mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-01 04:46:51 +08:00
Corroded Paparazzi (#2355)
* Update AggieAir config * Show total heap free space * Conf fixes * Initial commit of corroded paparazzi * Added RNG support for ChibiOS * Better build process for RUST modules * Better description * Fix typo * Compile demo module for both NPS and AP targets, some rust magic had to happen * Note in makefile * Cleaner building of Rust modules * Remove excess aiframes * Prep work for enabling RNG on ChibiOS + STM32F4. Need to write a driver for ChibiOS-Contrib, so I am leaving that part for later * RNG driver will eventually be a part of ChibiOS proper, hence simplify the ifdef guards * Clean up modules * Changes in the rust builds * Remove unsupported RNG for ChibiOS * Better separate compatibility packages * Minor fixes * Fix halconf.h
This commit is contained in:
Michal Podhradsky
committed by
Gautier Hattenberger
Gautier Hattenberger
parent
21d35b9b29
commit
c072a5405c
+29
-1
@@ -153,7 +153,7 @@ print_version:
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@echo "Paparazzi version" $(GIT_DESC)$(VERSION_MATCH)
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@echo "Paparazzi version" $(GIT_DESC)$(VERSION_MATCH)
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@echo "-----------------------------------------------------------------------"
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@echo "-----------------------------------------------------------------------"
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all_ac_h: $(SRCS_LIST) qt_project generate_keys
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all_ac_h: $(SRCS_LIST) qt_project generate_keys build_rust_modules
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$(SRCS_LIST) : $(CONF_XML) $(AIRFRAME_H) $(MODULES_H) $(SETTINGS_H) $(MAKEFILE_AC) $(PERIODIC_H)
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$(SRCS_LIST) : $(CONF_XML) $(AIRFRAME_H) $(MODULES_H) $(SETTINGS_H) $(MAKEFILE_AC) $(PERIODIC_H)
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@echo "TARGET: " $(TARGET) > $(SRCS_LIST)
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@echo "TARGET: " $(TARGET) > $(SRCS_LIST)
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@@ -180,6 +180,34 @@ endif
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endif
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endif
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CARGO=$(shell which cargo)
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CARGO=$(shell which cargo)
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# guard for simulation (NPS) target
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ifneq (,$(findstring thumb, $(RUST_ARCH)))
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# thumbv6 or 7
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RUST_FEATURES+="not_std"
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else
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# using host architecture
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RUST_FEATURES+="use_std"
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endif
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build_rust_modules:
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ifneq ($(CARGO),)
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ifneq ($(strip $(RUST_MODULES)),)
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ifneq ($(RUST_ARCH),)
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@echo PROCESSING RUST MODULES
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@echo $(RUST_MODULES)
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@echo RUST_FEATURES = $(RUST_FEATURES)
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@$(foreach module_path, $(RUST_MODULES),\
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echo Building $(module_path);\
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cd $(module_path) && \
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AC_GENERATED=$(AC_GENERATED) cargo build --target $(RUST_ARCH) --verbose --release --features $(RUST_FEATURES);)
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else
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@echo "Error: RUST_ARCH not specified, this board is likely not supported."
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endif # Check Rust Arch
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endif # No rust modules to process
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else
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@echo "Error: Cargo (Rust) not found, cannot build Rust modules. Please install xargo."
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endif # Check if Cargo is present
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generate_keys:
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generate_keys:
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ifeq ($(GENERATE_KEYS),1)
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ifeq ($(GENERATE_KEYS),1)
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ifneq ($(CARGO),)
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ifneq ($(CARGO),)
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@@ -320,10 +320,10 @@ UADEFS = $($(TARGET).CFLAGS) $(USER_CFLAGS) $(BOARD_CFLAGS)
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UINCDIR = $(CHIBIOS)/os/license $(patsubst -I%,%,$(INCLUDES))
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UINCDIR = $(CHIBIOS)/os/license $(patsubst -I%,%,$(INCLUDES))
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# List the user directory to look for the libraries here
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# List the user directory to look for the libraries here
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ULIBDIR =
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ULIBDIR = $(RUST_DIRS)
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# List all user libraries here
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# List all user libraries here
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ULIBS = -lm $(BOARD_LDFLAGS)
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ULIBS = -lm $(BOARD_LDFLAGS) $(RUST_LIBS)
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#
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#
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# End of user defines
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# End of user defines
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@@ -61,6 +61,8 @@ CXXFLAGS += -D_GNU_SOURCE
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LDFLAGS += $($(TARGET).LDFLAGS)
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LDFLAGS += $($(TARGET).LDFLAGS)
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LDFLAGS += $(BOARD_LDFLAGS)
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LDFLAGS += $(BOARD_LDFLAGS)
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LDFLAGS += $(patsubst %,-L%,$(DLIBDIR) $(RUST_DIRS))
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LDFLAGS += $(RUST_LIBS)
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# x86/64 and armv7 allow unaligned access
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# x86/64 and armv7 allow unaligned access
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CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
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CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
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@@ -1,341 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- Minion Airframe
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aileron, elevator, rudder, flaps (optional)
