Merged multirotor branch

.gitignore

@@ -19,14 +19,19 @@ Archives/*
 Build/*
 core
 cscope.out
-dot.gdbinit
 Firmware.sublime-workspace
 Images/*.bin
 Images/*.px4
 mavlink/include/mavlink/v0.9/
+/nuttx-configs/px4io-v2/src/.depend
+/nuttx-configs/px4io-v2/src/Make.dep
+/nuttx-configs/px4io-v2/src/libboard.a
+/nuttx-configs/px4io-v1/src/.depend
+/nuttx-configs/px4io-v1/src/Make.dep
+/nuttx-configs/px4io-v1/src/libboard.a
 /NuttX
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
 .tags
-.tags_sorted_by_file
+.tags_sorted_by_file

Debug/PX4

@@ -27,7 +27,7 @@ define _perf_print
  # PC_COUNT
  if $hdr->type == 0
  set $count = (struct perf_ctr_count *)$hdr
- printf "%llu events,\n", $count->event_count;
+ printf "%llu events\n", $count->event_count
  end
  # PC_ELPASED
  if $hdr->type == 1

Debug/dot.gdbinit

@@ -0,0 +1,13 @@
+# copy the file to .gdbinit in your Firmware tree, and adjust the path
+# below to match your system
+# For example:
+# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
+# target extended /dev/ttyACM4
+
+
+monitor swdp_scan
+attach 1
+monitor vector_catch disable hard
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4

Debug/olimex-px4fmu-debug.cfg

@@ -0,0 +1,22 @@
+# program a bootable device load on a mavstation
+# To run type openocd -f mavprogram.cfg
+
+source [find interface/olimex-arm-usb-ocd-h.cfg]
+source [find px4fmu-v1-board.cfg]
+
+init
+halt
+
+# Find the flash inside this CPU
+flash probe 0
+
+# erase it (128 pages) then program and exit
+
+#flash erase_sector 0 0 127
+# stm32f1x mass_erase 0 
+
+# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
+#flash write_bank 0 fixed.bin 0
+#flash write_image firmware.elf
+#shutdown
+

Debug/openocd.gdbinit

@@ -0,0 +1,21 @@
+target remote :3333
+
+# Don't let GDB get confused while stepping
+define hook-step
+ mon cortex_m maskisr on
+end
+define hookpost-step
+ mon cortex_m maskisr off
+end
+
+mon init
+mon stm32_init
+# mon reset halt
+mon poll
+mon cortex_m maskisr auto
+set mem inaccessible-by-default off
+set print pretty
+source Debug/PX4
+
+echo PX4 resumed, press ctrl-c to interrupt\n
+continue

Debug/px4fmu-v1-board.cfg

@@ -0,0 +1,38 @@
+# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
+
+# increase working area to 32KB for faster flash programming
+set WORKAREASIZE 0x8000
+
+source [find target/stm32f4x.cfg]
+
+# needed for px4
+reset_config trst_only
+
+proc stm32_reset {} {
+ reset halt
+# FIXME - needed to init periphs on reset
+# 0x40023800 RCC base
+# 0x24 RCC_APB2 0x75933
+# RCC_APB2 0
+}
+
+# perform init that is required on each connection to the target
+proc stm32_init {} {
+
+ # force jtag to not shutdown during sleep
+ #uint32_t cr = getreg32(STM32_DBGMCU_CR);
+ #cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
+ #putreg32(cr, STM32_DBGMCU_CR);
+ mww 0xe0042004 00000007
+}
+
+# if srst is not fitted use SYSRESETREQ to
+# perform a soft reset
+cortex_m reset_config sysresetreq
+
+# Let GDB directly program elf binaries
+gdb_memory_map enable
+
+# doesn't work yet
+gdb_flash_program disable
+

Debug/runopenocd.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg

Images/px4fmu-v2.prototype

@@ -0,0 +1,12 @@
+{
+ "board_id": 9, 
+ "magic": "PX4FWv1", 
+ "description": "Firmware for the PX4FMUv2 board", 
+ "image": "", 
+ "build_time": 0, 
+ "summary": "PX4FMUv2",
+ "version": "0.1",
+ "image_size": 0,
+ "git_identity": "",
+ "board_revision": 0
+}

