Merge pull request #2577 from paparazzi/fix-various

A second set of small fixes with:
- remove compile error in dshot driver (remove wrong and unused assert)
- fix file name report for chibios SD logger
- build file binary in OBJDIR for chibios to prevent linking at each upload command
- allow upside-down initialization for the float DCM filter
- fix makefile script to get the number of CPU core
- LTO is optional in board makefiles

Makefile.ac

@@ -61,7 +61,7 @@ NPROCS := 1
 J ?= AUTO
 ifeq ($J,AUTO)
 ifeq ($(UNAME),Linux)
-	NPROCS := $(shell grep -c ^processor /proc/cpuinfo)
+	NPROCS := $(shell grep -c '^processor' /proc/cpuinfo)
 else ifeq ($(UNAME),Darwin)
 	NPROCS := $(shell sysctl hw.ncpu | awk '{print $$2}')
 endif # $(UNAME)

conf/boards/chimera_1.0.makefile

@@ -21,7 +21,7 @@ MCU=cortex-m7
 USE_FPU=softfp
 USE_FPU_OPT= -mfpu=fpv5-d16
 
-USE_LTO=yes
+USE_LTO ?= yes
 
 $(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
 

conf/boards/tawaki_common.makefile

@@ -20,7 +20,7 @@ MCU=cortex-m7
 USE_FPU=softfp
 USE_FPU_OPT= -mfpu=fpv5-d16
 
-USE_LTO=yes
+USE_LTO ?= yes
 
 $(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
 

conf/chibios/chibios_rules.mk

@@ -66,14 +66,19 @@ endif
 #ifeq ($(BUILDDIR),.)
 #  BUILDDIR = build
 #endif
-OUTFILES = $(BUILDDIR)/$(PROJECT).elf \
-           $(BUILDDIR)/$(PROJECT).hex \
-           $(BUILDDIR)/$(PROJECT).bin \
-           $(BUILDDIR)/$(PROJECT).dmp \
-           $(BUILDDIR)/$(PROJECT).list
+
+# Various directories
+OBJDIR    = $(BUILDDIR)/obj
+LSTDIR    = $(BUILDDIR)/lst
+
+OUTFILES = $(OBJDIR)/$(PROJECT).elf \
+           $(OBJDIR)/$(PROJECT).hex \
+           $(OBJDIR)/$(PROJECT).bin \
+           $(OBJDIR)/$(PROJECT).dmp \
+           $(OBJDIR)/$(PROJECT).list
 
 ifdef SREC
-OUTFILES += $(BUILDDIR)/$(PROJECT).srec
+OUTFILES += $(OBJDIR)/$(PROJECT).srec
 endif
 
 # Source files groups and paths
@@ -88,10 +93,6 @@ ASRC	  = $(ACSRC) $(ACPPSRC)
 TSRC	  = $(TCSRC) $(TCPPSRC)
 SRCPATHS  = $(sort $(dir $(ASMXSRC)) $(dir $(ASMSRC)) $(dir $(ASRC)) $(dir $(TSRC)))
 
-# Various directories
-OBJDIR    = $(BUILDDIR)/obj
-LSTDIR    = $(BUILDDIR)/lst
-
 # Object files groups
 ACOBJS    = $(addprefix $(OBJDIR)/, $(notdir $(ACSRC:.c=.o)))
 ACPPOBJS  = $(addprefix $(OBJDIR)/, $(notdir $(ACPPSRC:.cpp=.o)))
@@ -119,7 +120,7 @@ ASFLAGS   = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.s=.lst)) $(ADEFS)
 ASXFLAGS  = $(MCFLAGS) -Wa,-amhls=$(LSTDIR)/$(notdir $(<:.S=.lst)) $(ADEFS)
 CFLAGS    = $(MCFLAGS) $(OPT) $(COPT) $(CWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.c=.lst)) $(DEFS)
 CPPFLAGS  = $(MCFLAGS) $(OPT) $(CPPOPT) $(CPPWARN) -Wa,-alms=$(LSTDIR)/$(notdir $(<:.cpp=.lst)) $(DEFS) $(UPDEFS)
-LDFLAGS   = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(BUILDDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
+LDFLAGS   = $(MCFLAGS) $(OPT) -nostartfiles $(LLIBDIR) -Wl,-Map=$(OBJDIR)/$(PROJECT).map,--cref,--no-warn-mismatch,--library-path=$(RULESPATH)/ld,--script=$(LDSCRIPT)$(LDOPT)
 
