mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Clean up the logging somewhat
This commit is contained in:
James Cotton
parent
d3f9c97961
commit
f247443d64
@ -6,8 +6,14 @@ import org.openpilot.uavtalk.UAVObjectManager;
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import org.openpilot.uavtalk.UAVTalk;
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import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
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import android.app.Notification;
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import android.app.NotificationManager;
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import android.app.PendingIntent;
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import android.app.Service;
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import android.content.Context;
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import android.content.Intent;
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import android.net.Uri;
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import android.os.Handler;
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import android.os.IBinder;
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import android.os.Looper;
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import android.util.Log;
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@ -18,10 +24,16 @@ public class OPTelemetryService extends Service {
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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final int DISCONNECT_MESSAGE = 0;
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final int CONNECT_MESSAGE = 1;
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final int CONNECT_FAILED_MESSAGE = 2;
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private UAVObjectManager objMngr;
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private UAVTalk uavTalk;
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private Telemetry tel;
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private TelemetryMonitor mon;
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private Handler handler;
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@Override
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public IBinder onBind(Intent arg0) {
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@ -46,22 +58,38 @@ public class OPTelemetryService extends Service {
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private final Runnable telemetryRunnable = new Runnable() {
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public void run() {
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Looper.prepare();
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if (DEBUG) Log.d(TAG, "Telemetry Thread started");
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Looper.prepare();
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objMngr = new UAVObjectManager();
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UAVObjectsInitialize.register(objMngr);
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postNotification(CONNECT_FAILED_MESSAGE, "Connecting");
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BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
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while(true) {
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for( int i = 0; i < 10; i++ ) {
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if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
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if(! bt.getConnected() )
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bt.connect(objMngr);
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else
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bt.connect(objMngr);
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if (DEBUG) Log.d(TAG, "Done attempting connection");
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if( bt.getConnected() )
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break;
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Looper.loop();
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try {
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Thread.sleep(1000);
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} catch (InterruptedException e) {
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Log.e(TAG, "Thread interrupted while trying to connect");
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e.printStackTrace();
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return;
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}
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}
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if( ! bt.getConnected() ) {
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postNotification(CONNECT_FAILED_MESSAGE, "Could not connect to UAV");
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return;
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}
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postNotification(CONNECT_MESSAGE, "Connected to UAV port");
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if (DEBUG) Log.d(TAG, "Connected via bluetooth");
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@ -73,13 +101,29 @@ public class OPTelemetryService extends Service {
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while(true) {
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if( !uavTalk.processInputStream() )
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break;
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Looper.loop();
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}
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if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
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postNotification(DISCONNECT_MESSAGE,"UAVTalk stream disconnected");
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}
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};
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void postNotification(int id, String message) {
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String ns = Context.NOTIFICATION_SERVICE;
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NotificationManager mNManager = (NotificationManager) getSystemService(ns);
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final Notification msg = new Notification(R.drawable.icon, message, System.currentTimeMillis());
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Context context = getApplicationContext();
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CharSequence contentTitle = "OpenPilot";
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CharSequence contentText = message;
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Intent msgIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://forums.openpilot.org"));
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PendingIntent intent = PendingIntent.getActivity(this, 0, msgIntent, Intent.FLAG_ACTIVITY_NEW_TASK);
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msg.setLatestEventInfo(context, contentTitle, contentText, intent);
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mNManager.notify(id, msg);
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}
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public UAVObjectManager getObjMngr() { return objMngr; };
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public UAVTalk getUavTalk() { return uavTalk; };
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public Telemetry getTelemetry() { return tel; };
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@ -16,7 +16,10 @@ import android.util.Log;
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public class TelemetryMonitor {
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private static final String TAG = "TelemetryMonitor";
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public static int LOGLEVEL = 0;
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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static final int STATS_UPDATE_PERIOD_MS = 4000;
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static final int STATS_CONNECT_PERIOD_MS = 1000;
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static final int CONNECTION_TIMEOUT_MS = 8000;
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@ -57,7 +60,7 @@ public class TelemetryMonitor {
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*/
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public synchronized void startRetrievingObjects()
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{
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Log.d(TAG, "Start retrieving objects");
