cmake: all allyes target for better CI coverage

Currently only v6x-rt and SITL are supported
But targets with label allyes will try to enable all kconfig symbols

Tools/kconfig/allyesconfig.py

@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2018-2019, Ulf Magnusson
+# SPDX-License-Identifier: ISC
+
+"""
+Writes a configuration file where as many symbols as possible are set to 'y'.
+
+The default output filename is '.config'. A different filename can be passed
+in the KCONFIG_CONFIG environment variable.
+
+Usage for the Linux kernel:
+
+  $ make [ARCH=<arch>] scriptconfig SCRIPT=Kconfiglib/allyesconfig.py
+"""
+import kconfiglib
+import os
+
+
+exception_list = [
+    'DRIVERS_BOOTLOADERS', # Only used for bootloader target
+    'MODULES_PX4IOFIRMWARE', # Only needed for PX4IO firmware itself, maybe fix through dependencies
+    'BOARD_LTO', # Experimental
+    'BOARD_TESTING', # Don't build test suite
+    'BOARD_CONSTRAINED_FLASH', # only used to reduce flash size
+    'BOARD_NO_HELP', # only used to reduce flash size
+    'BOARD_CONSTRAINED_MEMORY', # only used to reduce flash size
+    'BOARD_EXTERNAL_METADATA', # only used to reduce flash size
+    'BOARD_CRYPTO', # Specialized use
+    'BOARD_PROTECTED', # Experimental for MPU use
+    'DRIVERS_LIGHTS_RGBLED_PWM', # Only on specific boards, needs dependency fixing
+    'DRIVERS_LIGHTS_NEOPIXEL', # Only on specific boards, needs dependency fixing
+    'DRIVERS_DISTANCE_SENSOR_LIGHTWARE_SF45_SERIAL', # Only on specific boards, needs dependency fixing
+    'PARAM_PRIMARY', # Plainly broken
+    'PARAM_REMOTE', # Plainly broken
+    'DRIVERS_ACTUATORS_VOXL_ESC', # Dependency need fixing, requires VOXL_ESC_DEFAULT_XXX
+    'DRIVERS_VOXL2_IO', # Dependency need fixing, requires VOXL2_IO_DEFAULT_XX
+    'DRIVERS_BAROMETER_TCBP001TA', # Requires hardcoded PX4_SPI_BUS_BARO mapping
+    'DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50', # Requires hardcoded PX4_SPI_BUS_BARO mapping
+    'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
+    'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
+    'DRIVERS_PWM_INPUT', # Requires PWM config
+    'DRIVERS_TEST_PPM', # PIN config not portable
+    'DRIVERS_TATTU_CAN', # Broken needs fixing
+    'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?
+    'SYSTEMCMDS_HIST', # This module can only be used on boards that enable BOARD_ENABLE_LOG_HISTORY
+    'SYSTEMCMDS_GPIO', # PIN config not portable
+    'SYSTEMCMDS_SHUTDOWN', # Needs dependency checking
+    'EXAMPLES_DYN_HELLO', # NuttX doesn't support dynamic linking
+    'SYSTEMCMDS_DYN', # NuttX doesn't support dynamic linking
+    'DRIVERS_RPI_RC_IN', # RPI specific driver
+    'SYSTEMCMDS_I2C_LAUNCHER', #  undefined reference to `system',
+    'MODULES_MUORB_APPS', # Weird QURT/Posix package doesn't work on x86 px4 sitl
