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Configurable serial ports v2 #10337

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merged 25 commits into from
Sep 25, 2018
Merged

Configurable serial ports v2 #10337

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9a3d4ca
cmake configs: minor cleanup for hott telemetry
bkueng Jun 7, 2018
33baa49
sf0x: add -d param to pass the serial port
bkueng Jun 7, 2018
1305d30
param: add 'param touch <param_name>' command
bkueng Jun 7, 2018
9cb4ef7
Tools/serial: add script to generate ROMFS serial startup logic & ser…
bkueng Jun 7, 2018
b9fb5f2
cmake: add serial param & ROMFS generation to the build system
bkueng Jun 7, 2018
36c4cda
px4_cli: add px4_get_parameter_value CLI helper method
bkueng Jun 7, 2018
88c616b
pwm.cpp: use px4_get_parameter_value
bkueng Jun 7, 2018
3729e4d
micrortps_client: use px4_get_parameter_value for baudrate
bkueng Jun 7, 2018
c1a6584
mavlink_main: use px4_get_parameter_value for baudrate, datarate and …
bkueng Jun 7, 2018
98b4776
gpssim: remove unused uart_path
bkueng Jun 7, 2018
4c2b849
boards: remove GPS_DEFAULT_UART_PORT
bkueng Jun 7, 2018
63090e3
px_process_params.py: fix default argument for --inject-xml
bkueng Aug 27, 2018
54602e8
Tools/validate_yaml: add schema validation for module yaml config files
bkueng Aug 27, 2018
6552a12
sf0x: avoid reopening the UART on startup
bkueng Sep 4, 2018
19cba1b
module_schema.yaml: add parameter definitions
bkueng Sep 4, 2018
883749a
module_schema.yaml: move from test/ to validation/
bkueng Sep 4, 2018
6c2032d
px4_module.h: remove unnecessary ;
bkueng Sep 5, 2018
15d993a
params: remove unused SENS_EN_* params
bkueng Sep 5, 2018
aadd938
Tools/serial: use per-module serial port config params, instead of pe…
bkueng Aug 27, 2018
8be6a4c
serial drivers/modules: add yaml config files
bkueng Aug 27, 2018
b0c0285
SYS_COMPANION: deprecate this param
bkueng Sep 5, 2018
4657334
rc.serial.jinja: remove 'param touch' for baudrates
bkueng Sep 5, 2018
b3d1af9
shellcheck: ignore SC2154 on NuttX
bkueng Sep 5, 2018
3bb734e
serial generate config add 10 generic serial ports
dagar Sep 16, 2018
69b098b
Jenkins: add module config validation to CI
bkueng Sep 22, 2018
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8 changes: 7 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -145,6 +145,8 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
endif()

set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)

include(platforms/${OS}/cmake/px4_impl_os.cmake)
include(configs/${CONFIG})
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
Expand Down Expand Up @@ -473,8 +475,12 @@ add_custom_target(metadata_airframes
USES_TERMINAL
)

file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
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It's worth getting rid of all cmake globbing to avoid possible surprises with incremental builds.

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Absolutely. This was just the quickest way to achieve it. Essentially I want to tell cmake 'give me all module configs for all possible modules'. And adding a new config with all modules does not seem right for that.

${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
add_custom_target(metadata_parameters
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
Expand Down Expand Up @@ -530,4 +536,4 @@ else()
set(CPACK_GENERATOR "ZIP")
endif()

include(CPack)
include(CPack)
13 changes: 13 additions & 0 deletions Jenkinsfile
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Expand Up @@ -175,6 +175,19 @@ pipeline {
}
}

stage('Module Config Validation') {
agent {
docker {
image 'px4io/px4-dev-base:2018-09-11'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make validate_module_configs'
}
}

} // parallel
} // stage Analysis

Expand Down
6 changes: 5 additions & 1 deletion Makefile
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Expand Up @@ -325,7 +325,8 @@ python_coverage:

# static analyzers (scan-build, clang-tidy, cppcheck)
# --------------------------------------------------------------------
.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck shellcheck_all
.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
.PHONY: cppcheck shellcheck_all validate_module_configs

scan-build:
@export CCC_CC=clang
Expand Down Expand Up @@ -364,6 +365,9 @@ shellcheck_all:
@$(SRC_DIR)/Tools/run-shellcheck.sh $(SRC_DIR)/ROMFS/px4fmu_common/
@make px4fmu-v2_default shellcheck

validate_module_configs:
@find $(SRC_DIR)/src/modules $(SRC_DIR)/src/drivers $(SRC_DIR)/src/lib -name *.yaml -type f -print0 | xargs -0 $(SRC_DIR)/Tools/validate_yaml.py --schema-file $(SRC_DIR)/validation/module_schema.yaml

