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Merge pull request #90 from rosflight/RC1.0
Release Candidate 0.1.0
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| align-reference=name | ||
| max-code-length=120 | ||
| suffix=none | ||
| --ignore-exclude-errors-x | ||
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| *.orig | ||
| *.user.* | ||
| *.o | ||
| /build/* | ||
| /boards/*/build/ | ||
| /site/ | ||
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| param_description.md | ||
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| *.aux | ||
| *.fdb_latexmk | ||
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| @@ -1,6 +1,6 @@ | ||
| [submodule "lib/breezystm32"] | ||
| path = lib/breezystm32 | ||
| url = https://github.com/simondlevy/BreezySTM32.git | ||
| [submodule "lib/mavlink/v1.0"] | ||
| path = lib/mavlink/v1.0 | ||
| url = https://github.com/BYU-MAGICC/mavlink_c_library.git | ||
| url = https://github.com/rosflight/mavlink_c_library.git | ||
| [submodule "boards/naze/lib/breezystm32"] | ||
| path = boards/naze/lib/breezystm32 | ||
| url = https://github.com/rosflight/BreezySTM32.git |
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| BSD 3-Clause License | ||
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| Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab | ||
| All rights reserved. | ||
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| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
|
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| * Redistributions of source code must retain the above copyright notice, this | ||
| list of conditions and the following disclaimer. | ||
|
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| * 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. | ||
|
|
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| * Neither the name of the copyright holder 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 HOLDER 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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| ############################################################################### | ||
| # "THE BEER-WARE LICENSE" (Revision 42): | ||
| # <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you | ||
| # can do whatever you want with this stuff. If we meet some day, and you think | ||
| # this stuff is worth it, you can buy me a beer in return | ||
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| ############################################################################### | ||
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| # external libraries | ||
| BREEZY_DIR = lib/breezystm32 | ||
| TURBOTRIG_DIR = lib/turbotrig | ||
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| # project source files | ||
| PROJECT_SRC = src/main.c \ | ||
| src/estimator.c \ | ||
| src/flash.c \ | ||
| src/mavlink.c \ | ||
| src/mavlink_param.c \ | ||
| src/mavlink_receive.c \ | ||
| src/mavlink_stream.c \ | ||
| src/mavlink_util.c \ | ||
| src/mixer.c \ | ||
| src/param.c \ | ||
| src/rc.c \ | ||
| src/sensors.c \ | ||
| src/mux.c \ | ||
| src/controller.c \ | ||
| src/mode.c \ | ||
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| ############################################################################### | ||
| ################################################################################ | ||
| # | ||
| # Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * 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. | ||
| # | ||
| # * Neither the name of the copyright holder 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 HOLDER 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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| # You probably shouldn't modify anything below here! | ||
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| TARGET ?= rosflight2 | ||
| TARGET = rosflight | ||
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| # Compile-time options | ||
| OPTIONS ?= | ||
| BOARD ?= naze | ||
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| # Debugger options, must be empty or GDB | ||
| DEBUG ?= | ||
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| # Serial port/device for flashing | ||
| SERIAL_DEVICE ?= /dev/ttyUSB0 | ||
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| # Working directories | ||
| ROOT = $(dir $(lastword $(MAKEFILE_LIST))) | ||
| SRC_DIR = $(ROOT) | ||
| CMSIS_DIR = $(BREEZY_DIR)/lib/CMSIS | ||
| STDPERIPH_DIR = $(BREEZY_DIR)/lib/STM32F10x_StdPeriph_Driver | ||
| OBJECT_DIR = $(ROOT)/build | ||
| BIN_DIR = $(ROOT)/build | ||
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| rosflight2_SRC =$(BREEZY_DIR)/drv_gpio.c \ | ||
| $(BREEZY_DIR)/drv_i2c.c \ | ||
| $(BREEZY_DIR)/drv_adc.c \ | ||
| $(BREEZY_DIR)/drv_spi.c \ | ||
| $(BREEZY_DIR)/drv_pwm.c \ | ||
| $(BREEZY_DIR)/drv_system.c \ | ||
| $(BREEZY_DIR)/drv_serial.c \ | ||
| $(BREEZY_DIR)/drv_uart.c \ | ||
| $(BREEZY_DIR)/drv_timer.c \ | ||
| $(BREEZY_DIR)/drv_mpu6050.c \ | ||
| $(BREEZY_DIR)/drv_ms4525.c \ | ||
| $(BREEZY_DIR)/drv_mb1242.c \ | ||
| $(BREEZY_DIR)/drv_ms5611.c \ | ||
| $(BREEZY_DIR)/printf.c \ | ||
| $(BREEZY_DIR)/startup_stm32f10x_md_gcc.S \ | ||
| $(TURBOTRIG_DIR)/turbotrig.c \ | ||
| $(TURBOTRIG_DIR)/turbovec.c \ | ||
