#define PIOS_UDP_TELEM 0
|
|
||||||
+ {
|
|
||||||
+ .cfg = &pios_udp0_cfg,
|
|
||||||
+ },
|
|
||||||
+#define PIOS_UDP_GPS 1
|
|
||||||
+ {
|
|
||||||
+ .cfg = &pios_udp1_cfg,
|
|
||||||
+ },
|
|
||||||
+#define PIOS_UDP_LOCAL 2
|
|
||||||
+ {
|
|
||||||
+ .cfg = &pios_udp2_cfg,
|
|
||||||
+ },
|
|
||||||
+#ifdef PIOS_COM_AUX
|
|
||||||
+#define PIOS_UDP_AUX 3
|
|
||||||
+ {
|
|
||||||
+ .cfg = &pios_udp3_cfg,
|
|
||||||
+ },
|
|
||||||
+#endif
|
|
||||||
+};
|
|
||||||
+
|
|
||||||
+uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
|
|
||||||
+
|
|
||||||
+/*
|
|
||||||
+ * COM devices
|
|
||||||
+ */
|
|
||||||
+
|
|
||||||
+/*
|
|
||||||
+ * Board specific number of devices.
|
|
||||||
+ */
|
|
||||||
+extern const struct pios_com_driver pios_serial_com_driver;
|
|
||||||
+extern const struct pios_com_driver pios_udp_com_driver;
|
|
||||||
+
|
|
||||||
+struct pios_com_dev pios_com_devs[] = {
|
|
||||||
+ {
|
|
||||||
+ .id = PIOS_UDP_TELEM,
|
|
||||||
+ .driver = &pios_udp_com_driver,
|
|
||||||
+ },
|
|
||||||
+ {
|
|
||||||
+ .id = PIOS_UDP_GPS,
|
|
||||||
+ .driver = &pios_udp_com_driver,
|
|
||||||
+ },
|
|
||||||
+ {
|
|
||||||
+ .id = PIOS_UDP_LOCAL,
|
|
||||||
+ .driver = &pios_udp_com_driver,
|
|
||||||
+ },
|
|
||||||
+#ifdef PIOS_COM_AUX
|
|
||||||
+ {
|
|
||||||
+ .id = PIOS_UDP_AUX,
|
|
||||||
+ .driver = &pios_udp_com_driver,
|
|
||||||
+ },
|
|
||||||
+#endif
|
|
||||||
+};
|
|
||||||
+
|
|
||||||
+const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
|
|
||||||
+
|
|
||||||
Index: OpenPilot/System/inc/pios_config.h
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/System/inc/pios_config.h (Revision 966)
|
|
||||||
+++ OpenPilot/System/inc/pios_config.h (Arbeitskopie)
|
|
||||||
@@ -53,6 +53,9 @@
|
|
||||||
#define PIOS_INCLUDE_FREERTOS
|
|
||||||
#define PIOS_INCLUDE_GPIO
|
|
||||||
#define PIOS_INCLUDE_EXTI
|
|
||||||
+/* Only available on x86 so far */
|
|
||||||
+#define PIOS_INCLUDE_UDP
|
|
||||||
+//#define PIOS_INCLUDE_SERIAL
|
|
||||||
|
|
||||||
|
|
||||||
/* Defaults for Logging */
|
|
||||||
Index: OpenPilot/System/inc/pios_board_x86.h
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/System/inc/pios_board_x86.h (Revision 0)
|
|
||||||
+++ OpenPilot/System/inc/pios_board_x86.h (Revision 0)
|
|
||||||
@@ -0,0 +1,67 @@
|
|
||||||
+/**
|
|
||||||
+ ******************************************************************************
|
|
||||||
+ *
|
|
||||||
+ * @file pios_board.h
|
|
||||||
+ * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
||||||
+ * @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
|
||||||
+ * @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_BOARD_H
|
|
||||||
+#define PIOS_BOARD_H
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+//------------------------
|
|
||||||
+// PIOS_LED
|
|
||||||
+//------------------------
|
|
||||||
+//#define PIOS_LED_LED1_GPIO_PORT GPIOC
|
|
||||||
+//#define PIOS_LED_LED1_GPIO_PIN GPIO_Pin_12
|
|
||||||
+//#define PIOS_LED_LED1_GPIO_CLK RCC_APB2Periph_GPIOC
|
|
||||||
+//#define PIOS_LED_LED2_GPIO_PORT GPIOC
|
|
||||||
+//#define PIOS_LED_LED2_GPIO_PIN GPIO_Pin_13
|
|
||||||
+//#define PIOS_LED_LED2_GPIO_CLK RCC_APB2Periph_GPIOC
|
|
||||||
+#define PIOS_LED_NUM 2
|
|
||||||
