From 7a696bd76661e9a565f2f3f0edfd7654ce46eed9 Mon Sep 17 00:00:00 2001 From: Francisco Ferreira Date: Fri, 11 May 2018 13:26:53 +0100 Subject: [PATCH] mk: remove Qualcomm board support --- mk/apm.mk | 4 - mk/board_native.mk | 4 - mk/board_qflight.mk | 116 ---------------------------- mk/board_qurt.mk | 176 ------------------------------------------- mk/environ.mk | 10 --- mk/help.mk | 1 - mk/sketch_sources.mk | 5 -- mk/targets.mk | 8 -- 8 files changed, 324 deletions(-) delete mode 100644 mk/board_qflight.mk delete mode 100644 mk/board_qurt.mk diff --git a/mk/apm.mk b/mk/apm.mk index 6dae53814d..2614c79493 100644 --- a/mk/apm.mk +++ b/mk/apm.mk @@ -43,10 +43,6 @@ ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN) include $(MK_DIR)/board_vrbrain.mk endif -ifeq ($(HAL_BOARD),HAL_BOARD_QURT) -include $(MK_DIR)/board_qurt.mk -endif - ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT) include $(MK_DIR)/board_F4Light.mk endif diff --git a/mk/board_native.mk b/mk/board_native.mk index 396c8dc1c1..86fe6e8a63 100644 --- a/mk/board_native.mk +++ b/mk/board_native.mk @@ -132,9 +132,6 @@ 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)" @@ -142,7 +139,6 @@ $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS) $(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS) $(v)cp $(SKETCHELF) . @echo "Firmware is in $(BUILDELF)" -endif SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated SLIB_INCLUDES = -I$(dir $<)/utility $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated diff --git a/mk/board_qflight.mk b/mk/board_qflight.mk deleted file mode 100644 index f0a3621550..0000000000 --- a/mk/board_qflight.mk +++ /dev/null @@ -1,116 +0,0 @@ -# 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 += $(QFLIGHT_BUILD)/qflight_stub.o - -# Add missing parts from libc and libstdc++ -MISSING_TOOLCHAIN_FLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_STD_MOVE=0 -DHAVE_STD_REMOVE_REFERENCE=0 -DHAVE_TYPE_TRAITS_H=0 -DHAVE_BYTESWAP_H=0 -DHAVE_ENDIAN_H=1 - -# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior -EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE - -EXTRAFLAGS += -D__STDC_FORMAT_MACROS - -# DSP build flags -DSP_INC=$(MISSING_TOOLCHAIN_FLAGS) $(SHARED_INC) -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/machine -I$(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 $(MAVLINK_HEADERS) - $(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): diff --git a/mk/board_qurt.mk b/mk/board_qurt.mk deleted file mode 100644 index fe1b2f3809..0000000000 --- a/mk/board_qurt.mk +++ /dev/null @@ -1,176 +0,0 @@ -# extra rules for qualcomm flight build targeting the DSPs - -# host name of flight board for "qurt_send" target -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++ - -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 - -LIBQCC = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libqcc.a - -QFLIGHT_CC = $(QURT_ARM_CC) -QFLIGHT_CXX = $(QURT_ARM_CXX) - -OPT = -O3 - -include $(MK_DIR)/find_tools.mk - -# Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior -EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE -DHAVE_BYTESWAP_H=1 -DHAVE_ENDIAN_H=1 - -EXTRAFLAGS += -D__STDC_FORMAT_MACROS - -DEFINES += -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH) -DEFINES += $(EXTRAFLAGS) -DEFINES += -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) -DAP_MAIN=ArduPilot_main - -DEPFLAGS = -MD -MP -MT $@ - -CXXOPTS = -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char $(DSP_CFLAGS) $(WARNFLAGSCXX) -COPTS = -ffunction-sections -fdata-sections -fsigned-char $(DSP_CFLAGS) - -# DSP build flags -DSP_INC=-I$(HEXAGON_SDK_ROOT)/gnu/hexagon/include -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_Debug_dynamic -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HAL_QURT_BUILD) -DSP_WARN=-Wno-unused-parameter -Wno-gnu-variable-sized-type-not-at-end -Wno-gnu-designator -Wno-absolute-value -DSP_FLAGS=-mv5 -G0 -g $(OPT) $(DSP_WARN) -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ -D_DEBUG $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X - -DSP_LINK_FLAGS = -mv5 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=lib$(SKETCHNAME)_skel.so - -# Add missing parts from libc and libstdc++ -MISSING_TOOLCHAIN_FLAGS += -DHAVE_STD_NULLPTR_T=0 -DHAVE_STD_MOVE=0 -DHAVE_STD_REMOVE_REFERENCE=0 -DHAVE_TYPE_TRAITS_H=0 -DHAVE_BYTESWAP_H=0 - -CXXFLAGS += -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(MISSING_TOOLCHAIN_FLAGS) $(CXXOPTS) $(DEFINES) $(DSP_FLAGS) -CFLAGS += $(WARNFLAGS) $(DEPFLAGS) $(COPTS) $(DEFINES) $(DSP_FLAGS) - -ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_Debug -I$(SKETCHBOOK)/libraries/ -ARM_WARN=-Wno-unused-parameter -Wno-unknown-pragmas -ARM_CFLAGS=$(ARM_WARN) -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O0 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DCONFIG_HAL_BOARD=HAL_BOARD_LINUX -DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_QFLIGHT - -ifeq ($(VERBOSE),) -v = @ -else -v = -endif - -# Library object files -LIBOBJS := $(SKETCHLIBOBJS) - -# The ELF file -SKETCHELF = $(BUILDROOT)/$(SKETCH).elf -LIBSKETCH_SKEL_SO = $(BUILDROOT)/libardupilot_skel.so -BUILDELF = $(notdir $(SKETCHELF)) - -# All of the objects that may be built -ALLOBJS = $(SKETCHOBJS) $(LIBOBJS) - -# All of the dependency files that may be generated -ALLDEPS = $(ALLOBJS:%.o=%.d) - -HAL_QURT_SRC = $(SKETCHBOOK)/libraries/AP_HAL_QURT -HAL_QURT_BUILD = $(BUILDROOT)/libraries/AP_HAL_QURT - -# main app sources -MAINAPP_SRC = $(wildcard $(HAL_QURT_SRC)/mainapp/*.cpp) $(wildcard $(SKETCHBOOK)/libraries/AP_HAL/utility/*.cpp) -MAINAPPOBJS = $(subst $(SKETCHBOOK)/,$(BUILDROOT)/,$(MAINAPP_SRC:%.cpp=%.ao)) $(HAL_QURT_BUILD)/ardupilot_stub.ao - - -.SUFFIXES: .ao .o .c .so .do - -# build arm object -$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.c - $(RULEHDR) - $(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\"" - -# build arm C++ object -$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.cpp $(HAL_QURT_BUILD)/qurt_dsp.h - $(RULEHDR) - $(v)$(QURT_ARM_CXX) -std=gnu++11 -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\"" - -$(BUILDROOT)/libraries/%.ao: $(BUILDROOT)/libraries/%.c - $(RULEHDR) - $(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\"" - -# build DSP object from C file -$(BUILDROOT)/libraries/%.do: $(BUILDROOT)/libraries/%.c - $(RULEHDR) - $(v)$(QURT_CC) $(CFLAGS) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $< - -################################################################################ -# Targets -# -all: $(SKETCHELF) - -print-%: - echo "$*=$($*)" - -################################################################################ -# Rules -# - -SKETCH_INCLUDES = $(SKETCHLIBINCLUDES) -SLIB_INCLUDES = $(SKETCHLIBINCLUDES) - -# fetch dependency info from a previous build if any of it exists --include $(ALLDEPS) - -GENERATE_DSP_C = $(HAL_QURT_BUILD)/ardupilot_skel.c -GENERATE_ARM_C = $(HAL_QURT_BUILD)/ardupilot_stub.c -GENERATE_TARGETS = $(HAL_QURT_BUILD)/qurt_dsp.h $(GENERATE_DSP_C) $(GENERATE_ARM_C) - -$(GENERATE_TARGETS): $(HAL_QURT_SRC)/qurt_dsp.idl - @echo Generating DSP IDL sources for $^ - $(v)mkdir -p $(HAL_QURT_BUILD) - $(v)$(LINUX_QAIC) -mdll -o $(HAL_QURT_BUILD) -I$(HAL_QURT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $< - -# Link