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LibrePilot/flight/OpenPilot_x86.patch
corvus ad4008bc11 minIni removed from PiOS.x86 
added x86 patch to subversion since JIRA is acting up



git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@967 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-07-01 10:34:25 +00:00

1066 lines
31 KiB
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Index: OpenPilot/Makefile.x86
===================================================================
--- OpenPilot/Makefile.x86 (Revision 0)
+++ OpenPilot/Makefile.x86 (Revision 0)
@@ -0,0 +1,616 @@
+ #####
+ # Project: OpenPilot
+ #
+ #
+ # Makefile for OpenPilot project build PiOS and the AP.
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ #
+ #
+ # 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
+ #####
+
+
+# Set developer code and compile options
+# Set to YES to compile for debugging
+DEBUG ?= YES
+
+# Set to YES to use the Servo output pins for debugging via scope or logic analyser
+ENABLE_DEBUG_PINS ?= NO
+
+# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
+ENABLE_AUX_UART ?= NO
+
+#
+USE_BOOTLOADER ?= NO
+
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= NO
+
+# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
+TCHAIN_PREFIX ?= ""
+
+# Remove command is different for Code Sourcery on Windows
+REMOVE_CMD ?= rm
+
+FLASH_TOOL = OPENOCD
+
+# YES enables -mthumb option to flags for source-files listed
+# in SRC and CPPSRC
+USE_THUMB_MODE = YES
+
+# List of modules to include
+MODULES = Telemetry Stabilization
+#MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
+#MODULES = Telemetry Example
+#MODULES = Telemetry MK/MKSerial
+
+#MODULES += Osd/OsdEtStd
+
+
+# MCU name, submodel and board
+# - MCU used for compiler-option (-mcpu)
+# - MODEL used for linker-script name (-T) and passed as define
+# - BOARD just passed as define (optional)
+MCU = i686
+#CHIP = STM32F103RET
+#BOARD = STM3210E_OP
+ifeq ($(USE_BOOTLOADER), YES)
+MODEL = HD_BL
+
+else
+MODEL = HD_NB
+endif
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR = Build
+
+# Target file name (without extension).
+TARGET = OpenPilot
+
+# Paths
+OPSYSTEM = ./System
+OPSYSTEMINC = $(OPSYSTEM)/inc
+OPUAVTALK = ./UAVTalk
+OPUAVTALKINC = $(OPUAVTALK)/inc
+OPUAVOBJ = ./UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
+OPTESTS = ./Tests
+OPMODULEDIR = ./Modules
+PIOS = ../PiOS.x86
+PIOSINC = $(PIOS)/inc
+PIOSX86 = $(PIOS)/x86
+APPLIBDIR = $(PIOSX86)/Libraries
+RTOSDIR = $(APPLIBDIR)/FreeRTOS
+RTOSSRCDIR = $(RTOSDIR)/Source
+RTOSINCDIR = $(RTOSSRCDIR)/include
+DOXYGENDIR = ../Doc/Doxygen
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+MODNAMES = $(notdir ${MODULES})
+
+ifndef TESTAPP
+## MODULES
+SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += ${OUTDIR}/InitMods.c
+## OPENPILOT CORE:
+SRC += ${OPMODULEDIR}/System/systemmod.c
+SRC += $(OPSYSTEM)/openpilot.c
+SRC += $(OPSYSTEM)/pios_board_x86.c
+SRC += $(OPSYSTEM)/alarms.c
+SRC += $(OPUAVTALK)/uavtalk.c
+SRC += $(OPUAVOBJ)/uavobjectmanager.c
+SRC += $(OPUAVOBJ)/uavobjectsinit.c
+SRC += $(OPUAVOBJ)/eventdispatcher.c
+else
+## TESTCODE
+SRC += $(OPTESTS)/test_common.c
+SRC += $(OPTESTS)/$(TESTAPP).c
+endif
+
+
+
+## UAVOBJECTS
+ifndef TESTAPP
+SRC += $(OPUAVOBJ)/exampleobject1.c
+SRC += $(OPUAVOBJ)/exampleobject2.c
+SRC += $(OPUAVOBJ)/examplesettings.c
+SRC += $(OPUAVOBJ)/objectpersistence.c
+SRC += $(OPUAVOBJ)/positionactual.c
+SRC += $(OPUAVOBJ)/gcstelemetrystats.c
+SRC += $(OPUAVOBJ)/flighttelemetrystats.c
+SRC += $(OPUAVOBJ)/systemstats.c
+SRC += $(OPUAVOBJ)/systemalarms.c
+SRC += $(OPUAVOBJ)/systemsettings.c
+SRC += $(OPUAVOBJ)/telemetrysettings.c
+SRC += $(OPUAVOBJ)/actuatorcommand.c
+SRC += $(OPUAVOBJ)/actuatordesired.c
+SRC += $(OPUAVOBJ)/actuatorsettings.c
+SRC += $(OPUAVOBJ)/manualcontrolcommand.c
+SRC += $(OPUAVOBJ)/manualcontrolsettings.c
+SRC += $(OPUAVOBJ)/attitudedesired.c
+SRC += $(OPUAVOBJ)/stabilizationsettings.c
+SRC += $(OPUAVOBJ)/altitudeactual.c
+SRC += $(OPUAVOBJ)/attitudeactual.c
+SRC += $(OPUAVOBJ)/attitudesettings.c
+SRC += $(OPUAVOBJ)/flightbatterystate.c
+endif
+
+## PIOS Hardware (x86)
+SRC += $(PIOSX86)/pios_sys.c
+SRC += $(PIOSX86)/pios_led.c
+SRC += $(PIOSX86)/pios_delay.c
+SRC += $(PIOSX86)/pios_sdcard.c
+SRC += $(PIOSX86)/pios_udp.c
+SRC += $(PIOSX86)/pios_com.c
+#
+## RTOS
+SRC += $(RTOSSRCDIR)/list.c
+SRC += $(RTOSSRCDIR)/queue.c
+SRC += $(RTOSSRCDIR)/tasks.c
+#
+## RTOS Portable
+SRC += $(RTOSSRCDIR)/portable/GCC/Posix/port.c
+SRC += $(RTOSSRCDIR)/portable/MemMang/heap_3.c
+
+
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM =
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC =
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM =
+
+
+# List any extra directories to look for include files here.
+# Each directory must be seperated by a space.
+EXTRAINCDIRS = $(OPSYSTEM)
+EXTRAINCDIRS += $(OPSYSTEMINC)
+EXTRAINCDIRS += $(OPUAVTALK)
+EXTRAINCDIRS += $(OPUAVTALKINC)
+EXTRAINCDIRS += $(OPUAVOBJ)
+EXTRAINCDIRS += $(OPUAVOBJINC)
+EXTRAINCDIRS += $(MODEXAMPLE)
+EXTRAINCDIRS += $(MODEXAMPLEINC)
+EXTRAINCDIRS += $(MODSYSTEMINC)
+EXTRAINCDIRS += $(MODTELEMETRY)
+EXTRAINCDIRS += $(MODTELEMETRYINC)
+EXTRAINCDIRS += $(MODGPS)
+EXTRAINCDIRS += $(MODGPSINC)
+EXTRAINCDIRS += $(MODMANUALCONTROL)
+EXTRAINCDIRS += $(MODMANUALCONTROLINC)
+EXTRAINCDIRS += $(MODACTUATOR)
+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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