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Serial: removed the validateBaudrate function from nuttx and posix platforms and just send out a warning it baudrate is non-standard (#22969)

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- Fix some Qurt platform build issues uncovered when changing the posix version of SerialImpl
This commit is contained in:
Eric Katzfey 2024-04-04 09:07:46 -07:00 committed by GitHub
parent 047e900c2a
commit 0a867b5d1d
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GPG Key ID: B5690EEEBB952194
11 changed files with 295 additions and 56 deletions
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1
boards/modalai/fc-v2/default.px4board
View File

@ -24,6 +24,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_CRSF_RC=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_MODULES_AIRSPEED_SELECTOR=y

5
boards/modalai/fc-v2/scripts/run_docker.sh Executable file
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@ -0,0 +1,5 @@
#!/bin/bash
# Run this from the px4 project top level directory
docker run -it --rm --privileged -v `pwd`:/usr/local/workspace px4io/px4-dev-nuttx-focal:2022-08-12

1
boards/modalai/voxl2/default.px4board
View File

@ -6,6 +6,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_OSD_MSP_OSD=y
CONFIG_DRIVERS_QSHELL_POSIX=y
CONFIG_DRIVERS_RC_CRSF_RC=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_VOXL2_IO=y
CONFIG_MODULES_COMMANDER=y

27
platforms/nuttx/src/px4/common/SerialImpl.cpp
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@ -68,28 +68,11 @@ SerialImpl::~SerialImpl()
}
}
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
return ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600));
}
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
if (! validateBaudrate(_baudrate)) {
PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
return false;
}
switch (_baudrate) {
case 9600: speed = B9600; break;
@ -116,8 +99,9 @@ bool SerialImpl::configure()
case 921600: speed = B921600; break;
default:
PX4_ERR("ERR: unknown baudrate: %lu", _baudrate);
return false;
speed = _baudrate;
PX4_WARN("Using non-standard baudrate: %lu", _baudrate);
break;
}
struct termios uart_config;
@ -374,11 +358,6 @@ uint32_t SerialImpl::getBaudrate() const
bool SerialImpl::setBaudrate(uint32_t baudrate)
{
if (! validateBaudrate(baudrate)) {
PX4_ERR("ERR: invalid baudrate: %lu", baudrate);
return false;
}
// check if already configured
if ((baudrate == _baudrate) && _open) {
return true;

1
platforms/nuttx/src/px4/common/include/SerialImpl.hpp
View File

@ -109,7 +109,6 @@ private:
StopBits _stopbits{StopBits::One};
FlowControl _flowcontrol{FlowControl::Disabled};
bool validateBaudrate(uint32_t baudrate);
bool configure();
bool _single_wire_mode{false};

1
platforms/posix/include/SerialImpl.hpp
View File

@ -109,7 +109,6 @@ private:
StopBits _stopbits{StopBits::One};
FlowControl _flowcontrol{FlowControl::Disabled};
bool validateBaudrate(uint32_t baudrate);
bool configure();
bool _single_wire_mode{false};

27
platforms/posix/src/px4/common/SerialImpl.cpp
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@ -66,28 +66,11 @@ SerialImpl::~SerialImpl()
}
}
bool SerialImpl::validateBaudrate(uint32_t baudrate)
{
return ((baudrate == 9600) ||
(baudrate == 19200) ||
(baudrate == 38400) ||
(baudrate == 57600) ||
(baudrate == 115200) ||
(baudrate == 230400) ||
(baudrate == 460800) ||
(baudrate == 921600));
}
bool SerialImpl::configure()
{
/* process baud rate */
int speed;
if (! validateBaudrate(_baudrate)) {
PX4_ERR("ERR: unknown baudrate: %u", _baudrate);
return false;
}
switch (_baudrate) {
case 9600: speed = B9600; break;
@ -114,8 +97,9 @@ bool SerialImpl::configure()
case 921600: speed = B921600; break;
default:
PX4_ERR("ERR: unknown baudrate: %d", _baudrate);
return false;
speed = _baudrate;
PX4_WARN("Using non-standard baudrate: %u", _baudrate);
break;
}
struct termios uart_config;
@ -366,11 +350,6 @@ uint32_t SerialImpl::getBaudrate() const
bool SerialImpl::setBaudrate(uint32_t baudrate)
{
if (! validateBaudrate(baudrate)) {
PX4_ERR("ERR: invalid baudrate: %u", baudrate);
return false;
}
// check if already configured
if ((baudrate == _baudrate) && _open) {
return true;

