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[Kconfig] CI fixes and SITL fix

This commit is contained in:
Peter van der Perk 2021-08-18 15:12:37 +02:00 committed by Daniel Agar
parent 6d0829c251
commit 5542402ca0
9 changed files with 60 additions and 0 deletions
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6
Kconfig
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@ -7,6 +7,12 @@ comment "Vendor: $(VENDOR)"
comment "Model: $(MODEL)" comment "Model: $(MODEL)"
comment "Label: $(LABEL)" comment "Label: $(LABEL)"
if $(HAS_CUSTOM_BOARD_KCONFIG)
menu "Custom board config"
osource "$(CUSTOM_BOARD_KCONFIG)"
endmenu
endif
menu "Toolchain" menu "Toolchain"
choice choice
prompt "Platform" prompt "Platform"

1
boards/nxp/ucans32k146/default.px4board
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@ -7,6 +7,7 @@ CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
CONFIG_SYSTEMCMDS_I2CDETECT=y CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y CONFIG_SYSTEMCMDS_MFT=y

9
boards/px4/sitl/Kconfig Normal file
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@ -0,0 +1,9 @@
config BOARD_LOCKSTEP
bool "Force enable lockstep"
help
forces lockstep behaviour, despite REPLAY env variable
config BOARD_NOLOCKSTEP
bool "Force disable lockstep"
help
forces nolockstep behaviour, despite REPLAY env variable

1
boards/px4/sitl/nolockstep.px4board
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@ -0,0 +1 @@
CONFIG_BOARD_NOLOCKSTEP=y

2
boards/px4/sitl/replay.px4board
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@ -0,0 +1,2 @@
CONFIG_BOARD_COMPILE_DEFINITIONS="-DORB_USE_PUBLISHER_RULES"
CONFIG_BOARD_LOCKSTEP=y

18
boards/px4/sitl/sitl.cmake Normal file
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@ -0,0 +1,18 @@
set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
# If the environment variable 'replay' is defined, we are building with replay
# support. In this case, we enable the orb publisher rules.
set(REPLAY_FILE "$ENV{replay}")
if(REPLAY_FILE)
message(STATUS "Building with uorb publisher rules support")
add_definitions(-DORB_USE_PUBLISHER_RULES)
message(STATUS "Building without lockstep for replay")
set(ENABLE_LOCKSTEP_SCHEDULER no)
else()
set(ENABLE_LOCKSTEP_SCHEDULER yes)
endif()

1
boards/px4/sitl/test.px4board
View File

@ -1 +1,2 @@
CONFIG_BOARD_NOLOCKSTEP=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_CONTROL_ALLOCATOR=y

10
cmake/kconfig.cmake
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@ -23,6 +23,8 @@ set(COMMON_KCONFIG_ENV_SETTINGS
TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE} TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR} ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
ROMFSROOT=${config_romfs_root} ROMFSROOT=${config_romfs_root}
HAS_CUSTOM_BOARD_KCONFIG=${HAS_CUSTOM_BOARD_KCONFIG}
CUSTOM_BOARD_KCONFIG=${CUSTOM_BOARD_KCONFIG}
) )
if(EXISTS ${BOARD_DEFCONFIG}) if(EXISTS ${BOARD_DEFCONFIG})
@ -299,6 +301,14 @@ if(EXISTS ${BOARD_DEFCONFIG})
add_definitions( "-D__PX4_LINUX" ) add_definitions( "-D__PX4_LINUX" )
endif() endif()
if(LOCKSTEP)
set(ENABLE_LOCKSTEP_SCHEDULER yes)
endif()
if(NOLOCKSTEP)
set(ENABLE_LOCKSTEP_SCHEDULER no)
endif()
include(px4_impl_os) include(px4_impl_os)
px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD}) px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})

12
cmake/px4_config.cmake
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@ -111,3 +111,15 @@ set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE
if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity") if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity")
include ("${PX4_BOARD_DIR}/uavcan_board_identity") include ("${PX4_BOARD_DIR}/uavcan_board_identity")
endif() endif()
if(EXISTS "${PX4_BOARD_DIR}/sitl.cmake")
include ("${PX4_BOARD_DIR}/sitl.cmake")
endif()
set(CUSTOM_BOARD_KCONFIG "${PX4_BOARD_DIR}/Kconfig" CACHE STRING "PX4 board custom config" FORCE)
if(EXISTS ${CUSTOM_BOARD_KCONFIG})
set(HAS_CUSTOM_BOARD_KCONFIG "y" CACHE STRING "PX4 board custom config" FORCE)
else()
set(HAS_CUSTOM_BOARD_KCONFIG "n" CACHE STRING "PX4 board custom config" FORCE)
endif()