atlflight/eagle: minor fixes to get it running again

- fixed df_ltc2946_wrapper battery dependency
 - fixed px4::atomic fetch_add for QuRT
 - updated PX4 QuRT SPI wrapper to set bus frequency
 - renamed "qurt-default" configs to just "qurt"

.ci/Jenkinsfile-compile

@@ -44,7 +44,7 @@ pipeline {
           ]
 
           def snapdragon_builds = [
-            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
             image: docker_images.snapdragon,
             archive: false
           ]

Makefile

@@ -223,10 +223,10 @@ posix_sitl_default:
 .PHONY: all posix px4_sitl_default all_config_targets all_default_targets
 
 # Multi- config targets.
-eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
 eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
 
-excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
 excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
 
 .PHONY: eagle_default eagle_rtps

boards/atlflight/eagle/qurt.cmake

@@ -42,7 +42,7 @@ px4_add_board(
 	PLATFORM qurt
 	VENDOR atlflight
 	MODEL eagle
-	LABEL qurt-default
+	LABEL qurt
 	DRIVERS
 		barometer/bmp280
 		gps

boards/atlflight/eagle/scripts/.gitignore

@@ -0,0 +1,2 @@
+minidm.log
+px4.log

boards/atlflight/eagle/scripts/px4_snapflight_sanitytest.sh

@@ -147,7 +147,7 @@ installpx4() {
    # Reboot the target before beginning the installation
    echo -e "Rebooting the target..."
    adb reboot
-   adb wait-for-devices
+   adb wait-for-usb-device
    # Wait a bit longer after bootup, before copying binaries to the target.
    sleep 30
    adb devices
@@ -157,8 +157,8 @@ installpx4() {
    if [ $mode == 0 ]; then
       # copy default binaries
       echo -e "Copying the PX4 binaries from the eagle_default build tree..."
-      adb push $workspace/build/atlflight_eagle_qurt-default/platforms/qurt/libpx4.so /usr/share/data/adsp
-      adb push $workspace/build/atlflight_eagle_qurt-default/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
       adb push $workspace/build/atlflight_eagle_default/bin/px4 /home/linaro
       adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
       adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro

boards/atlflight/excelsior/qurt.cmake

@@ -42,7 +42,7 @@ px4_add_board(
 	PLATFORM qurt
 	VENDOR atlflight
 	MODEL excelsior
-	LABEL qurt-default
+	LABEL qurt
 	DRIVERS
 		barometer/bmp280
 		gps

platforms/common/include/px4_platform_common/atomic.h

@@ -105,7 +105,12 @@ public:
 	 */
 	inline T fetch_add(T num)
 	{
+#ifdef __PX4_QURT
+		// TODO: fix
+		return _value++;
+#else
 		return __atomic_fetch_add(&_value, num, __ATOMIC_SEQ_CST);
+#endif
 	}
 
 	/**

platforms/qurt/CMakeLists.txt

@@ -46,7 +46,13 @@ else()
 			modules__muorb__adsp
 			${module_libraries}
 			${df_driver_libs}
+			df_driver_framework
 			m
 		)
 
 endif()
+
+# board defined upload helper
+if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
+	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
+endif()

platforms/qurt/src/px4/common/px4_init.cpp

@@ -38,7 +38,7 @@
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
-int px4_platform_init(void)
+int px4_platform_init()
 {
 	hrt_init();
 

src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/CMakeLists.txt

@@ -42,4 +42,5 @@ px4_add_module(
 		git_driverframework
 		df_driver_framework
 		df_ltc2946
+		battery
 	)

src/drivers/qshell/qurt/CMakeLists.txt

@@ -34,9 +34,8 @@ px4_add_module(
 	MODULE drivers__qshell__qurt
 	MAIN qshell
 	SRCS
-	  qshell_main.cpp
+		qshell_main.cpp
 		qshell_start_qurt.cpp
 		qshell.cpp
 	DEPENDS
 	)
-

src/lib/drivers/device/posix/SPI.cpp

@@ -140,10 +140,10 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 
 	if (result != (int)len) {
 		PX4_ERR("write failed. Reported %d bytes written (%s)", result, strerror(errno));
-		return -1;
+		return PX4_ERROR;
 	}
 
-	return 0;
+	return PX4_OK;
 }
 
 int
@@ -183,10 +183,10 @@ SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
 
 	if (result != (int)(len * 2)) {
 		PX4_ERR("write failed. Reported %d bytes written (%s)", result, strerror(errno));
-		return -1;
+		return PX4_ERROR;
 	}
 
