Mavstation addition

.travis.yml

@@ -16,9 +16,9 @@ before_script:
   - sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget cmake
   - pushd .
   - cd ~
-  - wget https://launchpadlibrarian.net/174121628/gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
-  - tar -jxf gcc-arm-none-eabi-4_7-2014q2-20140408-linux.tar.bz2
-  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_7-2014q2/bin:\$PATH"
+  - wget https://launchpadlibrarian.net/186124160/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - tar -jxf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - exportline="export PATH=$HOME/gcc-arm-none-eabi-4_8-2014q3/bin:\$PATH"
   - if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
   - . ~/.profile
   - popd

Images/mavstation.prototype

@@ -0,0 +1,12 @@
+{
+    "board_id": 20, 
+    "magic": "MAVSTATION", 
+    "description": "Firmware for the Mavstation board", 
+    "image": "", 
+    "build_time": 0, 
+    "summary": "MAVSTATION",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}

Makefile

@@ -161,7 +161,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
 #
 NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
 .PHONY:			archives
-archives:		$(NUTTX_ARCHIVES)
+archives:		nuttxpatches  $(NUTTX_ARCHIVES)
 
 # We cannot build these parallel; note that we also force -j1 for the
 # sub-make invocations.
@@ -185,6 +185,29 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
 	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
 	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
 
+NUTTX_PATCHES	:= $(wildcard $(PX4_NUTTX_PATCH_DIR)*.patch)
+NUTTX_PATCHED	= $(NUTTX_SRC).patchedpx4common
+
+.PHONY:	nuttxpatches
+nuttxpatches: 
+	$(Q) -if [ ! -f $(NUTTX_PATCHED) ]; then \
+		 	for patch in $(NUTTX_PATCHES); \
+				do \
+					$(PATCH) -p0 -N  < $$patch >/dev/null; \
+				done \
+		  fi
+	$(Q) $(TOUCH) $(NUTTX_PATCHED)
+
+.PHONY:	cleannuttxpatches
+cleannuttxpatches: 
+	$(Q) -if [  -f $(NUTTX_PATCHED) ]; then \
+		 	for patch in $(NUTTX_PATCHES); \
+				do \
+					$(PATCH) -p0 -N -R -r - < $$patch >/dev/null; \
+				done \
+		  fi
+	$(Q) $(REMOVE) $(NUTTX_PATCHED)
+
 #
 # The user can run the NuttX 'menuconfig' tool for a single board configuration with
 # make BOARDS=<boardname> menuconfig
@@ -252,7 +275,7 @@ clean:
 	$(Q) $(REMOVE) $(IMAGE_DIR)*.px4
 
 .PHONY:	distclean
-distclean: clean
+distclean: cleannuttxpatches clean
 	@echo > /dev/null
 	$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
 	$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean

ROMFS/mavstation_common/init.d/rcS

@@ -0,0 +1,18 @@
+#!nsh
+#
+# Mavstation startup script.
+#
+#  NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+
+echo "[i] Starting Mavstation Code..."
+
+mavstation 
+
+#if sercon
+#then
+#	echo "[i] USB interface connected"
+
+	# Try to get an USB console
+#	nshterm /dev/ttyACM0 &
+#fi

ROMFS/px4fmu_common/init.d/rc.interface

@@ -13,21 +13,21 @@ then
 
 	if [ $MIXER_AUX == none ]
 	then
-		set MIXER_AUX $MIXER.aux
+		set MIXER_AUX ${MIXER}.aux
 	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
 
@@ -104,14 +104,14 @@ then
 
 	set MIXER_AUX_FILE none
 
-	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.mix ]
 	then
-		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.mix
 	else
 
-		if [ -f /etc/mixers/$MIXER_AUX.mix ]
+		if [ -f /etc/mixers/${MIXER_AUX}.mix ]
 		then
-			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.mix
 		fi
 	fi
 

ROMFS/px4fmu_common/init.d/rcS

@@ -198,7 +198,7 @@ then
 
 			if px4io forceupdate 14662 $IO_FILE
 			then
-				usleep 500000
+				usleep 10000
 				if px4io checkcrc $IO_FILE
 				then
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE

makefiles/board_mavstation.mk

@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the mavstation
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM3
+CONFIG_BOARD			 = MAVSTATION
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

makefiles/config_mavstation_default.mk

@@ -0,0 +1,29 @@
+#
+# Makefile for the mavstation_default configuration
+#
+
+#
+# Use the configuration's ROMFS
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/mavstation_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/boards/mavstation
+MODULES		+= modules/mavstation_firmware
+#MODULES		+= modules/uORB
+#MODULES		+= examples/px4_simple_app
+
+#MODULES		+= systemcmds/nshterm
+
+
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+BUILTIN_COMMANDS := \
+    $(call _B, sercon, , 1024,  sercon_main) \
+	$(call _B, serdis, , 1024,  serdis_main)

makefiles/config_px4fmu-v1_default.mk

@@ -153,4 +153,5 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
+	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
+	$(call _B, cu,                     ,                          2048,  cu_main                    )