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TWOG - 4S compliant
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UGEAR 2.0
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Xbee modem in API mode
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Airspeed Sensor - with Airspeed warning
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-->
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<airframe name="Pinot Ummarine Lite V2">
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<!-- Servo Configuration -->
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<servos>
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<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="AILERON_RIGHT" no="1" min="1900" neutral="1500" max="1100"/>
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<servo name="AILERON_LEFT" no="2" min="1900" neutral="1500" max="1100"/>
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<servo name="ELEVATOR" no="3" min="1100" neutral="1500" max="1900"/>
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<servo name="RUDDER" no="4" min="1100" neutral="1500" max="1900"/>
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<servo name="FLAP" no="5" min="1900" neutral="1900" max="1100"/>
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<servo name="KNOB" no="6" min="1100" neutral="1500" max="1900"/>
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</servos>
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<!-- Servo Command Structure -->
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="FLAP" failsafe_value="0"/>
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<axis name="CROW" failsafe_value="0"/>
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</commands>
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<!-- RC Command Structure -->
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="FLAP" value="@FLAP"/>
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<set command="CROW" value="@KNOB"/>
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</rc_commands>
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<!-- Define RC commands to Servo in Auto Mode -->
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<auto_rc_commands>
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<set command="YAW" value="@YAW"/>
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<set command="FLAP" value="@FLAP"/>
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<set command="CROW" value="@KNOB"/>
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</auto_rc_commands>
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<!-- Define Mixing Parameters -->
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<section name="MIXER">
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<define name="AILERON_AILERON_RATE" value="0.9"/>
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<define name="AILERON_CROW_RATE" value="0.6"/>
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<define name="FLAP_CROW_RATE" value="1.0"/>
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<define name="ELEV_CROW_RATE" value="0.35"/>
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<define name="ELEV_ELEV_RATE" value="0.8"/>
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</section>
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<!-- Define RC commands to Servos in Manual -->
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<command_laws>
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<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
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<let var="crow" value="@CROW * AILERON_CROW_RATE"/>
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<let var="crowf" value="@CROW * FLAP_CROW_RATE"/>
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<let var="elevf" value="@CROW * ELEV_CROW_RATE"/>
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<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
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<set servo="THROTTLE" value="@THROTTLE"/>
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<set servo="AILERON_RIGHT" value="$aileron + $crow"/> <!--flip signs if necessary -->
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<set servo="AILERON_LEFT" value=" - $aileron + $crow"/>
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<set servo="ELEVATOR" value="$elevator - $elevf"/>
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<set servo="RUDDER" value="@YAW"/>
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<set servo="FLAP" value="$crowf"/>
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<set servo="KNOB" value="@FLAP"/>
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</command_laws>
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<!-- Define Max Roll and Pitch setpoints in Auto1 -->
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="0.6"/>
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<define name="MAX_PITCH" value="0.6"/>
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</section>
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<!-- Define Roll, Pitch Neutrals -->
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
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</section>
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<!-- Define current estimator and Battery Level Warnings -->
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<section name="BAT">
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<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
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<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
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<!--<define name="VoltageOfAdc(adc)" value="(0.029*adc)"/>-->
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</section>
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<!-- Define Airspeed Warnings for GCS (optional) -->
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<section name="AIRSPEED_WARNING">
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<define name="WARNING_AIRSPEED" value="12"/>
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<define name="CRITIC_AIRSPEED" value="10"/>
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<define name="CATASTROPHIC_AIRSPEED" value="8"/>
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
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<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_RATE" value="60" unit="Hz"/>
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<define name="XBEE_INIT" value=""ATRN5\rATTT80\r""/>
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<!-- ATRN - random delay for retransmits -->
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<!-- ATTT - streaming limit before a delay is forced -->
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<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="150."/>
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<define name="DEFAULT_LANDING_CIRCLE_RADIUS" value="150"/>
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<define name="RC_LOST_MODE" value="AP_MODE_AUTO2"/>
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</section>
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<!-- Vertical Control done with Throttle and Pitch-->
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/>
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<define name="ALTITUDE_PGAIN" value="0.136" unit="(m/s)/m"/> <!-- outer loop proportional gain -->
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<define name="ALTITUDE_MAX_CLIMB" value="3." unit="m/s"/> <!-- outer loop saturation -->
