QuRT: Changes to enable qurt target to build

QuRT doesn't support unlink and does not provide getpid().
The DSPAL layer provides access to usleep so an implementation is
no longer needed.

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

makefiles/qurt/toolchain_hexagon.mk

@@ -38,9 +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
-HEXAGON_SDK_ROOT	 = /prj/atlanticus/users/rkintada/Hexagon_SDK/2.0
-#V_ARCH			 = v4
+HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
 V_ARCH			 = v5
 CROSSDEV		 = hexagon-
 HEXAGON_BIN		 = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))

src/modules/mavlink/mavlink_main.h

@@ -395,12 +395,14 @@ private:
 	float			_rate_txerr;
 	float			_rate_rx;
 
+#ifdef __PX4_POSIX
 	int _socket_fd;
 	struct sockaddr_in _myaddr;
 	struct sockaddr_in _src_addr;
 
 	Protocol	_protocol;
 	unsigned short _udp_port;
+#endif
 
 	struct telemetry_status_s	_rstatus;			///< receive status
 

src/modules/uORB/uORBDevices_posix.cpp

@@ -91,7 +91,7 @@ uORB::DeviceNode::open(device::file_t *filp)
     lock();
 
     if (_publisher == 0) {
-      _publisher = getpid();
+      _publisher = px4_getpid();
       ret = PX4_OK;
 
     } else {
@@ -153,7 +153,7 @@ uORB::DeviceNode::close(device::file_t *filp)
 {
   //warnx("uORB::DeviceNode::close fd = %d", filp->fd);
   /* is this the publisher closing? */
-  if (getpid() == _publisher) {
+  if (px4_getpid() == _publisher) {
     _publisher = 0;
 
   } else {

src/platforms/px4_log.h

@@ -52,7 +52,7 @@
 }
 #if defined(__PX4_QURT)
 #include <stdio.h>
-#include "HAP_farf.h"
+#define FARF printf
 
 #define __FARF_omit(level, ...)   { }
 #define __FARF_log(level, ...)   { \
@@ -66,10 +66,10 @@
 	FARF(" (file %s line %d)\n", __FILE__, __LINE__);\
 }
 
-#define PX4_DEBUG(...)	__FARF_omit(HIGH, __VA_ARGS__)
-#define PX4_INFO(...) 	__FARF_log(HIGH, __VA_ARGS__)
-#define PX4_WARN(...) 	__FARF_log_verbose(HIGH, __VA_ARGS__)
-#define PX4_ERR(...)	__FARF_log_verbose(HIGH, __VA_ARGS__)
+#define PX4_DEBUG(...)	__FARF_omit("DEBUG", __VA_ARGS__)
+#define PX4_INFO(...) 	__FARF_log("INFO", __VA_ARGS__)
+#define PX4_WARN(...) 	__FARF_log_verbose("WARN", __VA_ARGS__)
+#define PX4_ERR(...)	__FARF_log_verbose("ERROR", __VA_ARGS__)
 
 #elif defined(__PX4_LINUX)
 #include <stdio.h>

src/platforms/px4_posix.h

@@ -68,6 +68,7 @@ typedef struct pollfd px4_pollfd_struct_t;
 #define px4_poll 	_GLOBAL poll
 #define px4_fsync 	_GLOBAL fsync
 #define px4_access 	_GLOBAL access
+#define px4_getpid 	_GLOBAL getpid
 
 #elif defined(__PX4_POSIX)
 
@@ -98,6 +99,12 @@ __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
 __EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
 __EXPORT int		px4_fsync(int fd);
 __EXPORT int		px4_access(const char *pathname, int mode);
+#ifdef __PX4_QURT
+typedef int 		pid_t;
+__EXPORT int		px4_getpid(void);
+#else
+#define  px4_getpid	getpid
+#endif
 
 __END_DECLS
 #else

src/platforms/px4_time.h

@@ -28,7 +28,6 @@ struct timespec
 int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
 int px4_clock_settime(clockid_t clk_id, struct timespec *tp);
 
-__EXPORT int usleep(useconds_t usec);
 __EXPORT unsigned int sleep(unsigned int sec);
 
 __END_DECLS

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -48,7 +48,6 @@
 #include <errno.h>
 #include <unistd.h>
 #include <semaphore.h>
-#include <qurt.h>
 #include "systemlib/param/param.h"
 
 
@@ -57,14 +56,10 @@ __BEGIN_DECLS
 // FIXME - sysconf(_SC_CLK_TCK) not supported
 long PX4_TICKS_PER_SEC = 1000;
 
-void usleep(useconds_t usec) {
-	qurt_timer_sleep(usec);
-}
-
 unsigned int sleep(unsigned int sec) 
 { 
 	for (unsigned int i=0; i< sec; i++)
-		qurt_timer_sleep(1000000);
+		usleep(1000000);
 	return 0; 
 }
 

src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp

@@ -245,6 +245,20 @@ int px4_task_kill(px4_task_t id, int sig)
 	return rv;
 }
 
+pid_t px4_getpid()
+{
+	pthread_t pid = pthread_self();
+
+	// Get pthread ID from the opaque ID
+	for (int i=0; i<PX4_MAX_TASKS; ++i) {
+		if (taskmap[i].pid == pid) {
+			return i;
+		}
+	}
+	PX4_ERR("px4_getpid() called from non-thread context!");
+	return -EINVAL;
+}
+
 void px4_show_tasks()
 {
 	int idx;

src/systemcmds/param/param.c

@@ -213,7 +213,9 @@ do_save(const char *param_file_name)
 	close(fd);
 
 	if (result < 0) {
+#ifndef __PX4_QURT
 		(void)unlink(param_file_name);
+#endif
 		warnx("error exporting to '%s'", param_file_name);
 		return 1;
 	}