ROMFS:Bake in UAVCAN FW with builds that end in _uavcan

The configuration are mostly for testing now.

ROMFS/CMakeLists.txt

@@ -187,6 +187,46 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 
 endforeach()
 
+
+if(config_uavcan_peripheral_firmware)
+
+	include(ExternalProject)
+
+	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
+		# include the px4io binary in ROMFS
+		message(STATUS "ROMFS: Building and including UAVCAN peripheral ${uavcan_peripheral_config}")
+		ExternalProject_Add(build_${uavcan_peripheral_config}
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
+			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
+			INSTALL_COMMAND ""
+			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
+			BUILD_ALWAYS 1
+		)
+
+		ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
+
+		add_custom_command(
+			OUTPUT
+				${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
+				${uavcan_peripheral_config}.stamp
+			COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
+			COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
+			DEPENDS
+				build_${uavcan_peripheral_config}
+			COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
+		)
+
+		list(APPEND extras_dependencies
+			${uavcan_peripheral_config}.stamp
+		)
+	endforeach()
+endif()
+
 list(APPEND extras_dependencies
 	${config_romfs_extra_dependencies}
 	)

boards/cuav/can-gps-v1/debug.cmake

@@ -0,0 +1,53 @@
+
+
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 1)
+set(uavcanblid_hw_version_minor 0)
+set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+add_definitions(-DUSE_S_RGB_LED_DMA)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL can-gps-v1
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		barometer/ms5611
+		bootloaders
+		gps
+		lights/neopixel
+		magnetometer/rm3100
+		safety_button
+		tone_alarm
+		uavcannode
+	MODULES
+		load_mon
+	SYSTEMCMDS
+		i2cdetect
+		led_control
+		param
+		perf
+		reboot
+		top
+		topic_listener
+		tune_control
+		ver
+		work_queue
+)

boards/cuav/nora/uavcan.cmake

@@ -0,0 +1,128 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL nora
+	LABEL uavcan
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	#BUILD_BOOTLOADER
+	#TESTING
+	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 2
+	UAVCAN_PERIPHERALS
+		cuav_can-gps-v1_default
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		GPS2:/dev/ttyS2
+		TEL2:/dev/ttyS3
+		# CONSOLE: /dev/ttyS4
+		# RC: /dev/ttyS5
+	DRIVERS
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm20649
+		imu/invensense/icm20689
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		safety_button
+		#tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		#tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)

boards/cuav/x7pro/uavcan.cmake

@@ -0,0 +1,128 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR cuav
+	MODEL x7pro
+	LABEL uavcan
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	#BUILD_BOOTLOADER
+	#TESTING
+	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 2
+	UAVCAN_PERIPHERALS
+		cuav_can-gps-v1_default
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		GPS2:/dev/ttyS2
+		TEL2:/dev/ttyS3
+		# CONSOLE: /dev/ttyS4
+		# RC: /dev/ttyS5
+	DRIVERS
+		adc/board_adc
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/bosch/bmi088
+		imu/invensense/icm20649
+		imu/invensense/icm20689
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		power_monitor/ina226
+		#protocol_splitter
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		safety_button
+		#tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		#tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)

boards/px4/fmu-v5/uavcan.cmake

@@ -0,0 +1,138 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v5
+	LABEL uavcan
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 2
+	UAVCAN_PERIPHERALS
+		cuav_can-gps-v1_default
+	SERIAL_PORTS
+		GPS1:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS3
+	DRIVERS
+		adc/board_adc
+		#adc/ads1115
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		#heater
+		#imu # all available imu drivers
+		#imu/adis16448
+		#imu/adis16477
+		#imu/adis16497
+		imu/bosch/bmi055
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		lights/rgbled_pwm
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		#pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
+		#pwm_input
+		pwm_out_sim
+		pwm_out
+		px4io
+		rc_input
+		#roboclaw
+		#rpm
+		safety_button
+		#tap_esc
+		telemetry # all available telemetry drivers
+		#test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		#esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		#rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		#uuv_att_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		dmesg
+		#dumpfile
+		esc_calib
+		#gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		#tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)

cmake/px4_add_board.cmake

@@ -50,6 +50,7 @@
 #			[ IO <string> ]
 #			[ BOOTLOADER <string> ]
 #			[ UAVCAN_INTERFACES <string> ]
+#			[ UAVCAN_PERIPHERALS <list> ]
 #			[ DRIVERS <list> ]
 #			[ MODULES <list> ]
 #			[ SYSTEMCMDS <list> ]
@@ -74,6 +75,7 @@
 #		IO			: name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
 #		BOOTLOADER		: bootloader file to include for flashing via bl_update (currently NuttX only)
 #		UAVCAN_INTERFACES	: number of interfaces for UAVCAN
+#		UAVCAN_PERIPHERALS      : list of UAVCAN peripheral firmware to build and embed
 #		DRIVERS			: list of drivers to build for this board (relative to src/drivers)
 #		MODULES			: list of modules to build for this board (relative to src/modules)
 #		SYSTEMCMDS		: list of system commands to build for this board (relative to src/systemcmds)
@@ -154,6 +156,7 @@ function(px4_add_board)
 			SYSTEMCMDS
 			EXAMPLES
 			SERIAL_PORTS
+			UAVCAN_PERIPHERALS
 			EMBEDDED_METADATA
 		OPTIONS
 			BUILD_BOOTLOADER
@@ -236,6 +239,10 @@ function(px4_add_board)
 		if(IO)
 			set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
 		endif()
+
+		if(UAVCAN_PERIPHERALS)
+			set(config_uavcan_peripheral_firmware ${UAVCAN_PERIPHERALS} CACHE INTERNAL "UAVCAN peripheral firmware" FORCE)
+		endif()
 	endif()
 
 	if(UAVCAN_INTERFACES)