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[Kconfig] Merge/diff fixes and added some FMUv5 targets

master
Peter van der Perk 4 years ago committed by Daniel Agar
parent
ea393b54d9
commit
82888d3320
12 changed files with 85 additions and 457 deletions
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  1. 2
      Tools/kconfig/diffconfig.py
  2. 20
      Tools/kconfig/merge_config.py
  3. 32
      boards/cuav/can-gps-v1/default.cmake
  4. 13
      boards/cuav/can-gps-v1/default.px4board
  5. 130
      boards/px4/fmu-v5/rtps.cmake
  6. 3
      boards/px4/fmu-v5/rtps.px4board
  7. 140
      boards/px4/fmu-v5/uavcanv0periph.cmake
  8. 22
      boards/px4/fmu-v5/uavcanv0periph.px4board
  9. 138
      boards/px4/fmu-v5/uavcanv1.cmake
  10. 4
      boards/px4/fmu-v5/uavcanv1.px4board
  11. 6
      cmake/px4_config.cmake
  12. 32
      src/drivers/uavcan/Kconfig

2
Tools/kconfig/diffconfig.py
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@ -59,6 +59,8 @@ def print_config(op, config, value, new_value): @@ -59,6 +59,8 @@ def print_config(op, config, value, new_value):
if merge_style:
if op=="-" and value=="y":
print("CONFIG_%s=n" % (config))
elif op=="-" and not new_value:
print("# CONFIG_%s is not set" % (config))
elif new_value:
if new_value=="n":
print("# CONFIG_%s is not set" % config)

20
Tools/kconfig/merge_config.py
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@ -72,6 +72,11 @@ @@ -72,6 +72,11 @@
from __future__ import print_function
import sys
import re
import pprint
def _re_match(regex):
return re.compile(regex, re.ASCII).match
from kconfiglib import Kconfig, BOOL, TRISTATE, TRI_TO_STR
@ -99,6 +104,21 @@ kconf.warn_assign_redun = False @@ -99,6 +104,21 @@ kconf.warn_assign_redun = False
for config in sys.argv[3:]:
print(kconf.load_config(config, replace=False))
# Modification for PX4 unset all symbols (INT,HEX etc) from 2nd config
f = open(sys.argv[4], 'r')
unset_match = re.compile(r"# {}([^ ]+) is not set".format("CONFIG_"), re.ASCII).match
for line in f:
match = unset_match(line)
pprint.pprint(match)
if match is not None:
sym_name = match.group(1)
kconf.syms[sym_name].unset_value()
f.close()
# Write the merged configuration
print(kconf.write_config(sys.argv[2]))

32
boards/cuav/can-gps-v1/default.cmake
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@ -1,35 +1,3 @@ @@ -1,35 +1,3 @@
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
add_definitions(-DUSE_S_RGB_LED_DMA)
px4_add_board(
PLATFORM nuttx
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
CONSTRAINED_MEMORY
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
#uorb
#ver
#work_queue
)

13
boards/cuav/can-gps-v1/default.px4board
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@ -0,0 +1,13 @@ @@ -0,0 +1,13 @@
CONFIG_ARCHITECTURE_CORTEX_M4=y
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BAROMETER_MS5611=y
CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_SYSTEMCMDS_PARAM=y

130
boards/px4/fmu-v5/rtps.cmake
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@ -1,130 +0,0 @@ @@ -1,130 +0,0 @@
px4_add_board(
PLATFORM nuttx
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
IO px4_io-v2_default
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 6
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
TEL4:/dev/ttyS3
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/analog_devices/adis16448
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
optical_flow # all available optical flow drivers
#osd
pca9685
power_monitor/ina226
protocol_splitter
pwm_input
pwm_out_sim
pwm_out
px4io
rc_input
roboclaw
rpm
safety_button
smart_battery/batmon
telemetry # all available telemetry drivers
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
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mag_bias_estimator
mavlink
mc_att_control
mc_autotune_attitude_control
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
micrortps_bridge
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
sd_stress
system_time
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
#fake_imu
#fake_magnetometer
#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
)

3
boards/px4/fmu-v5/rtps.px4board
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@ -0,0 +1,3 @@ @@ -0,0 +1,3 @@
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_OSD=n
CONFIG_MODULES_MICRORTPS_BRIDGE=y

140
boards/px4/fmu-v5/uavcanv0periph.cmake
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@ -1,140 +0,0 @@ @@ -1,140 +0,0 @@
px4_add_board(
PLATFORM nuttx
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
IO px4_io-v2_default
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 6
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/invensense/icm20948 # required for ak09916 mag
#irlock
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
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
smart_battery/batmon
telemetry # all available telemetry drivers
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
gyro_calibration
#gyro_fft
land_detector
landing_target_estimator
load_mon
#local_position_estimator
logger
mag_bias_estimator
mavlink
mc_att_control
mc_autotune_attitude_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
#uuv_pos_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
sd_stress
system_time
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
#fake_imu
#fake_magnetometer
#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
)

