Add px4_fmu-v5_protected target

Add a target for nuttx protected build development

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

boards/px4/fmu-v5/nuttx-config/protected/defconfig

@@ -0,0 +1,251 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F765II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_ARM_MPU_NREGIONS=8
+CONFIG_BOARDCTL_IOCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILD_PROTECTED=y
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0032
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_USRWORK=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_KERNEL_HEAPSIZE=131072
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_NUTTX_USERSPACE=0x08100000
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C1=y
+CONFIG_STM32F7_I2C2=y
+CONFIG_STM32F7_I2C3=y
+CONFIG_STM32F7_I2C4=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI2=y
+CONFIG_STM32F7_SPI4=y
+CONFIG_STM32F7_SPI5=y
+CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM10=y
+CONFIG_STM32F7_TIM11=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART1=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART6=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYS_RESERVED=9
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART3_TXDMA=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="px4_entry"

boards/px4/fmu-v5/protected.px4board

@@ -0,0 +1,44 @@
+CONFIG_BOARD_PROTECTED=y
+CONFIG_COMMON_BAROMETERS=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_OPTICAL_FLOW=n
+CONFIG_COMMON_TELEMETRY=n
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_EXAMPLES_FAKE_GPS=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_CAMERA_FEEDBACK=n
+CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL_L1=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
+CONFIG_SYSTEMCMDS_BL_UPDATE=n
+CONFIG_SYSTEMCMDS_DMESG=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_ESC_CALIB=n
+CONFIG_SYSTEMCMDS_GPIO=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
+CONFIG_SYSTEMCMDS_LED_CONTROL=n
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_MTD=n
+CONFIG_SYSTEMCMDS_NSHTERM=n
+CONFIG_SYSTEMCMDS_REFLECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
+CONFIG_SYSTEMCMDS_USB_CONNECTED=n

boards/px4/fmu-v5/src/CMakeLists.txt

@@ -43,7 +43,7 @@ add_library(drivers_board
 	usb.c
 	toc.c
 )
-add_dependencies(drivers_board arch_board_hw_info)
+add_dependencies(drivers_board nuttx_context)
 
 target_link_libraries(drivers_board
 	PRIVATE
@@ -52,5 +52,16 @@ target_link_libraries(drivers_board
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
-		px4_layer
 )
+
+if (NOT DEFINED CONFIG_BUILD_FLAT)
+	target_link_libraries(drivers_board PRIVATE px4_kernel_layer)
+else()
+	target_link_libraries(drivers_board PRIVATE px4_layer)
+endif()
+
+add_library(drivers_userspace
+	stm32_userspace.c
+)
+
+add_dependencies(drivers_userspace nuttx_context)

boards/px4/fmu-v5/src/stm32_userspace.c

@@ -0,0 +1,147 @@
+/****************************************************************************
+ * boards/px4/fmu-v5/src/stm32_userspace.c
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdlib.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/mm/mm.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/userspace.h>
+#include <sys/boardctl.h>
+
+#if !defined(CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_NUTTX_USERSPACE
+#  error "CONFIG_NUTTX_USERSPACE not defined"
+#endif
+
+#if CONFIG_NUTTX_USERSPACE != 0x08100000
+#  error "CONFIG_NUTTX_USERSPACE must be 0x08100000 to match memory.ld"
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* These 'addresses' of these values are setup by the linker script. They are
+ * not actual uint32_t storage locations! They are only used meaningfully in
+ * the following way:
+ *
+ *  - The linker script defines, for example, the symbol_sdata.
+ *  - The declaration extern uint32_t _sdata; makes C happy.  C will believe
+ *    that the value _sdata is the address of a uint32_t variable _data (it
+ *    is not!).
+ *  - We can recover the linker value then by simply taking the address of
+ *    of _data.  like:  uint32_t *pdata = &_sdata;
+ */
+
+extern uint32_t _stext;           /* Start of .text */
+extern uint32_t _etext;           /* End_1 of .text + .rodata */
+extern const uint32_t _eronly;    /* End+1 of read only section (.text + .rodata) */
+extern uint32_t _sdata;           /* Start of .data */
+extern uint32_t _edata;           /* End+1 of .data */
+extern uint32_t _sbss;            /* Start of .bss */
+extern uint32_t _ebss;            /* End+1 of .bss */
+
+/* This is the user space entry point */
+
+int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]);
+int nsh_main(int argc, char *argv[]);
+
+const struct userspace_s userspace __attribute__((section(".userspace"))) = {
+	/* General memory map */
+
+	.us_entrypoint    = (main_t)CONFIG_USER_ENTRYPOINT,
+	.us_textstart     = (uintptr_t) &_stext,
+	.us_textend       = (uintptr_t) &_etext,
+	.us_datasource    = (uintptr_t) &_eronly,
+	.us_datastart     = (uintptr_t) &_sdata,
+	.us_dataend       = (uintptr_t) &_edata,
+	.us_bssstart      = (uintptr_t) &_sbss,
+	.us_bssend        = (uintptr_t) &_ebss,
+
+	/* Memory manager heap structure */
+
+	.us_heap          = &g_mmheap,
+
+	/* Task/thread startup routines */
+
+	.task_startup     = nxtask_startup,
+
+	/* Signal handler trampoline */
+
+	.signal_handler   = up_signal_handler,
+
+	/* User-space work queue support (declared in include/nuttx/wqueue.h) */
+
+#ifdef CONFIG_LIB_USRWORK
+	.work_usrstart    = work_usrstart,
+#endif
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void px4_userspace_init(void);
+
+int CONFIG_USER_ENTRYPOINT(int argc, char *argv[])
+{
+
+#ifdef CONFIG_NSH_ARCHINIT
+#error CONFIG_NSH_ARCHINIT must not be defined!
+#endif
+
+	boardctl(BOARDIOC_INIT, 0);
+
+	px4_userspace_init();
+
+	return nsh_main(argc, argv);
+}
+
+
+#endif /* !CONFIG_BUILD_FLAT && !__KERNEL__ */