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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
src/platforms/posix/tests/hrt_test/hrt_test.cpp
+8 -8
View File
@@ -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;
}
src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp
+5 -5
View File
@@ -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;
}
src/platforms/qurt/main.cpp
+7 -9
View File
@@ -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 (;;) {}
}
src/platforms/qurt/px4_layer/module.mk
+11 -1
View File
@@ -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
src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
+16 -15
View File
@@ -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");
}