[WIP] Add S23K1XX and rddrone uavcan146

[davids5]

Untested

FYI @LorenzMeier, @igalloway

Do not MERGE!

This is built on current Nuttx master + han1raaijmakers-nxpDroneBoards pending PR to upstream.

han1raaijmakers-nxpDroneBoards PR will need to go upstream and be backported or PX4 nuttx will have to be updated.

[LorenzMeier]

@dinomani Could you please give this a go Monday?

[codecov]

Codecov Report

Merging #14082 into master will decrease coverage by 16.21%.
The diff coverage is n/a.

@@             Coverage Diff             @@
##           master   #14082       +/-   ##
===========================================
- Coverage    52.6%   36.39%   -16.22%     
===========================================
  Files         613      545       -68     
  Lines       51634    47000     -4634     
===========================================
- Hits        27162    17105    -10057     
- Misses      24472    29895     +5423

Flag	Coverage Δ
#mavsdk	36.39% <ø> (+0.23%)	⬆️
#python	?
#sitl_mission_MC_box	?
#sitl_mission_MC_offboard_att	?
#sitl_mission_MC_offboard_pos	?
#sitl_mission_Rover	?
#sitl_mission_VTOL_standard	?
#sitl_mission_VTOL_tailsitter	?
#sitl_python_FW	?
#sitl_python_MC_box	?
#sitl_python_MC_offboard_att	?
#sitl_python_MC_offboard_pos	?
#sitl_python_Rover	?
#sitl_python_VTOL_standard	?
#sitl_python_VTOL_tailsitter	?
#unittest	?

Impacted Files	Coverage Δ
src/systemcmds/tests/test_bezierQuad.cpp	0% <0%> (-100%)	⬇️
src/lib/controllib/BlockLimitSym.cpp	0% <0%> (-100%)	⬇️
src/modules/navigator/mission_block.h	0% <0%> (-100%)	⬇️
src/systemcmds/tests/test_search_min.cpp	0% <0%> (-100%)	⬇️
src/systemcmds/tests/test_hrt.cpp	0% <0%> (-100%)	⬇️
...c/modules/mavlink/mavlink_tests/mavlink_ftp_test.h	0% <0%> (-100%)	⬇️
src/modules/navigator/takeoff.h	0% <0%> (-100%)	⬇️
src/modules/navigator/land.h	0% <0%> (-100%)	⬇️
...ontrollib/controllib_test/controllib_test_main.cpp	0% <0%> (-100%)	⬇️
src/systemcmds/tests/test_autodeclination.cpp	0% <0%> (-100%)	⬇️
... and 298 more

[LowOrbitIonCannon]

I get an error building this PR:

I changed the Branch to Hans Nuttx branch and installed the Python extensions.

[davids5]

@LowOrbitIonCannon - there was a python update to master PX4. Most commands to update are emitted during the the Cmake configure step on a clean build. FYI @dagar but the jinga2 one is not,

pip install jinja2

will fix it.

[LowOrbitIonCannon]

Got it running. I had to setup Python3 from scratch

[davids5]

Cool! @LowOrbitIonCannon what does `i2cdetect -b n' for n = 0,1,2,4 show?

[LowOrbitIonCannon]

I connected a GPS device with Compass that is showing up at 0x1e.
Only 1 bus exists

[dk7xe]

GPS connected is a Drotek Sirius (M8N) with LIS3MDL magnetometer.

Would be cool to have the sensor data pushed to the FMU via CAN soon. Since i'm out of UART's ;)

[dk7xe]

i tried building code with a simple adjustment of the boards/nxp/rddrone-uavcan146/default.cmake

        SERIAL_PORTS
                GPS1:/dev/ttyS1

        DRIVERS
                gps

        MODULES

        SYSTEMCMDS
                i2cdetect
                top

But got an error during building

Memory region         Used Size  Region Size  %age Used
          vflash:         652 B         1 KB     63.67%
          pflash:         800 B         16 B    5000.00%
          dflash:      129452 B    1047536 B     12.36%
            sram:        3436 B       124 KB      2.71/home/dep00417/gcc-arm-none-eabi-7-2017-q4-major/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: nxp_rddrone-uavcan146_default.elf section `__param' will not fit in region `pflash'
/home/dep00417/gcc-arm-none-eabi-7-2017-q4-major/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: section __param LMA [0000000000000410,000000000000071f] overlaps section .text LMA [0000000000000410,000000000001fca8]
/home/dep00417/gcc-arm-none-eabi-7-2017-q4-major/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: region `pflash' overflowed by 784 bytes
src/drivers/gps/libdrivers__gps.a(gps.cpp.obj): In function `GPS::setBaudrate(unsigned int)':
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/drivers/gps/gps.cpp:483: undefined reference to `tcgetattr'
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/drivers/gps/gps.cpp:521: undefined reference to `cfsetspeed'
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/drivers/gps/gps.cpp:526: undefined reference to `cfsetspeed'
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/drivers/gps/gps.cpp:531: undefined reference to `tcsetattr'
src/systemcmds/top/libsystemcmds__top.a(top.c.obj): In function `top_main':
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/systemcmds/top/top.c:75: undefined reference to `init_print_load_s'
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/systemcmds/top/top.c:94: undefined reference to `print_load'
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/systemcmds/top/top.c:82: undefined reference to `print_load'
/home/dep00417/src/PX4-uavcan/build/nxp_rddrone-uavcan146_default/../../src/systemcmds/top/top.c:84: undefined reference to `print_load'
/home/dep00417/gcc-arm-none-eabi-7-2017-q4-major/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/lib/thumb/v7e-m/fpv4-sp/hard/libm.a(lib_a-w_sqrt.o): In function `sqrt':
w_sqrt.c:(.text.sqrt+0x84): undefined reference to `__errno'
w_sqrt.c:(.text.sqrt+0xa6): undefined reference to `__errno'
collect2: error: ld returned 1 exit status
%
ninja: build stopped: subcommand failed.
Makefile:200: recipe for target 'nxp_rddrone-uavcan146' failed
make: *** [nxp_rddrone-uavcan146] Error 1

I guess the available memory configuration settings need to be adjusted according S32K146. @davids5 ?

[davids5]

@dk7xe -

I have created branches

https://github.com/PX4/NuttX/tree/master_nxp_drone_boards
https://github.com/PX4/NuttX-apps/tree/master_nxp_drone_boards

These are equal to upstream NuttX what had the S32K PR (et al) merged today.

These branches will be rebased on upstream NuttX and can have the NXP commits on top. That we can submit upstream and then rebase.

This branch is pointing to master_nxp_drone_boards in the PX4 Nuttx and Apps

I will also backport the imx ,Kinetis and S32K PR to px4_firmware_nuttx-8.2

When that is done the team can work on the stable px4_firmware_nuttx-8.2 or the master_nxp_drone_boards version of nuttx.

[dagar]

Closing this PR as the board and architecture support have been merged to PX4 master. We can keep the branch around for a while if anyone would like to continue working with newer NuttX.