mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' into master
This commit is contained in:
lcago
GitHub
commit
0351464cc5
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@ -330,16 +330,14 @@ void panic(const char *errormsg, ...)
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INTERNAL_ERROR(AP_InternalError::error_t::panic);
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va_list ap;
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va_start(ap, errormsg);
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vprintf(errormsg, ap);
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va_end(ap);
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hal.scheduler->delay_microseconds(10000);
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uint16_t delay_ms = 10000;
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while (1) {
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va_start(ap, errormsg);
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vprintf(errormsg, ap);
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va_end(ap);
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hal.scheduler->delay(500);
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printf("\n");
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hal.scheduler->delay(delay_ms);
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delay_ms = 500;
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}
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#else
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// we don't support variable args in bootlaoder
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@ -207,7 +207,7 @@ void mount_sdcard_spi()
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ESP_LOGI(TAG, "Initializing SD card as SDSPI");
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esp_vfs_fat_sdmmc_mount_config_t mount_config = {
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.format_if_mount_failed = false,
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.max_files = 10,
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.max_files = 5,
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.allocation_unit_size = 16 * 1024
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};
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@ -123,3 +123,76 @@ idf_build_executable(${elf_file})
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set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
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# Additional targets for measuring RAM use: size, size-components, size-files
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# - Adapted from ${IDF_PATH}/tools/cmake/project.cmake
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#
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# Reference:
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# - https://docs.espressif.com/projects/esp-idf/en/v5.0/esp32s3/api-guides/performance/size.html#minimizing-binary-size
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#
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# Usage:
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# cd ./build/esp32s3xxx/esp-idf_build
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# ninja -v -v size
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#
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set(mapfile "${CMAKE_BINARY_DIR}/${CMAKE_PROJECT_NAME}.map")
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# Add cross-reference table to the map file
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target_link_options(${elf_file} PRIVATE "-Wl,--cref")
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# Add this symbol as a hint for esp_idf_size to guess the target name
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target_link_options(${elf_file} PRIVATE "-Wl,--defsym=IDF_TARGET_${idf_target}=0")
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# Enable map file output
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target_link_options(${elf_file} PRIVATE "-Wl,--Map=${mapfile}")
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# Check if linker supports --no-warn-rwx-segments
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execute_process(COMMAND ${CMAKE_LINKER} "--no-warn-rwx-segments" "--version"
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RESULT_VARIABLE result
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OUTPUT_QUIET
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ERROR_QUIET)
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if(${result} EQUAL 0)
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# Do not print RWX segment warnings
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target_link_options(${elf_file} PRIVATE "-Wl,--no-warn-rwx-segments")
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endif()
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if(CONFIG_ESP_ORPHAN_SECTION_WARNING)
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# Print warnings if orphan sections are found
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target_link_options(${elf_file} PRIVATE "-Wl,--orphan-handling=warn")
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endif()
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idf_build_get_property(idf_path IDF_PATH)
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idf_build_get_property(python PYTHON)
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set(idf_size ${python} -m esp_idf_size)
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# Add size targets, depend on map file, run esp_idf_size
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# OUTPUT_JSON is passed for compatibility reasons, SIZE_OUTPUT_FORMAT
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# environment variable is recommended and has higher priority
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add_custom_target(size
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COMMAND ${CMAKE_COMMAND}
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-D "IDF_SIZE_TOOL=${idf_size}"
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-D "MAP_FILE=${mapfile}"
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-D "OUTPUT_JSON=${OUTPUT_JSON}"
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-P "${idf_path}/tools/cmake/run_size_tool.cmake"
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DEPENDS ${mapfile}
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USES_TERMINAL
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VERBATIM
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)
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add_custom_target(size-files
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COMMAND ${CMAKE_COMMAND}
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-D "IDF_SIZE_TOOL=${idf_size}"
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-D "IDF_SIZE_MODE=--files"
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-D "MAP_FILE=${mapfile}"
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-D "OUTPUT_JSON=${OUTPUT_JSON}"
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-P "${idf_path}/tools/cmake/run_size_tool.cmake"
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DEPENDS ${mapfile}