22
boards/px4/fmu-v5/uavcanv0periph.px4board
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@ -0,0 +1,22 @@ @@ -0,0 +1,22 @@
# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
CONFIG_DRIVERS_ADC_ADS1115=n
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
CONFIG_DRIVERS_PWM_INPUT=n
CONFIG_DRIVERS_ROBOCLAW=n
CONFIG_DRIVERS_RPM=n
CONFIG_MODULES_ESC_BATTERY=n
CONFIG_MODULES_GYRO_FFT=n
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIH=n
CONFIG_MODULES_UUV_ATT_CONTROL=n
CONFIG_MODULES_UUV_POS_CONTROL=n
CONFIG_SYSTEMCMDS_BL_UPDATE=n
CONFIG_SYSTEMCMDS_DUMPFILE=n
CONFIG_SYSTEMCMDS_GPIO=n
CONFIG_BOARD_UAVCAN_PERIPHERALS="cuav_can-gps-v1_default"

138
boards/px4/fmu-v5/uavcanv1.cmake
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@ -1,138 +0,0 @@ @@ -1,138 +0,0 @@
px4_add_board(
PLATFORM nuttx
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
IO px4_io-v2_default
UAVCAN_INTERFACES 2
UAVCAN_TIMER_OVERRIDE 6
SERIAL_PORTS
GPS1:/dev/ttyS0
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
TEL4:/dev/ttyS3
DRIVERS
adc/ads1115
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/analog_devices/adis16448
imu/bosch/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/invensense/icm20948 # required for ak09916 mag
irlock
lights # all available light drivers
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
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
smart_battery/batmon
telemetry # all available telemetry drivers
tone_alarm
#uavcan # legacy v0
uavcan_v1
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
gyro_calibration
gyro_fft
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mag_bias_estimator
mavlink
mc_att_control
mc_autotune_attitude_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
uuv_pos_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
sd_stress
serial_test
system_time
top
topic_listener
tune_control
uorb
usb_connected
ver
work_queue
EXAMPLES
fake_gps
#fake_imu
#fake_magnetometer
#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
)

4
boards/px4/fmu-v5/uavcanv1.px4board
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@ -0,0 +1,4 @@ @@ -0,0 +1,4 @@
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_DRIVERS_UAVCAN_V1=y

6
cmake/px4_config.cmake
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@ -63,6 +63,7 @@ if(NOT PX4_CONFIG_FILE) @@ -63,6 +63,7 @@ if(NOT PX4_CONFIG_FILE)
)
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
set(PX4_BOARD_CMAKE "${PX4_SOURCE_DIR}/boards/${vendor}/${model}/default.cmake" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
@ -75,6 +76,7 @@ if(NOT PX4_CONFIG_FILE) @@ -75,6 +76,7 @@ if(NOT PX4_CONFIG_FILE)
((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
)
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
set(PX4_BOARD_CMAKE "${PX4_SOURCE_DIR}/boards/${vendor}/${model}/default.cmake" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
@ -107,3 +109,7 @@ set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE) @@ -107,3 +109,7 @@ set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE)
set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
if(EXISTS ${PX4_BOARD_CMAKE})
include (${PX4_BOARD_CMAKE})
endif()

32
src/drivers/uavcan/Kconfig
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@ -4,23 +4,21 @@ menuconfig DRIVERS_UAVCAN @@ -4,23 +4,21 @@ menuconfig DRIVERS_UAVCAN
---help---
Enable support for uavcan
if DRIVERS_UAVCAN
menuconfig BOARD_UAVCAN_INTERFACES
depends on DRIVERS_UAVCAN
int "UAVCANv0 interface count"
default 2
---help---
Interface count for UAVCANv0
menuconfig BOARD_UAVCAN_PERIPHERALS
depends on DRIVERS_UAVCAN
string "UAVCAN peripheral firmware"
help
list of UAVCAN peripheral firmware to build and embed
menuconfig BOARD_UAVCAN_INTERFACES
depends on DRIVERS_UAVCAN || DRIVERS_UAVCANNODE
int "UAVCANv0 interface count"
default 2
---help---
Interface count for UAVCANv0
menuconfig BOARD_UAVCAN_TIMER_OVERRIDE
depends on DRIVERS_UAVCAN
int "UAVCAN timer override"
default 0
menuconfig BOARD_UAVCAN_PERIPHERALS
depends on DRIVERS_UAVCAN
string "UAVCAN peripheral firmware"
help
list of UAVCAN peripheral firmware to build and embed
endif #DRIVERS_UAVCAN
menuconfig BOARD_UAVCAN_TIMER_OVERRIDE
depends on DRIVERS_UAVCAN
int "UAVCAN timer override"
default 0

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