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{ | ||
"board_id": 26, | ||
"magic": "ZUBAXGNSSFWv1", | ||
"description": "Firmware for the ZUBAXGNSS board", | ||
"image": "", | ||
"build_time": 0, | ||
"summary": "ZUBAXGNSSv1", | ||
"version": "0.0", | ||
"image_size": 0, | ||
"git_identity": "", | ||
"board_revision": 0 | ||
} |
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include(nuttx/px4_impl_nuttx) | ||
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px4_nuttx_configure(HWCLASS m3 CONFIG bootloader) | ||
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set(px4_src_base ${CMAKE_SOURCE_DIR}/src/) | ||
set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/) | ||
set(px4_module_base ${px4_src_base}modules/) | ||
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# | ||
# UAVCAN boot loadable Module ID | ||
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# | ||
# Bring in common uavcan hardware identity definitions | ||
# | ||
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include(configs/uavcan_board_ident/zubaxgnss-v1) | ||
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake) | ||
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set(config_module_list | ||
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drivers/boards/zubaxgnss-v1/bootloader | ||
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) | ||
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# | ||
# Bootloaders use a compact vector table not | ||
# from the lib, but exported in startup | ||
# | ||
set(nuttx_startup_files stm32_vectors.o) |
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# | ||
# For a description of the syntax of this configuration file, | ||
# see misc/tools/kconfig-language.txt. | ||
# | ||
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if CONFIG_ARCH_BOARD_ZUBAX_GNSS_V1 | ||
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config BOARD_HAS_PROBES | ||
bool "Board provides GPIO or other Hardware for signaling to timing analyze." | ||
default y | ||
---help--- | ||
This board provides GPIO PB5-9 as PROBE_1-5 to provide timing signals from selected drivers. | ||
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config BOARD_USE_PROBES | ||
bool "Enable the use provides GPIO PB5-9 as PROBE_1-5 to provide timing signals from selected drivers" | ||
default n | ||
depends on BOARD_HAS_PROBES | ||
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---help--- | ||
Select to use GPIO provides GPIO PB5-9 to provide timing signals from selected drivers. | ||
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endif |
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############################################################################ | ||
# nuttx-configs/zubaxgnss-v1/bootloader/Make.defs | ||
# | ||
# Copyright (C) 2015 Gregory Nutt. All rights reserved. | ||
# Author: Gregory Nutt <gnutt@nuttx.org> | ||
# David Sidrane <david_s5@nscdg.com> | ||
# | ||
# Redistribution and use in source and binary forms, with or without | ||
# modification, are permitted provided that the following conditions | ||
# are met: | ||
# | ||
# 1. Redistributions of source code must retain the above copyright | ||
# notice, this list of conditions and the following disclaimer. | ||
# 2. Redistributions in binary form must reproduce the above copyright | ||
# notice, this list of conditions and the following disclaimer in | ||
# the documentation and/or other materials provided with the | ||
# distribution. | ||
# 3. Neither the name NuttX nor the names of its contributors may be | ||
# used to endorse or promote products derived from this software | ||
# without specific prior written permission. | ||
# | ||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
# POSSIBILITY OF SUCH DAMAGE. | ||
# | ||
############################################################################ | ||
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include ${TOPDIR}/.config | ||
include ${TOPDIR}/tools/Config.mk | ||
include $(TOPDIR)/PX4_Warnings.mk | ||
include $(TOPDIR)/PX4_Config.mk | ||
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# | ||
# We only support building with the ARM bare-metal toolchain from | ||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. | ||
# | ||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER} | ||
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs | ||
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CONFIG_BOOTLOADER=y | ||
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CC = $(CROSSDEV)gcc | ||
CXX = $(CROSSDEV)g++ | ||
CPP = $(CROSSDEV)gcc -E | ||
LD = $(CROSSDEV)ld | ||
AR = $(CROSSDEV)ar rcs | ||
NM = $(CROSSDEV)nm | ||
OBJCOPY = $(CROSSDEV)objcopy | ||
OBJDUMP = $(CROSSDEV)objdump | ||
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MAXOPTIMIZATION = -Os | ||
ARCHCPUFLAGS = -mcpu=cortex-m3 \ | ||
-mthumb \ | ||
-march=armv7-m | ||
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# Enable precise stack overflow tracking | ||
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y) | ||
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10 | ||
endif | ||
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# Use our linker script | ||
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LDSCRIPT = bootloaderld.script | ||
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ifeq ($(WINTOOL),y) | ||
# Windows-native toolchains | ||
DIRLINK = $(TOPDIR)/tools/copydir.sh | ||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh | ||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh | ||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" | ||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" | ||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" | ||
else | ||
ifeq ($(PX4_WINTOOL),y) | ||
# Windows-native toolchains (MSYS) | ||
DIRLINK = $(TOPDIR)/tools/copydir.sh | ||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh | ||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh | ||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include | ||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx | ||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) | ||
else | ||
# Linux/Cygwin-native toolchain | ||
MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT) | ||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include | ||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx | ||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) | ||
endif | ||
endif | ||
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# Tool versions | ||
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ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} | ||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} | ||
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# Optimization flags | ||
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ | ||
-fno-strict-aliasing \ | ||
-fno-strength-reduce \ | ||
-fomit-frame-pointer \ | ||
-funsafe-math-optimizations \ | ||
-fno-builtin-printf \ | ||
-ffunction-sections \ | ||
-fdata-sections | ||
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ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") | ||
ARCHOPTIMIZATION += -g | ||
endif | ||
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ARCHCFLAGS = -std=gnu99 | ||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x | ||
ARCHWARNINGS = $(PX4_ARCHWARNINGS) | ||
ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS) | ||
ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX) | ||
ARCHDEFINES = | ||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 | ||
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# This seems to be the only way to add linker flags | ||
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EXTRA_LIBS += --warn-common \ | ||
--gc-sections | ||
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CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common | ||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) | ||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe | ||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) | ||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) | ||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ | ||
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NXFLATLDFLAGS1 = -r -d -warn-common | ||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections | ||
LDNXFLATFLAGS = -e main -s 2048 | ||
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OBJEXT = .o | ||
LIBEXT = .a | ||
EXEEXT = | ||
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# Produce partially-linked $1 from files in $2 | ||
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define PRELINK | ||
@echo "PRELINK: $1" | ||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 | ||
endef | ||
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HOSTCC = gcc | ||
HOSTINCLUDES = -I. | ||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe | ||
HOSTLDFLAGS = | ||
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LDFLAGS += --wrap up_svcall |
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