Added px4fmu_sim branch for software in the loop (SITL) development

.gitignore

@@ -13,6 +13,7 @@ Make.dep
 *~
 Images/*.bin
 Images/*.px4
+Images/*.exe
 nuttx/Make.defs
 nuttx/setenv.sh
 nuttx/arch/arm/include/board
@@ -40,3 +41,5 @@ nsh_romfsimg.h
 cscope.out
 .configX-e
 nuttx-export.zip
+nuttx/arch/sim/include/board
+nuttx/arch/sim/src/board

Makefile

@@ -6,7 +6,6 @@
 # project to slim down and simply generate PX4 link kits via the NuttX
 # 'make export' mechanism.
 #
-#
 
 #
 # Some useful paths.
@@ -42,14 +41,19 @@ endif
 FIRMWARE_BUNDLE		 = $(IMAGE_DIR)/$(TARGET).px4
 FIRMWARE_BINARY		 = $(IMAGE_DIR)/$(TARGET).bin
 FIRMWARE_PROTOTYPE	 = $(IMAGE_DIR)/$(TARGET).prototype
+FIRMWARE_EXEC	     = $(IMAGE_DIR)/$(TARGET).exe
 
 #
 # Debugging
 #
 MQUIET			 = --no-print-directory
 #MQUIET			 = --print-directory
 
-all:			$(FIRMWARE_BUNDLE)
+ifeq ($(TARGET),px4fmu_sim)
+all: $(FIRMWARE_EXEC)
+else
+all: $(FIRMWARE_BUNDLE)
+endif
 
 #
 # Generate a wrapped .px4 file from the built binary
@@ -68,6 +72,15 @@ $(FIRMWARE_BINARY):	configure_$(TARGET) setup_$(TARGET)
 	@make -C $(NUTTX_SRC) -r $(MQUIET) all
 	@cp $(NUTTX_SRC)/nuttx.bin $@
 
+#
+# Build the firmware executable.
+#
+.PHONY:			$(FIRMWARE_EXEC)
+$(FIRMWARE_EXEC):	configure_$(TARGET) setup_$(TARGET)
+	@echo Building $@
+	@make -C $(NUTTX_SRC) -r $(MQUIET) all
+	@cp $(NUTTX_SRC)/nuttx $@
+
 #
 # The 'configure' targets select one particular firmware configuration
 # and makes it current.
@@ -86,6 +99,13 @@ endif
 	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
 	@echo px4io > $(CONFIGURED)
 
+configure_px4fmu_sim:
+ifneq ($(TARGET),px4fmu_sim)
+	@make -C $(PX4BASE) distclean
+endif
+	@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu_sim/nsh
+	@echo px4fmu_sim > $(CONFIGURED)
+
 #
 # Per-configuration additional targets
 #
@@ -96,6 +116,10 @@ setup_px4fmu:
 
 setup_px4io:
 
+setup_px4fmu_sim:
+	@echo Generating ROMFS
+	@make -C $(ROMFS_SRC) all
+
 #
 # Firmware uploading.
 #

ROMFS/Makefile

@@ -10,12 +10,14 @@
 #
 SRCROOT		?= $(dir $(lastword $(MAKEFILE_LIST)))
 BUILDROOT	?= $(SRCROOT)/img
-ROMFS_HEADER	?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
+ROMFS_HEADER	    ?= $(SRCROOT)/../nuttx/configs/px4fmu/include/nsh_romfsimg.h
+ROMFS_SIM_HEADER	?= $(SRCROOT)/../nuttx/configs/px4fmu_sim/include/nsh_romfsimg.h
 
 #
 # List of files to install in the ROMFS, specified as <source>~<destination>
 #
 ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
+		   $(SRCROOT)/scripts/rc.sim~init.d/rc.sim \
 		   $(SRCROOT)/scripts/rc.sensors~init.d/rc.sensors \
 		   $(SRCROOT)/scripts/rc.logging~init.d/rc.logging \
 		   $(SRCROOT)/scripts/rc.standalone~init.d/rc.standalone \
@@ -72,12 +74,16 @@ ROMFS_WORKDIR	 = $(BUILDROOT)/romfs
 #
 # Convenience target for rebuilding the ROMFS header
 #
-all:		$(ROMFS_HEADER)
+all:		$(ROMFS_HEADER)  $(ROMFS_SIM_HEADER)
 
 $(ROMFS_HEADER): $(ROMFS_IMG) $(dir $(ROMFS_HEADER))
 	@echo Generating the ROMFS header...
 	@(cd $(dir $(ROMFS_IMG)) && xxd -i $(notdir $(ROMFS_IMG))) > $@
 
+$(ROMFS_SIM_HEADER): $(ROMFS_HEADER)
+	@echo Generating the ROMFS sim header...
+	@cp $^ $@
+
 $(ROMFS_IMG):	$(ROMFS_WORKDIR)
 	@echo Generating the ROMFS image...
 	@genromfs -f $@ -d $(ROMFS_WORKDIR) -V "NSHInitVol"

ROMFS/scripts/rc.sim

@@ -0,0 +1,40 @@
+#!nsh
+#
+# Startup script for simulation configuration.
+#
+
+echo "[init] doing simulation startup..."
+
+echo "[init] uORB"
+uorb start
+
+echo "[init] sensors"
+#bma180 start
+#l3gd20 start
+#mpu6000 start
+#hmc5883 start
+#ms5611 start
+
+sensors start
+
+echo "[init] mavlink"
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+
+echo "[init] commander"
+commander start
+
+echo "[init] attitude control"
+#attitude_estimator_ekf start
+#multirotor_att_control start
+
+#echo "[init] starting PWM output"
+#fmu mode_pwm
+#mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+
+echo "[init] simulation startup done"
+
+echo "[init] uORB"
+uorb test
+
+

ROMFS/scripts/rcS

@@ -112,6 +112,24 @@ else
 		echo "[init] PX4IO not detected"
 	fi
 
+	#
+	# Are we running a simulation?
+	#
+    uname SIM
+    echo $?
+	if uname SIM
+	then
+        set BOARD PX4FMU_SIM
+		if [ -f /etc/init.d/rc.sim ]
+		then
+			echo "[init] reading /etc/init.d/rc.sim"
+			usleep 500
+			sh /etc/init.d/rc.sim
+		fi
+    else
+        echo "[init] simulation not detected"
+	fi
+
 	#
 	# Looks like we are stand-alone
 	#

apps/nshlib/nsh_consolemain.c

@@ -122,7 +122,12 @@ int nsh_consolemain(int argc, char *argv[])
 #endif
 
   /* Then enter the command line parsing loop */
-
+#ifdef CONFIG_ARCH_SIM
+  for (;;)
+    {
+        sleep(1);
+    }
+#else
   for (;;)
     {
       /* For the case of debugging the USB console... dump collected USB trace data */
@@ -159,6 +164,7 @@ int nsh_consolemain(int argc, char *argv[])
           nsh_exit(&pstate->cn_vtbl, 1);
         }
     }
+#endif
 
   /* Clean up */
 

apps/sim/drivers/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# SIM driver support code
+#
+# Modules in this directory are compiled for all SIM targets.
+#
+
+INCLUDES	 = $(TOPDIR)/arch/sim/src $(TOPDIR)/arch/sim/include
+
+include $(APPDIR)/mk/app.mk