px4-firmware/Kconfig

# PX4 Firmware Configuration


mainmenu "PX4 Firmware Configuration"

comment "Vendor: $(VENDOR)"
comment "Model: $(MODEL)"
comment "Label: $(LABEL)"

menu "Toolchain"
    choice
        prompt "Platform"
        default PLATFORM_NUTTX
        config PLATFORM_NUTTX
            bool "nuttx"
        config PLATFORM_POSIX
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
        config PLATFORM_ROS2
            bool "ros2"
    endchoice

    config BOARD_PLATFORM
        string
        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"
        depends on PLATFORM_POSIX
        help
            forces lockstep behaviour, despite REPLAY env variable

    config BOARD_NOLOCKSTEP
        bool "Force disable lockstep"
        depends on PLATFORM_POSIX
        help
            forces nolockstep behaviour, despite REPLAY env variable

    config BOARD_LINUX_TARGET
        bool "Linux OS Target"
        depends on PLATFORM_POSIX
        help
            Board Platform is running the Linux operating system

    config BOARD_TOOLCHAIN
        string "Toolchain"
        default ""

    config BOARD_ARCHITECTURE
        string "Architecture"
        default ""

    config BOARD_LTO
        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
        default n
        help
            Enables LTO flag in linker
            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later

    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
        help
            Enables Cmake Release for -O3 optimization

    config BOARD_ROMFSROOT
        string "ROMFSROOT"
        default "px4fmu_common"
        help
            relative path to the ROMFS root directory

    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
        depends on DRIVERS_PX4IO
        help
            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)

    config BOARD_CONSTRAINED_FLASH
        bool "Contrained flash"
        help
            flag to enable constrained flash options (eg limit init script status text)

    config BOARD_NO_HELP
        bool "No help"
        help
            optional condition flag to disable help text on constrained flash systems

    config BOARD_CONSTRAINED_MEMORY
        bool "Contrained memory"
        help
            flag to enable constrained memory options (eg limit maximum number of uORB publications)

    config BOARD_EXTERNAL_METADATA
        bool "External metadata"
        help
            flag to exclude metadata to reduce flash

    config BOARD_LINKER_PREFIX
        string "linker prefix"
        help
            optional to prefix on the Linker script.

    config BOARD_COMPILE_DEFINITIONS
        string "add custom compile definitions"
        help
            add custom compile defitions to this specific target
endmenu #Toolchain

config BOARD_TESTING
    bool "Testing"
    select SYSTEMCMDS_TESTS
    help
        flag to enable automatic inclusion of PX4 testing modules


config BOARD_ETHERNET
    bool "Ethernet"
    help
        flag to indicate that ethernet is enabled

config BOARD_CRYPTO
    bool "Crypto support"
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

config BOARD_PROTECTED
    bool "Memory protection"
    help
        Enable memory protection via MPU/MMU

menu "Serial ports"

    config BOARD_SERIAL_URT6
        string "URT6 tty port"

    config BOARD_SERIAL_GPS1
        string "GPS1 tty port"

    config BOARD_SERIAL_GPS2
        string "GPS2 tty port"

    config BOARD_SERIAL_GPS3
        string "GPS3 tty port"

    config BOARD_SERIAL_GPS4
        string "GPS4 tty port"

    config BOARD_SERIAL_GPS5
        string "GPS5 tty port"

    config BOARD_SERIAL_TEL1
        string "TEL1 tty port"

    config BOARD_SERIAL_TEL2
        string "TEL2 tty port"

    config BOARD_SERIAL_TEL3
        string "TEL3 tty port"

    config BOARD_SERIAL_TEL4
        string "TEL4 tty port"

    config BOARD_SERIAL_TEL5
        string "TEL5 tty port"

    config BOARD_SERIAL_RC
        string "RC tty port"

    config BOARD_SERIAL_WIFI
        string "WIFI tty port"

    config BOARD_SERIAL_PPB
        string "PPB (Pixhawk Payload Bus) tty port"
endmenu

menu "drivers"
source "src/drivers/Kconfig"
endmenu

menu "modules"
source "src/modules/Kconfig"
endmenu

menu "systemcmds"
source "src/systemcmds/Kconfig"
endmenu

menu "examples"
source "src/examples/Kconfig"
endmenu

menu "platforms"
source "platforms/common/Kconfig"
endmenu
PX4 full firmware Kconfig PoC 2021-03-10 17:10:49 -04:00			`# PX4 Firmware Configuration`


			`mainmenu "PX4 Firmware Configuration"`

Initial Kconfig implementation in CMake Used fmuk66-v3 as test case 2021-03-11 14:39:01 -04:00			`comment "Vendor: $(VENDOR)"`
			`comment "Model: $(MODEL)"`
			`comment "Label: $(LABEL)"`
Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`menu "Toolchain"`
			`choice`
			`prompt "Platform"`
			`default PLATFORM_NUTTX`
			`config PLATFORM_NUTTX`
			`bool "nuttx"`
			`config PLATFORM_POSIX`
			`bool "posix"`
			`config PLATFORM_QURT`
			`bool "qurt"`
initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689) - new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2 - currently doesn't do much other than allow you to build px4 msgs interface package 2022-12-09 00:03:44 -04:00			`config PLATFORM_ROS2`
			`bool "ros2"`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`endchoice`

