From 1ca27a22bc107a94494efe3f6f499d7a6b10aa03 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Wed, 10 Aug 2022 15:39:54 +0200 Subject: [PATCH] Fix protected build --- .../fmu-v5/nuttx-config/protected/defconfig | 54 ++++++++----------- platforms/common/shutdown.cpp | 2 +- platforms/common/uORB/CMakeLists.txt | 4 +- 3 files changed, 24 insertions(+), 36 deletions(-) diff --git a/boards/px4/fmu-v5/nuttx-config/protected/defconfig b/boards/px4/fmu-v5/nuttx-config/protected/defconfig index b1999eb333..842728fbe5 100644 --- a/boards/px4/fmu-v5/nuttx-config/protected/defconfig +++ b/boards/px4/fmu-v5/nuttx-config/protected/defconfig @@ -16,14 +16,31 @@ # CONFIG_NSH_DISABLEBG is not set # CONFIG_NSH_DISABLESCRIPT is not set # CONFIG_NSH_DISABLE_DF is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_ENV is not set # CONFIG_NSH_DISABLE_EXEC is not set # CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set # CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set # CONFIG_NSH_DISABLE_ITEF is not set +# CONFIG_NSH_DISABLE_KILL is not set # CONFIG_NSH_DISABLE_LOOPS is not set +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MKDIR is not set # CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MV is not set +# CONFIG_NSH_DISABLE_PRINTF is not set +# CONFIG_NSH_DISABLE_PWD is not set # CONFIG_NSH_DISABLE_SEMICOLON is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_SOURCE is not set +# CONFIG_NSH_DISABLE_TEST is not set # CONFIG_NSH_DISABLE_TIME is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set CONFIG_ARCH="arm" CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config" @@ -45,13 +62,11 @@ CONFIG_ARM_MPU_EARLY_RESET=y CONFIG_ARM_MPU_NREGIONS=8 CONFIG_BOARDCTL_IOCTL=y CONFIG_BOARDCTL_RESET=y -CONFIG_BOARDCTL=y CONFIG_BOARD_CRASHDUMP=y CONFIG_BOARD_LOOPSPERMSEC=22114 CONFIG_BOARD_RESET_ON_ASSERT=2 CONFIG_BUILD_PROTECTED=y CONFIG_BUILTIN=y -CONFIG_C99_BOOL8=y CONFIG_CDCACM=y CONFIG_CDCACM_IFLOWCONTROL=y CONFIG_CDCACM_PRODUCTID=0x0032 @@ -60,34 +75,13 @@ CONFIG_CDCACM_RXBUFSIZE=600 CONFIG_CDCACM_TXBUFSIZE=12000 CONFIG_CDCACM_VENDORID=0x26ac CONFIG_CDCACM_VENDORSTR="3D Robotics" -CONFIG_CLOCK_MONOTONIC=y CONFIG_DEBUG_FULLOPT=y CONFIG_DEBUG_HARDFAULT_ALERT=y CONFIG_DEBUG_SYMBOLS=y CONFIG_DEFAULT_SMALL=y -# CONFIG_NSH_DISABLE_ECHO is not set -# CONFIG_NSH_DISABLE_ENV is not set -# CONFIG_NSH_DISABLE_FREE is not set -# CONFIG_NSH_DISABLE_HELP is not set -# CONFIG_NSH_DISABLE_KILL is not set -# CONFIG_NSH_DISABLE_LS is not set -# CONFIG_NSH_DISABLE_MKDIR is not set -# CONFIG_NSH_DISABLE_MODCMDS is not set -# CONFIG_NSH_DISABLE_MOUNT is not set -# CONFIG_NSH_DISABLE_MV is not set -# CONFIG_NSH_DISABLE_PRINTF is not set -# CONFIG_NSH_DISABLE_PSSTACKUSAGE -# CONFIG_NSH_DISABLE_PWD is not set -# CONFIG_NSH_DISABLE_SOURCE is not set -# CONFIG_NSH_DISABLE_SLEEP is not set -# CONFIG_NSH_DISABLE_TEST is not set -# CONFIG_NSH_DISABLE_UMOUNT is not set -# CONFIG_NSH_DISABLE_UNSET is not set -# CONFIG_NSH_DISABLE_USLEEP is not set CONFIG_DEV_FIFO_SIZE=0 CONFIG_DEV_PIPE_MAXSIZE=1024 CONFIG_DEV_PIPE_SIZE=70 -CONFIG_DISABLE_MQUEUE=y CONFIG_FAT_DMAMEMORY=y CONFIG_FAT_LCNAMES=y CONFIG_FAT_LFN=y @@ -109,10 +103,13 @@ CONFIG_HAVE_CXXINITIALIZE=y CONFIG_I2C=y CONFIG_I2C_RESET=y CONFIG_IDLETHREAD_STACKSIZE=750 +CONFIG_INIT_ENTRYPOINT="px4_entry" +CONFIG_INIT_STACKSIZE=2944 CONFIG_LIBC_FLOATINGPOINT=y CONFIG_LIBC_LONG_LONG=y +CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_LIBC_STRERROR=y -CONFIG_LIB_USRWORK=y +CONFIG_LIBC_USRWORK=y CONFIG_MEMSET_64BIT=y CONFIG_MEMSET_OPTSPEED=y CONFIG_MMCSD=y @@ -129,9 +126,6 @@ CONFIG_NSH_ARGCAT=y CONFIG_NSH_BUILTIN_APPS=y CONFIG_NSH_CMDPARMS=y CONFIG_NSH_CROMFSETC=y -CONFIG_NSH_DISABLE_IFCONFIG=y -CONFIG_NSH_DISABLE_IFUPDOWN=y -CONFIG_NSH_DISABLE_TELNETD=y CONFIG_NSH_LINELEN=128 CONFIG_NSH_MAXARGUMENTS=15 CONFIG_NSH_NESTDEPTH=8 @@ -154,7 +148,6 @@ CONFIG_RAW_BINARY=y CONFIG_READLINE_CMD_HISTORY=y CONFIG_READLINE_TABCOMPLETION=y CONFIG_RTC_DATETIME=y -CONFIG_LIBC_MAX_EXITFUNS=1 CONFIG_SCHED_HPWORK=y CONFIG_SCHED_HPWORKPRIORITY=249 CONFIG_SCHED_HPWORKSTACKSIZE=1280 @@ -165,7 +158,6 @@ CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 CONFIG_SCHED_LPWORKSTACKSIZE=1632 CONFIG_SCHED_WAITPID=y -CONFIG_SDCLONE_DISABLE=y CONFIG_SDMMC1_SDIO_MODE=y CONFIG_SDMMC1_SDIO_PULLUP=y CONFIG_SEM_PREALLOCHOLDERS=32 @@ -212,7 +204,6 @@ CONFIG_STM32F7_SPI2=y CONFIG_STM32F7_SPI4=y CONFIG_STM32F7_SPI5=y CONFIG_STM32F7_SPI6=y -CONFIG_STM32F7_SPI_DMA=y CONFIG_STM32F7_SPI_DMATHRESHOLD=8 CONFIG_STM32F7_TIM10=y CONFIG_STM32F7_TIM11=y @@ -230,7 +221,6 @@ CONFIG_STM32F7_USART_SWAP=y CONFIG_STM32F7_WWDG=y CONFIG_SYSTEM_CDCACM=y CONFIG_SYSTEM_NSH=y -CONFIG_SYS_RESERVED=9 CONFIG_TASK_NAME_SIZE=24 CONFIG_UART4_BAUD=57600 CONFIG_UART4_RXBUFSIZE=600 @@ -268,5 +258,3 @@ CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 CONFIG_USEC_PER_TICK=1000 -CONFIG_INIT_STACKSIZE=2944 -CONFIG_INIT_ENTRYPOINT="px4_entry" diff --git a/platforms/common/shutdown.cpp b/platforms/common/shutdown.cpp index 8e7c3d877d..dcbd733ceb 100644 --- a/platforms/common/shutdown.cpp +++ b/platforms/common/shutdown.cpp @@ -100,7 +100,7 @@ int px4_shutdown_unlock() return ret; } -#if defined(CONFIG_SCHED_WORKQUEUE) || (!defined(CONFIG_BUILD_FLAT) && defined(CONFIG_LIB_USRWORK)) +#if defined(CONFIG_SCHED_WORKQUEUE) || (!defined(CONFIG_BUILD_FLAT) && defined(CONFIG_LIBC_USRWORK)) static struct work_s shutdown_work = {}; static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed diff --git a/platforms/common/uORB/CMakeLists.txt b/platforms/common/uORB/CMakeLists.txt index 1ebe11561b..c151d051c7 100644 --- a/platforms/common/uORB/CMakeLists.txt +++ b/platforms/common/uORB/CMakeLists.txt @@ -72,8 +72,8 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx") ${SRCS_COMMON} ${SRCS_KERNEL} ) - target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs) - target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__ nuttx_mm) + target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs nuttx_mm) + target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__) # User side library in nuttx kernel/protected build px4_add_library(uORB