forked from Archive/PX4-Autopilot
boards/modalai: separate voxl2 builds into two board builds instead of single board build with different variants
* Made voxl2 apps processor and slpi dsp processor builds into separate board builds so that they can more easily be configured independently. * Removed board specific link library command from px4_config.cmake and moved it to a more generic board specific solution that can be used by any board that needs custom link libraries. * Removed redundant cmake command for Qurt * Removed unused definition from Qurt cmake file * Removed unnecessary QURT_LIB cmake function * Reorganized the voxl2 build structure to avoid 4 level board directories. * Reverted cmake files to remove 4 level board naming code * Updated documentation
This commit is contained in:
Eric Katzfey
GitHub
parent
22420a7bf1
commit
796fa8bd72
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
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# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -30,25 +30,8 @@
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Overview:
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# Voxl2 PX4 is built in 2 parts, the part that runs on the
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# application (apps) processor, and the library that is loaded on the DSP.
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#
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############################################################################
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include(px4_git)
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list(APPEND CMAKE_MODULE_PATH
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"${PX4_SOURCE_DIR}/platforms/posix/cmake"
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)
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# set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
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add_definitions(-DORB_COMMUNICATOR)
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set(CONFIG_PARAM_SERVER "1")
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add_definitions( -D__PX4_LINUX )
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include(CMakeParseArguments)
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add_library(drivers_board
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board_config.h
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init.c
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)
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@ -0,0 +1,51 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 ModalAI, Inc. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* VOXL2 internal definitions
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*/
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#pragma once
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#define BOARD_HAS_NO_RESET
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#define BOARD_HAS_NO_BOOTLOADER
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#define ORB_COMMUNICATOR 1
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/*
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* I2C buses
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*/
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#define PX4_NUMBER_I2C_BUSES 3
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#include <system_config.h>
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#include <px4_platform_common/board_common.h>
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@ -0,0 +1,35 @@
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/****************************************************************************
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*
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* Copyright (C) 2022 ModalAI, Inc. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "board_config.h"
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// Place holder for VOXL2-specific early startup code
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@ -25,10 +25,10 @@ The full instructions are available here:
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- Clone the repo (Don't forget to update and initialize all submodules)
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- In the top level directory
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```
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px4$ boards/modalai/voxl2/run-docker.sh
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root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/clean.sh
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root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-posix.sh
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root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/build-qurt.sh
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px4$ boards/modalai/voxl2/scripts/run-docker.sh
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root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
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root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
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root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
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root@9373fa1401b8:/usr/local/workspace# exit
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```
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@ -37,7 +37,7 @@ root@9373fa1401b8:/usr/local/workspace# exit
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Once the DSP and Linux images have been built they can be installed on a VOXL 2
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board using ADB. There is a script to do this.
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```
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px4$ boards/modalai/voxl2/install-voxl.sh
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px4$ boards/modalai/voxl2/scripts/install-voxl.sh
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```
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## Running PX4 on VOXL 2
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@ -66,10 +66,17 @@ INFO [px4] Startup script returned successfully
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pxh>
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```
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## Notes
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You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
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to power cycle the board and restart everything.
