This enables flow control on CDCACM for the NuttX boards which fixes a
problem where HITL would stall.
The stall could happen if the hardware would be a bit too slow in
keeping up with the incoming messages. Often, this happened on arming
because the logger would take some time to log all parameters right at
the beginning.
The stall would then not recover due to NuttX bug where the rx interrupt
would not be restored correctly and instead only a slower watchdog would
release the next read. This watchdog takes 200ms which means it's hard
to impossible to get out of the situation without restarting sim and/or
PX4. For more information about the issue, see:
apache/incubator-nuttx#3633
As a workaround, until that bug is fixed, and because it makes sense
anyway, I propose to enable FLOWCONTROL for the serial via USB.
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
- increase stack sizes to run cleanly under stackcheck
- this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
- remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)
Change PID to 0x4b:
Holybro obtained their own PID and VID but APM did not follow
the PX4 convention of makeing the board_id (0x8b) match the PID)
Incorporated the Upstream Bootloader state sequencing checking change.
Change the usb cout to send all chars in 1 write.
Durandal:Fix PLL settings
durandal-v1:Move I2C123, I2C4 to HSI.
Not liking using HSI but, F7 has, and in reality there is no
requerment for accuracy.
durandal-v1:board config set 400kHz on card probe
durandal-v1:Board SDMMC Clock Not greater then 25 mHz
durandal-v1:Fix PLL3 configuration typo and value
CI build config for holybro_durandal-v1
durandal-v1:Kconfig - add knob to ensure ARCH_MATH_H is kept
Upstream changes added ARCH_HAVE_MATH_H to protect from archs
without math.h from causing isses for users setting
CONFIG_ARCH_MATH_H and getting errors. PX4 provides a math.h
and we need CONFIG_ARCH_MATH_H set. So this Selects
ARCH_HAVE_MATH_H perserving CONFIG_ARCH_MATH_H a defconfig
Track master LED removal
durandal-v1: bmi055 -> bmi088
bmi088 is what the board uses
durandal-v1:add PX4IO support
durandal-v1 rc.board_sensors: start baro
durandal-v1: remove segway module
durandal:Run at 480 Mhz
durandal-v1: build thermal control module
durandal-v1: enable IMU thermal control by default
durandal-v1:Track upstream adc start moved to rc.board_sensors
durandal-v1:Track upstream mavlink start moved to rc.board_mavlink
On more complicated setups it's still possible to exceed 32 tasks. For example fmu-v5 with mavlink on every telem (+ USB), external spi usage (pmw3901), gimbal (vmount), multiple i2c sensors, and camera feedback is 35 tasks (with top running). This is a fairly extreme case, so I'm only going to increase CONFIG_MAX_TASKS on newer F7 boards.
But only on the first 4 FMU outputs, as the next ones conflict with px4io
serial dma (UART8_RX)
RX DMA is disabled on the GPS port as well (conflicts with TIM1).
Julian Oes
Daniel Agar
David Sidrane
JacobCrabill
Mirko Denecke
Beat Küng