 # Thumb interwork enabled only if needed because it kills performance.
 ifneq ($(strip $(TSRC)),)

sw/airborne/arch/chibios/modules/actuators/esc_dshot.c

@@ -121,9 +121,6 @@ static size_t getTimerWidth(const PWMDriver *pwmp);
  */
 void dshotStart(DSHOTDriver *driver, const DSHOTConfig *config)
 {
-  _Static_assert((void *) &driver->dsdb == (void *) &driver->dsdb.widths16);
-  _Static_assert((void *) &driver->dsdb.widths32 == (void *) &driver->dsdb.widths16);
-
   memset((void *) &driver->dsdb, 0, sizeof(driver->dsdb));
   const size_t timerWidthInBytes = getTimerWidth(config->pwmp);
 

sw/airborne/modules/loggers/sdlog_chibios.c

@@ -104,6 +104,7 @@ static enum {
 /** sdlog filenames
  */
 static char chibios_sdlog_filenames[68];
+static char NO_FILE_NAME[] = "none";
 
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
@@ -112,7 +113,14 @@ static void send_sdlog_status(struct transport_tx *trans, struct link_device *de
   uint8_t status = (uint8_t) chibios_sdlog_status;
   uint8_t errno = (uint8_t) sdLogGetStorageStatus();
   uint32_t used = (uint32_t) sdLogGetNbBytesWrittenToStorage();
-  pprz_msg_send_LOGGER_STATUS(trans, dev, AC_ID, &status, &errno, &used, strlen(chibios_sdlog_filenames), chibios_sdlog_filenames);
+  uint8_t size = strlen(chibios_sdlog_filenames);
+  char *filenames = chibios_sdlog_filenames;
+  if (size == 0) {
+    // when no file opened
+    filenames = NO_FILE_NAME;
+    size = strlen(filenames);
+  }
+  pprz_msg_send_LOGGER_STATUS(trans, dev, AC_ID, &status, &errno, &used, size, filenames);
 }
 #endif
 
@@ -250,7 +258,7 @@ static void thd_startlog(void *arg)
 		      SDLOG_CONTIGUOUS_STORAGE_MEM, LOG_PREALLOCATION_DISABLED, tmpFilename, sizeof(tmpFilename)) != SDLOG_OK) {
       sdOk = false;
     }
-    chsnprintf(chibios_sdlog_filenames, sizeof(chibios_sdlog_filenames), ", %s", tmpFilename);
+    chsnprintf(chibios_sdlog_filenames, sizeof(chibios_sdlog_filenames), "%s, %s", chibios_sdlog_filenames, tmpFilename);
 #endif
   }
 

sw/airborne/subsystems/ahrs/ahrs_float_dcm.c

@@ -117,14 +117,20 @@ void ahrs_dcm_init(void)
 }
 
 bool ahrs_dcm_align(struct FloatRates *lp_gyro, struct FloatVect3 *lp_accel,
-                      struct FloatVect3 *lp_mag)
+                      struct FloatVect3 *lp_mag __attribute__((unused)))
 {
-  /* Compute an initial orientation using euler angles */
-  ahrs_float_get_euler_from_accel_mag(&ahrs_dcm.ltp_to_imu_euler, lp_accel, lp_mag);
+  /* Compute an initial orientation in quaternion (and then back to euler angles) so it works upside-down as well */
+  struct FloatQuat quat;
+#if USE_MAGNETOMETER
+  ahrs_float_get_quat_from_accel_mag(&quat, lp_accel, lp_mag);
+#else
+  ahrs_float_get_quat_from_accel(&quat, lp_accel);
+#endif
+  float_eulers_of_quat(&ahrs_dcm.ltp_to_imu_euler, &quat);
 
-  /* Convert initial orientation in quaternion and rotation matrice representations. */
+  /* Convert initial orientation from quaternion to rotation matrix representations. */
   struct FloatRMat ltp_to_imu_rmat;
-  float_rmat_of_eulers(&ltp_to_imu_rmat, &ahrs_dcm.ltp_to_imu_euler);
+  float_rmat_of_quat(&ltp_to_imu_rmat, &quat);
 
   /* set filter dcm */
   set_dcm_matrix_from_rmat(&ltp_to_imu_rmat);

sw/airborne/subsystems/ahrs/ahrs_float_utils.h

@@ -35,6 +35,8 @@
 
 #include "std.h" // for ABS
 
+/** Computer orientation in euler angles from accel and mag
+ *  This is not working when the IMU is upside-down, then use the quaternion based function */
 static inline void ahrs_float_get_euler_from_accel_mag(struct FloatEulers *e, struct FloatVect3 *accel,
     struct FloatVect3 *mag)
 {