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Build fixes for qurt after rebase on PX4 master

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Removed the re-definitions of the usage method in the posix/main.cpp file.
Added qurt_external_hook interface to call externally linked module.
Fixed code format to comply with PX4 style.
Added usage information to main app and handled cases for unknown arguments.
Fixed the orb_priority interface to use int32_t instead of int.
Fixes to get hil working with led changes.
Added the config_eagle_adsp.mk file and update the make files to to use new
include/lib paths

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-09-04 11:09:29 -07:00
parent 4fae86b5ac
commit 54bae34a2c
23 changed files with 391 additions and 288 deletions
Download Patch File Download Diff File Expand all files Collapse all files
makefiles/posix-arm/config_eagle_adsp.mk
+57
View File
@@ -0,0 +1,57 @@
#
# Makefile for the EAGLE *default* configuration
#
#
# Board support modules
#
MODULES += drivers/device
#
# System commands
#
MODULES += systemcmds/param
MODULES += systemcmds/ver
#
# General system control
#
MODULES += modules/mavlink
#
# Estimation modules (EKF/ SO3 / other filters)
#
#
# Vehicle Control
#
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/uORB
MODULES += modules/dataman
#
# Libraries
#
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
#
# Linux port
#
MODULES += platforms/posix/px4_layer
MODULES += platforms/posix/work_queue
#
# Unit tests
#
#
# muorb fastrpc changes.
#
MODULES += modules/muorb/krait
makefiles/posix-arm/config_eagle_hil.mk
+1
View File
@@ -6,6 +6,7 @@
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/boards/sitl
#MODULES += drivers/blinkm
#MODULES += drivers/pwm_out_sim
#MODULES += drivers/rgbled
makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
+16 -10
View File
@@ -39,14 +39,17 @@
#
CROSSDEV = arm-linux-gnueabihf-
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
CC ?= $(CROSSDEV)gcc
CXX ?= $(CROSSDEV)g++
CPP ?= $(CROSSDEV)gcc -E
LD ?= $(CROSSDEV)ld
AR ?= $(CROSSDEV)ar rcs
NM ?= $(CROSSDEV)nm
OBJCOPY ?= $(CROSSDEV)objcopy
OBJDUMP ?= $(CROSSDEV)objdump
ifdef OECORE_NATIVE_SYSROOT
AR := $(AR) rcs
endif
# Check if the right version of the toolchain is available
#
@@ -57,7 +60,9 @@ ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
endif
EXT_MUORB_LIB_ROOT = /opt/muorb_libs
ifndef POSIX_EXT_LIB_ROOT
$(error POSIX_EXT_LIB_ROOT is not set)
endif
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
@@ -189,7 +194,8 @@ LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
EXTRA_LIBS += -lpx4muorb -ladsprpc
EXTRA_LIBS += -pthread -lm -lrt
LIB_DIRS += $(EXT_MUORB_LIB_ROOT)/krait/libs
LIB_DIRS += $(POSIX_EXT_LIB_ROOT)/libs
INCLUDE_DIRS += $(POSIX_EXT_LIB_ROOT)/inc
# Flags we pass to the C compiler
#
makefiles/posix/config_posix_sitl.mk
+1
View File
@@ -5,6 +5,7 @@
#
# Board support modules
#
MODULES += drivers/boards/sitl
MODULES += drivers/device
MODULES += drivers/blinkm
MODULES += drivers/pwm_out_sim
makefiles/qurt/config_qurt_adsp.mk
+19 -4
View File
@@ -1,8 +1,19 @@
#Added configuration specific flags here.
