QuRT: toolchain changes

Reworking toolchain and main.cpp for QuRT to a final link can be done and the apps.h file is autogenerated. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-04-14 10:07:39 +08:00 · 2015-05-12 11:37:28 -07:00 · 2015-05-12 11:37:28 -07:00 · 3db5f3bb3b
commit 3db5f3bb3b
parent 14cbd240ff
10 changed files with 109 additions and 84 deletions
--- a/Tools/qurt_apps.py
+++ b/Tools/qurt_apps.py
@ -44,8 +44,7 @@ print
 print """
 #include <string>
 #include <map>
-
-#define __EXPORT 
+#include <stdio.h>

 #include <px4_tasks.h>
 #include <px4_posix.h>
@ -84,14 +83,14 @@ map<string,px4_main_t> apps = app_map();

 static void list_builtins(void)
 {
-	cout << "Builtin Commands:" << endl;
+	printf("Builtin Commands:\\n");
 	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
-		cout << '\t' << it->first << endl;
+		printf("\\t%s\\n", (it->first).c_str());
 }

 static int shutdown_main(int argc, char *argv[])
 {
-	cout << "Shutting down" << endl;
+	printf("Shutting down\\n");
 	exit(0);
 }

--- a/makefiles/firmware_qurt.mk
+++ b/makefiles/firmware_qurt.mk
@ -58,6 +58,6 @@ HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
 V_ARCH			 = v5
 HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
 SIM     = $(HEXAGON_CLANG_BIN)/hexagon-sim
-SIMFLAGS+= -m$(V_ARCH) --timing
+SIMFLAGS+= -m$(V_ARCH) 
 sim:
 	$(SIM) $(SIMFLAGS) Build/qurt_default.build/mainapp
--- a/makefiles/qurt/config_qurt_default.mk
+++ b/makefiles/qurt/config_qurt_default.mk
@ -10,18 +10,18 @@
 #
 # Board support modules
 #
-MODULES		+= drivers/device
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/hil
-MODULES		+= drivers/led
-MODULES		+= drivers/rgbled
-MODULES		+= modules/sensors
+#MODULES		+= drivers/device
+#MODULES		+= drivers/blinkm
+#MODULES		+= drivers/hil
+#MODULES		+= drivers/led
+#MODULES		+= drivers/rgbled
+#MODULES		+= modules/sensors
 #MODULES		+= drivers/ms5611

 #
 # System commands
 #
-MODULES	+= systemcmds/param
+#MODULES	+= systemcmds/param

 #
 # General system control
@ -31,8 +31,8 @@ MODULES	+= systemcmds/param
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
-MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator

 #
 # Vehicle Control
@ -42,37 +42,37 @@ MODULES		+= modules/ekf_att_pos_estimator
 #
 # Library modules
 #
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
+#MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+#MODULES		+= modules/uORB
 #MODULES		+= modules/dataman
 #MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
-MODULES		+= modules/commander
+#MODULES		+= modules/simulator
+#MODULES		+= modules/commander

 #
 # Libraries
 #
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
+#MODULES		+= lib/mathlib
+#MODULES		+= lib/mathlib/math/filter
+#MODULES		+= lib/geo
+#MODULES		+= lib/geo_lookup
+#MODULES		+= lib/conversion

 #
 # QuRT port
 #
 MODULES		+= platforms/qurt/px4_layer
-MODULES		+= platforms/posix/drivers/accelsim
-MODULES		+= platforms/posix/drivers/gyrosim
-MODULES		+= platforms/posix/drivers/adcsim
-MODULES		+= platforms/posix/drivers/barosim
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim

 #
 # Unit tests
 #
 MODULES		+= platforms/qurt/tests/hello
-MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/vcdev_test
 #MODULES		+= platforms/posix/tests/hrt_test
-MODULES		+= platforms/posix/tests/wqueue
+#MODULES		+= platforms/posix/tests/wqueue

