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px4_fmu-v5: add irqmonitor build (#12723)

sbg
Daniel Agar 6 years ago committed by GitHub
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  1. 73
      .ci/Jenkinsfile-hardware
  2. 129
      boards/px4/fmu-v5/irqmonitor.cmake
  3. 253
      boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig

73
.ci/Jenkinsfile-hardware
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@ -128,6 +128,30 @@ pipeline {
} }
} }
stage('px4_fmu-v5_irqmonitor') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-07-29'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_irqmonitor'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/px4_fmu-v5_irqmonitor/px4_fmu-v5_irqmonitor.elf', name: 'px4_fmu-v5_irqmonitor'
}
post {
always {
sh 'make distclean'
}
}
}
stage('px4_fmu-v5_stackcheck') { stage('px4_fmu-v5_stackcheck') {
agent { agent {
docker { docker {
@ -539,6 +563,55 @@ pipeline {
} }
} }
stage('px4_fmu-v5_irqmonitor') {
agent {
label 'px4_fmu-v5'
}
steps {
script {
try {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_irqmonitor'
// flash board and watch bootup
sh './platforms/nuttx/Debug/jlink_gdb_upload.sh build/px4_fmu-v5_irqmonitor/px4_fmu-v5_irqmonitor.elf'
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
// status commands
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dmesg"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "free"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf latency"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "perf"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ps"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "pwm info"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sensors status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "sd_bench -r 2"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "top once"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "uorb status"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ver all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "irqinfo"'
// run tests
// sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`' // TODO: currently unusably slow
// ensure buzzer is disabled for the next test
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'
} catch (Exception err) {
// always report passed for now
currentBuild.result = 'SUCCESS'
}
} // script
}
options {
timeout(time: 20, unit: 'MINUTES')
}
}
stage('px4_fmu-v5_stackcheck') { stage('px4_fmu-v5_stackcheck') {
agent { agent {
label 'px4_fmu-v5' label 'px4_fmu-v5'

129
boards/px4/fmu-v5/irqmonitor.cmake
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@ -0,0 +1,129 @@
px4_add_board(
PLATFORM nuttx
VENDOR px4
MODEL fmu-v5
LABEL irqmonitor
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
IO px4_io-v2_default
TESTING
UAVCAN_INTERFACES 2
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
TEL4:/dev/ttyS3
DRIVERS
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
gps
#heater
imu/adis16448
imu/adis16497
#imu # all available imu drivers
imu/bmi055
imu/mpu6000
imu/mpu9250
irlock
lights/blinkm
lights/oreoled
lights/pca8574
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
pca9685
power_monitor/ina226
#protocol_splitter
pwm_input
pwm_out_sim
px4fmu
px4io
rc_input
roboclaw
stm32
stm32/adc
stm32/tone_alarm
tap_esc
telemetry # all available telemetry drivers
test_ppm
tone_alarm
uavcan
MODULES
attitude_estimator_q
camera_feedback
commander
dataman
ekf2
events
fw_att_control
fw_pos_control_l1
rover_pos_control
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mavlink
mc_att_control
mc_pos_control
navigator
sensors
sih
vmount
vtol_att_control
airspeed_selector
SYSTEMCMDS
bl_update
config
dmesg
dumpfile
esc_calib
hardfault_log
i2cdetect
led_control
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
reflect
sd_bench
shutdown
tests # tests and test runner
top
topic_listener
tune_control
usb_connected
ver
EXAMPLES
bottle_drop # OBC challenge
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
segway
uuv_example_app
)

253
boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig
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@ -0,0 +1,253 @@
#
# 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_OS_API is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS 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_SEMICOLON is not set
# CONFIG_NSH_DISABLE_TIME is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP_STM32F765II=y
CONFIG_ARCH_CHIP_STM32F7=y
CONFIG_ARCH_INTERRUPTSTACK=512
CONFIG_ARCH_MATH_H=y
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_BOARDCTL_RESET=y
CONFIG_BOARD_CRASHDUMP=y
CONFIG_BOARD_LOOPSPERMSEC=22114
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CDCACM=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_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_EXCLUDE_BLOCKS=y
CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
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_MAX_TASKS=64
CONFIG_MAX_WDOGPARMS=2
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MMCSD=y
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
CONFIG_MMCSD_SDIO=y
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
CONFIG_MM_REGIONS=3
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_RAMTRON=y
CONFIG_NFILE_DESCRIPTORS=20
CONFIG_NFILE_STREAMS=8
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARCHROMFS=y
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_MB=y
CONFIG_NSH_DISABLE_MH=y
CONFIG_NSH_DISABLE_TELNETD=y
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=12
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_NXFONTS_DISABLE_16BPP=y
CONFIG_NXFONTS_DISABLE_1BPP=y
CONFIG_NXFONTS_DISABLE_24BPP=y
CONFIG_NXFONTS_DISABLE_2BPP=y
CONFIG_NXFONTS_DISABLE_32BPP=y
CONFIG_NXFONTS_DISABLE_4BPP=y
CONFIG_NXFONTS_DISABLE_8BPP=y
CONFIG_PIPES=y
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_PREALLOC_TIMERS=50
CONFIG_PREALLOC_WDOGS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAMTRON_SETSPEED=y
CONFIG_RAMTRON_WRITEWAIT=y
CONFIG_RAM_SIZE=245760
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=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_IRQMONITOR=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1536
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SDMMC1_SDIO_MODE=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=32
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_PWR=y
CONFIG_STM32F7_RTC=y
CONFIG_STM32F7_RTC_HSECLOCK=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_SPI2=y
CONFIG_STM32F7_SPI4=y
CONFIG_STM32F7_SPI5=y
CONFIG_STM32F7_SPI6=y
CONFIG_STM32F7_TIM10=y
CONFIG_STM32F7_TIM11=y
CONFIG_STM32F7_TIM1=y
CONFIG_STM32F7_TIM3=y
CONFIG_STM32F7_TIM4=y
CONFIG_STM32F7_TIM9=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_TASK_NAME_SIZE=24
CONFIG_TIME_EXTENDED=y
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_RXDMA=y
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_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=2624
CONFIG_USER_ENTRYPOINT="nsh_main"
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