mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Matthias Grob
|
ac7e369418 |
+85
-32
@@ -61,13 +61,9 @@ pipeline {
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
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}
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}
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stage("print topics") {
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@@ -136,12 +132,8 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
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}
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}
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stage("print topics") {
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@@ -160,6 +152,76 @@ pipeline {
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}
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}
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stage("px4_fmu-v3_test") {
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stages {
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stage("build px4_fmu-v3_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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checkoutSCM()
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sh 'make px4_fmu-v3_test'
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sh 'make px4_fmu-v3_test bootloader_elf'
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sh 'ccache -s'
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stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
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}
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post {
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always {
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sh 'make distclean; git clean -ff -x -d .'
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}
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}
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} // stage build
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stage("hardware") {
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agent {
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label 'px4_fmu-v3'
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}
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stages {
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stage("flash") {
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steps {
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sh 'export'
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sh 'find /dev/serial'
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unstash 'px4_fmu-v3_test'
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
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// flash board and watch bootup
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sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
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resetBoard()
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}
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}
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stage("tests") {
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steps {
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runTests()
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}
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}
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stage("status") {
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steps {
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// configure
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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}
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}
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stage("print topics") {
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steps {
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printTopics()
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}
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}
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}
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post {
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always {
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sh 'cat /tmp/pyserial_spy_file.txt || true'
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sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
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}
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}
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} // stage test
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}
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}
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stage("px4_fmu-v4_test") {
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stages {
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stage("build px4_fmu-v4_test") {
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@@ -209,12 +271,8 @@ pipeline {
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
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|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
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}
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}
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stage("print topics") {
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@@ -282,13 +340,9 @@ pipeline {
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resetParameters()
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"' // generic vtol standard
|
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
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sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
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|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
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checkStatus()
|
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quickCalibrate()
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
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}
|
||||
}
|
||||
stage("print topics") {
|
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@@ -377,7 +431,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
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sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
checkStatus()
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -460,7 +513,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
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checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -530,13 +582,9 @@ pipeline {
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
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checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
@@ -605,12 +653,8 @@ pipeline {
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
@@ -684,8 +728,14 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
|
||||
@@ -715,7 +765,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
@@ -729,6 +779,8 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -767,13 +819,13 @@ void runTests() {
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
|
||||
@@ -868,6 +920,7 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
|
||||
@@ -5,7 +5,7 @@ labels: feature-request
|
||||
|
||||
---
|
||||
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
|
||||
For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
|
||||
|
||||
## Describe problem solved by the proposed feature
|
||||
A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
|
||||
|
||||
@@ -1,29 +1,17 @@
|
||||
<!--
|
||||
Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
|
||||
|
||||
Thank you for your contribution!
|
||||
## Describe problem solved by this pull request
|
||||
A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
|
||||
E.g. For this use case I ran into...
|
||||
|
||||
Get early feedback through
|
||||
- Dronecode Discord: https://discord.gg/dronecode
|
||||
- PX4 Discuss: http://discuss.px4.io/
|
||||
- opening a draft pr and sharing the link
|
||||
## Describe your solution
|
||||
A clear and concise description of what you have implemented.
|
||||
|
||||
-->
|
||||
## Describe possible alternatives
|
||||
A clear and concise description of alternative solutions or features you've considered.
|
||||
|
||||
### Solved Problem
|
||||
When ... I found that ...
|
||||
## Test data / coverage
|
||||
How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
|
||||
|
||||
Fixes #{Github issue ID}
|
||||
|
||||
### Solution
|
||||
- Add ... for ...
|
||||
- Refactor ...
|
||||
|
||||
### Alternatives
|
||||
We could also ...
|
||||
|
||||
### Test coverage
|
||||
- Unit/integration test: ...
|
||||
- Simulation/hardware testing logs: https://review.px4.io/
|
||||
|
||||
### Context
|
||||
Related links, screenshot before/after, video
|
||||
## Additional context
|
||||
Add any other related context or media.
|
||||
|
||||
@@ -16,7 +16,7 @@ jobs:
|
||||
matrix:
|
||||
config:
|
||||
- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
|
||||
# - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
|
||||
- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
|
||||
- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
|
||||
|
||||
|
||||
@@ -47,8 +47,6 @@ GTAGS
|
||||
*.files
|
||||
*.includes
|
||||
|
||||
Tools/jlink-nuttx.so
|
||||
|
||||
# CLion ignores
|
||||
.idea
|
||||
cmake-build-*/
|
||||
|
||||
+2
-2
@@ -21,11 +21,11 @@
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.3.0+
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
branch = px4_firmware_nuttx-10.3.0+
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
[submodule "Tools/flightgear_bridge"]
|
||||
path = Tools/simulation/flightgear/flightgear_bridge
|
||||
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
|
||||
|
||||
Vendored
+3
-4
@@ -119,9 +119,7 @@
|
||||
"utility": "cpp",
|
||||
"valarray": "cpp",
|
||||
"variant": "cpp",
|
||||
"vector": "cpp",
|
||||
"Jenkinsfile*": "groovy",
|
||||
"*.sdf": "xml"
|
||||
"vector": "cpp"
|
||||
},
|
||||
"search.exclude": {
|
||||
"${workspaceFolder}/build": true
|
||||
@@ -135,5 +133,6 @@
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
},
|
||||
"cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd" // Added for rp2040
|
||||
}
|
||||
|
||||
+56
-23
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2017 - 2019 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
|
||||
@@ -143,17 +143,25 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
|
||||
# configuration
|
||||
#
|
||||
|
||||
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
|
||||
|
||||
include(px4_add_module)
|
||||
set(config_module_list)
|
||||
set(config_kernel_list)
|
||||
|
||||
# Find Python
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if(NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
# If using catkin, Python 2 is found since it points
|
||||
# to the Python libs installed with the ROS distro
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
find_package(PythonInterp 3)
|
||||
# We have a custom error message to tell users how to install python3.
|
||||
if (NOT PYTHONINTERP_FOUND)
|