-	return 0;
+	return PX4_OK;
 }
 
 } // namespace device

src/lib/drivers/device/qurt/SPI.cpp

@@ -43,6 +43,7 @@
 #include <fcntl.h>
 #include <unistd.h>
 #include <sys/ioctl.h>
+
 #include "dev_fs_lib_spi.h"
 
 #include <px4_platform_common/px4_config.h>
@@ -79,7 +80,7 @@ SPI::init()
 {
 	// Open the actual SPI device
 	char dev_path[16];
-	snprintf(dev_path, sizeof(dev_path), "dev/spi-%lu", PX4_SPI_DEV_ID(_device));
+	snprintf(dev_path, sizeof(dev_path), DEV_FS_SPI_DEVICE_TYPE_STRING"%lu", PX4_SPI_DEV_ID(_device));
 	DEVICE_DEBUG("%s", dev_path);
 	_fd = ::open(dev_path, O_RDWR);
 
@@ -117,7 +118,29 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 		return -EINVAL;
 	}
 
+	// set bus frequency
+	dspal_spi_ioctl_set_bus_frequency bus_freq{};
+
+	bus_freq.bus_frequency_in_hz = _frequency;
+
+	if (::ioctl(_fd, SPI_IOCTL_SET_BUS_FREQUENCY_IN_HZ, &bus_freq) < 0) {
+		PX4_ERR("setting bus frequency failed");
+		return PX4_ERROR;
+	}
+
+	// set bus mode
+	// dspal_spi_ioctl_set_spi_mode bus_mode{};
+	// bus_mode.eClockPolarity = SPI_CLOCK_IDLE_HIGH;
+	// bus_mode.eShiftMode = SPI_OUTPUT_FIRST;
+
+	// if (::ioctl(spi_fildes, SPI_IOCTL_SET_SPI_MODE, &bus_mode) < 0) {
+	// 	PX4_ERR("setting mode failed");
+	// 	return PX4_ERROR;
+	// }
+
+	// transfer data
 	dspal_spi_ioctl_read_write ioctl_write_read{};
+
 	ioctl_write_read.read_buffer = send;
 	ioctl_write_read.read_buffer_length = len;
 	ioctl_write_read.write_buffer = recv;
@@ -127,10 +150,10 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 
 	if (result < 0) {
 		PX4_ERR("transfer error %d", result);
-		return result;
+		return PX4_ERROR;
 	}
 
-	return result;
+	return PX4_OK;
 }
 
 int
@@ -140,15 +163,28 @@ SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
 		return -EINVAL;
 	}
 
-	// int bits = 16;
-	// result = ::ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
+	// set bus frequency
+	dspal_spi_ioctl_set_bus_frequency bus_freq{};
+	bus_freq.bus_frequency_in_hz = _frequency;
 
-	// if (result == -1) {
-	// 	PX4_ERR("can’t set 16 bit spi mode");
+	if (::ioctl(_fd, SPI_IOCTL_SET_BUS_FREQUENCY_IN_HZ, &bus_freq) < 0) {
+		PX4_ERR("setting bus frequency failed");
+		return PX4_ERROR;
+	}
+
+	// set bus mode
+	// dspal_spi_ioctl_set_spi_mode bus_mode{};
+	// bus_mode.eClockPolarity = SPI_CLOCK_IDLE_HIGH;
+	// bus_mode.eShiftMode = SPI_OUTPUT_FIRST;
+
+	// if (::ioctl(spi_fildes, SPI_IOCTL_SET_SPI_MODE, &bus_mode) < 0) {
+	// 	PX4_ERR("setting mode failed");
 	// 	return PX4_ERROR;
 	// }
 
+	// transfer data
 	dspal_spi_ioctl_read_write ioctl_write_read{};
+
 	ioctl_write_read.read_buffer = send;
 	ioctl_write_read.read_buffer_length = len * 2;
 	ioctl_write_read.write_buffer = recv;
@@ -158,10 +194,10 @@ SPI::transferhword(uint16_t *send, uint16_t *recv, unsigned len)
 
 	if (result < 0) {
 		PX4_ERR("transfer error %d", result);
-		return result;
+		return PX4_ERROR;
 	}
 
-	return result;
+	return PX4_OK;
 }
 
 } // namespace device