--- a/makefiles/qurt_elf.mk
+++ b/makefiles/qurt_elf.mk
@ -56,10 +56,8 @@ $(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS)
 $(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
 	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))

-MAIN = $(PX4_BASE)/src/platforms/qurt/main.cpp
 $(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
-	$(PX4_BASE)/Tools/qurt_apps.py > apps.h
-	$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
+	$(call LINK,$@, $(PRODUCT_SHARED_LIB))

 #
 # Utility rules
@ -70,4 +68,3 @@ clean:			$(MODULE_CLEANS)
 	@$(ECHO) %% cleaning
 	$(Q) $(REMOVE) $(PRODUCT_ELF)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
-
--- a/makefiles/toolchain_hexagon.mk
+++ b/makefiles/toolchain_hexagon.mk
@ -38,6 +38,7 @@
 # Toolchain commands. Normally only used inside this file.
 #
 HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
+HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
 #V_ARCH			 = v4
 V_ARCH			 = v5
 CROSSDEV		 = hexagon-
@ -45,6 +46,9 @@ HEXAGON_BIN		 = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
 HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
 HEXAGON_LIB_DIR		 = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
 HEXAGON_ISS_DIR		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
+TOOLSLIB		 = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
+QCTOOLSLIB		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
+QURTLIB			 = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib


 CC			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
@ -56,6 +60,24 @@ NM			 = $(HEXAGON_BIN)/$(CROSSDEV)nm
 OBJCOPY			 = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
 OBJDUMP			 = $(HEXAGON_BIN)/$(CROSSDEV)objdump

+QURTLIBS		 = \
+			   $(TOOLSLIB)/init.o \
+			   $(QURTLIB)/crt0.o \
+			   $(TOOLSLIB)/libc.a \
+			   $(TOOLSLIB)/libqcc.a \
+			   $(QCTOOLSLIB)/libhexagon.a \
+			   $(QURTLIB)/libqurt.a \
+			   $(QURTLIB)/libqurtkernel.a \
+			   $(QURTLIB)/libqurtcfs.a \
+			   $(QURTLIB)/libqube_compat.a \
+			   $(QURTLIB)/libtimer.a \
+			   $(QURTLIB)/libposix.a \
+			   $(TOOLSLIB)/libstdc++.a \
+			   $(QURTLIB)/../examples/cust_config.o \
+			   $(TOOLSLIB)/fini.o 
+
+
+
 # Check if the right version of the toolchain is available
 #
 CROSSDEV_VER_SUPPORTED	 = 6.4.05
@ -68,7 +90,7 @@ endif

 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup

-MAXOPTIMIZATION		 ?= -Os
+MAXOPTIMIZATION		 ?= -O0

 # Base CPU flags for each of the supported architectures.
 #
@ -91,6 +113,7 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			    -I$(PX4_BASE)/../dspal/include \
 			    -I$(PX4_BASE)/../dspal/sys \
 			    -I$(PX4_BASE)/mavlink/include/mavlink \
+			    -I$(QURTLIB)/..//include \
 			    -Wno-error=shadow

 # optimisation flags
@ -179,7 +202,7 @@ endif
 HEXAGON_LIB_PATH	 = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
 LIB_HEXAGON 		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a

-EXTRA_LIBS              += $(PX4_BASE)../dspal_libs/libdspal.a
+#EXTRA_LIBS              += $(PX4_BASE)../dspal_libs/libdspal.a

 # Flags we pass to the assembler
 #
@ -190,7 +213,7 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
 # Flags we pass to the linker
 #
-LDFLAGS			+=  \
+LDFLAGS			+=  -g -nostdlib --section-start .start=0x1d000000\
 			   $(EXTRALDFLAGS) \
 			   $(addprefix -L,$(LIB_DIRS))

