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qurt: Added patch for Eigen to use latest version

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Updated to 7.2 Hexagon toolchain

Fixed issuse with stack usage

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-09-15 12:22:58 -07:00
parent 2a60ffd554
commit 1abd61303f
15 changed files with 317 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
CMakeLists.txt
View File

@ -219,7 +219,6 @@ px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
add_custom_target(submodule_clean

13
cmake/common/px4_base.cmake
View File

@ -486,7 +486,6 @@ function(px4_add_common_flags)
-Wextra
#-Wshadow # very verbose due to eigen
-Wfloat-equal
-Wframe-larger-than=1024
-Wpointer-arith
-Wmissing-declarations
-Wpacked
@ -506,6 +505,10 @@ function(px4_add_common_flags)
# but generates too many false positives
)
if (NOT ${OS} STREQUAL "qurt")
list(APPEND warnings -Wframe-larger-than=1024)
endif()
if (${CMAKE_C_COMPILER_ID} STREQUAL "Clang")
list(APPEND warnings
-Wno-unused-const-variable
@ -609,11 +612,9 @@ function(px4_add_common_flags)
${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
)
if (NOT ${OS} STREQUAL "qurt")
list(APPEND added_include_dirs
${CMAKE_SOURCE_DIR}/src/lib/eigen
)
endif()
list(APPEND added_include_dirs
src/lib/eigen
)
set(added_link_dirs) # none used currently

2
cmake/configs/qurt_eagle_hello.cmake
View File

@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.2.cmake)
set(config_module_list
drivers/device

2
cmake/configs/qurt_eagle_hil.cmake
View File

@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.2.cmake)
set(config_module_list
drivers/device

2
cmake/configs/qurt_eagle_muorb.cmake
View File

@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.2.cmake)
set(config_module_list
drivers/device

2
cmake/configs/qurt_eagle_release.cmake
View File

@ -20,7 +20,7 @@ set(target_libraries
)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.2.cmake)
set(config_module_list
#

2
cmake/configs/qurt_eagle_test.cmake
View File

@ -1,6 +1,6 @@
include(qurt/px4_impl_qurt)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.2.cmake)
set(config_module_list
drivers/device

2
cmake/configs/qurt_eagle_travis.cmake
View File

@ -3,7 +3,7 @@ include(qurt/px4_impl_qurt)
# Run a full link with build stubs to make sure qurt target isn't broken
set(QURT_ENABLE_STUBS "1")
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.2.cmake)
set(config_module_list
drivers/device

14
cmake/qurt/px4_impl_qurt.cmake
View File

@ -167,7 +167,6 @@ function(px4_os_add_flags)
${DSPAL_ROOT}/uart_esc/inc
src/platforms/qurt/include
src/platforms/posix/include
src/lib/eigen-3.2
)
set(added_definitions
@ -223,11 +222,14 @@ function(px4_os_prebuild_targets)
ONE_VALUE OUT BOARD THREADS
REQUIRED OUT BOARD
ARGN ${ARGN})
add_custom_target(${OUT} DEPENDS git_dspal git_eigen32)
add_custom_target(ALL DEPENDS git_eigen32)
execute_process(
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen-3.2
COMMAND patch -p1 -i ../../../cmake/qurt/qurt_eigen.patch)
add_custom_target(git_eigen_patched
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen
COMMAND git checkout .
COMMAND patch -p1 -i ${CMAKE_SOURCE_DIR}/cmake/qurt/qurt_eigen.patch
DEPENDS git_eigen)
add_custom_target(${OUT} DEPENDS git_dspal git_eigen_patched)
add_custom_target(ALL DEPENDS git_eigen)
endfunction()
# vim: set noet fenc=utf-8 ff=unix nowrap:

