mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-19 16:19:06 +08:00
Added initial QuRT support
Added the basic files to start building for QuRT Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
dc52bb7703
commit
e9c2e08770
@ -363,6 +363,9 @@ endif
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ifeq ($(PX4_TARGET_OS),linux)
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include $(MK_DIR)/linux_elf.mk
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endif
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ifeq ($(PX4_TARGET_OS),qurt)
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include $(MK_DIR)/qurt_elf.mk
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endif
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#
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# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
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56
makefiles/firmware_qurt.mk
Normal file
56
makefiles/firmware_qurt.mk
Normal file
@ -0,0 +1,56 @@
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#
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# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
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||||
# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
|
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# without specific prior written permission.
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||||
#
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||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
# "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
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Built products
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#
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FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
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all: $(FIRMWARES)
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#
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# Generate FIRMWARES.
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#
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.PHONY: $(FIRMWARES)
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$(BUILD_DIR)%.build/firmware.a: config = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
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$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
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$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a: generateuorbtopicheaders
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@$(ECHO) %%%%
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@$(ECHO) %%%% Building $(config) in $(work_dir)
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@$(ECHO) %%%%
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$(Q) $(MKDIR) -p $(work_dir)
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$(Q) $(MAKE) -r -C $(work_dir) \
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-f $(PX4_MK_DIR)firmware.mk \
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CONFIG=$(config) \
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WORK_DIR=$(work_dir) \
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$(FIRMWARE_GOAL)
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40
makefiles/qurt.mk
Normal file
40
makefiles/qurt.mk
Normal file
@ -0,0 +1,40 @@
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#
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# Copyright (C) 2015 Mark Charlebois. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Rules and definitions related to handling the Linux specific impl when
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# building firmware.
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#
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MODULES += \
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platforms/common \
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platforms/linux/px4_layer
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73
makefiles/qurt_elf.mk
Normal file
73
makefiles/qurt_elf.mk
Normal file
@ -0,0 +1,73 @@
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
|
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# used to endorse or promote products derived from this software
|
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Makefile for PX4 Linux based firmware images.
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#
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################################################################################
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# Build rules
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################################################################################
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#
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# What we're going to build.
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#
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PRODUCT_SHARED_LIB = $(WORK_DIR)firmware.a
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PRODUCT_SHARED_PRELINK = $(WORK_DIR)firmware.o
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.PHONY: firmware
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firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
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#
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# Built product rules
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#
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$(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
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$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
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$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
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$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
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MAIN = $(PX4_BASE)/src/platforms/linux/main.cpp
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$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
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$(PX4_BASE)/Tools/linux_apps.py > apps.h
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$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
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#
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# Utility rules
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#
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.PHONY: clean
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clean: $(MODULE_CLEANS)
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@$(ECHO) %% cleaning
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$(Q) $(REMOVE) $(PRODUCT_ELF)
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$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
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@ -33,11 +33,9 @@
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# Path and tool setup
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#
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ifdef ($(PX4_TARGET_OS),nuttx)
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export PX4_TARGET_OS = nuttx
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else
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export PX4_TARGET_OS = linux
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endif
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#export PX4_TARGET_OS = nuttx
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#export PX4_TARGET_OS = linux
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export PX4_TARGET_OS ?= qurt
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#
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# Some useful paths.
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304
makefiles/toolchain_hexagon.mk
Normal file
304
makefiles/toolchain_hexagon.mk
Normal file
@ -0,0 +1,304 @@
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#
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# Copyright (C) 2015 Mark Charlebois. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
|
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# 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
|
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# the documentation and/or other materials provided with the
|
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# distribution.
|
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# 3. Neither the name PX4 nor the names of its contributors may be
|
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# 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
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#
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# Definitions for a generic GNU ARM-EABI toolchain
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#
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#$(info TOOLCHAIN gnu-arm-eabi)
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# Toolchain commands. Normally only used inside this file.
