mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 12:48:54 +08:00
initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)
This commit is contained in:
Eric Katzfey
@@ -409,7 +409,7 @@ public:
|
||||
* @param instance ORB instance
|
||||
* @return OK if the topic exists, PX4_ERROR otherwise.
|
||||
*/
|
||||
static int orb_exists(const struct orb_metadata *meta, int instance);
|
||||
int orb_exists(const struct orb_metadata *meta, int instance);
|
||||
|
||||
/**
|
||||
* Set the minimum interval between which updates are seen for a subscription.
|
||||
|
||||
@@ -101,6 +101,14 @@ endif()
|
||||
if("${PX4_BOARD}" MATCHES "beaglebone_blue")
|
||||
target_link_libraries(px4 PRIVATE robotics_cape)
|
||||
|
||||
elseif("${PX4_BOARD}" MATCHES "modalai_voxl2")
|
||||
# libfc_sensor.so is provided in the Docker build environment
|
||||
target_link_libraries(px4 PRIVATE
|
||||
/home/libfc_sensor.so
|
||||
px4_layer
|
||||
${module_libraries}
|
||||
)
|
||||
|
||||
elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
|
||||
target_link_libraries(px4 PRIVATE atomic)
|
||||
|
||||
|
||||
@@ -1,13 +1,22 @@
|
||||
# arm-linux-gnueabihf-gcc toolchain
|
||||
|
||||
set(triple aarch64-linux-gnu)
|
||||
|
||||
if("${PX4_BOARD}" MATCHES "modalai_voxl2")
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE ${ARM_CROSS_GCC_ROOT}/bin/${triple})
|
||||
set(TOOLCHAIN_PREFIX ${ARM_CROSS_GCC_ROOT}/bin/${triple})
|
||||
set(ARM_CROSS_GCC_ROOT $ENV{ARM_CROSS_GCC_ROOT})
|
||||
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
|
||||
set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib/aarch64-linux-gnu -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib/aarch64-linux-gnu")
|
||||
else()
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
|
||||
set(TOOLCHAIN_PREFIX ${triple})
|
||||
endif()
|
||||
|
||||
set(CMAKE_SYSTEM_NAME Linux)
|
||||
set(CMAKE_SYSTEM_PROCESSOR arm)
|
||||
set(CMAKE_SYSTEM_VERSION 1)
|
||||
|
||||
set(triple aarch64-linux-gnu)
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
|
||||
set(TOOLCHAIN_PREFIX ${triple})
|
||||
|
||||
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
|
||||
set(CMAKE_C_COMPILER_TARGET ${triple})
|
||||
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set(module_libraries modules__muorb__slpi)
|
||||
|
||||
QURT_LIB(LIB_NAME px4
|
||||
SOURCES
|
||||
${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
|
||||
LINK_LIBS
|
||||
${module_libraries}
|
||||
)
|
||||
@@ -0,0 +1,71 @@
|
||||
#
|
||||
# Copyright (c) 2022 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 ATLFlight 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(CMakeForceCompiler)
|
||||
|
||||
set(V_ARCH "v66")
|
||||
set(CROSSDEV "hexagon-")
|
||||
|
||||
set(HEXAGON_BIN ${HEXAGON_TOOLS_ROOT}/bin)
|
||||
|
||||
set(CMAKE_C_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang)
|
||||
set(CMAKE_CXX_COMPILER ${HEXAGON_BIN}/${CROSSDEV}clang++)
|
||||
|
||||
set(CMAKE_AR ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
|
||||
SET(CMAKE_CXX_ARCHIVE_CREATE "<CMAKE_AR> qcD <TARGET> <LINK_FLAGS> <OBJECTS>")
|
||||
SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> qcD <TARGET> <LINK_FLAGS> <OBJECTS>")
|
||||
set(CMAKE_RANLIB ${HEXAGON_BIN}/${CROSSDEV}ranlib)
|
||||
set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
|
||||
set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
|
||||
set(HEXAGON_LINK ${HEXAGON_BIN}/${CROSSDEV}link)
|
||||
|
||||
set(HEXAGON_ARCH_FLAGS
|
||||
-march=hexagon
|
||||
-mcpu=hexagonv66)
|
||||
|
||||
set(CMAKE_SKIP_RPATH TRUE CACHE BOOL SKIP_RPATH FORCE)
|
||||
|
||||
# where is the target environment
|
||||
set(CMAKE_FIND_ROOT_PATH get_file_component(${C_COMPILER} PATH))
|
||||
|
||||
set(CMAKE_C_COMPILER_ID, "Clang")
|
||||
set(CMAKE_CXX_COMPILER_ID, "Clang")
|
||||
|
||||
# search for programs in the build host directories
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
|
||||
|
||||
# for libraries and headers in the target directories
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
|
||||
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
|
||||
|
||||
macro(__linux_compiler_gnu lang)
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_${lang}_FLAGS "")
|
||||
endmacro()
|
||||
@@ -0,0 +1,185 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# Defined functions in this file
|
||||
#
|
||||
# OS Specific Functions
|
||||
#
|
||||
# * px4_qurt_generate_builtin_commands
|
||||
#
|
||||
# Required OS Inteface Functions
|
||||
#
|
||||
# * px4_os_add_flags
|
||||
# * px4_os_determine_build_chip
|
||||
# * px4_os_prebuild_targets
|
||||
#
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_qurt_generate_builtin_commands
