From 77b21680fbd2816b086f01de392b59984d0ea6e3 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 10 Jan 2021 22:02:24 -0500 Subject: [PATCH] sync ctrlalloc boards and add to CI --- .ci/Jenkinsfile-compile | 7 +++++-- .github/workflows/compile_nuttx.yml | 7 +++++-- boards/px4/fmu-v3/ctrlalloc.cmake | 10 +++++++--- boards/px4/fmu-v4/ctrlalloc.cmake | 14 ++++++++++++-- boards/px4/fmu-v5/ctrlalloc.cmake | 15 ++++++++++++--- boards/px4/sitl/ctrlalloc.cmake | 17 +++++++++++++---- 6 files changed, 54 insertions(+), 16 deletions(-) diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index 8dbfcebcbd..2cec458272 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -57,8 +57,8 @@ pipeline { "mro_x21-777_default", "mro_x21_default", "nxp_fmuk66-v3_default", - "nxp_fmuk66-v3_socketcan", "nxp_fmuk66-v3_rtps", + "nxp_fmuk66-v3_socketcan", "nxp_fmurt1062-v1_default", "nxp_ucans32k146_default", "omnibus_f4sd_default", @@ -68,13 +68,16 @@ pipeline { "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test", + "px4_fmu-v3_ctrlalloc", "px4_fmu-v3_default", "px4_fmu-v4_cannode", + "px4_fmu-v4_ctrlalloc", "px4_fmu-v4_default", "px4_fmu-v4_optimized", "px4_fmu-v4pro_default", - "px4_fmu-v5_default", + "px4_fmu-v5_ctrlalloc", "px4_fmu-v5_debug", + "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_optimized", diff --git a/.github/workflows/compile_nuttx.yml b/.github/workflows/compile_nuttx.yml index ed3d03a05b..72695cbd73 100644 --- a/.github/workflows/compile_nuttx.yml +++ b/.github/workflows/compile_nuttx.yml @@ -35,10 +35,10 @@ jobs: mro_pixracerpro_default, mro_x21-777_default, mro_x21_default, - nxp_fmuk66-v3_default, nxp_fmuk66-e_default, - nxp_fmuk66-v3_socketcan, + nxp_fmuk66-v3_default, nxp_fmuk66-v3_rtps, + nxp_fmuk66-v3_socketcan, nxp_fmurt1062-v1_default, nxp_ucans32k146_default, omnibus_f4sd_default, @@ -48,11 +48,14 @@ jobs: px4_fmu-v2_multicopter, px4_fmu-v2_rover, px4_fmu-v2_test, + px4_fmu-v3_ctrlalloc, px4_fmu-v3_default, px4_fmu-v4_cannode, + px4_fmu-v4_ctrlalloc, px4_fmu-v4_default, px4_fmu-v4_optimized, px4_fmu-v4pro_default, + px4_fmu-v5_ctrlalloc, px4_fmu-v5_default, px4_fmu-v5_fixedwing, px4_fmu-v5_multicopter, diff --git a/boards/px4/fmu-v3/ctrlalloc.cmake b/boards/px4/fmu-v3/ctrlalloc.cmake index b9fae5dd19..700684576a 100644 --- a/boards/px4/fmu-v3/ctrlalloc.cmake +++ b/boards/px4/fmu-v3/ctrlalloc.cmake @@ -18,7 +18,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS6 DRIVERS - adc + adc/board_adc + adc/ads1115 barometer # all available barometer drivers batt_smbus camera_capture @@ -35,20 +36,20 @@ px4_add_board( imu/l3gd20 imu/lsm303d imu/invensense/icm20608g + imu/invensense/icm20948 imu/invensense/mpu6000 imu/invensense/mpu9250 - imu/icm20948 irlock lights/blinkm lights/rgbled lights/rgbled_ncp5623c - #lights/rgbled_pwm magnetometer # all available magnetometer drivers mkblctrl #optical_flow # all available optical flow drivers optical_flow/px4flow #osd pca9685 + pca9685_pwm_out #power_monitor/ina226 #protocol_splitter pwm_input @@ -73,6 +74,7 @@ px4_add_board( ekf2 esc_battery events + flight_mode_manager fw_att_control fw_pos_control_l1 land_detector @@ -103,6 +105,7 @@ px4_add_board( hardfault_log i2cdetect led_control + mft mixer motor_ramp motor_test @@ -114,6 +117,7 @@ px4_add_board( reboot reflect sd_bench + system_time tests # tests and test runner top topic_listener diff --git a/boards/px4/fmu-v4/ctrlalloc.cmake b/boards/px4/fmu-v4/ctrlalloc.cmake index 7b49a7f098..9c9f199cac 100644 --- a/boards/px4/fmu-v4/ctrlalloc.cmake +++ b/boards/px4/fmu-v4/ctrlalloc.cmake @@ -3,7 +3,7 @@ px4_add_board( PLATFORM nuttx VENDOR px4 MODEL fmu-v4 - LABEL default + LABEL ctrlalloc TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m4 ROMFSROOT px4fmu_common @@ -13,8 +13,11 @@ px4_add_board( GPS1:/dev/ttyS3 TEL1:/dev/ttyS1 TEL2:/dev/ttyS2 + WIFI:/dev/ttyS0 + DRIVERS - adc + adc/board_adc + adc/ads1115 barometer # all available barometer drivers