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## Tips
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Start with a VOXL 2 that only has the system image installed, not the SDK
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Run the command ```voxl-px4 -s``` on target to run the self-test
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In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
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can be used:
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```
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@ -1,11 +0,0 @@
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#!/bin/bash
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echo "*** Starting qurt build ***"
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source /home/build-env.sh
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make modalai_voxl2_qurt
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cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
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echo "*** End of qurt build ***"
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@ -0,0 +1,7 @@
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# libfc_sensor.so is provided in the Docker build environment
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target_link_libraries(px4 PRIVATE
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/home/libfc_sensor.so
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px4_layer
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${module_libraries}
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)
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@ -1,43 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
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#
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############################################################################
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#
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# This cmake config builds for QURT which is the operating system running on
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# the DSP side of VOXL 2
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#
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# Required environment variables:
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# HEXAGON_TOOLS_ROOT
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# HEXAGON_SDK_ROOT
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#
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############################################################################
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
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else()
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set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
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endif()
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if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
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message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
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else()
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set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
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endif()
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include(px4_git)
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list(APPEND CMAKE_MODULE_PATH
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"${PX4_SOURCE_DIR}/platforms/qurt/cmake"
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)
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include(Toolchain-qurt)
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include(qurt_reqs)
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include_directories(${HEXAGON_SDK_INCLUDES})
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add_definitions(-DORB_COMMUNICATOR)
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set(CONFIG_PARAM_CLIENT "1")
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set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
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@ -1,12 +1,11 @@
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#!/bin/bash
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echo "*** Starting posix build ***"
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echo "*** Starting apps processor build ***"
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source /home/build-env.sh
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make modalai_voxl2_default
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make modalai_voxl2
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cat build/modalai_voxl2_default/src/lib/version/build_git_version.h
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echo "*** End of posix build ***"
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echo "*** End of apps processor build ***"
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@ -0,0 +1,11 @@
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#!/bin/bash
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echo "*** Starting qurt slpi build ***"
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source /home/build-env.sh
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make modalai_voxl2-slpi
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cat build/modalai_voxl2-slpi_default/src/lib/version/build_git_version.h
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echo "*** End of qurt slpi build ***"
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@ -1,19 +1,19 @@
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#!/bin/bash
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# Push qurt image to voxl2
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adb push build/modalai_voxl2_qurt/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
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# Push slpi image to voxl2
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adb push build/modalai_voxl2-slpi_default/platforms/qurt/libpx4.so /usr/lib/rfsa/adsp
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# Push posix image to voxl2
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# Push apps processor image to voxl2
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adb push build/modalai_voxl2_default/bin/px4 /usr/bin
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# Push scripts to voxl2
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adb push build/modalai_voxl2_default/bin/px4-alias.sh /usr/bin
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adb push boards/modalai/voxl2/voxl-px4 /usr/bin
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adb push boards/modalai/voxl2/target/voxl-px4 /usr/bin
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adb shell chmod a+x /usr/bin/px4-alias.sh
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adb shell chmod a+x /usr/bin/voxl-px4
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# Push configuration file
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adb shell mkdir -p /etc/modalai
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adb push boards/modalai/voxl2/voxl-px4.config /etc/modalai
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adb push boards/modalai/voxl2/target/voxl-px4.config /etc/modalai
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adb shell sync
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@ -42,10 +42,9 @@
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#define BOARD_HAS_NO_RESET
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#define BOARD_HAS_NO_BOOTLOADER
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#define ORB_COMMUNICATOR 1
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/*
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* I2C buses
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*/
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#define PX4_NUMBER_I2C_BUSES 3
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// Define this as empty since there are no I2C buses
