build: switch to gcc 10.2.1 for master builds

Tools/ardupilotwaf/boards.py

@@ -156,6 +156,13 @@ def configure_env(self, cfg, env):
 
         cfg.msg("CXX Compiler", "%s %s"  % (cfg.env.COMPILER_CXX, ".".join(cfg.env.CC_VERSION)))
 
+        if cfg.options.assert_cc_version:
+            cfg.msg("Checking compiler", "%s %s"  % (cfg.options.assert_cc_version, ".".join(cfg.env.CC_VERSION)))
+            have_version = cfg.env.COMPILER_CXX+"-"+'.'.join(list(cfg.env.CC_VERSION))
+            want_version = cfg.options.assert_cc_version
+            if have_version != want_version:
+                cfg.fatal("cc version mismatch: %s should be %s" % (have_version, want_version))
+
         if 'clang' in cfg.env.COMPILER_CC:
             env.CFLAGS += [
                 '-fcolor-diagnostics',
@@ -762,6 +769,7 @@ def configure_env(self, cfg, env):
             ('6','3','1'),
             ('9','2','1'),
             ('9','3','1'),
+            ('10','2','1'),
         ]
 
         if cfg.options.Werror or cfg.env.CC_VERSION in gcc_whitelist:

Tools/debug/README.md

@@ -22,7 +22,7 @@ your black magic probe, or install the provided udev rules file so
 that the probe will be loaded as /dev/ttyBmpGdb
 
 Now make sure you have the right version of arm-none-eabi-gdb
-installed. We recommend version 6-2017-q2-update, which is available
+installed. We recommend version 10-2020-q4-major, which is available
 here: https://firmware.ardupilot.org/Tools/STM32-tools/
 
 Now build ArduPilot with the --debug configure option. You may also

Tools/environment_install/install-prereqs-arch.sh

@@ -14,8 +14,8 @@ PYTHON3_PKGS="pyserial empy geocoder"
 
 # GNU Tools for ARM Embedded Processors
 # (see https://launchpad.net/gcc-arm-embedded/)
-ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
 ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
 
 # Ardupilot Tools

Tools/environment_install/install-prereqs-mac.sh

@@ -62,7 +62,7 @@ fi
 function install_arm_none_eabi_toolchain() {
     # GNU Tools for ARM Embedded Processors
     # (see https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads)
-    ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
+    ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
     ARM_TARBALL="$ARM_ROOT-mac.tar.bz2"
     ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
     if [ ! -d $OPT/$ARM_ROOT ]; then

Tools/environment_install/install-prereqs-ubuntu.sh

@@ -142,8 +142,8 @@ fi
 function install_arm_none_eabi_toolchain() {
   # GNU Tools for ARM Embedded Processors
   # (see https://launchpad.net/gcc-arm-embedded/)
-  ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-  ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+  ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+  ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
   ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
   if [ ! -d $OPT/$ARM_ROOT ]; then
     (

Tools/scripts/build_binaries.py

@@ -32,6 +32,28 @@
     running_python3 = True
 
 
+def is_chibios_build(board):
+    '''see if a board is using HAL_ChibiOS'''
+    hwdef_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..", "libraries", "AP_HAL_ChibiOS", "hwdef")
+    return os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat"))
+
+
+def get_required_compiler(tag, board):
+    '''return required compiler for a build tag.
+       return format is the version string that waf configure will detect.
+       You should setup a link from this name in $HOME/arm-gcc directory pointing at the
+       appropriate compiler
+    '''
+    if not is_chibios_build(board):
+        # only override compiler for ChibiOS builds
+        return None
+    if tag == 'latest':
+        # use 10.2.1 compiler for master builds
+        return "g++-10.2.1"
+    # for all other builds we use the default compiler in $PATH
+    return None
+
+
 class build_binaries(object):
     def __init__(self, tags):
         self.tags = tags
@@ -62,21 +84,34 @@ def board_options(self, board):
             return ["--static"]
         return []
 
