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boards/modalai: separate voxl2 builds into two board builds instead of single board build with different variants

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* Made voxl2 apps processor and slpi dsp processor builds into separate board builds so that they can
more easily be configured independently.

* Removed board specific link library command from px4_config.cmake and moved it to a more generic
board specific solution that can be used by any board that needs custom link libraries.

* Removed redundant cmake command for Qurt

* Removed unused definition from Qurt cmake file

* Removed unnecessary QURT_LIB cmake function

* Reorganized the voxl2 build structure to avoid 4 level board directories.

* Reverted cmake files to remove 4 level board naming code

* Updated documentation
This commit is contained in:
Eric Katzfey
2022-11-15 13:09:04 -05:00
committed by GitHub
parent 22420a7bf1
commit 796fa8bd72
21 changed files with 172 additions and 157 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/modalai/voxl2/qurt.px4board → boards/modalai/voxl2-slpi/default.px4board
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boards/modalai/voxl2/cmake/voxl2_posix.cmake → boards/modalai/voxl2-slpi/src/CMakeLists.txt
+5 -22
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -30,25 +30,8 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Overview:
# Voxl2 PX4 is built in 2 parts, the part that runs on the
# application (apps) processor, and the library that is loaded on the DSP.
#
############################################################################
include(px4_git)
list(APPEND CMAKE_MODULE_PATH
"${PX4_SOURCE_DIR}/platforms/posix/cmake"
)
# set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
add_definitions(-DORB_COMMUNICATOR)
set(CONFIG_PARAM_SERVER "1")
add_definitions( -D__PX4_LINUX )
include(CMakeParseArguments)
add_library(drivers_board
board_config.h
init.c
)
boards/modalai/voxl2-slpi/src/board_config.h
+51
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@@ -0,0 +1,51 @@
/****************************************************************************
*
* Copyright (c) 2022 ModalAI, Inc. 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 board_config.h
*
* VOXL2 internal definitions
*/
#pragma once
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define ORB_COMMUNICATOR 1
/*
* I2C buses
*/
#define PX4_NUMBER_I2C_BUSES 3
#include <system_config.h>
#include <px4_platform_common/board_common.h>
boards/modalai/voxl2-slpi/src/init.c
+35
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@@ -0,0 +1,35 @@
/****************************************************************************
*
* Copyright (C) 2022 ModalAI, Inc. 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 "board_config.h"
// Place holder for VOXL2-specific early startup code
boards/modalai/voxl2/README.md
+12 -5
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@@ -25,10 +25,10 @@ The full instructions are available here:
- Clone the repo (Don't forget to update and initialize all submodules)
- In the top level directory
```
px4$ boards/modalai/voxl2/run-docker.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/clean.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-posix.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-qurt.sh
px4$ boards/modalai/voxl2/scripts/run-docker.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
root@9373fa1401b8:/usr/local/workspace# exit
```
@@ -37,7 +37,7 @@ root@9373fa1401b8:/usr/local/workspace# exit
Once the DSP and Linux images have been built they can be installed on a VOXL 2
board using ADB. There is a script to do this.
```
px4$ boards/modalai/voxl2/install-voxl.sh
px4$ boards/modalai/voxl2/scripts/install-voxl.sh
```
## Running PX4 on VOXL 2
@@ -66,10 +66,17 @@ INFO [px4] Startup script returned successfully
pxh>
```
## Notes
You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
to power cycle the board and restart everything.
## Tips
Start with a VOXL 2 that only has the system image installed, not the SDK
Run the command ```voxl-px4 -s``` on target to run the self-test
In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
can be used:
```
boards/modalai/voxl2/build-qurt.sh
-11
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@@ -1,11 +0,0 @@
#!/bin/bash
echo "*** Starting qurt build ***"
source /home/build-env.sh
make modalai_voxl2_qurt
cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
echo "*** End of qurt build ***"
boards/modalai/voxl2/cmake/link_libraries.cmake
+7
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@@ -0,0 +1,7 @@
# libfc_sensor.so is provided in the Docker build environment
target_link_libraries(px4 PRIVATE
/home/libfc_sensor.so
px4_layer
${module_libraries}
)
boards/modalai/voxl2/cmake/voxl2_qurt.cmake
-43
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@@ -1,43 +0,0 @@
############################################################################
#
# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
#
############################################################################
#
# This cmake config builds for QURT which is the operating system running on
# the DSP side of VOXL 2
#
# Required environment variables:
# HEXAGON_TOOLS_ROOT
# HEXAGON_SDK_ROOT
#
############################################################################
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
else()
set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
endif()
include(px4_git)
list(APPEND CMAKE_MODULE_PATH
"${PX4_SOURCE_DIR}/platforms/qurt/cmake"
)
include(Toolchain-qurt)
include(qurt_reqs)
include_directories(${HEXAGON_SDK_INCLUDES})
add_definitions(-DORB_COMMUNICATOR)
set(CONFIG_PARAM_CLIENT "1")
set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
boards/modalai/voxl2/build-posix.sh → boards/modalai/voxl2/scripts/build-apps.sh
+3 -4
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@@ -1,12 +1,11 @@
#!/bin/bash
echo "*** Starting posix build ***"
echo "*** Starting apps processor build ***"
source /home/build-env.sh
make modalai_voxl2_default
make modalai_voxl2
cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
echo "*** End of posix build ***"
echo "*** End of apps processor build ***"
boards/modalai/voxl2/scripts/build-slpi.sh
Executable
+11
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@@ -0,0 +1,11 @@
#!/bin/bash
echo "*** Starting qurt slpi build ***"
source /home/build-env.sh
make modalai_voxl2-slpi
cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
echo "*** End of qurt slpi build ***"
boards/modalai/voxl2/clean.sh → boards/modalai/voxl2/scripts/clean.sh
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boards/modalai/voxl2/install-voxl.sh → boards/modalai/voxl2/scripts/install-voxl.sh
+5 -5
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@@ -1,19 +1,19 @@
#!/bin/bash
# Push qurt image to voxl2
adb push build/modalai_voxl2_qurt/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
# Push slpi image to voxl2
adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
# Push posix image to voxl2
# Push apps processor image to voxl2
adb push build/modalai_voxl2_default/bin/px4 /usr/bin
# Push scripts to voxl2
adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
adb push boards/modalai/voxl2/voxl-px4 /usr/bin
adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
adb shell chmod a+x /usr/bin/px4-alias.sh
adb shell chmod a+x /usr/bin/voxl-px4
# Push configuration file
adb shell mkdir -p /etc/modalai
adb push boards/modalai/voxl2/voxl-px4.config /etc/modalai
adb push boards/modalai/voxl2/target/voxl-px4.config /etc/modalai
adb shell sync
boards/modalai/voxl2/run-docker.sh → boards/modalai/voxl2/scripts/run-docker.sh
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boards/modalai/voxl2/src/board_config.h
+3 -4
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@@ -42,10 +42,9 @@
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define ORB_COMMUNICATOR 1
/*
* I2C buses
*/
#define PX4_NUMBER_I2C_BUSES 3
// Define this as empty since there are no I2C buses
#define BOARD_I2C_BUS_CLOCK_INIT
#include <system_config.h>
#include <px4_platform_common/board_common.h>
boards/modalai/voxl2/voxl-px4 → boards/modalai/voxl2/target/voxl-px4
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boards/modalai/voxl2/voxl-px4.config → boards/modalai/voxl2/target/voxl-px4.config
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