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px4-firmware
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add px4fmu-v{3,4,5} stackcheck configs

This commit is contained in:
Daniel Agar 2018-09-02 12:59:00 -04:00
parent 7e12815f81
commit 7cc0e69fcd
14 changed files with 5270 additions and 13 deletions
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10
.ci/Jenkinsfile-hardware
View File

@ -31,7 +31,7 @@ pipeline {
}
}
stage('px4fmu-v4') {
stage('px4fmu-v4 (stackcheck)') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2018-08-05'
@ -43,10 +43,10 @@ pipeline {
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
sh 'make nuttx_px4fmu-v4_default'
sh 'make nuttx_px4fmu-v4_stackcheck'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf', name: 'px4fmu-v4_default'
stash includes: 'build/nuttx_px4fmu-v4_stackcheck/nuttx_px4fmu-v4_stackcheck.elf', name: 'px4fmu-v4_stackcheck'
stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v4'
}
post {
@ -107,7 +107,7 @@ pipeline {
sh 'export'
sh 'find /dev/serial'
unstash 'scripts-px4fmu-v4'
unstash 'px4fmu-v4_default'
unstash 'px4fmu-v4_stackcheck'
sh ''' gdb -nx --batch \
-ex "target extended-remote `find /dev/serial -name *Black_Magic_Probe_*-if00`" \
-ex "monitor version" \
@ -116,7 +116,7 @@ pipeline {
-ex "attach 1" \
-ex "load" \
-ex "kill" \
build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf
build/nuttx_px4fmu-v4_stackcheck/nuttx_px4fmu-v4_stackcheck.elf
'''
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'

128
cmake/configs/nuttx_px4fmu-v3_stackcheck.cmake Normal file
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@ -0,0 +1,128 @@
# FMUv3 is FMUv2 with access to the full 2MB flash
set(BOARD px4fmu-v2 CACHE string "" FORCE)
set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
px4_nuttx_configure(HWCLASS m4 CONFIG stackcheck ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
set(config_uavcan_num_ifaces 2)
set(config_module_list
#
# Board support modules
#
drivers/barometer
drivers/differential_pressure
drivers/distance_sensor
drivers/magnetometer
drivers/telemetry
drivers/batt_smbus
drivers/blinkm
drivers/camera_trigger
drivers/gps
drivers/imu/adis16448
drivers/imu/bmi160
drivers/imu/l3gd20
drivers/imu/lsm303d
drivers/imu/mpu6000
drivers/imu/mpu9250
drivers/irlock
drivers/mkblctrl
drivers/oreoled
drivers/protocol_splitter
drivers/pwm_input
drivers/pwm_out_sim
drivers/px4flow
drivers/px4fmu
drivers/px4io
drivers/rgbled
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/vmount
modules/sensors
#
# System commands
#
systemcmds/bl_update
systemcmds/config
systemcmds/dumpfile
systemcmds/esc_calib
systemcmds/hardfault_log
systemcmds/led_control
systemcmds/mixer
systemcmds/motor_ramp
systemcmds/motor_test
systemcmds/mtd
systemcmds/nshterm
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/reboot
systemcmds/sd_bench
systemcmds/top
systemcmds/topic_listener
systemcmds/tune_control
systemcmds/ver
#
# Testing
#
drivers/distance_sensor/sf0x/sf0x_tests
drivers/test_ppm
lib/controllib/controllib_test
#lib/rc/rc_tests
modules/commander/commander_tests
modules/mavlink/mavlink_tests
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/camera_feedback
modules/commander
modules/events
modules/gpio_led
modules/land_detector
modules/load_mon
modules/mavlink
modules/navigator
#modules/uavcan
#
# Estimation modules
#
#modules/attitude_estimator_q
modules/ekf2
#modules/landing_target_estimator
#modules/local_position_estimator
#modules/position_estimator_inav
modules/wind_estimator
#
# Vehicle Control
#
modules/fw_att_control
modules/fw_pos_control_l1
modules/gnd_att_control
modules/gnd_pos_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/logger
#
# Library modules
#
modules/dataman
)