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.42" unit="%"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70" unit="%"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.010"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.00"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="0.00"/>
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<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
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<!-- auto pitch inner loop -->
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<define name="AUTO_PITCH_PGAIN" value="0.1"/>
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<define name="AUTO_PITCH_IGAIN" value="0.025"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="0.31415" unit="rad"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
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<!-- landing control loop -->
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<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
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<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
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<define name="LANDING_THROTTLE_MAX" value="0.65"/>
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<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
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<define name="LANDING_PITCH_PGAIN" value="0.1"/>
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<define name="LANDING_PITCH_IGAIN" value="0.1"/>
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<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
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<define name="LANDING_PITCH_FLARE" value="0.06"/>
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<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
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<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.135"/>
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<define name="COURSE_DGAIN" value="0.35"/>
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<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
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<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
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<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
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<define name="PITCH_PGAIN" value="12900."/>
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<define name="PITCH_DGAIN" value="1.5"/>
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<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
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<define name="ROLL_RATE_GAIN" value="1600"/>
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<define name="ELEVATOR_OF_ROLL" value="1250"/>
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<define name="ROLL_SLEW" value="0.1"/>
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</section>
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||||||
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<section name="AGGRESSIVE" prefix="AGR_">
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|
||||||
<define name="BLEND_START" value="20"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
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||||||
<define name="BLEND_END" value="10"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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||||||
<define name="CLIMB_THROTTLE" value="0.75"/> <!-- Throttle for Aggressive Climb -->
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|
||||||
<define name="CLIMB_PITCH" value="0.13"/> <!-- Pitch for Aggressive Climb -->
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||||||
<define name="DESCENT_THROTTLE" value="0.10"/> <!-- Throttle for Aggressive Decent -->
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||||||
<define name="DESCENT_PITCH" value="-0.17"/> <!-- Pitch for Aggressive Decent in radians-->
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||||||
<define name="CLIMB_NAV_RATIO" value="0.8"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
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||||||
<define name="DESCENT_NAV_RATIO" value="1.0"/>
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||||||
</section>
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||||||
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||||||
<!-- Launcher Takeoff Configuration -->
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||||||
<section name="Takeoff" prefix="Takeoff_">
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||||||
<define name="Pitch" value="0.23" unit="rad"/>
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||||||
<define name="Height" value="70" unit="m"/>
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|
||||||
<define name="Speed" value="8" unit="m/s"/>
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|
||||||
<define name="Distance" value="30" unit="m"/>
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|
||||||
<define name="MinSpeed" value="5" unit="m/s"/>
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||||||
</section>
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|
||||||
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||||||
<!-- Skid Landing Configuration -->
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||||||
<section name="Landing" prefix="Landing_">
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|
||||||
<define name="AFHeight" value="50" unit="m"/>
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|
||||||
<define name="FinalHeight" value="50" unit="m"/>
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||||||
<define name="FinalStageTime" value="10" unit="s"/>
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||||||
</section>
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||||||
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||||||
<!-- Define Kill Position -->
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||||||
<section name="FAILSAFE" prefix="FAILSAFE_">
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|
||||||
<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
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||||||
<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
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||||||
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
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||||||
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
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|
||||||
</section>
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|
||||||
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<section name="SIMULATOR" prefix="NPS_">
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||||||
<define name="JSBSIM_LAUNCHSPEED" value="25"/>
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<define name="JSBSIM_MODEL" value="AGGIEAIR/minion" type="string"/>
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||||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_invariant.h" type="string"/>
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<define name="JS_AXIS_THROTTLE" value="0"/>
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<define name="JS_AXIS_THROTTLE_REVERSED" value="1"/>
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||||||
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<define name="JS_AXIS_ROLL" value="1"/>
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<define name="JS_AXIS_PITCH" value="2"/>
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<define name="JS_AXIS_PITCH_REVERSED" value="1"/>
