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build: added qflight build target

This commit is contained in:
Andrew Tridgell 2015-12-14 14:18:37 +11:00
parent e1c890eb58
commit 2fc60de500
6 changed files with 127 additions and 5 deletions
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4
mk/board_native.mk
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@ -101,6 +101,9 @@ print-%:
# fetch dependency info from a previous build if any of it exists
-include $(ALLDEPS)
ifeq ($(HAL_BOARD_SUBTYPE),HAL_BOARD_SUBTYPE_LINUX_QFLIGHT)
include $(MK_DIR)/board_qflight.mk
else
# Link the final object
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
@echo "Building $(SKETCHELF)"
@ -108,6 +111,7 @@ $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
$(v)cp $(SKETCHELF) .
@echo "Firmware is in $(BUILDELF)"
endif
SKETCH_INCLUDES = $(SKETCHLIBINCLUDES)
SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES)

108
mk/board_qflight.mk Normal file
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@ -0,0 +1,108 @@
# extra rules for qualcomm flight linux build
FLIGHT_BOARD ?= flight4
HEXAGON_TOOLS_ROOT ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
HEXAGON_SDK_ROOT ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
HEXAGON_FC_ADDON ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
V_ARCH = v5
CROSSDEV = hexagon-
HEXAGON_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
HEXAGON_CLANG_BIN = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
QURT_CC = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
QURT_CXX = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
HEXAGON_GCC_BIN = $(HEXAGON_TOOLS_ROOT)/gnu/bin
LINUX_QAIC = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
QURT_ARM_GCC_ROOT = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
QURT_ARM_CC = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
QURT_ARM_CXX = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
HEXAGON_LINK = $(QURT_CC)
LIBSTDCXX = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
QFLIGHT_CC = $(QURT_ARM_CC)
QFLIGHT_CXX = $(QURT_ARM_CXX)
QFLIGHT_LD = $(QURT_ARM_CXX)
QFLIGHT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_Linux/qflight
QFLIGHT_BUILD = $(BUILDROOT)/libraries/AP_HAL_Linux/qflight
GENERATE_DSP_C = $(QFLIGHT_BUILD)/qflight_skel.c
GENERATE_ARM_C = $(QFLIGHT_BUILD)/qflight_stub.c
GENERATE_TARGETS = $(GENERATE_DSP_C) $(GENERATE_ARM_C) $(QFLIGHT_BUILD)/qflight_dsp.h
LIBOBJS += $(QFLIGHT_BUILD)/qflight_stub.o
# DSP build flags
DSP_INC=$(SHARED_INC) -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_ReleaseG -I$(QFLIGHT_BUILD) -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(SKETCHBOOK)/libraries
DSP_FLAGS=-mv5 -G0 -g -O3 -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
$(GENERATE_TARGETS): $(QFLIGHT_SRC)/qflight_dsp.idl
@echo Generating DSP IDL sources for $^
$(v)mkdir -p $(QFLIGHT_BUILD)
$(v)$(LINUX_QAIC) -mdll -o $(QFLIGHT_BUILD) -I$(QFLIGHT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
DSP_LINK_FLAGS = -mv5 -O3 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=libqflight_skel.so
ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(BUILDROOT)/libraries -I$(HEXAGON_SDK_ROOT)/inc/stddef
ARM_CFLAGS=-fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC)
ARM_LINK_LIBS1 = -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a
ARM_LINK_LIBS2 = -lm -lc -lsupc++ -lgcc_eh -lgcc
ARM_LINK_FLAGS = -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl
LIBS += $(ARM_LINK_FLAGS) $(ARM_LINK_LIBS1) $(ARM_LINK_LIBS2)
CXXOPTS += $(ARM_CFLAGS)
COPTS += $(ARM_CFLAGS)
LIBSKETCH_SKEL_SO = $(BUILDROOT)/libqflight_skel.so
.SUFFIXES: .o .c .cpp .so .do
# build DSP object from C file
$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.c
$(RULEHDR)
$(v)$(QURT_CC) $(DSP_FLAGS) -c -o $@ $<
$(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.o: $(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.c
$(RULEHDR)
$(v)$(CC) -c -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -std=gnu99 -o $@ $<
$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.cpp
$(RULEHDR)
$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
.c.do:
$(RULEHDR)
$(v)$(QURT_CC) $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
.cpp.do:
$(RULEHDR)
$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
DSPSKELOBJS=$(QFLIGHT_BUILD)/qflight_skel.do $(QFLIGHT_BUILD)/dsp_functions.do $(BUILDROOT)/libraries/AP_HAL/utility/RingBuffer.do
$(SKETCHELF): $(LIBSKETCH_SKEL_SO)
$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS)
@echo Linking $@
$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -g -mv5 -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 -lc -lm -Wl,-soname=libqflight_skel.so -o $@ -Wl,--whole-archive $^ -Wl,--no-whole-archive -Wl,$(LIBSTDCXX)
$(v)cp $(LIBSKETCH_SKEL_SO) .
@echo "DSP skel firmware is in libqflight_skel.so"
# Link the final object
$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
@echo "Building $(SKETCHELF)"
$(RULEHDR)
$(v)$(QFLIGHT_CC) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(SKETCHOBJS) $(LIBOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
#$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
$(v)cp $(SKETCHELF) .
@echo "Firmware is in $(BUILDELF)"
qflight_send: qflight
rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):

6
mk/build_rules.mk
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@ -3,11 +3,11 @@
# Build sketch objects
#
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS)
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp
$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS)
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
@ -23,7 +23,7 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
# Build library objects from sources in the sketchbook
#
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS)
$(RULEHDR)
$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)

5
mk/environ.mk
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@ -207,6 +207,11 @@ HAL_BOARD = HAL_BOARD_LINUX
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_BH
endif
ifneq ($(findstring qflight, $(MAKECMDGOALS)),)
HAL_BOARD = HAL_BOARD_LINUX
HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
endif
# default to SITL
ifeq ($(HAL_BOARD),)
HAL_BOARD = HAL_BOARD_SITL

1
mk/help.mk
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@ -34,5 +34,6 @@ help:
@echo " raspilot - the RaspberryPi + pilot cape combination"
@echo " erleboard - the ErleBoard legacy design"
@echo " minlure - the drone lure for MinnowBoard and others"
@echo " qflight - qualcomm flight board"
@echo " erlebrain2 - the Erle-Brain 2 board"
@echo " bhat - the RaspberryPi + BH HAT combination"

6
mk/targets.mk
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@ -65,6 +65,10 @@ bhat: HAL_BOARD = HAL_BOARD_LINUX
bhat: TOOLCHAIN = RPI
bhat: all
qflight: HAL_BOARD = HAL_BOARD_LINUX
qflight: TOOLCHAIN = QFLIGHT
qflight: all
empty: HAL_BOARD = HAL_BOARD_EMPTY
empty: TOOLCHAIN = AVR
empty: all
@ -88,7 +92,7 @@ empty: all
# cope with copter and hil targets
FRAMES = quad tri hexa y6 octa octa-quad heli single coax obc nologging
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 px4-v4 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio raspilot bbbmini minlure erlebrain2 bhat
BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 px4-v4 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio raspilot bbbmini minlure erlebrain2 bhat qflight
define frame_template
$(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "