Multi-uORB support changes - part 1

This adds support for a dynamic build for QuRT and initial
Multi-uORB changes to enable communication between the DSP and
the application processor.

This part of the changes do not affect the POSIX build. This is
enablement for the QuRT build using Multi-uORB. The second part
of the changes will be added in a new module under src/modules.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

makefiles/posix/DISABLE_config_posix_muorb_test.mk

@@ -0,0 +1,78 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Board support modules
+#
+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
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+#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
+
+#
+# posix port
+#
+MODULES		+= platforms/posix/px4_layer
+#MODULES		+= platforms/posix/drivers/accelsim
+#MODULES		+= platforms/posix/drivers/gyrosim
+#MODULES		+= platforms/posix/drivers/adcsim
+#MODULES		+= platforms/posix/drivers/barosim
+
+#
+# muorb fastrpc changes.
+#
+#MODULES		+= $(PX4_BASE)../muorb_krait
+
+#
+# Unit tests
+#
+MODULES		+= platforms/posix/tests/muorb
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+

makefiles/posix/config_posix_default.mk

@@ -79,3 +79,7 @@ MODULES 	+= platforms/posix/drivers/gpssim
 #MODULES		+= platforms/posix/tests/hrt_test
 #MODULES		+= platforms/posix/tests/wqueue
 
+#
+# muorb fastrpc changes.
+#
+#MODULES		+= $(PX4_BASE)../muorb_krait

makefiles/qurt/DISABLE_config_qurt_muorb_test.mk

@@ -0,0 +1,77 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Board support modules
+#
+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
+
+#
+# General system control
+#
+#MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+#MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+#MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
+#MODULES		+= modules/sdlog2
+#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
+
+#
+# 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
+
+#
+# Unit tests
+#
+MODULES		+= platforms/qurt/tests/muorb
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+
+#
+# sources for muorb over fastrpc
+#
+MODULES         += $(PX4_BASE)/../muorb_qurt/

makefiles/qurt/config_qurt_default.mk

@@ -15,7 +15,7 @@ MODULES		+= drivers/blinkm
 MODULES		+= drivers/hil
 MODULES		+= drivers/led
 MODULES		+= drivers/rgbled
-#MODULES		+= modules/sensors
+MODULES		+= modules/sensors
 #MODULES		+= drivers/ms5611
 
 #
@@ -76,3 +76,7 @@ MODULES		+= platforms/posix/tests/vcdev_test
 MODULES		+= platforms/posix/tests/hrt_test
 MODULES		+= platforms/posix/tests/wqueue
 
+#
+# sources for muorb over fastrpc
+#
+#MODULES         += $(PX4_BASE)/../muorb_qurt/

makefiles/qurt_elf.mk

@@ -40,11 +40,13 @@
 #
 # What we're going to build.
 #
+
+EXTRALDFLAGS = -Wl,-soname=libdspal_client.so
 PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
 PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
 
 .PHONY:			firmware
-firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
+firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)libdspal_client.so $(WORK_DIR)mainapp
 
 #
 # Built product rules
@@ -63,7 +65,13 @@ $(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
 	$(call COMPILEXX,$<, $@)
 	mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
 
-$(WORK_DIR)mainapp: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB) 
+$(WORK_DIR)libdspal_client.so: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
+	$(call LINK_SO,$@, $^)
+
+$(WORK_DIR)dspal_stub.o: $(PX4_BASE)/src/platforms/qurt/dspal/dspal_stub.c
+	$(call COMPILENOSHARED,$^, $@)
+
+$(WORK_DIR)mainapp: $(WORK_DIR)dspal_stub.o
 	$(call LINK,$@, $^)
 
 #

makefiles/toolchain_gnu-arm-eabi.mk

@@ -125,6 +125,9 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 # note - requires corresponding support in NuttX
 INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
 
+LIBSTDCXX	 := $(shell ${CC} ${ARCHCPUFLAGS} -print-file-name=libstdc++.a)
+LIBC	 := $(shell ${CC} ${ARCHCPUFLAGS} -print-file-name=libc.a)
+
 # Language-specific flags
 #
 ARCHCFLAGS		 = -std=gnu99
@@ -262,7 +265,8 @@ endef
 define PRELINK
 	@$(ECHO) "PRELINK: $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+	$(Q) $(LD) -Ur -Map $1.map  -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+	#$(Q) $(LD) -Ur -Map $1.map  -o $1 $2 && $(OBJCOPY) --localize-hidden $1
 endef
 
 # Update the archive $1 with the files in $2
@@ -278,7 +282,8 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
+	$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) ${LIBSTDCXX} $(LIBGCC) --end-group
+	#$(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) ${LIBSTDCXX} $(LIBGCC) --end-group
 endef
 