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||||||
<define name="JS_AXIS_YAW" value="3"/>
|
|
||||||
<define name="JS_AXIS_YAW_REVERSED" value="1"/>
|
|
||||||
|
|
||||||
<define name="JS_AXIS_FLAPS" value="5"/>
|
|
||||||
<define name="JS_AXIS_MODE" value="7"/>
|
|
||||||
|
|
||||||
<define name="JSBSIM_ROLL_TRIM" value="0.008"/>
|
|
||||||
<define name="JSBSIM_PITCH_TRIM" value="0.0375"/>
|
|
||||||
<define name="JSBSIM_YAW_TRIM" value="0.001"/>
|
|
||||||
</section>
|
|
||||||
|
|
||||||
<section name="IMU" prefix="IMU_">
|
|
||||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
|
||||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
|
||||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
|
||||||
|
|
||||||
<!-- Dummy Mag values for NPS -
|
|
||||||
replace with your own calibration -->
|
|
||||||
<define name="MAG_X_NEUTRAL" value="0"/>
|
|
||||||
<define name="MAG_Y_NEUTRAL" value="0"/>
|
|
||||||
<define name="MAG_Z_NEUTRAL" value="0"/>
|
|
||||||
</section>
|
|
||||||
|
|
||||||
<!-- **************************************************************** -->
|
|
||||||
<firmware name="fixedwing">
|
|
||||||
<target name="ap" board="umarim_lite_2.0"/>
|
|
||||||
<module name="radio_control" type="ppm"/>
|
|
||||||
|
|
||||||
<!-- NOTE: if you want to use extra_dl module for HITL
|
|
||||||
you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
|
|
||||||
<configure name="PERIODIC_FREQUENCY" value="100"/>
|
|
||||||
<define name="CONTROL_FREQUENCY" value="100"/>
|
|
||||||
<configure name="TELEMETRY_FREQUENCY" value="100"/>
|
|
||||||
<define name="SERVO_HZ" value="100"/>
|
|
||||||
|
|
||||||
<target name="nps" board="pc">
|
|
||||||
<module name="fdm" type="jsbsim"/>
|
|
||||||
</target>
|
|
||||||
|
|
||||||
<target name="hitl" board="pc">
|
|
||||||
<module name="fdm" type="jsbsim"/>
|
|
||||||
<configure name="INS_DEV" value="/dev/ttyUSB1"/>
|
|
||||||
<configure name="INS_BAUD" value="B921600"/>
|
|
||||||
<configure name="AP_DEV" value="/dev/ttyUSB2"/>
|
|
||||||
<configure name="AP_BAUD" value="B921600"/>
|
|
||||||
</target>
|
|
||||||
|
|
||||||
<module name="control"/>
|
|
||||||
<module name="navigation"/>
|
|
||||||
|
|
||||||
<module name="telemetry" type="transparent">
|
|
||||||
<configure name="MODEM_PORT" value="UART1"/>
|
|
||||||
<configure name="MODEM_BAUD" value="B57600"/>
|
|
||||||
</module>
|
|
||||||
|
|
||||||
<module name="ins" type="vectornav">
|
|
||||||
<configure name="VN_PORT" value="UART0"/>
|
|
||||||
<configure name="VN_BAUD" value="B230400"/>
|
|
||||||
</module>
|
|
||||||
|
|
||||||
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
|
|
||||||
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
|
|
||||||
|
|
||||||
<!-- Extra Definitions -->
|
|
||||||
<define name="AGR_CLIMB" />
|
|
||||||
<define name="LOITER_TRIM" />
|
|
||||||
<define name="ALT_KALMAN" />
|
|
||||||
<define name="SixCellBatt"/>
|
|
||||||
<define name="SYS_TIME_LED" value="1"/>
|
|
||||||
<define name="TUNE_AGRESSIVE_CLIMB"/>
|
|
||||||
<define name="WIND_INFO"/>
|
|
||||||
<define name="WIND_INFO_RET"/>
|
|
||||||
|
|
||||||
<!-- Modules -->
|
|
||||||
<module name="nav" type="line"/>
|
|
||||||
<module name="nav" type="flower"/>
|
|
||||||
<module name="nav" type="survey_poly_osam"/>
|
|
||||||
<module name="nav" type="launcher"/>
|
|
||||||
<module name="nav" type="skid_landing"/>
|
|
||||||
<module name="extra_dl">
|
|
||||||
<configure name="EXTRA_DL_PORT" value="usb_serial"/>
|
|
||||||
<configure name="EXTRA_DL_BAUD" value="B921600"/>
|
|
||||||
</module>
|
|
||||||
|
|
||||||
<!-- Airspeed Sensor -->
|
|
||||||
<!--TODO: better to replace with air-data module and airspeed_ms45xx_i2c module-->
|
|
||||||
<module name="airspeed_adc">
|
|
||||||
<configure name="ADC_AIRSPEED" value="ADC_3"/>
|
|
||||||
<configure name="AIRSPEED_PIN" value="ADC_3"/>
|
|
||||||
<define name="AIRSPEED_ADC_SCALE" value="4.4083"/>
|
|
||||||
<define name="AIRSPEED_ADC_BIAS" value="740"/>
|
|
||||||
<define name="USE_AIRSPEED_ADC" value="TRUE"/>
|
|
||||||
</module>
|
|
||||||
<!-- Angle of Attack and Sideslip Angle -->
|
|
||||||
<!-- TODO: using AoA module only, not sure if we ever use sideslip anymore -->
|
|
||||||
<module name="AOA_adc">
|
|
||||||
<configure name="ADC_AOA" value="ADC_2"/>
|
|
||||||
<define name="AOA_OFFSET" value="0.0"/>
|
|
||||||
<define name="AOA_FILTER" value="0.0"/>
|
|
||||||
<define name="USE_AOA" value="TRUE"/>
|
|
||||||
</module>
|
|
||||||
|
|
||||||
<!-- I2C Payload -->
|
|
||||||
<!--load name="aggiecap2_i2c.xml">
|
|
||||||
<define name="I2C_SLAVE_ADDR" value="0x30"/>
|
|
||||||
<define name="I2C_BUF_LEN" value="256"/>
|
|
||||||
<define name="USE_I2C0_SLAVE"/>
|
|
||||||
</load-->
|
|
||||||
|
|
||||||
<!-- System Monitor -->
|
|
||||||
<module name="sys_mon"/>
|
|
||||||
|
|
||||||
</firmware>
|
|
||||||
|
|
||||||
</airframe>
|
|
||||||
@@ -81,7 +81,6 @@ AggieAir Atomic Tangerine
|
|||||||
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
|
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
|
||||||
</module>
|
</module>
|
||||||
<module name="air_data"/>
|
<module name="air_data"/>
|
||||||
|
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<!-- commands section -->
|
<!-- commands section -->
|
||||||
|
|||||||
@@ -79,7 +79,6 @@ AggieAir El Capitan
|
|||||||
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
|
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
|
||||||
</module>
|
</module>
|
||||||
<module name="air_data"/>
|
<module name="air_data"/>
|
||||||
|
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<!-- commands section -->
|
<!-- commands section -->
|
||||||
|
|||||||
@@ -6,6 +6,7 @@ AggieAir Minion Sim
|
|||||||
|
|
||||||
<airframe name="AggieAir Minion Sim">
|
<airframe name="AggieAir Minion Sim">
|
||||||
<firmware name="fixedwing">
|
<firmware name="fixedwing">
|
||||||
|
<autopilot name="fixedwing_rusty.xml"/>
|
||||||
<target name="ap" board="lisa_mx_2.1_chibios">
|
<target name="ap" board="lisa_mx_2.1_chibios">
|
||||||
<module name="radio_control" type="sbus">
|
<module name="radio_control" type="sbus">
|
||||||
<configure name="SBUS_PORT" value="UART5"/>
|
<configure name="SBUS_PORT" value="UART5"/>
|
||||||
@@ -54,6 +55,8 @@ AggieAir Minion Sim
|
|||||||
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
|
<define name="POLY_OSAM_HALF_SWEEP_ENABLED" value="FALSE"/>
|
||||||
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
|
<define name="GEOFENCE_DATALINK_LOST_TIME" value="45"/>
|
||||||
|
|
||||||
|
<module name="rust_demo_module"/>
|
||||||
|
|
||||||
<module name="nav" type="line"/>
|
<module name="nav" type="line"/>
|
||||||
<module name="nav" type="line_osam"/>
|
<module name="nav" type="line_osam"/>
|
||||||
<module name="nav" type="flower"/>
|
<module name="nav" type="flower"/>
|
||||||
|
|||||||
@@ -79,7 +79,6 @@ AggieAir Minty Fresh
|
|||||||
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
|
<define name="BATMON_TEMP_SENSITIVITY" value="10"/>
|
||||||
</module>
|
</module>
|
||||||
<module name="air_data"/>
|
<module name="air_data"/>
|
||||||
|
|
||||||
</firmware>
|
</firmware>
|
||||||
|
|
||||||
<!-- commands section -->
|
<!-- commands section -->
|
||||||
|
|||||||
@@ -0,0 +1,131 @@
|
|||||||
|
<!DOCTYPE autopilot SYSTEM "autopilot.dtd">
|
||||||
|
|
||||||
|
<autopilot name="Corroded Fixed Wing Autopilot">
|
||||||
|
|
||||||
|
<state_machine name="ap" freq="CONTROL_FREQUENCY" gcs_mode="true" settings_mode="true">
|
||||||
|
|
||||||
|
<!-- Modules doesn't seem to work -->
|
||||||
|
<!--modules>
|
||||||
|
<load name="rust_demo_module"/>
|
||||||
|
</modules-->
|
||||||
|
|
||||||
|
<includes>
|
||||||
|
<include name="generated/airframe.h"/>
|
||||||
|
<include name="autopilot.h"/>
|
||||||
|
<include name="autopilot_rc_helpers.h"/>
