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Code Issues Packages Projects Releases Wiki Activity

UAVCAN bootloaders split into separate repository (#7878)

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This commit is contained in:
Daniel Agar
2017-09-04 13:33:02 -04:00
parent f641c1e15e
commit 474f216a0a
107 changed files with 157 additions and 18903 deletions
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173
cmake/common/px4_metadata.cmake
View File

@@ -73,102 +73,97 @@ function(px4_generate_messages)
REQUIRED MSG_FILES OS TARGET
ARGN ${ARGN})
if("${nuttx_config_type}" STREQUAL "bootloader")
# do nothing for bootloaders
else()
set(QUIET)
if (NOT VERBOSE)
set(QUIET "-q")
endif()
set(QUIET)
if (NOT VERBOSE)
set(QUIET "-q")
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
get_filename_component(msg ${msg_file} NAME_WE)
list(APPEND msg_list ${msg})
endforeach()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
get_filename_component(msg ${msg_file} NAME_WE)
list(APPEND msg_list ${msg})
endforeach()
set(msg_files_out)
foreach(msg ${msg_list})
list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
endforeach()
set(msg_files_out)
foreach(msg ${msg_list})
list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-f ${MSG_FILES}
-i ${INCLUDES}
-o ${msg_out_path}
-e msg/templates/uorb
-t ${PX4_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
VERBATIM
)
add_custom_command(OUTPUT ${msg_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-f ${MSG_FILES}
-i ${INCLUDES}
-o ${msg_out_path}
-e msg/templates/uorb
-t ${PX4_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
VERBATIM
)
# !sources
set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg ${msg_list})
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
endforeach()
add_custom_command(OUTPUT ${msg_source_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--sources
${QUIET}
-f ${MSG_FILES}
-i ${INCLUDES}
-o ${msg_source_out_path}
-e msg/templates/uorb
-t ${PX4_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
VERBATIM
)
set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
# !sources
set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg ${msg_list})
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
endforeach()
add_custom_command(OUTPUT ${msg_source_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--sources
${QUIET}
-f ${MSG_FILES}
-i ${INCLUDES}
-o ${msg_source_out_path}
-e msg/templates/uorb
-t ${PX4_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
VERBATIM
)
set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
# multi messages for target OS
set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
set(msg_multi_files_out)
foreach(msg ${msg_list})
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_multi_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-f ${MSG_FILES}
-i ${INCLUDES}
-o ${msg_multi_out_path}
-e msg/templates/px4/uorb
-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
-p "px4_"
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic multi headers for ${OS}"
VERBATIM
)
# multi messages for target OS
set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
set(msg_multi_files_out)
foreach(msg ${msg_list})
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
endforeach()
add_custom_command(OUTPUT ${msg_multi_files_out}
COMMAND ${PYTHON_EXECUTABLE}
Tools/px_generate_uorb_topic_files.py
--headers
${QUIET}
-f ${MSG_FILES}
-i ${INCLUDES}
-o ${msg_multi_out_path}
-e msg/templates/px4/uorb
-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
-p "px4_"
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic multi headers for ${OS}"
VERBATIM
)
px4_add_library(${TARGET}
${msg_source_files_out}
${msg_multi_files_out}
${msg_files_out}
)
px4_add_library(${TARGET}
${msg_source_files_out}
${msg_multi_files_out}
${msg_files_out}
)
target_include_directories(${TARGET}
PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
)
target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
endif()
target_include_directories(${TARGET}
PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
)
target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
endfunction()
#=============================================================================

2
cmake/configs/nuttx_esc35-v1_bootloader.cmake
View File

@@ -1,2 +0,0 @@
include(nuttx/px4_uavcan_bootloader)
px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

3
cmake/configs/nuttx_esc35-v1_default.cmake
View File

@@ -34,14 +34,11 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
SW_MINOR ${uavcanblid_sw_version_minor}
)
include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/esc35-v1/bootloader)
set(config_module_list
#
# Board support modules
#
drivers/boards
drivers/bootloaders
drivers/device
drivers/led
drivers/stm32

2
cmake/configs/nuttx_px4cannode-v1_bootloader.cmake
View File

@@ -1,2 +0,0 @@
include(nuttx/px4_uavcan_bootloader)
px4_nuttx_configure(HWCLASS m3 CONFIG bootloader)

4
cmake/configs/nuttx_px4cannode-v1_default.cmake
View File

@@ -24,7 +24,7 @@ add_definitions(
)
px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
HW_MINOR ${uavcanblid_hw_version_minor}
@@ -32,8 +32,6 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
SW_MINOR ${uavcanblid_sw_version_minor}
)
include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4cannode-v1/bootloader)
set(config_module_list
#
# Board support modules