batt_smbus camera_capture @@ -42,6 +45,7 @@ px4_add_board( optical_flow # all available optical flow drivers #osd pca9685 + pca9685_pwm_out #protocol_splitter pwm_input pwm_out_sim @@ -66,6 +70,7 @@ px4_add_board( ekf2 esc_battery events + flight_mode_manager fw_att_control fw_pos_control_l1 land_detector @@ -97,6 +102,7 @@ px4_add_board( hardfault_log i2cdetect led_control + mft mixer motor_ramp motor_test @@ -108,6 +114,7 @@ px4_add_board( reboot reflect sd_bench + system_time tests # tests and test runner top topic_listener @@ -116,7 +123,10 @@ px4_add_board( ver work_queue EXAMPLES + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + gyro_fft hello hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/fmu-v5/ctrlalloc.cmake b/boards/px4/fmu-v5/ctrlalloc.cmake index 340716aa61..285bb2b18a 100644 --- a/boards/px4/fmu-v5/ctrlalloc.cmake +++ b/boards/px4/fmu-v5/ctrlalloc.cmake @@ -3,7 +3,7 @@ px4_add_board( PLATFORM nuttx VENDOR px4 MODEL fmu-v5 - LABEL default + LABEL ctrlalloc TOOLCHAIN arm-none-eabi ARCHITECTURE cortex-m7 ROMFSROOT px4fmu_common @@ -16,7 +16,8 @@ px4_add_board( TEL2:/dev/ttyS2 TEL4:/dev/ttyS3 DRIVERS - adc + adc/board_adc + adc/ads1115 barometer # all available barometer drivers batt_smbus camera_capture @@ -30,7 +31,7 @@ px4_add_board( imu/adis16448 imu/adis16477 imu/adis16497 - imu/bmi055 + imu/bosch/bmi055 imu/invensense/icm20602 imu/invensense/icm20689 #imu/mpu6000 # legacy icm20602/icm20689 driver @@ -44,6 +45,7 @@ px4_add_board( optical_flow # all available optical flow drivers #osd pca9685 + pca9685_pwm_out power_monitor/ina226 #protocol_splitter pwm_input @@ -71,6 +73,7 @@ px4_add_board( ekf2 esc_battery events + flight_mode_manager fw_att_control fw_pos_control_l1 land_detector @@ -90,6 +93,7 @@ px4_add_board( sensors sih temperature_compensation + uuv_att_control vmount vtol_att_control SYSTEMCMDS @@ -101,6 +105,7 @@ px4_add_board( hardfault_log i2cdetect led_control + mft mixer motor_ramp motor_test @@ -112,6 +117,7 @@ px4_add_board( reboot reflect sd_bench + system_time tests # tests and test runner top topic_listener @@ -120,7 +126,10 @@ px4_add_board( ver work_queue EXAMPLES + fake_gyro + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control + gyro_fft hello hwtest # Hardware test #matlab_csv_serial diff --git a/boards/px4/sitl/ctrlalloc.cmake b/boards/px4/sitl/ctrlalloc.cmake index 9fa612037f..9d30f52c6c 100644 --- a/boards/px4/sitl/ctrlalloc.cmake +++ b/boards/px4/sitl/ctrlalloc.cmake @@ -3,7 +3,9 @@ px4_add_board( PLATFORM posix VENDOR px4 MODEL sitl - LABEL default + ROMFSROOT px4fmu_common + LABEL ctrlalloc + EMBEDDED_METADATA parameters TESTING DRIVERS #barometer # all available barometer drivers @@ -15,12 +17,14 @@ px4_add_board( gps #imu # all available imu drivers #magnetometer # all available magnetometer drivers + #protocol_splitter pwm_out_sim rpm/rpm_simulator #telemetry # all available telemetry drivers tone_alarm #uavcan MODULES + airship_att_control airspeed_selector angular_velocity_controller attitude_estimator_q @@ -30,11 +34,12 @@ px4_add_board( dataman ekf2 events + flight_mode_manager fw_att_control fw_pos_control_l1 land_detector landing_target_estimator - #load_mon + load_mon local_position_estimator logger mavlink @@ -42,6 +47,7 @@ px4_add_board( mc_hover_thrust_estimator mc_pos_control mc_rate_control + #micrortps_bridge navigator rc_update replay @@ -50,15 +56,16 @@ px4_add_board( #sih simulator temperature_compensation + uuv_att_control vmount vtol_att_control - uuv_att_control - SYSTEMCMDS #dumpfile dyn esc_calib + failure led_control + #mft mixer motor_ramp motor_test @@ -69,6 +76,7 @@ px4_add_board( pwm sd_bench shutdown + system_time tests # tests and test runner #top topic_listener @@ -77,6 +85,7 @@ px4_add_board( work_queue EXAMPLES dyn_hello # dynamically loading modules example + fake_magnetometer fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control hello #hwtest # Hardware test