|
||||||
|
<include name="inter_mcu.h"/>
|
||||||
|
<include name="nav.h"/>
|
||||||
|
<include name="guidance/guidance_common.h"/>
|
||||||
|
<include name="guidance/guidance_h.h"/>
|
||||||
|
<include name="stabilization/stabilization_attitude.h"/>
|
||||||
|
<include name="subsystems/gps.h"/>
|
||||||
|
|
||||||
|
<!-- We have to manually include the module's header files, so
|
||||||
|
we can use the provided functions -->
|
||||||
|
<include name ="modules/rust/demo_module/rust_demo_module.h"/>
|
||||||
|
</includes>
|
||||||
|
|
||||||
|
<control_block name="actuators_ap">
|
||||||
|
<call fun="PPRZ_MUTEX_LOCK(ap_state_mtx)"/>
|
||||||
|
<call fun="AP_COMMAND_SET_THROTTLE(v_ctl_throttle_slewed)"/>
|
||||||
|
<call fun="AP_COMMAND_SET_ROLL(-h_ctl_aileron_setpoint)"/>
|
||||||
|
<call fun="AP_COMMAND_SET_PITCH(h_ctl_elevator_setpoint)"/>
|
||||||
|
<call fun="AP_COMMAND_SET_YAW(h_ctl_rudder_setpoint)"/>
|
||||||
|
<call fun="AP_COMMAND_SET_CL(h_ctl_flaps_setpoint)"/>
|
||||||
|
<call fun="PPRZ_MUTEX_UNLOCK(ap_state_mtx)"/>
|
||||||
|
</control_block>
|
||||||
|
|
||||||
|
<control_block name="set_attitude_from_rc">
|
||||||
|
<call fun="PPRZ_MUTEX_LOCK(fbw_state_mtx)"/>
|
||||||
|
<call fun="AP_SETPOINT_ROLL(h_ctl_roll_setpoint, AUTO1_MAX_ROLL)"/>
|
||||||
|
<call fun="AP_SETPOINT_PITCH(h_ctl_pitch_setpoint, AUTO1_MAX_PITCH)"/>
|
||||||
|
<call fun="AP_SETPOINT_YAW_RATE(h_ctl_yaw_rate_setpoint, AUTO1_MAX_YAW_RATE)"/>
|
||||||
|
<call fun="AP_SETPOINT_THROTTLE(v_ctl_throttle_setpoint)"/>
|
||||||
|
<call fun="PPRZ_MUTEX_UNLOCK(fbw_state_mtx)"/>
|
||||||
|
</control_block>
|
||||||
|
|
||||||
|
<control_block name="attitude">
|
||||||
|
<call fun="h_ctl_attitude_loop()"/>
|
||||||
|
<call fun="v_ctl_throttle_slew()"/>
|
||||||
|
</control_block>
|
||||||
|
|
||||||
|
<control_block name="guidance">
|
||||||
|
<call fun="h_ctl_guidance_loop()"/>
|
||||||
|
<call fun="v_ctl_guidance_loop()"/>
|
||||||
|
</control_block>
|
||||||
|
|
||||||
|
<exceptions>
|
||||||
|
<exception cond="too_far_from_home && autopilot_in_flight()" deroute="HOME"/>
|
||||||
|
</exceptions>
|
||||||
|
|
||||||
|
<mode name="MANUAL" gcs_name="MANU">
|
||||||
|
<select cond="RCMode0()"/>
|
||||||
|
<control freq="4"> <!-- only for display -->
|
||||||
|
<call fun="common_nav_periodic_task_4Hz()"/>
|
||||||
|
<call fun="nav_periodic_task()"/>
|
||||||
|
</control>
|
||||||
|
<control> <!-- only for display -->
|
||||||
|
<call fun="v_ctl_throttle_slewed = imcu_get_radio(RADIO_THROTTLE)"/>
|
||||||
|
</control>
|
||||||
|
<exception cond="RCLost() && autopilot_in_flight()" deroute="HOME"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="AUTO1">
|
||||||
|
<select cond="RCMode1()"/>
|
||||||
|
<control freq="4"> <!-- only for display -->
|
||||||
|
<call fun="common_nav_periodic_task_4Hz()"/>
|
||||||
|
<call fun="nav_periodic_task()"/>
|
||||||
|
<call fun="rust_periodic()"/>
|
||||||
|
</control>
|
||||||
|
<control>
|
||||||
|
<call_block name="set_attitude_from_rc"/>
|
||||||
|
<call_block name="attitude"/>
|
||||||
|
<call_block name="actuators_ap"/>
|
||||||
|
</control>
|
||||||
|
<exception cond="RCLost() && autopilot_in_flight()" deroute="HOME"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="AUTO2">
|
||||||
|
<select cond="$DEFAULT_MODE"/>
|
||||||
|
<select cond="RCMode2()" exception="HOME"/>
|
||||||
|
<control freq="4">
|
||||||
|
<call fun="common_nav_periodic_task_4Hz()"/>
|
||||||
|
<call fun="nav_periodic_task()"/>
|
||||||
|
</control>
|
||||||
|
<control>
|
||||||
|
<call_block name="guidance"/>
|
||||||
|
<call_block name="attitude"/>
|
||||||
|
<call_block name="actuators_ap"/>
|
||||||
|
</control>
|
||||||
|
<exception cond="GpsIsLost() && autopilot_in_flight()" deroute="GPS_LOST"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="HOME" settings="hide">
|
||||||
|
<control freq="4">
|
||||||
|
<call fun="common_nav_periodic_task_4Hz()"/>
|
||||||
|
<call fun="nav_home()"/>
|
||||||
|
</control>
|
||||||
|
<control>
|
||||||
|
<call_block name="guidance"/>
|
||||||
|
<call_block name="attitude"/>
|
||||||
|
<call_block name="actuators_ap"/>
|
||||||
|
</control>
|
||||||
|
<exception cond="GpsIsLost() && autopilot_in_flight()" deroute="GPS_LOST"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
<mode name="GPS_LOST" gcs_name="NOGPS" settings="hide">
|
||||||
|
<control freq="4">
|
||||||
|
<call fun="common_nav_periodic_task_4Hz()"/>
|
||||||
|
<call fun="nav_without_gps()"/>
|
||||||
|
</control>
|
||||||
|
<control>
|
||||||
|
<call_block name="guidance"/>
|
||||||
|
<call_block name="attitude"/>
|
||||||
|
<call_block name="actuators_ap"/>
|
||||||
|
</control>
|
||||||
|
<exception cond="!GpsIsLost()" deroute="$LAST_MODE"/>
|
||||||
|
</mode>
|
||||||
|
|
||||||
|
</state_machine>
|
||||||
|
|
||||||
|
</autopilot>
|
||||||
@@ -17,6 +17,9 @@ RTOS=chibios
|
|||||||
## FPU on F4
|
## FPU on F4
|
||||||
USE_FPU=hard
|
USE_FPU=hard
|
||||||
|
|
||||||
|
# See list of supported Tier 3 architectures at: https://forge.rust-lang.org/platform-support.html
|
||||||
|
RUST_ARCH = thumbv7em-none-eabihf
|
||||||
|
|
||||||
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
|
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
|
||||||
|
|
||||||
##############################################################################
|
##############################################################################
|
||||||
|
|||||||
@@ -8,6 +8,14 @@ ARCH=sim
|
|||||||
BOARD = pc
|
BOARD = pc
|
||||||
BOARD_VERSION=
|
BOARD_VERSION=
|
||||||
|
|
||||||
|
# specify host platform for Rust builds
|
||||||
|
UNAME = $(shell uname -s)
|
||||||
|
ifeq ("$(UNAME)","Darwin")
|
||||||
|
RUST_ARCH = x86_64-apple-darwin
|
||||||
|
else
|
||||||
|
RUST_ARCH = x86_64-unknown-linux-gnu
|
||||||
|
endif
|
||||||
|
|
||||||
BOARD_CFG = \"boards/pc_sim.h\"
|
BOARD_CFG = \"boards/pc_sim.h\"
|
||||||
|
|
||||||
$(TARGET).ARCHDIR = $(ARCH)
|
$(TARGET).ARCHDIR = $(ARCH)
|
||||||
|
|||||||
@@ -0,0 +1,55 @@
|
|||||||
|
<!DOCTYPE module SYSTEM "module.dtd">
|
||||||
|
|
||||||
|
<module name="rust_demo_module" dir="rust/demo_module">
|
||||||
|
<doc>
|
||||||
|
<description>
|
||||||
|
Simple rust module. It doesn't do much besides allocating a vector
|
||||||
|
and immediately freeying it afterwards.
|
||||||
|
Meant only as an example.
|
||||||
|
|
||||||
|
More info on Paparazzi wiki: https://wiki.paparazziuav.org/wiki/Rust
|
||||||
|
</description>
|
||||||
|
</doc>
|
||||||
|
|
||||||
|
<!--
|
||||||
|
We need a header file declaring the rust provided functions.
|
||||||
|
For simple cases, this can be done manually, but should eventually be
|
||||||
|
a part of the cargo/xargo build, preferably via `cbindgen` https://github.com/eqrion/cbindgen/
|
||||||
|
-->
|
||||||
|
<header>
|
||||||
|
<file name="rust_demo_module.h" />
|
||||||
|
</header>
|
||||||
|
|
||||||
|
<!--
|
||||||
|
Typical module functions. They are all void.
|
||||||
|
-->
|
||||||
|
<init fun="rust_function()"/>
|
||||||
|
<periodic fun="rust_periodic()" freq="1." autorun="TRUE"/>
|
||||||
|
|
||||||
|
<makefile target="ap">
|
||||||
|
<!-->
|
||||||
|
Additional defines needed by Rust's `alloc` crate
|
||||||
|
-->
|
||||||
|
<file name="pprz_syscalls.c" dir="."/>
|
||||||
|
</makefile>
|
||||||
|
|
||||||
|
<makefile target="ap|nps|hitl">
|
||||||
|
<!--
|
||||||
|
MODULE_PATH is where the module lives.
|
||||||
|
RUST_MODULES contains all Rust modules that should be built.
|
||||||
|
RUST_DIRS are paths to the module libraries, used by ChibiOS makefile.
|
||||||
|
RUST_LIBS are the actual libraries to be linked, used by ChibiOS makefile.
|
||||||
|
RUST_ARCH is board dependent.
|
||||||
|
Note - nothing is preventing name clashes, so make sure you name your
|
||||||
|
library appropriately.