@ -240,7 +263,7 @@ endef
 define PRELINK
 	@$(ECHO) "PRELINK: $1"
 	@$(MKDIR) -p $(dir $1)
-	echo $(Q) $(LD) -Ur -o $1 $2
+	@echo $(Q) $(LD) -Ur -o $1 $2
 	$(Q) $(LD) -Ur -o $1 $2

 endef
@ -250,8 +273,8 @@ endef
 define PRELINKF
 	@$(ECHO) "PRELINKF: $1"
 	@$(MKDIR) -p $(dir $1)
-	echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
-	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+	@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 

 endef
 #	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
@ -287,10 +310,7 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
-	echo $(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) 
-	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(EXTRA_LIBS)
-
-#	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
-
+	@echo $(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group
+	$(Q) $(LD) $(LDFLAGS) -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group
 endef

--- a/src/platforms/posix/tests/hrt_test/hrt_test.cpp
+++ b/src/platforms/posix/tests/hrt_test/hrt_test.cpp
@ -53,7 +53,7 @@ static int update_interval = 1;
 static void timer_expired(void *arg)
 {
 	static int i = 0;
-	printf("Test\n");
+	PX4_INFO("Test\n");
 	if (i < 5) {
 		i++;
 		hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
@ -67,24 +67,24 @@ int HRTTest::main()
 	hrt_abstime t = hrt_absolute_time();
 	usleep(1000000);
 	hrt_abstime elt = hrt_elapsed_time(&t);
-	printf("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
-	printf("Start time %llu\n", (unsigned long long)t);
+	PX4_INFO("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
+	PX4_INFO("Start time %llu\n", (unsigned long long)t);

 	t = hrt_absolute_time();
 	sleep(1);
 	elt = hrt_elapsed_time(&t);
-	printf("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
-	printf("Start time %llu\n", (unsigned long long)t);
+	PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
+	PX4_INFO("Start time %llu\n", (unsigned long long)t);

 	memset(&t1, 0, sizeof(t1));

-	printf("HRT_CALL %d\n", hrt_called(&t1));
+	PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
 	
 	hrt_call_after(&t1, update_interval, timer_expired, (void *)0);
 	sleep(2);
-	printf("HRT_CALL - %d\n", hrt_called(&t1));
+	PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
 	hrt_cancel(&t1);
-	printf("HRT_CALL + %d\n", hrt_called(&t1));
+	PX4_INFO("HRT_CALL + %d\n", hrt_called(&t1));

 	return 0;
 }
--- a/src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp
+++ b/src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp
@ -49,14 +49,14 @@ extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
 int hrttest_main(int argc, char *argv[])
 {
 	if (argc < 2) {
-		printf("usage: hrttest_main {start|stop|status}\n");
+		PX4_WARN("usage: hrttest_main {start|stop|status}\n");
 		return 1;
 	}

 	if (!strcmp(argv[1], "start")) {

 		if (HRTTest::appState.isRunning()) {
-			printf("already running\n");
+			PX4_INFO("already running\n");
 			/* this is not an error */
 			return 0;
 		}
@ -78,15 +78,15 @@ int hrttest_main(int argc, char *argv[])

 	if (!strcmp(argv[1], "status")) {
 		if (HRTTest::appState.isRunning()) {
-			printf("is running\n");
+			PX4_INFO("is running\n");

 		} else {
-			printf("not started\n");
+			PX4_INFO("not started\n");
 		}

 		return 0;
 	}

-	printf("usage: hrttest_main {start|stop|status}\n");
+	PX4_WARN("usage: hrttest_main {start|stop|status}\n");
 	return 1;
 }
--- a/src/platforms/qurt/main.cpp
+++ b/src/platforms/qurt/main.cpp
@ -37,12 +37,9 @@
 * @author Mark Charlebois <charlebm@gmail.com>
 */

-#include <iostream>
-#include <fstream>
 #include <string>
-#include <sstream>
 #include <vector>
-#include <hexagon_standalone.h>
+//#include <hexagon_standalone.h>

 //using namespace std;

