a5607bc54c
* Initial commit for the CLI settings compiler
Not very useful for now, only generates settings.c in the same
way the settings were manually written in cli.c
* Move all settings to a YAML file
This will eventually let us compile and pack the settings saving
a lot of memory. For now, the code compiles but it doesn't work
since it uses a byte to index into the word array which has more
than 256 entries.
* Use varint encoding for cli name word indexing
This makes the CLI work again.
* Make clivalue_name_* funcs return bool
Makes more sense than returning uint8_t, even when the compiler will
probably generate exactly the same assembly in both cases.
* Fix invalid field name
Missing a closing ]
* Initial attempt at generating the settings files at build time
Optimize the generator to call into the compiler only once, so
we can afford to call it for each build and, eventually, generate
build-optimized settings.
* Fix build error due to generated files
Due to make's expansion rules, the generated implementation file
wasn't correctly compiled if the build was started when the
generated files didn't exist.
Althogh there's probably a better solution, this should work for
now.
* Generate a per-build settings_generated.{h,c}
This allows us to save a bit more space, since this way the words
array doesn't include words which are not used by the build.
* Remove pgn_t field from cliValueConfig_t
Use a couple of arrays to find the pgn_t for a setting from its
offset in the table. This saves another 384 bytes on NAZE.
* Use only a byte for the field offset in clivalue_t when possible
While compiling the settings, determine if any offset requires a
number bigger than 255. If that's not the case, use a uint8_t
rather than an uint16_t for storing the field offset.
* Add missing header to PG_MODE_ACTIVATION_OPERATOR_CONFIG group
* Fix unbalanced #endif
Introduced when deleting the hardcoded settings from cli.c
* Don't ignore the return value from g.CanUseByteOffsetoff()
CLIVALUE_USE_BYTE_OFFSETOF was always defined regardless of the
maximum offsetof() value found in the settings.
* clivalue_name_*() functions now take a buffer
Requires only CLIVALUE_MAX_NAME_LENGTH bytes in the stack rather
than 2*CLIVALUE_MAX_NAME_LENGTH, since those functions were called
from functions which already had a buffer for the name allocated
but had to allocate their own.
* Remove unneeded clivalue_get_name() call
clivalue_name_exact_match() will already fill the buffer with
the value name.
* Fix off-by-one error in the settings generator
The generated C code wasn't allocating enough space for the '\0'
terminator for setting names
* Fix off-by-one error in the name decoder
CLIVALUE_ENCODED_NAME_MAX_BYTES represents the maximum number of
bytes in an encoded name, not the maximum word index.
* Add missing headers to PG_STATS_CONFIG group
* Make sure the settings are always up to date
* Initial attempt at encoding constants used for min/max settings
Pretty naive approach for now. Saves ~400 bytes on F1 targets.
* Move tool for generating settings to tools/
Also, rename it from settings_gen to just settings.
Delete the .gitignore in src/main/fc and just add all ignored
files in the root .gitignore, since that speeds up git.
* Only print setting stats when the env var V=1
This way we get quiet output unless the Makefile has been invoked
with verbose output.
* Make setting generation rules compatible with gmake 4
Rules were working fine on gmake 3, but failing with gmake 4. These
new rules should work with both of them.
* Fix constant value detection with GCC 7.1
GCC 6.3 emits errors with <42type-suffix> while GCC 7.1
emits the errors with only <42>
* Format uint8_t arrays a bit better
Don't add a comma after the last element
* Sort words and values determiniscally
This will help while checking the upcoming Ruby implementation
of the generator against the previous one using Go.
* Add missing headers for some groups in settings.yaml
* Replace the Go settings generator with a Ruby implementation
This makes it easier to install the required dependencies to
build INAV, since Ruby is installed by default on macOS and
installing it in Linux should be easier than installing Go
and a 3rd party package (for YAML parsing).
* Don't hardcode the value type for each parameter group
Instead, add a value_type field to each group with a default
value of MASTER_VALUE
* Simplify code for adding custom methods to StringIO
* Only resolve types for enabled fields
This fixes issues with some types which are only defined
if the feature for them is enabled (e.g. STATS or NAV).
* Implement print_stats() in the Ruby settings generator
* Rename constant in generated settings
CLIVALUE_ENCODED_NAME_USES_DIRECT_INDEXING =>
CLIVALUE_ENCODED_NAME_USES_BYTE_INDEXING
* Remove old settings generator binary from .gitignore
* Enable DEBUG while generating settings
Travis build is failing, this should help determine why
* Add $TOOLCHAINPATH to $PATH on Travis builds
* Disable DEBUG in settings.rb
Travis build is now failing because the log is too big
* Fix warning when running settings.rb on RB >= 2.4
* Don't print message when generating settings with V=0
* Use a relative path for the temporary dir
Absolute paths cause issues calling out to g++ on Windows
* Add INAV license header to settings.rb
* Add missing header to settings.c
Required since last rebase, it was compiling fine previously
* Remove unneeded extern variable decl from settings.c
Not needed anymore since we're now including settings_generated.c
directly in settings.c to simplify the Makefile.
* Use obj/tmp rather than just tmp for temporary files
* Update devdocs to mention Ruby installation
* Update Dockerfile and Vagrantfile to install Ruby
Required by the settings generator
Fixes #1997
3.8 KiB
Executable file
Building in Ubuntu
Building for Ubuntu platform is remarkably easy. The only trick to understand is that the Ubuntu toolchain, which they are downstreaming from Debian, is not compatible with INAV. We suggest that you take an alternative PPA from Terry Guo, found here: https://launchpad.net/~terry.guo/+archive/ubuntu/gcc-arm-embedded
This PPA has several compiler versions and platforms available. For many hardware platforms (notably Naze) the 4.9.3 compiler will work fine. For some, older compiler 4.8 (notably Sparky) is more appropriate. We suggest you build with 4.9.3 first, and try to see if you can connect to the CLI or run the Configurator. If you cannot, please see the section below for further hints on what you might do.
Setup GNU ARM Toolchain
Note specifically the last paragraph of Terry's PPA documentation -- Ubuntu carries its own package for
gcc-arm-none-eabi, so you'll have to remove it, and then pin the one from the PPA.
For your release, you should first remove any older pacakges (from Debian or Ubuntu directly), introduce
Terry's PPA, and update:
sudo apt-get remove binutils-arm-none-eabi gcc-arm-none-eabi
sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
sudo apt-get update
For Linux Mint 18 (Ubuntu 16, 2016-09-11)
sudo apt install git
sudo apt install gcc
sudo apt install gcc-arm-none-eabi
sudo apt-get install libnewlib-arm-none-eabi
cd src
git clone https://github.com/iNavFlight/inav.git
cd inav
make TARGET=NAZE
For Ubuntu 14.10 (current release, called Utopic Unicorn), you should pin:
sudo apt-get install gcc-arm-none-eabi=4.9.3.2014q4-0utopic12
For Ubuntu 14.04 (an LTS as of Q1'2015, called Trusty Tahr), you should pin:
sudo apt-get install gcc-arm-none-eabi=4.9.3.2014q4-0trusty12
For Ubuntu 12.04 (previous LTS, called Precise Penguin), you should pin:
sudo apt-get install gcc-arm-none-eabi=4.9.3.2014q4-0precise12
Install Ruby
Install the Ruby package for your distribution. On Debian based distributions, you should install the ruby package
sudo apt-get install ruby
Building on Ubuntu
After the ARM toolchain from Terry is installed, you should be able to build from source.
cd src
git clone git@github.com:iNavFlight/inav.git
cd inav
make TARGET=NAZE
You'll see a set of files being compiled, and finally linked, yielding both an ELF and then a HEX:
...
arm-none-eabi-size ./obj/main/inav_NAZE.elf
text data bss dec hex filename
97164 320 11080 108564 1a814 ./obj/main/inav_NAZE.elf
arm-none-eabi-objcopy -O ihex --set-start 0x8000000 obj/main/inav_NAZE.elf obj/inav_NAZE.hex
$ ls -la obj/inav_NAZE.hex
-rw-rw-r-- 1 pim pim 274258 Jan 12 21:45 obj/inav_NAZE.hex
You can use the INAV-Configurator to flash the obj/inav_NAZE.hex file.
Bricked/Bad build?
Users have reported that the 4.9.3 compiler for ARM produces bad builds, for example on the Sparky hardware platform.
It is very likely that using an older compiler would be fine -- Terry happens to have also a 4.8 2014q2 build in his
PPA - to install this, you can fetch the .deb directly:
http://ppa.launchpad.net/terry.guo/gcc-arm-embedded/ubuntu/pool/main/g/gcc-arm-none-eabi/
and use dpkg to install:
sudo dpkg -i gcc-arm-none-eabi_4-8-2014q2-0saucy9_amd64.deb
Make sure to remove obj/ and make clean, before building again.
Updating and rebuilding
Navigate to the local INAV repository and use the following steps to pull the latest changes and rebuild your version of INAV:
cd src/inav
git reset --hard
git pull
make clean TARGET=NAZE
make
Credit goes to K.C. Budd, AKfreak for testing, and pulsar for doing the long legwork that yielded this very short document.