[chibios] Add support for a full ChibiOS arch #1699

gautierhattenberger · 2016-06-02T16:21:09Z

This is replacing the previous mix chibios/libopencm3:

all drivers are ported to the new arch
it was hard to go forward and take advantages of the RTOS, now it is much easier
switch to v3 of ChibiOS
for now, it is functionaly the same than before
the previous variable length array mechanism used internaly by the
sdlog is replaced by a more efficient library called TLSF (allow
constant time malloc/free)

It also comes as a replacement of the rt_chibios branch (https://github.com/paparazzi/paparazzi/tree/rt_chibios) and the pull request #1504 (although the approach is different)

This is replacing the previous mix chibios/libopencm3: - all drivers are ported to the new arch - it was hard to go forward and take advantages of the RTOS, now it is much easier - switch to v3 of ChibiOS - for now, it is functionaly the same than before - the previous variable length array mechanism used internaly by the sdlog is replaced by a more efficient library called TLSF (allow constant time malloc/free)

podhrmic · 2016-06-02T16:50:31Z

Cool, that is exciting! From looking at it the commit, it doesn't add the arch/chibios dir - is that something that you don't need for the sdlogger?

gautierhattenberger · 2016-06-02T19:40:22Z

@podhrmic Thanks, I didn't even realized that all the new files were missing from the commit

podhrmic · 2016-06-02T19:52:32Z

@gautierhattenberger looking at the driver implementation - you have threads for IO, and then running the whole autopilot in one thread (which is the different approach). But this would mean locking us to using ChibiOS this hybrid way, instead of using the full potential of multithreading (or haivng a choice):-/ I still think there is a better solution - are you willing to wait with this?

gautierhattenberger · 2016-06-02T21:27:30Z

As mentioned, it mostly provides the same functionality than the current code, but allow to move forward, whatever the direction.
For instance, it is easy to make payload modules running their own threads.
Regarding the implementation of the drivers, I have modified the UART driver so that when it is used to send messages, the mutex are only needed once per message instead of once per character in the previous implementation. So it is much more efficient, and the other ones (SPI, I2C) were already working like this thanks to the transactions queues.
In the end, the regular FW autopilot only needs 6% of the MCU on Apogee.
I also would like to make AP and FBW parts running in separated thread soon, since the design was made for that purpose.
With the time, more elements could be split into threads, but making it nicely compatible with older bare-metal code is not so obvious to me.
So, except for the issue of which ChibiOS Git repository we should follow, I really think getting rid of the mixed chibios/locm3 is a necessary step.

podhrmic · 2016-06-02T22:02:38Z

I definitely agree with removing the chibios-libopecm3 stuff.
So I guess as long as you are open to slowly improving the drivers/threading over time I am cool with that.
Also, what is the github issue? Isn't this the repo we want? https://github.com/ChibiOS/ChibiOS/tree/stable_16.1.x

gautierhattenberger · 2016-06-02T22:21:39Z

Yes, but since they apply a AUTHORS file to change the "svn" name to a full name+email git format, this tree is not compatible anymore with the one we are currently using in master (https://github.com/mabl/ChibiOS). So the command git submodule sync needs to be applied at some point for the new tree to be fetched, otherwise the submodule checkout fails.
It's fine for new users, not for people updating from an older branch. This is also why the CI servers are failing. Hopefully @flixr as an idea about how to sort this properly, I'm not really good with git submodules.

podhrmic · 2016-06-02T22:45:20Z

I see. Well I guess since this is in the development branch, it shouldn't be a problem for users to just do a fresh git clone (in case it turns out to be too complicated to fix)

flixr · 2016-06-02T23:04:34Z

added the git submodule sync to semaphore, shouldn't be needed for travis as it does a fresh git clone...
The tests are failing because of e.g. duplicated AC_IDs...

podhrmic · 2016-06-02T23:28:31Z

The ID's are fixed in the master - git rebase?

flixr · 2016-06-03T09:51:53Z

Currently no idea what's up with the semaphore build, investigating that...
But there is e.g. logger_sd_chibios.makefile missing as can be seen in the travis builds

gautierhattenberger · 2016-06-03T14:20:52Z

@flixr thanks for fixing CI config!
@podhrmic @flixr do you see something else to fix/improve here ?

flixr · 2016-06-03T14:45:23Z

conf/Makefile.chibios

@@ -95,6 +105,16 @@ ifeq ($(USE_LINK_GC),)
  USE_LINK_GC = yes
 endif

+# Linker extra options here.
+ifeq ($(USE_LDOPT),)
+  USE_LDOPT = 


minor, but I think that writing USE_LDOPT ?= is easier to understand than using ifeq...

