forked from Archive/PX4-Autopilot
[Kconfig] CI fixes and SITL fix
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6
Kconfig
6
Kconfig
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@ -7,6 +7,12 @@ comment "Vendor: $(VENDOR)"
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comment "Model: $(MODEL)"
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comment "Label: $(LABEL)"
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if $(HAS_CUSTOM_BOARD_KCONFIG)
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menu "Custom board config"
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osource "$(CUSTOM_BOARD_KCONFIG)"
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endmenu
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endif
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menu "Toolchain"
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choice
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prompt "Platform"
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@ -7,6 +7,7 @@ CONFIG_DRIVERS_BOOTLOADERS=y
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CONFIG_DRIVERS_GPS=y
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CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
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CONFIG_DRIVERS_PWM_OUT=y
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CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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@ -0,0 +1,9 @@
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config BOARD_LOCKSTEP
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bool "Force enable lockstep"
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help
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forces lockstep behaviour, despite REPLAY env variable
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config BOARD_NOLOCKSTEP
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bool "Force disable lockstep"
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help
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forces nolockstep behaviour, despite REPLAY env variable
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@ -0,0 +1 @@
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CONFIG_BOARD_NOLOCKSTEP=y
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@ -0,0 +1,2 @@
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CONFIG_BOARD_COMPILE_DEFINITIONS="-DORB_USE_PUBLISHER_RULES"
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CONFIG_BOARD_LOCKSTEP=y
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@ -0,0 +1,18 @@
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set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
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set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
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set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
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set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
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# If the environment variable 'replay' is defined, we are building with replay
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# support. In this case, we enable the orb publisher rules.
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set(REPLAY_FILE "$ENV{replay}")
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if(REPLAY_FILE)
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message(STATUS "Building with uorb publisher rules support")
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add_definitions(-DORB_USE_PUBLISHER_RULES)
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message(STATUS "Building without lockstep for replay")
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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else()
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set(ENABLE_LOCKSTEP_SCHEDULER yes)
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endif()
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@ -1 +1,2 @@
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CONFIG_BOARD_NOLOCKSTEP=y
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CONFIG_MODULES_CONTROL_ALLOCATOR=y
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@ -23,6 +23,8 @@ set(COMMON_KCONFIG_ENV_SETTINGS
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TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
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ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
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ROMFSROOT=${config_romfs_root}
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HAS_CUSTOM_BOARD_KCONFIG=${HAS_CUSTOM_BOARD_KCONFIG}
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CUSTOM_BOARD_KCONFIG=${CUSTOM_BOARD_KCONFIG}
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)
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if(EXISTS ${BOARD_DEFCONFIG})
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@ -299,6 +301,14 @@ if(EXISTS ${BOARD_DEFCONFIG})
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add_definitions( "-D__PX4_LINUX" )
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endif()
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if(LOCKSTEP)
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set(ENABLE_LOCKSTEP_SCHEDULER yes)
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endif()
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if(NOLOCKSTEP)
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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endif()
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include(px4_impl_os)
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px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
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@ -111,3 +111,15 @@ set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE
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if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity")
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include ("${PX4_BOARD_DIR}/uavcan_board_identity")
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endif()
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if(EXISTS "${PX4_BOARD_DIR}/sitl.cmake")
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include ("${PX4_BOARD_DIR}/sitl.cmake")
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endif()
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set(CUSTOM_BOARD_KCONFIG "${PX4_BOARD_DIR}/Kconfig" CACHE STRING "PX4 board custom config" FORCE)
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if(EXISTS ${CUSTOM_BOARD_KCONFIG})
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set(HAS_CUSTOM_BOARD_KCONFIG "y" CACHE STRING "PX4 board custom config" FORCE)
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else()
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set(HAS_CUSTOM_BOARD_KCONFIG "n" CACHE STRING "PX4 board custom config" FORCE)
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endif()
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