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platform: restructure (NuttX) architecture-specific code

Browse Source 
updated: tone_alarm, px4io_serial, px4_micro_hal
This commit is contained in:
Beat Küng
2019-08-23 16:04:22 +02:00
parent 2fa3ee9336
commit ab43a83bed
111 changed files with 1640 additions and 404 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+12
View File
@@ -347,6 +347,17 @@ else()
px4_find_python_module(jinja2 REQUIRED) px4_find_python_module(jinja2 REQUIRED)
endif() endif()
#=============================================================================
# get chip and chip manufacturer
#
px4_os_determine_build_chip()
if(NOT PX4_CHIP_MANUFACTURER)
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
endif()
if(NOT PX4_CHIP)
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
endif()
#============================================================================= #=============================================================================
# build flags # build flags
# #
@@ -451,6 +462,7 @@ add_library(parameters_interface INTERFACE)
include(px4_add_library) include(px4_add_library)
add_subdirectory(src/lib EXCLUDE_FROM_ALL) add_subdirectory(src/lib EXCLUDE_FROM_ALL)
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
add_subdirectory(src/platforms EXCLUDE_FROM_ALL) add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL) add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
boards/airmind/mindpx-v2/default.cmake
-1
View File
@@ -42,7 +42,6 @@ px4_add_board(
rc_input rc_input
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/auav/x21/default.cmake
-1
View File
@@ -48,7 +48,6 @@ px4_add_board(
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/av/x-v1/default.cmake
-1
View File
@@ -49,7 +49,6 @@ px4_add_board(
#roboclaw #roboclaw
stm32 stm32
stm32/adc stm32/adc
#stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/holybro/kakutef7/default.cmake
-1
View File
@@ -27,7 +27,6 @@ px4_add_board(
rc_input rc_input
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
telemetry telemetry
tone_alarm tone_alarm
osd osd
boards/mro/ctrl-zero-f7/default.cmake
-1
View File
@@ -51,7 +51,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/nxp/fmuk66-v3/default.cmake
-1
View File
@@ -32,7 +32,6 @@ px4_add_board(
irlock irlock
kinetis kinetis
kinetis/adc kinetis/adc
kinetis/tone_alarm
lights/blinkm lights/blinkm
lights/oreoled lights/oreoled
lights/rgbled lights/rgbled
boards/omnibus/f4sd/default.cmake
-1
View File
@@ -37,7 +37,6 @@ px4_add_board(
rc_input rc_input
stm32 stm32
stm32/adc stm32/adc
#stm32/tone_alarm
#tap_esc #tap_esc
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
telemetry/frsky_telemetry telemetry/frsky_telemetry
boards/px4/fmu-v2/default.cmake
-1
View File
@@ -57,7 +57,6 @@ px4_add_board(
#roboclaw #roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
#tap_esc #tap_esc
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
#test_ppm #test_ppm
boards/px4/fmu-v2/fixedwing.cmake
-1
View File
@@ -37,7 +37,6 @@ px4_add_board(
px4io px4io
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
telemetry/iridiumsbd telemetry/iridiumsbd
tone_alarm tone_alarm
boards/px4/fmu-v2/lpe.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
px4io px4io
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
#tap_esc #tap_esc
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
#test_ppm #test_ppm
boards/px4/fmu-v2/multicopter.cmake
-1
View File
@@ -37,7 +37,6 @@ px4_add_board(
px4io px4io
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tone_alarm tone_alarm
MODULES MODULES
boards/px4/fmu-v2/rover.cmake
-1
View File
@@ -33,7 +33,6 @@ px4_add_board(
px4io px4io
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tone_alarm tone_alarm
MODULES MODULES
boards/px4/fmu-v2/test.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
px4io px4io
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
#tap_esc #tap_esc
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
#test_ppm #test_ppm
boards/px4/fmu-v3/default.cmake
-1
View File
@@ -56,7 +56,6 @@ px4_add_board(
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v3/rtps.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v3/stackcheck.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v4/default.cmake
-1
View File
@@ -41,7 +41,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v4/rtps.cmake
-1
View File
@@ -43,7 +43,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v4/stackcheck.cmake
-1
View File
@@ -41,7 +41,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v4pro/default.cmake
-1
View File
@@ -54,7 +54,6 @@ px4_add_board(
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v4pro/rtps.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
roboclaw roboclaw
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5/critmonitor.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5/default.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5/fixedwing.cmake
-1
View File
@@ -39,7 +39,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
tone_alarm tone_alarm
uavcan uavcan
boards/px4/fmu-v5/irqmonitor.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5/multicopter.cmake
-1
View File
@@ -43,7 +43,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
tone_alarm tone_alarm
boards/px4/fmu-v5/rover.cmake
-1
View File
@@ -43,7 +43,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
tone_alarm tone_alarm
uavcan uavcan
boards/px4/fmu-v5/rtps.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5/stackcheck.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5x/default.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5x/fixedwing.cmake
-1
View File
@@ -49,7 +49,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
tone_alarm tone_alarm
uavcan uavcan
boards/px4/fmu-v5x/multicopter.cmake
-1
View File
@@ -50,7 +50,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
tone_alarm tone_alarm
