Merge pull request #424 from rosflight/varmint_updates

Varmint updates

.github/workflows/pre-release.yml

@@ -20,7 +20,9 @@ jobs:
     - name: check toolchain
       run: arm-none-eabi-gcc --version
     - name: build varmint
-      run: mkdir build && cd build && cmake .. -DBUILD_VARMINT=true && make
+      run: mkdir varmint_build && cd varmint_build && cmake .. -DBOARD_TO_BUILD=varmint && make
+    - name: build pixracer pro
+      run: mkdir pixracer_pro_build && cd pixracer_pro_build && cmake .. -DBOARD_TO_BUILD=pixracer_pro && make
 
     - uses: "marvinpinto/action-automatic-releases@latest"
       with:
@@ -29,4 +31,6 @@ jobs:
         prerelease: true
         title: "Development Build"
         files: |
-          build/varmint.hex
+          varmint_build/varmint_10X.hex
+          pixracer_pro_build/pixracer_pro.hex
+

.github/workflows/release.yml

@@ -20,11 +20,14 @@ jobs:
       - name: check toolchain
         run: arm-none-eabi-gcc --version
       - name: build varmint
-        run: mkdir build && cd build && cmake .. -DBUILD_VARMINT=true && make
+        run: mkdir varmint_build && cd varmint_build && cmake .. -DBOARD_TO_BUILD=varmint && make
+      - name: build pixracer pro
+        run: mkdir pixracer_pro_build && cd pixracer_pro_build && cmake .. -DBOARD_TO_BUILD=pixracer_pro && make
 
       - uses: "marvinpinto/action-automatic-releases@latest"
         with:
           repo_token: "${{ secrets.GITHUB_TOKEN }}"
           prerelease: false
           files: |
-            build/varmint.hex
+            varmint_build/varmint_10X.hex
+            pixracer_pro_build/pixracer_pro.hex

.github/workflows/unit_tests.yml

@@ -23,7 +23,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake .. -DBUILD_TEST=true -DCMAKE_BUILD_TYPE=Release
+        cmake .. -DBOARD_TO_BUILD=test -DCMAKE_BUILD_TYPE=Release
     - name: make
       run: |
         cd build

.github/workflows/varmint_firmware.yml

@@ -1,4 +1,4 @@
-name: Varmint Firmware
+name: Varmint Boards Build
 
 on: [push]
 
@@ -15,5 +15,7 @@ jobs:
       run: sudo apt -y install gcc-arm-none-eabi
     - name: check toolchain
       run: arm-none-eabi-gcc --version
-    - name: build
-      run: mkdir build && cd build && cmake .. -DBUILD_VARMINT=true && make
+    - name: build varmint
+      run: mkdir varmint_build && cd varmint_build && cmake .. -DBOARD_TO_BUILD=varmint && make
+    - name: build pixracer pro
+      run: mkdir pixracer_pro_build && cd pixracer_pro_build && cmake .. -DBOARD_TO_BUILD=pixracer_pro && make

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "comms/mavlink/v1.0"]
 	path = comms/mavlink/v1.0
 	url = https://github.com/rosflight/mavlink_c_library.git
-[submodule "boards/varmint"]
-	path = boards/varmint
-	url = https://github.com/rosflight/varmint.git
+[submodule "boards/varmint_h7"]
+	path = boards/varmint_h7
+	url = https://github.com/rosflight/varmint_h7.git

