forked from Archive/PX4-Autopilot
Linux: Added linker script support for param and added mc_att_control
Added linker script to resolve __param_start and __param_end. Added mc_att_control to list of supported builtins. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
977036faf9
commit
2cd44a24ea
3
Makefile
3
Makefile
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@ -143,6 +143,9 @@ testbuild:
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$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
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$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
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testrun:
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Tools/linux_run.sh
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#
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# Unittest targets. Builds and runs the host-level
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# unit tests.
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@ -0,0 +1,17 @@
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#!/bin/bash
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if [ ! -c /tmp/ttyS0 ] || [ ! -c /tmp/ttyS1 ]
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then
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echo "Need to create /tmp/ttyS[01]"
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echo "socat PTY,link=/tmp/ttyS0 PTY,link=/tmp/ttyS1"
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exit 1
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fi
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if [ ! -d /fs/msdcard ] && [ ! -w /fs/msdcard ]
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then
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echo "Need to create/mount writable /fs/microsd"
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echo "sudo mkdir -p /fs/msdcard"
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echo "sudo chmod 777 /fs/msdcard"
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fi
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Build/linux_default.build/mainapp
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@ -0,0 +1,61 @@
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/****************************************************************************
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* configs/aerocore/common/ld.script
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
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* 256Kb of SRAM. SRAM is split up into three blocks:
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*
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* 1) 112Kb of SRAM beginning at address 0x2000:0000
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* 2) 16Kb of SRAM beginning at address 0x2001:c000
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* 3) 64Kb of SRAM beginning at address 0x2002:0000
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* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
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*
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* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
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* where the code expects to begin execution by jumping to the entry point in
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* the 0x0800:0000 address range.
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*
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* The first 0x4000 of flash is reserved for the bootloader.
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*/
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SECTIONS
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{
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/*
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* Construction data for parameters.
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*/
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__param ALIGN(4): {
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__param_start = .;
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KEEP(*(__param*))
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__param_end = .;
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}
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}
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@ -33,7 +33,7 @@ MODULES += modules/mavlink
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#
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# Vehicle Control
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#
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#MODULES += modules/mc_att_control
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MODULES += modules/mc_att_control
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#
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# Library modules
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@ -41,6 +41,7 @@
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# What we're going to build.
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#
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PRODUCT_SHARED_LIB = $(WORK_DIR)firmware.a
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PRODUCT_SHARED_PRELINK = $(WORK_DIR)firmware.o
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.PHONY: firmware
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firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
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@ -49,8 +50,11 @@ firmware: $(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
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# Built product rules
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#
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$(PRODUCT_SHARED_LIB): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
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$(call LINK_A,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
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$(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
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$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
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$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
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$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
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MAIN = $(PX4_BASE)/src/platforms/linux/main.cpp
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$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
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@ -193,7 +193,7 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) \
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# pull in *just* libm from the toolchain ... this is grody
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LIBM := $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
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#EXTRA_LIBS += $(LIBM)
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EXTRA_LIBS += -pthread -lm -lrt
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EXTRA_LIBS += -lm -lrt
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# Flags we pass to the C compiler
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#
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@ -237,6 +237,7 @@ AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
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$(EXTRADEFINES) \
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$(EXTRAAFLAGS)
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LDSCRIPT = $(PX4_BASE)/linux-configs/linuxtest/scripts/ld.script
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# Flags we pass to the linker
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#
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LDFLAGS += $(EXTRALDFLAGS) \
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@ -290,6 +291,15 @@ define PRELINK
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@$(MKDIR) -p $(dir $1)
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$(Q) $(LD) -Ur -o $1 $2
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endef
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# Produce partially-linked $1 from files in $2
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#
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#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
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define PRELINKF
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@$(ECHO) "PRELINK: $1"
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@$(MKDIR) -p $(dir $1)
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$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
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endef
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# $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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@ -324,7 +334,7 @@ endef
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define LINK
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@$(ECHO) "LINK: $1"
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@$(MKDIR) -p $(dir $1)
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echo "$(Q) $(CXX) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
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$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
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endef
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@ -54,6 +54,7 @@
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*/
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#include <px4_config.h>
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#include <px4_tasks.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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@ -404,7 +405,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
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/* if we have given up, kill it */
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if (++i > 50) {
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task_delete(_control_task);
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px4_task_delete(_control_task);
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break;
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}
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} while (_control_task != -1);
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@ -721,7 +722,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
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if (fabsf(_att_control(i)) < _thrust_sp) {
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float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
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if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
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if (std::isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
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_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
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_rates_int(i) = rate_i;
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}
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@ -858,10 +859,10 @@ MulticopterAttitudeControl::task_main()
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control_attitude_rates(dt);
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/* publish actuator controls */
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_actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
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_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
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_actuators.control[0] = (std::isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
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_actuators.control[1] = (std::isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
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_actuators.control[2] = (std::isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
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_actuators.control[3] = (std::isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
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_actuators.timestamp = hrt_absolute_time();
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_actuators.timestamp_sample = _v_att.timestamp;
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@ -909,7 +910,7 @@ MulticopterAttitudeControl::start()
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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1600,
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(main_t)&MulticopterAttitudeControl::task_main_trampoline,
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(px4_main_t)&MulticopterAttitudeControl::task_main_trampoline,
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nullptr);
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if (_control_task < 0) {
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@ -71,7 +71,7 @@
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/**
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* Array of static parameter info.
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*/
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#if defined(_UNIT_TEST) || defined(__PX4_LINUX)
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#if defined(_UNIT_TEST)
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extern struct param_info_s param_array[];
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extern struct param_info_s *param_info_base;
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extern struct param_info_s *param_info_limit;
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