+//#define PIOS_LED_PORTS { PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
|
|
||||||
+//#define PIOS_LED_PINS { PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
|
|
||||||
+//#define PIOS_LED_CLKS { PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+//-------------------------
|
|
||||||
+// COM
|
|
||||||
+//
|
|
||||||
+// See also pios_board_x86.c
|
|
||||||
+//-------------------------
|
|
||||||
+//#define PIOS_USART_TX_BUFFER_SIZE 256
|
|
||||||
+#define PIOS_COM_BUFFER_SIZE 1024
|
|
||||||
+#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
|
|
||||||
+
|
|
||||||
+#define PIOS_COM_TELEM_RF 0
|
|
||||||
+#define PIOS_COM_GPS 1
|
|
||||||
+#define PIOS_COM_TELEM_USB 2
|
|
||||||
+
|
|
||||||
+#ifdef PIOS_ENABLE_AUX_UART
|
|
||||||
+#define PIOS_COM_AUX 3
|
|
||||||
+#define PIOS_COM_DEBUG PIOS_COM_AUX
|
|
||||||
+#endif
|
|
||||||
+
|
|
||||||
+
|
|
||||||
+#endif /* PIOS_BOARD_H */
|
|
||||||
Index: OpenPilot/System/openpilot.c
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/System/openpilot.c (Revision 966)
|
|
||||||
+++ OpenPilot/System/openpilot.c (Arbeitskopie)
|
|
||||||
@@ -96,12 +96,14 @@
|
|
||||||
/* Delay system */
|
|
||||||
PIOS_DELAY_Init();
|
|
||||||
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
/* SPI Init */
|
|
||||||
PIOS_SPI_Init();
|
|
||||||
|
|
||||||
/* Enable and mount the SDCard */
|
|
||||||
PIOS_SDCARD_Init();
|
|
||||||
PIOS_SDCARD_MountFS(0);
|
|
||||||
+#endif
|
|
||||||
|
|
||||||
/* Initialize UAVObject libraries */
|
|
||||||
EventDispatcherInitialize();
|
|
||||||
@@ -113,6 +115,7 @@
|
|
||||||
|
|
||||||
/* Initialize the PiOS library */
|
|
||||||
PIOS_COM_Init();
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
PIOS_Servo_Init();
|
|
||||||
PIOS_ADC_Init();
|
|
||||||
PIOS_GPIO_Init();
|
|
||||||
@@ -127,6 +130,7 @@
|
|
||||||
#endif
|
|
||||||
PIOS_USB_Init(0);
|
|
||||||
PIOS_I2C_Init();
|
|
||||||
+#endif /*X86_WRAPPERS*/
|
|
||||||
|
|
||||||
/* Initialize modules */
|
|
||||||
InitModules();
|
|
||||||
Index: OpenPilot/UAVObjects/uavobjectmanager.c
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/UAVObjects/uavobjectmanager.c (Revision 966)
|
|
||||||
+++ OpenPilot/UAVObjects/uavobjectmanager.c (Arbeitskopie)
|
|
||||||
@@ -529,16 +529,28 @@
|
|
||||||
}
|
|
||||||
|
|
||||||
// Write the object ID
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)&objEntry->id, &bytesWritten, 4);
|
|
||||||
+#else
|
|
||||||
+ bytesWritten=fwrite((uint8_t*)&objEntry->id,1,4,*file);
|
|
||||||
+#endif
|
|
||||||
|
|
||||||
// Write the instance ID
|
|
||||||
if (!objEntry->isSingleInstance)
|
|
||||||
{
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_WriteFile(file, PIOS_SDCARD_Sector, (uint8_t*)&instEntry->instId, &bytesWritten, 2);
|
|
||||||
+#else
|
|
||||||
+ bytesWritten=fwrite((uint8_t*)&instEntry->instId,1,2,*file);
|
|
||||||
+#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
// Write the data and check that the write was successful
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_WriteFile(file, PIOS_SDCARD_Sector, instEntry->data, &bytesWritten, objEntry->numBytes);
|
|
||||||
+#else
|
|
||||||
+ bytesWritten=fwrite((uint8_t*)&instEntry->data,1,objEntry->numBytes,*file);
|
|
||||||
+#endif
|
|
||||||
if ( bytesWritten != objEntry->numBytes )