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#
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HEXAGON_TOOLS_ROOT = /opt/6.4.05
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#V_ARCH = v4 # Set for APQ8064
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V_ARCH = v5 # Set for APQ8074
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CROSSDEV = hexagon-
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HEXAGON_BIN = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
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HEXAGON_CLANG_BIN = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
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HEXAGON_LIB_DIR = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
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HEXAGON_ISS_DIR = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
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CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
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CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
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CPP = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E
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LD = $(HEXAGON_BIN)/$(CROSSDEV)ld
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AR = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
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NM = $(HEXAGON_BIN)/$(CROSSDEV)nm
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OBJCOPY = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
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OBJDUMP = $(HEXAGON_BIN)/$(CROSSDEV)objdump
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# Check if the right version of the toolchain is available
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#
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CROSSDEV_VER_SUPPORTED = 6.4.05
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CROSSDEV_VER_FOUND = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
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|
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ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
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$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
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endif
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# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
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MAXOPTIMIZATION ?= -O2
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# Base CPU flags for each of the supported architectures.
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#
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_CODE = $(addprefix -G,$(V_G_THRESHOLD))
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ARCHCPUFLAGS = -m$(V_ARCH) \
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-c \
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-G0 \
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$(_CODE)
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# Set the board flags
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#
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ifeq ($(CONFIG_BOARD),)
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$(error Board config does not define CONFIG_BOARD)
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endif
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ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
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-D__PX4_QURT \
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-I$(PX4_BASE)/src/lib/eigen \
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-I$(PX4_BASE)/src/platforms/qurt/include \
|
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-Wno-error=shadow
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||||
|
||||
# optimisation flags
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||||
#
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
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-g3 \
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-fno-strict-aliasing \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