|
||||||
|
-->
|
||||||
|
<raw>
|
||||||
|
MODULE_PATH = $(PAPARAZZI_SRC)/sw/airborne/modules/rust/demo_module
|
||||||
|
RUST_MODULES += $(MODULE_PATH)
|
||||||
|
RUST_DIRS += $(MODULE_PATH)/target/$(RUST_ARCH)/release
|
||||||
|
RUST_LIBS += -lrust_demo_module
|
||||||
|
</raw>
|
||||||
|
</makefile>
|
||||||
|
|
||||||
|
</module>
|
||||||
|
|
||||||
@@ -436,3 +436,4 @@
|
|||||||
#endif /* _HALCONF_H_ */
|
#endif /* _HALCONF_H_ */
|
||||||
|
|
||||||
/** @} */
|
/** @} */
|
||||||
|
|
||||||
|
|||||||
@@ -46,9 +46,13 @@ void rtos_mon_init_arch(void)
|
|||||||
void rtos_mon_periodic_arch(void)
|
void rtos_mon_periodic_arch(void)
|
||||||
{
|
{
|
||||||
int i;
|
int i;
|
||||||
|
size_t total_fragments, total_fragmented_free_space, largest_free_block;
|
||||||
|
total_fragments = chHeapStatus(NULL, &total_fragmented_free_space, &largest_free_block);
|
||||||
|
|
||||||
rtos_mon.core_free_memory = chCoreGetStatusX();
|
rtos_mon.core_free_memory = chCoreGetStatusX();
|
||||||
rtos_mon.heap_free_memory = 0;
|
rtos_mon.heap_fragments = total_fragments;
|
||||||
|
rtos_mon.heap_largest = largest_free_block;
|
||||||
|
rtos_mon.heap_free_memory = total_fragmented_free_space;
|
||||||
rtos_mon.thread_counter = 0;
|
rtos_mon.thread_counter = 0;
|
||||||
|
|
||||||
// loop threads to find idle thread
|
// loop threads to find idle thread
|
||||||
|
|||||||
@@ -54,6 +54,8 @@ void periodic_report_sysmon(void)
|
|||||||
&rtos_mon.cpu_load,
|
&rtos_mon.cpu_load,
|
||||||
&rtos_mon.core_free_memory,
|
&rtos_mon.core_free_memory,
|
||||||
&rtos_mon.heap_free_memory,
|
&rtos_mon.heap_free_memory,
|
||||||
|
&rtos_mon.heap_fragments,
|
||||||
|
&rtos_mon.heap_largest,
|
||||||
&rtos_mon.cpu_time);
|
&rtos_mon.cpu_time);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -45,7 +45,9 @@
|
|||||||
// RTOS structure
|
// RTOS structure
|
||||||
struct rtos_monitoring {
|
struct rtos_monitoring {
|
||||||
uint32_t core_free_memory; ///< core free memory in bytes
|
uint32_t core_free_memory; ///< core free memory in bytes
|
||||||
uint32_t heap_free_memory; ///< heap free memory in bytes
|
uint32_t heap_free_memory; ///< Total fragmented free memory in the heap
|
||||||
|
uint32_t heap_fragments; ///< Number of fragments in the heap
|
||||||
|
uint32_t heap_largest; ///< Largest free block in the heap
|
||||||
uint8_t cpu_load; ///< global CPU/MCU load in %
|
uint8_t cpu_load; ///< global CPU/MCU load in %
|
||||||
uint8_t thread_counter; ///< number of threads
|
uint8_t thread_counter; ///< number of threads
|
||||||
uint16_t thread_load[RTOS_MON_MAX_THREADS]; ///< individual thread load in centi-percent (10*%)
|
uint16_t thread_load[RTOS_MON_MAX_THREADS]; ///< individual thread load in centi-percent (10*%)
|
||||||
|
|||||||
@@ -0,0 +1,3 @@
|
|||||||
|
/target
|
||||||
|
**/*.rs.bk
|
||||||
|
Cargo.lock
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
[package]
|
||||||
|
name = "rust_demo_module"
|
||||||
|
version = "0.1.0"
|
||||||
|
authors = ["Michal Podhradsky <mpodhradsky@galois.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
|
||||||
|
[lib]
|
||||||
|
path = "src/lib.rs"
|
||||||
|
crate-type = ["staticlib"]
|
||||||
|
|
||||||
|
[features]
|
||||||
|
"use_std" = ["rust_alloc_sim"]
|
||||||
|
"not_std" = ["rust_alloc_chibios"]
|
||||||
|
default = []
|
||||||
|
|
||||||
|
[build-dependencies]
|
||||||
|
|
||||||
|
[build-dependencies.pprz_compat_build]
|
||||||
|
path = "../pprz_compat_build"
|
||||||
|
|
||||||
|
[dependencies.pprz_compat]
|
||||||
|
path = "../pprz_compat"
|
||||||
|
|
||||||
|
[dependencies.rust_alloc_chibios]
|
||||||
|
path = "../rust_alloc_chibios"
|
||||||
|
optional = true
|
||||||
|
|
||||||
|
[dependencies.rust_alloc_sim]
|
||||||
|
path = "../rust_alloc_sim"
|
||||||
|
optional = true
|
||||||
@@ -0,0 +1,5 @@
|
|||||||
|
extern crate pprz_compat_build;
|
||||||
|
|
||||||
|
fn main() {
|
||||||
|
pprz_compat_build::generate_bindings();
|
||||||
|
}
|
||||||
@@ -0,0 +1,18 @@
|
|||||||
|
/* Text to put at the beginning of the generated file. Probably a license. */
|
||||||
|
|
||||||
|
#ifndef RUST_RUST_DEMO_MODULE_H
|
||||||
|
#define RUST_RUST_DEMO_MODULE_H
|
||||||
|
|
||||||
|
/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
|
||||||
|
void rust_function(void);
|
||||||
|
|
||||||
|
void rust_periodic(void);
|
||||||
|
|
||||||
|
#endif /* RUST_RUST_DEMO_MODULE_H */
|
||||||
|
|
||||||
|
/* Text to put at the end of the generated file */
|
||||||
@@ -0,0 +1,47 @@
|
|||||||
|
#![no_std]
|
||||||
|
#![feature(alloc)]
|
||||||
|
#![feature(extern_crate_item_prelude)]
|
||||||
|
#![feature(lang_items)]
|
||||||
|
|
||||||
|
#![allow(non_upper_case_globals)]
|
||||||
|
#![allow(non_camel_case_types)]
|
||||||
|
#![allow(non_snake_case)]
|
||||||
|
include!(concat!(env!("OUT_DIR"), "/airframe.rs"));
|
||||||
|
|
||||||
|
extern crate alloc;
|
||||||
|
|
||||||
|
extern crate pprz_compat;
|
||||||
|
|
||||||
|
// Example of linking State and Actuators interfaces
|
||||||
|
use pprz_compat::actuators::actuators;
|
||||||
|
use pprz_compat::state::State;
|
||||||
|
|
||||||
|
#[cfg(feature = "use_std")]
|
||||||
|
extern crate rust_alloc_sim;
|
||||||
|
|
||||||
|
#[cfg(feature = "not_std")]
|
||||||
|
extern crate rust_alloc_chibios;
|
||||||
|
|
||||||
|
use alloc::vec::Vec;
|
||||||
|
|
||||||
|
#[no_mangle]
|
||||||
|
pub extern "C" fn rust_function() {
|
||||||
|
let mut v = Vec::new();
|
||||||
|
v.push(SERVO_AILERON_LEFT);
|
||||||
|
}
|
||||||
|
|
||||||
|
#[no_mangle]
|
||||||
|