|
|
||||||
{
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
@@ -582,7 +594,11 @@
|
|
||||||
objectFilename(objEntry, filename);
|
|
||||||
|
|
||||||
// Open file
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
if ( DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK )
|
|
||||||
+#else
|
|
||||||
+ if ((file=fopen((char*)filename,"w"))==NULL)
|
|
||||||
+#endif
|
|
||||||
{
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return -1;
|
|
||||||
@@ -591,13 +607,21 @@
|
|
||||||
// Append object
|
|
||||||
if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
|
|
||||||
{
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_Close(&file);
|
|
||||||
+#else
|
|
||||||
+ fclose(file);
|
|
||||||
+#endif
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Done, close file and unlock
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_Close(&file);
|
|
||||||
+#else
|
|
||||||
+ fclose(file);
|
|
||||||
+#endif
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@@ -626,7 +650,11 @@
|
|
||||||
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
|
|
||||||
|
|
||||||
// Read the object ID
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
if ( DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)&objId, &bytesRead, 4) != DFS_OK )
|
|
||||||
+#else
|
|
||||||
+ if ((bytesRead=fread((uint8_t*)&objId,1,4,*file))!=4)
|
|
||||||
+#endif
|
|
||||||
{
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return 0;
|
|
||||||
@@ -645,7 +673,11 @@
|
|
||||||
instId = 0;
|
|
||||||
if ( !objEntry->isSingleInstance )
|
|
||||||
{
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
if ( DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)&instId, &bytesRead, 2) != DFS_OK )
|
|
||||||
+#else
|
|
||||||
+ if ((bytesRead=fread((uint8_t*)&instId,1,2,*file))!=2)
|
|
||||||
+#endif
|
|
||||||
{
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return 0;
|
|
||||||
@@ -668,7 +700,11 @@
|
|
||||||
}
|
|
||||||
|
|
||||||
// Read the instance data
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
if ( DFS_ReadFile(file, PIOS_SDCARD_Sector, (uint8_t*)instEntry->data, &bytesRead, objEntry->numBytes) != DFS_OK )
|
|
||||||
+#else
|
|
||||||
+ if ((bytesRead=fread((uint8_t*)&instEntry->data,1,objEntry->numBytes,*file))!=objEntry->numBytes)
|
|
||||||
+#endif
|
|
||||||
{
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return 0;
|
|
||||||
@@ -714,7 +750,11 @@
|
|
||||||
objectFilename(objEntry, filename);
|
|
||||||
|
|
||||||
// Open file
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
if ( DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK )
|
|
||||||
+#else
|
|
||||||
+ if ((file=fopen((char*)filename,"r"))==NULL)
|
|
||||||
+#endif
|
|
||||||
{
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return -1;
|
|
||||||
@@ -724,7 +764,11 @@
|
|
||||||
loadedObj = UAVObjLoadFromFile(&file);
|
|
||||||
if (loadedObj == 0)
|
|
||||||
{
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_Close(&file);
|
|
||||||
+#else
|
|
||||||
+ fclose(file);
|
|
||||||
+#endif
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
@@ -733,13 +777,21 @@
|
|
||||||
loadedObjEntry = (ObjectList*)loadedObj;
|
|
||||||
if ( loadedObjEntry->id != objEntry->id )
|
|
||||||
{