Images/px4io-v2.prototype

@@ -0,0 +1,12 @@
+{
+ "board_id": 10, 
+ "magic": "PX4FWv2", 
+ "description": "Firmware for the PX4IOv2 board", 
+ "image": "", 
+ "build_time": 0, 
+ "summary": "PX4IOv2",
+ "version": "2.0",
+ "image_size": 0,
+ "git_identity": "",
+ "board_revision": 0
+}

Images/px4iov2.prototype

@@ -0,0 +1,12 @@
+{
+ "board_id": 10, 
+ "magic": "PX4FWv2", 
+ "description": "Firmware for the PX4IOv2 board", 
+ "image": "", 
+ "build_time": 0, 
+ "summary": "PX4IOv2",
+ "version": "2.0",
+ "image_size": 0,
+ "git_identity": "",
+ "board_revision": 0
+}

Makefile

@@ -40,14 +40,16 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
 include $(PX4_BASE)makefiles/setup.mk
 
 #
-# Canned firmware configurations that we build.
+# Canned firmware configurations that we (know how to) build.
 #
-CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
+KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
+CONFIGS ?= $(KNOWN_CONFIGS)
 
 #
-# Boards that we build NuttX export kits for.
+# Boards that we (know how to) build NuttX export kits for.
 #
-BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
+KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
+BOARDS ?= $(KNOWN_BOARDS)
 
 #
 # Debugging
@@ -87,10 +89,11 @@ endif
 #
 # Built products
 #
-STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
-FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
+DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
+STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
+FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
 
-all: $(STAGED_FIRMWARES)
+all: $(DESIRED_FIRMWARES)
 
 #
 # Copy FIRMWARES into the image directory.
@@ -114,13 +117,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
  @$(ECHO) %%%%
  @$(ECHO) %%%% Building $(config) in $(work_dir)
  @$(ECHO) %%%%
- $(Q) mkdir -p $(work_dir)
- $(Q) make -r -C $(work_dir) \
+ $(Q) $(MKDIR) -p $(work_dir)
+ $(Q) $(MAKE) -r -C $(work_dir) \
  -f $(PX4_MK_DIR)firmware.mk \
  CONFIG=$(config) \
  WORK_DIR=$(work_dir) \
  $(FIRMWARE_GOAL)
 
+#
+# Make FMU firmwares depend on the corresponding IO firmware.
+#
+# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
+# and forces the _default config in all cases. There has to be a better way to do this...
+#
+FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
+define FMU_DEP
+$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
+endef
+FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
+$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
+
 #
 # Build the NuttX export archives.
 #
@@ -147,12 +163,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
 $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
  @$(ECHO) %% Configuring NuttX for $(board)
  $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
- $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+ $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
  $(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
  $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
  @$(ECHO) %% Exporting NuttX for $(board)
- $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
- $(Q) mkdir -p $(dir $@)
+ $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+ $(Q) $(MKDIR) -p $(dir $@)
  $(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
  $(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
 
@@ -168,11 +184,11 @@ BOARD = $(BOARDS)
 menuconfig: $(NUTTX_SRC)
  @$(ECHO) %% Configuring NuttX for $(BOARD)
  $(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
- $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
+ $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
  $(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
  $(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
  @$(ECHO) %% Running menuconfig for $(BOARD)
- $(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+ $(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
  @$(ECHO) %% Saving configuration file
  $(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
 else
@@ -191,7 +207,7 @@ $(NUTTX_SRC):
 # Testing targets
 #
 testbuild:
- $(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
+ $(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
 
 #
 # Cleanup targets. 'clean' should remove all built products and force
@@ -206,7 +222,8 @@ clean:
 .PHONY: distclean
 distclean: clean
  $(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
- $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
+ $(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+ $(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
 
 #
 # Print some help text
@@ -228,9 +245,9 @@ help:
  @$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
  @$(ECHO) ""
  @for config in $(CONFIGS); do \
- echo " $$config"; \
- echo " Build just the $$config firmware configuration."; \
- echo ""; \
+ $(ECHO) " $$config"; \
+ $(ECHO) " Build just the $$config firmware configuration."; \
+ $(ECHO) ""; \
  done
  @$(ECHO) " clean"
  @$(ECHO) " Remove all firmware build pieces."