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if (DEBUG) Log.d(TAG, "Start retrieving objects");
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// Clear object queue
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queue.clear();
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@ -115,7 +118,7 @@ public class TelemetryMonitor {
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// If queue is empty return
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if ( queue.isEmpty() )
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{
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Log.d(TAG, "All objects retrieved: Connected Successfully");
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if (DEBUG) Log.d(TAG, "All objects retrieved: Connected Successfully");
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//qxtLog->debug("Object retrieval completed");
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//emit connected();
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return;
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@ -127,12 +130,12 @@ public class TelemetryMonitor {
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throw new Error("Got null object forom transaction queue");
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}
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Log.d(TAG, "Retrieving object: " + obj.getName()) ;
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if (DEBUG) Log.d(TAG, "Retrieving object: " + obj.getName()) ;
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// Connect to object
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obj.addTransactionCompleted(new Observer() {
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public void update(Observable observable, Object data) {
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UAVObject.TransactionResult result = (UAVObject.TransactionResult) data;
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Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
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if (DEBUG) Log.d(TAG,"Got transaction completed event from " + result.obj.getName() + " status: " + result.success);
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transactionCompleted(result.obj, result.success);
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}
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});
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@ -149,7 +152,7 @@ public class TelemetryMonitor {
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{
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//QMutexLocker locker(mutex);
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// Disconnect from sending object
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Log.d(TAG,"transactionCompleted. Status: " + success);
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if (DEBUG) Log.d(TAG,"transactionCompleted. Status: " + success);
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// TODO: Need to be able to disconnect signals
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//obj->disconnect(this);
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objPending = null;
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@ -192,7 +195,7 @@ public class TelemetryMonitor {
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public synchronized void processStatsUpdates()
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{
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// Get telemetry stats
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Log.d(TAG, "processStatsUpdates()");
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if (DEBUG) Log.d(TAG, "processStatsUpdates()");
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Telemetry.TelemetryStats telStats = tel.getStats();
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tel.resetStats();
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@ -232,7 +235,7 @@ public class TelemetryMonitor {
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UAVObjectField statusField = gcsStatsObj.getField("Status");
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String oldStatus = new String((String) statusField.getValue());
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Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
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if (DEBUG) Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
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if ( oldStatus.compareTo("Disconnected") == 0 )
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{
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@ -245,7 +248,7 @@ public class TelemetryMonitor {
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if ( ((String) flightStatsObj.getField("Status").getValue()).compareTo("HandshakeAck") == 0 )
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{
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statusField.setValue("Connected");
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Log.d(TAG,"Connected" + statusField.toString());
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if (DEBUG) Log.d(TAG,"Connected" + statusField.toString());
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}
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}
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else if ( oldStatus.compareTo("Connected") == 0 )
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@ -260,30 +263,26 @@ public class TelemetryMonitor {
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// Force telemetry update if not yet connected
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boolean gcsStatusChanged = !oldStatus.equals(statusField.getValue());
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if(gcsStatusChanged) {
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Log.d(TAG,"GCS Status changed");
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Log.d(TAG,"GCS: " + statusField.getValue() + " Flight: " + flightStatsObj.getField("Status").getValue());
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}
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boolean gcsConnected = ((String) statusField.getValue()).compareTo("Connected") == 0;
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boolean gcsDisconnected = ((String) statusField.getValue()).compareTo("Disconnected") == 0;
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boolean flightConnected = ((String) flightStatsObj.getField("Status").getValue()).compareTo("Connected") == 0;
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if ( !gcsConnected || !flightConnected )
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{
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Log.d(TAG,"Sending gcs status");
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if (DEBUG) Log.d(TAG,"Sending gcs status");
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gcsStatsObj.updated();
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}
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// Act on new connections or disconnections
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if (gcsConnected && gcsStatusChanged)
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{
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Log.d(TAG,"Connection with the autopilot established");
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if (DEBUG) Log.d(TAG,"Connection with the autopilot established");
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setPeriod(STATS_UPDATE_PERIOD_MS);
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startRetrievingObjects();
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}
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if (gcsDisconnected && gcsStatusChanged)
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{
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Log.d(TAG,"Trying to connect to the autopilot");
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if (DEBUG) Log.d(TAG,"Trying to connect to the autopilot");
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setPeriod(STATS_CONNECT_PERIOD_MS);
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//emit disconnected();
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}
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672
flight/Revolution/Makefile.osx
Normal file
672
flight/Revolution/Makefile.osx
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@ -0,0 +1,672 @@
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#####
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# Project: Revolution
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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) 2012.