ifndef HEXAGON_DRIVERS_ROOT
$(error HEXAGON_DRIVERS_ROOT is not set)
endif
ifndef EAGLE_DRIVERS_SRC
$(error EAGLE_DRIVERS_SRC is not set)
endif
INCLUDE_DIRS += $(HEXAGON_DRIVERS_ROOT)/inc
# For Actual flight we need to link against the driver dynamic libraries
LDFLAGS += -L${DSPAL_ROOT}/mpu_spi/hexagon_Debug_dynamic_toolv64/ship -lmpu9x50
LDFLAGS += -L${DSPAL_ROOT}/uart_esc/hexagon_Debug_dynamic_toolv64/ship -luart_esc
LDFLAGS += -L${HEXAGON_DRIVERS_ROOT}/libs -lmpu9x50
LDFLAGS += -luart_esc
LDFLAGS += -lcsr_gps
LDFLAGS += -lrc_receiver
#
# Makefile for the EAGLE QuRT *default* configuration
@@ -13,8 +24,10 @@ LDFLAGS += -L${DSPAL_ROOT}/uart_esc/hexagon_Debug_dynamic_toolv64/ship -luart_es
#
MODULES += drivers/device
MODULES += modules/sensors
#MODULES += platforms/qurt/drivers/mpu9x50
#MODULES += platforms/qurt/drivers/uart_esc
MODULES += $(EAGLE_DRIVERS_SRC)/mpu9x50
MODULES += $(EAGLE_DRIVERS_SRC)/uart_esc
MODULES += $(EAGLE_DRIVERS_SRC)/rc_receiver
MODULES += $(EAGLE_DRIVERS_SRC)/csr_gps
#
# System commands
@@ -47,6 +60,7 @@ MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#MODULES += modules/dataman
MODULES += modules/commander
MODULES += modules/controllib
#
# Libraries
@@ -61,6 +75,7 @@ MODULES += lib/conversion
# QuRT port
#
MODULES += platforms/qurt/px4_layer
MODULES += platforms/posix/work_queue
#
# Unit tests
makefiles/qurt/config_qurt_hil.mk
+1
View File
@@ -6,6 +6,7 @@
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/boards/sitl
#MODULES += drivers/blinkm
MODULES += drivers/pwm_out_sim
MODULES += drivers/led
makefiles/qurt/firmware_qurt.mk
+1 -2
View File
@@ -53,8 +53,7 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.a: generateuorbtopicheaders
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
HEXAGON_TOOLS_ROOT = /opt/6.4.05
#V_ARCH = v4
HEXAGON_TOOLS_ROOT ?= /opt/6.4.03
V_ARCH = v5
HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
SIM = $(HEXAGON_CLANG_BIN)/hexagon-sim
makefiles/qurt/toolchain_hexagon.mk
+11 -14
View File
@@ -36,11 +36,11 @@
#$(info TOOLCHAIN gnu-arm-eabi)
#
# Stop making if ADSP_LIB_ROOT is not set. This defines the path to
# DspAL headers and driver headers
# Stop making if DSPAL paths are not set. This defines the path to
# DspAL headers and libs
#
ifndef DSPAL_ROOT
$(error DSPAL_ROOT is not set)
ifndef DSPAL_INCS
$(error DSPAL_INCS is not set)
endif
# Toolchain commands. Normally only used inside this file.
@@ -57,7 +57,6 @@ 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
#DSPAL = $(PX4_BASE)/../dspal_libs/libdspal.a
CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
@@ -93,8 +92,7 @@ DYNAMIC_LIBS = \
# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 6.4.03
#CROSSDEV_VER_SUPPORTED = 6.4.05
CROSSDEV_VER_SUPPORTED = 6.4.03 6.4.05
CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
@@ -122,18 +120,17 @@ ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-Dnoreturn_function= \
-D__EXPORT= \
-Drestrict= \
-D_DEBUG \
-I$(DSPAL_ROOT)/ \
-I$(DSPAL_ROOT)/dspal/include \
-I$(DSPAL_ROOT)/dspal/sys \
-I$(DSPAL_ROOT)/dspal/sys/sys \
-I$(DSPAL_ROOT)/mpu_spi/inc/ \
-I$(DSPAL_ROOT)/uart_esc/inc/ \
-D_DEBUG \
-I$(DSPAL_INCS)/ \
-I$(DSPAL_INCS)/dspal/include \
-I$(DSPAL_INCS)/dspal/sys \
-I$(DSPAL_INCS)/dspal/sys/sys \
-I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
-I$(PX4_BASE)/src/lib/eigen \
-I$(PX4_BASE)/src/platforms/qurt/include \
-I$(PX4_BASE)/src/platforms/posix/include \
-I$(PX4_BASE)/mavlink/include/mavlink \
-I$(PX4_BASE)/../inc \
-I$(QURTLIB)/..//include \
-I$(HEXAGON_SDK_ROOT)/inc \
-I$(HEXAGON_SDK_ROOT)/inc/stddef \