Aocodarcf4

.github/workflows/ci.yml

@@ -6,7 +6,7 @@ on: pull_request
 
 jobs:
   build:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
     strategy:
         matrix:
           id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
@@ -43,9 +43,75 @@ jobs:
           name: ${{ env.BUILD_NAME }}.zip
           path: ./build/*.hex
 
+  build-SITL-Linux:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get -y install ninja-build
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v2-preview
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL.zip
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Windows:
+    runs-on: windows-latest
+    defaults:
+      run:
+        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Cygwin
+        uses: egor-tensin/setup-cygwin@v4
+        with:
+          packages: cmake ruby ninja gcc-g++
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v2-preview
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-WIN.zip
+          path: ./build_SITL/*.exe
+
+
   test:
     needs: [build]
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
       - name: Install dependencies

.github/workflows/docs.yml

@@ -11,7 +11,7 @@ on:
 
 jobs:
   settings_md:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-latest
 
     steps:
       - uses: actions/checkout@v3

CMakeLists.txt

@@ -10,8 +10,15 @@ set(SVD_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dev/svd")
 set(DOWNLOADS_DIR "${MAIN_DIR}/downloads")
 set(TOOLS_DIR "${MAIN_DIR}/tools")
 
-set(TOOLCHAIN_OPTIONS none arm-none-eabi)
-set(TOOLCHAIN "arm-none-eabi" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
+option(SITL "SITL build for host system" OFF)
+
+set(TOOLCHAIN_OPTIONS none arm-none-eabi host)
+if (SITL)
+    set(TOOLCHAIN "host" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
+else()
+    set(TOOLCHAIN "arm-none-eabi" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
+endif()
+
 set_property(CACHE TOOLCHAIN PROPERTY STRINGS ${TOOLCHAIN_OPTIONS})
 if("" STREQUAL TOOLCHAIN)
     set(TOOLCHAIN none)
@@ -33,11 +40,15 @@ include(settings)
 if(TOOLCHAIN STREQUAL none)
     add_subdirectory(src/test)
 else()
-    set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}.cmake")
-    include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
+    if (SITL)
+        include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}.cmake")
+    else()
+        set(CMAKE_TOOLCHAIN_FILE "${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}.cmake")
+        include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
+    endif()
 endif()
 
-project(INAV VERSION 6.0.0)
+project(INAV VERSION 7.0.0)
 
 enable_language(ASM)
 
@@ -48,11 +59,6 @@ set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_EXTENSIONS ON)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-find_program(RUBY_EXECUTABLE ruby)
-if (NOT RUBY_EXECUTABLE)
-    message(FATAL_ERROR "Could not find ruby")
-endif()
-
 if(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
     set(IS_RELEASE_BUILD ON)
 endif()
@@ -68,9 +74,14 @@ set(COMMON_COMPILE_DEFINITIONS
     FC_VERSION_PATCH_LEVEL=${CMAKE_PROJECT_VERSION_PATCH}
 )
 
-include(openocd)
-include(svd)
+if (NOT SITL)
+    include(openocd)
+    include(svd)
+endif()
+
 include(stm32)
+include(at32)
+include(sitl)
 
 add_subdirectory(src)
 

Dockerfile

@@ -1,14 +1,19 @@
-FROM ubuntu:focal
+FROM ubuntu:jammy
 
+ARG USER_ID
+ARG GROUP_ID
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip
+RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip gcc-arm-none-eabi
 
 RUN pip install pyyaml
 
-RUN useradd inav
+# if either of these are already set the same as the user's machine, leave them be and ignore the error
+RUN addgroup --gid $GROUP_ID inav; exit 0;
+RUN adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID inav; exit 0;
 