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USES_TERMINAL
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VERBATIM
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)
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add_custom_target(size-components
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COMMAND ${CMAKE_COMMAND}
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-D "IDF_SIZE_TOOL=${idf_size}"
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-D "IDF_SIZE_MODE=--archives"
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-D "MAP_FILE=${mapfile}"
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-D "OUTPUT_JSON=${OUTPUT_JSON}"
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-P "${idf_path}/tools/cmake/run_size_tool.cmake"
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DEPENDS ${mapfile}
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USES_TERMINAL
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VERBATIM
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)
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@ -122,3 +122,77 @@ target_link_libraries(${elf_file}
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idf_build_executable(${elf_file})
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set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
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# Additional targets for measuring RAM use: size, size-components, size-files
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# - Adapted from ${IDF_PATH}/tools/cmake/project.cmake
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#
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# Reference:
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# - https://docs.espressif.com/projects/esp-idf/en/v5.0/esp32s3/api-guides/performance/size.html#minimizing-binary-size
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#
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# Usage:
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# cd ./build/esp32s3xxx/esp-idf_build
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# ninja -v -v size
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#
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set(mapfile "${CMAKE_BINARY_DIR}/${CMAKE_PROJECT_NAME}.map")
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# Add cross-reference table to the map file
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target_link_options(${elf_file} PRIVATE "-Wl,--cref")
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# Add this symbol as a hint for esp_idf_size to guess the target name
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target_link_options(${elf_file} PRIVATE "-Wl,--defsym=IDF_TARGET_${idf_target}=0")
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# Enable map file output
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target_link_options(${elf_file} PRIVATE "-Wl,--Map=${mapfile}")
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# Check if linker supports --no-warn-rwx-segments
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execute_process(COMMAND ${CMAKE_LINKER} "--no-warn-rwx-segments" "--version"
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RESULT_VARIABLE result
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OUTPUT_QUIET
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ERROR_QUIET)
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if(${result} EQUAL 0)
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# Do not print RWX segment warnings
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target_link_options(${elf_file} PRIVATE "-Wl,--no-warn-rwx-segments")
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endif()
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if(CONFIG_ESP_ORPHAN_SECTION_WARNING)
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# Print warnings if orphan sections are found
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target_link_options(${elf_file} PRIVATE "-Wl,--orphan-handling=warn")
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endif()
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idf_build_get_property(idf_path IDF_PATH)
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idf_build_get_property(python PYTHON)
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set(idf_size ${python} -m esp_idf_size)
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# Add size targets, depend on map file, run esp_idf_size
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# OUTPUT_JSON is passed for compatibility reasons, SIZE_OUTPUT_FORMAT
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# environment variable is recommended and has higher priority
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add_custom_target(size
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COMMAND ${CMAKE_COMMAND}
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-D "IDF_SIZE_TOOL=${idf_size}"
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-D "MAP_FILE=${mapfile}"
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-D "OUTPUT_JSON=${OUTPUT_JSON}"
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-P "${idf_path}/tools/cmake/run_size_tool.cmake"
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DEPENDS ${mapfile}
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USES_TERMINAL
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VERBATIM
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)
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add_custom_target(size-files
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COMMAND ${CMAKE_COMMAND}
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-D "IDF_SIZE_TOOL=${idf_size}"
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-D "IDF_SIZE_MODE=--files"
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-D "MAP_FILE=${mapfile}"
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-D "OUTPUT_JSON=${OUTPUT_JSON}"
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-P "${idf_path}/tools/cmake/run_size_tool.cmake"
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DEPENDS ${mapfile}
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USES_TERMINAL
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VERBATIM
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)
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add_custom_target(size-components
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COMMAND ${CMAKE_COMMAND}
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-D "IDF_SIZE_TOOL=${idf_size}"
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-D "IDF_SIZE_MODE=--archives"
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-D "MAP_FILE=${mapfile}"
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-D "OUTPUT_JSON=${OUTPUT_JSON}"
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-P "${idf_path}/tools/cmake/run_size_tool.cmake"
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DEPENDS ${mapfile}
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USES_TERMINAL
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VERBATIM
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)
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