||||
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
|
||||
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
|
||||
" macOS: brew install python")
|
||||
endif()
|
||||
else()
|
||||
find_package(PythonInterp REQUIRED)
|
||||
endif()
|
||||
|
||||
option(PYTHON_COVERAGE "Python code coverage" OFF)
|
||||
@@ -199,11 +207,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
|
||||
include(init)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# project definition
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
|
||||
if(NOT CMAKE_BUILD_TYPE)
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx")
|
||||
@@ -232,6 +235,11 @@ endif()
|
||||
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
|
||||
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
|
||||
|
||||
#=============================================================================
|
||||
# project definition
|
||||
#
|
||||
project(px4 CXX C ASM)
|
||||
|
||||
# Check if LTO option and check if toolchain supports it
|
||||
if(LTO)
|
||||
include(CheckIPOSupported)
|
||||
@@ -248,9 +256,15 @@ set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_C_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
# For the catkin build process, unset build of dynamically-linked binaries
|
||||
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
|
||||
if (NOT CATKIN_DEVEL_PREFIX)
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
|
||||
else()
|
||||
SET(BUILD_SHARED_LIBS OFF)
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
|
||||
@@ -295,6 +309,21 @@ endif()
|
||||
|
||||
include(ccache)
|
||||
|
||||
#=============================================================================
|
||||
# find programs and packages
|
||||
#
|
||||
|
||||
# see if catkin was invoked to build this
|
||||
if (CATKIN_DEVEL_PREFIX)
|
||||
message(STATUS "catkin ENABLED")
|
||||
find_package(catkin REQUIRED)
|
||||
if (catkin_FOUND)
|
||||
catkin_package()
|
||||
else()
|
||||
message(FATAL_ERROR "catkin not found")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
#=============================================================================
|
||||
# get chip and chip manufacturer
|
||||
#
|
||||
@@ -381,7 +410,7 @@ if(BUILD_TESTING)
|
||||
include(gtest)
|
||||
|
||||
add_custom_target(test_results
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
|
||||
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R \"${TESTFILTER}\" USES_TERMINAL
|
||||
DEPENDS
|
||||
px4
|
||||
examples__dyn_hello
|
||||
@@ -421,10 +450,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
|
||||
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
|
||||
|
||||
if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
|
||||
target_link_libraries(parameters_interface INTERFACE usr_parameters)
|
||||
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
|
||||
target_link_libraries(parameters_interface INTERFACE usr_parameters)
|
||||
target_link_libraries(kernel_parameters_interface INTERFACE parameters)
|
||||
else()
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
target_link_libraries(parameters_interface INTERFACE parameters)
|
||||
endif()
|
||||
|
||||
# firmware added last to generate the builtin for included modules
|
||||
@@ -457,13 +486,17 @@ include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
# print size
|
||||
add_custom_target(size
|
||||
COMMAND size $<TARGET_FILE:px4>
|
||||
DEPENDS px4
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
# install python requirements using configured python
|
||||
add_custom_target(install_python_requirements
|
||||
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
|
||||
include(finalize)
|
||||
endif()
|
||||
|
||||
Vendored
+7
-8
@@ -94,22 +94,21 @@ pipeline {
|
||||
|
||||
stage('failsafe docs') {
|
||||
agent {
|
||||
docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
|
||||
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
|
||||
}
|
||||
steps {
|
||||
sh '''#!/bin/bash -l
|
||||
echo $0;
|
||||
echo $0;
|
||||
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
|
||||
cd _emscripten_sdk;
|
||||
./emsdk install latest;
|
||||
./emsdk activate latest;
|
||||
cd ..;
|
||||
. ./_emscripten_sdk/emsdk_env.sh;
|
||||
make failsafe_web;
|
||||
cd build/px4_sitl_default_failsafe_web;
|
||||
mkdir -p failsafe_sim;
|
||||
cp index.* parameters.json failsafe_sim;
|
||||
'''
|
||||
make failsafe_web;
|
||||
cd build/px4_sitl_default_failsafe_web;
|
||||
mkdir -p failsafe_sim;
|
||||
cp index.* parameters.json failsafe_sim;
|
||||
'''
|
||||
dir('build/px4_sitl_default_failsafe_web') {
|
||||
archiveArtifacts(artifacts: 'failsafe_sim/*')
|
||||
stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
|
||||
|
||||
@@ -17,8 +17,6 @@ menu "Toolchain"
|
||||
bool "posix"
|
||||
config PLATFORM_QURT
|
||||
bool "qurt"
|
||||
config PLATFORM_ROS2
|
||||
bool "ros2"
|
||||
endchoice
|
||||
|
||||
config BOARD_PLATFORM
|
||||
@@ -26,7 +24,6 @@ menu "Toolchain"
|
||||
default "nuttx" if PLATFORM_NUTTX
|
||||
default "posix" if PLATFORM_POSIX
|
||||
default "qurt" if PLATFORM_QURT
|
||||
default "ros2" if PLATFORM_ROS2
|
||||
|
||||
config BOARD_LOCKSTEP
|
||||
bool "Force enable lockstep"
|
||||
@@ -40,8 +37,8 @@ menu "Toolchain"
|
||||
help
|
||||
forces nolockstep behaviour, despite REPLAY env variable
|
||||
|
||||
config BOARD_LINUX_TARGET
|
||||
bool "Linux OS Target"
|
||||
config BOARD_LINUX
|
||||
bool "Linux OS"
|
||||
depends on PLATFORM_POSIX
|
||||
help
|
||||
Board Platform is running the Linux operating system
|
||||
@@ -193,7 +190,3 @@ endmenu
|
||||
menu "examples"
|
||||
source "src/examples/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "platforms"
|
||||
source "platforms/common/Kconfig"
|
||||
endmenu
|
||||
|
||||
@@ -324,10 +324,6 @@ px4io_update:
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
jlink-nuttx:
|
||||
$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
|
||||
|
||||
|
||||
bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
@@ -390,6 +386,8 @@ tests_coverage:
|
||||
@mkdir -p coverage
|
||||
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
||||
|
||||
test_unit:
|
||||
@$(MAKE) tests TESTFILTER="unit\|functional"
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
@@ -31,11 +31,6 @@ then
|
||||
set PARAM_FILE /dev/eeeprom0
|
||||
fi
|
||||
|
||||
if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
|
||||
then
|
||||
set PARAM_FILE /mnt/qspi/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Load parameters.
|
||||
#
|
||||
|
||||
@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.3
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
|
||||
@@ -10,7 +10,6 @@
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_EV_CTRL 15
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
|
||||
# LPE: Vision + baro
|
||||
|
||||
@@ -8,6 +8,7 @@
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
@@ -40,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
|
||||
@@ -8,6 +8,7 @@
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 15
|
||||
@@ -26,6 +27,7 @@ param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1.1
|
||||
param set-default FW_LND_ANG 5
|
||||
param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_DIST_1WP 2500
|
||||
param set-default MIS_DIST_WPS 10000
|
||||
@@ -31,7 +33,9 @@ param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
param set-default RWTO_MAX_PITCH 20
|
||||
param set-default RWTO_PSP 8
|
||||
param set-default RWTO_AIRSPD_SCL 1.8
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
|
||||
@@ -8,6 +8,7 @@
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
@@ -33,11 +34,14 @@ param set-default FW_T_TAS_TC 2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default FW_USE_NPFG 1
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
@@ -8,6 +8,7 @@
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
@@ -30,6 +31,7 @@ param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 30
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
|
||||
@@ -70,7 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
param set-default NAV_ACC_RAD 5
|
||||
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.5
|
||||
param set-default VT_FW_DIFTHR_SC 0.5
|
||||
param set-default VT_F_TRANS_DUR 1.5
|
||||
param set-default VT_F_TRANS_THR 0.7
|
||||
param set-default VT_TYPE 0
|
||||
|
||||
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
@@ -25,6 +25,7 @@ param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.85
|
||||
param set-default GND_THR_MAX 1
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
param set-default NAV_LOITER_RAD 2
|
||||
|
||||
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1
|
||||
|
||||
param set-default FW_RR_P 0.08
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
param set-default MIS_TAKEOFF_ALT 3
|
||||
|
||||
param set-default NAV_ACC_RAD 20
|
||||
|
||||
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1
|
||||
|
||||
param set-default FW_RR_P 0.08
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 50
|
||||
param set-default MIS_TAKEOFF_ALT 7
|
||||
|
||||
param set-default NAV_ACC_RAD 20
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_onboard_gimbal_port_local=$((13030+px4_instance))
|
||||
|
||||
@@ -13,97 +13,108 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ]; then
|
||||
|
||||
# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
||||
if [ -f ./gazebo_env.sh ]; then
|
||||
if [ -f gazebo_env.sh ]; then
|
||||
. ./gazebo_env.sh
|
||||
|
||||
elif [ -f ../gazebo_env.sh ]; then
|
||||
. ../gazebo_env.sh
|
||||
fi
|
||||
|
||||
gz_command="ign" # "ign" before garden
|
||||
gz_sub_command="gazebo" # "gazebo" before garden
|
||||
|
||||
# look for running ${gz_command} gazebo world
|
||||
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
|
||||
# shellcheck disable=SC2153
|
||||
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
|
||||
|
||||
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
|
||||
|
||||
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z "${HEADLESS}" ]; then
|
||||
# HEADLESS not set, starting ign gazebo gui
|
||||
${gz_command} gazebo -g &
|
||||
# shellcheck disable=SC2236
|
||||
if [ ! -z $PX4_GZ_VERBOSE ]; then
|
||||
if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
|
||||
gz_verbose=$PX4_GZ_VERBOSE
|
||||
else
|
||||
gz_verbose=4
|
||||
echo "WARN [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
|
||||
fi
|
||||
|
||||
echo "INFO [init] PX4_GZ_VERBOSE set to $gz_verbose."
|
||||
else
|
||||
echo "INFO [init] gazebo already running world: ${gz_world}"
|
||||
PX4_GZ_WORLD=${gz_world}
|
||||
gz_verbose=1
|
||||
echo "INFO [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
|
||||
fi
|
||||
|
||||
# start gz_bridge
|
||||
if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# model specified, gz_bridge will spawn model
|
||||
gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
|
||||
gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
|
||||
gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
|
||||
gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
|
||||
|
||||
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
|
||||
if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
|
||||
echo "INFO [init] using latest version of MultiCopterMotor plugin."