# note - requires corresponding support in NuttX
|
||||
INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
|
||||
|
||||
# Language-specific flags
|
||||
#
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
|
||||
|
||||
# Generic warnings
|
||||
#
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Werror \
|
||||
-Wno-cast-align \
|
||||
-Wno-missing-braces \
|
||||
-Wno-strict-aliasing
|
||||
# -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
# C-specific warnings
|
||||
#
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wstrict-prototypes \
|
||||
-Wnested-externs
|
||||
|
||||
# C++-specific warnings
|
||||
#
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-missing-field-initializers
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# Flags we pass to the C compiler
|
||||
#
|
||||
CFLAGS = $(ARCHCFLAGS) \
|
||||
$(ARCHCWARNINGS) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACFLAGS) \
|
||||
-fno-common \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
# Flags we pass to the C++ compiler
|
||||
#
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) \
|
||||
$(ARCHWARNINGSXX) \
|
||||
$(ARCHOPTIMIZATION) \
|
||||
$(ARCHCPUFLAGS) \
|
||||
$(ARCHXXINCLUDES) \
|
||||
$(INSTRUMENTATIONDEFINES) \
|
||||
$(ARCHDEFINES) \
|
||||
-DCONFIG_WCHAR_BUILTIN \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRACXXFLAGS) \
|
||||
$(addprefix -I,$(INCLUDE_DIRS))
|
||||
|
||||
ifeq (1,$(V_dynamic))
|
||||
CXX_FLAGS += -fpic -D__V_DYNAMIC__
|
||||
endif
|
||||
|
||||
HEXAGON_LIB_PATH=$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
|
||||
LIB_HEXAGON =$(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a
|
||||
|
||||
# Flags we pass to the assembler
|
||||
#
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
|
||||
$(EXTRADEFINES) \
|
||||
$(EXTRAAFLAGS)
|
||||
|
||||
# Flags we pass to the linker
|
||||
#
|
||||
LDFLAGS += \
|
||||
-Wl,--start-group -Wl,--whole-archive -lc -lgcc -lstdc++ \
|
||||
$(LIB_HEXAGON) -Wl,--no-whole-archive -Wl,--end-group -Wl,--dynamic-linker= \
|
||||
-Wl,-E -Wl,--force-dynamic \
|
||||
$(EXTRALDFLAGS) \
|
||||
$(addprefix -T,$(LDSCRIPT)) \
|
||||
$(addprefix -L,$(LIB_DIRS))
|
||||
|
||||
# Compiler support library
|
||||
#
|
||||
LIBGCC := $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
|
||||
|
||||
# Files that the final link depends on
|
||||
#
|
||||
LINK_DEPS += $(LDSCRIPT)
|
||||
|
||||
# Files to include to get automated dependencies
|
||||
#
|
||||
DEP_INCLUDES = $(subst .o,.d,$(OBJS))
|
||||
|
||||
# Compile C source $1 to object $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILE
|
||||
@$(ECHO) "CC: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Compile C++ source $1 to $2
|
||||
# as a side-effect, generate a dependency file
|
||||
#
|
||||
define COMPILEXX
|
||||
@$(ECHO) "CXX: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Assemble $1 into $2
|
||||
#
|
||||
define ASSEMBLE
|
||||
@$(ECHO) "AS: $1"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
|
||||
endef
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
#
|
||||
define PRELINK
|
||||
@$(ECHO) "PRELINK: $1"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(LD) -Ur -Map $1.map -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
# Update the archive $1 with the files in $2
|
||||
#
|
||||
define ARCHIVE
|
||||
@$(ECHO) "AR: $2"
|
||||
@$(MKDIR) -p $(dir $1)
|
||||
$(Q) $(AR) $1 $2
|
||||
endef
|
||||
|
||||
# Link the objects in $2 into the binary $1
|
||||
#
|
||||
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
|
||||
endef
|
||||
|
||||
# Convert $1 from a linked object to a raw binary in $2
|
||||
#
|
||||
define SYM_TO_BIN
|
||||
@$(ECHO) "BIN: $2"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(OBJCOPY) -O binary $1 $2
|
||||
endef
|
||||
|
||||
# Take the raw binary $1 and make it into an object file $2.
|
||||
# The symbol $3 points to the beginning of the file, and $3_len
|
||||
# gives its length.
|
||||
#
|
||||
# - compile an empty file to generate a suitable object file
|
||||
# - relink the object and insert the binary file
|
||||
# - extract the length
|
||||
# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
|
||||
# - link the two generated object files together
|
||||
# - edit symbol names to suit
|
||||
#
|
||||