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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
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# 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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# 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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# 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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# 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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USE_BOOTLOADER ?= NO
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# Set to YES when using Code Sourcery toolchain
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CODE_SOURCERY ?= NO
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# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
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TCHAIN_PREFIX ?= /usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
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# Remove command is different for Code Sourcery on Windows
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REMOVE_CMD ?= rm
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FLASH_TOOL = OPENOCD
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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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# List of modules to include
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MODULES += Actuator ManualControl Stabilization
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MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
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MODULES += Attitude/revolution
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#MODULES += OveroSync/simulated
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# To run simulation instead of connect to SITL
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MODULES += Sensors/simulated
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MODULES += Telemetry
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# MCU name, submodel and board
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# - MCU used for compiler-option (-mtune)
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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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#BOARD = STM3210E_OP
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MODEL = HD
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ifeq ($(USE_BOOTLOADER), YES)
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BOOT_MODEL = $(MODEL)_BL
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else
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BOOT_MODEL = $(MODEL)_NB
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endif
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# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
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OUTDIR = ../../build/sim_osx
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# Target file name (without extension).
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TARGET = Revolution
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# Paths
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OPSYSTEM = ./System
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OPSYSTEMINC = $(OPSYSTEM)/inc
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OPUAVTALK = ../UAVTalk
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OPUAVTALKINC = $(OPUAVTALK)/inc
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OPUAVOBJ = ../UAVObjects
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OPUAVOBJINC = $(OPUAVOBJ)/inc
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OPTESTS = ./Tests
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OPMODULEDIR = ../Modules
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FLIGHTLIB = ../Libraries
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FLIGHTLIBINC = $(FLIGHTLIB)/inc
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PIOS = ../PiOS.osx
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PIOSINC = $(PIOS)/inc
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PIOSPOSIX = $(PIOS)/osx
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APPLIBDIR = $(PIOSPOSIX)/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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PYMITE = $(FLIGHTLIB)/PyMite
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PYMITELIB = $(PYMITE)/lib
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PYMITEPLAT = $(PYMITE)/platform/openpilot_sitl
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PYMITETOOLS = $(PYMITE)/tools
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PYMITEVM = $(PYMITE)/vm
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PYMITEINC = $(PYMITEVM)
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PYMITEINC += $(PYMITEPLAT)
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PYMITEINC += $(OUTDIR)
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FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
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FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
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UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
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UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
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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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MODNAMES = $(notdir ${MODULES})
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ifndef TESTAPP
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## PyMite files
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SRC += $(OUTDIR)/pmlib_img.c
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SRC += $(OUTDIR)/pmlib_nat.c
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SRC += $(OUTDIR)/pmlibusr_img.c
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SRC += $(OUTDIR)/pmlibusr_nat.c
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SRC += $(wildcard ${PYMITEVM}/*.c)
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SRC += $(wildcard ${PYMITEPLAT}/*.c)
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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)/revolution.c
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SRC += $(OPSYSTEM)/pios_board_sim.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)/eventdispatcher.c
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SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.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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## UAVOBJECTS
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ifndef TESTAPP
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#include $(UAVOBJSYNTHDIR)/Makefile.inc
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include ./UAVObjects.inc
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UAVOBJSRCFILENAMES += attitudesimulated
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UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
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UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
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SRC += $(UAVOBJSRC)
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CFLAGS_UAVOBJECTS = $(UAVOBJDEFINE)
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endif
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## PIOS Hardware (posix)
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SRC += $(PIOSPOSIX)/pios_crc.c
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SRC += $(PIOSPOSIX)/pios_sys.c
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SRC += $(PIOSPOSIX)/pios_led.c
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SRC += $(PIOSPOSIX)/pios_irq.c
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SRC += $(PIOSPOSIX)/pios_delay.c
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SRC += $(PIOSPOSIX)/pios_sdcard.c
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SRC += $(PIOSPOSIX)/pios_udp.c
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SRC += $(PIOSPOSIX)/pios_tcp.c
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SRC += $(PIOSPOSIX)/pios_com.c
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SRC += $(PIOSPOSIX)/pios_servo.c
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SRC += $(PIOSPOSIX)/pios_wdg.c
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SRC += $(PIOSPOSIX)/pios_debug.c
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SRC += $(PIOSPOSIX)/pios_rcvr.c
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SRC += $(PIOSPOSIX)/pios_gcsrcvr.c
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## Libraries for flight calculations
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SRC += $(FLIGHTLIB)/fifo_buffer.c
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SRC += $(FLIGHTLIB)/WorldMagModel.c
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SRC += $(FLIGHTLIB)/CoordinateConversions.c
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SRC += $(FLIGHTLIB)/paths.c
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SRC += $(FLIGHTLIB)/insgps13state.c
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SRC += $(FLIGHTLIB)/taskmonitor.c
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## RTOS and RTOS Portable
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SRC += $(RTOSSRCDIR)/list.c
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SRC += $(RTOSSRCDIR)/queue.c
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UNAME := $(shell uname)
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SRC += $(RTOSSRCDIR)/task.c
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SRC += $(RTOSSRCDIR)/timers.c
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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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# 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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# 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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# 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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# List any extra directories to look for include files here.