|
||||
#
|
||||
# This function generates the builtin_commands.c src for qurt
|
||||
#
|
||||
# Usage:
|
||||
# px4_qurt_generate_builtin_commands(
|
||||
# MODULE_LIST <in-list>
|
||||
# OUT <file>)
|
||||
#
|
||||
# Input:
|
||||
# MODULE_LIST : list of modules
|
||||
#
|
||||
# Output:
|
||||
# OUT : stem of generated apps.cpp/apps.h ("apps").
|
||||
#
|
||||
# Example:
|
||||
# px4_qurt_generate_builtin_commands(
|
||||
# OUT <generated-src> MODULE_LIST px4_simple_app)
|
||||
#
|
||||
function(px4_qurt_generate_builtin_commands)
|
||||
px4_parse_function_args(
|
||||
NAME px4_qurt_generate_builtin_commands
|
||||
ONE_VALUE OUT
|
||||
MULTI_VALUE MODULE_LIST
|
||||
REQUIRED MODULE_LIST OUT
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(builtin_apps_string)
|
||||
set(builtin_apps_decl_string)
|
||||
set(command_count 0)
|
||||
foreach(module ${MODULE_LIST})
|
||||
foreach(property MAIN STACK_MAIN PRIORITY)
|
||||
get_target_property(${property} ${module} ${property})
|
||||
endforeach()
|
||||
if (MAIN)
|
||||
set(builtin_apps_string
|
||||
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
|
||||
set(builtin_apps_decl_string
|
||||
"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
|
||||
math(EXPR command_count "${command_count}+1")
|
||||
endif()
|
||||
endforeach()
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.cpp.in ${OUT}.cpp)
|
||||
configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.h.in ${OUT}.h)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_add_flags
|
||||
#
|
||||
# Set the qurt build flags.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_add_flags()
|
||||
#
|
||||
function(px4_os_add_flags)
|
||||
|
||||
set(DSPAL_ROOT platforms/qurt/dspal)
|
||||
include_directories(
|
||||
${DSPAL_ROOT}/include
|
||||
${DSPAL_ROOT}/sys
|
||||
${DSPAL_ROOT}/sys/sys
|
||||
|
||||
platforms/posix/include
|
||||
platforms/qurt/include
|
||||
)
|
||||
|
||||
add_definitions(
|
||||
-D__PX4_POSIX
|
||||
-D__PX4_QURT
|
||||
)
|
||||
|
||||
add_compile_options(
|
||||
-fPIC
|
||||
-fmath-errno
|
||||
|
||||
-Wno-unknown-warning-option
|
||||
-Wno-cast-align
|
||||
)
|
||||
|
||||
# Clear -rdynamic flag which fails for hexagon
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
|
||||
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_determine_build_chip
|
||||
#
|
||||
# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER.