| $(PROJECT_SRC) \ | ||
| $(CMSIS_SRC) \ | ||
| $(STDPERIPH_SRC) | ||
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| VPATH := $(SRC_DIR):$(SRC_DIR)/startups | ||
| PARALLEL_JOBS ?= 4 | ||
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| # Search path and source files for the CMSIS sources | ||
| VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x | ||
| CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \ | ||
| $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c)) | ||
| # Build configuration | ||
| BOARD_DIR = boards/$(BOARD) | ||
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| # Search path and source files for the ST stdperiph library | ||
| VPATH := $(VPATH):$(STDPERIPH_DIR)/src | ||
| STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c)) | ||
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| ############################################################################### | ||
| # Things that might need changing to use different tools | ||
| # | ||
|
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| # Tool names | ||
| CC = arm-none-eabi-gcc -std=gnu99 | ||
| OBJCOPY = arm-none-eabi-objcopy | ||
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| # | ||
| # Tool options. | ||
| # | ||
| INCLUDE_DIRS = include \ | ||
| lib \ | ||
| $(BREEZY_DIR) \ | ||
| $(STDPERIPH_DIR)/inc \ | ||
| $(CMSIS_DIR)/CM3/CoreSupport \ | ||
| $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \ | ||
| .PHONY: all flash clean | ||
|
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| ARCH_FLAGS = -mthumb -mcpu=cortex-m3 | ||
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| ifeq ($(DEBUG),GDB) | ||
| OPTIMIZE = -Og | ||
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| else | ||
| OPTIMIZE = -Os | ||
| LTO_FLAGS = -flto -fuse-linker-plugin $(OPTIMIZE) | ||
| endif | ||
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| DEBUG_FLAGS = -ggdb3 | ||
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| CFLAGS = $(ARCH_FLAGS) \ | ||
| $(LTO_FLAGS) \ | ||
| $(addprefix -D,$(OPTIONS)) \ | ||
| $(addprefix -I,$(INCLUDE_DIRS)) \ | ||
| $(DEBUG_FLAGS) \ | ||
| -Wall -pedantic -Wextra -Wshadow -Wunsafe-loop-optimizations \ | ||
| -ffunction-sections \ | ||
| -fdata-sections \ | ||
| -DSTM32F10X_MD \ | ||
| -DUSE_STDPERIPH_DRIVER \ | ||
| -D$(TARGET) | ||
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| ASFLAGS = $(ARCH_FLAGS) \ | ||
| -x assembler-with-cpp \ | ||
| $(addprefix -I,$(INCLUDE_DIRS)) | ||
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| LD_SCRIPT = $(BREEZY_DIR)/stm32_flash.ld | ||
| LDFLAGS = -lm \ | ||
| -nostartfiles \ | ||
| --specs=nano.specs \ | ||
| -lc \ | ||
| -lnosys \ | ||
| $(ARCH_FLAGS) \ | ||
| $(LTO_FLAGS) \ | ||
| $(DEBUG_FLAGS) \ | ||
| -static \ | ||
| -Wl,-gc-sections,-Map,$(TARGET_MAP) \ | ||
| -T$(LD_SCRIPT) | ||
|
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| # | ||
| # Things we will build | ||
| # | ||
|
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| TARGET_HEX = $(BIN_DIR)/$(TARGET).hex | ||
| TARGET_ELF = $(BIN_DIR)/$(TARGET).elf | ||
| TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC)))) | ||
| TARGET_MAP = $(OBJECT_DIR)/$(TARGET).map | ||
|
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| # List of buildable ELF files and their object dependencies. | ||
| # It would be nice to compute these lists, but that seems to be just beyond make. | ||
|
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| $(TARGET_HEX): $(TARGET_ELF) | ||
| $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@ | ||
|
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| $(TARGET_ELF): $(TARGET_OBJS) | ||
| $(CC) -o $@ $^ $(LDFLAGS) | ||
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| MKDIR_OBJDIR = @mkdir -p $(dir $@) | ||
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| # Compile | ||
| $(OBJECT_DIR)/$(TARGET)/%.o: %.c | ||
| $(MKDIR_OBJDIR) | ||
| @echo %% $(notdir $<) | ||
| @$(CC) -c -o $@ $(CFLAGS) $< | ||
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| # Assemble | ||
| $(OBJECT_DIR)/$(TARGET)/%.o: %.S | ||
| $(MKDIR_OBJDIR) | ||
| @echo %% $(notdir $<) | ||
| @$(CC) -c -o $@ $(ASFLAGS) $< | ||
| all: | ||
| cd $(BOARD_DIR) && make -j$(PARALLEL_JOBS) DEBUG=$(DEBUG) SERIAL_DEVICE=$(SERIAL_DEVICE) | ||
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| clean: | ||
| rm -rf $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP) $(BIN_DIR) $(OBJECT_DIR) | ||
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| flash_$(TARGET): $(TARGET_HEX) | ||
| stty -F $(SERIAL_DEVICE) raw speed 921600 -crtscts cs8 -parenb -cstopb -ixon | ||
| stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 921600 $(SERIAL_DEVICE) | ||
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| flash: flash_$(TARGET) | ||
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| unbrick: $(TARGET_HEX) | ||
| stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon | ||
| stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) | ||
| cd $(BOARD_DIR) && make clean | ||
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| listen: | ||
| miniterm.py $(SERIAL_DEVICE) 115200 | ||
| flash: | ||
| cd $(BOARD_DIR) && make flash |
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