 # Convert $1 from a linked object to a raw binary in $2

makefiles/toolchain_hexagon.mk

@@ -38,7 +38,8 @@
 # Toolchain commands. Normally only used inside this file.
 #
 HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
-HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
+#HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
+HEXAGON_SDK_ROOT	 = /prj/atlanticus/users/rkintada/Hexagon_SDK/2.0
 #V_ARCH			 = v4
 V_ARCH			 = v5
 CROSSDEV		 = hexagon-
@@ -60,8 +61,10 @@ AR			 = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
 NM			 = $(HEXAGON_BIN)/$(CROSSDEV)nm
 OBJCOPY			 = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
 OBJDUMP			 = $(HEXAGON_BIN)/$(CROSSDEV)objdump
+HEXAGON_GCC		 = $(HEXAGON_BIN)/$(CROSSDEV)gcc
 
 QURTLIBS		 = \
+			   $(QCTOOLSLIB)/libdl.a \
 			   $(TOOLSLIB)/init.o \
 			   $(TOOLSLIB)/libc.a \
 			   $(TOOLSLIB)/libqcc.a \
@@ -77,7 +80,8 @@ QURTLIBS		 = \
 			   $(QCTOOLSLIB)/libhexagon.a \
 			   $(TOOLSLIB)/fini.o 
 
-
+DYNAMIC_LIBS            = \
+			   -Wl,$(TOOLSLIB)/pic/libstdc++.a
 
 
 # Check if the right version of the toolchain is available
@@ -96,7 +100,7 @@ MAXOPTIMIZATION		 ?= -O0
 
 # Base CPU flags for each of the supported architectures.
 #
-ARCHCPUFLAGS	 	 = -m$(V_ARCH) 
+ARCHCPUFLAGS	 	 = -m$(V_ARCH) -G0
 
 
 # Set the board flags
@@ -117,6 +121,8 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			    -I$(PX4_BASE)/../dspal/sys \
 			    -I$(PX4_BASE)/mavlink/include/mavlink \
 			    -I$(QURTLIB)/..//include \
+			    -I$(HEXAGON_SDK_ROOT)/inc \
+			    -I$(HEXAGON_SDK_ROOT)/inc/stddef \
 			    -Wno-error=shadow
 
 # optimisation flags
@@ -127,7 +133,8 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 			   -fomit-frame-pointer \
 			   -funsafe-math-optimizations \
 			   -ffunction-sections \
-			   -fdata-sections
+			   -fdata-sections \
+                           -fpic
 
 # enable precise stack overflow tracking
 # note - requires corresponding support in NuttX
@@ -198,10 +205,6 @@ CXXFLAGS		 = $(ARCHCXXFLAGS) \
 			   $(EXTRACXXFLAGS) \
 			   $(addprefix -I,$(INCLUDE_DIRS))
 
-ifeq (1,$(V_dynamic))
-CXX_FLAGS += -fpic -D__V_DYNAMIC__
-endif
-
 # Flags we pass to the assembler
 #
 AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
@@ -211,7 +214,16 @@ AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
 LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
 # Flags we pass to the linker
 #
-LDFLAGS			+=  -g -nostdlib --section-start .start=0x1d000000\
+LDFLAGS			+=  -g -mv5 -nostdlib -mG0lib -G0 -fpic -shared \
+			   -nostartfiles \
+			   -Wl,-Bsymbolic \
+			   -Wl,--wrap=malloc \
+			   -Wl,--wrap=calloc \
+			   -Wl,--wrap=free \
+			   -Wl,--wrap=realloc \
+			   -Wl,--wrap=memalign \
+			   -Wl,--wrap=__stack_chk_fail  \
+                           -lc \
 			   $(EXTRALDFLAGS) \
 			   $(addprefix -L,$(LIB_DIRS))
 
@@ -230,21 +242,31 @@ DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
 # Compile C source $1 to object $2
 # as a side-effect, generate a dependency file
 #
-define COMPILE
+define COMPILENOSHARED
 	@$(ECHO) "CC:      $1"
 	@$(MKDIR) -p $(dir $2)
 	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
 	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
 endef
 
-# Compile C++ source $1 to $2
+# Compile C source $1 to object $2 for use in shared library
+# as a side-effect, generate a dependency file
+#
+define COMPILE
+	@$(ECHO) "CC:      $1"
+	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
+endef
+
+# Compile C++ source $1 to $2 for use in shared library
 # as a side-effect, generate a dependency file
 #
 define COMPILEXX
 	@$(ECHO) "CXX:     $1"
 	@$(MKDIR) -p $(dir $2)
 	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
 endef
 
 # Assemble $1 into $2
@@ -299,8 +321,7 @@ endef
 define LINK_SO
 	@$(ECHO) "LINK_SO:    $1"
 	@$(MKDIR) -p $(dir $1)
-	echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
-	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
+	$(HEXAGON_GCC) $(LDFLAGS) -fPIC -shared -nostartfiles -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
 endef
 
 # Link the objects in $2 into the application $1
@@ -308,7 +329,6 @@ endef
 define LINK
 	@$(ECHO) "LINK:    $1"
 	@$(MKDIR) -p $(dir $1)
-	@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
+	$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic
 endef
 

makefiles/toolchain_native.mk

@@ -210,6 +210,7 @@ ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
 #EXTRA_LIBS		+= $(LIBM)
+#EXTRA_LIBS		+= ${PX4_BASE}../muorb_krait/lib/libmuorb.so
 EXTRA_LIBS		+= -pthread -lm -lrt
 
 # Flags we pass to the C compiler