|
||||
else
|
||||
echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
|
||||
if [ "$PX4_SIM_MODEL" = "x500" ]; then
|
||||
PX4_SIM_MODEL="x500-Legacy"
|
||||
echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ -z $gz_world ]; then
|
||||
|
||||
# starting ign gazebo with ${PX4_GZ_WORLD} world
|
||||
echo "INFO [init] starting ign gazebo"
|
||||
# shellcheck disable=SC2153
|
||||
ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z $HEADLESS ]; then
|
||||
# HEADLESS not set, starting ign gazebo gui
|
||||
ign gazebo -g &
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] ign gazebo already running world: $gz_world"
|
||||
PX4_GZ_WORLD=$gz_world
|
||||
fi
|
||||
|
||||
# shellcheck disable=SC2236
|
||||
if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
|
||||
|
||||
# shellcheck disable=SC2236
|
||||
if [ ! -z $PX4_GZ_MODEL_POSE ]; then
|
||||
# Clean potential input line formatting.
|
||||
model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
|
||||
model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
|
||||
echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
|
||||
|
||||
else
|
||||
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
|
||||
model_pose="0,0,0,0,0,0"
|
||||
fi
|
||||
|
||||
# start gz bridge with pose arg.
|
||||
if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
echo "ERROR [init] ign gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
|
||||
# model name specificed, gz_bridge will attach to existing model
|
||||
|
||||
elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
|
||||
if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
echo "ERROR [init] ign gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
|
||||
|
||||
elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
|
||||
echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
|
||||
|
||||
if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
echo "ERROR [init] ign gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
else
|
||||
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
|
||||
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -120,13 +131,13 @@ else
|
||||
echo "PX4 SIM HOST: localhost"
|
||||
simulator_mavlink start -c $simulator_tcp_port
|
||||
else
|
||||
echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
|
||||
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
|
||||
simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
|
||||
fi
|
||||
|
||||
else
|
||||
echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
|
||||
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
|
||||
simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
|
||||
then
|
||||
echo "ERROR [init] param import failed"
|
||||
|
||||
bsondump $PARAM_FILE
|
||||
param dump $PARAM_FILE
|
||||
|
||||
# try to make a backup copy
|
||||
cp $PARAM_FILE param_import_fail.bson
|
||||
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
|
||||
echo "[init] importing from parameter backup"
|
||||
|
||||
# dump current backup file contents for comparison
|
||||
bsondump $PARAM_BACKUP_FILE
|
||||
param dump $PARAM_BACKUP_FILE
|
||||
|
||||
param import $PARAM_BACKUP_FILE
|
||||
|
||||
@@ -142,9 +142,7 @@ then
|
||||
param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
|
||||
param set CAL_MAG0_ID 197388
|
||||
param set CAL_MAG0_PRIO 50
|
||||
param set CAL_MAG1_ID 197644
|
||||
param set CAL_MAG1_PRIO 50
|
||||
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
@@ -262,19 +260,7 @@ fi
|
||||
navigator start
|
||||
|
||||
# Try to start the microdds_client with UDP transport if module exists
|
||||
microdds_ns=""
|
||||
if [ "$px4_instance" -ne "0" ]
|
||||
then
|
||||
# Assign new xrce dds key based on instance number and set default namespace
|
||||
param set XRCE_DDS_KEY ${px4_instance}
|
||||
microdds_ns="-n px4_$px4_instance"
|
||||
fi
|
||||
if [ -n "$PX4_MICRODDS_NS" ]
|
||||
then
|
||||
# Override namespace if environment variable is defined
|
||||
microdds_ns="-n $PX4_MICRODDS_NS"
|
||||
fi
|
||||
microdds_client start -t udp -p 8888 $microdds_ns
|
||||
microdds_client start -t udp -p 8888
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
|
||||
@@ -31,6 +31,7 @@ param set-default MC_PITCH_P 6
|
||||
param set-default MC_PITCHRATE_P 0.2
|
||||
param set-default MC_ROLL_P 6
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MIS_LTRMIN_ALT 10
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
param set-default MIS_YAW_TMT 10
|
||||
|
||||
|
||||
@@ -22,7 +22,7 @@ param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_MOT_COUNT 2
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
param set-default VT_FW_DIFTHR_S_Y 0.3
|
||||
param set-default VT_FW_DIFTHR_SC 0.3
|
||||
param set-default MPC_MAN_Y_MAX 60
|
||||
param set-default MC_PITCH_P 5
|
||||
|
||||
|
||||
@@ -39,6 +39,7 @@ param set-default GND_THR_CRUISE 0.3
|
||||
param set-default GND_THR_MAX 0.5
|
||||
param set-default GND_THR_MIN 0
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
@@ -44,6 +44,7 @@ param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
@@ -45,6 +45,7 @@ param set-default GND_SPEED_D 0.001
|
||||
param set-default GND_SPEED_IMAX 0.125
|
||||
param set-default GND_SPEED_THR_SC 1
|
||||
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 0.5
|
||||
|
||||
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 11
|
||||
#
|
||||
# Default parameters for UGVs.
|
||||
#
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
@@ -43,8 +43,8 @@ param set-default RTL_LAND_DELAY -1
|
||||
param set-default NAV_ACC_RAD 10
|
||||
|
||||
param set-default MIS_DIST_WPS 5000
|
||||
param set-default MIS_LTRMIN_ALT 25
|
||||
param set-default MIS_TAKEOFF_ALT 25
|
||||
param set-default MIS_TKO_LAND_REQ 2
|
||||
|
||||
#
|
||||
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
|
||||
|
||||
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 10
|
||||
#
|
||||
# Default parameters for UGVs.
|
||||
#
|
||||
param set-default MIS_LTRMIN_ALT 0.01
|
||||
param set-default MIS_TAKEOFF_ALT 0.01
|
||||
|
||||
param set-default NAV_ACC_RAD 2
|
||||
|
||||
@@ -191,10 +191,7 @@ then
|
||||
ist8308 -X -q start
|
||||
ist8310 -X -q start
|
||||
lis2mdl -X -q start
|
||||
if ! lis3mdl -X -q start
|
||||
then
|
||||
lis3mdl -X -q -a 0x1c start
|
||||
fi
|
||||
lis3mdl -X -q start
|
||||
qmc5883l -X -q start
|
||||
rm3100 -X -q start
|
||||
|
||||
|
||||
@@ -19,7 +19,6 @@ param set-default EKF2_FUSE_BETA 1
|
||||
param set-default HTE_VXY_THR 2.0
|
||||
|
||||
param set-default MIS_DIST_WPS 5000
|
||||
param set-default MIS_TKO_LAND_REQ 2
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_VEL_MANUAL 5
|
||||
|
||||
@@ -29,6 +29,7 @@ set LOGGER_ARGS ""
|
||||
set LOGGER_BUF 8
|
||||
set PARAM_FILE ""
|
||||
set PARAM_BACKUP_FILE ""
|
||||
set RC_INPUT_ARGS ""
|
||||
set SDCARD_AVAILABLE no
|
||||
set SDCARD_EXT_PATH /fs/microsd/ext_autostart
|
||||
set SDCARD_FORMAT no
|
||||
@@ -129,7 +130,7 @@ else
|
||||
echo "ERROR [init] param import failed"
|
||||
set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
|
||||
|
||||
bsondump $PARAM_FILE
|
||||
param dump $PARAM_FILE
|
||||
|
||||
if [ -d "/fs/microsd" ]
|
||||
then
|
||||
@@ -142,7 +143,7 @@ else
|
||||
echo "[init] importing from parameter backup"
|
||||
|
||||
# dump current backup file contents for comparison
|
||||
bsondump $PARAM_BACKUP_FILE
|
||||
param dump $PARAM_BACKUP_FILE
|
||||
|
||||
param import $PARAM_BACKUP_FILE
|
||||
|
||||
@@ -161,7 +162,7 @@ else
|
||||
param select-backup $PARAM_BACKUP_FILE
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
|
||||
if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
|
||||
then
|
||||
netman update -i eth0
|
||||
fi
|
||||
@@ -263,6 +264,23 @@ else
|
||||
. $FCONFIG
|
||||
fi
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if ! uavcan start
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start IO for PWM output or RC input if enabled
|
||||
#
|
||||
@@ -410,10 +428,8 @@ else
|
||||
#
|
||||
. ${R}etc/init.d/rc.serial
|
||||
|
||||
if param compare -s RC_PPM_EN 1
|
||||
then
|
||||
ppm_in start
|
||||
fi
|
||||
# Must be started after the serial config is read
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
|
||||
#
|
||||
# Play the startup tune (if not disabled or there is an error)
|
||||
@@ -511,23 +527,6 @@ else
|
||||
fi
|
||||
unset BOARD_BOOTLOADER_UPGRADE
|
||||
|
||||
#
|
||||
# Check if UAVCAN is enabled, default to it for ESCs.
|
||||
#
|
||||
if param greater -s UAVCAN_ENABLE 0
|
||||
then
|
||||
# Start core UAVCAN module.
|
||||
if ! uavcan start
|
||||
then
|
||||
tune_control play error
|
||||
fi
|
||||
else
|
||||
if param greater -s CYPHAL_ENABLE 0
|
||||
then
|
||||
cyphal start
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# End of autostart.
