Merge branch 'maintenance-10.x' into release/9.1

Author: sensei-hacker

.gitignore

@@ -46,6 +46,12 @@ launch.json
 # Assitnow token and files for test script
 tokens.yaml
 *.ubx
+/testing/
+/.idea/
+
+# Build output directories (catch-all for ad-hoc build dirs)
+/build_*/
+/build_hw/
 
 # Local development files
 .semgrepignore

.gitmodules

@@ -4,19 +4,19 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "label": "Build AOCODARCH7DUAL",
+            "label": "Build MATEKH743",
             "type": "shell",
-            "command": "make AOCODARCH7DUAL",
+            "command": "ninja MATEKH743",
             "group": "build",
             "problemMatcher": [],
             "options": {
                 "cwd": "${workspaceFolder}/build"
             }
         },
         {
-            "label": "Build AOCODARCH7DUAL",
+            "label": "Build MATEKH743",
             "type": "shell",
-            "command": "make AOCODARCH7DUAL",
+            "command": "ninja MATEKH743",
             "group": {
                 "kind": "build",
                 "isDefault": true

.vscode/tasks.json

@@ -37,6 +37,7 @@ get_git_head_revision(GIT_REFSPEC GIT_SHA1)
 string(SUBSTRING ${GIT_SHA1} 0 8 GIT_REV)
 
 # Load settings related functions, so the tests can use them
+include(dsdlc_generated)
 include(main)
 include(settings)
 

CMakeLists.txt

@@ -15,7 +15,7 @@ set(CORTEX_M4F_LINK_OPTIONS
 )
 
 set(CORTEX_M4F_DEFINITIONS
-    __FPU_PRESENT=1
+    __FPU_PRESENT=1U
     ARM_MATH_CM4
     ARM_MATH_MATRIX_CHECK
     ARM_MATH_ROUNDING

cmake/cortex-m4f.cmake

@@ -14,7 +14,7 @@ set(CORTEX_M7_LINK_OPTIONS
 )
 
 set(CORTEX_M7_DEFINITIONS
-    __FPU_PRESENT=1
+    __FPU_PRESENT=1U
     ARM_MATH_CM7
     ARM_MATH_MATRIX_CHECK
     ARM_MATH_ROUNDING

