There was a conversion error in the timeout (in ms)
passed in and the ts.tv_nsec field of the struct timeval.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The Build/git_version.d and Build/git_version.o files need to be
removed on each make to prevent confusion from a previously
generated dependency file for a different target.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
VEHICLE_CMD_START_RX_PAIR is defined as uint32 and is being compared to an int.
GCC complains about this and fails. Changed int cast to a unsigned int.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Reviewed all changes in pull request and made sure all cpp files
check orb_advert_t types against nullptr and c files check against
NULL.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.
Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.
The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.
Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The orb_advertise and/or orb_publish calls were failing because
there were not enough devmap entries allocated for all the orb
topics advertised.
The number of entries was increased from 50 to 100.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
There were an insufficient number of devmap entries allocated and
when they ran out, new orb_advertise requests would fail.
Also added a new logging macro for the Linux build to show the
calling pthread if enabled.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
When make is invoked as "make posix posix_default"
it will build the posix_default target twice. The Makefile was
fixed to correct this.
If "make posix" is run, the Makefile still calls "make PX4_TARGET_OS=posix".
If "make posix posix_default" is run, the posix target just exports
PX4_TARGET_OS=posix and then make evaluates the next goal (posix_default).
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The QuRT build was broken from the call to exit. While fixing
the code to clean up before returning, I found a missed call
to px4_close.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
NuttX is still the default target and all NuttX configs can still
be built with:
make
Individual NuttX, POSIX, and QuRT configs can now be built more
easily by specifying the target and configs:
make posix posix_default
make qurt qurt_hello
make nuttx aerocore_default
Running make with just the target will make all the configs for
that target:
make nuttx
make qurt
make posix
The help is also target specific:
make nuttx help
make qurt help
make posix help
"make help" will still assume you want help for the NuttX target
Added a new QuRT config called qurt_hello as a sample config to
test buiding in different commands for separate configs.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
NuttX is still the default target and all NuttX configs can still
be built with:
make
Individual NuttX, POSIX, and QuRT configs can now be built more
easily by specifying the target and configs:
make posix posix_default
make qurt qurt_hello
make nuttx aerocore_default
Running make with just the target will make all the configs for
that target:
make nuttx
make qurt
make posix
The help is also target specific:
make nuttx help
make qurt help
make posix help
"make help" will still assume you want help for the NuttX target
Added a new QuRT config called qurt_hello as a sample config to
test buiding in different commands for separate configs.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Unit tests now work. The linux build was failing saving params
because it was using the changes for QuRT that fake out the
filesystem.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
A new poll command was added in accelerometer_calibration.cpp
that needed to be converted to a px4_poll.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Made the logging macros generic so they can be used for multiple targets.
Fixed toolchain_native.mk so err.h is included from src/systemlib for posix.
Reduced debug output for uORB.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
In QuRT, this is a long but the variable was being printed with "%d"
Need to cast variable as long and use "%ld"
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Using %llu or %lu will break one of the build targets. The "right way"
to print a uint64_t is via the PRIU64 macro defined in C99.
This wasn't defined for the NuttX compiler so it was added to px4_defines.h
for NuttX.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The ROS build included some files that used isfinite vs PX4_ISFINITE.
The AppState class also needed to be supported for ROS.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The warnx and warn calls map to PX4_WARN.
Calls to errx or err genrtate a compile error.
The px4_log.h file implements a new log format:
For DEBUG and INFO:
<level> <msg>
For ERROR and WARN:
<level> <msg> (file filepath line linenum)
The verbosity can be changed by setting the macro to use
either linux_log or linux_log_verbose in px4_log.h
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The transfer function would previously return error if the receive
buffer length was 0. This appears to be a valid condition for
requesting a measurmement be taken but no data returned.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Added -D__QDSP6_DINKUM_PTHREAD_TYPES__ to makefiles/toolchain_hexagon.mk
so the pthreads functions are properly defined.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
In the upstream tree ringbuffer.h includes the method implementations
in the header file which causes multiple definitions in the link for
other targets. Changed so ringbuffer.cpp is build separately for other
platforms and is included by ringbuffer.h on NuttX.
uORB changes do not link without uORBTest_UnitTest.cpp enabled for
the NuttX build.
px4_getopt was not exported and wasn't visible in NuttX build.
The makefiles were restored to be as close as possible to upstream
so the NuttX build builtin's work again. The code will have to be
refactored after the merge.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The use of std::map and static initialization was an issue.
The code was refactored to not use static initialization.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Reworking toolchain and main.cpp for QuRT to a final link can be
done and the apps.h file is autogenerated.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
QuRT does not support UDP so moved the mavlink specific code
to a new file that is not built for the qurt target
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The posix layer implementations should work on QuRT.
QuRT needs to provide a way for getting the current time.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The inclusion of px4.h requires C++ features not supported in the
Hexagon toolchain. The features are not required so the required
headers are used instead.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Most of the current POSIX builds will not use the UART and it
is just a unnecessary dependency to satisfy when running in a
test environment.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
px4_read, px4_write, and px4_opctl were not returning the correct
value on error. They were returning -errno vs -1.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
QuRT does not have a filesystem, so creating a virtual filesystem
that could be implemented as an in-memory file or a remote file
over fastRPC.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
ld.gold does not support the -Ur flags and it seems some people have
ld as a link to ld.gold.
Made LD = ld.bfd to avoid confusion.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The calls to task_spawn_cmd, kill_all, and systemreset were wrappers
around the px4_{task_spawn_cmd|kill_all|systemreset} implementations.
Removed the wrappers and changed all calls to the px4_ equivalents.
NuttX specific code was moved into px4_tasks.h
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The latency_test used to pass an object pointer as argv which
won't work in the posix port because it expects argv to be a
null terminated array of character pointers (which it makes a
copy of).
The test was refactored to use a singleton pattern and avoid
having to pass the object pointer to the thread.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
GCC was more picky about prototypes for inlines being required.
The generate_listener.py script used incorrect printf formats and
was casting %f params to float, but printf casts all %f params to
double per the spec.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The initialization functions were called after the script
commands were run causing a deadlock waiting for an
uninitialized semaphore.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The build fails when modules override this flag with a larger value,
and this lower value is still checked. The new flag seems to be in
addition to the old flag, not a replacement.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
There were some missed calls to open and ioctl that need to be
px4_open and px4_ioctl.
QuRT also does not provide usleep() so px4_time.h has to be included
in files calling usleep.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The unit test was not passing a null pointer terminated argv.
The posix port depends on argv being null terminated to
determine how may args were passed since PX4 API doesn't
pass argc when spawning a new task.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
uORB was refactored in order to support the MuORB changes required
for QURT. Those changes wil be added in a subsequent commit.
The files are split out by posix and nuttx so the changes are visible.
When this has been tested, the files can be re-merged and re-tested.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The HRT call processing normally happens via HW timer interrupt
handler. Since the POSIX port has no ISR handling, the HP work
queue is used.
Instead of irq_save() and irq_restore() calls to disable/enable
interrupts, a mutex is used to protect each queue.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
In STM32, the ISR handler calls hrt_call_invoke(). There is no
interrupt timer inthe POSIX port so a work item is put on the
high priority work queue to expire at the next event (in ticks)
or at the next max delay interval.
Counter wrapping is likely still not handled properly in this code.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The variable MAVLINK_SRC was defined and then redefined.
Commented out the first definition and moved beside that overriding
definition for visibility.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The changes to the simulator added an include of
mavlink/include/v1.0/... to simulator.h which was not in the included paths.
The included header file also causes clang to issue a -Wpacked warning that
had to be silenced.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Mark Charlebois