boards/px4/fmu-v5x/rover.cmake
-1
View File
@@ -53,7 +53,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
tone_alarm tone_alarm
uavcan uavcan
boards/px4/fmu-v5x/rtps.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/fmu-v5x/stackcheck.cmake
-1
View File
@@ -55,7 +55,6 @@ px4_add_board(
safety_button safety_button
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
tap_esc tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
test_ppm test_ppm
boards/px4/sitl/default.cmake
-1
View File
@@ -17,7 +17,6 @@ px4_add_board(
#magnetometer # all available magnetometer drivers #magnetometer # all available magnetometer drivers
pwm_out_sim pwm_out_sim
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
sim/tone_alarm
tone_alarm tone_alarm
#uavcan #uavcan
boards/px4/sitl/rtps.cmake
-1
View File
@@ -17,7 +17,6 @@ px4_add_board(
#magnetometer # all available magnetometer drivers #magnetometer # all available magnetometer drivers
pwm_out_sim pwm_out_sim
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
sim/tone_alarm
tone_alarm tone_alarm
#uavcan #uavcan
boards/px4/sitl/test.cmake
-1
View File
@@ -17,7 +17,6 @@ px4_add_board(
#magnetometer # all available magnetometer drivers #magnetometer # all available magnetometer drivers
pwm_out_sim pwm_out_sim
#telemetry # all available telemetry drivers #telemetry # all available telemetry drivers
sim/tone_alarm
tone_alarm tone_alarm
#uavcan #uavcan
boards/uvify/core/default.cmake
-1
View File
@@ -47,7 +47,6 @@ px4_add_board(
rc_input rc_input
stm32 stm32
stm32/adc stm32/adc
stm32/tone_alarm
#tap_esc #tap_esc
telemetry # all available telemetry drivers telemetry # all available telemetry drivers
#test_ppm #test_ppm
cmake/px4_add_board.cmake
+3
View File
@@ -183,6 +183,9 @@ function(px4_add_board)
set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE) set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake) list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
# platform-specific include path
include_directories(${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include)
if(ARCHITECTURE) if(ARCHITECTURE)
set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE) set(CMAKE_SYSTEM_PROCESSOR ${ARCHITECTURE} CACHE INTERNAL "system processor" FORCE)
endif() endif()
cmake/px4_add_common_flags.cmake
+1
View File
@@ -174,6 +174,7 @@ function(px4_add_common_flags)
${PX4_BINARY_DIR}/src/lib ${PX4_BINARY_DIR}/src/lib
${PX4_BINARY_DIR}/src/modules ${PX4_BINARY_DIR}/src/modules
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}
${PX4_SOURCE_DIR}/src ${PX4_SOURCE_DIR}/src
${PX4_SOURCE_DIR}/src/include ${PX4_SOURCE_DIR}/src/include
${PX4_SOURCE_DIR}/src/lib ${PX4_SOURCE_DIR}/src/lib
cmake/px4_add_library.cmake
+1 -1
View File
@@ -40,7 +40,7 @@ include(px4_base)
# Like add_library but with PX4 platform dependencies # Like add_library but with PX4 platform dependencies
# #
function(px4_add_library target) function(px4_add_library target)
add_library(${target} ${ARGN}) add_library(${target} EXCLUDE_FROM_ALL ${ARGN})
target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}") target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
platforms/nuttx/CMakeLists.txt
-2
View File
@@ -36,8 +36,6 @@ include(cygwin_cygpath)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx) set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx)
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps) set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps)
add_subdirectory(src)
add_executable(px4 ${PX4_SOURCE_DIR}/src/platforms/empty.c) add_executable(px4 ${PX4_SOURCE_DIR}/src/platforms/empty.c)
set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf) set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME}) set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
platforms/nuttx/cmake/px4_impl_os.cmake
+33
View File
@@ -38,6 +38,7 @@
# Required OS Interface Functions # Required OS Interface Functions
# #
# * px4_os_add_flags # * px4_os_add_flags
# * px4_os_determine_build_chip
# * px4_os_prebuild_targets # * px4_os_prebuild_targets
# #
@@ -84,6 +85,38 @@ function(px4_os_add_flags)
endfunction() endfunction()
#=============================================================================
#
# px4_os_determine_build_chip
#
# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
#
# Usage:
# px4_os_determine_build_chip()
#
function(px4_os_determine_build_chip)
# determine chip and chip manufacturer based on NuttX config
if (CONFIG_STM32_STM32F10XX)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f1")
elseif(CONFIG_STM32_STM32F4XXX)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f4")
elseif(CONFIG_ARCH_CHIP_STM32F7)
set(CHIP_MANUFACTURER "stm")
set(CHIP "stm32f7")
elseif(CONFIG_ARCH_CHIP_MK66FN2M0VMD18)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "k66")
else()
message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
endif()
set(PX4_CHIP ${CHIP} CACHE STRING "PX4 Chip" FORCE)
set(PX4_CHIP_MANUFACTURER ${CHIP_MANUFACTURER} CACHE STRING "PX4 Chip Manufacturer" FORCE)
endfunction()
#============================================================================= #=============================================================================
# #
# px4_os_prebuild_targets # px4_os_prebuild_targets
platforms/nuttx/src/px4/CMakeLists.txt
+37
View File
@@ -0,0 +1,37 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(common)
add_subdirectory(${PX4_CHIP_MANUFACTURER})
platforms/nuttx/src/px4_layer/CMakeLists.txt → platforms/nuttx/src/px4/common/CMakeLists.txt
View File
platforms/nuttx/src/px4_layer/console_buffer.cpp → platforms/nuttx/src/px4/common/console_buffer.cpp
View File
platforms/nuttx/src/px4_layer/px4_init.cpp → platforms/nuttx/src/px4/common/px4_init.cpp
View File
platforms/nuttx/src/px4_layer/px4_nuttx_impl.cpp → platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
View File

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