This is because it is based on original ChibiOS examples, makes it easier to upgrade afterwards. Should I still change it ?

Probably better to make it consistent with the original ChibiOS examples, at least for now

podhrmic · 2016-06-03T14:57:03Z

I ll look through it in detail over the weekend.

flixr · 2016-06-03T15:10:23Z

conf/Makefile.chibios

+CHIBIOS =  $(PAPARAZZI_SRC)/sw/ext/chibios
+
+# directory with board defines for chibios platforms (board specific)
+BOARD_DIR ?= $(BOARD)/chibios


here you set BOARD_DIR to $(BOARD)/chibios, but for apogee you use BOARD_DIR=$(BOARD)/v$(BOARD_VERSION)...
Maybe we should stick to one schema?

I choose not to use BOARD_VERSION since it may not be provided or wanted to separate config files by default.

flixr · 2016-06-03T15:33:56Z

Haven't looked at the drivers in detail, but I would be very happy if we can merge this as it is a lot cleaner than the chibios-locm3 mix... :-)

Then when we have this in master we can continue and pull in the separate main threads that @podhrmic already uses in his chibios branch.

Or maybe even better: we should try to abstract threads and mutexes and build a main that we can use for both Linux OS and ChibiOS (and ...?)

podhrmic · 2016-06-06T16:39:46Z

conf/Makefile.chibios

+CHIBIOS_BOARD_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD_DIR)
+
+# directory with board and OS configuration (project specific)
+PROJECT_DIR ?= demo


I am not sure about the project directory - it is demo by default, but in the board makefile we set it to (empty string), right?

Maybe we can get rid of it / streamline it?

podhrmic · 2016-06-06T16:55:55Z

conf/firmwares/test_chibios.makefile

+#   MODEM_PORT
+#   MODEM_BAUD
+#
+PERIODIC_FREQUENCY ?= 500


I would add RTOS_DEBUG = 1 so the tests always compile with full debug suite.

podhrmic · 2016-06-06T17:22:35Z

OK, so I finally have time to look over it in more detail - looks good, just few minor things I would recommend changing (see my comments).

Or maybe even better: we should try to abstract threads and mutexes and build a main that we can use for both Linux OS and ChibiOS (and ...?)

Sounds like a good idea. Although I am not very familiar with Linux threads so hard to say how much different it would be. But I definitely support multithreaded solution:)

gautierhattenberger · 2016-06-06T22:21:34Z

I think this should cover most of the comments. Thanks.

podhrmic · 2016-06-06T23:11:46Z

Looks good to me!

[chibios] all new files were missing...

22a8e9c

gautierhattenberger added 2 commits June 3, 2016 09:25

fix conf ID

7a00919

fix conf_test

4864e5f

gautierhattenberger added 3 commits June 3, 2016 12:59

add missing module file for sd log

e7b05c1

[uart] add missing UART_SPEED macro

71ff27c

fix some airframe files

d715cf8

flixr reviewed Jun 3, 2016
View reviewed changes

podhrmic reviewed Jun 6, 2016
View reviewed changes

gautierhattenberger added 6 commits June 6, 2016 23:29

add missing include

57c5e4f

update and clean makefiles

aebf264

remove old files

7d0765f

enable CAN if needed (when this will be supported)

abe541c

get free stack only works for F4

ebb7714

remove comment

637e172

missing endif

e8c23f5

gautierhattenberger merged commit 73e93b0 into master Jun 7, 2016

gautierhattenberger deleted the chibios_arch branch June 7, 2016 07:44

gautierhattenberger mentioned this pull request Jun 8, 2016

Chibios integration #1504

Closed

flixr mentioned this pull request Mar 4, 2017

ChibiOS integration (RT Paparazzi) #1105

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[chibios] Add support for a full ChibiOS arch #1699

[chibios] Add support for a full ChibiOS arch #1699

gautierhattenberger commented Jun 2, 2016

podhrmic commented Jun 2, 2016

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[chibios] Add support for a full ChibiOS arch #1699

[chibios] Add support for a full ChibiOS arch #1699

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