pub extern "C" fn rust_periodic() {
|
||||||
|
let mut v = Vec::new();
|
||||||
|
v.push(1);
|
||||||
|
v.push(2);
|
||||||
|
v.pop();
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(test)]
|
||||||
|
mod tests {
|
||||||
|
#[test]
|
||||||
|
fn it_works() {
|
||||||
|
assert_eq!(2 + 2, 4);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,7 @@
|
|||||||
|
[package]
|
||||||
|
name = "pprz_compat"
|
||||||
|
version = "0.1.0"
|
||||||
|
authors = ["Michal Podhradsky <mpodhradsky@galois.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
@@ -0,0 +1,16 @@
|
|||||||
|
extern "C" {
|
||||||
|
#[link_name = "\u{1}actuators_delay_time"]
|
||||||
|
pub static mut actuators_delay_time: u32;
|
||||||
|
}
|
||||||
|
extern "C" {
|
||||||
|
#[link_name = "\u{1}actuators_delay_done"]
|
||||||
|
pub static mut actuators_delay_done: bool;
|
||||||
|
}
|
||||||
|
extern "C" {
|
||||||
|
#[link_name = "\u{1}actuators"]
|
||||||
|
pub static mut actuators: [i16; 6usize];
|
||||||
|
}
|
||||||
|
extern "C" {
|
||||||
|
#[link_name = "\u{1}actuators_pprz"]
|
||||||
|
pub static mut actuators_pprz: [i16; 6usize];
|
||||||
|
}
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
#![no_std]
|
||||||
|
pub mod actuators;
|
||||||
|
pub mod state;
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,9 @@
|
|||||||
|
[package]
|
||||||
|
name = "pprz_compat_build"
|
||||||
|
version = "0.1.0"
|
||||||
|
authors = ["Michal Podhradsky <mpodhradsky@galois.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
bindgen = "0.42.2"
|
||||||
|
cbindgen = "0.6.7"
|
||||||
@@ -0,0 +1,106 @@
|
|||||||
|
extern crate bindgen;
|
||||||
|
extern crate cbindgen;
|
||||||
|
|
||||||
|
use std::env;
|
||||||
|
use std::path::{Path, PathBuf};
|
||||||
|
use std::io::{BufReader, BufWriter, BufRead, Write};
|
||||||
|
use std::fs::File;
|
||||||
|
|
||||||
|
pub fn generate_bindings() {
|
||||||
|
let module_name = env::var("CARGO_PKG_NAME").unwrap();
|
||||||
|
|
||||||
|
//
|
||||||
|
// Bindings for Rust
|
||||||
|
//
|
||||||
|
let pprz_dir = env::var("PAPARAZZI_SRC").expect("PAPARAZZI_SRC not present");
|
||||||
|
let generated_dir = env::var("AC_GENERATED").expect("AC_GENERATED not present");
|
||||||
|
let pprz_path = Path::new(&pprz_dir);
|
||||||
|
let path_include = pprz_path.join("sw/include");
|
||||||
|
let path_airborne = pprz_path.join("sw/airborne/");
|
||||||
|
|
||||||
|
// Write the bindings to the $OUT_DIR/bindings.rs file.
|
||||||
|
let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
|
||||||
|
|
||||||
|
//
|
||||||
|
// Parse generated airframe.h and remove any includes to make live easier for bindgen
|
||||||
|
//
|
||||||
|
let file_path_in = generated_dir.clone() + "/airframe.h";
|
||||||
|
let path_in = Path::new(&file_path_in);
|
||||||
|
let airframe_h = BufReader::new(File::open(&path_in).unwrap());
|
||||||
|
let file_path_out = generated_dir.clone() + "/airframe_no_includes.h";
|
||||||
|
let path_out = Path::new(&file_path_out);
|
||||||
|
let mut airframe_no_includes_h = BufWriter::new(File::create(&path_out).unwrap());
|
||||||
|
|
||||||
|
for line in airframe_h.lines() {
|
||||||
|
if let Ok(line) = line {
|
||||||
|
if line.contains("#include") {
|
||||||
|
airframe_no_includes_h.write("// ".as_bytes()).unwrap();
|
||||||
|
}
|
||||||
|
airframe_no_includes_h.write(line.as_bytes()).unwrap();
|
||||||
|
airframe_no_includes_h.write("\n".as_bytes()).unwrap();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
airframe_no_includes_h.flush().unwrap();
|
||||||
|
|
||||||
|
// Generate airframe.rs
|
||||||
|
let bindings_airframe = bindgen::Builder::default()
|
||||||
|
.header(generated_dir.clone() + "/airframe_no_includes.h")
|
||||||
|
.clang_arg(String::from("-I") + path_include.to_str().expect("path include problem"))
|
||||||
|
.clang_arg(String::from("-I") + path_airborne.to_str().expect("path airborne problem"))
|
||||||
|
.clang_arg(String::from("-I") + &generated_dir)
|
||||||
|
.layout_tests(false)
|
||||||
|
.use_core()
|
||||||
|
.generate()
|
||||||
|
.expect("Unable to generate airframe bindings");
|
||||||
|
|
||||||
|
bindings_airframe
|
||||||
|
.write_to_file(out_path.join("airframe.rs"))
|
||||||
|
.expect("Couldn't write airframe bindings!");
|
||||||
|
/*
|
||||||
|
// Generate state.rs
|
||||||
|
let bindings_state = bindgen::Builder::default()
|
||||||
|
.header(path_airborne.to_str().unwrap().to_owned() + "/state.h")
|
||||||
|
.clang_arg(String::from("-I") + path_include.to_str().expect("path include problem"))
|
||||||
|
.clang_arg(String::from("-I") + path_airborne.to_str().expect("path airborne problem"))
|
||||||
|
.clang_arg(String::from("-I") + &generated_dir)
|
||||||
|
.layout_tests(false)
|
||||||
|
.use_core()
|
||||||
|
.ignore_functions()
|
||||||
|
.generate()
|
||||||
|
.expect("Unable to generate state bindings");
|
||||||
|
|
||||||
|
bindings_state
|
||||||
|
.write_to_file(out_path.join("state.rs"))
|
||||||
|
.expect("Couldn't write state bindings!");
|
||||||
|
*/
|
||||||
|
|
||||||
|
//
|
||||||
|
// Bindings for paparazzi using cbindgen
|
||||||
|
//
|
||||||
|
let crate_dir = env::var("CARGO_MANIFEST_DIR").unwrap();
|
||||||
|
let builder_include_guard = String::from("RUST_") + &module_name.to_uppercase() + "_H";
|
||||||
|
let bindings_name = String::from(module_name) + ".h";
|
||||||
|
|
||||||
|
cbindgen::Builder::new()
|
||||||
|
// # An optional string of text to output at the beginning of the generated file
|
||||||
|
.with_header("/* Text to put at the beginning of the generated file. Probably a license. */")