 USER inav
+RUN git config --global --add safe.directory /src
 
 VOLUME /src
 

board/at32fc.cfg

@@ -0,0 +1,9 @@
+# Boardconfig for AT-LINK for AT32F4-FC
+
+source [find interface/atlink.cfg]
+
+#transport select hla_swd
+
+source [find target/at32f437xM.cfg]
+
+reset_config none separate

build.sh

@@ -21,19 +21,29 @@ fi
 
 if [ -z "$(docker images -q inav-build)" ]; then
   echo -e "*** Building image\n"
-  docker build -t inav-build .
+  docker build -t inav-build --build-arg USER_ID="$(id -u)" --build-arg GROUP_ID="$(id -g)" .
   echo -ne "\n"
 fi
 
 if [ ! -d ./build ]; then
   echo -e "*** Creating build directory\n"
-  mkdir ./build
+  mkdir ./build && chmod 777 ./build
+fi
+
+if [ ! -d ./downloads ]; then
+  echo -e "*** Creating downloads directory\n"
+  mkdir ./downloads && chmod 777 ./downloads
+fi
+
+if [ ! -d ./tools ]; then
+  echo -e "*** Creating tools directory\n"
+  mkdir ./tools && chmod 777 ./tools
 fi
 
 echo -e "*** Building targets [$@]\n"
 docker run --rm -it -v "$(pwd)":/src inav-build $@
 
-if ls ./build/*.hex &> /dev/null; then
+if [ -z "$(ls ./build/*.hex &> /dev/null)" ]; then
   echo -e "\n*** Built targets in ./build:"
   stat -c "%n (%.19y)" ./build/*.hex
 fi

cmake/arm-none-eabi-checks.cmake

@@ -2,13 +2,13 @@ include(gcc)
 set(arm_none_eabi_triplet "arm-none-eabi")
 
 # Keep version in sync with the distribution files below
-set(arm_none_eabi_gcc_version "10.2.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major")
+set(arm_none_eabi_gcc_version "10.3.1")
+set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10")
 # suffix and checksum
-set(arm_none_eabi_win32 "win32.zip" 5ee6542a2af847934177bc8fa1294c0d)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 8312c4c91799885f222f663fc81f9a31)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 1c3b8944c026d50362eef1f01f329a8e)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" e588d21be5a0cc9caa60938d2422b058)
+set(arm_none_eabi_win32 "win32.zip" 2bc8f0c4c4659f8259c8176223eeafc1)
+set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2383e4eb4ea23f248d33adc70dc3227e)
+set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 3fe3d8bb693bd0a6e4615b6569443d0d)
+set(arm_none_eabi_gcc_macos "mac.tar.bz2" 7f2a7b7b23797302a9d6182c6e482449)
 
 function(arm_none_eabi_gcc_distname var)
     string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})

cmake/at32-bootloader.cmake

@@ -0,0 +1,33 @@
+main_sources(BOOTLOADER_SOURCES
+    common/log.c
+    common/log.h
+    common/printf.c
+    common/printf.h
+    common/string_light.c
+    common/string_light.h
+    common/typeconversion.c
+    common/typeconversion.h
+
+    drivers/bus.c
+    drivers/bus_busdev_i2c.c
+    drivers/bus_busdev_spi.c
+    drivers/bus_i2c_soft.c
+    drivers/io.c
+    drivers/light_led.c
+    drivers/persistent.c
+    drivers/rcc.c
+    drivers/serial.c
+    drivers/system.c
+    drivers/time.c
+    drivers/timer.c
+    drivers/flash_m25p16.c
+    drivers/flash_w25n01g.c 
+    drivers/flash.c
+
+    fc/firmware_update_common.c
+    fc/firmware_update_common.h
+
+    target/common_hardware.c
+)
+
+list(APPEND BOOTLOADER_SOURCES ${MAIN_DIR}/src/bl/bl_main.c)

cmake/at32-stdperiph.cmake

@@ -0,0 +1,4 @@
+main_sources(AT32_STDPERIPH_SRC
+    drivers/bus_spi_at32f43x.c
+    drivers/serial_uart_hal_at32f43x.c
+)