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#define BOARD_I2C_BUS_CLOCK_INIT
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#include <system_config.h>
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#include <px4_platform_common/board_common.h>
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@ -34,7 +34,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
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# Depend on BOARD_DEFCONFIG so that we reconfigure on config change
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set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})
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if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "qurt" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
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if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "recovery" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCHES "canbootloader")
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# Generate boardconfig from saved defconfig
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execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
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${DEFCONFIG_PATH} ${BOARD_DEFCONFIG}
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@ -228,10 +228,6 @@ if(EXISTS ${BOARD_DEFCONFIG})
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# platform-specific include path
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include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
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if(PLATFORM STREQUAL "qurt")
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include(${PX4_SOURCE_DIR}/boards/modalai/voxl2/cmake/voxl2_qurt.cmake)
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endif()
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endif()
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if(ARCHITECTURE)
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@ -97,18 +97,14 @@ if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
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include(${PX4_BOARD_DIR}/cmake/upload.cmake)
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endif()
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# board defined link libraries
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if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
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include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)
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endif()
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if("${PX4_BOARD}" MATCHES "beaglebone_blue")
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target_link_libraries(px4 PRIVATE robotics_cape)
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elseif("${PX4_BOARD}" MATCHES "modalai_voxl2")
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# libfc_sensor.so is provided in the Docker build environment
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target_link_libraries(px4 PRIVATE
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/home/libfc_sensor.so
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px4_layer
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${module_libraries}
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)
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elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
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target_link_libraries(px4 PRIVATE atomic)
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|
|
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@ -33,11 +33,16 @@
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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QURT_LIB(LIB_NAME px4
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SOURCES
|
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${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
|
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LINK_LIBS
|
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modules__muorb__slpi
|
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${module_libraries}
|
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px4_layer
|
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include_directories(
|
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${CMAKE_CURRENT_BINARY_DIR}
|
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)
|
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|
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add_library(px4 SHARED
|
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${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
|
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)
|
||||
|
||||
target_link_libraries(px4
|
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modules__muorb__slpi
|
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${module_libraries}
|
||||
px4_layer
|
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)
|
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|
|
|
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|
|
@ -31,6 +31,29 @@
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#
|
||||
############################################################################
|
||||
|
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if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
|
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message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
|
||||
else()
|
||||
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
|
||||
endif()
|
||||
|
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if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
|
||||
message(FATAL_ERROR "Environment variable HEXAGON_TOOLS_ROOT must be set")
|
||||
else()
|
||||
set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
|
||||
endif()
|
||||
|
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include(px4_git)
|
||||
|
||||
include(Toolchain-qurt)
|
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include(qurt_reqs)
|
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|
||||
include_directories(${HEXAGON_SDK_INCLUDES})
|
||||
|
||||
add_definitions(-DORB_COMMUNICATOR)
|
||||
|
||||
set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# Defined functions in this file
|
||||
|
|
|
|||
|
|
@ -176,46 +176,3 @@ list2string(CMAKE_EXE_LINKER_FLAGS
|
|||
)
|
||||
|
||||
include (CMakeParseArguments)
|
||||
|
||||
# Process DSP files
|
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function (QURT_LIB)
|
||||
set(options)
|
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set(oneValueArgs LIB_NAME)
|
||||
set(multiValueArgs SOURCES LINK_LIBS INCS FLAGS)
|
||||
cmake_parse_arguments(QURT_LIB "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
|
||||
|
||||
include_directories(
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
if ("${QURT_LIB_SOURCES}" STREQUAL "")
|
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message(FATAL_ERROR "QURT_LIB called without SOURCES")
|
||||
else()
|
||||
# Build lib that is run on the DSP
|
||||
add_library(${QURT_LIB_LIB_NAME} SHARED
|
||||
${QURT_LIB_SOURCES}
|
||||
)
|
||||
|
||||
if (NOT "${QURT_LIB_FLAGS}" STREQUAL "")
|
||||
set_target_properties(${QURT_LIB_LIB_NAME} PROPERTIES COMPILE_FLAGS "${QURT_LIB_FLAGS}")
|
||||
endif()
|
||||
|
||||
if (NOT "${QURT_LIB_INCS}" STREQUAL "")
|
||||
target_include_directories(${QURT_LIB_LIB_NAME} PUBLIC ${QURT_LIB_INCS})
|
||||
endif()
|
||||
|
||||
target_link_libraries(${QURT_LIB_LIB_NAME}
|
||||
${QURT_LIB_LINK_LIBS}
|
||||
)
|
||||
endif()
|
||||
|
||||
set(DSPLIB_TARGET_PATH "/usr/lib/rfsa/adsp/")
|
||||
|
||||
# Add a rule to load the files onto the target that run in the DSP
|
||||
add_custom_target(lib${QURT_LIB_LIB_NAME}-load
|
||||
DEPENDS ${QURT_LIB_LIB_NAME}
|
||||
COMMAND adb wait-for-device
|
||||
COMMAND adb push lib${QURT_LIB_LIB_NAME}.so ${DSPLIB_TARGET_PATH}
|
||||
COMMAND echo "Pushed lib${QURT_LIB_LIB_NAME}.so and dependencies to ${DSPLIB_TARGET_PATH}"
|
||||
)
|
||||
endfunction()
|
||||
|
|
|
|||
Loading…
Reference in New Issue