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QuRT: enable uORB, and simulator 

uORB, the simulator and simulated devices now run

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-05-13 18:03:08 -07:00
parent 884f62878d
commit 8e346a06fb
9 changed files with 36 additions and 35 deletions
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24
makefiles/qurt/config_qurt_default.mk
View File

@ -13,7 +13,7 @@
MODULES += drivers/device
#MODULES += drivers/blinkm
#MODULES += drivers/hil
#MODULES += drivers/led
MODULES += drivers/led
#MODULES += drivers/rgbled
#MODULES += modules/sensors
#MODULES += drivers/ms5611
@ -47,32 +47,32 @@ MODULES += modules/systemlib
MODULES += modules/uORB
#MODULES += modules/dataman
#MODULES += modules/sdlog2
#MODULES += modules/simulator
MODULES += modules/simulator
#MODULES += modules/commander
#
# Libraries
#
#MODULES += lib/mathlib
#MODULES += lib/mathlib/math/filter
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
#MODULES += lib/geo
#MODULES += lib/geo_lookup
#MODULES += lib/conversion
MODULES += lib/conversion
#
# QuRT port
#
MODULES += platforms/qurt/px4_layer
#MODULES += platforms/posix/drivers/accelsim
#MODULES += platforms/posix/drivers/gyrosim
#MODULES += platforms/posix/drivers/adcsim
#MODULES += platforms/posix/drivers/barosim
MODULES += platforms/posix/drivers/accelsim
MODULES += platforms/posix/drivers/gyrosim
MODULES += platforms/posix/drivers/adcsim
MODULES += platforms/posix/drivers/barosim
#
# Unit tests
#
MODULES += platforms/qurt/tests/hello
#MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue
MODULES += platforms/posix/tests/vcdev_test
MODULES += platforms/posix/tests/hrt_test
MODULES += platforms/posix/tests/wqueue

3
makefiles/qurt_elf.mk
View File

@ -56,11 +56,12 @@ $(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS)
$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py
$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py
$(PX4_BASE)/Tools/qurt_apps.py > $@
$(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
$(call COMPILEXX,$<, $@)
mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
$(WORK_DIR)mainapp: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
$(call LINK,$@, $^)

1
src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp
View File

@ -37,6 +37,7 @@
* @author Mark Charlebois <mcharleb@gmail.com>
*/
#include "hrt_test.h"
#include <px4_log.h>
#include <px4_app.h>
#include <px4_tasks.h>
#include <stdio.h>

12
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
View File

@ -190,16 +190,20 @@ int VCDevExample::main()
px4_close(fd);
}
else if (i > 0) {
if (ret == 0)
if (ret == 0) {
PX4_INFO("==== Nothing to read - PASS\n");
else
}
else {
PX4_INFO("==== poll returned %d\n", ret);
}
}
else if (i == 0) {
if (ret == 1)
if (ret == 1) {
PX4_INFO("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
else
}
else {
PX4_INFO("==== %d to read - FAIL\n", ret);
}
}
++i;

12
src/platforms/qurt/px4_layer/main.cpp
View File

@ -51,14 +51,17 @@ extern void init_app_map(map<string,px4_main_t> &apps);
extern void list_builtins(map<string,px4_main_t> &apps);
static const char *commands =
"hello start"
#if 0
"hello start\n"
"uorb start\n"
"simulator start -s\n"
"barosim start\n"
"adcsim start\n"
"accelsim start\n"
"gyrosim start\n"
"list_devices\n"
"list_topics\n"
"list_tasks"
#if 0
"param set CAL_GYRO0_ID 2293760\n"
"param set CAL_ACC0_ID 1310720\n"
"param set CAL_ACC1_ID 1376256\n"
@ -68,8 +71,6 @@ static const char *commands =
"sensors start\n"
"hil mode_pwm\n"
"commander start\n"
"list_devices\n"
"list_topics\n"
#endif
;
@ -82,7 +83,7 @@ static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs)
unsigned int i = 0;
while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
arg[i] = (char *)appargs[i].c_str();
printf(" arg = '%s'\n", arg[i]);
//printf(" arg = '%s'\n", arg[i]);
++i;
}
arg[i] = (char *)0;
@ -141,7 +142,6 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
eat_whitespace(b, ++i);
continue;
}
printf("ch %c\n", b[i]);
++i;
}
}

3
src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
View File

@ -81,12 +81,9 @@ static void *entry_adapter ( void *ptr )
pthdata_t *data;
data = (pthdata_t *) ptr;
PX4_DBG("entry_adapter");
data->entry(data->argc, data->argv);
free(ptr);
PX4_DBG("Before px4_task_exit");
px4_task_exit(0);
PX4_DBG("After px4_task_exit");
return NULL;
}

2
src/platforms/qurt/tests/hello/hello_example.cpp
View File

@ -52,7 +52,7 @@ int HelloExample::main()
int i=0;
while (!appState.exitRequested() && i<5) {
PX4_DEBUG(" Doing work...\n");
PX4_DEBUG(" Doing work...");
++i;
}

4
src/platforms/qurt/tests/hello/hello_main.cpp
View File

@ -47,10 +47,10 @@ int PX4_MAIN(int argc, char **argv)
{
px4::init(argc, argv, "hello");
PX4_DEBUG("hello\n");
PX4_DEBUG("hello");
HelloExample hello;
hello.main();
PX4_DEBUG("goodbye\n");
PX4_DEBUG("goodbye");
return 0;
}

10
src/platforms/qurt/tests/hello/hello_start_qurt.cpp
View File

@ -53,11 +53,10 @@ extern "C" __EXPORT int hello_main(int argc, char *argv[]);
static void usage()
{
PX4_DEBUG("usage: hello {start|stop|status}\n");
PX4_DEBUG("usage: hello {start|stop|status}");
}
int hello_main(int argc, char *argv[])
{
PX4_DEBUG("argc = %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
if (argc < 2) {
usage();
return 1;
@ -65,9 +64,8 @@ int hello_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
PX4_DEBUG("Starting\n");
if (HelloExample::appState.isRunning()) {
PX4_DEBUG("already running\n");
PX4_DEBUG("already running");
/* this is not an error */
return 0;
}
@ -89,10 +87,10 @@ int hello_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (HelloExample::appState.isRunning()) {
PX4_DEBUG("is running\n");
PX4_DEBUG("is running");
} else {
PX4_DEBUG("not started\n");
PX4_DEBUG("not started");
}
return 0;