+    'MODULES_SIMULATION_SIMULATOR_SIH', # Causes compile errors
+]
+
+exception_list_sitl = [
+    'DRIVERS_BAROMETER', # Fails I2C dependencies
+    'COMMON_BAROMETERS', # Fails I2C dependencies
+    'DRIVERS_ADC_BOARD_ADC', # Fails HW dependencies, I think this only works on NuttX
+    'DRIVERS_CAMERA_CAPTURE', # GPIO config failure
+    'DRIVERS_DSHOT', # No Posix driver, I think this only works on NuttX
+    'DRIVERS_PWM_OUT', # No Posix driver, I think this only works on NuttX
+    'COMMON', # Fails I2C dependencies
+    'DRIVERS', # Fails I2C dependencies
+    'SYSTEMCMDS_REBOOT', # Sitl can't reboot
+    'MODULES_BATTERY_STATUS', # Sitl doesn't provide a power brick
+    'SYSTEMCMDS_SERIAL_PASSTHRU', # Not supported in SITL
+    'SYSTEMCMDS_SERIAL_TEST', # Not supported in SITL
+    'SYSTEMCMDS_SD_STRESS', # Not supported in SITL
+    'SYSTEMCMDS_SD_BENCH', # Not supported in SITL
+    'SYSTEMCMDS_I2CDETECT', # Not supported in SITL
+    'SYSTEMCMDS_DMESG', # Not supported in SITL
+    'SYSTEMCMDS_USB_CONNECTED', # Not supported in SITL
+]
+
+def main():
+    kconf = kconfiglib.standard_kconfig(__doc__)
+
+
+    if 'BASE_DEFCONFIG' in os.environ:
+        kconf.load_config(os.environ['BASE_DEFCONFIG'])
+
+    if 'MODEL' in os.environ:
+        if os.environ['MODEL'] == 'sitl':
+            for sym in kconf.unique_defined_syms:
+                if sym.name.startswith(tuple(exception_list_sitl)):
+                    exception_list.append(sym.name)
+
+
+    # See allnoconfig.py
+    kconf.warn = False
+
+    # Try to set all symbols to 'y'. Dependencies might truncate the value down
+    # later, but this will at least give the highest possible value.
+    #
+    # Assigning 0/1/2 to non-bool/tristate symbols has no effect (int/hex
+    # symbols still take a string, because they preserve formatting).
+    for sym in kconf.unique_defined_syms:
+        # Set choice symbols to 'm'. This value will be ignored for choices in
+        # 'y' mode (the "normal" mode), which will instead just get their
+        # default selection, but will set all symbols in m-mode choices to 'm',
+        # which is as high as they can go.
+        #
+        # Here's a convoluted example of how you might get an m-mode choice
+        # even during allyesconfig:
+        #
+        #   choice
+        #           tristate "weird choice"
+        #           depends on m
+        if sym.name not in exception_list:
+            sym.set_value(1 if sym.choice else 2)
+
+    # Set all choices to the highest possible mode
+    for choice in kconf.unique_choices:
+        choice.set_value(2)
+
+    kconf.warn = True
+
+    kconf.load_allconfig("allyes.config")
+
+    print(kconf.write_config())
+
+
+if __name__ == "__main__":
+    main()