50
cmake/qurt/qurt_eigen.patch
View File

@ -1,17 +1,37 @@
This patch is required for QuRT. complex.h defines "I" and it replaces "I" in the
enum definition without this patch creating an error.
diff --git a/Eigen/src/Core/SolveTriangular.h b/Eigen/src/Core/SolveTriangular.h
index ef17f28..1116270 100644
--- a/Eigen/src/Core/SolveTriangular.h
+++ b/Eigen/src/Core/SolveTriangular.h
@@ -112,6 +112,9 @@ template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
bool Stop = Index==Size>
struct triangular_solver_unroller;
diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
index 1ca1d66..9bc928b 100644
--- a/Eigen/src/Core/util/Macros.h
+++ b/Eigen/src/Core/util/Macros.h
@@ -194,6 +194,12 @@
#define EIGEN_ARCH_PPC 0
#endif
+#ifdef __PX4_QURT
+#undef I
+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
+#ifdef __HEXAGON_ARCH__
+ #define EIGEN_ARCH_HEXAGON 1
+#else
+ #define EIGEN_ARCH_HEXAGON 0
+#endif
template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
enum {
// Operating system identification, EIGEN_OS_*
@@ -334,15 +340,16 @@
#endif
// Do we support r-value references?
-#if (__has_feature(cxx_rvalue_references) || \
+#if ((__has_feature(cxx_rvalue_references) || \
(defined(__cplusplus) && __cplusplus >= 201103L) || \
defined(__GXX_EXPERIMENTAL_CXX0X__) || \
- (EIGEN_COMP_MSVC >= 1600))
+ (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
#define EIGEN_HAVE_RVALUE_REFERENCES
#endif
// Does the compiler support result_of?
-#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
+ (!defined(EIGEN_ARCH_HEXAGON)))
#define EIGEN_HAS_STD_RESULT_OF 1
#endif

241
cmake/toolchains/Toolchain-hexagon-7.2.cmake Normal file
View File

@ -0,0 +1,241 @@
#
# Copyright (C) 2015 Mark Charlebois. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
include(CMakeForceCompiler)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
include(common/px4_base)
if(NOT HEXAGON_TOOLS_ROOT)
set(HEXAGON_TOOLS_ROOT /opt/7.2.09/Tools)
endif()
macro (list2string out in)
set(list ${ARGV})
list(REMOVE_ITEM list ${out})
foreach(item ${list})
set(${out} "${${out}} ${item}")
endforeach()
endmacro(list2string)
set(V_ARCH "v5")
set(CROSSDEV "hexagon-")
set(HEXAGON_BIN ${HEXAGON_TOOLS_ROOT}/bin)
set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
# Use the HexagonTools compiler (6.4.05)
set(CMAKE_C_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang)
set(CMAKE_CXX_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang++)
set(CMAKE_AR ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
set(CMAKE_RANLIB ${HEXAGON_BIN}/${CROSSDEV}ranlib)
set(CMAKE_LINKER ${HEXAGON_BIN}/${CROSSDEV}ld.qcld)
set(CMAKE_NM ${HEXAGON_BIN}/${CROSSDEV}nm)
set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
list2string(HEXAGON_INCLUDE_DIRS
-I${HEXAGON_TOOLS_ROOT}/target/hexagon/include
)
#set(DYNAMIC_LIBS -Wl,${TOOLSLIB}/pic/libstdc++.a)
#set(MAXOPTIMIZATION -O0)
# Base CPU flags for each of the supported architectures.
#
set(ARCHCPUFLAGS
-m${V_ARCH}
-G0
)
add_definitions(
-D_PID_T -D_UID_T -D_TIMER_T
-Dnoreturn_function=
-D__EXPORT=
-Drestrict=
-D_DEBUG
-Wno-error=shadow
)
# optimisation flags
#
set(ARCHOPTIMIZATION
-O0
-g
-fno-strict-aliasing
-fdata-sections
-fpic
-fno-zero-initialized-in-bss
)
# Language-specific flags
#
set(ARCHCFLAGS
-std=gnu99
-D__CUSTOM_FILE_IO__
)
set(ARCHCXXFLAGS
-fno-exceptions
-fno-rtti
# -std=c++11
-fno-threadsafe-statics
-DCONFIG_WCHAR_BUILTIN
-D__CUSTOM_FILE_IO__
)
set(ARCHWARNINGS
-Wall
-Wextra
-Werror
-Wno-unused-parameter
-Wno-unused-function
-Wno-unused-variable
-Wno-gnu-array-member-paren-init
-Wno-cast-align
-Wno-missing-braces
-Wno-strict-aliasing
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
)
# C-specific warnings
#
set(ARCHCWARNINGS
${ARCHWARNINGS}
-Wstrict-prototypes
-Wnested-externs
)
# C++-specific warnings
#
set(ARCHWARNINGSXX
${ARCHWARNINGS}
-Wno-missing-field-initializers
)
exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
# Flags we pass to the C compiler
#
list2string(CFLAGS
${ARCHCFLAGS}
${ARCHCWARNINGS}
${ARCHOPTIMIZATION}
${ARCHCPUFLAGS}
${ARCHINCLUDES}
${INSTRUMENTATIONDEFINES}
${ARCHDEFINES}
${EXTRADEFINES}
${EXTRACFLAGS}
${HEXAGON_INCLUDE_DIRS}
)
# Flags we pass to the C++ compiler
#
list2string(CXXFLAGS
${ARCHCXXFLAGS}
${ARCHWARNINGSXX}
${ARCHOPTIMIZATION}
${ARCHCPUFLAGS}
${ARCHXXINCLUDES}
${INSTRUMENTATIONDEFINES}
${ARCHDEFINES}
${EXTRADEFINES}
${EXTRACXXFLAGS}
${HEXAGON_INCLUDE_DIRS}
)
# Flags we pass to the assembler
#
list2string(AFLAGS
${CFLAGS}
-D__ASSEMBLY__
${EXTRADEFINES}
${EXTRAAFLAGS}
)
# Set cmake flags
#
list2string(CMAKE_C_FLAGS
${CMAKE_C_FLAGS}
${CFLAGS}
)
set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
list2string(CMAKE_CXX_FLAGS
${CMAKE_CXX_FLAGS}
${CXXFLAGS}
)
set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
# Flags we pass to the linker
#
list2string(CMAKE_EXE_LINKER_FLAGS
-g
-mv5
-mG0lib
-lhexagon
-G0
-fpic
-Wl,-Bsymbolic
-Wl,--wrap=malloc
-Wl,--wrap=calloc
-Wl,--wrap=free
-Wl,--wrap=realloc
-Wl,--wrap=memalign
-Wl,--wrap=__stack_chk_fail
-lc
${EXTRALDFLAGS}
)
# where is the target environment
set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
set(CMAKE_C_COMPILER_ID, "Clang")
set(CMAKE_CXX_COMPILER_ID, "Clang")
# search for programs in the build host directories
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