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_Close(&file);
|
|
||||||
+#else
|
|
||||||
+ fclose(file);
|
|
||||||
+#endif
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Done, close file and unlock
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_Close(&file);
|
|
||||||
+#else
|
|
||||||
+ fclose(file);
|
|
||||||
+#endif
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@@ -771,7 +823,11 @@
|
|
||||||
objectFilename(objEntry, filename);
|
|
||||||
|
|
||||||
// Delete file
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
DFS_UnlinkFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, PIOS_SDCARD_Sector);
|
|
||||||
+#else
|
|
||||||
+ unlink((char*)filename);
|
|
||||||
+#endif
|
|
||||||
|
|
||||||
// Done
|
|
||||||
xSemaphoreGiveRecursive(mutex);
|
|
||||||
Index: OpenPilot/UAVObjects/inc/uavobjectmanager.h
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/UAVObjects/inc/uavobjectmanager.h (Revision 966)
|
|
||||||
+++ OpenPilot/UAVObjects/inc/uavobjectmanager.h (Arbeitskopie)
|
|
||||||
@@ -29,7 +29,11 @@
|
|
||||||
#define UAVOBJ_ALL_INSTANCES 0xFFFF
|
|
||||||
#define UAVOBJ_MAX_INSTANCES 1000
|
|
||||||
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
typedef uint32_t UAVObjHandle;
|
|
||||||
+#else
|
|
||||||
+typedef size_t UAVObjHandle; /* on x86_64 pointers are not 32 bit */
|
|
||||||
+#endif
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Object update mode, used by multiple modules (e.g. telemetry and logger)
|
|
||||||
Index: OpenPilot/UAVTalk/uavtalk.c
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/UAVTalk/uavtalk.c (Revision 966)
|
|
||||||
+++ OpenPilot/UAVTalk/uavtalk.c (Arbeitskopie)
|
|
||||||
@@ -76,7 +76,7 @@
|
|
||||||
|
|
||||||
// Private functions
|
|
||||||
static uint8_t updateCRC(uint8_t crc, const uint8_t* data, int32_t length);
|
|
||||||
-static int32_t objectTransaction(uint32_t objectId, uint16_t instId, uint8_t type, int32_t timeout);
|
|
||||||
+static int32_t objectTransaction(UAVObjHandle objectId, uint16_t instId, uint8_t type, int32_t timeout);
|
|
||||||
static int32_t sendObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
|
|
||||||
static int32_t sendSingleObject(UAVObjHandle obj, uint16_t instId, uint8_t type);
|
|
||||||
static int32_t receiveObject(uint8_t type, UAVObjHandle obj, uint16_t instId, uint8_t* data, int32_t length);
|
|
||||||
Index: OpenPilot/Modules/System/systemmod.c
|
|
||||||
===================================================================
|
|
||||||
--- OpenPilot/Modules/System/systemmod.c (Revision 966)
|
|
||||||
+++ OpenPilot/Modules/System/systemmod.c (Arbeitskopie)
|
|
||||||
@@ -208,7 +208,11 @@
|
|
||||||
// Get stats and update
|
|
||||||
SystemStatsGet(&stats);
|
|
||||||
stats.FlightTime = xTaskGetTickCount()*portTICK_RATE_MS;
|
|
||||||
+#ifndef X86_WRAPPERS
|
|
||||||
stats.HeapRemaining = xPortGetFreeHeapSize();
|
|
||||||
+#else
|
|
||||||
+ stats.HeapRemaining = 10240;
|
|
||||||
+#endif
|
|
||||||
stats.CPULoad = 100 - (uint8_t)round(100.0*((float)idleCounter/(float)(SYSTEM_UPDATE_PERIOD_MS/1000))/(float)IDLE_COUNTS_PER_SEC_AT_NO_LOAD);
|
|
||||||
idleCounterClear = 1;
|
|
||||||
SystemStatsSet(&stats);
|
|
||||||
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Reference in New Issue
Block a user