# Cleanup
# --------------------------------------------------------------------
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
Expand Down
15 changes: 14 additions & 1 deletion ROMFS/CMakeLists.txt
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Expand Up @@ -73,7 +73,12 @@ add_subdirectory(${romfs_src_dir})
# copy all romfs files, process airframes, prune comments
get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}/init.d/rc.autostart
get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}/init.d/rc.serial ${romfs_gen_root_dir}/init.d/rc.autostart
COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
# TODO: we should only copy the files in ${romfs_copy_files}
COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
Expand All @@ -83,13 +88,20 @@ add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rcS ${romfs_gen_root_dir}
--airframes-path ${romfs_gen_root_dir}/init.d
--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
--board ${BOARD}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
--rc-dir ${romfs_gen_root_dir}/init.d
--serial-ports ${board_serial_ports} ${added_arguments}
--config-files ${module_config_files} #--verbose
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
--folder ${romfs_gen_root_dir} --board ${BOARD}
DEPENDS
${jinja_templates}
${module_config_files}
${romfs_cmake_files}
${romfs_copy_files}
${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
COMMENT "ROMFS: copying, generating airframes, pruning"
)

Expand Down Expand Up @@ -167,6 +179,7 @@ if(SHELLCHECK_PATH)
--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
--exclude=SC2039 # SC2039: In POSIX sh, == in place of = is undefined.
--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
init.d/*
DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
WORKING_DIRECTORY ${romfs_gen_root_dir}
Expand Down
7 changes: 6 additions & 1 deletion ROMFS/px4fmu_common/init.d/13013_deltaquad
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Expand Up @@ -125,7 +125,12 @@ then
param set PWM_RATE 400

param set SENS_BOARD_ROT 18
param set SYS_COMPANION 57600

# TELEM2 config
param set MAV_1_CONFIG 102
param set MAV_1_RATE 5000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 57600

param set VT_TYPE 2
param set VT_MOT_COUNT 4
Expand Down
2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
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Expand Up @@ -53,8 +53,6 @@ then
param set PWM_DISARMED 0
param set PWM_MIN 900
param set PWM_MAX 2100

param set SYS_COMPANION 157600
fi

set MIXER caipi
Expand Down
7 changes: 5 additions & 2 deletions ROMFS/px4fmu_common/init.d/4030_3dr_solo
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Expand Up @@ -84,12 +84,15 @@ then
param set RC5_MIN 1000
param set RC5_REV 1
param set RC5_TRIM 1500

# enable high-speed link on telem 1
param set MAV_0_RATE 80000
param set MAV_0_MODE 2
param set SER_TEL1_BAUD 921600
fi

set MIXER quad_x

set PWM_OUT 1234
set MIXER_AUX none

# enable high-speed link on telem 1
set MAVLINK_F "-d /dev/ttyS1 -b 921600 -r 80000 -m onboard -x"
7 changes: 5 additions & 2 deletions ROMFS/px4fmu_common/init.d/4070_aerofc
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Expand Up @@ -64,7 +64,11 @@ then
param set MPC_Z_VEL_MAX_UP 5.0000
param set MPC_Z_VEL_P 0.8000

param set SYS_COMPANION 921600
# TELEM2 config
param set MAV_1_CONFIG 102
param set MAV_1_RATE 80000
param set MAV_1_FORWARD 1
param set SER_TEL2_BAUD 921600
fi

if param compare SYS_HITL 0
Expand All @@ -78,4 +82,3 @@ fi
set MIXER quad_x
set USE_IO no

set MAVLINK_COMPANION_DEVICE /dev/ttyS1
7 changes: 6 additions & 1 deletion ROMFS/px4fmu_common/init.d/4900_crazyflie
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Expand Up @@ -65,12 +65,17 @@ then
param set PWM_RATE 3921

param set SDLOG_PROFILE 1

param set SENS_FLOW_MINRNG 0.05
param set SYS_COMPANION 20

param set SYS_FMU_TASK 1

fi

set PWM_DISARMED none
set PWM_MAX none
set PWM_MIN none

syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

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