Merge pull request #413 from rosflight/varmint-submodule

Varmint submodule

.github/workflows/pre-release.yml

@@ -4,7 +4,7 @@ name: "pre-release"
 on:
   push:
     branches:
-      - "master"
+      - "main"
 
 jobs:
   pre-release:
@@ -19,10 +19,8 @@ jobs:
       run: sudo apt -y install gcc-arm-none-eabi
     - name: check toolchain
       run: arm-none-eabi-gcc --version
-    - name: make_f4
-      run: make BOARD=REVO -j4 -l4
-    - name: make_f1
-      run: make BOARD=NAZE -j4 -l4
+    - name: build varmint
+      run: mkdir build && cd build && cmake .. -DBUILD_VARMINT=true && make
 
     - uses: "marvinpinto/action-automatic-releases@latest"
       with:
@@ -31,5 +29,4 @@ jobs:
         prerelease: true
         title: "Development Build"
         files: |
-          boards/airbourne/build/rosflight_REVO_Release.bin
-          boards/breezy/build/rosflight_NAZE_Release.hex
+          build/varmint.hex

.github/workflows/release.yml

@@ -12,22 +12,19 @@ jobs:
     runs-on: "ubuntu-latest"
 
     steps:
-    - uses: actions/checkout@v2
-    - name: checkout submodules
-      run: git submodule update --init --recursive
-    - name: install toolchain
-      run: sudo apt -y install gcc-arm-none-eabi
-    - name: check toolchain
-      run: arm-none-eabi-gcc --version
-    - name: make_f4
-      run: make BOARD=REVO -j4 -l4
-    - name: make_f1
-      run: make BOARD=NAZE -j4 -l4
+      - uses: actions/checkout@v2
+      - name: checkout submodules
+        run: git submodule update --init --recursive
+      - name: install toolchain
+        run: sudo apt -y install gcc-arm-none-eabi
+      - name: check toolchain
+        run: arm-none-eabi-gcc --version
+      - name: build varmint
+        run: mkdir build && cd build && cmake .. -DBUILD_VARMINT=true && make
 
-    - uses: "marvinpinto/action-automatic-releases@latest"
-      with:
-        repo_token: "${{ secrets.GITHUB_TOKEN }}"
-        prerelease: false
-        files: |
-          boards/airbourne/build/rosflight_REVO_Release.bin
-          boards/breezy/build/rosflight_NAZE_Release.hex
+      - uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          repo_token: "${{ secrets.GITHUB_TOKEN }}"
+          prerelease: false
+          files: |
+            build/varmint.hex

.github/workflows/unit_tests.yml

@@ -6,7 +6,7 @@ jobs:
   build:
 
     runs-on: ubuntu-latest
-    
+
     steps:
     - uses: actions/checkout@v2
     - name: clone
@@ -16,20 +16,19 @@ jobs:
     - name: install gtest
       run: |
         cd /usr/src/gtest
-        sudo cmake CMakeLists.txt 
-        sudo make 
+        sudo cmake CMakeLists.txt
+        sudo make
         sudo cp ./lib/libgtest*.a /usr/lib
     - name: cmake
       run: |
-        cd test 
-        mkdir build 
-        cd build 
-        cmake .. -DCMAKE_BUILD_TYPE=Release
+        mkdir build
+        cd build
+        cmake .. -DBUILD_TEST=true -DCMAKE_BUILD_TYPE=Release
     - name: make
       run: |
-        cd test/build 
+        cd build
         make
     - name: test
       run: |
-        cd test/build 
-        ./unit_tests
+        cd build
+        ./test/unit_tests

.github/workflows/f1_firmware.yml → .github/workflows/varmint_firmware.yml

@@ -1,4 +1,4 @@
-name: F1 Firmware
+name: Varmint Firmware
 
 on: [push]
 
@@ -15,5 +15,5 @@ jobs:
       run: sudo apt -y install gcc-arm-none-eabi
     - name: check toolchain
       run: arm-none-eabi-gcc --version
-    - name: make
-      run: make BOARD=NAZE -j4 -l4
+    - name: build
+      run: mkdir build && cd build && cmake .. -DBUILD_VARMINT=true && make

.gitignore

@@ -12,10 +12,11 @@
 .vscode/
 *.o
 *.html
-/boards/*/build/
+/build/
 /test/build/
 /site/
-*.idea*
+.idea/
+cmake-build*
 *.map
 scripts/parameter-descriptions.md
 

