Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
Co-authored-by: alexklimaj <alex@arkelectron.com>
- 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
- increase stack sizes to run cleanly under stackcheck
- this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
- remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)
- this doesn't currently change anything, but gets us ready to start
experimenting with using the small amount of instruction tightly memory
on STM32F7
- the .ramfuncs section works with NuttX CONFIG_ARCH_RAMFUNCS
- update to NuttX with stm32f4 and stm32f7 SPI DMA internal buffers
- remove explicit DMA buffer allocations from new IMU drivers
- restore original BOARD_DMA_ALLOC_POOL_SIZE
- decrease SPI DMA thresholds based on fmu-v2/v3/v4/v5 bench testing
On more complicated setups it's still possible to exceed 32 tasks. For example fmu-v5 with mavlink on every telem (+ USB), external spi usage (pmw3901), gimbal (vmount), multiple i2c sensors, and camera feedback is 35 tasks (with top running). This is a fairly extreme case, so I'm only going to increase CONFIG_MAX_TASKS on newer F7 boards.
A board only needs to define:
#define RC_SERIAL_PORT "/dev/ttyS4"
Then it can optionally define one or more of the following:
#define RC_SERIAL_SWAP_RXTX
#define RC_SERIAL_SINGLEWIRE
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
* Support for armv7-m_dcache control via parameter
The FORCE_F7_DCACHE parameter can be set to
0 - (default) if Eratta exits turn dcache off else leave it on
1 - Force it off
2 - Force it on
At boot the system will disable the d-cache if the silicon
has the 1259864 Data corruption in a sequence of Write-Through
stores and loads eratta.
Post nsh script execution the FORCE_F7_DCACHE paramater
will be used to set the d-cache to the state indicated
above.
Peter van der Perk
Daniel Agar
David Sidrane
Beat Küng
David Sidrane