# NOTE: exercise caution using this with absolute pathnames; it looks
|
||||
# like the MinGW tools insert an extra _ in the binary symbol name; e.g.
|
||||
# the path:
|
||||
#
|
||||
# /d/px4/firmware/Build/px4fmu_default.build/romfs.img
|
||||
#
|
||||
# is assigned symbols like:
|
||||
#
|
||||
# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
|
||||
#
|
||||
# when we would expect
|
||||
#
|
||||
# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
|
||||
#
|
||||
define BIN_SYM_PREFIX
|
||||
_binary_$(subst /,_,$(subst .,_,$1))
|
||||
endef
|
||||
define BIN_TO_OBJ
|
||||
@$(ECHO) "OBJ: $2"
|
||||
@$(MKDIR) -p $(dir $2)
|
||||
$(Q) $(ECHO) > $2.c
|
||||
$(call COMPILE,$2.c,$2.c.o)
|
||||
$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
|
||||
$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
|
||||
$(call COMPILE,$2.c,$2.c.o)
|
||||
$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
|
||||
$(Q) $(OBJCOPY) $2 \
|
||||
--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
|
||||
--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
|
||||
--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
|
||||
--rename-section .data=.rodata
|
||||
$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
|
||||
endef
|
||||
@ -67,7 +67,7 @@
|
||||
/* Get value of parameter by name, which is equal to the handle for ros */
|
||||
#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
|
||||
|
||||
#elif defined(__PX4_NUTTX) || defined(__PX4_LINUX)
|
||||
#elif defined(__PX4_NUTTX) || defined(__PX4_LINUX) || defined(__PX4_QURT)
|
||||
/*
|
||||
* Building for NuttX or Linux
|
||||
*/
|
||||
@ -134,7 +134,7 @@ __END_DECLS
|
||||
|
||||
|
||||
/* Defines for ROS and Linux */
|
||||
#if defined(__PX4_ROS) || defined(__PX4_LINUX)
|
||||
#if defined(__PX4_ROS) || defined(__PX4_LINUX) || defined(__PX4_QURT)
|
||||
#define OK 0
|
||||
#define ERROR -1
|
||||
|
||||
|
||||
@ -102,7 +102,7 @@
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
#elif defined(__PX4_LINUX)
|
||||
#elif defined(__PX4_LINUX) || defined(__PX4_QURT)
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <uORB/uORB.h>
|
||||
@ -133,5 +133,5 @@
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#else
|
||||
#define "No target platform defined"
|
||||
#error "No target platform defined"
|
||||
#endif
|
||||
|
||||
@ -49,7 +49,7 @@ typedef int px4_task_t;
|
||||
|
||||
#define px4_task_exit(x) _exit(x)
|
||||
|
||||
#elif defined(__PX4_LINUX)
|
||||
#elif defined(__PX4_LINUX) || defined(__PX4_QURT)
|
||||
#include <pthread.h>
|
||||
#include <sched.h>
|
||||
|
||||
|
||||
0
src/platforms/qurt/include/arch/board/board.h
Normal file
0
src/platforms/qurt/include/arch/board/board.h
Normal file
11
src/platforms/qurt/include/board_config.h
Normal file
11
src/platforms/qurt/include/board_config.h
Normal file
@ -0,0 +1,11 @@
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_ESC 1
|
||||
#define PX4_SIM_BUS_TEST 2
|
||||
#define PX4_I2C_BUS_EXPANSION 3
|
||||
#define PX4_I2C_BUS_LED 3
|
||||
|
||||
#define PX4_I2C_OBDEV_LED 0x55
|
||||
83
src/platforms/qurt/include/crc32.h
Normal file
83
src/platforms/qurt/include/crc32.h
Normal file
@ -0,0 +1,83 @@
|
||||
/****************************************************************************
|
||||
* include/crc.h
|
||||
*
|
||||
* Copyright (C) 2010 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef __INCLUDE_CRC32_H
|
||||
#define __INCLUDE_CRC32_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc32part
|
||||
*
|
||||
* Description:
|
||||
* Continue CRC calculation on a part of the buffer.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
|
||||
uint32_t crc32val);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: crc32
|
||||
*
|
||||
* Description:
|
||||
* Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
EXTERN uint32_t crc32(const uint8_t *src, size_t len);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __INCLUDE_CRC32_H */
|
||||
135
src/platforms/qurt/include/queue.h
Normal file
135
src/platforms/qurt/include/queue.h
Normal file
@ -0,0 +1,135 @@
|
||||
/************************************************************************
|
||||
* include/queue.h
|
||||
*
|
||||
* Copyright (C) 2007-2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
************************************************************************/
|
