One monster commit just for the diff

PX4 · Dec 10, 2016 · e05a8aa · e05a8aa
1 parent d817d33
commit e05a8aa
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diff --git a/.gitmodules b/.gitmodules
@@ -6,7 +6,7 @@
 	url = https://github.com/mavlink/c_library_v2.git
 [submodule "NuttX"]
 	path = NuttX
-	url = https://github.com/PX4/NuttX.git
+	url = https://github.com/PX4/PX4NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -161,6 +161,16 @@ set(target_name "${OS}-${BOARD}-${LABEL}")
 
 message(STATUS "${target_name}")
 
+#  The Url for the elf file for crash logging
+
+if (DEFINED ENV{BUILD_URI})
+	set (BUILD_URI $ENV{BUILD_URI})
+else()
+	set (BUILD_URI "localhost")
+endif()
+
+add_definitions(-DBUILD_URI=${BUILD_URI})
+
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
@@ -243,7 +253,7 @@ if (CATKIN_DEVEL_PREFIX)
 		message(FATAL_ERROR "catkin not found")
 	endif()
 else()
-	message(STATUS "catkin DISABLED")
+	#message(STATUS "catkin DISABLED")
 endif()
 
 find_package(PythonInterp REQUIRED)
@@ -337,6 +347,7 @@ add_definitions(${definitions})
 #=============================================================================
 # source code generation
 #
+
 add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
@@ -413,7 +424,7 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod
 
 add_subdirectory(src/firmware/${OS})
 
-#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
+#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
 if (NOT "${OS}" STREQUAL "nuttx")
 endif()
 

diff --git a/Images/crazyflie.prototype b/Images/crazyflie.prototype
@@ -1,9 +1,9 @@
 {
-    "board_id": 12, 
-    "magic": "Crazyflie", 
-    "description": "Firmware for the Crazyflie 2.0", 
-    "image": "", 
-    "build_time": 0, 
+    "board_id": 12,
+    "magic": "Crazyflie",
+    "description": "Firmware for the Crazyflie 2.0",
+    "image": "",
+    "build_time": 0,
     "summary": "CRAZYFLIE",
     "version": "0.1",
     "image_size": 0,

diff --git a/Images/esc35-v1.prototype b/Images/esc35-v1.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 27,
+    "magic": "ESC35v1",
+    "description": "Firmware for the ESC35V1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ESC35v1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/px4cannode-v1.prototype b/Images/px4cannode-v1.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 22,
+    "magic": "CANNODEFWv1",
+    "description": "Firmware for the PX4CANNODE board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4CANNODEv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/px4esc-v1.prototype b/Images/px4esc-v1.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 25,
+    "magic": "ESCv1",
+    "description": "Firmware for the PX4ESCV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4ESCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/px4flow-v2.prototype b/Images/px4flow-v2.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 24,
+    "magic": "FLOWv1",
+    "description": "Firmware for the PX4FLowV1 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FLOWv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/px4fmu-v3.prototype b/Images/px4fmu-v3.prototype
@@ -1,9 +1,9 @@
 {
-    "board_id": 9, 
-    "magic": "PX4FWv1", 
-    "description": "Firmware for the PX4FMUv3 board", 
-    "image": "", 
-    "build_time": 0, 
+    "board_id": 9,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv3 board",
+    "image": "",
+    "build_time": 0,
     "summary": "PX4FMUv3",
     "version": "0.1",
     "image_size": 0,

diff --git a/Images/px4fmu-v4pro.prototype b/Images/px4fmu-v4pro.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 13,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv4PRO",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/px4fmu-v5.prototype b/Images/px4fmu-v5.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 50,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv5 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv5",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/px4nucleoF767ZI-v1.prototype b/Images/px4nucleoF767ZI-v1.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 90, 
+    "magic": "PX4FWv1", 
+    "description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "PX4NUCLEOF767ZIv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/s2740vc-v1.prototype b/Images/s2740vc-v1.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 23,
+    "magic": "S2740VCblv1",
+    "description": "Firmware for the S2740VC board",
+    "image": "",
+    "build_time": 0,
+    "summary": "S2740VCv1",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Images/zubaxgnss-v1.prototype b/Images/zubaxgnss-v1.prototype
@@ -0,0 +1,12 @@
+{
+    "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
+}
diff --git a/Makefile b/Makefile
@@ -195,7 +195,7 @@ run_sitl_ros: _sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.PHONY: uavcan_firmware compiler_version check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
 .NOTPARALLEL:
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
@@ -208,30 +208,67 @@ ifeq ($(VECTORCONTROL),1)
 endif
 
 check_px4fmu-v4_default: uavcan_firmware
+
 check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
-	@echo
+	@echo VECTORCONTROL=$VECTORCONTROL
 ifeq ($(VECTORCONTROL),1)
 	@echo "Cleaning up vectorcontrol firmware"
 	@rm -rf vectorcontrol
 	@rm -rf ROMFS/px4fmu_common/uavcan
 endif
 