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# Each directory must be seperated by a space.
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||||
EXTRAINCDIRS = $(OPSYSTEM)
|
||||
EXTRAINCDIRS += $(OPSYSTEMINC)
|
||||
EXTRAINCDIRS += $(OPUAVTALK)
|
||||
EXTRAINCDIRS += $(OPUAVTALKINC)
|
||||
EXTRAINCDIRS += $(OPUAVOBJ)
|
||||
EXTRAINCDIRS += $(OPUAVOBJINC)
|
||||
EXTRAINCDIRS += $(UAVOBJSYNTHDIR)
|
||||
EXTRAINCDIRS += $(PIOS)
|
||||
EXTRAINCDIRS += $(PIOSINC)
|
||||
EXTRAINCDIRS += $(FLIGHTLIBINC)
|
||||
EXTRAINCDIRS += $(PIOSPOSIX)
|
||||
EXTRAINCDIRS += $(RTOSINCDIR)
|
||||
EXTRAINCDIRS += $(APPLIBDIR)
|
||||
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix
|
||||
EXTRAINCDIRS += $(PYMITEINC)
|
||||
|
||||
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${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 += -DDIAGNOSTICS
|
||||
CFLAGS += -DDIAG_TASKS
|
||||
|
||||
CFLAGS += $(CFLAGS_UAVOBJECTS)
|
||||
CFLAGS += -DARCH_POSIX
|
||||
CFLAGS += -O$(OPT)
|
||||
CFLAGS += -mtune=$(MCU)
|
||||
CFLAGS += $(CDEFS)
|
||||
CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
|
||||
|
||||
#CFLAGS += ARCH=arm
|
||||
#CROSS_COMPILE=/usr/local/android-ndk-r5/toolchains/arm-linux-androideabi-4.4.3/prebuilt/darwin-x86/bin/arm-linux-androideabi-
|
||||
|
||||
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 += $(CSTANDARD)
|
||||
|
||||
# Assembler flags.
|
||||
# -Wa,...: tell GCC to pass this to the assembler.
|
||||
# -ahlns: create listing
|
||||
ASFLAGS = -mtune=$(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 += $(MATH_LIB)
|
||||
LDFLAGS += -lc -lgcc
|
||||
|
||||
# To include simulation model
|
||||
LDFLAGS += -L$(OUTDIR)
|
||||
#LDFLAGS += -lsimmodel
|
||||
|
||||
|
||||
# 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
|
||||
PYTHON = python
|
||||
###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}
|
||||
MSG_PYMITEINIT = ${quote}**** Generating PyMite intermediate code${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 gencode 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
|
||||
|
||||
# Generate intermediate code
|
||||
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
|
||||
|
||||
getmodname = $(firstword $(subst /, ,$1))
|
||||
|
||||
MOD_GEN := $(foreach MOD,$(MODULES),$(call getmodname,$(MOD)))
|
||||
|
||||
# Generate code for module initialization
|
||||
${OUTDIR}/InitMods.c: Makefile.osx
|
||||
echo ${MOD_GEN}
|
||||
@echo ${MSG_MODINIT}
|
||||
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MOD_GEN}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}${foreach MOD, ${MOD_GEN}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
|
||||
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
|
||||
|
||||
# Generate code for PyMite
|
||||
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
||||
@echo ${MSG_PYMITEINIT}
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
|
||||
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
|
||||
|
||||
# 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 $(ALLOBJ)
|
||||
|
||||
# Program the device.
|
||||
ifeq ($(USE_BOOTLOADER), YES)
|
||||
# Program the device with OP Upload Tool".
|
||||
program: $(OUTDIR)/$(TARGET).bin
|
||||
@echo ${quote}Programming with OP Upload Tool${quote}
|
||||
../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 0 -p $(OUTDIR)/$(TARGET).bin
|
||||
else
|
||||
ifeq ($(FLASH_TOOL),OPENOCD)
|
||||
# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
|
||||
program: $(OUTDIR)/$(TARGET).elf
|
||||
@echo ${quote}Programming with OPENOCD${quote}
|
||||
$(OOCD_EXE) $(OOCD_CL)
|
||||
endif
|
||||
endif
|
||||
|
||||
# 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) $(wildcard $(OUTDIR)/*.c)
|
||||
$(REMOVE) $(wildcard $(OUTDIR)/*.h)
|
||||
$(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 gencode
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user