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_determine_build_chip()
|
||||
#
|
||||
function(px4_os_determine_build_chip)
|
||||
|
||||
# always use generic chip and chip manufacturer
|
||||
set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE)
|
||||
set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE)
|
||||
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_os_prebuild_targets
|
||||
#
|
||||
# This function generates os dependent targets
|
||||
#
|
||||
# Usage:
|
||||
# px4_os_prebuild_targets(
|
||||
# OUT <out-list_of_targets>
|
||||
# BOARD <in-string>
|
||||
# )
|
||||
#
|
||||
# Input:
|
||||
# BOARD : board
|
||||
#
|
||||
# Output:
|
||||
# OUT : the target list
|
||||
#
|
||||
# Example:
|
||||
# px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
|
||||
#
|
||||
function(px4_os_prebuild_targets)
|
||||
px4_parse_function_args(
|
||||
NAME px4_os_prebuild_targets
|
||||
ONE_VALUE OUT BOARD
|
||||
REQUIRED OUT
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_library(prebuild_targets INTERFACE)
|
||||
add_dependencies(prebuild_targets DEPENDS uorb_headers)
|
||||
|
||||
endfunction()
|
||||
@@ -0,0 +1,222 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set(HEXAGON_SDK_INCLUDES
|
||||
${HEXAGON_SDK_ROOT}/incs
|
||||
${HEXAGON_SDK_ROOT}/incs/stddef
|
||||
${HEXAGON_SDK_ROOT}/rtos/qurt/computev66/include/qurt
|
||||
# ${HEXAGON_SDK_ROOT}/rtos/qurt/computev66/include/posix
|
||||
${HEXAGON_SDK_ROOT}/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/include
|
||||
)
|
||||
|
||||
set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0/pic)
|
||||
|
||||
set(HEXAGON_ARCH_FLAGS
|
||||
-march=hexagon
|
||||
-mcpu=hexagon${V_ARCH}
|
||||
)
|
||||
|
||||
macro (list2string out in)
|
||||
set(list ${ARGV})
|
||||
list(REMOVE_ITEM list ${out})
|
||||
foreach(item ${list})
|
||||
set(${out} "${${out}} ${item}")
|
||||
endforeach()
|
||||
endmacro(list2string)
|
||||
|
||||
set(HEXAGON_START_LINK_FLAGS)
|
||||
list2string(HEXAGON_START_LINK_FLAGS
|
||||
${HEXAGON_ARCH_FLAGS}
|
||||
-shared
|
||||
-call_shared
|
||||
-G0
|
||||
${TOOLSLIB}/initS.o
|
||||
"-o <TARGET>"
|
||||
-L${TOOLSLIB}
|
||||
-Bsymbolic
|
||||
${TOOLSLIB}/libgcc.a
|
||||
--wrap=malloc
|
||||
--wrap=calloc
|
||||
--wrap=free
|
||||
--wrap=realloc
|
||||
--wrap=memalign
|
||||
--wrap=__stack_chk_fail
|
||||
-lc
|
||||
"-soname=<TARGET_SONAME>"
|
||||
)
|
||||
|
||||
set(HEXAGON_END_LINK_FLAGS)
|
||||
list2string(HEXAGON_END_LINK_FLAGS
|
||||
--start-group
|
||||
-lgcc
|
||||
--end-group
|
||||
${TOOLSLIB}/finiS.o
|
||||
)
|
||||
|
||||
set(CMAKE_C_CREATE_SHARED_LIBRARY
|
||||
"${HEXAGON_LINK} ${HEXAGON_START_LINK_FLAGS} --start-group --whole-archive <OBJECTS> <LINK_LIBRARIES> --end-group ${HEXAGON_END_LINK_FLAGS}")
|
||||
|
||||
set(CMAKE_CXX_CREATE_SHARED_LIBRARY
|
||||
"${HEXAGON_LINK} ${HEXAGON_START_LINK_FLAGS} --start-group ${TOOLSLIB}/libc++.so.1 ${TOOLSLIB}/libc++abi.so.1 ${HEXAGON_SDK_ROOT}/libs/weak_refs/ship/hexagon_toolv84/weak_refs.so --end-group --start-group --whole-archive <OBJECTS> <LINK_LIBRARIES> --end-group ${HEXAGON_END_LINK_FLAGS}")
|
||||
|
||||
set(DYNAMIC_LIBS -Wl,${TOOLSLIB}/libc++.a)
|
||||
|
||||
# Base CPU flags for each of the supported architectures.
|
||||
set(ARCHCPUFLAGS
|
||||
-m${V_ARCH}
|
||||
-G0
|
||||
)
|
||||
|
||||
add_definitions(
|
||||
-D __QURT
|
||||
-D _PROVIDE_POSIX_TIME_DECLS
|
||||
-D _TIMER_T
|
||||
-D _HAS_C9X
|
||||
-D restrict=__restrict__
|
||||
-D noreturn_function=
|
||||
)
|
||||
|
||||
# Language-specific flags
|
||||
set(ARCHCFLAGS
|
||||
-D__CUSTOM_FILE_IO__
|
||||
)
|
||||
|
||||
set(ARCHCXXFLAGS
|
||||
-DCONFIG_WCHAR_BUILTIN
|
||||
-D__CUSTOM_FILE_IO__
|
||||
)
|
||||
|
||||
exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
|
||||
exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
|
||||
set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
|
||||
|
||||