||||
|
||||
#ifndef __INCLUDE_QUEUE_H
|
||||
#define __INCLUDE_QUEUE_H
|
||||
|
||||
/************************************************************************
|
||||
* Included Files
|
||||
************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
/************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************/
|
||||
|
||||
#define sq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
|
||||
#define dq_init(q) do { (q)->head = NULL; (q)->tail = NULL; } while (0)
|
||||
|
||||
#define sq_next(p) ((p)->flink)
|
||||
#define dq_next(p) ((p)->flink)
|
||||
#define dq_prev(p) ((p)->blink)
|
||||
|
||||
#define sq_empty(q) ((q)->head == NULL)
|
||||
#define dq_empty(q) ((q)->head == NULL)
|
||||
|
||||
#define sq_peek(q) ((q)->head)
|
||||
#define dq_peek(q) ((q)->head)
|
||||
|
||||
// Required for Linux
|
||||
#define FAR
|
||||
#ifndef NULL
|
||||
#define NULL (void *)0
|
||||
#endif
|
||||
|
||||
/************************************************************************
|
||||
* Global Type Declarations
|
||||
************************************************************************/
|
||||
|
||||
struct sq_entry_s
|
||||
{
|
||||
FAR struct sq_entry_s *flink;
|
||||
};
|
||||
typedef struct sq_entry_s sq_entry_t;
|
||||
|
||||
struct dq_entry_s
|
||||
{
|
||||
FAR struct dq_entry_s *flink;
|
||||
FAR struct dq_entry_s *blink;
|
||||
};
|
||||
typedef struct dq_entry_s dq_entry_t;
|
||||
|
||||
struct sq_queue_s
|
||||
{
|
||||
FAR sq_entry_t *head;
|
||||
FAR sq_entry_t *tail;
|
||||
};
|
||||
typedef struct sq_queue_s sq_queue_t;
|
||||
|
||||
struct dq_queue_s
|
||||
{
|
||||
FAR dq_entry_t *head;
|
||||
FAR dq_entry_t *tail;
|
||||
};
|
||||
typedef struct dq_queue_s dq_queue_t;
|
||||
|
||||
/************************************************************************
|
||||
* Global Function Prototypes
|
||||
************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
EXTERN void sq_addfirst(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
|
||||
EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
|
||||
EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
|
||||
sq_queue_t *queue);
|
||||
EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
|
||||
dq_queue_t *queue);
|
||||
EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
|
||||
dq_queue_t *queue);
|
||||
|
||||
EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);
|
||||
EXTERN void dq_rem(FAR dq_entry_t *node, dq_queue_t *queue);
|
||||
EXTERN FAR sq_entry_t *sq_remlast(sq_queue_t *queue);
|
||||
EXTERN FAR dq_entry_t *dq_remlast(dq_queue_t *queue);
|
||||
EXTERN FAR sq_entry_t *sq_remfirst(sq_queue_t *queue);
|
||||
EXTERN FAR dq_entry_t *dq_remfirst(dq_queue_t *queue);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __INCLUDE_QUEUE_H_ */
|
||||
|
||||
104
src/platforms/qurt/main.cpp
Normal file
104
src/platforms/qurt/main.cpp
Normal file
@ -0,0 +1,104 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file main.cpp
|
||||
* Basic shell to execute builtin "apps"
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <vector>
|
||||
|
||||
using namespace std;
|
||||
|
||||
typedef int (*px4_main_t)(int argc, char *argv[]);
|
||||
|
||||
#include "apps.h"
|
||||
#include "px4_middleware.h"
|
||||
|
||||
void run_cmd(const vector<string> &appargs);
|
||||
void run_cmd(const vector<string> &appargs) {
|
||||
// command is appargs[0]
|
||||
string command = appargs[0];
|
||||
if (apps.find(command) != apps.end()) {
|
||||
const char *arg[appargs.size()+2];
|
||||
|
||||
unsigned int i = 0;
|
||||
while (i < appargs.size() && appargs[i] != "") {
|
||||
arg[i] = (char *)appargs[i].c_str();
|
||||
++i;
|
||||
}
|
||||
arg[i] = (char *)0;
|
||||
apps[command](i,(char **)arg);
|
||||
}
|
||||
else
|
||||
{
|
||||
cout << "Invalid command" << endl;
|
||||
list_builtins();
|
||||
}
|
||||
}
|
||||
|
||||
static void process_line(string &line)
|
||||
{
|
||||
vector<string> appargs(5);
|
||||
|
||||
stringstream(line) >> appargs[0] >> appargs[1] >> appargs[2] >> appargs[3] >> appargs[4];
|
||||
run_cmd(appargs);
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
// Execute a command list of provided
|
||||
if (argc == 2) {
|
||||
ifstream infile(argv[1]);
|
||||
|
||||
for (string line; getline(infile, line, '\n'); ) {
|