|
||||
#
|
||||
@@ -545,6 +544,7 @@ unset LOGGER_ARGS
|
||||
unset LOGGER_BUF
|
||||
unset PARAM_FILE
|
||||
unset PARAM_BACKUP_FILE
|
||||
unset RC_INPUT_ARGS
|
||||
unset SDCARD_AVAILABLE
|
||||
unset SDCARD_EXT_PATH
|
||||
unset SDCARD_FORMAT
|
||||
|
||||
@@ -43,13 +43,13 @@ do
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
|
||||
|
||||
${DIR}/reboot.py --device ${SERIAL_DEVICE}
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
@@ -28,7 +28,7 @@ args = parser.parse_args()
|
||||
verbose = args.verbose
|
||||
|
||||
build_configs = []
|
||||
excluded_boards = ['modalai_voxl2', 'px4_ros2'] # TODO: fix and enable
|
||||
excluded_boards = ['modalai_voxl2'] # TODO: fix and enable
|
||||
excluded_manufacturers = ['atlflight']
|
||||
excluded_platforms = ['qurt']
|
||||
excluded_labels = [
|
||||
|
||||
@@ -51,9 +51,9 @@ div.frame_variant td, div.frame_variant th {
|
||||
text-align : left;
|
||||
}
|
||||
</style>\n\n"""
|
||||
|
||||
|
||||
type_set = set()
|
||||
|
||||
|
||||
if len(image_path) > 0 and image_path[-1] != '/':
|
||||
image_path = image_path + '/'
|
||||
|
||||
@@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
|
||||
result += '## %s\n\n' % group.GetClass()
|
||||
type_set.add(group.GetClass())
|
||||
|
||||
result += '### %s\n\n' % group.GetType()
|
||||
result += '### %s\n\n' % group.GetName()
|
||||
|
||||
# Display an image of the frame
|
||||
image_name = group.GetImageName()
|
||||
@@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
|
||||
# check if all outputs are equal for the group: if so, show them
|
||||
# only once
|
||||
all_outputs = {}
|
||||
num_configs = len(group.GetAirframes())
|
||||
for airframe in group.GetAirframes():
|
||||
if not self.IsExcluded(airframe, board):
|
||||
for output_name in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(output_name)
|
||||
num_configs = len(group.GetParams())
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
key_value_pair = (output_name, value)
|
||||
if key_value_pair not in all_outputs:
|
||||
all_outputs[key_value_pair] = 0
|
||||
@@ -104,17 +104,18 @@ div.frame_variant td, div.frame_variant th {
|
||||
result += ' </thead>\n'
|
||||
result += '<tbody>\n'
|
||||
|
||||
for airframe in group.GetAirframes():
|
||||
if not self.IsExcluded(airframe, board):
|
||||
name = airframe.GetName()
|
||||
airframe_id = airframe.GetId()
|
||||
for param in group.GetParams():
|
||||
if not self.IsExcluded(param, board):
|
||||
#print("generating: {0} {1}".format(param.GetName(), excluded))
|
||||
name = param.GetName()
|
||||
airframe_id = param.GetId()
|
||||
airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
|
||||
maintainer = airframe.GetMaintainer()
|
||||
maintainer = param.GetMaintainer()
|
||||
maintainer_entry = ''
|
||||
if maintainer != '':
|
||||
maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
|
||||
url = airframe.GetFieldValue('url')
|
||||
name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
|
||||
url = param.GetFieldValue('url')
|
||||
name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
|
||||
name_anchor=name_anchor.replace(' ','_').lower()
|
||||
name_anchor=name_anchor.replace('"','_').lower()
|
||||
name_anchor='id="%s"' % name_anchor
|
||||
@@ -123,8 +124,8 @@ div.frame_variant td, div.frame_variant th {
|
||||
name_entry = '<a href="%s">%s</a>' % (url, name)
|
||||
outputs = '<ul>'
|
||||
has_outputs = False
|
||||
for output_name in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(output_name)
|
||||
for output_name in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(output_name)
|
||||
valstrs = value.split(";")
|
||||
key_value_pair = (output_name, value)
|
||||
if all_outputs[key_value_pair] < num_configs:
|
||||
@@ -151,9 +152,9 @@ div.frame_variant td, div.frame_variant th {
|
||||
|
||||
self.output = result
|
||||
|
||||
def IsExcluded(self, airframe, board):
|
||||
for code in airframe.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
def IsExcluded(self, param, board):
|
||||
for code in param.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
return True
|
||||
return False
|
||||
|
||||
|
||||
+10
-13
@@ -3,9 +3,6 @@ import codecs
|
||||
import os
|
||||
|
||||
class RCOutput():
|
||||
"""
|
||||
Generates RC scripts for the airframes
|
||||
"""
|
||||
def __init__(self, groups, board, post_start=False):
|
||||
|
||||
result = ( "#\n"
|
||||
@@ -37,33 +34,33 @@ class RCOutput():
|
||||
result += "set AIRFRAME none\n"
|
||||
result += "\n"
|
||||
for group in groups:
|
||||
result += "# GROUP: %s\n\n" % group.GetType()
|
||||
for airframe in group.GetAirframes():
|
||||
result += "# GROUP: %s\n\n" % group.GetName()
|
||||
for param in group.GetParams():
|
||||
excluded = False
|
||||
for code in airframe.GetArchCodes():
|
||||
if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
for code in param.GetArchCodes():
|
||||
if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
excluded = True
|
||||
if excluded:
|
||||
continue
|
||||
|
||||
if post_start:
|
||||
# Path to post-start sript
|
||||
path = airframe.GetPostPath()
|
||||
path = param.GetPostPath()
|
||||
else:
|
||||
# Path to start script
|
||||
path = airframe.GetPath()
|
||||
path = param.GetPath()
|
||||
|
||||
if not path:
|
||||
continue
|
||||
|
||||
path = os.path.split(path)[1]
|
||||
|
||||
id_val = airframe.GetId()
|
||||
name = airframe.GetFieldValue("short_desc")
|
||||
long_desc = airframe.GetFieldValue("long_desc")
|
||||
id_val = param.GetId()
|
||||
name = param.GetFieldValue("short_desc")
|
||||
long_desc = param.GetFieldValue("long_desc")
|
||||
|
||||
result += "#\n"
|
||||
result += "# %s\n" % airframe.GetName()
|
||||
result += "# %s\n" % param.GetName()
|
||||
result += "if param compare SYS_AUTOSTART %s\n" % id_val
|
||||
result += "then\n"
|
||||
result += "\tset AIRFRAME %s\n" % path
|
||||
|
||||
@@ -2,38 +2,31 @@ import sys
|
||||
import re
|
||||
import os
|
||||
|
||||
class AirframeGroup(object):
|
||||
class ParameterGroup(object):
|
||||
"""
|
||||
Airframe group
|
||||
|
||||
type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
|
||||
class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
|
||||
Single parameter group
|
||||
"""
|
||||
def __init__(self, type, af_class):
|
||||
self.type = type
|
||||
def __init__(self, name, af_class):
|
||||
self.name = name
|
||||
self.af_class = af_class
|
||||
self.airframes = []
|
||||
self.params = []
|
||||
|
||||
|
||||
def AddAirframe(self, airframe):
|
||||
def AddParameter(self, param):
|
||||
"""
|
||||
Add airframe to the airframe group
|
||||
Add parameter to the group
|
||||
"""
|
||||
self.airframes.append(airframe)
|
||||
self.params.append(param)
|
||||
|
||||
def GetType(self):
|
||||
def GetName(self):
|
||||
"""
|
||||
Get airframe group's vehicle type
|
||||
|
||||
e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
|
||||
Get parameter group name
|
||||
"""
|
||||
return self.type
|
||||
return self.name
|
||||
|
||||
def GetClass(self):
|
||||
"""
|
||||
Get airframe group's vehicle class
|
||||
|
||||
e.g. Multicopter, Fixed Wing, etc.
|
||||
Get parameter group vehicle type.