116
cmake/configs/nuttx_px4fmu-v4_stackcheck.cmake Normal file
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@ -0,0 +1,116 @@
px4_nuttx_configure(HWCLASS m4 CONFIG stackcheck ROMFS y ROMFSROOT px4fmu_common)
set(config_uavcan_num_ifaces 1)
set(config_module_list
#
# Board support modules
#
drivers/barometer
drivers/differential_pressure
drivers/distance_sensor
drivers/magnetometer
drivers/telemetry
drivers/imu
drivers/batt_smbus
drivers/blinkm
drivers/camera_trigger
drivers/gps
drivers/irlock
drivers/mkblctrl
drivers/oreoled
drivers/pca9685
drivers/pwm_input
drivers/pwm_out_sim
drivers/px4flow
drivers/px4fmu
drivers/rgbled
drivers/rc_input
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/vmount
modules/sensors
#
# System commands
#
systemcmds/bl_update
systemcmds/config
systemcmds/dumpfile
systemcmds/esc_calib
systemcmds/hardfault_log
systemcmds/led_control
systemcmds/mixer
systemcmds/motor_ramp
systemcmds/mtd
systemcmds/nshterm
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/reboot
systemcmds/sd_bench
systemcmds/top
systemcmds/topic_listener
systemcmds/tune_control
systemcmds/ver
#
# Testing
#
drivers/distance_sensor/sf0x/sf0x_tests
drivers/test_ppm
#lib/rc/rc_tests
modules/commander/commander_tests
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/camera_feedback
modules/commander
modules/events
modules/gpio_led
modules/land_detector
modules/load_mon
modules/mavlink
modules/navigator
#modules/uavcan
#
# Estimation modules
#
modules/attitude_estimator_q
modules/ekf2
modules/landing_target_estimator
modules/local_position_estimator
modules/position_estimator_inav
modules/wind_estimator
#
# Vehicle Control
#
modules/fw_att_control
modules/fw_pos_control_l1
modules/gnd_att_control
modules/gnd_pos_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/logger
#
# Library modules
#
modules/dataman
)

121
cmake/configs/nuttx_px4fmu-v5_stackcheck.cmake Normal file
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@ -0,0 +1,121 @@
px4_nuttx_configure(HWCLASS m7 CONFIG stackcheck ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
set(config_uavcan_num_ifaces 2)
set(config_module_list
#
# Board support modules
#
drivers/barometer
drivers/differential_pressure
drivers/distance_sensor
drivers/magnetometer
drivers/telemetry
drivers/batt_smbus
drivers/blinkm
drivers/camera_trigger
drivers/gps
drivers/imu/bma180
drivers/imu/bmi055
drivers/imu/bmi160
drivers/imu/mpu6000
drivers/imu/mpu9250
drivers/irlock
drivers/mkblctrl
drivers/oreoled
drivers/pwm_input
drivers/pwm_out_sim
drivers/px4flow
drivers/px4fmu
drivers/px4io
drivers/rc_input
drivers/rgbled
#drivers/rgbled_pwm # Enable to put the three leds into PWM RGB mode
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/vmount
modules/sensors
#
# System commands
#
systemcmds/bl_update
systemcmds/config
systemcmds/dumpfile
systemcmds/esc_calib
systemcmds/hardfault_log
systemcmds/led_control
systemcmds/mixer
systemcmds/motor_ramp
systemcmds/mtd
systemcmds/nshterm
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/reboot
systemcmds/sd_bench
systemcmds/top
systemcmds/topic_listener
systemcmds/tune_control
systemcmds/ver
#
# Testing
#
drivers/distance_sensor/sf0x/sf0x_tests
drivers/test_ppm
#lib/rc/rc_tests
modules/commander/commander_tests
lib/controllib/controllib_test
modules/mavlink/mavlink_tests
modules/uORB/uORB_tests
systemcmds/tests
#
# General system control
#
modules/commander
modules/events
modules/gpio_led
modules/land_detector
modules/load_mon
modules/mavlink
modules/navigator
#modules/uavcan
modules/camera_feedback
#
# Estimation modules
#
modules/attitude_estimator_q
modules/ekf2
modules/landing_target_estimator
modules/local_position_estimator
modules/position_estimator_inav
modules/wind_estimator
#
# Vehicle Control
#
modules/fw_att_control
modules/fw_pos_control_l1
modules/gnd_att_control
modules/gnd_pos_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/logger
#
# Library modules
#
modules/dataman
)