			`config BOARD_PLATFORM`
			`string`
			`default "nuttx" if PLATFORM_NUTTX`
			`default "posix" if PLATFORM_POSIX`
			`default "qurt" if PLATFORM_QURT`
initial minimal PX4_ROS2 platform and px4_ros2_default build (#20689) - new ROS2 platform in PX4 intended for creating configs that build and run entirely in ROS2 - PX4_CONFIG defaults to px4_ros2_default if no config specified and in a colcon workspace with ROS_VERSION=2 - currently doesn't do much other than allow you to build px4 msgs interface package 2022-12-09 00:03:44 -04:00			`default "ros2" if PLATFORM_ROS2`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00
[Kconfig] Add all distance sensors 2021-08-18 11:49:25 -03:00			`config BOARD_LOCKSTEP`
			`bool "Force enable lockstep"`
			`depends on PLATFORM_POSIX`
			`help`
			`forces lockstep behaviour, despite REPLAY env variable`

			`config BOARD_NOLOCKSTEP`
			`bool "Force disable lockstep"`
			`depends on PLATFORM_POSIX`
			`help`
			`forces nolockstep behaviour, despite REPLAY env variable`

fix kconfig: rename LINUX to LINUX_TARGET LINUX is defined by cmake >= 3.25: https://cmake.org/cmake/help/latest/variable/LINUX.html 2022-12-13 08:23:41 -04:00			`config BOARD_LINUX_TARGET`
			`bool "Linux OS Target"`
[Kconfig] Toolchain & platform fixes, SITL still broken 2021-08-18 04:45:58 -03:00			`depends on PLATFORM_POSIX`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`help`
[Kconfig] Toolchain & platform fixes, SITL still broken 2021-08-18 04:45:58 -03:00			`Board Platform is running the Linux operating system`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00
			`config BOARD_TOOLCHAIN`
[Kconfig] Toolchain & platform fixes, SITL still broken 2021-08-18 04:45:58 -03:00			`string "Toolchain"`
[Kconfig] Fix Posix / SITL build 2021-08-17 14:33:42 -03:00			`default ""`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00
			`config BOARD_ARCHITECTURE`
[Kconfig] Toolchain & platform fixes, SITL still broken 2021-08-18 04:45:58 -03:00			`string "Architecture"`
[Kconfig] Fix Posix / SITL build 2021-08-17 14:33:42 -03:00			`default ""`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00
Added experimental LTO kconfig option 2022-02-24 13:41:42 -04:00			`config BOARD_LTO`
			`bool "(EXPERIMENTAL) Link Time Optimization (LTO)"`
			`default n`
			`help`
			`Enables LTO flag in linker`
			`Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later`

[Kconfig] Fixed inclusion of microbench bydefault when TESTING was enabled Added full optimization option 2021-08-19 04:47:53 -03:00			`config BOARD_FULL_OPTIMIZATION`
			`bool "Full optmization (O3)"`
			`default n`
			`help`
			`Enables Cmake Release for -O3 optimization`

Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`config BOARD_ROMFSROOT`
			`string "ROMFSROOT"`
			`default "px4fmu_common"`
			`help`
			`relative path to the ROMFS root directory`

			`config BOARD_IO`
			`string "IO board name"`
NuttX build in place - cmake NuttX build wrapper compile in place instead of copying source tree to build directory - slightly faster skipping necessary copying (depending on system) - allows debugging in place - easier to work directly in NuttX following official documentation - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time 2021-11-15 19:47:38 -04:00			`default "px4_io-v2_default"`
			`depends on DRIVERS_PX4IO`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`help`
			`name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)`

			`config BOARD_CONSTRAINED_FLASH`
			`bool "Contrained flash"`
			`help`
			`flag to enable constrained flash options (eg limit init script status text)`

Kconfig backport #18259 & remove contrained flash depedency on NO_HELP 2021-09-30 04:13:20 -03:00			`config BOARD_NO_HELP`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`bool "No help"`
			`help`
			`optional condition flag to disable help text on constrained flash systems`

			`config BOARD_CONSTRAINED_MEMORY`
			`bool "Contrained memory"`
			`help`
			`flag to enable constrained memory options (eg limit maximum number of uORB publications)`

			`config BOARD_EXTERNAL_METADATA`
			`bool "External metadata"`
			`help`
			`flag to exclude metadata to reduce flash`

			`config BOARD_LINKER_PREFIX`
			`string "linker prefix"`
			`help`
			`optional to prefix on the Linker script.`