.gitmodules

@@ -1,9 +1,6 @@
 [submodule "comms/mavlink/v1.0"]
 	path = comms/mavlink/v1.0
 	url = https://github.com/rosflight/mavlink_c_library.git
-[submodule "boards/breezy/breezystm32"]
-	path = boards/breezy/breezystm32
-	url = https://github.com/rosflight/BreezySTM32.git
-[submodule "boards/airbourne/airbourne"]
-	path = boards/airbourne/airbourne
-	url = https://github.com/rosflight/airbourne_f4.git
+[submodule "boards/varmint"]
+	path = boards/varmint
+	url = https://github.com/rosflight/varmint.git

CMakeLists.txt

@@ -0,0 +1,62 @@
+### project settings ###
+
+cmake_minimum_required(VERSION 3.8)
+project(rosflight_firmware C CXX ASM)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_C_STANDARD 11)
+
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Release")
+endif()
+
+### git ###
+
+# get version info
+execute_process(COMMAND git rev-parse --short=8 HEAD
+        OUTPUT_VARIABLE GIT_VERSION_HASH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+execute_process(COMMAND git describe --tags --abbrev=8 --always --dirty --long
+        OUTPUT_VARIABLE GIT_VERSION_STRING
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+if("${GIT_VERSION_STRING}" STREQUAL "")
+  set(GIT_VERSION_STRING "undefined")
+endif()
+if("${GIT_VERSION_HASH}" STREQUAL "")
+  set(GIT_VERSION_HASH "0")
+endif()
+
+### source files ###
+
+include_directories(
+    include
+    include/interface
+    lib
+    comms/mavlink
+    comms/mavlink/v1.0
+    comms/mavlink/v1.0/common
+    comms/mavlink/v1.0/rosflight
+)
+
+file(GLOB_RECURSE ROSFLIGHT_SOURCES
+    "src/*.cpp"
+    "lib/turbomath/turbomath.cpp"
+    "comms/mavlink/mavlink.cpp"
+)
+
+### select boards to compile ###
+
+option(BUILD_VARMINT "Build the varmint board target" OFF)
+option(BUILD_TEST "Build the test board target" OFF)
+
+if(BUILD_VARMINT)
+    message("===== Selecting varmint board target. =====")
+    add_subdirectory(boards/varmint)
+elseif(BUILD_TEST)
+    message("===== Selecting test board target. ======")
+    add_subdirectory(test)
+else()
+    message(FATAL_ERROR "No board selected! Please select the varmint or test board with -DBUILD_VARMINT=TRUE or -DBUILD_TEST=TRUE.")
+endif ()

README.md

@@ -1,12 +1,10 @@
 # ROSflight
 
-![Unit Tests](https://github.com/rosflight/firmware/workflows/Unit%20Tests/badge.svg)
-![F4 Firmware](https://github.com/rosflight/firmware/workflows/F4%20Firmware/badge.svg)
-![F1 Firmware](https://github.com/rosflight/firmware/workflows/F1%20Firmware/badge.svg)
+[![Unit Tests](https://github.com/rosflight/rosflight_firmware/actions/workflows/unit_tests.yml/badge.svg)](https://github.com/rosflight/rosflight_firmware/actions/workflows/unit_tests.yml)
+[![Varmint Firmware](https://github.com/rosflight/rosflight_firmware/actions/workflows/varmint_firmware.yml/badge.svg)](https://github.com/rosflight/rosflight_firmware/actions/workflows/varmint_firmware.yml)
 
-![Documentation](https://github.com/rosflight/firmware/workflows/Documentation/badge.svg)
 
-This is the firmware required for STM32F10x-based flight controllers (Naze32, Flip32 etc...) and STM32F4x5 boards (Revo) to run ROSflight. ROSflight is a software architecture which uses a simple, inexpensive flight controller in tandem with a much more capable companion computer running ROS. The companion computer is given a high-bandwidth connection to the flight controller to access sensor information and perform actuator commands at high rates. This architecture provides direct control of lower-level functions via the embedded processor while also enabling more complicated functionality such as vision processing and optimization via the ROS middleware.
+This is the core firmware library for ROSflight. ROSflight is a software architecture which uses a flight controller in tandem with a companion computer running ROS. The companion computer is given a high-bandwidth connection to the flight controller to access sensor information and perform actuator commands at high rates. This architecture provides direct control of lower-level functions via the embedded processor while also enabling more complicated functionality such as vision processing and optimization via the companion computer and ROS.
 
 ROSflight is designed to accomplish the following objectives: