UAVCAN sensor node (and px4_fmu-v4_cannode example)

.ci/Jenkinsfile-compile

@@ -32,20 +32,36 @@ pipeline {
                      "airmind_mindpx-v2_default",
                      "av_x-v1_default",
                      "bitcraze_crazyflie_default",
-                     "holybro_kakutef7", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck",
+                     "holybro_durandal-v1_default",
+                     "holybro_durandal-v1_stackcheck",
+                     "holybro_kakutef7",
                      "intel_aerofc-v1_default",
                      "modalai_fc-v1_default",
-                     "mro_x21_default", "mro_ctrl-zero-f7_default", "mro_x21-777_default",
+                     "mro_ctrl-zero-f7_default",
+                     "mro_x21-777_default",
+                     "mro_x21_default",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmurt1062-v1_default",
                      "nxp_rddrone-uavcan146_default",
                      "omnibus_f4sd_default",
-                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
+                     "px4_fmu-v2_default",
+                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lpe",
+                     "px4_fmu-v2_multicopter",
+                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_test",
                      "px4_fmu-v3_default",
+                     "px4_fmu-v4_cannode",
                      "px4_fmu-v4_default",
                      "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
-                     "px4_fmu-v5x_default", "px4_fmu-v5x_p2_base_phy_LAN8742Ai",
+                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_fixedwing",
+                     "px4_fmu-v5_multicopter",
+                     "px4_fmu-v5_rover",
+                     "px4_fmu-v5_rtps",
+                     "px4_fmu-v5_stackcheck",
+                     "px4_fmu-v5x_default",
+                     "px4_fmu-v5x_p2_base_phy_LAN8742Ai",
                      "px4_io-v2_default",
                      "uvify_core_default"
             ],

.github/workflows/compile_nuttx.yml

@@ -18,18 +18,36 @@ jobs:
           airmind_mindpx-v2_default,
           av_x-v1_default,
           bitcraze_crazyflie_default,
-          holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck,
+          holybro_durandal-v1_default,
+          holybro_durandal-v1_stackcheck,
+          holybro_kakutef7,
           intel_aerofc-v1_default,
           modalai_fc-v1_default,
-          mro_x21_default, mro_ctrl-zero-f7_default, mro_x21-777_default,
+          mro_ctrl-zero-f7_default,
+          mro_x21-777_default,
+          mro_x21_default,
           nxp_fmuk66-v3_default,
+          nxp_fmurt1062-v1_default,
+          nxp_rddrone-uavcan146_default,
           omnibus_f4sd_default,
-          px4_fmu-v2_default, px4_fmu-v2_fixedwing, px4_fmu-v2_lpe, px4_fmu-v2_multicopter, px4_fmu-v2_rover, px4_fmu-v2_test,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_lpe,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
           px4_fmu-v3_default,
+          px4_fmu-v4_cannode,
           px4_fmu-v4_default,
           px4_fmu-v4pro_default,
-          px4_fmu-v5_default, px4_fmu-v5_fixedwing, px4_fmu-v5_multicopter, px4_fmu-v5_rover, px4_fmu-v5_rtps, px4_fmu-v5_stackcheck,
+          px4_fmu-v5_default,
+          px4_fmu-v5_fixedwing,
+          px4_fmu-v5_multicopter,
+          px4_fmu-v5_rover,
+          px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
           px4_fmu-v5x_default,
+          px4_fmu-v5x_p2_base_phy_LAN8742Ai,
           px4_io-v2_default,
           uvify_core_default
           ]

.gitmodules

@@ -42,10 +42,6 @@
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
 	branch = px4_firmware_nuttx-8.2
-[submodule "cmake/configs/uavcan_board_ident"]
-	path = cmake/configs/uavcan_board_ident
-	url = https://github.com/PX4/uavcan_board_ident.git
-	branch = master
 [submodule "platforms/qurt/dspal"]
 	path = platforms/qurt/dspal
 	url = https://github.com/ATLFlight/dspal.git

Makefile

@@ -230,7 +230,7 @@ excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
 # Other targets
 # --------------------------------------------------------------------
 
-.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
+.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
 
 # QGroundControl flashable NuttX firmware
 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -256,11 +256,6 @@ misc_qgc_extra_firmware: \
 	check_px4_fmu-v2_lpe \
 	sizes
 
-# Other NuttX firmware
-alt_firmware: \
-	check_px4_cannode-v1_default \
-	sizes
-
 # builds with RTPS
 check_rtps: \
 	check_px4_fmu-v3_rtps \
@@ -275,7 +270,7 @@ 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_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
 
