UAVCAN bootloaders split into separate repository

PX4 · Sep 4, 2017 · 83e6397 · 83e6397
1 parent bbd6f7d
commit 83e6397
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diff --git a/.gitmodules b/.gitmodules
@@ -39,7 +39,10 @@
 	url = https://github.com/eProsima/micro-CDR.git
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = git@github.com:PX4-NuttX/nuttx.git
+	url = https://github.com/PX4-NuttX/nuttx.git
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
-	url = [email protected]:PX4-NuttX/apps.git
+	url = https://github.com/PX4-NuttX/apps.git
+[submodule "cmake/configs/uavcan_board_ident"]
+	path = cmake/configs/uavcan_board_ident
+	url = https://github.com/PX4/uavcan_board_ident.git
diff --git a/Makefile b/Makefile
@@ -182,7 +182,7 @@ excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders sizes check quick_check
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware sizes check quick_check
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
@@ -218,20 +218,11 @@ alt_firmware: \
 	check_s2740vc-v1_default \
 	sizes
 
-checks_bootloaders: \
-	check_esc35-v1_bootloader \
-	check_px4esc-v1_bootloader \
-	check_px4flow-v2_bootloader \
-	check_s2740vc-v1_bootloader \
-# not fitting in flash		check_px4cannode-v1_bootloader \
-# not fitting in flash	check_zubaxgnss-v1_bootloader \
-	sizes
-
 sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders tests check_format
+check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
 quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format

diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt
@@ -42,4 +42,5 @@ add_custom_command(OUTPUT nsh_romfsimg.c
 	)
 
 add_library(romfs STATIC nsh_romfsimg.c)
+add_dependencies(romfs platforms__common)
 set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
diff --git a/cmake/common/px4_metadata.cmake b/cmake/common/px4_metadata.cmake
@@ -73,102 +73,97 @@ function(px4_generate_messages)
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 
-	if("${nuttx_config_type}" STREQUAL "bootloader")
-		# do nothing for bootloaders
-	else()
+	set(QUIET)
+	if (NOT VERBOSE)
+		set(QUIET "-q")
+	endif()
 
-		set(QUIET)
-		if (NOT VERBOSE)
-			set(QUIET "-q")
-		endif()
+	# headers
+	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_list)
+	foreach(msg_file ${MSG_FILES})
+		get_filename_component(msg ${msg_file} NAME_WE)
+		list(APPEND msg_list ${msg})
+	endforeach()
 
-		# headers
-		set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
-		set(msg_list)
-		foreach(msg_file ${MSG_FILES})
-			get_filename_component(msg ${msg_file} NAME_WE)
-			list(APPEND msg_list ${msg})
-		endforeach()
+	set(msg_files_out)
+	foreach(msg ${msg_list})
+		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
+	endforeach()
 
-		set(msg_files_out)
-		foreach(msg ${msg_list})
-			list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
-		endforeach()
-
-		add_custom_command(OUTPUT ${msg_files_out}
-			COMMAND ${PYTHON_EXECUTABLE}
-				Tools/px_generate_uorb_topic_files.py
-				--headers
-				${QUIET}
-				-f ${MSG_FILES}
-				-i ${INCLUDES}
-				-o ${msg_out_path}
-				-e msg/templates/uorb
-				-t ${PX4_BINARY_DIR}/topics_temporary_header
-			DEPENDS ${DEPENDS} ${MSG_FILES}
-			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-			COMMENT "Generating uORB topic headers"
-			VERBATIM
-			)
+	add_custom_command(OUTPUT ${msg_files_out}
+		COMMAND ${PYTHON_EXECUTABLE}
+			Tools/px_generate_uorb_topic_files.py
+			--headers
+			${QUIET}
+			-f ${MSG_FILES}
+			-i ${INCLUDES}
+			-o ${msg_out_path}
+			-e msg/templates/uorb
+			-t ${PX4_BINARY_DIR}/topics_temporary_header
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMENT "Generating uORB topic headers"
+		VERBATIM
+		)
 