# Full optimization and Link Time Optimization (LTO)
|
||||
set(QURT_OPTIMIZATION_FLAGS -O3 -flto)
|
||||
|
||||
# Flags we pass to the C compiler
|
||||
list2string(CFLAGS
|
||||
${ARCHCFLAGS}
|
||||
${ARCHCPUFLAGS}
|
||||
${QURT_OPTIMIZATION_FLAGS}
|
||||
${HEXAGON_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
# Flags we pass to the C++ compiler
|
||||
list2string(CXXFLAGS
|
||||
-Wno-inconsistent-missing-override
|
||||
${ARCHCXXFLAGS}
|
||||
${ARCHCPUFLAGS}
|
||||
${QURT_OPTIMIZATION_FLAGS}
|
||||
${HEXAGON_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
# Set cmake flags
|
||||
list2string(QURT_CMAKE_C_FLAGS
|
||||
${CMAKE_C_FLAGS}
|
||||
${CFLAGS}
|
||||
)
|
||||
|
||||
set(CMAKE_C_FLAGS "${QURT_CMAKE_C_FLAGS}")
|
||||
|
||||
list2string(QURT_CMAKE_CXX_FLAGS
|
||||
${CMAKE_CXX_FLAGS}
|
||||
${CXXFLAGS}
|
||||
)
|
||||
|
||||
set(CMAKE_CXX_FLAGS ${QURT_CMAKE_CXX_FLAGS})
|
||||
|
||||
# Flags we pass to the linker
|
||||
# CMake make test builds of apps to validate the compiler
|
||||
# These settings enable CMake to build the required test apps
|
||||
list2string(CMAKE_EXE_LINKER_FLAGS
|
||||
-m${V_ARCH}
|
||||
-mG0lib
|
||||
-G0
|
||||
-fpic
|
||||
-shared
|
||||
-Wl,-Bsymbolic
|
||||
-Wl,--wrap=malloc
|
||||
-Wl,--wrap=calloc
|
||||
-Wl,--wrap=free
|
||||
-Wl,--wrap=realloc
|
||||
-Wl,--wrap=memalign
|
||||
-Wl,--wrap=__stack_chk_fail
|
||||
${DYNAMIC_LIBS}
|
||||
-lc
|
||||
${EXTRALDFLAGS}
|
||||
)
|
||||
|
||||
include (CMakeParseArguments)
|
||||
|
||||
# Process DSP files
|
||||
function (QURT_LIB)
|
||||
set(options)
|
||||
set(oneValueArgs LIB_NAME)
|
||||
set(multiValueArgs SOURCES LINK_LIBS INCS FLAGS)
|
||||
cmake_parse_arguments(QURT_LIB "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
|
||||
|
||||
include_directories(
|
||||
${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
if ("${QURT_LIB_SOURCES}" STREQUAL "")
|
||||
message(FATAL_ERROR "QURT_LIB called without SOURCES")
|
||||
else()
|
||||
# Build lib that is run on the DSP
|
||||
add_library(${QURT_LIB_LIB_NAME} SHARED
|
||||
${QURT_LIB_SOURCES}
|
||||
)
|
||||
|
||||
if (NOT "${QURT_LIB_FLAGS}" STREQUAL "")
|
||||
set_target_properties(${QURT_LIB_LIB_NAME} PROPERTIES COMPILE_FLAGS "${QURT_LIB_FLAGS}")
|
||||
endif()
|
||||
|
||||
if (NOT "${QURT_LIB_INCS}" STREQUAL "")
|
||||
target_include_directories(${QURT_LIB_LIB_NAME} PUBLIC ${QURT_LIB_INCS})
|
||||
endif()
|
||||
|
||||
target_link_libraries(${QURT_LIB_LIB_NAME}
|
||||
${QURT_LIB_LINK_LIBS}
|
||||
)
|
||||
endif()
|
||||
|
||||
set(DSPLIB_TARGET_PATH "/usr/lib/rfsa/adsp/")
|
||||
|
||||
# Add a rule to load the files onto the target that run in the DSP
|
||||
add_custom_target(lib${QURT_LIB_LIB_NAME}-load
|
||||
DEPENDS ${QURT_LIB_LIB_NAME}
|
||||
COMMAND adb wait-for-device
|
||||
COMMAND adb push lib${QURT_LIB_LIB_NAME}.so ${DSPLIB_TARGET_PATH}
|
||||
COMMAND echo "Pushed lib${QURT_LIB_LIB_NAME}.so and dependencies to ${DSPLIB_TARGET_PATH}"
|
||||
)
|
||||
endfunction()
|
||||
@@ -0,0 +1,34 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2022 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
# Placeholder
|
||||
@@ -0,0 +1,30 @@
|
||||
|
||||
#include <time.h>
|
||||
|
||||
void qurt_free(void *ptr);
|
||||
|
||||
__attribute__((visibility("default"))) void free(void *ptr)
|
||||
{
|
||||
qurt_free(ptr);
|
||||
// ptr = 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) void *malloc(size_t size)
|
||||
{
|
||||
return (void *) 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) void *calloc(size_t nmemb, size_t size)
|
||||
{
|
||||
return (void *) 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) void *realloc(void *ptr, size_t size)
|
||||
{
|
||||
return (void *) 0;
|
||||
}
|
||||
|
||||
__attribute__((visibility("default"))) int nanosleep(const struct timespec *req, struct timespec *rem)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
Reference in New Issue
Block a user