||||
process_line(line);
|
||||
}
|
||||
}
|
||||
|
||||
string mystr;
|
||||
|
||||
px4::init(argc, argv, "mainapp");
|
||||
|
||||
while(1) {
|
||||
cout << "Enter a command and its args:" << endl;
|
||||
getline (cin,mystr);
|
||||
process_line(mystr);
|
||||
mystr = "";
|
||||
}
|
||||
}
|
||||
61
src/platforms/qurt/tests/hello/hello_example.cpp
Normal file
61
src/platforms/qurt/tests/hello/hello_example.cpp
Normal file
@ -0,0 +1,61 @@
|
||||
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_example.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
|
||||
#include "hello_example.h"
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
|
||||
px4::AppState HelloExample::appState;
|
||||
|
||||
int HelloExample::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
int i=0;
|
||||
while (!appState.exitRequested() && i<5) {
|
||||
sleep(2);
|
||||
|
||||
printf(" Doing work...\n");
|
||||
++i;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
53
src/platforms/qurt/tests/hello/hello_example.h
Normal file
53
src/platforms/qurt/tests/hello/hello_example.h
Normal file
@ -0,0 +1,53 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_example.h
|
||||
* Example app for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
|
||||
class HelloExample {
|
||||
public:
|
||||
HelloExample() {};
|
||||
|
||||
~HelloExample() {};
|
||||
|
||||
int main();
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
};
|
||||
55
src/platforms/qurt/tests/hello/hello_main.cpp
Normal file
55
src/platforms/qurt/tests/hello/hello_main.cpp
Normal file
@ -0,0 +1,55 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_main.cpp
|
||||
* Example for Linux
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
*/
|
||||
#include <px4_middleware.h>
|
||||
#include <px4_app.h>
|
||||
#include "hello_example.h"
|
||||
#include <stdio.h>
|
||||
|
||||
int PX4_MAIN(int argc, char **argv)
|
||||
{
|
||||
px4::init(argc, argv, "hello");
|
||||
|
||||
printf("hello\n");
|
||||
HelloExample hello;
|
||||
hello.main();
|
||||
|
||||
printf("goodbye\n");
|
||||
return 0;
|
||||
}
|
||||
100
src/platforms/qurt/tests/hello/hello_start_linux.cpp
Normal file
100
src/platforms/qurt/tests/hello/hello_start_linux.cpp
Normal file
@ -0,0 +1,100 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 Mark Charlebois. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hello_start_linux.cpp
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
* @author Mark Charlebois <mcharleb@gmail.com>
|
||||
*/
|
||||
#include "hello_example.h"
|
||||
#include <px4_app.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <sched.h>
|
||||
|
||||
#define SCHED_DEFAULT SCHED_FIFO
|
||||
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
|
||||
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
|
||||
|
||||
static int daemon_task; /* Handle of deamon task / thread */
|
||||
|
||||
//using namespace px4;
|
||||
|
||||
extern "C" __EXPORT int hello_main(int argc, char *argv[]);
|
||||
int hello_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 2) {
|
||||
printf("usage: hello {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (HelloExample::appState.isRunning()) {
|
||||
printf("already running\n");
|
||||
/* this is not an error */
|
||||
return 0;
|
||||
}
|
||||
|
||||
daemon_task = px4_task_spawn_cmd("hello",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
2000,
|
||||
PX4_MAIN,
|
||||
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
HelloExample::appState.requestExit();
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (HelloExample::appState.isRunning()) {
|
||||
printf("is running\n");
|
||||
|
||||
} else {
|
||||
printf("not started\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
printf("usage: hello_main {start|stop|status}\n");
|
||||
return 1;
|
||||
}
|
||||
43
src/platforms/qurt/tests/hello/module.mk
Normal file
43
src/platforms/qurt/tests/hello/module.mk
Normal file
@ -0,0 +1,43 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014 PX4 Development Team. 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Publisher Example Application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = hello
|
||||
|
||||
SRCS = hello_main.cpp \
|
||||
hello_start_linux.cpp \
|
||||
hello_example.cpp
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user