5
src/firmware/qurt/CMakeLists.txt
View File

@ -1,10 +1,5 @@
include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(V_ARCH v5)
set(HEXAGON_TOOLS_ROOT /opt/6.4.03)
set(TOOLSLIB
${HEXAGON_TOOLS_ROOT}/dinkumware/lib/${V_ARCH}/G0)
px4_qurt_generate_builtin_commands(
OUT ${CMAKE_BINARY_DIR}/apps.h
MODULE_LIST ${module_libraries})

11
src/modules/ekf_att_pos_estimator/CMakeLists.txt
View File

@ -30,13 +30,16 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(MODULE_CFLAGS -Weffc++)
if(NOT ${OS} STREQUAL "qurt")
list(APPEND MODULE_CFLAGS -Wframe-larger-than=3400)
endif()
px4_add_module(
MODULE modules__ekf_att_pos_estimator
MAIN ekf_att_pos_estimator
COMPILE_FLAGS
-Weffc++
-Wframe-larger-than=3400
-O3
COMPILE_FLAGS ${MODULE_CFLAGS}
SRCS
ekf_att_pos_estimator_main.cpp
ekf_att_pos_estimator_params.c

7
src/modules/position_estimator_inav/CMakeLists.txt
View File

@ -30,12 +30,15 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(MODULE_CFLAGS)
if(NOT ${OS} STREQUAL "qurt")
list(APPEND MODULE_CFLAGS -Wframe-larger-than=3800)
endif()
px4_add_module(
MODULE modules__position_estimator_inav
MAIN position_estimator_inav
STACK 1200
COMPILE_FLAGS
-Wframe-larger-than=3800
COMPILE_FLAGS ${MODULE_CFLAGS}
SRCS
position_estimator_inav_main.c

11
src/systemcmds/mixer/CMakeLists.txt
View File

@ -30,13 +30,18 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(MIXER_CFLAGS -Os)
if(${OS} STREQUAL "qurt")
list(APPEND MIXER_CFLAGS -Wframe-larger-than=2176)
else()
list(APPEND MIXER_CFLAGS -Wframe-larger-than=2048)
endif()
px4_add_module(
MODULE systemcmds__mixer
MAIN mixer
STACK 4096
COMPILE_FLAGS
-Wframe-larger-than=2048
-Os
COMPILE_FLAGS ${MIXER_CFLAGS}
SRCS
mixer.cpp
DEPENDS