|
||||
"""
|
||||
return self.af_class
|
||||
|
||||
@@ -41,84 +34,86 @@ class AirframeGroup(object):
|
||||
"""
|
||||
Get parameter group image base name (w/o extension)
|
||||
"""
|
||||
if (self.type == "Standard Plane"):
|
||||
if (self.name == "Standard Plane"):
|
||||
return "Plane"
|
||||
elif (self.type == "Flying Wing"):
|
||||
elif (self.name == "Flying Wing"):
|
||||
return "FlyingWing"
|
||||
elif (self.type == "Quadrotor x"):
|
||||
elif (self.name == "Quadrotor x"):
|
||||
return "QuadRotorX"
|
||||
elif (self.type == "Quadrotor +"):
|
||||
elif (self.name == "Quadrotor +"):
|
||||
return "QuadRotorPlus"
|
||||
elif (self.type == "Hexarotor x"):
|
||||
elif (self.name == "Hexarotor x"):
|
||||
return "HexaRotorX"
|
||||
elif (self.type == "Hexarotor +"):
|
||||
elif (self.name == "Hexarotor +"):
|
||||
return "HexaRotorPlus"
|
||||
elif (self.type == "Octorotor +"):
|
||||
elif (self.name == "Octorotor +"):
|
||||
return "OctoRotorPlus"
|
||||
elif (self.type == "Octorotor x"):
|
||||
elif (self.name == "Octorotor x"):
|
||||
return "OctoRotorX"
|
||||
elif (self.type == "Octorotor Coaxial"):
|
||||
elif (self.name == "Octorotor Coaxial"):
|
||||
return "OctoRotorXCoaxial"
|
||||
elif (self.type == "Octo Coax Wide"):
|
||||
elif (self.name == "Octo Coax Wide"):
|
||||
return "OctoRotorXCoaxial"
|
||||
elif (self.type == "Quadrotor Wide"):
|
||||
elif (self.name == "Quadrotor Wide"):
|
||||
return "QuadRotorWide"
|
||||
elif (self.type == "Quadrotor H"):
|
||||
elif (self.name == "Quadrotor H"):
|
||||
return "QuadRotorH"
|
||||
elif (self.type == "Dodecarotor cox"):
|
||||
elif (self.name == "Dodecarotor cox"):
|
||||
return "DodecaRotorXCoaxial"
|
||||
elif (self.type == "Simulation"):
|
||||
elif (self.name == "Simulation"):
|
||||
return "AirframeSimulation"
|
||||
elif (self.type == "Plane A-Tail"):
|
||||
elif (self.name == "Plane A-Tail"):
|
||||
return "PlaneATail"
|
||||
elif (self.type == "Plane V-Tail"):
|
||||
elif (self.name == "Plane V-Tail"):
|
||||
return "PlaneVTail"
|
||||
elif (self.type == "VTOL Duo Tailsitter"):
|
||||
elif (self.name == "VTOL Duo Tailsitter"):
|
||||
return "VTOLDuoRotorTailSitter"
|
||||
elif (self.type == "Standard VTOL"):
|
||||
elif (self.name == "Standard VTOL"):
|
||||
return "VTOLPlane"
|
||||
elif (self.type == "VTOL Quad Tailsitter"):
|
||||
elif (self.name == "VTOL Quad Tailsitter"):
|
||||
return "VTOLQuadRotorTailSitter"
|
||||
elif (self.type == "VTOL Tiltrotor"):
|
||||
elif (self.name == "VTOL Tiltrotor"):
|
||||
return "VTOLTiltRotor"
|
||||
elif (self.type == "VTOL Octoplane"):
|
||||
elif (self.name == "VTOL Octoplane"):
|
||||
return "VTOLPlaneOcto"
|
||||
elif (self.type == "Coaxial Helicopter"):
|
||||
elif (self.name == "Coaxial Helicopter"):
|
||||
return "HelicopterCoaxial"
|
||||
elif (self.type == "Helicopter"):
|
||||
elif (self.name == "Helicopter"):
|
||||
return "Helicopter"
|
||||
elif (self.type == "Hexarotor Coaxial"):
|
||||
elif (self.name == "Hexarotor Coaxial"):
|
||||
return "Y6B"
|
||||
elif (self.type == "Y6A"):
|
||||
elif (self.name == "Y6A"):
|
||||
return "Y6A"
|
||||
elif (self.type == "Tricopter Y-"):
|
||||
elif (self.name == "Tricopter Y-"):
|
||||
return "YMinus"
|
||||
elif (self.type == "Tricopter Y+"):
|
||||
elif (self.name == "Tricopter Y+"):
|
||||
return "YPlus"
|
||||
elif (self.type == "Autogyro"):
|
||||
elif (self.name == "Autogyro"):
|
||||
return "Autogyro"
|
||||
elif (self.type == "Airship"):
|
||||
elif (self.name == "Airship"):
|
||||
return "Airship"
|
||||
elif (self.type == "Rover"):
|
||||
elif (self.name == "Rover"):
|
||||
return "Rover"
|
||||
elif (self.type == "Boat"):
|
||||
elif (self.name == "Boat"):
|
||||
return "Boat"
|
||||
elif (self.type == "Balloon"):
|
||||
elif (self.name == "Balloon"):
|
||||
return "Balloon"
|
||||
elif (self.type == "Vectored 6 DOF UUV"):
|
||||
elif (self.name == "Vectored 6 DOF UUV"):
|
||||
return "Vectored6DofUUV"
|
||||
return "AirframeUnknown"
|
||||
|
||||
def GetAirframes(self):
|
||||
def GetParams(self):
|
||||
"""
|
||||
Returns the parsed list of airframes objects. Note that returned
|
||||
object is not a copy. Modifications affect state of the parser.
|
||||
Returns the parsed list of parameters. Every parameter is a Parameter
|
||||
object. Note that returned object is not a copy. Modifications affect
|
||||
state of the parser.
|
||||
"""
|
||||
return sorted(self.airframes, key=lambda x: x.GetId())
|
||||
|
||||
class Airframe(object):
|
||||
return sorted(self.params, key=lambda x: x.GetId())
|
||||
|
||||
class Parameter(object):
|
||||
"""
|
||||
Single Airframe definition
|
||||
Single parameter
|
||||
"""
|
||||
|
||||
# Define sorting order of the fields
|
||||
@@ -293,7 +288,7 @@ class SourceParser(object):
|
||||
}
|
||||
|
||||
def __init__(self):
|
||||
self.airframe_groups = {}
|
||||
self.param_groups = {}
|
||||
|
||||
def GetSupportedExtensions(self):
|
||||
"""
|
||||
@@ -352,10 +347,10 @@ class SourceParser(object):
|
||||
tag, desc = m.group(1, 2)
|
||||
if (tag == "output"):
|
||||
key, text = desc.split(' ', 1)
|
||||
outputs[key] = text
|
||||
outputs[key] = text;
|
||||
elif (tag == "board"):
|
||||
key, text = desc.split(' ', 1)
|
||||
archs[key] = text
|
||||
archs[key] = text;
|
||||
else:
|
||||
tags[tag] = desc
|
||||
current_tag = tag
|
||||
@@ -432,7 +427,7 @@ class SourceParser(object):
|
||||
post_path = None
|
||||
|
||||
# We already know this is an airframe config, so add it
|
||||
airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
|
||||
param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
|
||||
|
||||
# Done with file, store
|
||||
for tag in tags:
|
||||
@@ -445,24 +440,24 @@ class SourceParser(object):
|
||||
if tag == "name":
|
||||
airframe_name = tags[tag]
|
||||
else:
|
||||
airframe.SetField(tag, tags[tag])
|
||||
param.SetField(tag, tags[tag])
|
||||
|
||||
# Store outputs
|
||||
for output in outputs:
|
||||
airframe.SetOutput(output, outputs[output])
|
||||
param.SetOutput(output, outputs[output])
|
||||
|
||||
# Store outputs
|
||||
for arch in archs:
|
||||
airframe.SetArch(arch, archs[arch])
|
||||
param.SetArch(arch, archs[arch])
|
||||
|
||||
# Store the parameter
|
||||
|
||||
# Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
|
||||
class_group_identifier=airframe_type + airframe_class
|
||||
if class_group_identifier not in self.airframe_groups:
|
||||
#self.airframe_groups[airframe_type] = ParameterGroup(airframe_type) #HW TEST REMOVE
|
||||
self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
|
||||
self.airframe_groups[class_group_identifier].AddAirframe(airframe)
|
||||
class_group_identifier=airframe_type+airframe_class
|
||||
if class_group_identifier not in self.param_groups:
|
||||
#self.param_groups[airframe_type] = ParameterGroup(airframe_type) #HW TEST REMOVE
|
||||
self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
|
||||
self.param_groups[class_group_identifier].AddParameter(param)
|
||||
|
||||
return True
|
||||
|
||||
@@ -478,8 +473,8 @@ class SourceParser(object):
|
||||
Validates the airframe meta data.
|
||||
"""
|
||||
seenParamNames = []
|
||||
for group in self.GetAirframeGroups():
|
||||
for param in group.GetAirframes():
|
||||
for group in self.GetParamGroups():
|
||||
for param in group.GetParams():
|
||||
name = param.GetName()
|
||||
board = param.GetFieldValue("board")
|
||||
# Check for duplicates
|
||||
@@ -492,27 +487,27 @@ class SourceParser(object):
|
||||
|
||||
return True
|
||||
|
||||
def GetAirframeGroups(self):
|
||||
def GetParamGroups(self):
|
||||
"""
|
||||
Returns the parsed list of Airframe groups. Every Airframe is an Airframe
|
||||
Returns the parsed list of parameters. Every parameter is a Parameter
|
||||
object. Note that returned object is not a copy. Modifications affect
|
||||
state of the parser.
