Merge remote-tracking branch 'origin/master' into mmosca-osd-font-test

.github/workflows/ci.yml

@@ -43,6 +43,72 @@ 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-latest

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 ${TOOLCHAIN_OPTIONS})
 if("" STREQUAL TOOLCHAIN)
     set(TOOLCHAIN none)
@@ -33,8 +40,12 @@ include(settings)
 if(TOOLCHAIN STREQUAL none)
     add_subdirectory(src/test)
 else()
-    set(CMAKE_TOOLCHAIN_FILE "${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 7.0.0)
@@ -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)
 

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

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
+)