Integrated cmake_hexagon for qurt build

Still a WIP since the IDL file needs to be replace with the
muorb IDL file.

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

cmake/common/px4_base.cmake

@@ -266,6 +266,10 @@ function(px4_add_module)
 
 	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
+	if(${OS} STREQUAL "qurt" )
+		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
+	endif()
+
 	if(MAIN)
 		set_target_properties(${MODULE} PROPERTIES
 			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)

cmake/configs/qurt_eagle_default.cmake

@@ -11,17 +11,18 @@ include(qurt/px4_impl_qurt)
 #include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
 
 # For Actual flight we need to link against the driver dynamic libraries
-set(target_libraries
-	-L${HEXAGON_DRIVERS_ROOT}/libs
+#set(target_libraries
+#	-L${HEXAGON_DRIVERS_ROOT}/libs
 # The plan is to replace these with our drivers
 #	mpu9x50
 #	uart_esc
 #	csr_gps
 #	rc_receiver
-	)
+#	)
 
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
 set(config_module_list
 	#

cmake/qurt/px4_impl_qurt.cmake

@@ -172,16 +172,13 @@ function(px4_os_add_flags)
         set(added_definitions
                 -D__PX4_QURT 
 		-D__PX4_POSIX
-		-D__DF_QURT
 		-include ${PX4_INCLUDE_DIR}visibility.h
                 )
 
 	# Add the toolchain specific flags
-        set(added_cflags ${QURT_CMAKE_C_FLAGS})
-        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
+        set(added_cflags -O0)
+        set(added_cxx_flags -O0)
 
-	# FIXME @jgoppert - how to work around issues like this?
-	# Without changing global variables?
 	# Clear -rdynamic flag which fails for hexagon
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")

src/firmware/qurt/CMakeLists.txt

@@ -1,32 +1,29 @@
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
+
 px4_qurt_generate_builtin_commands(
 	OUT ${CMAKE_BINARY_DIR}/apps.h
 	MODULE_LIST ${module_libraries})
 
-# Clear -rdynamic flag which fails for hexagon
-# this change is scoped in this directory and below
-set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
-set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
-
 # Enable build without HexagonSDK to check link dependencies
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 	add_executable(mainapp 
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
 		${CMAKE_BINARY_DIR}/apps.h)
 else()
-	add_library(mainapp 
+	QURT_BUNDLE(APP_NAME
+		mainapp
+		DSP_SOURCES
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
-		${CMAKE_BINARY_DIR}/apps.h)
+		${CMAKE_BINARY_DIR}/apps.h
+		DSP_LINK_LIBS
+		${module_libraries}
+		${target_libraries}
+		df_driver_framework
+		m
+		)
+		
 endif()
 
-target_link_libraries(mainapp
-	-Wl,--whole-archive
-	${module_libraries}
-	${target_libraries}
-	df_driver_framework
-	m
-	-Wl,--no-whole-archive
-	-Wl,${TOOLSLIB}/pic/libstdc++.a)
-
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -74,12 +74,17 @@ static uint64_t IMUusec = 0;
 static constexpr float rc = 10.0f;	// RC time constant of 1st order LPF in seconds
 static constexpr uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;	///< units: microseconds
 static constexpr float POS_RESET_THRESHOLD = 5.0f;				///< Seconds before we signal a total GPS failure
+
+// These are unused
+#if 0
 static constexpr unsigned MAG_SWITCH_HYSTERESIS =
 	10;	///< Ignore the first few mag failures (which amounts to a few milliseconds)
 static constexpr unsigned GYRO_SWITCH_HYSTERESIS =
 	5;	///< Ignore the first few gyro failures (which amounts to a few milliseconds)
 static constexpr unsigned ACCEL_SWITCH_HYSTERESIS =
 	5;	///< Ignore the first few accel failures (which amounts to a few milliseconds)
+#endif
+
 static constexpr float EPH_LARGE_VALUE = 1000.0f;
 static constexpr float EPV_LARGE_VALUE = 1000.0f;
 

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -291,12 +291,6 @@ private:
 namespace mc_att_control
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 MulticopterAttitudeControl	*g_control;
 }
 
@@ -1025,4 +1019,4 @@ int mc_att_control_main(int argc, char *argv[])
 
 	warnx("unrecognized command");
 	return 1;
-}
+}

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -333,12 +333,6 @@ private:
 namespace pos_control
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 MulticopterPositionControl	*g_control;
 }
 

src/modules/muorb/adsp/uORBFastRpcChannel.cpp

@@ -38,7 +38,6 @@
 // static intialization.
 uORB::FastRpcChannel uORB::FastRpcChannel::_Instance;
 
-static hrt_abstime _check_time;
 static unsigned long _dropped_pkts;
 static unsigned long _get_min = 0xFFFFFF;
 static unsigned long _get_max = 0;
@@ -136,7 +135,6 @@ int16_t uORB::FastRpcChannel::send_message(const char *messageName, int32_t leng
 	int16_t rc = 0;
 	hrt_abstime t1, t2;
 	static hrt_abstime check_time = 0;
-	int32_t initial_queue_size = 0;
 
 	if (_RemoteSubscribers.find(messageName) == _RemoteSubscribers.end()) {
 		//there is no-remote subscriber. So do not queue the message.
@@ -280,7 +278,7 @@ int16_t uORB::FastRpcChannel::get_data
 	static hrt_abstime check_time = 0;
 	hrt_abstime t1 = hrt_absolute_time();
 	_DataAvailableSemaphore.wait();
-	hrt_abstime t2 = hrt_absolute_time();
+	// hrt_abstime t2 = hrt_absolute_time();
 	_QueueMutex.lock();
 
 	if (DataQSize() != 0 || ControlQSize() != 0) {
@@ -395,7 +393,7 @@ int16_t uORB::FastRpcChannel::get_bulk_data
 	static hrt_abstime check_time = 0;
 	hrt_abstime t1 = hrt_absolute_time();
 	_DataAvailableSemaphore.wait();
-	hrt_abstime t2 = hrt_absolute_time();
+	//hrt_abstime t2 = hrt_absolute_time();
 
 	_QueueMutex.lock();
 

src/platforms/qurt/px4_layer/main.cpp

@@ -102,7 +102,6 @@ static void process_commands(map<string, px4_main_t> &apps, const char *cmds)
 	vector<string> appargs;
 	int i = 0;
 	const char *b = cmds;
-	bool found_first_char = false;
 	char arg[256];
 
 	// Eat leading whitespace

src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp

@@ -363,7 +363,6 @@ static void timer_cb(void *data)
 
 int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
 {
-	void *result;
 	work_s _hpwork = {};
 
 	// Create a timer to unblock