-		# !sources
-		set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
-		set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
-		foreach(msg ${msg_list})
-			list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
-		endforeach()
-		add_custom_command(OUTPUT ${msg_source_files_out}
-			COMMAND ${PYTHON_EXECUTABLE}
-				Tools/px_generate_uorb_topic_files.py
-				--sources
-				${QUIET}
-				-f ${MSG_FILES}
-				-i ${INCLUDES}
-				-o ${msg_source_out_path}
-				-e msg/templates/uorb
-				-t ${PX4_BINARY_DIR}/topics_temporary_sources
-			DEPENDS ${DEPENDS} ${MSG_FILES}
-			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-			COMMENT "Generating uORB topic sources"
-			VERBATIM
-			)
-		set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
+	# !sources
+	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
+	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
+	foreach(msg ${msg_list})
+		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_source_files_out}
+		COMMAND ${PYTHON_EXECUTABLE}
+			Tools/px_generate_uorb_topic_files.py
+			--sources
+			${QUIET}
+			-f ${MSG_FILES}
+			-i ${INCLUDES}
+			-o ${msg_source_out_path}
+			-e msg/templates/uorb
+			-t ${PX4_BINARY_DIR}/topics_temporary_sources
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMENT "Generating uORB topic sources"
+		VERBATIM
+		)
+	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
 
-		# multi messages for target OS
-		set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
-		set(msg_multi_files_out)
-		foreach(msg ${msg_list})
-			list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
-		endforeach()
-		add_custom_command(OUTPUT ${msg_multi_files_out}
-			COMMAND ${PYTHON_EXECUTABLE}
-				Tools/px_generate_uorb_topic_files.py
-				--headers
-				${QUIET}
-				-f ${MSG_FILES}
-				-i ${INCLUDES}
-				-o ${msg_multi_out_path}
-				-e msg/templates/px4/uorb
-				-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
-				-p "px4_"
-			DEPENDS ${DEPENDS} ${MSG_FILES}
-			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-			COMMENT "Generating uORB topic multi headers for ${OS}"
-			VERBATIM
-			)
+	# multi messages for target OS
+	set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+	set(msg_multi_files_out)
+	foreach(msg ${msg_list})
+		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_multi_files_out}
+		COMMAND ${PYTHON_EXECUTABLE}
+			Tools/px_generate_uorb_topic_files.py
+			--headers
+			${QUIET}
+			-f ${MSG_FILES}
+			-i ${INCLUDES}
+			-o ${msg_multi_out_path}
+			-e msg/templates/px4/uorb
+			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
+			-p "px4_"
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		COMMENT "Generating uORB topic multi headers for ${OS}"
+		VERBATIM
+		)
 
-		px4_add_library(${TARGET}
-			${msg_source_files_out}
-			${msg_multi_files_out}
-			${msg_files_out}
-			)
+	px4_add_library(${TARGET}
+		${msg_source_files_out}
+		${msg_multi_files_out}
+		${msg_files_out}
+		)
 
-		target_include_directories(${TARGET}
-			PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
-			PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
-			)
-		target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
-    endif()
+	target_include_directories(${TARGET}
+		PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
+		PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
+		)
+	target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
 endfunction()
 
 #=============================================================================

diff --git a/cmake/configs/nuttx_esc35-v1_bootloader.cmake b/cmake/configs/nuttx_esc35-v1_bootloader.cmake
diff --git a/cmake/configs/nuttx_esc35-v1_default.cmake b/cmake/configs/nuttx_esc35-v1_default.cmake
@@ -34,14 +34,11 @@ px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
 	SW_MINOR ${uavcanblid_sw_version_minor}
 )
 
-include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/esc35-v1/bootloader)
-
 set(config_module_list
 	#
 	# Board support modules
 	#
 	drivers/boards
-	drivers/bootloaders
 	drivers/device
 	drivers/led
 	drivers/stm32

diff --git a/cmake/configs/nuttx_px4cannode-v1_bootloader.cmake b/cmake/configs/nuttx_px4cannode-v1_bootloader.cmake
diff --git a/cmake/configs/nuttx_px4cannode-v1_default.cmake b/cmake/configs/nuttx_px4cannode-v1_default.cmake
@@ -24,16 +24,14 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
+	BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4cannode-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
 	SW_MAJOR ${uavcanblid_sw_version_major}
 	SW_MINOR ${uavcanblid_sw_version_minor}
 )
 