|
||||||
|
// # An optional string of text to output at the end of the generated file
|
||||||
|
.with_trailer("/* Text to put at the end of the generated file */")
|
||||||
|
// # An optional string of text to output between major sections of the generated
|
||||||
|
// # file as a warning against manual editing
|
||||||
|
.with_autogen_warning("/* Warning, this file is autogenerated by cbindgen. Don't modify this manually. */")
|
||||||
|
// # An optional name to use as an include guard
|
||||||
|
.with_include_guard(builder_include_guard)
|
||||||
|
// # The language to output bindings in
|
||||||
|
.with_language(cbindgen::Language::C)
|
||||||
|
// # Whether to parse dependent crates and include their types in the generated
|
||||||
|
// # bindings
|
||||||
|
.with_parse_deps(false)
|
||||||
|
// # A black list of crate names that are not allowed to be parsed
|
||||||
|
.with_parse_exclude(&vec!["libc"])
|
||||||
|
.with_crate(crate_dir)
|
||||||
|
.generate()
|
||||||
|
.expect("Unable to generate bindings")
|
||||||
|
.write_to_file(bindings_name);
|
||||||
|
|
||||||
|
}
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
/target
|
||||||
|
**/*.rs.bk
|
||||||
|
Cargo.lock
|
||||||
@@ -0,0 +1,13 @@
|
|||||||
|
[package]
|
||||||
|
name = "rust_alloc_chibios"
|
||||||
|
version = "0.1.0"
|
||||||
|
authors = ["Michal Podhradsky <mpodhradsky@galois.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
panic-halt = "0.2.0"
|
||||||
|
|
||||||
|
[features]
|
||||||
|
"arch32" = []
|
||||||
|
"arch16" = []
|
||||||
|
default = ["arch32"]
|
||||||
@@ -0,0 +1,57 @@
|
|||||||
|
#![no_std]
|
||||||
|
#![feature(alloc)]
|
||||||
|
#![feature(extern_crate_item_prelude)]
|
||||||
|
#![feature(alloc_error_handler)]
|
||||||
|
#![feature(lang_items)]
|
||||||
|
|
||||||
|
#[allow(unused_extern_crates)] // NOTE(allow) bug rust-lang/rust#53964
|
||||||
|
extern crate panic_halt; // panic handler
|
||||||
|
|
||||||
|
extern crate alloc;
|
||||||
|
|
||||||
|
use core::alloc::{GlobalAlloc, Layout};
|
||||||
|
use core::ptr;
|
||||||
|
|
||||||
|
#[lang = "eh_personality"]
|
||||||
|
#[no_mangle]
|
||||||
|
pub extern "C" fn rust_eh_personality() {}
|
||||||
|
|
||||||
|
|
||||||
|
// See https://github.com/rust-lang/rust/issues/51540
|
||||||
|
#[alloc_error_handler]
|
||||||
|
fn foo(_: core::alloc::Layout) -> ! {
|
||||||
|
loop {}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
extern "C" {
|
||||||
|
pub fn chHeapFree(p: *mut u8);
|
||||||
|
pub fn chHeapStatus(heapp: *mut u8, sizep: *mut usize, sizep2: *mut usize) -> usize;
|
||||||
|
/// Note: we have to call `chHeapAllocAligned` instead of `chHeapAlloc` because
|
||||||
|
/// paparazzi optimizes the `chHeapAlloc` call and doesn't export it.
|
||||||
|
/// As a result we have to guess the alignment. I am using a cfg feature
|
||||||
|
/// to distinguish between 32-bit and 16-bit targets
|
||||||
|
pub fn chHeapAllocAligned(heapp: *mut u8, size: usize, align: u8) -> *mut u8;
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct RustChibiOsAllocator;
|
||||||
|
|
||||||
|
unsafe impl GlobalAlloc for RustChibiOsAllocator {
|
||||||
|
unsafe fn alloc(&self, layout: Layout) -> *mut u8 {
|
||||||
|
#[cfg(feature = "arch32")]
|
||||||
|
{
|
||||||
|
chHeapAllocAligned(ptr::null_mut(), layout.size(), 8)
|
||||||
|
}
|
||||||
|
#[cfg(feature = "arch16")]
|
||||||
|
{
|
||||||
|
chHeapAllocAligned(ptr::null_mut(), layout.size(), 4)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
unsafe fn dealloc(&self, ptr: *mut u8, _layout: Layout) {
|
||||||
|
chHeapFree(ptr)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[global_allocator]
|
||||||
|
static GLOBAL: RustChibiOsAllocator = RustChibiOsAllocator;
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
/target
|
||||||
|
**/*.rs.bk
|
||||||
|
Cargo.lock
|
||||||
@@ -0,0 +1,7 @@
|
|||||||
|
[package]
|
||||||
|
name = "rust_alloc_sim"
|
||||||
|
version = "0.1.0"
|
||||||
|
authors = ["Michal Podhradsky <mpodhradsky@galois.com>"]
|
||||||
|
edition = "2018"
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
@@ -0,0 +1,41 @@
|
|||||||
|
#![feature(lang_items, core_intrinsics)]
|
||||||
|
#![feature(start)]
|
||||||
|
#![feature(alloc)]
|
||||||
|
#![feature(alloc_system)]
|
||||||
|
#![feature(allocator_api)]
|
||||||
|
#![feature(extern_crate_item_prelude)]
|
||||||
|
#![feature(alloc_error_handler)]
|
||||||
|
|
||||||
|
#![no_std]
|
||||||
|
use core::panic::PanicInfo;
|
||||||
|
extern crate alloc;
|
||||||
|
extern crate alloc_system;
|
||||||
|
|
||||||
|
use alloc_system::System;
|
||||||
|
|
||||||
|
#[global_allocator]
|
||||||
|
static GLOBAL: System = System;
|
||||||
|
|
||||||
|
#[lang = "eh_personality"]
|
||||||
|
#[no_mangle]
|
||||||
|
pub extern "C" fn rust_eh_personality() {}
|
||||||
|
|
||||||
|
#[lang = "eh_unwind_resume"]
|
||||||
|
#[no_mangle]
|
||||||
|
pub extern "C" fn rust_eh_unwind_resume() {}
|
||||||
|
|
||||||
|
#[no_mangle]
|
||||||
|
#[allow(non_snake_case)]
|
||||||
|
pub extern "C" fn _Unwind_Resume() {}
|
||||||
|
|
||||||
|
#[panic_handler]
|
||||||
|
#[no_mangle]
|
||||||
|
pub extern fn panic(_info: &PanicInfo) -> ! {
|
||||||
|
loop{}
|
||||||
|
}
|
||||||
|
|
||||||
|
// See https://github.com/rust-lang/rust/issues/51540
|
||||||
|
#[alloc_error_handler]
|
||||||
|
fn foo(_: core::alloc::Layout) -> ! {
|
||||||
|
loop {}
|
||||||
|
}
|
||||||
+1
-1
Submodule sw/ext/pprzlink updated: 1b19d0d6ae...f57b5b16e5
Reference in New Issue
Block a user