the final object -$(SKETCHELF): $(MAINAPPOBJS) $(LIBSKETCH_SKEL_SO) $(GENERATE_TARGETS) - @echo "Building $(SKETCHELF)" - $(RULEHDR) - $(v)$(QFLIGHT_CXX) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(MAINAPPOBJS) -L$(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)cp $(SKETCHELF) . - @echo "Firmware is in $(BUILDELF)" - -DSPSKELOBJS=$(HAL_QURT_BUILD)/ardupilot_skel.do - -# this is quite bizarre. The provided libc mixes PIC and non-PIC code, -# which seems to confuse the linker. In order to link to some critical -# system objects we need to extract them from libc into a new library -LIBC_SRC=$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libc.a -LIBC_EXTRACTDIR=$(BUILDROOT)/libc_extracted -LIBC_OBJECTS=xfdtest.o xdtest.o feclearexcept.o fegetenv.o fesetenv.o -LIBC_EXTRACTED=$(LIBC_EXTRACTDIR)/libc_extracted.a - -$(LIBC_EXTRACTED): $(LIBC_SRC) - $(v)echo Extracting libc objects into $@ - $(v)mkdir -p $(LIBC_EXTRACTDIR) - $(v)(cd $(LIBC_EXTRACTDIR) && ar x $(LIBC_SRC) $(LIBC_OBJECTS) && ar crs libc_extracted.a $(LIBC_OBJECTS)) - -$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS) $(ALLOBJS) $(GENERATE_TARGETS) $(LIBC_EXTRACTED) - @echo Linking $@ - $(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -lcsr_gps -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 $(DSPSKELOBJS) $(ALLOBJS) $(LIBC_EXTRACTED) -Wl,--no-whole-archive -Wl,$(LIBSTDCXX) -Wl,$(LIBQCC) -Wl,$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/libdl.a - $(v)cp $(LIBSKETCH_SKEL_SO) . - @echo "DSP skel firmware is in $(BUILDELF)" - -include $(MK_DIR)/build_rules.mk - -qurt_send: qurt - rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp - rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD): - diff --git a/mk/environ.mk b/mk/environ.mk index dae03883be..68b0e5d362 100644 --- a/mk/environ.mk +++ b/mk/environ.mk @@ -151,16 +151,6 @@ HAL_BOARD = HAL_BOARD_VRBRAIN HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE endif -ifneq ($(findstring qflight, $(MAKECMDGOALS)),) -HAL_BOARD = HAL_BOARD_LINUX -HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_QFLIGHT -endif - -ifneq ($(findstring qurt, $(MAKECMDGOALS)),) -HAL_BOARD = HAL_BOARD_QURT -HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE -endif - ifneq ($(findstring f4light, $(MAKECMDGOALS)),) HAL_BOARD = HAL_BOARD_F4LIGHT HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE diff --git a/mk/help.mk b/mk/help.mk index 361cb933c8..a7b3b59ac8 100644 --- a/mk/help.mk +++ b/mk/help.mk @@ -29,5 +29,4 @@ help: @echo " px4-v4 - the XRacer" @echo " vrbrain - the VRBrain boards" @echo " sitl - the SITL Software In The Loop simulation" - @echo " qflight - qualcomm flight board" @echo " f4light - the OpenPilot Revolution, Revolution Mini, AirbotF4 and similar boards" diff --git a/mk/sketch_sources.mk b/mk/sketch_sources.mk index 0db28b2518..c212202bbf 100644 --- a/mk/sketch_sources.mk +++ b/mk/sketch_sources.mk @@ -64,11 +64,6 @@ LIBTOKENS += \ AP_HAL_VRBRAIN endif -ifeq ($(HAL_BOARD),HAL_BOARD_QURT) -LIBTOKENS += \ - AP_HAL_QURT -endif - ifeq ($(HAL_BOARD),HAL_BOARD_F4LIGHT) LIBTOKENS += \ AP_HAL_F4Light diff --git a/mk/targets.mk b/mk/targets.mk index 85acec064c..64798ac567 100644 --- a/mk/targets.mk +++ b/mk/targets.mk @@ -19,14 +19,6 @@ f4light: HAL_BOARD = HAL_BOARD_F4LIGHT f4light: TOOLCHAIN = ARM f4light: all -qflight: HAL_BOARD = HAL_BOARD_LINUX -qflight: TOOLCHAIN = QFLIGHT -qflight: all - -qurt: HAL_BOARD = HAL_BOARD_QURT -qurt: TOOLCHAIN = QURT -qurt: all - # cope with HIL targets %-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS " %-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "