PR to merge Custom Carbonix Custom CI and print AP_Periph software version

.github/workflows/carbonix_build.yml

@@ -0,0 +1,206 @@
+name: Build and Archive
+
+on:
+    push:
+      branches:
+        - CxPilot
+        - master
+      paths-ignore:
+        # remove non chibios HAL
+        - 'libraries/AP_HAL_Linux/**'
+        - 'libraries/AP_HAL_ESP32/**'
+        - 'libraries/AP_HAL_SITL/**'
+        # remove non stm directories
+        - 'Tools/CHDK-Script/**'
+        - 'Tools/CodeStyle/**'
+        - 'Tools/completion/**'
+        - 'Tools/debug/**'
+        - 'Tools/environment_install/**'
+        - 'Tools/FilterTestTool/**'
+        - 'Tools/Frame_params/**'
+        - 'Tools/geotag/**'
+        - 'Tools/GIT_Test/**'
+        - 'Tools/gittools/**'
+        - 'Tools/Hello/**'
+        - 'Tools/LogAnalyzer/**'
+        - 'Tools/mavproxy_modules/**'
+        - 'Tools/Pozyx/**'
+        - 'Tools/PrintVersion.py'
+        - 'Tools/Replay/**'
+        - 'Tools/simulink/**'
+        - 'Tools/UDP_Proxy/**'
+        - 'Tools/vagrant/**'
+        - 'Tools/Vicon/**'
+        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
+        - 'Tools/autotest/antennatracker.py'
+        - 'Tools/autotest/arduplane.py'
+        - 'Tools/autotest/ardusub.py'
+        - 'Tools/autotest/balancebot.py'
+        - 'Tools/autotest/location.txt'
+        - 'Tools/autotest/quadplane.py'
+        - 'Tools/autotest/rover.py'
+        - 'Tools/autotest/sailboat.py'
+        - 'Tools/autotest/swarminit.txt'
+        # Remove markdown files as irrelevant
+        - '**.md'
+        # Remove dotfile at root directory
+        - './.dir-locals.el'
+        - './.dockerignore'
+        - './.editorconfig'
+        - './.flake8'
+        - './.gitattributes'
+        - './.github'
+        - './.gitignore'
+        - './.pre-commit-config.yaml'
+        - './.pydevproject'
+        - './.valgrind-suppressions'
+        - './.valgrindrc'
+        - 'Dockerfile'
+        - 'Vagrantfile'
+        - 'Makefile'
+        # Remove some directories check
+        - '.vscode/**'
+        - '.github/ISSUE_TEMPLATE/**'
+
+    pull_request:
+      paths-ignore:
+        # remove non chibios HAL
+        - 'libraries/AP_HAL_Linux/**'
+        - 'libraries/AP_HAL_ESP32/**'
+        - 'libraries/AP_HAL_SITL/**'
+        # remove non stm directories
+        - 'Tools/CHDK-Script/**'
+        - 'Tools/CodeStyle/**'
+        - 'Tools/completion/**'
+        - 'Tools/debug/**'
+        - 'Tools/environment_install/**'
+        - 'Tools/FilterTestTool/**'
+        - 'Tools/Frame_params/**'
+        - 'Tools/geotag/**'
+        - 'Tools/GIT_Test/**'
+        - 'Tools/gittools/**'
+        - 'Tools/Hello/**'
+        - 'Tools/LogAnalyzer/**'
+        - 'Tools/mavproxy_modules/**'
+        - 'Tools/Pozyx/**'
+        - 'Tools/PrintVersion.py'
+        - 'Tools/Replay/**'
+        - 'Tools/simulink/**'
+        - 'Tools/UDP_Proxy/**'
+        - 'Tools/vagrant/**'
+        - 'Tools/Vicon/**'
+        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
+        - 'Tools/autotest/antennatracker.py'
+        - 'Tools/autotest/arduplane.py'
+        - 'Tools/autotest/ardusub.py'
+        - 'Tools/autotest/autotest.py'
+        - 'Tools/autotest/balancebot.py'
+        - 'Tools/autotest/common.py'
+        - 'Tools/autotest/examples.py'
+        - 'Tools/autotest/quadplane.py'
+        - 'Tools/autotest/rover.py'
+        - 'Tools/autotest/sailboat.py'
+        - 'Tools/autotest/**.txt'
+        - 'Tools/autotest/logger_metadata/**'
+        - 'Tools/autotest/param_metadata/**'
+        # Remove markdown files as irrelevant
+        - '**.md'
+        # Remove dotfile at root directory
+        - './.dir-locals.el'
+        - './.dockerignore'
+        - './.editorconfig'
+        - './.flake8'
+        - './.gitattributes'
+        - './.github'
+        - './.gitignore'
+        - './.pre-commit-config.yaml'
+        - './.pydevproject'
+        - './.valgrind-suppressions'
+        - './.valgrindrc'
+        - 'Dockerfile'
+        - 'Vagrantfile'
+        - 'Makefile'
+        # Remove some directories check
+        - '.vscode/**'
+        - '.github/ISSUE_TEMPLATE/**'
+
+concurrency:
+    group: ci-${{github.workflow}}-${{ github.ref }}
+    cancel-in-progress: true
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            chibios,
+            #chibios-clang,
+        ]
+        gcc: [10]
+        exclude:
+          - gcc: 10
+            toolchain: chibios-clang
+
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      # Put ccache into github cache for faster build
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+      - name: ccache cache files
+        uses: actions/cache@v3
+        with:
+          path: ~/.ccache
+          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+
+      - name: build Carbonix Flight Controller
+        shell: bash
+        run: |
+          boards=("CubeOrange" "CarbonixCubeOrange" "sitl")
+          for board in "${boards[@]}"; do
+            echo "Compiling AP_Periph for $board..."
+            ./Tools/scripts/build_bootloaders.py "$board"
+            ./waf configure --board "$board"
+            ./waf plane
+          done
+          echo "Script completed successfully."
+      - name: build Carbonix Periph boards
+        shell: bash
+        run: |
+          boards=("CarbonixF405" "Volanti-M1" "Volanti-M2" "Volanti-M3" "Volanti-M4" "Volanti-M5" "Volanti-LWing" "Volanti-RWing" "Volanti-LTail" "Volanti-RTail" "Ottano-M1" "Ottano-M2" "Ottano-M3" "Ottano-M4" "Ottano-M5" "Ottano-LWing" "Ottano-RWing" "Ottano-LTail" "Ottano-RTail")
+          for board in "${boards[@]}"; do
+            echo "Compiling AP_Periph for $board..."
+            ./Tools/scripts/build_bootloaders.py "$board"
+            ./waf configure --board "$board"
+            ./waf AP_Periph
+          done
+          echo "Script completed successfully."
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v2
+        with:
+          files: "build/CubeOrange/*, build/CarbonixCubeOrange/*, build/sitl/*, build/CarbonixF405/*, build/Volanti-M1/*, build/Volanti-M2/*, build/Volanti-M3/*, build/Volanti-M4/*, build/Volanti-M5/*, build/Volanti-LWing/*, build/Volanti-RWing/*, build/Volanti-LTail/*, build/Volanti-RTail/*, build/Ottano-M1/*, build/Ottano-M2/*, build/Ottano-M3/*, build/Ottano-M4/*, build/Ottano-M5/*, build/Ottano-LWing/*, build/Ottano-RWing/*, build/Ottano-LTail/*, build/Ottano-RTail/*"
+          fail: true
+      - name: Install zip utility
+        run: sudo apt-get install zip
+      - name: Archive build output
+        run: |
+          zip -r build-output.zip build/
+      - name: Archive production artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: compiled-output
+          path: build-output.zip
+          retention-days: 90

Tools/AP_Periph/AP_Periph.cpp

@@ -25,6 +25,7 @@
 #include "AP_Periph.h"
 #include <stdio.h>
 #include <dronecan_msgs.h>
+#include <GCS_MAVLink/GCS.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
@@ -245,6 +246,10 @@ void AP_Periph_FW::init()
 #if AP_SCRIPTING_ENABLED
     scripting.init();
 #endif
+
+#ifdef AP_CUSTOM_FIRMWARE_STRING
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO,  AP_CUSTOM_FIRMWARE_STRING);
+#endif
     start_ms = AP_HAL::native_millis();
 }