-# All default targets that don't require a special build environment (currently built on semaphore-ci)
-check: 	check_px4fmu-v1_default \
+sizes:
+	@-find build_* -name firmware_nuttx -type f | xargs size
+
+
+checks_defaults: \
+	check_auav-x21_default \
+	check_px4fmu-v5_default \
+	check_px4nucleoF767ZI-v1_default \
+	check_px4fmu-v1_default \
 	check_px4fmu-v2_default \
-	check_px4fmu-v2_test \
-	check_px4fmu-v4_default_and_uavcan \
+	check_px4fmu-v3_default \
+	check_px4fmu-v4_default \
+	check_px4fmu-v4pro_default \
 	check_mindpx-v2_default \
-	check_posix_sitl_default \
+	check_px4cannode-v1_default \
+	check_px4esc-v1_default \
+	check_s2740vc-v1_default \
 	check_tap-v1_default \
+	check_crazyflie_default \
+
+checks_bootloaders: \
+	check_px4cannode-v1_bootloader \
+	check_esc35-v1_bootloader \
+	check_px4esc-v1_bootloader \
+	check_px4flow-v2_bootloader \
+	check_s2740vc-v1_bootloader \
+	check_zubaxgnss-v1_bootloader \
+
+checks_tests: \
+	check_px4fmu-v2_test
+
+checks_alts: \
 	check_aerofc-v1_default \
 	check_px4-stm32f4discovery_default \
-	check_crazyflie_default \
+
+checks_uavcan: \
+	check_px4fmu-v4_default_and_uavcan
+
+checks_sitls: \
+	check_posix_sitl_default
+
+checks_last: \
 	check_tests \
-	check_format
+	check_format \
+
+compiler_version:
+	-arm-none-eabi-gcc --version
 
+# All default targets that don't require a special build environment (currently built on semaphore-ci)
+check: compiler_version checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last sizes
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v4_default check_tests check_format
+quick_check: compiler_version check_posix_sitl_default check_px4fmu-v4_default check_tests check_format sizes
 
 check_format:
 	$(call colorecho,"Checking formatting with astyle")
@@ -321,4 +358,3 @@ help:
 # Print a list of all config targets.
 list_config_targets:
 	@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done
-
diff --git a/NuttX b/NuttX
diff --git a/README.md b/README.md
@@ -59,7 +59,7 @@ This repository contains code supporting these boards:
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
   * MindPX V2.8 [Tutorial] (http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * MindRacer V1.2 [Tutorial] (http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  
+
 ## Project Milestones
 
 The PX4 software and Pixhawk hardware (which has been designed for it) has been created in 2011 by Lorenz Meier.
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -2,6 +2,12 @@
 #
 # Script to configure control interface
 #
+#
+# NOTE: environment variable references:
+#  If the dollar sign ('$') is followed by a left bracket ('{') then the
+#  variable name is terminated with the right bracket character ('}').
+#  Otherwise, the variable name goes to the end of the argument.
+#
 
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 
@@ -17,17 +23,17 @@ then
 	fi
 
 	# Use the mixer file from the SD-card if it exists
-	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix ]
 	then
-		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+		set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.main.mix
 	# Try out the old convention, for backward compatibility
 	else
 
-		if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER}.mix ]
 		then
-			set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
+			set MIXER_FILE ${SDCARD_MIXERS_PATH}/${MIXER}.mix
 		else
-			set MIXER_FILE /etc/mixers/$MIXER.main.mix
+			set MIXER_FILE /etc/mixers/${MIXER}.main.mix
 		fi
 	fi
 
@@ -133,14 +139,14 @@ then
 	set MIXER_AUX_FILE none
 	set OUTPUT_AUX_DEV /dev/pwm_output1
 
-	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix ]
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
 	then
-		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.aux.mix
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
 	else
 
-		if [ -f /etc/mixers/$MIXER_AUX.aux.mix ]
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
 		then
-			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.aux.mix
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
 		fi
 	fi
 

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -299,6 +299,29 @@ then
 	fi
 fi
 
+if ver hwcmp PX4FMU_V4PRO
+then
+ 	# Internal SPI bus ICM-20608-G 
+ 	if mpu6000 -R 2 -T 20608 start
+ 	then
+ 	fi
+
+ 	# Internal SPI bus mpu9250
+ 	if mpu9250 -R 2 start
+ 	then
+ 	fi
+
+ 	# Possible external compasses
+ 	if hmc5883 -X start
+ 	then
+ 	fi
+
+ 	# Internal SPI bus
+ 	if lis3mdl -R 2 start
+ 	then
+ 	fi	
+fi
+
 if meas_airspeed start
 then
 else