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VOXL2 board updates and new Kconfig option for ROOTFSDIR

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- also includes a couple of miscellaneous changes to VOXL2 support to show Qurt messages on px4 console and put logs in the proper spot
This commit is contained in:
Eric Katzfey
2023-01-30 12:03:40 -05:00
committed by GitHub
parent b1fc0ca0d0
commit a4aa76f0ac
8 changed files with 67 additions and 6 deletions
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platforms/qurt/src/px4/CMakeLists.txt
+1
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@@ -37,6 +37,7 @@ set(QURT_LAYER_SRCS
tasks.cpp
px4_qurt_impl.cpp
main.cpp
qurt_log.cpp
)
add_library(px4_layer
platforms/qurt/src/px4/qurt_log.cpp
+48
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@@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (c) 2023 ModalAI, Inc. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_platform_common/log.h>
#include <uORB/uORBManager.hpp>
// This function will send a debug or error message up to the apps proc
// so that it can be displayed and logged. Otherwise the messages are only
// available with the mini-dm tool that requires adb (i.e. USB cable attached)
extern "C" void qurt_log_to_apps(int level, const char *message)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr) {
if (level >= _PX4_LOG_LEVEL_ERROR) { ch->send_message("slpi_error", strlen(message) + 1, (uint8_t *) message); }
else { ch->send_message("slpi_debug", strlen(message) + 1, (uint8_t *) message); }
}
}