 # quick_check builds a single nuttx and SITL target, runs testing, and checks the style
 quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format

ROMFS/cannode/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(init.d)

boards/px4/cannode-v1/src/CMakeLists.txt → ROMFS/cannode/init.d/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,18 +31,6 @@
 #
 ############################################################################
 
-add_library(drivers_board
-	buttons.c
-	can.c
-	init.c
-	led.c
-	spi.c
+px4_add_romfs_files(
+	rcS
 )
-
-target_link_libraries(drivers_board
-	PRIVATE
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		drivers__led # drv_led_start
-		px4_layer
-	)

ROMFS/cannode/init.d/rcS

@@ -0,0 +1,106 @@
+#!/bin/sh
+# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
+set +e
+# Un comment the line below to help debug scripts by printing a trace of the script commands
+#set -x
+# PX4FMU startup script.
+#
+# NOTE: environment variable references:
+#    If the dollar sign ('$') is followed by a left bracket ('{') then the
+#    variable name is terminated with the right bracket character ('}').
+#    Otherwise, the variable name goes to the end of the argument.
+#
+#
+# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
+#
+#------------------------------------------------------------------------------
+
+#
+# Mount the procfs.
+#
+mount -t procfs /proc
+
+#
+# Start CDC/ACM serial driver.
+#
+sercon
+
+#
+# Print full system version.
+#
+ver all
+
+#
+# Start the ORB (first app to start)
+# tone_alarm and tune_control
+# is dependent.
+#
+uorb start
+
+#
+# Set the parameter file if mtd starts successfully.
+#
+if mtd start
+then
+	set PARAM_FILE /fs/mtd_params
+fi
+
+#
+# Load parameters.
+#
+param select $PARAM_FILE
+if ! param load
+then
+	param reset
+fi
+
+#
+# Optional board defaults: rc.board_defaults
+#
+set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
+if [ -f $BOARD_RC_DEFAULTS ]
+then
+	echo "Board defaults: ${BOARD_RC_DEFAULTS}"
+	sh $BOARD_RC_DEFAULTS
+fi
+unset BOARD_RC_DEFAULTS
+
+#
+# Start system state indicator.
+#
+rgbled start
+rgbled_ncp5623c start
+rgbled_pwm start
+
+if param greater LIGHT_EN_BLINKM 0
+then
+	if blinkm start
+	then
+		blinkm systemstate
+	fi
+fi
+
+#
+# board sensors: rc.sensors
+#
+set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
+if [ -f $BOARD_RC_SENSORS ]
+then
+	echo "Board sensors: ${BOARD_RC_SENSORS}"
+	sh $BOARD_RC_SENSORS
+fi
+unset BOARD_RC_SENSORS
+
+#
+# Start UART/Serial device drivers.
+# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
+#
+sh /etc/init.d/rc.serial
+
+# Check for flow sensor, launched as a background task to scan
+if param compare SENS_EN_PX4FLOW 1
+then
+	px4flow start &
+fi
+
+uavcannode start

boards/nxp/rddrone-uavcan146/default.cmake

@@ -1,19 +1,75 @@
+
+
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 1)
+set(uavcanblid_hw_version_minor 0)
+set(uavcanblid_name "\"org.nxp.rddrone-uavcan146\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
+
 px4_add_board(
 	PLATFORM nuttx
 	VENDOR nxp
 	MODEL rddrone-uavcan146
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-
+	ROMFSROOT cannode
 	UAVCAN_INTERFACES 2
-
 	DRIVERS
-
+		#adc
+		#barometer # all available barometer drivers
+		#bootloaders
+		#differential_pressure # all available differential pressure drivers
+		#distance_sensor # all available distance sensor drivers
+		#dshot
+		#gps
+		#imu # all available imu drivers
+		#lights
+		#magnetometer # all available magnetometer drivers
+		#optical_flow # all available optical flow drivers
+		#px4fmu
+		#safety_button
+		#tone_alarm
+		#uavcannode # TODO: CAN driver needed
 	MODULES
-
+		#ekf2
+		#load_mon
+		#sensors
+		#temperature_compensation
 	SYSTEMCMDS
+		#bl_update
+		#dmesg
+		#dumpfile
+		#esc_calib
+		#hardfault_log
 		i2cdetect
-
-	EXAMPLES
-	)
+		#led_control
+		#mixer
+		#motor_ramp
+		#motor_test
+		#nshterm
+		#param
+		#perf
+		#pwm
+		reboot
+		#reflect
+		#sd_bench
+		shutdown
+		#top
+		#topic_listener
+		#tune_control
+		ver
+		#work_queue
+)