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

.ci/Jenkinsfile-hardware

@@ -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`'

cmake/configs/nuttx_px4fmu-v3_stackcheck.cmake

@@ -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
+)

cmake/configs/nuttx_px4fmu-v4_stackcheck.cmake

@@ -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
+)

cmake/configs/nuttx_px4fmu-v5_stackcheck.cmake

@@ -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
+)

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -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)

src/drivers/barometer/ms5611/CMakeLists.txt

@@ -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

src/drivers/imu/l3gd20/CMakeLists.txt

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

src/drivers/imu/lsm303d/CMakeLists.txt

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

src/drivers/imu/mpu9250/CMakeLists.txt

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

src/drivers/magnetometer/hmc5883/CMakeLists.txt

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

src/systemcmds/hardfault_log/CMakeLists.txt

@@ -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