NuttX upgrade split UAVCAN bootloaders into separate repository

[dagar]

New repos (would move to PX4 org)
https://github.com/dagar/bootloaders_uavcan
https://github.com/dagar/uavcan_board_ident

Duplicated between Firmware and bootloaders_uavcan

• nuttx defconfig
• boot_app_shared.c and boot_app_shared.c
• uavcan board identity is shareed via a new repository included in both Firmware and bootloaders_uavcan

[davids5]

@dagar - some feedback

I tested px4esc-v1 and it works. So I would assume, that all should

Some minor issues:

The git hash it was tied to was not in repo I checked out the px4_nuttx-master - it is building

.gitignore list_config_targets needs .project .cproject .settings

Make is tad broken:

$ make list_config_targets
/bin/sh: -c: line 0: syntax error near unexpected token `)'
/bin/sh: -c: line 0: `for targ in esc35-v1 px4cannode-v1 px4esc-v1 px4flow-v2 s2740vc-v1 zubaxgnss-v1) do echo $targ; done'
make: *** [list_config_targets] Error 1

I needed debug symbols, can not set build type from command line
CMAKE_BUILD_TYPE=RelWithDebInfo make
would not work

make clean
CMAKE_BUILD_TYPE=RelWithDebInfo make
-- The ASM compiler identification is GNU
-- Found assembler: /usr/lib64/ccache/arm-none-eabi-gcc
-- PX4 NuttX bootloader: esc35-v1 cortex-m4
-- Build Type: MinSizeRel
-- Configuring done
-- Generating done
-- Build files have been written to: /home/david_s5/Desktop/dev/PX4/repos/mainline/bootloaders_uavcan/build/esc35-v1
[1/28] Copying NuttX/nuttx to 

I had to edit cmake to get RelWithDebInfo but then px4cannode-v1 will not fit :(.
It use to only overflow by 18 bytes. So something more may be up.

-- The ASM compiler identification is GNU
-- Found assembler: /usr/lib64/ccache/arm-none-eabi-gcc
-- PX4 NuttX bootloader: px4cannode-v1 cortex-m3
-- Build Type: RelWithDebInfo
-- Configuring done
-- Generating done
-- Build files have been written to: 
bootloaders_uavcan/build/px4cannode-v1
[28/28] Linking C executable px4cannode-v1.elf
FAILED: : && /usr/lib64/ccache/arm-none-eabi-gcc  -mcpu=cortex-m3 -mthumb -march=armv7-m -O2 -g -DNDEBUG  -mcpu=cortex-m3 -mthumb -march=armv7-m -flto -nodefaultlibs -nostdlib -Wl,--warn-common,--gc-sections CMakeFiles/px4cannode-v1.elf.dir/configs/px4cannode-v1/nuttx-config/src/empty.c.obj  -o px4cannode-v1.elf  -T/home/david_s5/Desktop/dev/PX4/repos/mainline/bootloaders_uavcan/configs/px4cannode-v1/nuttx-config/scripts/ld.script -Wl,-Map=/home/david_s5/Desktop/dev/PX4/repos/mainline/bootloaders_uavcan/build/px4cannode-v1/px4cannode-v1.map -Wl,-wrap,sched_process_timer -Wl,-wrap,sem_post -Wl,-wrap,sem_wait -Wl,--warn-common -Wl,--gc-sections -Wl,--start-group configs/px4cannode-v1/libpx4cannode-v1.a src/libdrivers_bootloaders.a nuttx/arch/arm/src/libarch.a nuttx/configs/px4cannode-v1/src/libboard.a nuttx/libc/libc.a nuttx/sched/libsched.a libnuttx_startup.a -Wl,--end-group && :
/home/david_s5/gcc-arm-none-eabi-5_4-2016q2/bin/../lib/gcc/arm-none-eabi/5.4.1/../../../../arm-none-eabi/bin/ld: px4cannode-v1.elf section `.text' will not fit in region `flash'
/home/david_s5/gcc-arm-none-eabi-5_4-2016q2/bin/../lib/gcc/arm-none-eabi/5.4.1/../../../../arm-none-eabi/bin/ld: region `flash' overflowed by 523 bytes
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.
make: *** [px4cannode-v1] Error 1

[davids5]

@dagar see comments.

[dagar]

It was building MinSizeRel (-Os), RelWithDebInfo is actually -O2. Like with firmware I'll keep it at MinSizeRel, but manually add -g.

Does it actually need the nuttx patches? Whatever we point nuttx at should have a corresponding branch.

I'll update .gitignore and try to fix Make magic.

[davids5]

@dagar see https://github.com/dagar/bootloaders_uavcan/pull/1

[davids5]

Does it actually need the nuttx patches? Whatever we point nuttx at should have a corresponding branch.

I am on the fence. If an upstream change breaks uavcan BL, it means I most likely need to check why thing grew. But on the other hand, locking down to a version that works - may be be good enough.

We could also tie it to a new branch px4_nuttx-uavcan_bootloaders and fix the one commit that made it not fit.

[dagar]

Try https://github.com/dagar/bootloaders_uavcan again. I think I've addressed everything.

   text    data     bss     dec     hex filename
   8159       4    5144   13307    33fb build/esc35-v1/esc35-v1.elf
   8571       4    4240   12815    320f build/px4esc-v1/px4esc-v1.elf
   7967       4    3944   11915    2e8b build/px4cannode-v1/px4cannode-v1.elf
   7735       4    4120   11859    2e53 build/s2740vc-v1/s2740vc-v1.elf
   8495       4    4160   12659    3173 build/px4flow-v2/px4flow-v2.elf
   7936       6    4008   11950    2eae build/zubaxgnss-v1/zubaxgnss-v1.elf

[davids5]

@dagar debuggable and fits.

   text    data     bss     dec     hex filename
   8333       1    5332   13666    3562 build/esc35-v1/esc35-v1.elf
   8141       1    4132   12274    2ff2 build/px4cannode-v1/px4cannode-v1.elf
   8751       1    4428   13180    337c build/px4esc-v1/px4esc-v1.elf
   8679       1    4348   13028    32e4 build/px4flow-v2/px4flow-v2.elf
   7949       1    4304   12254    2fde build/s2740vc-v1/s2740vc-v1.elf
   8120       3    4224   12347    303b build/zubaxgnss-v1/zubaxgnss-v1.elf

[dagar]

I'll remove bootloaders from semaphore and rebase.

[dagar]

PX4 org repositories created.
https://github.com/PX4/UAVCAN_Bootloaders
https://github.com/PX4/uavcan_board_ident

We should add a README, LICENSE, git description. Anything else?