-include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4cannode-v1/bootloader)
-
 set(config_module_list
 	#
 	# Board support modules

diff --git a/cmake/configs/nuttx_px4esc-v1_bootloader.cmake b/cmake/configs/nuttx_px4esc-v1_bootloader.cmake
diff --git a/cmake/configs/nuttx_px4esc-v1_default.cmake b/cmake/configs/nuttx_px4esc-v1_default.cmake
@@ -26,16 +26,14 @@ add_definitions(
 )
 
 px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
-	BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
+	BIN ${PX4_BINARY_DIR}/src/firmware/nuttx/px4esc-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
 	SW_MAJOR ${uavcanblid_sw_version_major}
 	SW_MINOR ${uavcanblid_sw_version_minor}
 )
 
-include_directories(${PX4_SOURCE_DIR}/src/drivers/boards/px4esc-v1/bootloader)
-
 set(config_module_list
 	#
 	# Board support modules

diff --git a/cmake/configs/nuttx_px4flow-v2_bootloader.cmake b/cmake/configs/nuttx_px4flow-v2_bootloader.cmake
diff --git a/cmake/configs/nuttx_s2740vc-v1_bootloader.cmake b/cmake/configs/nuttx_s2740vc-v1_bootloader.cmake
diff --git a/cmake/configs/nuttx_zubaxgnss-v1_bootloader.cmake b/cmake/configs/nuttx_zubaxgnss-v1_bootloader.cmake
diff --git a/cmake/configs/uavcan_board_ident b/cmake/configs/uavcan_board_ident
diff --git a/cmake/configs/uavcan_board_ident/esc35-v1.cmake b/cmake/configs/uavcan_board_ident/esc35-v1.cmake
diff --git a/cmake/configs/uavcan_board_ident/px4cannode-v1.cmake b/cmake/configs/uavcan_board_ident/px4cannode-v1.cmake
diff --git a/cmake/configs/uavcan_board_ident/px4esc-v1.cmake b/cmake/configs/uavcan_board_ident/px4esc-v1.cmake
diff --git a/cmake/configs/uavcan_board_ident/px4flow-v2.cmake b/cmake/configs/uavcan_board_ident/px4flow-v2.cmake
diff --git a/cmake/configs/uavcan_board_ident/s2740vc-v1.cmake b/cmake/configs/uavcan_board_ident/s2740vc-v1.cmake
diff --git a/cmake/configs/uavcan_board_ident/zubaxgnss-v1.cmake b/cmake/configs/uavcan_board_ident/zubaxgnss-v1.cmake
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -188,9 +188,7 @@ function(px4_os_add_flags)
 	#set(added_link_dirs ${nuttx_export_dir}/libs)
 	set(added_definitions -D__PX4_NUTTX)
 
-	if(NOT ${nuttx_config_type} STREQUAL "bootloader")
-		list(APPEND added_definitions -D__DF_NUTTX)
-	endif()
+	list(APPEND added_definitions -D__DF_NUTTX)
 
 	if("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
 		set(instrument_flags
@@ -241,7 +239,7 @@ function(px4_os_prebuild_targets)
 	add_custom_target(${OUT} DEPENDS nuttx_context)
 
 	# parse nuttx config options for cmake
-	file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
+	file(STRINGS ${PX4_SOURCE_DIR}/nuttx-configs/${BOARD}/nsh/defconfig ConfigContents)
 	foreach(NameAndValue ${ConfigContents})
 		# Strip leading spaces
 		string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
@@ -271,7 +269,6 @@ endfunction()
 #	Usage:
 #		px4_nuttx_configure(
 #	    HWCLASS <m3|m4>
-#		  CONFIG <nsh|bootloader
 #		  [ROMFS <y|n>
 #		  ROMFSROOT <root>]
 #			)
@@ -306,13 +303,6 @@ function(px4_nuttx_configure)
 	set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
 	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
 
-	# CONFIG (nsh/bootloader)
-	if(CONFIG)
-		set(nuttx_config_type ${CONFIG} PARENT_SCOPE)
-	else()
-		set(nuttx_config_type "nsh" PARENT_SCOPE)
-	endif()
-
 	# ROMFS
 	if("${ROMFS}" STREQUAL "y")
 		if (NOT DEFINED ROMFSROOT)