|
||||
"""
|
||||
groups = self.airframe_groups.values()
|
||||
groups = sorted(groups, key=lambda x: x.GetType())
|
||||
groups = self.param_groups.values()
|
||||
groups = sorted(groups, key=lambda x: x.GetName())
|
||||
groups = sorted(groups, key=lambda x: x.GetClass())
|
||||
groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)
|
||||
groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
|
||||
|
||||
#Rename duplicate groups to include the class (creating unique headings in page TOC)
|
||||
duplicate_test=set()
|
||||
duplicate_set=set()
|
||||
for group in groups:
|
||||
if group.GetType() in duplicate_test:
|
||||
duplicate_set.add(group.GetType())
|
||||
if group.GetName() in duplicate_test:
|
||||
duplicate_set.add(group.GetName())
|
||||
else:
|
||||
duplicate_test.add(group.GetType() )
|
||||
duplicate_test.add(group.GetName() )
|
||||
for group in groups:
|
||||
if group.GetType() in duplicate_set:
|
||||
group.name=group.GetType()+' (%s)' % group.GetClass()
|
||||
if group.GetName() in duplicate_set:
|
||||
group.name=group.GetName()+' (%s)' % group.GetClass()
|
||||
|
||||
return groups
|
||||
|
||||
@@ -28,28 +28,28 @@ class XMLOutput():
|
||||
xml_version.text = "1"
|
||||
for group in groups:
|
||||
xml_group = ET.SubElement(xml_parameters, "airframe_group")
|
||||
xml_group.attrib["name"] = group.GetType()
|
||||
xml_group.attrib["name"] = group.GetName()
|
||||
xml_group.attrib["image"] = group.GetImageName()
|
||||
for airframe in group.GetAirframes():
|
||||
for param in group.GetParams():
|
||||
|
||||
# check if there is an exclude tag for this airframe
|
||||
excluded = False
|
||||
for code in airframe.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
|
||||
for code in param.GetArchCodes():
|
||||
if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
|
||||
excluded = True
|
||||
|
||||
if not excluded:
|
||||
#print("generating: {0} {1}".format(airframe.GetName(), excluded))
|
||||
#print("generating: {0} {1}".format(param.GetName(), excluded))
|
||||
xml_param = ET.SubElement(xml_group, "airframe")
|
||||
xml_param.attrib["name"] = airframe.GetName()
|
||||
xml_param.attrib["id"] = airframe.GetId()
|
||||
xml_param.attrib["maintainer"] = airframe.GetMaintainer()
|
||||
for code in airframe.GetFieldCodes():
|
||||
value = airframe.GetFieldValue(code)
|
||||
xml_param.attrib["name"] = param.GetName()
|
||||
xml_param.attrib["id"] = param.GetId()
|
||||
xml_param.attrib["maintainer"] = param.GetMaintainer()
|
||||
for code in param.GetFieldCodes():
|
||||
value = param.GetFieldValue(code)
|
||||
xml_field = ET.SubElement(xml_param, code)
|
||||
xml_field.text = value
|
||||
for code in airframe.GetOutputCodes():
|
||||
value = airframe.GetOutputValue(code)
|
||||
for code in param.GetOutputCodes():
|
||||
value = param.GetOutputValue(code)
|
||||
valstrs = value.split(";")
|
||||
xml_field = ET.SubElement(xml_param, "output")
|
||||
xml_field.attrib["name"] = code
|
||||
|
||||
@@ -35,11 +35,12 @@
|
||||
#
|
||||
# PX4 airframe config processor (main executable file)
|
||||
#
|
||||
# This tool scans the PX4 ROMFS directory for declarations of airframes
|
||||
# This tool scans the PX4 ROMFS code for declarations of airframes
|
||||
#
|
||||
# Currently supported formats are:
|
||||
# * XML for the parametric UI generator
|
||||
# * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
|
||||
#
|
||||
# Currently supported output formats are:
|
||||
# * XML for the parametric UI generator (Used in QGC)
|
||||
# * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
|
||||
#
|
||||
|
||||
from __future__ import print_function
|
||||
@@ -103,31 +104,31 @@ def main():
|
||||
# We can't validate yet
|
||||
# if not parser.Validate():
|
||||
# sys.exit(1)
|
||||
airframe_groups = parser.GetAirframeGroups()
|
||||
param_groups = parser.GetParamGroups()
|
||||
|
||||
# Output to XML file
|
||||
if args.xml:
|
||||
if args.verbose: print("Creating XML file " + args.xml)
|
||||
out = xmlout.XMLOutput(airframe_groups, args.board)
|
||||
out = xmlout.XMLOutput(param_groups, args.board)
|
||||
out.Save(args.xml)
|
||||
|
||||
# Output to markdown file
|
||||
if args.markdown:
|
||||
if args.verbose: print("Creating markdown file " + args.markdown)
|
||||
out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
|
||||
out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
|
||||
out.Save(args.markdown)
|
||||
|
||||
# Output to start scripts
|
||||
if args.start_script:
|
||||
# Airframe start script
|
||||
if args.verbose: print("Creating start script " + args.start_script)
|
||||
out = rcout.RCOutput(airframe_groups, args.board)
|
||||
out = rcout.RCOutput(param_groups, args.board)
|
||||
out.Save(args.start_script)
|
||||
|
||||
# Airframe post-start script
|
||||
post_start_script = args.start_script + '.post'
|
||||
if args.verbose: print("Creating post-start script " + post_start_script)
|
||||
out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
|
||||
out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
|
||||
out_post.Save(post_start_script)
|
||||
|
||||
if (args.verbose): print("All done!")
|
||||
|
||||
+14
-32
@@ -582,35 +582,7 @@ class uploader(object):
|
||||
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
|
||||
|
||||
# upload the firmware
|
||||
def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
|
||||
# select correct binary
|
||||
found_suitable_firmware = False
|
||||
for file in fw_list:
|
||||
fw = firmware(file)
|
||||
if self.board_type == fw.property('board_id'):
|
||||
if len(fw_list) > 1: print("using firmware binary {}".format(file))
|
||||
found_suitable_firmware = True
|
||||
break
|
||||
|
||||
if not found_suitable_firmware:
|
||||
msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
|
||||
self.board_type, fw.property('board_id'))
|
||||
print("WARNING: %s" % msg)
|
||||
if force:
|
||||
if len(fw_list) > 1:
|
||||
raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
|
||||
print("FORCED WRITE, FLASHING ANYWAY!")
|
||||
else:
|
||||
raise FirmwareNotSuitableException(msg)
|
||||
|
||||
percent = fw.property('image_size') / fw.property('image_maxsize')
|
||||
binary_size = float(fw.property('image_size'))
|
||||
binary_max_size = float(fw.property('image_maxsize'))
|
||||
percent = (binary_size / binary_max_size) * 100
|
||||
|
||||
print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
|
||||
print()
|
||||
|
||||
def upload(self, fw, force=False, boot_delay=None):
|
||||
# Make sure we are doing the right thing
|
||||
start = _time()
|
||||
if self.board_type != fw.property('board_id'):
|
||||
@@ -792,7 +764,7 @@ def main():
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
|
||||
parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
|
||||
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.use_protocol_splitter_format:
|
||||
@@ -804,7 +776,17 @@ def main():
|
||||
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
|
||||
print("==========================================================================================================")
|
||||
|
||||
print("Waiting for bootloader...")