6
platforms/qurt/cmake/px4_impl_os.cmake
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@ -124,13 +124,7 @@ endfunction()
#
function(px4_os_add_flags)
set(DSPAL_ROOT platforms/qurt/dspal)
include_directories(
${DSPAL_ROOT}/include
${DSPAL_ROOT}/sys
${DSPAL_ROOT}/sys/sys
platforms/posix/include
platforms/qurt/include
)

83
platforms/qurt/include/crc32.h Normal file
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@ -0,0 +1,83 @@
/****************************************************************************
* include/crc.h
*
* Copyright (C) 2010 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
#ifndef __INCLUDE_CRC32_H
#define __INCLUDE_CRC32_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <sys/types.h>
#include <stdint.h>
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: crc32part
*
* Description:
* Continue CRC calculation on a part of the buffer.
*
****************************************************************************/
EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
uint32_t crc32val);
/****************************************************************************
* Name: crc32
*
* Description:
* Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
*
****************************************************************************/
EXTERN uint32_t crc32(const uint8_t *src, size_t len);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_CRC32_H */

134
platforms/qurt/include/queue.h Normal file
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@ -0,0 +1,134 @@
/************************************************************************
* include/queue.h
*
* Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
************************************************************************/
#ifndef __INCLUDE_QUEUE_H
#define __INCLUDE_QUEUE_H
/************************************************************************
* Included Files
************************************************************************/
#include <sys/types.h>
#ifdef __cplusplus
#include <cstddef> // NULL
#else
#include <stddef.h> // NULL
#endif
/************************************************************************
* Pre-processor Definitions
************************************************************************/
#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
#define sq_next(p) ((p)->flink)
#define dq_next(p) ((p)->flink)
#define dq_prev(p) ((p)->blink)
#define sq_empty(q) ((q)->head == NULL)
#define dq_empty(q) ((q)->head == NULL)
#define sq_peek(q) ((q)->head)
#define dq_peek(q) ((q)->head)
// Required for Linux
#define FAR
/************************************************************************
* Global Type Declarations
************************************************************************/
struct sq_entry_s {
FAR struct sq_entry_s *flink;
};
typedef struct sq_entry_s sq_entry_t;
struct dq_entry_s {
FAR struct dq_entry_s *flink;
FAR struct dq_entry_s *blink;
};
typedef struct dq_entry_s dq_entry_t;
struct sq_queue_s {
FAR sq_entry_t *head;
FAR sq_entry_t *tail;
};
typedef struct sq_queue_s sq_queue_t;
struct dq_queue_s {
FAR dq_entry_t *head;
FAR dq_entry_t *tail;
};
typedef struct dq_queue_s dq_queue_t;
/************************************************************************
* Global Function Prototypes
************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
sq_queue_t *queue);
EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
dq_queue_t *queue);
EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_QUEUE_H_ */

65
platforms/qurt/include/system_config.h Normal file
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@ -0,0 +1,65 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file system_config.h
*
* Definitions used by all SITL and Linux targets
*/
#pragma once
#define PX4_CPU_UUID_BYTE_LENGTH 16
#define PX4_CPU_UUID_WORD32_LENGTH 4
#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH
#define PX4_CPU_UUID_WORD32_UNIQUE_H 2 /* Most significant digits change the least */
#define PX4_CPU_UUID_WORD32_UNIQUE_M 1 /* Middle significant digits */
#define PX4_CPU_UUID_WORD32_UNIQUE_L 0 /* Least significant digits change the most */
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
#define BOARD_OVERRIDE_CPU_VERSION (-1)
#define board_mcu_version(rev, revstr, errata) BOARD_OVERRIDE_CPU_VERSION
#define BOARD_HAS_NO_UUID
#define CONFIG_NFILE_STREAMS 1
#define CONFIG_SCHED_WORKQUEUE 1
#define CONFIG_SCHED_HPWORK 1
#define CONFIG_SCHED_LPWORK 1
/** time in ms between checks for work in work queues **/
#define CONFIG_SCHED_WORKPERIOD 50000
#define CONFIG_SCHED_INSTRUMENTATION 1