CMakeLists.txt

@@ -48,15 +48,18 @@ file(GLOB_RECURSE ROSFLIGHT_SOURCES
 
 ### 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)
+set(BOARD_TO_BUILD "" CACHE STRING "Select the board to build")
+if("${BOARD_TO_BUILD}" STREQUAL "varmint")
     message("===== Selecting varmint board target. =====")
-    add_subdirectory(boards/varmint)
-elseif(BUILD_TEST)
+    set(TARGET_NAME "varmint_10X")
+    add_subdirectory(boards/varmint_h7/varmint_10X)
+elseif("${BOARD_TO_BUILD}" STREQUAL "pixracer_pro")
+    message("===== Selecting pixracer pro board target. =====")
+    set(TARGET_NAME "pixracer_pro")
+    add_subdirectory(boards/varmint_h7/pixracer_pro)
+elseif("${BOARD_TO_BUILD}" STREQUAL "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 ()
+    message(FATAL_ERROR "No valid board selected! Please select the varmint, pixracer pro, or test board with -DBOARD_TO_BUILD=varmint, -DBOARD_TO_BUILD=pixracer_pro, OR -DBOARD_TO_BUILD=test.")
+endif()

include/sensors.h

@@ -58,10 +58,12 @@ typedef struct
 
 enum GNSSFixType
 {
-  GNSS_FIX_TYPE_NO_FIX,
-  GNSS_FIX_TYPE_FIX,
-  GNSS_FIX_RTK_FLOAT, // The two RTK fix types are for possible future use.
-  GNSS_FIX_RTK_FIXED
+  GNSS_FIX_TYPE_NO_FIX = 0,
+  GNSS_FIX_TYPE_DEAD_RECKONING_ONLY = 1,
+  GNSS_FIX_TYPE_2D_FIX = 2,
+  GNSS_FIX_TYPE_3D_FIX = 3,
+  GNSS_FIX_TYPE_GNSS_PLUS_DEAD_RECKONING = 4,
+  GNSS_FIX_TYPE_TIME_FIX_ONLY = 5,
 };
 
 struct GNSSData

scripts/run_tests.sh

@@ -26,15 +26,23 @@ echo_blue "Test 1: Build varmint firmware"
 rm -rf build
 mkdir build
 cd build
-cmake .. -DBUILD_VARMINT=TRUE -DCMAKE_BUILD_TYPE=RELEASE && make -j4 -l4
+cmake .. -DBOARD_TO_BUILD=varmint -DCMAKE_BUILD_TYPE=RELEASE && make -j8 -l8
+print_result $?
+cd ..
+
+echo_blue "Test 1: Build pixracer pro firmware"
+rm -rf build
+mkdir build
+cd build
+cmake .. -DBOARD_TO_BUILD=pixracer_pro -DCMAKE_BUILD_TYPE=RELEASE && make -j8 -l8
 print_result $?
 cd ..
 
 echo_blue "Test 2: Build test suite"
 rm -rf build
 mkdir build
 cd build
-cmake .. -DBUILD_TEST=TRUE -DCMAKE_BUILD_TYPE=RELEASE && make -j4 -l4
+cmake .. -DBOARD_TO_BUILD=test -DCMAKE_BUILD_TYPE=RELEASE && make -j8 -l8
 print_result $?
 
 echo_blue "Test 3: Run test suite"

src/main.cpp

@@ -38,13 +38,10 @@
 #include <mavlink.h>
 #include <rosflight.h>
 
-// Select which board implementation to include based on cmake variable
-#ifdef BUILD_VARMINT_BOARD
-#include <Varmint.h>
-extern Varmint varmint;
-#endif
 #ifndef BUILD_TEST_BOARD // Skip main function for gtest
 
+extern rosflight_firmware::Board & board;
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -59,15 +56,10 @@ int main(void);
  */
 int main(void)
 {
-  // Select which board implementation to instantiate based on cmake variable
-#ifdef BUILD_VARMINT_BOARD
-  rosflight_firmware::Board * board = &varmint;
-#endif
-
   // Rosflight base code
-  board->init_board();
-  rosflight_firmware::Mavlink mavlink(*board);
-  rosflight_firmware::ROSflight firmware(*board, mavlink);
+  board.init_board();
+  rosflight_firmware::Mavlink mavlink(board);
+  rosflight_firmware::ROSflight firmware(board, mavlink);
 
   firmware.init();