-    def run_waf(self, args):
+    def run_waf(self, args, compiler=None):
         if os.path.exists("waf"):
             waf = "./waf"
         else:
             waf = os.path.join(".", "modules", "waf", "waf-light")
         cmd_list = [waf]
         cmd_list.extend(args)
-        self.run_program("BB-WAF", cmd_list)
+        env = None
+        if compiler is not None:
+            # default to $HOME/arm-gcc, but allow for any path with AP_GCC_HOME environment variable
+            gcc_home = os.environ.get("AP_GCC_HOME", os.path.join(os.environ["HOME"], "arm-gcc"))
+            gcc_path = os.path.join(gcc_home, compiler, "bin")
+            if os.path.exists(gcc_path):
+                # setup PATH to point at the right compiler, and setup to use ccache
+                env = os.environ.copy()
+                env["PATH"] = gcc_path + ":" + env["PATH"]
+                env["CC"] = "ccache arm-none-eabi-gcc"
+                env["CXX"] = "ccache arm-none-eabi-g++"
+            else:
+                raise Exception("BB-WAF: Missing compiler %s" % gcc_path)
+        self.run_program("BB-WAF", cmd_list, env=env)
 
-    def run_program(self, prefix, cmd_list, show_output=True):
+    def run_program(self, prefix, cmd_list, show_output=True, env=None):
         if show_output:
             self.progress("Running (%s)" % " ".join(cmd_list))
         p = subprocess.Popen(cmd_list, bufsize=1, stdin=None,
                              stdout=subprocess.PIPE, close_fds=True,
-                             stderr=subprocess.STDOUT)
+                             stderr=subprocess.STDOUT, env=env)
         output = ""
         while True:
             x = p.stdout.readline()
@@ -164,7 +199,7 @@ def checkout(self, vehicle, ctag, cboard=None, cframe=None, submodule_update=Tru
         return False
 
     def skip_board_waf(self, board):
-        '''check if we should skip this build because we don't support the
+        '''check if we should skip this build because we do not support the
         board in this release
         '''
 
@@ -347,7 +382,7 @@ def touch_filepath(self, filepath):
                 pass
 
     def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
-                      binaryname, px4_binaryname, frames=[None]):
+                      binaryname, frames=[None]):
         '''build vehicle binaries'''
         self.progress("Building %s %s binaries (cwd=%s)" %
                       (vehicle, tag, os.getcwd()))
@@ -409,15 +444,19 @@ def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
                                 "--board", board,
                                 "--out", self.buildroot,
                                 "clean"]
+                    gccstring = get_required_compiler(tag, board)
+                    if gccstring is not None:
+                        waf_opts += ["--assert-cc-version", gccstring]
+
                     waf_opts.extend(self.board_options(board))
-                    self.run_waf(waf_opts)
+                    self.run_waf(waf_opts, compiler=gccstring)
                 except subprocess.CalledProcessError:
                     self.progress("waf configure failed")
                     continue
                 try:
                     target = os.path.join("bin",
                                           "".join([binaryname, framesuffix]))
-                    self.run_waf(["build", "--targets", target])
+                    self.run_waf(["build", "--targets", target], compiler=gccstring)
                 except subprocess.CalledProcessError:
                     msg = ("Failed build of %s %s%s %s" %
                            (vehicle, board, framesuffix, tag))
@@ -439,7 +478,7 @@ def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
                                          "bin",
                                          "".join([binaryname, framesuffix]))
                 files_to_copy = []
-                extensions = [".px4", ".apj", ".abin", "_with_bl.hex", ".hex"]
+                extensions = [".apj", ".abin", "_with_bl.hex", ".hex"]
                 if vehicle == 'AP_Periph':
                     # need bin file for uavcan-gui-tool and MissionPlanner
                     extensions.append('.bin')
@@ -465,97 +504,6 @@ def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
                 # record some history about this build
                 self.history.record_build(githash, tag, vehicle, board, frame, bare_path, t0, time_taken_to_build)
 