9
platforms/nuttx/cmake/px4_impl_os.cmake
View File

@ -195,7 +195,7 @@ function(px4_os_add_flags)
)
if("${CONFIG_ARMV7M_STACKCHECK}" STREQUAL "y")
message(WARNING !!!!!!!!! CONFIG_ARMV7M_STACKCHECK=${CONFIG_ARMV7M_STACKCHECK} !!!!!!)
message(STATUS "NuttX Stack Checking (CONFIG_ARMV7M_STACKCHECK) enabled")
set(instrument_flags
-finstrument-functions
-ffixed-r10
@ -245,7 +245,7 @@ function(px4_os_prebuild_targets)
add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
# parse nuttx config options for cmake
file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
foreach(NameAndValue ${ConfigContents})
# Strip leading spaces
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
@ -309,6 +309,11 @@ function(px4_nuttx_configure)
set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
if (CONFIG)
set(nuttx_config_type ${CONFIG})
set(nuttx_config_type ${nuttx_config_type} PARENT_SCOPE)
endif()
# ROMFS
if("${ROMFS}" STREQUAL "y")
if (NOT DEFINED ROMFSROOT)

1688
platforms/nuttx/nuttx-configs/px4fmu-v2/stackcheck/defconfig Normal file
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File diff suppressed because it is too large Load Diff

1694
platforms/nuttx/nuttx-configs/px4fmu-v4/stackcheck/defconfig Normal file
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File diff suppressed because it is too large Load Diff

1505
platforms/nuttx/nuttx-configs/px4fmu-v5/stackcheck/defconfig Normal file
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File diff suppressed because it is too large Load Diff

2
src/drivers/barometer/ms5611/CMakeLists.txt
View File

@ -39,7 +39,7 @@ set(srcs
px4_add_module(
MODULE drivers__ms5611
MAIN ms5611
STACK_MAIN 1200
STACK_MAIN 1500
COMPILE_FLAGS
SRCS ${srcs}
DEPENDS

2
src/drivers/imu/l3gd20/CMakeLists.txt
View File

@ -33,7 +33,7 @@
px4_add_module(
MODULE drivers__l3gd20
MAIN l3gd20
STACK_MAIN 1200
STACK_MAIN 1500
COMPILE_FLAGS
SRCS
l3gd20.cpp

2
src/drivers/imu/lsm303d/CMakeLists.txt
View File

@ -33,7 +33,7 @@
px4_add_module(
MODULE drivers__lsm303d
MAIN lsm303d
STACK_MAIN 1200
STACK_MAIN 1500
COMPILE_FLAGS
SRCS
lsm303d.cpp

2
src/drivers/imu/mpu9250/CMakeLists.txt
View File

@ -33,7 +33,7 @@
px4_add_module(
MODULE drivers__mpu9250
MAIN mpu9250
STACK_MAIN 1200
STACK_MAIN 1500
COMPILE_FLAGS
SRCS
mpu9250.cpp

2
src/drivers/magnetometer/hmc5883/CMakeLists.txt
View File

@ -33,7 +33,7 @@
px4_add_module(
MODULE drivers__hmc5883
MAIN hmc5883
STACK_MAIN 1200
STACK_MAIN 1500
COMPILE_FLAGS
SRCS
hmc5883_i2c.cpp

2
src/systemcmds/hardfault_log/CMakeLists.txt
View File

@ -33,7 +33,7 @@
px4_add_module(
MODULE systemcmds__hardfault_log
MAIN hardfault_log
STACK_MAIN 2048
STACK_MAIN 2100
COMPILE_FLAGS
SRCS
hardfault_log.c