[Kconfig] Fixed inclusion of microbench bydefault when TESTING was enabled

Added full optimization option
4 years ago · efc91d2b69
18 changed files with 59 additions and 1 deletions
--- a/7
+++ b/7
@ -51,6 +51,12 @@ menu "Toolchain"
				@@ -51,6 +51,12 @@ menu "Toolchain"
        string "Architecture"
        default ""

+    config BOARD_FULL_OPTIMIZATION
+        bool "Full optmization (O3)"
+        default n
+        help
+            Enables Cmake Release for -O3 optimization
+
    config BOARD_ROMFSROOT
        string "ROMFSROOT"
        default "px4fmu_common"
@ -104,7 +110,6 @@ endmenu #Toolchain
				@@ -104,7 +110,6 @@ endmenu #Toolchain

 config BOARD_TESTING
    bool "Testing"
-    select SYSTEMCMDS_MICROBENCH
    select SYSTEMCMDS_TESTS
    help
        flag to enable automatic inclusion of PX4 testing modules
--- a/boards/cuav/nora/test.px4board
+++ b/boards/cuav/nora/test.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/cuav/x7pro/test.px4board
+++ b/boards/cuav/x7pro/test.px4board
@ -6,3 +6,4 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
				@@ -6,3 +6,4 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/cubepilot/cubeorange/test.px4board
+++ b/boards/cubepilot/cubeorange/test.px4board
@ -8,3 +8,4 @@ CONFIG_MODULES_SIH=n
				@@ -8,3 +8,4 @@ CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/cubepilot/cubeyellow/test.px4board
+++ b/boards/cubepilot/cubeyellow/test.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/holybro/durandal-v1/test.px4board
+++ b/boards/holybro/durandal-v1/test.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/modalai/fc-v1/test.px4board
+++ b/boards/modalai/fc-v1/test.px4board
@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
				@@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/modalai/fc-v2/test.px4board
+++ b/boards/modalai/fc-v2/test.px4board
@ -1,5 +1,6 @@
				@@ -1,5 +1,6 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
--- a/boards/px4/fmu-v2/test.px4board
+++ b/boards/px4/fmu-v2/test.px4board
@ -2,5 +2,6 @@ CONFIG_BOARD_ROMFSROOT="px4fmu_test"
				@@ -2,5 +2,6 @@ CONFIG_BOARD_ROMFSROOT="px4fmu_test"
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_VER=y
--- a/boards/px4/fmu-v3/test.px4board
+++ b/boards/px4/fmu-v3/test.px4board
@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
				@@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v4/test.px4board
+++ b/boards/px4/fmu-v4/test.px4board
@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
				@@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v4pro/test.px4board
+++ b/boards/px4/fmu-v4pro/test.px4board
@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
				@@ -10,3 +10,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v5/optimized.px4board
+++ b/boards/px4/fmu-v5/optimized.px4board
@ -1,6 +1,40 @@
				@@ -1,6 +1,40 @@
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_OPTICAL_FLOW=n
+CONFIG_DRIVERS_HEATER=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=n
+CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_POWER_MONITOR_INA226=n
+CONFIG_DRIVERS_PWM_INPUT=n
+CONFIG_DRIVERS_ROBOCLAW=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_TELEMETRY=n
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_GYRO_FFT=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_SIH=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_MODULES_UUV_ATT_CONTROL=n
+CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_VMOUNT=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_SYSTEMCMDS_DUMPFILE=n
+CONFIG_SYSTEMCMDS_ESC_CALIB=n
+CONFIG_SYSTEMCMDS_GPIO=n
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-error=array-bounds"
 CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_BOARD_FULL_OPTIMIZATION=y
 CONFIG_BOARD_TESTING=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v5/test.px4board
+++ b/boards/px4/fmu-v5/test.px4board
@ -15,3 +15,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
				@@ -15,3 +15,4 @@ CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
 CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v5x/test.px4board
+++ b/boards/px4/fmu-v5x/test.px4board
@ -1,2 +1,3 @@
				@@ -1,2 +1,3 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v6u/test.px4board
+++ b/boards/px4/fmu-v6u/test.px4board
@ -2,3 +2,4 @@ CONFIG_BOARD_TESTING=y
				@@ -2,3 +2,4 @@ CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_EXAMPLES_FAKE_IMU=y
 CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
--- a/boards/px4/fmu-v6x/test.px4board
+++ b/boards/px4/fmu-v6x/test.px4board
@ -1,3 +1,4 @@
				@@ -1,3 +1,4 @@
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
+CONFIG_SYSTEMCMDS_MICROBENCH=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@ -313,6 +313,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
				@@ -313,6 +313,10 @@ if(EXISTS ${BOARD_DEFCONFIG})
        set(ENABLE_LOCKSTEP_SCHEDULER no)
 	endif()

+	if(FULL_OPTIMIZATION)
+        set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+	endif()
+
 	include(px4_impl_os)
 	px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})