-        if not self.checkout(vehicle, tag, "PX4", None):
-            self.checkout(vehicle, "latest")
-            return
-
-        board_list = self.run_program('BB-WAF', ['./waf', 'list_boards'])
-        board_list = board_list.split(' ')
-        self.checkout(vehicle, "latest")
-        if 'px4-v2' not in board_list:
-            print("Skipping px4 builds")
-            return
-
-        # PX4-building
-        board = "px4"
-        for frame in frames:
-            self.progress("Building frame %s for board %s" % (frame, board))
-            if frame is None:
-                framesuffix = ""
-            else:
-                framesuffix = "-%s" % frame
-
-            if not self.checkout(vehicle, tag, "PX4", frame):
-                msg = ("Failed checkout of %s %s %s %s" %
-                       (vehicle, "PX4", tag, frame))
-                self.progress(msg)
-                self.error_strings.append(msg)
-                self.checkout(vehicle, "latest")
-                continue
-
-            try:
-                deadwood = "../Build.%s" % vehicle
-                if os.path.exists(deadwood):
-                    self.progress("#### Removing (%s)" % deadwood)
-                    shutil.rmtree(os.path.join(deadwood))
-            except Exception as e:
-                self.progress("FIXME: narrow exception (%s)" % repr(e))
-
-            self.progress("Building %s %s PX4%s binaries" %
-                          (vehicle, tag, framesuffix))
-            ddir = os.path.join(self.binaries,
-                                vehicle_binaries_subdir,
-                                self.hdate_ym,
-                                self.hdate_ymdhm,
-                                "".join(["PX4", framesuffix]))
-            if self.skip_build(tag, ddir):
-                continue
-
-            for v in ["v1", "v2", "v3", "v4", "v4pro"]:
-                px4_v = "%s-%s" % (board, v)
-
-                if self.skip_board_waf(px4_v):
-                    continue
-
-                if os.path.exists(self.buildroot):
-                    shutil.rmtree(self.buildroot)
-
-                self.progress("Configuring for %s in %s" %
-                              (px4_v, self.buildroot))
-                try:
-                    self.run_waf(["configure", "--board", px4_v,
-                                  "--out", self.buildroot, "clean"])
-                except subprocess.CalledProcessError:
-                    self.progress("waf configure failed")
-                    continue
-                try:
-                    self.run_waf([
-                        "build",
-                        "--targets",
-                        os.path.join("bin",
-                                     "".join([binaryname, framesuffix]))])
-                except subprocess.CalledProcessError:
-                    msg = ("Failed build of %s %s%s %s for %s" %
-                           (vehicle, board, framesuffix, tag, v))
-                    self.progress(msg)
-                    self.error_strings.append(msg)
-                    continue
-
-                oldfile = os.path.join(self.buildroot, px4_v, "bin",
-                                       "%s%s.px4" % (binaryname, framesuffix))
-                newfile = "%s-%s.px4" % (px4_binaryname, v)
-                self.progress("Copying (%s) to (%s)" % (oldfile, newfile,))
-                try:
-                    shutil.copyfile(oldfile, newfile)
-                except Exception as e:
-                    self.progress("FIXME: narrow exception (%s)" % repr(e))
-                    msg = ("Failed build copy of %s PX4%s %s for %s" %
-                           (vehicle, framesuffix, tag, v))
-                    self.progress(msg)
-                    self.error_strings.append(msg)
-                    continue
-                # FIXME: why the two stage copy?!
-                self.copyit(newfile, ddir, tag, vehicle)
         self.checkout(vehicle, "latest")
 
     def common_boards(self):
@@ -685,7 +633,6 @@ def build_arducopter(self, tag):
                            boards,
                            "Copter",
                            "arducopter",
-                           "ArduCopter",
                            frames=[None, "heli"])
 