cmake/cortex-m7.cmake

@@ -0,0 +1,132 @@
+
+set(DSDLC_GENERATED_DIR "${MAIN_LIB_DIR}/main/Dronecan/dsdlc_generated")
+
+set(DSDLC_GENERATED_SRC
+    dronecan.protocol.CanStats.c                                
+    dronecan.protocol.FlexDebug.c                               
+    dronecan.protocol.GlobalTime.c                              
+    dronecan.protocol.Stats.c                                   
+    dronecan.remoteid.ArmStatus.c                               
+    dronecan.remoteid.BasicID.c                                 
+    dronecan.remoteid.Location.c                                
+    dronecan.remoteid.OperatorID.c                              
+    dronecan.remoteid.SecureCommand_req.c                       
+    dronecan.remoteid.SecureCommand_res.c                       
+    dronecan.remoteid.SelfID.c                                  
+    dronecan.remoteid.System.c                                  
+    dronecan.sensors.hygrometer.Hygrometer.c                    
+    dronecan.sensors.magnetometer.MagneticFieldStrengthHiRes.c  
+    dronecan.sensors.rc.RCInput.c                               
+    dronecan.sensors.rpm.RPM.c                                                                                 
+    uavcan.CoarseOrientation.c                                  
+    uavcan.equipment.actuator.ArrayCommand.c                    
+    uavcan.equipment.actuator.Command.c                         
+    uavcan.equipment.actuator.Status.c                          
+    uavcan.equipment.ahrs.MagneticFieldStrength2.c              
+    uavcan.equipment.ahrs.MagneticFieldStrength.c               
+    uavcan.equipment.ahrs.RawIMU.c                              
+    uavcan.equipment.ahrs.Solution.c                            
+    uavcan.equipment.air_data.AngleOfAttack.c                   
+    uavcan.equipment.air_data.IndicatedAirspeed.c               
+    uavcan.equipment.air_data.RawAirData.c                      
+    uavcan.equipment.air_data.Sideslip.c                        
+    uavcan.equipment.air_data.StaticPressure.c                  
+    uavcan.equipment.air_data.StaticTemperature.c               
+    uavcan.equipment.air_data.TrueAirspeed.c                    
+    uavcan.equipment.camera_gimbal.AngularCommand.c             
+    uavcan.equipment.camera_gimbal.GEOPOICommand.c              
+    uavcan.equipment.camera_gimbal.Mode.c                       
+    uavcan.equipment.camera_gimbal.Status.c                     
+    uavcan.equipment.device.Temperature.c                       
+    uavcan.equipment.esc.RawCommand.c                           
+    uavcan.equipment.esc.RPMCommand.c                           
+    uavcan.equipment.esc.Status.c                               
+    uavcan.equipment.esc.StatusExtended.c                       
+    uavcan.equipment.gnss.Auxiliary.c                           
+    uavcan.equipment.gnss.ECEFPositionVelocity.c                
+    uavcan.equipment.gnss.Fix2.c                                
+    uavcan.equipment.gnss.Fix.c                                 
+    uavcan.equipment.gnss.RTCMStream.c                          
+    uavcan.equipment.hardpoint.Command.c                        
+    uavcan.equipment.hardpoint.Status.c                         
+    uavcan.equipment.ice.FuelTankStatus.c                       
+    uavcan.equipment.ice.reciprocating.CylinderStatus.c         
+    uavcan.equipment.ice.reciprocating.Status.c                 
+    uavcan.equipment.indication.BeepCommand.c                   
+    uavcan.equipment.indication.LightsCommand.c                 
+    uavcan.equipment.indication.RGB565.c                        
+    uavcan.equipment.indication.SingleLightCommand.c            
+    uavcan.equipment.power.BatteryInfo.c                        
+    uavcan.equipment.power.CircuitStatus.c                      
+    uavcan.equipment.power.PrimaryPowerSupplyStatus.c           
+    uavcan.equipment.range_sensor.Measurement.c                 
+    uavcan.equipment.safety.ArmingStatus.c 
+    uavcan.navigation.GlobalNavigationSolution.c
+    uavcan.protocol.AccessCommandShell_req.c
+    uavcan.protocol.AccessCommandShell_res.c
+    uavcan.protocol.CANIfaceStats.c
+    uavcan.protocol.DataTypeKind.c
+    uavcan.protocol.debug.KeyValue.c
+    uavcan.protocol.debug.LogLevel.c
+    uavcan.protocol.debug.LogMessage.c
+    uavcan.protocol.dynamic_node_id.Allocation.c
+    uavcan.protocol.dynamic_node_id.server.AppendEntries_req.c
+    uavcan.protocol.dynamic_node_id.server.AppendEntries_res.c
+    uavcan.protocol.dynamic_node_id.server.Discovery.c
+    uavcan.protocol.dynamic_node_id.server.Entry.c
+    uavcan.protocol.dynamic_node_id.server.RequestVote_req.c
+    uavcan.protocol.dynamic_node_id.server.RequestVote_res.c
+    uavcan.protocol.enumeration.Begin_req.c
+    uavcan.protocol.enumeration.Begin_res.c
+    uavcan.protocol.enumeration.Indication.c
+    uavcan.protocol.file.BeginFirmwareUpdate_req.c
+    uavcan.protocol.file.BeginFirmwareUpdate_res.c
+    uavcan.protocol.file.Delete_req.c
+    uavcan.protocol.file.Delete_res.c
+    uavcan.protocol.file.EntryType.c
+    uavcan.protocol.file.Error.c
+    uavcan.protocol.file.GetDirectoryEntryInfo_req.c
+    uavcan.protocol.file.GetDirectoryEntryInfo_res.c
+    uavcan.protocol.file.GetInfo_req.c
+    uavcan.protocol.file.GetInfo_res.c
+    uavcan.protocol.file.Path.c
+    uavcan.protocol.file.Read_req.c
+    uavcan.protocol.file.Read_res.c
+    uavcan.protocol.file.Write_req.c
+    uavcan.protocol.file.Write_res.c
+    uavcan.protocol.GetDataTypeInfo_req.c
+    uavcan.protocol.GetDataTypeInfo_res.c
+    uavcan.protocol.GetNodeInfo_req.c
+    uavcan.protocol.GetNodeInfo_res.c
+    uavcan.protocol.GetTransportStats_req.c
+    uavcan.protocol.GetTransportStats_res.c
+    uavcan.protocol.GlobalTimeSync.c
+    uavcan.protocol.HardwareVersion.c
+    uavcan.protocol.NodeStatus.c
+    uavcan.protocol.Panic.c
+    uavcan.protocol.param.Empty.c
+    uavcan.protocol.param.ExecuteOpcode_req.c
+    uavcan.protocol.param.ExecuteOpcode_res.c
+    uavcan.protocol.param.GetSet_req.c
+    uavcan.protocol.param.GetSet_res.c
+    uavcan.protocol.param.NumericValue.c
+    uavcan.protocol.param.Value.c
+    uavcan.protocol.RestartNode_req.c
+    uavcan.protocol.RestartNode_res.c
+    uavcan.protocol.SoftwareVersion.c
+    uavcan.Timestamp.c
+    uavcan.tunnel.Broadcast.c
+    uavcan.tunnel.Call_req.c
+    uavcan.tunnel.Call_res.c
+    uavcan.tunnel.Protocol.c
+    uavcan.tunnel.SerialConfig.c
+    uavcan.tunnel.Targetted.c
+)
+
+list(TRANSFORM DSDLC_GENERATED_SRC PREPEND "${DSDLC_GENERATED_DIR}/src/")
+
+set(DSDLC_GENERATED_DIRS
+    ${DSDLC_GENERATED_DIR}/include
+)
+
+