			`config BOARD_COMPILE_DEFINITIONS`
			`string "add custom compile definitions"`
			`help`
			`add custom compile defitions to this specific target`
			`endmenu #Toolchain`
Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00
			`config BOARD_TESTING`
			`bool "Testing"`
Added common options for sensor drivers uavcan_board_identity check for existance Added kconfig for compiler definitions 2021-08-11 16:07:46 -03:00			`select SYSTEMCMDS_TESTS`
Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00			`help`
			`flag to enable automatic inclusion of PX4 testing modules`


			`config BOARD_ETHERNET`
			`bool "Ethernet"`
			`help`
			`flag to indicate that ethernet is enabled`

			`config BOARD_CRYPTO`
Move sw_crypto and stub_keystore under src/drivers This is more logical place for the "backend" implementation than directly under platform. This also allows making other implementations as "real" drivers, as well as proper configuration via Kconfigs Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae> 2021-10-08 04:53:24 -03:00			`bool "Crypto support"`
Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00			`help`
Move sw_crypto and stub_keystore under src/drivers This is more logical place for the "backend" implementation than directly under platform. This also allows making other implementations as "real" drivers, as well as proper configuration via Kconfigs Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae> 2021-10-08 04:53:24 -03:00			`Enable PX4 Crypto Support. Select the implementation under drivers`
Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00
Add support for compiling modules into kernel side Define __KERNEL__ macro during compilation and place the module in separate library Remove default library linking to m or libc on NuttX. Add these in platform layer instead, since they are different on kernel and user side Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae> 2020-12-30 09:57:55 -04:00			`config BOARD_PROTECTED`
			`bool "Memory protection"`
			`help`
			`Enable memory protection via MPU/MMU`

Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00			`menu "Serial ports"`

Kconfig: add missing serial ports 2021-10-26 04:21:36 -03:00			`config BOARD_SERIAL_URT6`
			`string "URT6 tty port"`

Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00			`config BOARD_SERIAL_GPS1`
			`string "GPS1 tty port"`

			`config BOARD_SERIAL_GPS2`
			`string "GPS2 tty port"`

			`config BOARD_SERIAL_GPS3`
			`string "GPS3 tty port"`

			`config BOARD_SERIAL_GPS4`
			`string "GPS4 tty port"`

			`config BOARD_SERIAL_GPS5`
			`string "GPS5 tty port"`

			`config BOARD_SERIAL_TEL1`
			`string "TEL1 tty port"`

			`config BOARD_SERIAL_TEL2`
			`string "TEL2 tty port"`

			`config BOARD_SERIAL_TEL3`
			`string "TEL3 tty port"`

			`config BOARD_SERIAL_TEL4`
			`string "TEL4 tty port"`

			`config BOARD_SERIAL_TEL5`
			`string "TEL5 tty port"`
Kconfig add WIFI serial port option 2021-10-06 12:24:32 -03:00
Kconfig: add missing serial ports 2021-10-26 04:21:36 -03:00			`config BOARD_SERIAL_RC`
			`string "RC tty port"`

Kconfig add WIFI serial port option 2021-10-06 12:24:32 -03:00			`config BOARD_SERIAL_WIFI`
			`string "WIFI tty port"`
Kconfig: add missing serial ports 2021-10-26 04:21:36 -03:00
			`config BOARD_SERIAL_PPB`
			`string "PPB (Pixhawk Payload Bus) tty port"`
Initial attempt to make px4_add_board obsolute 2021-08-04 09:58:31 -03:00			`endmenu`
Initial Kconfig implementation in CMake Used fmuk66-v3 as test case 2021-03-11 14:39:01 -04:00
PX4 full firmware Kconfig PoC 2021-03-10 17:10:49 -04:00			`menu "drivers"`
Board config now saved as defconfig which is smaller and friendlier for version control 2021-03-12 10:50:25 -04:00			`source "src/drivers/Kconfig"`
PX4 full firmware Kconfig PoC 2021-03-10 17:10:49 -04:00			`endmenu`

			`menu "modules"`
Board config now saved as defconfig which is smaller and friendlier for version control 2021-03-12 10:50:25 -04:00			`source "src/modules/Kconfig"`
PX4 full firmware Kconfig PoC 2021-03-10 17:10:49 -04:00			`endmenu`

			`menu "systemcmds"`
Board config now saved as defconfig which is smaller and friendlier for version control 2021-03-12 10:50:25 -04:00			`source "src/systemcmds/Kconfig"`
PX4 full firmware Kconfig PoC 2021-03-10 17:10:49 -04:00			`endmenu`
Initial boardconfig working with FMUK66 2021-03-11 18:03:45 -04:00
			`menu "examples"`
Board config now saved as defconfig which is smaller and friendlier for version control 2021-03-12 10:50:25 -04:00			`source "src/examples/Kconfig"`
Initial boardconfig working with FMUK66 2021-03-11 18:03:45 -04:00			`endmenu`
uORB Remote Manager Update (#20623) 2022-11-17 17:51:01 -04:00
			`menu "platforms"`
			`source "platforms/common/Kconfig"`
			`endmenu`