|
||||
# Load the firmware file
|
||||
fw = firmware(args.firmware)
|
||||
|
||||
percent = fw.property('image_size') / fw.property('image_maxsize')
|
||||
binary_size = float(fw.property('image_size'))
|
||||
binary_max_size = float(fw.property('image_maxsize'))
|
||||
percent = (binary_size / binary_max_size) * 100
|
||||
|
||||
print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
|
||||
print()
|
||||
|
||||
# tell any GCS that might be connected to the autopilot to give up
|
||||
# control of the serial port
|
||||
|
||||
@@ -907,7 +889,7 @@ def main():
|
||||
|
||||
try:
|
||||
# ok, we have a bootloader, try flashing it
|
||||
up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
|
||||
up.upload(fw, force=args.force, boot_delay=args.boot_delay)
|
||||
|
||||
# if we made this far without raising exceptions, the upload was successful
|
||||
successful = True
|
||||
|
||||
@@ -136,9 +136,9 @@ serial_ports = {
|
||||
"default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
|
||||
},
|
||||
|
||||
# EXT2
|
||||
"EXT2": {
|
||||
"label": "EXT2",
|
||||
# Pixhawk Payload Bus
|
||||
"PPB": {
|
||||
"label": "Pixhawk Payload Bus",
|
||||
"index": 401,
|
||||
"default_baudrate": 57600,
|
||||
},
|
||||
|
||||
Submodule Tools/simulation/gazebo/sitl_gazebo updated: 049b667d5e...e804327595
@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>x500-Legacy</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
</author>
|
||||
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
|
||||
</model>
|
||||
@@ -0,0 +1,76 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-Legacy'>
|
||||
<include merge='true'>
|
||||
<uri>model://x500-NoPlugin</uri>
|
||||
</include>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 32 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 28 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 27 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 23 KiB |
@@ -73,5 +73,4 @@ fi
|
||||
ant create_run_jar copy_res
|
||||
cd out/production
|
||||
|
||||
java --add-exports java.base/java.lang=ALL-UNNAMED --add-exports java.desktop/sun.awt=ALL-UNNAMED --add-exports java.desktop/sun.java2d=ALL-UNNAMED \
|
||||
-XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
|
||||
java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
|
||||
|
||||
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
|
||||
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_COMMON_BAROMETERS=y
|
||||
@@ -29,8 +28,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_INPUT=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_PPM_IN=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
@@ -81,9 +79,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
@@ -37,11 +36,9 @@ CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
@@ -57,25 +54,6 @@ 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
|
||||
@@ -140,13 +118,12 @@ CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -249,5 +226,5 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
|
||||
@@ -51,7 +51,7 @@
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <arm_internal.h>
|
||||
#include <arm_arch.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=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_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
|
||||
@@ -5,51 +5,20 @@
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_ARP is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE 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_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT 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_NSLOOKUP is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET 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_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
|
||||
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
@@ -128,13 +95,12 @@ CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=254
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=3000
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -183,5 +149,5 @@ CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2624
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
|
||||
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=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_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
|
||||
@@ -5,51 +5,20 @@
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_ARP is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE 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_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT 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_NSLOOKUP is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET 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_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
|
||||
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -188,5 +154,5 @@ CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2624
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
|
||||
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=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_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
|
||||
@@ -5,51 +5,20 @@
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_ARP is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE 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_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT 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_NSLOOKUP is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET 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_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
|
||||
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -189,5 +155,5 @@ CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2624
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
|
||||
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=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_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
@@ -77,4 +58,4 @@ CONFIG_STM32_FLASH_CONFIG_G=y
|
||||
CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
|
||||
@@ -5,51 +5,20 @@
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_ARP is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE 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_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT 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_NSLOOKUP is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET 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_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/nuttx-config"
|
||||
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=254
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=3000
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -190,5 +156,5 @@ CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2624
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -50,7 +50,7 @@
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
|
||||
@@ -6,10 +6,9 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
|
||||
CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP388=y
|
||||
CONFIG_DRIVERS_BAROMETER_MS5611=y
|
||||
CONFIG_DRIVERS_BATT_SMBUS=y
|
||||
CONFIG_DRIVERS_CAMERA_CAPTURE=y
|
||||
CONFIG_DRIVERS_CAMERA_TRIGGER=y
|
||||
@@ -28,8 +27,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA228=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_DRIVERS_PX4IO=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_PPM_IN=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_SAFETY_BUTTON=y
|
||||
CONFIG_DRIVERS_TONE_ALARM=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
@@ -67,10 +65,10 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
@@ -82,8 +80,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -16,18 +16,6 @@ param set-default SENS_EN_INA238 0
|
||||
param set-default SENS_EN_INA228 0
|
||||
param set-default SENS_EN_INA226 1
|
||||
|
||||
param set-default SENS_EN_THERMAL 1
|
||||
param set-default SENS_TEMP_ID 2818058
|
||||
param set-default SENS_IMU_TEMP 10.0
|
||||
#param set-default SENS_IMU_TEMP_FF 0.0
|
||||
#param set-default SENS_IMU_TEMP_I 0.025
|
||||
#param set-default SENS_IMU_TEMP_P 1.0
|
||||
|
||||
if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
|
||||
then
|
||||
param set-default SYS_USE_IO 0
|
||||
else
|
||||
param set-default SYS_USE_IO 1
|
||||
fi
|
||||
param set-default SYS_USE_IO 1
|
||||
|
||||
safety_button start
|
||||
|
||||
@@ -8,7 +8,6 @@ if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X00500
|
||||
then
|
||||
set HAVE_PM2 no
|
||||
fi
|
||||
|
||||
if param compare -s ADC_ADS1115_EN 1
|
||||
then
|
||||
ads1115 start -X
|
||||
@@ -16,6 +15,7 @@ else
|
||||
board_adc start
|
||||
fi
|
||||
|
||||
|
||||
if param compare SENS_EN_INA226 1
|
||||
then
|
||||
# Start Digital power monitors
|
||||
@@ -56,10 +56,16 @@ icm42688p -R 9 -s -b 2 start
|
||||
# Internal SPI bus ICM42688p
|
||||
icm42688p -R 6 -s -b 3 start
|
||||
|
||||
# Internal magnetometer on I2C
|
||||
# Internal magnetometer on I2c
|
||||
bmm150 -I start
|
||||
|
||||
# Internal Baro on I2C
|
||||
# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
|
||||
ist8310 -X -b 1 -R 10 start
|
||||
|
||||
# Possible internal Baro
|
||||
bmp388 -I start
|
||||
|
||||
# Baro on I2C3
|
||||
ms5611 -X start
|
||||
|
||||
unset HAVE_PM2
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# CONFIG_DEV_CONSOLE is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_SPI_EXCHANGE is not set
|
||||
# CONFIG_STM32H7_SYSCFG is not set
|
||||
CONFIG_ARCH="arm"
|
||||
@@ -24,12 +23,10 @@ CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_INITTHREAD_PRIORITY=254
|
||||
CONFIG_BOARD_LATE_INITIALIZE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
@@ -43,25 +40,6 @@ CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=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_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
@@ -73,6 +51,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
@@ -113,5 +92,5 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INIT_ENTRYPOINT="bootloader_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="bootloader_main"
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
@@ -15,44 +14,14 @@
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_ARP is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE 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_EXPORT 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_IFCONFIG is not set
|
||||
# CONFIG_NSH_DISABLE_IFUPDOWN 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_NSLOOKUP is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TELNETD 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/ark/fmu-v6x/nuttx-config"
|
||||
@@ -71,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95751
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0039
|
||||
@@ -117,8 +86,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_IOB_NBUFFERS=24
|
||||
CONFIG_IOB_THROTTLE=0