makefiles/config_px4fmu-v2_default.mk

@@ -163,4 +163,5 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
+	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
+	$(call _B, cu,                     ,                          2048,  cu_main                    )

makefiles/config_px4fmu-v2_test.mk

@@ -94,4 +94,5 @@ endef
 #                  command                 priority                   stack  entrypoint
 BUILTIN_COMMANDS := \
 	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
+	$(call _B, serdis,                 ,                          2048,  serdis_main                ) \
+	$(call _B, cu,                     ,                          2048,  cu_main                    )

makefiles/module.mk

@@ -113,7 +113,9 @@
 ifeq ($(MODULE_MK),)
 $(error No module makefile specified)
 endif
-$(info %% MODULE_MK           = $(MODULE_MK))
+# newline
+$(info )
+$(info %% MODULE $(MODULE_NAME)   ($(MODULE_MK)))
 
 #
 # Get the board/toolchain config
@@ -125,10 +127,11 @@ include $(BOARD_FILE)
 #
 include $(MODULE_MK)
 MODULE_SRC		:= $(dir $(MODULE_MK))
-$(info %  MODULE_NAME         = $(MODULE_NAME))
-$(info %  MODULE_SRC          = $(MODULE_SRC))
-$(info %  MODULE_OBJ          = $(MODULE_OBJ))
-$(info %  MODULE_WORK_DIR     = $(MODULE_WORK_DIR))
+# this information is helpful during build system debugging, but not quite otherwise
+# $(info %  MODULE_NAME         = $(MODULE_NAME))
+# $(info %  MODULE_SRC          = $(MODULE_SRC))
+# $(info %  MODULE_OBJ          = $(MODULE_OBJ))
+# $(info %  MODULE_WORK_DIR     = $(MODULE_WORK_DIR))
 
 #
 # Things that, if they change, might affect everything

makefiles/setup.mk

@@ -1,5 +1,5 @@
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -47,13 +47,13 @@ export PX4_LIB_DIR	 = $(abspath $(PX4_BASE)/src/lib)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
-export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
 export UAVCAN_DIR	 = $(abspath $(PX4_BASE)/uavcan)/
 export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
 export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
 export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
 export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
+export PX4_NUTTX_PATCH_DIR	 = $(abspath $(PX4_BASE)/nuttx-patches)/
 
 #
 # Default include paths
@@ -80,6 +80,7 @@ export ECHO		 = echo
 export UNZIP_CMD	 = unzip
 export PYTHON		 = python
 export OPENOCD		 = openocd
+export PATCH		 = patch
 export GREP		 = grep
 
 #

makefiles/toolchain_gnu-arm-eabi.mk

@@ -1,5 +1,5 @@
 #
-#   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -60,7 +60,7 @@ endif
 
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
-MAXOPTIMIZATION		 ?= -O3
+MAXOPTIMIZATION		 ?= -Os
 
 # Base CPU flags for each of the supported architectures.
 #
@@ -80,12 +80,23 @@ ARCHCPUFLAGS_CORTEXM3	 = -mcpu=cortex-m3 \
 			   -march=armv7-m \
 			   -mfloat-abi=soft
 
+#
+# Tool to test a Nuttx Config value from config.h 
+#
+
+NUTTX_CONFIG_H=$(WORK_DIR)nuttx-export/include/nuttx/config.h
+define check_nuttx_config
+$(strip $(shell $(GREP) -q $1 $2;echo $$?;))
+endef
+nuttx_config_true:="0"
+nuttx_config_2true:="0 0"
+
+#
 # Enabling stack checks if OS was build with them
 #
-TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
-TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
-ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
-ifeq ("$(ENABLE_STACK_CHECKS)","0")
+
+ENABLE_STACK_CHECKS=$(call check_nuttx_config ,"CONFIG_ARMV7M_STACKCHECK 1", $(NUTTX_CONFIG_H))
+ifeq ("$(ENABLE_STACK_CHECKS)",$(nuttx_config_true))
 ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
 ARCHINSTRUMENTATIONDEFINES_CORTEXM4  = -finstrument-functions -ffixed-r10
 ARCHINSTRUMENTATIONDEFINES_CORTEXM3  =
@@ -325,3 +336,4 @@ define BIN_TO_OBJ
 		--rename-section .data=.rodata
 	$(Q) $(REMOVE) $2.c $2.c.o
 endef
+

makefiles/upload.mk

@@ -30,9 +30,12 @@ upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
 upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
+
 upload-serial-aerocore:
 	openocd -f $(PX4_BASE)/makefiles/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
 
+upload-serial-mavstation:    $(BUNDLE) $(UPLOADER)
+	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 
 #

nuttx-configs/aerocore/nsh/Make.defs

@@ -35,6 +35,7 @@
 
 include ${TOPDIR}/.config
 include ${TOPDIR}/tools/Config.mk
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
 
 #
 # We only support building with the ARM bare-metal toolchain from