     def build_arduplane(self, tag):
@@ -696,8 +643,7 @@ def build_arduplane(self, tag):
                            "ArduPlane",
                            boards,
                            "Plane",
-                           "arduplane",
-                           "ArduPlane")
+                           "arduplane")
 
     def build_antennatracker(self, tag):
         '''build Tracker binaries'''
@@ -706,8 +652,7 @@ def build_antennatracker(self, tag):
                            "AntennaTracker",
                            boards,
                            "AntennaTracker",
-                           "antennatracker",
-                           "AntennaTracker",)
+                           "antennatracker")
 
     def build_rover(self, tag):
         '''build Rover binaries'''
@@ -716,17 +661,15 @@ def build_rover(self, tag):
                            "Rover",
                            boards,
                            "Rover",
-                           "ardurover",
-                           "Rover")
+                           "ardurover")
 
     def build_ardusub(self, tag):
         '''build Sub binaries'''
         self.build_vehicle(tag,
                            "ArduSub",
                            self.common_boards(),
                            "Sub",
-                           "ardusub",
-                           "ArduSub")
+                           "ardusub")
 
     def build_AP_Periph(self, tag):
         '''build AP_Periph binaries'''
@@ -735,7 +678,6 @@ def build_AP_Periph(self, tag):
                            "AP_Periph",
                            boards,
                            "AP_Periph",
-                           "AP_Periph",
                            "AP_Periph")
 
     def generate_manifest(self):

Tools/scripts/configure-ci.sh

@@ -6,8 +6,8 @@ set -ex
 # Disable ccache for the configure phase, it's not worth it
 export CCACHE_DISABLE="true"
 
-ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
 
 RPI_ROOT="master"
 RPI_TARBALL="$RPI_ROOT.tar.gz"
@@ -83,7 +83,7 @@ ln -s ~/opt/$CCACHE_ROOT/ccache ~/ccache/clang
 exportline="export PATH=$HOME/ccache"
 exportline="${exportline}:$HOME/bin"
 exportline="${exportline}:$HOME/.local/bin"
-exportline="${exportline}:$HOME/opt/gcc-arm-none-eabi-6-2017-q2-update/bin"
+exportline="${exportline}:$HOME/opt/gcc-arm-none-eabi-10-2020-q4-major/bin"
 exportline="${exportline}:$HOME/opt/tools-master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin"
 exportline="${exportline}:$HOME/opt/arm-linux-musleabihf-cross/bin"
 exportline="${exportline}:$HOME/opt/$CCACHE_ROOT"

libraries/AP_Compass/Compass_learn.cpp

@@ -164,7 +164,9 @@ void CompassLearn::update(void)
             sample_available = false;
             num_samples = 0;
             have_earth_field = false;
-            memset(predicted_offsets, 0, sizeof(predicted_offsets));
+            for (auto &v : predicted_offsets) {
+                v.zero();
+            }
             worst_error = 0;
             best_error = 0;
             best_yaw_deg = 0;

libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp

@@ -376,7 +376,7 @@ void AP_InertialSensor::TCal::update_gyro_learning(const Vector3f &gyro, float t
  */
 void AP_InertialSensor::TCal::Learn::reset(float temperature)
 {
-    memset(state, 0, sizeof(state));
+    memset((void*)&state[0], 0, sizeof(state));
     start_tmax = tcal.temp_max;
     accel_start.zero();
     for (uint8_t i=0; i<ARRAY_SIZE(state); i++) {

wscript

@@ -286,6 +286,10 @@ configuration in order to save typing.
 	    default=None,
 	    help='Extra hwdef.dat file for custom build.')
 
+    g.add_option('--assert-cc-version',
+                 default=None,
+                 help='fail configure if not using the specified gcc version')
+
 def _collect_autoconfig_files(cfg):
     for m in sys.modules.values():
         paths = []