|
||||
CONFIG_IPCFG_BINARY=y
|
||||
@@ -126,7 +93,6 @@ CONFIG_IPCFG_CHARDEV=y
|
||||
CONFIG_IPCFG_PATH="/fs/mtd_net"
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
@@ -149,7 +115,6 @@ CONFIG_NETINIT_DHCPC=y
|
||||
CONFIG_NETINIT_DNS=y
|
||||
CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_DRIPADDR=0XC0A800FE
|
||||
CONFIG_NETINIT_MONITOR=y
|
||||
CONFIG_NETINIT_THREAD=y
|
||||
CONFIG_NETINIT_THREAD_PRIORITY=49
|
||||
CONFIG_NETUTILS_TELNETD=y
|
||||
@@ -159,7 +124,6 @@ CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ETH_PKTSIZE=1518
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=16
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
@@ -196,16 +160,17 @@ CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC2_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
@@ -243,7 +208,6 @@ CONFIG_STM32H7_PHYSR_100MBPS=0x8
|
||||
CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
|
||||
CONFIG_STM32H7_PHYSR_MODE=0x10
|
||||
CONFIG_STM32H7_PHYSR_SPEED=0x8
|
||||
CONFIG_STM32H7_PHY_POLLING=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
|
||||
@@ -265,6 +229,7 @@ CONFIG_STM32H7_SPI5=y
|
||||
CONFIG_STM32H7_SPI6=y
|
||||
CONFIG_STM32H7_SPI6_DMA=y
|
||||
CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI_DMA=y
|
||||
CONFIG_STM32H7_TIM12=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
@@ -325,4 +290,6 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
|
||||
@@ -323,7 +323,9 @@
|
||||
#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
|
||||
|
||||
/* RC Serial port */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS5"
|
||||
#define RC_SERIAL_SINGLEWIRE
|
||||
|
||||
/* Input Capture Channels. */
|
||||
#define INPUT_CAP1_TIMER 1
|
||||
@@ -373,11 +375,11 @@
|
||||
/* SD card bringup does not work if performed on the IDLE thread because it
|
||||
* will cause waiting. Use either:
|
||||
*
|
||||
* CONFIG_BOARDCTL=y, OR
|
||||
* CONFIG_LIB_BOARDCTL=y, OR
|
||||
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
@@ -46,7 +46,6 @@
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
|
||||
extern int sercon_main(int c, char **argv);
|
||||
@@ -55,15 +54,6 @@ __EXPORT void board_on_reset(int status) {}
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure pins */
|
||||
const uint32_t list[] = PX4_GPIO_INIT_LIST;
|
||||
|
||||
for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
|
||||
if (list[gpio] != 0) {
|
||||
px4_arch_configgpio(list[gpio]);
|
||||
}
|
||||
}
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
}
|
||||
|
||||
@@ -65,7 +65,7 @@ uint16_t board_get_can_interfaces(void)
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_can.h"
|
||||
|
||||
@@ -105,7 +105,6 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
|
||||
VDD_5V_HIPOWER_EN(false);
|
||||
VDD_5V_PERIPH_EN(false);
|
||||
board_control_spi_sensors_power(false, 0xffff);
|
||||
VDD_3V3_SENSORS4_EN(false);
|
||||
@@ -124,7 +123,6 @@ __EXPORT void board_peripheral_reset(int ms)
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(last);
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
VDD_3V3_SENSORS4_EN(true);
|
||||
VDD_5V_HIPOWER_EN(true);
|
||||
VDD_5V_PERIPH_EN(true);
|
||||
|
||||
}
|
||||
@@ -211,6 +209,7 @@ stm32_boardinitialize(void)
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Power on Interfaces */
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
VDD_5V_PERIPH_EN(true);
|
||||
VDD_5V_HIPOWER_EN(true);
|
||||
VDD_3V3_SENSORS4_EN(true);
|
||||
|
||||
@@ -42,6 +42,11 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2
|
||||
.bus_type = px4_mft_device_t::I2C,
|
||||
.devid = PX4_MK_I2C_DEVID(3, 0x51)
|
||||
};
|
||||
static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256
|
||||
.bus_type = px4_mft_device_t::I2C,
|
||||
.devid = PX4_MK_I2C_DEVID(4, 0x50)
|
||||
};
|
||||
|
||||
|
||||
static const px4_mtd_entry_t fmum_fram = {
|
||||
.device = &spi5,
|
||||
@@ -66,8 +71,8 @@ static const px4_mtd_entry_t base_eeprom = {
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_MFT_VER,
|
||||
.path = "/fs/mtd_mft_ver",
|
||||
.type = MTD_MFT,
|
||||
.path = "/fs/mtd_mft",
|
||||
.nblocks = 248
|
||||
},
|
||||
{
|
||||
@@ -79,11 +84,29 @@ static const px4_mtd_entry_t base_eeprom = {
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_entry_t imu_eeprom = {
|
||||
.device = &i2c4,
|
||||
.npart = 2,
|
||||
.partd = {
|
||||
{
|
||||
.type = MTD_CALDATA,
|
||||
.path = "/fs/mtd_caldata",
|
||||
.nblocks = 248
|
||||
},
|
||||
{
|
||||
.type = MTD_ID,
|
||||
.path = "/fs/mtd_id",
|
||||
.nblocks = 8 // 256 = 32 * 8
|
||||
}
|
||||
},
|
||||
};
|
||||
|
||||
static const px4_mtd_manifest_t board_mtd_config = {
|
||||
.nconfigs = 2,
|
||||
.nconfigs = 3,
|
||||
.entries = {
|
||||
&fmum_fram,
|
||||
&base_eeprom,
|
||||
&imu_eeprom
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
@@ -51,7 +51,7 @@
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include "arm_internal.h"
|
||||
#include <arm_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_otg.h>
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
@@ -42,11 +41,9 @@ CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
@@ -62,25 +59,6 @@ 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
|
||||
@@ -149,13 +127,12 @@ CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -257,5 +234,5 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -145,6 +145,10 @@
|
||||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
|
||||
/* RC Serial port */
|
||||
#define RC_SERIAL_PORT "/dev/ttyS5"
|
||||
#define RC_SERIAL_SINGLEWIRE
|
||||
|
||||
/* power on/off */
|
||||
#define MS_PWR_BUTTON_DOWN 750
|
||||
#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
|
||||
|
||||
@@ -55,7 +55,7 @@
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
|
||||
#include <arm_internal.h>
|
||||
#include <arm_arch.h>
|
||||
#include "board_config.h"
|
||||
#include <stm32_pwr.h>
|
||||
|
||||
|
||||
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
|
||||
CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
|
||||
CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
|
||||
CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_COMMON_BAROMETERS=y
|
||||
@@ -23,12 +22,14 @@ CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
CONFIG_COMMON_OPTICAL_FLOW=y
|
||||
CONFIG_DRIVERS_OSD=y
|
||||
CONFIG_DRIVERS_PCA9685=y
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
|
||||
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
|
||||
CONFIG_DRIVERS_PWM_OUT=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_ROBOCLAW=y
|
||||
CONFIG_DRIVERS_RPM=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_COMMON_TELEMETRY=y
|
||||
CONFIG_DRIVERS_UAVCAN=y
|
||||
@@ -37,7 +38,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
CONFIG_MODULES_BATTERY_STATUS=y
|
||||
CONFIG_MODULES_CAMERA_FEEDBACK=y
|
||||
CONFIG_MODULES_COMMANDER=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_DATAMAN=y
|
||||
CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_ESC_BATTERY=y
|
||||
@@ -46,7 +46,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
@@ -62,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_POS_CONTROL=y
|
||||
CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_CONTROL_ALLOCATOR=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
@@ -74,10 +74,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
@@ -54,36 +53,15 @@ CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=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
|
||||
@@ -138,7 +116,6 @@ CONFIG_NET_ARP_SEND=y
|
||||
CONFIG_NET_BROADCAST=y
|
||||
CONFIG_NET_ICMP=y
|
||||
CONFIG_NET_ICMP_SOCKET=y
|
||||
CONFIG_NET_NACTIVESOCKETS=16
|
||||
CONFIG_NET_SOLINGER=y
|
||||
CONFIG_NET_TCP=y
|
||||
CONFIG_NET_TCPBACKLOG=y
|
||||
@@ -172,13 +149,12 @@ CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -290,5 +266,5 @@ CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_RXDMA=y
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -103,6 +103,7 @@
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */
|
||||
|
||||
/* RC Serial port */
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS4"
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
@@ -113,11 +114,11 @@
|
||||
/* SD card bringup does not work if performed on the IDLE thread because it
|
||||
* will cause waiting. Use either:
|
||||
*
|
||||
* CONFIG_BOARDCTL=y, OR
|
||||
* CONFIG_LIB_BOARDCTL=y, OR
|
||||
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
|
||||
@@ -35,8 +35,8 @@ add_compile_options(-Wno-cast-align)
|
||||
|
||||
include(ExternalProject)
|
||||
ExternalProject_Add(librobotcontrol
|
||||
GIT_REPOSITORY https://github.com/beagleboard/librobotcontrol.git
|
||||
GIT_TAG 290e14f
|
||||
GIT_REPOSITORY https://github.com/dagar/librobotcontrol.git
|
||||
GIT_TAG 1abcb0a # latest as of 2019-12-29
|
||||
CMAKE_CACHE_ARGS -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
|
||||
INSTALL_COMMAND ""
|
||||
TEST_COMMAND ""
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
CONFIG_PLATFORM_POSIX=y
|
||||
CONFIG_BOARD_LINUX_TARGET=y
|
||||
CONFIG_BOARD_LINUX=y
|
||||
CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
|
||||
CONFIG_BOARD_ARCHITECTURE="cortex-a8"
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
|
||||
CONFIG_DRIVERS_ADC_ADS1115=y
|
||||
CONFIG_DRIVERS_ADC_BOARD_ADC=y
|
||||
CONFIG_DRIVERS_BAROMETER_BMP280=y
|
||||
@@ -17,7 +16,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
|
||||
CONFIG_DRIVERS_LINUX_PWM_OUT=y
|
||||
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
|
||||
CONFIG_COMMON_RC=y
|
||||
CONFIG_DRIVERS_RC_INPUT=y
|
||||
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
|
||||
@@ -64,7 +63,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DYN=y
|
||||
CONFIG_SYSTEMCMDS_LED_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
@@ -84,4 +82,6 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
|
||||
CONFIG_EXAMPLES_HELLO=y
|
||||
CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
|
||||
CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
|
||||
CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
|
||||
CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
|
||||
CONFIG_EXAMPLES_WORK_ITEM=y
|
||||
|
||||
@@ -7,7 +7,6 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
@@ -37,11 +36,9 @@ CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
@@ -57,25 +54,6 @@ 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
|
||||
@@ -137,13 +115,12 @@ CONFIG_RAM_SIZE=196608
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
@@ -207,5 +184,5 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
||||
@@ -44,7 +44,7 @@
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include <arm_internal.h>
|
||||
#include <arm_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include "board_config.h"
|
||||
|
||||
@@ -51,7 +51,7 @@
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <arm_internal.h>
|
||||
#include <arm_arch.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user