2
cmake/configs/nuttx_px4esc-v1_bootloader.cmake
View File

@@ -1,2 +0,0 @@
include(nuttx/px4_uavcan_bootloader)
px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

4
cmake/configs/nuttx_px4esc-v1_default.cmake
View File

@@ -26,7 +26,7 @@ add_definitions(
)
px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
HW_MINOR ${uavcanblid_hw_version_minor}
@@ -34,8 +34,6 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
SW_MINOR ${uavcanblid_sw_version_minor}
)
include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4esc-v1/bootloader)
set(config_module_list
#
# Board support modules

2
cmake/configs/nuttx_px4flow-v2_bootloader.cmake
View File

@@ -1,2 +0,0 @@
include(nuttx/px4_uavcan_bootloader)
px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

2
cmake/configs/nuttx_s2740vc-v1_bootloader.cmake
View File

@@ -1,2 +0,0 @@
include(nuttx/px4_uavcan_bootloader)
px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)

2
cmake/configs/nuttx_zubaxgnss-v1_bootloader.cmake
View File

@@ -1,2 +0,0 @@
include(nuttx/px4_uavcan_bootloader)
px4_nuttx_configure(HWCLASS m3 CONFIG bootloader)

1
cmake/configs/uavcan_board_ident Submodule

Submodule cmake/configs/uavcan_board_ident added at f8851c841e

3
cmake/configs/uavcan_board_ident/esc35-v1.cmake
View File

@@ -1,3 +0,0 @@
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"com.auav.esc35-v1\"")

3
cmake/configs/uavcan_board_ident/px4cannode-v1.cmake
View File

@@ -1,3 +0,0 @@
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.pixhawk.px4cannode-v1\"")

3
cmake/configs/uavcan_board_ident/px4esc-v1.cmake
View File

@@ -1,3 +0,0 @@
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 6)
set(uavcanblid_name "\"org.pixhawk.px4esc-v1\"")

3
cmake/configs/uavcan_board_ident/px4flow-v2.cmake
View File

@@ -1,3 +0,0 @@
set(uavcanblid_hw_version_major 2)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.pixhawk.px4flow-v2\"")

3
cmake/configs/uavcan_board_ident/s2740vc-v1.cmake
View File

@@ -1,3 +0,0 @@
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"com.thiemar.s2740vc-v1\"")

3
cmake/configs/uavcan_board_ident/zubaxgnss-v1.cmake
View File

@@ -1,3 +0,0 @@
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"com.zubax.gnss\"")

14
cmake/nuttx/px4_impl_nuttx.cmake
View File

@@ -188,9 +188,7 @@ function(px4_os_add_flags)
#set(added_link_dirs ${nuttx_export_dir}/libs)
set(added_definitions -D__PX4_NUTTX)
if(NOT ${nuttx_config_type} STREQUAL "bootloader")
list(APPEND added_definitions -D__DF_NUTTX)
endif()
list(APPEND added_definitions -D__DF_NUTTX)
if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
set(instrument_flags
@@ -241,7 +239,7 @@ function(px4_os_prebuild_targets)
add_custom_target(${OUT} DEPENDS nuttx_context)
# parse nuttx config options for cmake
file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
foreach(NameAndValue ${ConfigContents})
# Strip leading spaces
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
@@ -271,7 +269,6 @@ endfunction()
# Usage:
# px4_nuttx_configure(
# HWCLASS <m3|m4>
# CONFIG <nsh|bootloader
# [ROMFS <y|n>
# ROMFSROOT <root>]
# )
@@ -306,13 +303,6 @@ function(px4_nuttx_configure)
set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
# CONFIG (nsh/bootloader)
if(CONFIG)
set(nuttx_config_type ${CONFIG} PARENT_SCOPE)
else()
set(nuttx_config_type "nsh" PARENT_SCOPE)
endif()
# ROMFS
if("${ROMFS}" STREQUAL "y")
if (NOT DEFINED ROMFSROOT)

56
cmake/nuttx/px4_uavcan_bootloader.cmake
View File

@@ -1,56 +0,0 @@
############################################################################
#
# Copyright (c) 2017 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
# 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 PX4 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.
#
############################################################################
include(nuttx/px4_impl_nuttx)
message(STATUS "PX4 bootloader: ${BOARD}")
# Bring in common uavcan hardware identity definitions
include(configs/uavcan_board_ident/${BOARD})
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(src/drivers/boards/${BOARD}/bootloader)
set(config_module_list
drivers/boards/common
drivers/boards/${BOARD}/bootloader
drivers/bootloaders
)
add_library(nuttx_startup ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/arm/src/stm32/gnu/stm32_vectors.S)
target_compile_definitions(nuttx_startup PRIVATE -D__ASSEMBLY__)
add_dependencies(nuttx_startup nuttx_arch_build)