Link ursuspilot

.gitignore

@@ -1,5 +1,6 @@
 .tags*
 *.o
+*.d
 cscope*
 *.bin
 *.elf

.travis.yml

@@ -9,6 +9,5 @@ before_install:
   - sudo apt-get install gcc-arm-none-eabi
 
 script:
-  - cd program/
   - make 
   - arm-none-eabi-size firmware.elf

Makefile

@@ -0,0 +1,73 @@
+export WORKSPACE_DIR=./program
+
+#Primary firmware target
+export FIRMWARE=./firmware
+
+#
+#include .mk
+include $(WORKSPACE_DIR)/makefiles/toolchain.mk
+include $(WORKSPACE_DIR)/makefiles/workspace.mk
+
+#
+#object file dir
+include $(WORKSPACE_DIR)/board/vertigo-v2/board_config.mk
+
+OBJS = $(sort $(patsubst %c, %o, $(SRCS) ))
+
+
+
+#
+#make target
+all: $(FIRMWARE).bin $(FIRMWARE).elf
+
+include $(WORKSPACE_DIR)/makefiles/rules.mk
+
+clean:
+	rm -rf $(STARTUP_OBJ)
+	rm -rf $(FIRMWARE).elf
+	rm -rf $(FIRMWARE).bin
+	rm -f $(OBJS)
+	rm -f $(DEPS)
+#
+#upload firmware through st-flash
+flash:
+	st-flash write $(FIRMWARE).bin 0x8000000
+
+#
+#create gdb server through openocd
+openocd: flash
+	openocd -f ../debug/openocd.cfg
+
+#
+#execute cgdb 
+cgdb:
+	cgdb -d $(GDB) -x ./st_util_init.gdb
+
+#
+#execute gdbtui
+gdbtui:
+	$(GDB) -tui -x ./st_util_init.gdb
+
+#
+#upload firmware through black magic probe
+flash_bmp:
+	$(GDB) firmware.elf -x ./gdb_black_magic.gdb
+#
+#execute and connect to black magic gdb server, no needs to open a
+#local sever in PC
+cgdb_bmp:
+	cgdb -d $(GDB) firmware.elf -x ./bmp_gdbinit.gdb
+flash_openocd:
+	openocd -f interface/stlink-v2.cfg \
+	-f target/stm32f4x_stlink.cfg \
+	-c "init" \
+	-c "reset init" \
+	-c "halt" \
+	-c "flash write_image erase $(PROJECT).elf" \
+	-c "verify_image $(FIRMWARE).elf" \
+	-c "reset run" -c shutdown
+#automatically formate
+astyle: 
+	astyle -r --exclude=lib  *.c *.h
+
+.PHONY:all clean flash openocd gdbauto gdbtui cgdb astyle

program/board/vertigo-v2/board_config.mk

@@ -1 +1,86 @@
 TARGET_BOARD='Vertigo v2.0'
+
+STARTUP_SRCS=$(WORKSPACE_DIR)/startup_stm32f427xx.c
+EXTERNAL_DEVICE_SRCS = $(EXTERNAL_DEVICE)/AT24C04C.c \
+			$(EXTERNAL_DEVICE)/mpu9250.c \
+			$(EXTERNAL_DEVICE)/hmc5983.c \
+			$(EXTERNAL_DEVICE)/lea6h_ubx.c \
+			$(EXTERNAL_DEVICE)/ADS1246_MPX6115A.c
+
+MCU_PERIPH_SRCS =  \
+	$(MCU_PERIPH)/i2c.c \
+	$(MCU_PERIPH)/spi.c \
+	$(MCU_PERIPH)/gpio.c \
+	$(MCU_PERIPH)/tim.c \
+	$(MCU_PERIPH)/led.c \
+	$(MCU_PERIPH)/usart.c \
+	$(MCU_PERIPH)/input_capture.c \
+	$(MCU_PERIPH)/system_time.c
+
+ACTUATORS_SRCS = $(ACTUATORS)/pwm.c
+
+RADIO_CONTROLLER_SRCS = $(RADIO_CONTROLLER)/radio_control.c \
+	$(RADIO_CONTROLLER)/pwm_decoder.c
+
+COMMON_SRCS =$(COMMON)/test_common.c \
+	$(COMMON)/memory.c \
+	$(COMMON)/io.c \
+	$(COMMON)/std.c
+
+CONTROLLER_SRCS = $(CONTROLLER)/attitude_stabilizer.c \
+		$(CONTROLLER)/vertical_stabilizer.c \
+		$(CONTROLLER)/navigation.c \
+		$(CONTROLLER)/flight_controller.c \
+		$(CONTROLLER)/controller.c
+
+FREERTOS_SRCS=$(FREERTOS)/Source/croutine.c \
+	$(FREERTOS)/Source/list.c \
+	$(FREERTOS)/Source/queue.c \
+	$(FREERTOS)/Source/tasks.c \
+	$(FREERTOS)/Source/timers.c \
+	$(FREERTOS)/Source/portable/MemMang/heap_1.c \
+	$(FREERTOS)/Source/portable/GCC/ARM_CM4F/port.c
+
+MAVLINK_SRCS=$(MAVLINK)/communication.c \
+	$(MAVLINK)/mission.c \
+	$(MAVLINK)/parameter.c \
+	$(MAVLINK)/command_parser.c \
+	$(MAVLINK)/global.c
+
+CMSIS_SRCS= \
+	$(CMSIS)/FastMathFunctions/arm_cos_f32.c \
+	$(CMSIS)/FastMathFunctions/arm_sin_f32.c
+
+STMF4_STD_DRIVER_SRCS= \
+	$(WORKSPACE_DIR)/system_stm32f4xx.c \
+        $(ST)/src/misc.c \
+        $(ST)/src/stm32f4xx_rcc.c \
+        $(ST)/src/stm32f4xx_dma.c \
+        $(ST)/src/stm32f4xx_flash.c \
+        $(ST)/src/stm32f4xx_gpio.c \
+        $(ST)/src/stm32f4xx_usart.c \
+        $(ST)/src/stm32f4xx_tim.c \
+        $(ST)/src/stm32f4xx_spi.c \
+        $(ST)/src/stm32f4xx_i2c.c \
+        $(ST)/src/stm32f4xx_sdio.c
+
+BASIC_SRCS= \
+        $(WORKSPACE_DIR)/interrupt.c \
+        $(WORKSPACE_DIR)/main.c \
+
+
+#
+#generate the source file list
+#
+SRCS += $(STARTUP_SRCS)
+SRCS += $(EXTERNAL_DEVICE_SRCS)
+SRCS += $(MCU_PERIPH_SRCS)
+SRCS += $(ACTUATORS_SRCS)
+SRCS += $(RADIO_CONTROLLER_SRCS)
+SRCS += $(COMMON_SRCS)
+SRCS += $(CONTROLLER_SRCS)
+SRCS += $(FREERTOS_SRCS)
+SRCS += $(MAVLINK_SRCS)
+SRCS += $(CMSIS_SRCS)
+SRCS += $(STMF4_STD_DRIVER_SRCS)
+SRCS += $(BASIC_SRCS)