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QuRT: toolchain changes

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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>
This commit is contained in:
Mark Charlebois
2015-05-12 11:37:28 -07:00
parent 14cbd240ff
commit 3db5f3bb3b
10 changed files with 109 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files
makefiles/firmware_qurt.mk
+1 -1
View File
@@ -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
makefiles/qurt/config_qurt_default.mk
+25 -25
View File
@@ -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
makefiles/qurt_elf.mk
+1 -4
View File
@@ -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)
makefiles/toolchain_hexagon.mk
+31 -11
View File
@@ -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