cmake/dsdlc_generated.cmake

@@ -2,6 +2,8 @@ set(MAIN_INCLUDE_DIRS
     "${MAIN_LIB_DIR}"
     "${MAIN_SRC_DIR}"
     "${MAIN_LIB_DIR}/main/MAVLink"
+    "${MAIN_SRC_DIR}/drivers/dronecan/libcanard"
+    "${DSDLC_GENERATED_DIRS}"
 )
 
 set(MAIN_DEFINITIONS

cmake/main.cmake

@@ -13,6 +13,7 @@ main_sources(SITL_COMMON_SRC_EXCLUDES
 
 main_sources(SITL_SRC
     config/config_streamer_file.c
+    drivers/dronecan/libcanard/canard_sitl_driver.c
     drivers/serial_tcp.c
     drivers/serial_tcp.h
     target/SITL/sim/realFlight.c
@@ -70,6 +71,7 @@ if(NOT MACOSX)
         -Wno-error=maybe-uninitialized
         -fsingle-precision-constant
     )
+
     include(CheckLinkerFlag OPTIONAL)
     if(COMMAND check_linker_flag)
         check_linker_flag(C "-Wl,--no-warn-rwx-segments" LINKER_SUPPORTS_NO_RWX_WARNING)

cmake/sitl.cmake

@@ -238,14 +238,15 @@ function(add_stm32_executable)
         # Single value arguments
         "FILENAME;NAME;OPTIMIZATION;OUTPUT_BIN_FILENAME;OUTPUT_HEX_FILENAME;OUTPUT_TARGET_NAME"
         # Multi-value arguments
-        "COMPILE_DEFINITIONS;COMPILE_OPTIONS;INCLUDE_DIRECTORIES;LINK_OPTIONS;LINKER_SCRIPT;SOURCES"
+        "COMPILE_DEFINITIONS;COMPILE_OPTIONS;INCLUDE_DIRECTORIES;SYSTEM_INCLUDE_DIRECTORIES;LINK_OPTIONS;LINKER_SCRIPT;SOURCES"
         # Start parsing after the known arguments
         ${ARGN}
     )
     set(elf_target ${args_NAME}.elf)
     add_executable(${elf_target})
     target_sources(${elf_target} PRIVATE ${args_SOURCES})
     target_include_directories(${elf_target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} ${args_INCLUDE_DIRECTORIES} ${STM32_INCLUDE_DIRS})
+    target_include_directories(${elf_target} SYSTEM PRIVATE ${args_SYSTEM_INCLUDE_DIRECTORIES})
     target_compile_definitions(${elf_target} PRIVATE ${args_COMPILE_DEFINITIONS})
     target_compile_options(${elf_target} PRIVATE ${STM32_COMPILE_OPTIONS} ${args_COMPILE_OPTIONS})
     if(WARNINGS_AS_ERRORS)
@@ -289,7 +290,7 @@ function(target_stm32)
         # Single value arguments
         "HSE_MHZ;LINKER_SCRIPT;NAME;OPENOCD_TARGET;OPTIMIZATION;STARTUP;SVD"
         # Multi-value arguments
-        "COMPILE_DEFINITIONS;COMPILE_OPTIONS;INCLUDE_DIRECTORIES;LINK_OPTIONS;SOURCES;MSC_SOURCES;MSC_INCLUDE_DIRECTORIES;VCP_SOURCES;VCP_INCLUDE_DIRECTORIES"
+        "COMPILE_DEFINITIONS;COMPILE_OPTIONS;INCLUDE_DIRECTORIES;SYSTEM_INCLUDE_DIRECTORIES;LINK_OPTIONS;SOURCES;MSC_SOURCES;MSC_INCLUDE_DIRECTORIES;VCP_SOURCES;VCP_INCLUDE_DIRECTORIES"
         # Start parsing after the known arguments
         ${ARGN}
     )
@@ -308,6 +309,7 @@ function(target_stm32)
     list(APPEND target_sources ${target_c_sources} ${target_h_sources})
 
     set(target_include_directories ${args_INCLUDE_DIRECTORIES})
+    set(target_system_include_directories ${args_SYSTEM_INCLUDE_DIRECTORIES})
 
     set(target_definitions ${STM32_DEFINITIONS} ${COMMON_COMPILE_DEFINITIONS})
 
@@ -363,6 +365,7 @@ function(target_stm32)
         COMPILE_DEFINITIONS ${target_definitions}
         COMPILE_OPTIONS ${args_COMPILE_OPTIONS}
         INCLUDE_DIRECTORIES ${target_include_directories}
+        SYSTEM_INCLUDE_DIRECTORIES ${target_system_include_directories}
         LINK_OPTIONS ${args_LINK_OPTIONS}
         LINKER_SCRIPT ${args_LINKER_SCRIPT}
         OPTIMIZATION ${args_OPTIMIZATION}
@@ -387,6 +390,7 @@ function(target_stm32)
             COMPILE_DEFINITIONS ${target_definitions} BOOTLOADER MSP_FIRMWARE_UPDATE
             COMPILE_OPTIONS ${args_COMPILE_OPTIONS}
             INCLUDE_DIRECTORIES ${target_include_directories}
+            SYSTEM_INCLUDE_DIRECTORIES ${target_system_include_directories}
             LINK_OPTIONS ${args_LINK_OPTIONS}
             LINKER_SCRIPT ${args_LINKER_SCRIPT}${bl_suffix}
             OPTIMIZATION ${args_OPTIMIZATION}
@@ -406,6 +410,7 @@ function(target_stm32)
             COMPILE_DEFINITIONS ${target_definitions} MSP_FIRMWARE_UPDATE
             COMPILE_OPTIONS ${args_COMPILE_OPTIONS}
             INCLUDE_DIRECTORIES ${target_include_directories}
+            SYSTEM_INCLUDE_DIRECTORIES ${target_system_include_directories}
             LINK_OPTIONS ${args_LINK_OPTIONS}
             LINKER_SCRIPT ${args_LINKER_SCRIPT}${for_bl_suffix}
             OPTIMIZATION ${args_OPTIMIZATION}