@ -52,7 +49,6 @@
 #include "px4_middleware.h"

 static const char *commands = 
-"x\n"
 "hello start"
 #if 0
 "uorb start\n"
@ -79,15 +75,15 @@ static const char *commands =
 static void run_cmd(const vector<string> &appargs) {
 	// command is appargs[0]
 	string command = appargs[0];
-	printf("Looking for %s\n", command.c_str());
+	//printf("Looking for %s\n", command.c_str());
 	if (apps.find(command) != apps.end()) {
 		const char *arg[2+1];

 		unsigned int i = 0;
-		printf("size = %d\n", appargs.size());
+		//printf("size = %d\n", appargs.size());
 		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
 			arg[i] = (char *)appargs[i].c_str();
-			printf("  arg = '%s'\n", arg[i]);
+			//printf("  arg = '%s'\n", arg[i]);
 			++i;
 		}
 		arg[i] = (char *)0;
@ -97,7 +93,7 @@ static void run_cmd(const vector<string> &appargs) {
 	}
 	else
 	{
-		cout << "Invalid command" << endl;
+		//cout << "Invalid command" << endl;
 		list_builtins();
 	}
 }
@ -159,8 +155,10 @@ extern void init_once(void);

 int main(int argc, char **argv)
 {
+	printf("In main\n");
 	px4::init_once();
 	px4::init(argc, argv, "mainapp");
 	process_commands(commands);
 	for (;;) {}
 }
+
--- a/src/platforms/qurt/px4_layer/module.mk
+++ b/src/platforms/qurt/px4_layer/module.mk
@ -35,6 +35,15 @@
 # NuttX / uORB adapter library
 #

+SRCDIR=$(dir $(MODULE_MK))
+
+apps.h: $(PX4_BASE)/Tools/qurt_apps.py
+	$(PX4_BASE)/Tools/qurt_apps.py > $@
+
+# Force creation of apps.h
+main_.cpp: $(SRCDIR)/../main.cpp apps.h
+	cp $(SRCDIR)/../main.cpp $@
+
 SRCS		 = 	\
 			px4_qurt_impl.cpp \
 			px4_qurt_tasks.cpp  \
@ -49,6 +58,7 @@ SRCS		 = 	\
 			sq_addlast.c \
 			sq_remfirst.c \
 			sq_addafter.c \
-			dq_rem.c 
+			dq_rem.c \
+			main_.cpp 

 MAXOPTIMIZATION	 = -Os
--- a/src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
+++ b/src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
@ -46,7 +46,9 @@
 #include <signal.h>
 #include <errno.h>
 #include <unistd.h>
+#include <semaphore.h>
 #include "systemlib/param/param.h"
+#include <hexagon_standalone.h>

 __BEGIN_DECLS

@ -58,6 +60,14 @@ unsigned int sleep(unsigned int sec) { return 0; }

 extern void hrt_init(void);

+void qurt_log(const char *fmt, ...)
+{
+	va_list	args;
+	va_start(args, fmt);
+	printf(fmt, args);
+	printf("n");
+}
+
 __END_DECLS

 extern struct wqueue_s gwork[NWORKERS];
@ -71,12 +81,7 @@ void init_once(void)
 {
 	work_queues_init();
 	hrt_init();
-}
-
-void init(int argc, char *argv[], const char *app_name)
-{
-	printf("App name: %s\n", app_name);
-
+	
 	// Create high priority worker thread
 	g_work[HPWORK].pid = px4_task_spawn_cmd("wkr_high",
 			       SCHED_DEFAULT,
@ -95,6 +100,11 @@ void init(int argc, char *argv[], const char *app_name)

 }

+void init(int argc, char *argv[], const char *app_name)
+{
+	PX4_DEBUG("App name: %s\n", app_name);
+}
+
 }

 /** Retrieve from the data manager store */
@ -131,12 +141,3 @@ size_t strnlen(const char *s, size_t maxlen)
 	return i;
 }

-void qurt_log(const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	vprintf(fmt, args);
-	printf("\n");
-}
-