boards/px4/fmu-v6xrt/allyes.px4board

@@ -0,0 +1 @@
+CONFIG_BOARD_LINKER_PREFIX="allyes"

boards/px4/fmu-v6xrt/nuttx-config/scripts/allyes-script.ld

@@ -0,0 +1,197 @@
+/****************************************************************************
+ * boards/px4/fmu-v6xrt/nuttx-config/scripts/script.ld
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* Specify the memory areas */
+
+ /* Reallocate
+  * Final Configuration is
+  *    No DTCM
+  *    512k  OCRAM M7 (FlexRAM)          (2038:0000-203f:ffff)
+  *    128k  OCRAMM7 FlexRAM ECC         (2036:0000-2037:ffff)
+  *    64k   OCRAM2 ECC parity           (2035:0000-2035:ffff)
+  *    64k   OCRAM1 ECC parity           (2034:0000-2034:ffff)
+  *    512k  FlexRAM OCRAM2              (202C:0000-2033:ffff)
+  *    512k  FlexRAM OCRAM1              (2024:0000-202B:ffff)
+  *    256k  System  OCRAM M4            (2020:0000-2023:ffff)
+  */
+
+MEMORY
+{
+  flash (rx)  : ORIGIN = 0x30020000, LENGTH = 4M-128K /* We have 64M but we do not want to wait to program it all */
+  sram  (rwx) : ORIGIN = 0x20240000, LENGTH = 2M-256k-512k
+  itcm  (rwx) : ORIGIN = 0x00000000, LENGTH = 256K   /* TODO FlexRAM partition */
+  dtcm  (rwx) : ORIGIN = 0x20000000, LENGTH = 256K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+EXTERN(g_flash_config)
+EXTERN(g_image_vector_table)
+EXTERN(g_boot_data)
+EXTERN(board_get_manifest)
+EXTERN(_bootdelay_signature)
+EXTERN(imxrt_flexspi_initialize)
+
+ENTRY(__start)
+
+SECTIONS
+{
+    /* Image Vector Table and Boot Data for booting from external flash */
+
+    .boot_hdr : ALIGN(4)
+    {
+        FILL(0xff)
+        . = 0x400 ;
+        __boot_hdr_start__ = ABSOLUTE(.) ;
+        KEEP(*(.boot_hdr.conf))
+        . = 0x1000 ;
+        KEEP(*(.boot_hdr.ivt))
+        . = 0x1020 ;
+        KEEP(*(.boot_hdr.boot_data))
+        . = 0x1030 ;
+        KEEP(*(.boot_hdr.dcd_data))
+        __boot_hdr_end__ = ABSOLUTE(.) ;
+        . = 0x2000 ;
+    } >flash
+
+    .vectors :
+    {
+        KEEP(*(.vectors))
+        *(.text .text.__start)
+    } >flash
+
+    .itcmfunc :
+    {
+        . = ALIGN(8);
+        _sitcmfuncs = ABSOLUTE(.);
+        FILL(0xFF)
+        . = 0x40 ;
+        INCLUDE "itcm_static_functions.ld"
+        . = ALIGN(8);
+        _eitcmfuncs = ABSOLUTE(.);
+    } > itcm AT > flash
+
+    _fitcmfuncs = LOADADDR(.itcmfunc);
+
+    /* The RAM vector table (if present) should lie at the beginning of SRAM */
+
+    .ram_vectors (COPY) : {
+        *(.ram_vectors)
+    } > dtcm
+
+    .text : ALIGN(4)
+    {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        . = ALIGN(4096);
+        _etext = ABSOLUTE(.);
+        _srodata = ABSOLUTE(.);
+        *(.rodata .rodata.*)
+        . = ALIGN(4096);
+        _erodata = ABSOLUTE(.);
+    } > flash
+
+    .init_section :
+    {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > flash
+
+    .ARM.extab :
+    {
+        *(.ARM.extab*)
+    } > flash
+
+    .ARM.exidx :
+    {
+        __exidx_start = ABSOLUTE(.);
+        *(.ARM.exidx*)
+        __exidx_end = ABSOLUTE(.);
+    } > flash
+
+    _eronly = ABSOLUTE(.);
+
+    .data :
+    {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        . = ALIGN(4);
+        _edata = ABSOLUTE(.);
+    } > sram AT > flash
+
+    .ramfunc ALIGN(4):
+    {
+        _sramfuncs = ABSOLUTE(.);
+        *(.ramfunc  .ramfunc.*)
+        _eramfuncs = ABSOLUTE(.);
+    } > sram AT > flash
+
+    _framfuncs = LOADADDR(.ramfunc);
+
+    .bss :
+    {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > sram
+
+    /* Stabs debugging sections. */
+
+    .stab 0 : { *(.stab) }
+    .stabstr 0 : { *(.stabstr) }
+    .stab.excl 0 : { *(.stab.excl) }
+    .stab.exclstr 0 : { *(.stab.exclstr) }
+    .stab.index 0 : { *(.stab.index) }
+    .stab.indexstr 0 : { *(.stab.indexstr) }
+    .comment 0 : { *(.comment) }
+    .debug_abbrev 0 : { *(.debug_abbrev) }
+    .debug_info 0 : { *(.debug_info) }
+    .debug_line 0 : { *(.debug_line) }
+    .debug_pubnames 0 : { *(.debug_pubnames) }
+    .debug_aranges 0 : { *(.debug_aranges) }
+
+    _boot_loadaddr = ORIGIN(flash);
+    _boot_size = LENGTH(flash);
+    _ram_size = LENGTH(sram);
+    _sdtcm = ORIGIN(dtcm);
+    _edtcm = ORIGIN(dtcm) + LENGTH(dtcm);
+}

cmake/kconfig.cmake

@@ -25,6 +25,7 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 	TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
 	ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
 	ROMFSROOT=${config_romfs_root}
+	BASE_DEFCONFIG=${BOARD_CONFIG}
 )
 
 set(config_user_list)
@@ -52,6 +53,15 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		)
 	endif()
 
+	if(${LABEL} MATCHES "allyes")
+		message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production")
+		execute_process(
+			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
+			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
+			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		)
+	endif()
+
     # Generate header file for C/C++ preprocessor
     execute_process(
 	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
@@ -438,7 +448,7 @@ if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCH
 		COMMAND_EXPAND_LISTS
 	)
 
-else()
+elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which isn't configurable
 	add_custom_target(boardconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}